U.S. patent application number 17/184188 was filed with the patent office on 2021-06-17 for distance measuring device and distance measuring method.
The applicant listed for this patent is Kabushiki Kaisha Toshiba. Invention is credited to Shigeyasu Iwata, Takayuki Kato, Masaki Nishikawa, Yoshiharu Nito, Katsuya Nonin, Shoji Ootaka, Ichiro Seto, Yutaka Shimizu.
Application Number | 20210181322 17/184188 |
Document ID | / |
Family ID | 1000005417937 |
Filed Date | 2021-06-17 |
United States Patent
Application |
20210181322 |
Kind Code |
A1 |
Ootaka; Shoji ; et
al. |
June 17, 2021 |
DISTANCE MEASURING DEVICE AND DISTANCE MEASURING METHOD
Abstract
A distance measuring device includes a calculating section
configured to calculate, based on phase information acquired by a
first device and a second device, at least one of which is movable,
a distance between the first device and the second device. The
first device includes a first reference signal source and a first
transceiver configured to transmit two or more first carrier
signals and receives two or more second carrier signals using an
output of the first reference signal source. The second device
includes a second reference signal source configured to operate
independently from the first reference signal source and a second
transceiver configured to transmit the second carrier signals and
receives the first carrier signals using an output of the second
reference signal source. The calculating section calculates the
distance based on a phase detection result obtained by reception of
the first and second carrier signals.
Inventors: |
Ootaka; Shoji; (Yokohama
Kanagawa, JP) ; Shimizu; Yutaka; (Yokohama Kanagawa,
JP) ; Seto; Ichiro; (Fuchu Tokyo, JP) ; Nito;
Yoshiharu; (Yokohama Kanagawa, JP) ; Nishikawa;
Masaki; (Yokohama Kanagawa, JP) ; Kato; Takayuki;
(Kawasaki Kanagawa, JP) ; Iwata; Shigeyasu;
(Hamura Tokyo, JP) ; Nonin; Katsuya; (Kawasaki
Kanagawa, JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Kabushiki Kaisha Toshiba |
Tokyo |
|
JP |
|
|
Family ID: |
1000005417937 |
Appl. No.: |
17/184188 |
Filed: |
February 24, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
15705997 |
Sep 15, 2017 |
10976419 |
|
|
17184188 |
|
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|
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01S 7/4912 20130101;
G01S 5/02 20130101; B60R 25/245 20130101; G01S 11/02 20130101; G01S
13/003 20130101; G01S 15/14 20130101; G01S 17/32 20130101; B60R
25/20 20130101; G01S 13/84 20130101; G01S 13/36 20130101 |
International
Class: |
G01S 7/4912 20060101
G01S007/4912; G01S 17/32 20060101 G01S017/32; G01S 13/36 20060101
G01S013/36; G01S 13/84 20060101 G01S013/84 |
Foreign Application Data
Date |
Code |
Application Number |
Mar 17, 2017 |
JP |
2017-053379 |
Jul 14, 2017 |
JP |
2017-138306 |
Claims
1. A distance measuring device that calculates a distance on a
basis of carrier phase detection, the distance measuring device
comprising a processor configured to calculate, on a basis of phase
information acquired by a first device and a second device, at
least one of which is movable, a distance between the first device
and the second device, wherein the first device includes: a first
reference signal source; and a first transceiver configured to
transmit two or more first carrier signals having frequencies
different from each other and receive two or more second carrier
signals having frequencies substantially same as the respective
frequencies of the two or more first carrier signals using an
output of the first reference signal source, the second device
includes: a second reference signal source configured to operate
independently from the first reference signal source; and a second
transceiver configured to transmit the two or more second carrier
signals and receive the two or more first carrier signals using an
output of the second reference signal source, the processor
calculates the distance by a phase calculation using a phase
detection result obtained by reception of the first and second
carrier signals having substantially the same frequencies, and the
first and second reference signal sources continuously operate
during a period in which the first and second carrier signals are
transmitted and received by the first and second transceivers, in
order to continuously change respective phases of the first and
second carrier signals1, and as a result, respective phases of the
first and second carrier signals continuously change.
2. The distance measuring device according to claim 1, wherein a
receiver of the first transceiver includes a first phase detector
that detects phases of the two or more second carrier signals, and
a receiver of the second transceiver includes a second phase
detector that detects phases of the two or more first carrier
signals.
3. The distance measuring device according to claim 2, wherein the
first and second phase detectors are each configured of a
quadrature demodulator.
4. The distance measuring device according to claim 1, wherein the
first transceiver transmits two or more first carrier signals and
receives two or more second carrier signals using the output of the
first reference signal source, the second transceiver transmits the
two or more second carrier signals and receives the two first
carrier signals using the output of the second reference signal
source, and the processor calculates the distance on a basis of
four or more phase detection results obtained by reception of the
first and second carrier signals.
5. The distance measuring device according to claim 4, wherein the
processor calculates the distance by adding up one or more first
phase differences between phases of the two or more second carrier
signals obtained by the first transceiver and one or more second
phase differences between phases of the two or more first carrier
signals obtained by the second transceivers.
6. The distance measuring device according to claim 1, wherein the
first transceiver transmits three or more first carrier signals and
receives three or more second carrier signals using the output of
the first reference signal source, the second transceiver transmits
the three or more second carrier signals and receives the three or
more first carrier signals using the output of the second reference
signal source, and the processor calculates the distance on a basis
of six or more phase detection results obtained by reception of the
first and second carrier signals.
7. The distance measuring device according to claim 6, wherein the
processor calculates the distance by adding up two or more first
phase differences between one phase and other two or more phases of
the three or more second carrier signals obtained by the first
transceiver and two or more second phase differences between one or
more phase and other two or more phases of the three or more first
carrier signals obtained by the second transceiver.
8. The distance measuring device according to claim 1, wherein the
processor calculates the distance using amplitudes of received
signals of the first and second transceivers.
9. The distance measuring device according to claim 1, wherein at
least one of the first and second devices includes the processor,
and the first and second devices include communication sections for
transmitting the phase information to the processor.
10. A distance measuring method for calculating a distance on a
basis of carrier phase detection, the distance measuring method
comprising: in a first device, transmitting two or more first
carrier signals using an output of a first reference signal source;
in a second device, transmitting two or more second carrier signals
having frequencies substantially same as respective frequencies of
the two or more first carrier signals using an output of a second
reference signal source; in the first device, receiving the two or
more second carrier signals and obtaining two or more first phase
detection results; in the second device, receiving the two or more
first carrier signals and obtaining two or more second phase
detection results; transmitting the first and second phase
detection results to a processor; in the processor, calculating a
distance between the first device and the second device on a basis
of the first and second phase detection results, and causing the
first and second reference signal sources to continuously operate
during a period in which the first and second carrier signals are
transmitted and received by the first and second transceivers, in
order to continuously change respective phases of the first and
second carrier signals.
11. The distance measuring method according to claim 10, wherein
the processor calculates the distance by adding up two or more
first phase differences based on the two or more first phase
detection results and two or more second phase differences based on
the two or more second phase detection results.
12. The distance measuring device according to claim 1, wherein the
first transceiver transmits a first wave of the first carrier
signals using the output of the first reference signal source, the
second transceiver receives the first wave from the first
transceiver using the output of the second reference signal source
and thereafter transmits a first wave of the second carrier
signals, the first transceiver receives the first wave from the
second transceiver using the output of the first reference signal
source and thereafter transmits a second wave of the first carrier
signals, the second wave being different from the first wave; the
second transceiver receives the second wave from the first
transceiver using the output of the second reference signal source
and thereafter transmits a second wave of the second carrier
signals, the second wave being different from the first wave, and
the first transceiver receives the second wave from the second
transceiver using the output of the first reference signal
source.
13. The distance measuring device according to claim 4, wherein the
first transceiver transmits a first wave of the first carrier
signals using the output of the first reference signal source, the
second transceiver receives the first wave from the first
transceiver using the output of the second reference signal source
and thereafter transmits a first wave of the second carrier signals
and thereafter transmits the first wave of the second carrier
signals again, the first transceiver receives the first wave from
the second transceiver twice using the output of the first
reference signal source and thereafter transmits the first wave of
the first carrier signals again and thereafter transmits a second
wave of the first carrier signals, the second wave being different
from the first wave; the second transceiver receives the first wave
and the second wave from the first transceiver in order using the
output of the second reference signal source and thereafter
transmits a second wave of the second carrier signals, the second
wave being different from the first wave, and thereafter transmits
the second wave of the second carrier signals again, the first
transceiver receives the second wave from the second transceiver
twice using the output of the first reference signal source and
thereafter transmits the second wave of the first carrier signals
again, and the second transceiver receives the second wave from the
first transceiver using the output of the second reference signal
source.
14. The distance measuring device according to the claim 1, further
comprising: a band pass filter provided between the first
transceiver and an antenna; and a switch circuit configured to
switch a first route for giving an output of a transmitter in the
first transceiver to a receiver in the first transceiver via the
band pass filter and a second route for giving the output to the
receiver in the first transceiver not via the band-pass filter,
wherein the processor calculates a delay time due to the band-pass
filter on a basis of phases of the first carrier signals that pass
the first route and phases of the first carrier signals that pass
the second route.
15. The distance measuring device according to claim 1, wherein one
device of the first and second devices generates a carrier signal
obtained by adding, to an initial phase, a phase detection result
obtained by reception of a carrier signal from another device of
the first and second devices and transmits the carrier signal to
the other device.
16. The distance measuring device according to claim 1, wherein the
two or more first carrier signals have frequencies different from
each other, each of the two or more second carrier signals has a
frequency corresponding to each frequency of the two or more first
carrier signals, the first and second reference signal sources
generate two kinds of local signals, the first and second
transceivers are configured of a wireless transceiver of a
heterodyne scheme in which the two kinds of local signals are used
and change a frequency of at least one kind of the local signal of
the two kinds of the local signals to be capable of changing each
frequency of the first two or more carrier signals and each
frequency of the two or more second carrier signals, and the first
and second reference signal sources continuously generate the two
kinds of the local signals during a period in which carrier signals
having frequencies corresponding to each other of the two or more
first and second carrier signals are transmitted and received.
17. The distance measuring device according to claim 1, wherein the
two or more first carrier signals have frequencies different from
each other, each of the two or more second carrier signals has a
frequency corresponding to each frequency of the two or more first
carrier signals, the first and second reference signal sources
generate one kind of a local signal, the first and second
transceivers are configured of a wireless transceiver of a direct
conversion scheme in which the one kind of the local signal is used
and change a frequency of the one kind of the local signal to be
capable of changing each frequency of the first two or more carrier
signals and each frequency of the two or more second carrier
signals, and the first and second reference signal sources
continuously generate the one kind of the local signal in a period
in which carrier signals having frequencies corresponding to each
other of the two or more first and second carrier signals are
transmitted and received.
18. The distance measuring device according to claim 13, wherein
the processor calculates the distance using a detected phase error
component due to a beat angular frequency, which is a difference
between a frequency of the first wave transmitted from the first
transceiver and a frequency of the first wave transmitted from the
second transceiver, a first phase detection result by the second
device that receives the first wave transmitted from the first
transceiver, a second phase detection result by the first device
that receives the first wave transmitted from the second
transceiver, a third phase detection result by the second device
that receives the second wave transmitted from the first
transceiver, a fourth phase detection result by the first device
that receives the second wave transmitted from the second
transceiver, and a frequency of a sum of the frequency of the first
wave transmitted from the first transceiver and the frequency of
the first wave transmitted from the second transceiver.
19. The distance measuring method according to claim 10, wherein
one of the first and the second transceivers transmits a single
carrier signal in a time-division manner, and the other of the
first and second transceivers receives the transmitted single
carrier signal.
20. The distance measuring method according to claim 10, wherein
one of the first and the second transceivers transmits a single
carrier signal in a time-division manner, the other of the first
and second transceivers receives the transmitted single carrier
signal, and the first and second transceivers transmit and receive
the single carrier signal in the time-division manner at least four
or more times.
21. The distance measuring method according to claim 10, wherein
one of the first and the second transceivers transmits a single
carrier signal in a time-division manner, the other of the first
and second transceivers receives the transmitted single carrier
signal, and the first and second transceivers execute an initial
phase correction by transmitting and receiving the single carrier
signal in the time-division manner at least four or more times.
22. The distance measuring method according to claim 10, wherein,
one of the first and the second transceivers transmits a single
carrier signal in a time-division manner, the other of the first
and second transceivers receives the transmitted single carrier
signal, and the first and second transceivers execute a frequency
difference correction and an initial phase correction by
transmitting and receiving the single carrier signal in the
time-division manner at least five or more times.
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] This application is a continuation of application Ser. No.
15/705,997 filed Sep. 15, 2017 and is based upon and claims the
benefit of priority from the prior Japanese Patent Applications No.
2017-053379, filed on Mar. 17, 2017 and No. 2017-138306, filed on
Jul. 14, 2017; the entire contents of which are incorporated herein
by reference.
FIELD
[0002] Embodiments described herein relate generally to a distance
measuring device and a distance measuring method.
BACKGROUND
[0003] In recent years, keyless entry for facilitating unlocking
and locking of a car has been adopted in many cars. This technique
performs unlocking and locking of a door using communication
between a key of an automobile and the automobile. Further, in
recent years, a smart entry system that makes it possible to
perform, with a smart key, unlocking and locking of a door lock and
start an engine without touching a key has been also adopted.
[0004] However, a lot of incidents occur in which an attacker
intrudes into communication between a key and an automobile and
steals the automobile. As measures against the attack (so-called
relay attack), a measure for measuring the distance between the key
and the automobile and, when determining that the distance is equal
to or larger than a predetermined distance, it is being reviewed to
prohibit control of the automobile by communication.
[0005] As a distance measuring technique, many techniques exist,
such as a two-frequency CW (continuous wave) scheme, an FM
(frequency modulated) CW scheme, a Doppler scheme, and a phase
detection scheme. In general, in distance measurement, a distance
from a measuring device to a target object is calculated by
providing a transmitter and a receiver in the same housing of the
measuring device, hitting a radio wave emitted from the transmitter
against the target object, and detecting a reflected wave of the
radio wave with the receiver.
[0006] However, when it is taking into account a relatively small
reflection coefficient of the target object, limitation on output
power due to the Radio Law, and the like, in the distance measuring
technique for measuring a distance using the reflected wave, a
measurable distance is relatively small and is insufficient for use
in the measures against the relay attack.
BRIEF DESCRIPTION OF THE DRAWINGS
[0007] FIG. 1 is a block diagram showing a distance measuring
system in which a distance measuring device according to a first
embodiment of the present invention is adopted;
[0008] FIG. 2A is an explanatory diagram for explaining the
principle of distance measurement by a phase detection scheme for
detecting a phase of a reflected wave and problems of the distance
measurement;
[0009] FIG. 2B is an explanatory diagram for explaining the
principle of the principle of distance measurement by a phase
detection scheme for detecting a phase of a reflected wave and the
problems of the distance measurement;
[0010] FIG. 3A is an explanatory diagram for explaining problems of
the distance measurement by the phase detection scheme;
[0011] FIG. 3B is an explanatory diagram for explaining the
problems of the distance measurement by the phase detection
scheme;
[0012] FIG. 4 is a circuit diagram showing an example of specific
configurations of a transmitting section 14 and a receiving section
15 shown in FIG. 1;
[0013] FIG. 5 is a circuit diagram showing an example of specific
configuration of a transmitting section 24 and a receiving section
25 shown in FIG. 1;
[0014] FIG. 6 is a flowchart for explaining operation in the first
embodiment;
[0015] FIG. 7 is an explanatory diagram for explaining a method of
calculating a distance using a system of residue;
[0016] FIG. 8 is an explanatory diagram for explaining the method
of calculating a distance using the system of residue;
[0017] FIG. 9 is an explanatory diagram showing an example in which
a distance is plotted on the horizontal axis and a phase is plotted
on the vertical axis, in which three wave signals having different
angular frequencies each other are transmitted;
[0018] FIG. 10 is an explanatory diagram for explaining a method of
selecting a correct distance through amplitude observation of a
detected signal;
[0019] FIG. 11A is a flowchart for explaining a second
embodiment;
[0020] FIG. 11B is an explanatory diagram for explaining the second
embodiment;
[0021] FIG. 11C is an explanatory diagram for explaining the second
embodiment;
[0022] FIG. 12A is an explanatory diagram for explaining the second
embodiment;
[0023] FIG. 12B is an explanatory diagram for explaining the second
embodiment;
[0024] FIG. 13 is an explanatory diagram for explaining the second
embodiment;
[0025] FIG. 14 is an explanatory diagram for explaining the second
embodiment;
[0026] FIG. 15 is an explanatory diagram for explaining the second
embodiment;
[0027] FIG. 16 is a block diagram showing a third embodiment of the
present invention;
[0028] FIG. 17 is an explanatory diagram showing a fourth
embodiment of the present invention;
[0029] FIG. 18 is an explanatory diagram showing the fourth
embodiment of the present invention;
[0030] FIG. 19 is an explanatory diagram showing one of various
sequences;
[0031] FIG. 20 is an explanatory diagram showing one of the various
sequences;
[0032] FIG. 21 is an explanatory diagram showing one of the various
sequences;
[0033] FIG. 22 is an explanatory diagram showing one of the various
sequences;
[0034] FIG. 23 is an explanatory diagram showing one of the various
sequences;
[0035] FIG. 24 is an explanatory diagram showing one of the various
sequences;
[0036] FIG. 25 is an explanatory diagram showing one of the various
sequences;
[0037] FIG. 26 is an explanatory diagram showing one of the various
sequences;
[0038] FIG. 27 is an explanatory diagram showing one of the various
sequences;
[0039] FIG. 28 is an explanatory diagram showing one of the various
sequences;
[0040] FIG. 29 is an explanatory diagram showing one of the various
sequences;
[0041] FIG. 30 is an explanatory diagram showing one of the various
sequences;
[0042] FIG. 31 is an explanatory diagram showing one of the various
sequences;
[0043] FIG. 32 is an explanatory diagram showing one of the various
sequences;
[0044] FIG. 33 is an explanatory diagram showing one of the various
sequences;
[0045] FIG. 34 is an explanatory diagram showing one of the various
sequences;
[0046] FIG. 35 is an explanatory diagram showing one of the various
sequences;
[0047] FIG. 36 is an explanatory diagram showing one of the various
sequences;
[0048] FIG. 37 is an explanatory diagram showing one of the various
sequences;
[0049] FIG. 38 is an explanatory diagram showing one of the various
sequences;
[0050] FIG. 39 is an explanatory diagram showing one of the various
sequences;
[0051] FIG. 40 is an explanatory diagram showing one of the various
sequences;
[0052] FIG. 41 is an explanatory diagram showing one of the various
sequences;
[0053] FIG. 42 is an explanatory diagram showing one of the various
sequences;
[0054] FIG. 43 is an explanatory diagram showing one of the various
sequences;
[0055] FIG. 44 is an explanatory diagram showing one of the various
sequences;
[0056] FIG. 45 is an explanatory diagram showing a relation between
a transmission sequence and a period in which an initial phase is
maintained;
[0057] FIG. 46 is an explanatory diagram showing a carrier
frequency used for distance measurement;
[0058] FIG. 47 is a flowchart for explaining a modification;
[0059] FIG. 48A is an explanatory diagram showing, in a simplified
manner, an example of the configurations of an oscillator 13, the
transmitting section 14, and the receiving section 15 of a device
1;
[0060] FIG. 48B is an explanatory diagram showing, in a simplified
manner, an example of the configurations of an oscillator 23, the
transmitting section 24, and the receiving section 25 of a device
2;
[0061] FIG. 49A is an explanatory diagram showing, in a simplified
manner, an example of the configurations of the oscillator 13, the
transmitting section 14, and the receiving section 15 of the device
1;
[0062] FIG. 49B is an explanatory diagram showing, in a simplifier
manner, an example of the configurations of the oscillator 23, the
transmitting section 24, and the receiving section 25 of the device
2;
[0063] FIG. 50 is a circuit diagram more specifically showing an
example of a circuit that generates signals given to multipliers
TM11 and TM12 in FIG. 4;
[0064] FIG. 51 is a circuit diagram more specifically showing an
example of a circuit that generates signals given to multipliers
TM21 and TM22 in FIG. 5;
[0065] FIG. 52 is a circuit diagram showing an example of specific
configurations of the transmitting section 14 and the receiving
section 15 shown in FIG. 1;
[0066] FIG. 53 is a circuit diagram showing an example of specific
configurations of the transmitting section 24 and the receiving
section 25 shown in FIG. 1;
[0067] FIG. 54 is a circuit diagram showing an example of the
specific configurations of the transmitting section 14 and the
receiving section 15 shown in FIG. 1;
[0068] FIG. 55 is a circuit diagram showing an example of the
specific configurations of the transmitting section 24 and the
receiving section 25 shown in FIG. 1;
[0069] FIG. 56 is a flowchart for explaining an example
corresponding to FIG. 11A in which a second device transmits phase
information to a first device; and
[0070] FIG. 57 is a flowchart for explaining an example
corresponding to FIG. 47.
DETAILED DESCRIPTION
[0071] A distance measuring device according to an embodiment is a
distance measuring device that calculates a distance on a basis of
carrier phase detection, the distance measuring device including a
calculating section configured to calculate, on a basis of phase
information acquired by a first device and a second device, at
least one of which is movable, a distance between the first device
and the second device. The first device includes: a first reference
signal source; and a first transceiver configured to transmit two
or more first carrier signals and receives two or more second
carrier signals using an output of the first reference signal
source. The second device includes: a second reference signal
source configured to operate independently from the first reference
signal source; and a second transceiver configured to transmit the
two or more second carrier signals and receives the two or more
first carrier signals using an output of the second reference
signal source. The calculating section calculates the distance on a
basis of a phase detection result obtained by reception of the
first and second carrier signals.
[0072] Embodiments of the present invention are explained below in
detail with reference to the drawings.
First Embodiment
[0073] FIG. 1 is a block diagram showing a distance measuring
system in which a distance measuring device according to a first
embodiment of the present invention is adopted.
[0074] In the present embodiment, an example is explained in which
a phase detection scheme for detecting a phase of an unmodulated
carrier is adopted and communication-type distance measurement for
calculating a distance between respective devices through
communication between the respective devices is adopted. In a
general phase detection scheme for detecting a phase of a reflected
wave, a measurable distance is relatively short as explained above.
Therefore, in the present embodiment, the communication-type
distance measurement for performing communication between devices
is adopted. However, since respective transmitters of the
respective devices independently operate from each other, initial
phases of transmitted radio waves from the respective transmitters
are different from each other. An accurate distance cannot be
calculated by the phase detection scheme in the past for
calculating a distance according to a phase difference. Therefore,
in the present embodiment, as explained below, phase information
calculated by reception of one device is transmitted to the other
device to make it possible to calculate an accurate distance in the
other device.
[0075] First, the principle of distance measurement by the phase
detecting scheme for detecting a phase of a reflected wave and
problems of the distance measurement are explained with reference
to the explanatory diagrams of FIGS. 2A and 2B.
(Phase Detection Scheme)
[0076] In the phase detection scheme, for distance measurement,
signals having two frequencies deviating from a center angular
frequency .omega..sub.C1 by an angular frequency .+-..omega..sub.B1
are transmitted. In a distance measuring device that measures a
distance using a reflected wave, a transmitter and a receiver are
provided in the same housing. A transmission signal (a radio wave)
emitted from the transmitter is reflected on a target object and a
reflected wave of the radio wave is received by the receiver.
[0077] FIGS. 2A and 2B show this state. A radio wave emitted from a
transmitter T is reflected by a wall W and received by a receiver
S.
[0078] As shown in FIG. 2A, an angular frequency of a radio wave
emitted from the transmitter is represented as
.omega..sub.C1+.omega..sub.B1 and an initial phase is represented
as .theta..sub.1H. In this case, a transmission signal (a
transmission wave) tx1(t) emitted from the transmitter is
represented by the following Equation (1):
tx1(t)=cos {(.omega..sub.C1+.omega..sub.B1)t+.theta..sub.1H}
(1)
[0079] The transmission signal reaches a target object (a wall W)
apart from the transmitter by a distance R with a delay time
.tau..sub.1 and is reflected and received by the receiver. Since
the speed of the radio wave is equal to the speed of light
c(=3.times.10.sup.8 m/s), .tau..sub.1=(R/c) (seconds). The signal
received by the receiver delays by 2.tau..sub.1 with respect to the
emitted signal. Therefore, a received signal (a received wave)
rx1(t) of the receiver is represented by the following Equations
(2) and (3):
rx1(t)=cos
{(.omega..sub.C1+.omega..sub.B1)t+.theta..sub.1H-.theta..sub.2.times.H.ta-
u.1} (2)
.theta..sub.2.times.H.tau.1=(.omega..sub.C1+.omega..sub.B1)2.sub..tau.1
(3)
[0080] That is, the transmission signal is received by the receiver
with a phase shift of a multiplication result
(.theta..sub.2.times.H.tau.1) of the delay time and the
transmission angular frequency.
[0081] Similarly, as shown in FIG. 2B, the transmission signal
tx1(t) and the received signal rx1(t) in the case in which an
angular frequency .omega..sub.C1-.omega..sub.B1 is used are
represented by the following Equations (4) to (6) with an initial
phase set to .theta..sub.1L:
tx1(t)=cos {(.omega..sub.C1-.omega..sub.B1)t+.theta..sub.1L}
(4)
rx1(t)=cos
{(.omega..sub.C1-.omega..sub.B1)t+.theta..sub.1L-.theta..sub.2.times.L.ta-
u.i} (5)
.theta..sub.2.times.L.tau.1=(.omega..sub.C1-.omega..sub.B1)2.sub..tau.1
(6)
[0082] When a phase shift amount that occurs until the transmission
signal having the angular frequency .omega..sub.C1+.omega..sub.B1
is received is represented as .theta..sub.H1(t) and a phase shift
amount that occurs until the transmission signal having the angular
frequency .omega..sub.C1-.omega..sub.B1 is received is represented
as .theta..sub.L1(t), a difference between phase shifts of the two
received waves is represented by the following Equation (7)
obtained by subtracting Equation (6) from Equation (3):
.theta..sub.H1(t)-.theta..sub.L1(t)=(.theta..sub.2.times.H.tau.1-.theta.-
.sub.2.times.L.tau.1)=2.omega..sub.B1.times.2.sub..tau.1 (7)
where .tau..sub.1=R/c. Since the differential frequency
.omega..sub.B1 is known, if the difference between the phase shift
amounts of the two received waves is measured, the distance R can
be calculated as follows from a measurement result:
R=c.times.(.theta..sub.2.times.H.tau.1-.theta..sub.2.times.L.tau.1)/(4.s-
ub..omega.B1)
[0083] Incidentally, in the above explanation, the distance R is
calculated taking into account only the phase information.
Amplitude is examined below concerning a case in which a
transmission wave having the angular frequency
.omega..sub.C1+.omega..sub.B1 is used. The transmission wave
indicated by Equation (1) described above delays by a delay amount
.tau..sub.1=R/c at a point in time when the transmission wave
reaches a target object away from the transmitter by the distance
R. Amplitude is attenuated by attenuation L1 corresponding to the
distance R. The transmission wave changes to a wave rx2(t)
represented by the following Equation (8):
rx2(t)=L.sub.1 cos
{(.omega..sub.C1+.omega..sub.B1)t+.theta..sub.1H-(.omega..sub.C1+.omega..-
sub.B1).tau..sub.1} (8)
[0084] Further, the transmission wave is attenuated by attenuation
L.sub.RFL when the transmission wave is reflected from the target
object. A reflected wave tx2(t) in the target object is represented
by the following Equation (9):
tx2(t)=L.sub.RFLL.sub.1 cos
{(.omega..sub.C1+.omega..sub.B1)t+.theta..sub.1H-(.omega..sub.C1+.omega..-
sub.B1).tau..sub.1} (9)
[0085] The received signal rx1(t) received by the receiver is
delayed by a delay amount .tau..sub.1=R/c(s) from the target
object. Amplitude is attenuated by attenuation L1 corresponding to
the distance R. Therefore, the received signal is represented by
the following Equation (10):
rx1(t)=L.sub.1.times.L.sub.RFL.times.L.sub.1 cos
{(.omega..sub.C1+.omega..sub.B1)t+.theta..sub.1H-2(.omega..sub.C1+.omega.-
.sub.B1).tau..sub.1} (10)
[0086] In this way, the transmission signal from the transmitter is
attenuated by L.sub.1.times.L.sub.RFL.times.L.sub.1 until the
transmission signal reaches the receiver. Signal amplitude that can
be emitted from the transmitter in distance measurement needs to
conform to the Radio Law according to an applied frequency. For
example, a specific frequency in a 920 MHz band involves limitation
to suppress transmission signal power to 1 mW or less. From the
viewpoint of a signal-to-noise ratio of the received signal, it is
necessary to suppress attenuation between transmission and
reception in order to accurately measure a distance. However, as
explained above, since attenuation is relatively large in the
distance measurement for measuring a distance using a reflected
wave, a distance that can be accurately measured is short.
[0087] Therefore, as explained above, in the present embodiment, by
transmitting and receiving signals between the two devices without
using a reflected wave, attenuation is reduced by
L.sub.RFL.times.L.sub.1 to increase the distance that can be
accurately measured.
[0088] However, the two devices are apart from each other by the
distance R and cannot share the same reference signal. In general,
it is difficult to synchronize the transmission signal with a local
oscillation signal used for reception. That is, between the two
devices, deviation occurs in a signal frequency and an initial
phase is unknown. Problems in distance measurement performed using
such an asynchronous transmission wave are explained.
(Problems in the Case of Asynchronization)
[0089] In the distance measuring system in the present embodiment,
in distance measurement between two objects, two devices (a first
device and a second device) that emit carrier signals (transmission
signals) asynchronously from each other are disposed in the
positions of the respective objects and the distance R between the
two devices is calculated. In the present embodiment, carrier
signals having two frequencies deviating from a center angular
frequency .omega..sub.C1 by the angular frequency
.+-..omega..sub.B1 are transmitted in the first device. Carrier
signals having two frequencies deviating from the center angular
frequency .omega..sub.C2 by an angular frequency .+-..omega..sub.B2
are transmitted in the second device.
[0090] FIGS. 3A and 3B are explanatory diagrams for explaining
problems in the case in which the phase detection scheme is simply
applied between two devices A1 and A2. It is assumed that a
transmission signal of the device A1 is received by the device A2.
A local oscillator of the device A1 generates a signal having a
frequency necessary for generating, in a heterodyne scheme, two
transmission waves having carrier angular frequencies
.omega..sub.C1+.omega..sub.B1 and .omega..sub.C1-.omega..sub.B1.
The device A1 transmits two transmission waves having the angular
frequencies. A local oscillator of the device A2 generates a signal
having a frequency necessary for generating, in a heterodyne
scheme, two transmission waves having carrier angular frequencies
.omega..sub.C2+.omega..sub.B2 and .omega..sub.C2-.omega..sub.B2.
The device A2 performs reception in the heterodyne scheme using the
signal generated by the local oscillator of the device A2.
[0091] The distance between the transmission device and the
reception device is represented as 2R to correspond to the distance
in the case in which the reflected wave is used. Initial phases of
a transmission signal having the angular frequency
.omega..sub.C1+.omega..sub.B1 and a transmission signal having the
angular frequency .omega..sub.C1-.omega..sub.B1 transmitted from
the device A1 are respectively represented as .theta..sub.1H and
.theta..sub.1L. Initial phases of two signals having the angular
frequencies .omega..sub.C2+.omega..sub.B2 and
.omega..sub.C2-.omega..sub.B2 of the device A2 are respectively
represented as 02H and 021L.
[0092] First, a phase is considered concerning the transmission
signal having the angular frequency .omega..sub.C1+.omega..sub.B1.
The transmission signal represented by Equation (1) described above
is output from the device A1. The received signal rx2(t) in the
device A2 is represented by the following Equation (11):
rx2(t)=cos
{(.omega..sub.C1+.omega..sub.B1)t+.theta..sub.1H-.theta..sub.2.times.H.ta-
u.1} (11)
[0093] The device A2 multiplies together two signals cos
{(.omega..sub.C2+.omega..sub.B2)t+.theta..sub.2H} and
sin{(.omega..sub.C2+.omega..sub.B2)t+.theta..sub.2H} and a received
wave of Equation (11) to thereby separate the received wave into an
in-phase component (an I signal) and a quadrature component (a Q
signal). A phase of the received wave (hereinafter referred to as
detected phase or simply referred to as phase) can be easily
calculated from the I and Q signals. That is, a detected phase
.theta..sub.H1(t) is represented by the following Equation (12).
Note that, in the following Equation (12), since a term of
harmonics near an angular frequency .omega..sub.C1+.omega..sub.c2
is removed during demodulation, the term is omitted.
.theta..sub.H1(t)=tan.sup.-1(Q(t)/I(t))=-{(.omega..sub.C1-.omega..sub.C2-
)t+(.omega..sub.B1-.omega..sub.B2)t+.theta..sub.1H-.theta..sub.2.times.H.t-
au.1} (12)
[0094] Similarly, when the transmission signal having the angular
frequency .omega..sub.C1-.omega..sub.B1 is transmitted from the
device A1, a detected phase .theta..sub.L1(t) calculated from the I
and Q signals obtained in the device A2 is represented by the
following Equation (13). Note that, in the following Equation (13),
since a term of harmonics near the angular frequency
.omega..sub.C1+.omega..sub.C2 is removed during demodulation, the
term is omitted.
.theta..sub.L1(t)=tan.sup.-1(Q(t)/I(t))=-{(.omega..sub.C1-.omega..sub.C2-
)t-(.omega..sub.B1-.omega..sub.B2)t+.theta..sub.1L-.theta..sub.2L-.omega..-
sub.2.times.H.tau.i} (13)
[0095] A phase difference between these two detected phases
(hereinafter referred to as detected phase difference or simply
referred to as phase difference)
.theta..sub.H1(t)-.theta..sub.L1(t) is represented by the following
Equation (14):
.theta..sub.H1(t)-.theta..sub.L1(t)=-2(.omega..sub.B1-.omega..sub.B2)t+(-
.theta..sub.1H-.theta..sub.1L)-(.theta..sub.2H-.theta..sub.2L)+(.theta..su-
b.2.times.H.tau.1-.theta..sub.2.times.L.tau.1) (14)
[0096] In the distance measuring device in the past that measures a
distance using a reflected wave, the device A1 and the device A2
are the same device and share the local oscillator. Therefore, the
following Equations (15) to (17) are satisfied:
.omega..sub.B1=.omega..sub.B2 (15)
.theta..sub.1H=.theta..sub.2H (16)=
.theta..sub.1L=.theta..sub.2L (17)
[0097] When Equations (15) to (17) hold, Equation (14) is equal to
Equation (7) described above. The distance R between the device A1
and the device A2 can be calculated according to a phase difference
calculated by I and Q demodulation processing for the received
signal in the device A2.
[0098] However, since the device A1 and the device A2 are provided
to be separated from each other and the local oscillators operate
independently from each other, Equations (15) to (17) described
above are not satisfied. In this case, unknown information such as
a difference between initial phases is included in Equation (14). A
distance cannot be correctly calculated.
(Distance Measuring Method of the Embodiment)
[0099] The signals having the two angular frequencies explained
above transmitted by the first device are received in the second
device and phases of the respective signals are calculated. The
signals having the two angular frequencies explained above
transmitted by the second device are received in the first device
and phases of the respective signals are calculated. Further, phase
information is transmitted from either one of the first device and
the second device to the other. In the present embodiment, as
explained below, the distance R between the first device and the
second device is calculated by adding up a phase difference between
the two signals calculated by the reception of the first device and
a phase difference between the two signals calculated by the
reception of the second device. Note that the phase information may
be the I and Q signals or may be information concerning phases
calculated from the I and Q signals or may be information
concerning a difference between phases calculated from two signals
having different frequencies.
(Configuration)
[0100] In FIG. 1, the first device 1 (hereinafter referred to as
device 1 as well) and the second device 2 (hereinafter referred to
as device 2 as well) are disposed to be separated from each other
by the distance R. At least one of the device 1 and the device 2 is
movable. The distance R changes according to the movement. A
control section 11 is provided in the device 1. The control section
11 controls respective sections of the device 1. The control
section 11 is configured of a processor including a CPU. The
control section 11 may operate according to a computer program
stored in a not-shown memory and control the respective
sections.
[0101] An oscillator 13 is controlled by the control section 11 and
generates oscillation signals (local signals) having two
frequencies on a basis of a reference oscillator incorporated in
the oscillator 13. The respective oscillation signals from the
oscillator 13 are supplied to a transmitting section 14 and a
receiving section 15. Angular frequencies of the oscillation
signals generated by the oscillator 13 are set to angular
frequencies necessary for generating two waves of
.omega..sub.C1+.omega..sub.B1 and .omega..sub.C1-.omega..sub.B1 as
angular frequencies of transmission waves of the transmitting
section 14.
[0102] The transmitting section 14 can be configured of, for
example, a quadrature modulator. The transmitting section 14 is
controlled by the control section 11 to be capable of outputting
two transmission waves of a transmission signal having the angular
frequency .omega..sub.C1+.omega..sub.B1 and a transmission signal
having the angular frequency .omega..sub.C1-.omega..sub.B1. The
transmission waves from the transmitting section 14 are supplied to
an antenna circuit 17.
[0103] The antenna circuit 17 includes one or more antennas and can
transmit the transmission waves transmitted from the transmitting
section 14. The antenna circuit 17 receives transmission waves from
the device 2 explained below and supplies received signals to the
receiving section 15.
[0104] The receiving section 15 can be configured of, for example,
a quadrature demodulator. The receiving section 15 is controlled by
the control section 11 to be capable of receiving and demodulating
a transmission wave from the device 2 using, for example, signals
having angular frequencies foci and com from the oscillator 13 and
separating and outputting an in-phase component (an I signal) and a
quadrature component (a Q signal) of the received wave.
[0105] A configuration of the device 2 is the same as the
configuration of the device 1. That is, a control section 21 is
provided in the second device. The control section 21 controls
respective sections of the device 2. The control section 21 is
configured of a processor including a CPU. The control section 21
may operate according to a computer program stored in a not-shown
memory and control the respective sections.
[0106] An oscillator 23 is controlled by the control section 21 to
generate oscillation signals having two frequencies on a basis of a
reference oscillator incorporated in the oscillator 23. The
respective oscillation signals from the oscillator 23 are supplied
to a transmitting section 24 and a receiving section 25. Angular
frequencies of the oscillation signals generated by the oscillator
23 are set to angular frequencies necessary for generating two
waves of .omega..sub.C2+.omega..sub.B2 and
.omega..sub.C2-.omega..sub.B2 as angular frequencies of
transmission waves of the transmitting section 24.
[0107] The transmitting section 24 can be configured of, for
example, a quadrature modulator. The transmitting section 24 is
controlled by the control section 21 to be capable of outputting
two transmission waves of a transmission signal having an angular
frequency .omega..sub.C2+.omega..sub.B2 and a transmission signal
having an angular frequency .omega..sub.C2-.omega..sub.B2. The
transmission waves from the transmitting section 24 are supplied to
an antenna circuit 27.
[0108] The antenna circuit 27 includes one or more antennas and can
transmit the transmission waves transmitted from the transmitting
section 24. The antenna circuit 27 receives transmission waves from
the device 1 and supplies received signals to the receiving section
25.
[0109] The receiving section 25 can be configured of, for example,
a quadrature demodulator. The receiving section 25 is controlled by
the control section 21 to be capable of receiving and demodulating
a transmission wave from the device 1 using, for example, signals
having angular frequencies .omega..sub.C2 and .omega..sub.B2 from
the oscillator 23 and separating and outputting an in-phase
component (an I signal) and a quadrature component (a Q signal) of
the received wave.
[0110] FIG. 4 is a circuit diagram showing an example of specific
configurations of the transmitting section 14 and the receiving
section 15 shown in FIG. 1. FIG. 5 is a circuit diagram showing an
example of specific configurations of the transmitting section 24
and the receiving section 25 shown in FIG. 1. FIGS. 4 and 5 show a
transceiver of an image suppression scheme. However, the
transceiver is not limited to the configuration.
[0111] Note that a configuration of the image suppression scheme is
publicly known. As characteristics of the image suppression scheme,
when a higher angular frequency band is demodulated centering on a
local angular frequency for a high frequency, that is,
.omega..sub.C1 or .omega..sub.C2, a signal in a lower angular
frequency band is attenuated and, when a lower angular frequency
band is demodulated, a signal in a higher angular frequency band is
attenuated. This filtering effect is due to signal processing. The
same applies to transmission. When the higher angular frequency
band is demodulated centering on .omega..sub.C1 or .omega..sub.C2,
sin(.omega..sub.B1t+.omega..sub.B1) or
sin(.omega..sub.B2t+.omega..sub.B2) shown in FIGS. 4 and 5 is used.
When the lower angular frequency band is demodulated,
-sin(.omega..sub.B1t+.omega..sub.B1) or
-sin(.omega..sub.B2t+.omega..sub.B2) shown in FIGS. 4 and 5 is
used. The frequency band demodulated is decided by change of such
polarity.
[0112] Note that, in a receiver of the image suppression scheme, a
term of harmonics near the angular frequency
.omega..sub.C1-.omega..sub.C2 is removed during demodulation.
Therefore, in an operation explained below, this term is
omitted.
[0113] The transmitting section 14 is configured of multipliers
TM11 and TM12 and an adder TS11. Oscillation signals having an
angular frequency .omega..sub.C1 and having phases 90 degrees
different from each other are respectively given to the multipliers
TM11 and TM12 from the oscillator 13. Oscillation signals having an
angular frequency .omega..sub.B1 and having phases 90 degrees
different from each other are respectively given to the multipliers
TM11 and TM12 from the oscillator 13. An inverted signal of the
oscillation signal having the angular frequency .omega..sub.B1 is
also given to the multiplier TM12 from the oscillator 13.
[0114] The multipliers TM11 and TM12 respectively multiply together
the two inputs and give multiplication results to the adder TS11.
The adder TS11 adds up outputs of the multipliers TM11 and TM12 and
outputs an addition result as a transmission wave tx1.
[0115] The receiving section 15 is configured of multipliers RM11
to RM16 and adders RS11 and RS12. A transmission wave of the device
2 is input to the multipliers RM11 and RM12 via the antenna circuit
17 as a received signal rx1. Oscillation signals having the angular
frequency .omega..sub.C1 and phases 90 degrees different from each
other are respectively given to the multipliers RM11 and RM12 from
the oscillator 13. The multiplier RM11 multiplies together the two
inputs and gives a multiplication result to the multipliers RM13
and RM14. The multiplier RM12 multiplies together the two inputs
and gives a multiplication result to the multipliers RM15 and
RM16.
[0116] An oscillation signal having the angular frequency (a local
angular frequency for baseband processing) .omega..sub.B1 is given
to the multipliers RM13 and RM15 from the oscillator 13. The
multiplier RM13 multiplies together the two inputs and gives a
multiplication result to the adder RS11. The multiplier RM14
multiplies together the two inputs and gives a multiplication
result to the adder RS12.
[0117] An oscillation signal having the angular frequency
.omega..sub.B1 or an inverted signal of the oscillation signal,
that is, a signal orthogonal to the oscillation signal having the
angular frequency .omega..sub.B1 given to the multiplier RM13 is
given to the multipliers RM14 and RM16 from the oscillator 13. The
multiplier RM14 multiplies together the two inputs and gives a
multiplication result to the adder RS12. The multiplier RM16
multiplies together the two inputs and gives a multiplication
result to the adder RS11.
[0118] The adder RS11 adds up outputs of the multipliers RM13 and
RM16 and outputs an addition result as an I signal. The adder RS12
adds up outputs of the multipliers RM14 and RM15 and outputs an
addition result as a Q signal. The I and Q signals from the
receiving section 15 are supplied to the control section 11.
[0119] The circuits shown in FIGS. 4 and 5 are the same circuit.
That is, in FIG. 5, the configurations of the multipliers TM21,
TM22, and RM21 to RM26 and the adders TS21, RS21, and RS22 are
respectively the same as the configurations of the multipliers
TM11, TM12, and RM11 to RM16 and the adders TS11, RS11, and RS12
shown in FIG. 4. The configurations are only different in that,
since the frequency and the phase of the oscillation signal of the
oscillator 23 are different from the frequency and the phase of the
oscillation signal of the oscillator 13, in FIG. 5, a local angular
frequency for baseband .omega..sub.B2 is input instead of the
angular frequency .omega..sub.B1 shown in FIG. 4 and .omega..sub.C2
is input instead of the angular frequency foci shown in FIG. 4. The
I and Q signals from the receiving section 25 are supplied to the
control section 21.
[0120] In the present embodiment, the control section 11 of the
device 1 controls the transmitting section 14 to transmit two
transmission waves having angular frequencies
.omega..sub.C1+.omega..sub.B1 and .omega..sub.C1-.omega..sub.B1 via
the antenna circuit 17.
[0121] On the other hand, the control section 21 of the device 2
controls the transmitting section 24 to transmit two transmission
waves having angular frequencies .omega..sub.C2+.omega..sub.B2 and
.omega..sub.C2-.omega..sub.B2 via the antenna circuit 27.
[0122] The control section 11 of the device 1 controls the
receiving section 15 to receive the two transmission waves from the
device 2 and acquires the I and Q signals. The control section 11
calculates a difference between two phases calculated from the I
and Q signals respectively obtained by two received signals.
[0123] Similarly, the control section 21 of the device 2 controls
the receiving section 25 to receive the two transmission waves from
the device 1 and acquires the I and Q signals. The control section
21 calculates a difference between two phases calculated from the I
and Q signals respectively obtained by two received signals.
[0124] In the present embodiment, the control section 11 of the
device 1 gives phase information based on the acquired I and Q
signals to the transmitting section 14 and causes the transmitting
section 14 to transmit the phase information. Note that, as
explained above, as the phase information, for example, a
predetermined initial value may be given. The phase information may
be I and Q signals calculated from the two received signals, may be
information concerning phases calculated from the I and Q signals,
or may be information concerning a difference between the
phases.
[0125] For example, the control section 11 may generate I and Q
signals based on phase information of a received signal having an
angular frequency .omega..sub.B2 and supplies the I and Q signals
respectively to the multipliers TM11 and TM12 to transmit the phase
information.
[0126] During output of the oscillation signal having the angular
frequency .omega..sub.B1, the control section 11 may generate I and
Q signals obtained by adding phase information of the received
signal having the angular frequency .omega..sub.B2 to an initial
phase of the oscillation signal having angular frequency
.omega..sub.B1 and supply the I and Q signals respectively to the
multipliers TM11 and TM12 to transmit the phase information.
[0127] The receiving section 25 of the device 2 receives the phase
information transmitted by the transmitting section 14 via the
antenna circuit 27. The receiving section 25 demodulates a received
signal and obtains I and Q signals of the phase information. The I
and Q signals are supplied to the control section 21. The control
section 21 obtains, according to the phase information from the
receiving section 25, a value including the phase difference
acquired by the control section 11 of the device 1. The control
section 21 functioning as a calculating section adds up the phase
difference obtained by the reception result of the receiving
section 25 and the phase difference based on the phase information
transmitted from the device 2 to calculate the distance R between
the first device 1 and the second device 2.
[0128] Note that, in FIG. 1, an example is shown in which both of
the first device 1 and the second device 2 have a function of
transmitting phase information and a function of giving received
phase information to the control section and calculating the
distance R. However, it is sufficient that one of the first device
1 and the second device 2 has the function of transmitting phase
information and the other has the function of giving received phase
information to the control section and calculating the distance
R.
[0129] An operation in the configuration configured as explained
above is explained with reference to a flowchart of FIG. 6. In FIG.
6, an operation of the device 1 is shown on a left side and an
operation of the device 2 is shown on a right side. In FIG. 6, an
arrow connecting steps of the devices 1 and 2 indicates that
communication is performed between the devices 1 and 2. Note that
steps S4, S5, S14, and S15 are substantially simultaneously
executed.
[0130] In step S1, the control section 11 of the device 1
determines whether an instruction for a distance measurement start
is received. When the instruction for the distance measurement
start is received, the control section 11 controls the oscillator
13 to start an output of a necessary oscillation signal. In step
S11, the control section 21 of the device 2 determines whether an
instruction for a distance measurement start is received. When the
instruction for the distance measurement start is received, the
control section 21 controls the oscillator 23 to start an output of
a necessary oscillation signal.
[0131] Note that, as explained below, in step S9, the control
section 11 ends oscillation. In step S20, the control section 21
ends oscillation. Control of a start and an end of oscillation in
the control sections 11 and 21 indicates that oscillation of the
oscillators 13 and 23 is not stopped during transmission and
reception periods for distance measurement. Actual start and end
timings of the oscillation are not limited to the flow shown in
FIG. 6. In a period in which the oscillation of the oscillators 13
and 23 continues, initial phases of the respective oscillators 13
and 23 are not set anew.
[0132] The control section 11 of the device 1 generates two
transmission signals in step S3 and causes the antenna circuit 17
to transmit the transmission signals as transmission waves (step
S4). The control section 21 of the device 2 generates two
transmission signals in step S13 and causes the antenna circuit 27
to transmit the transmission signals as transmission waves (step
S14).
[0133] It is assumed that an initial phase of an oscillation signal
having the frequency .omega..sub.C1 output from the oscillator 13
of the device 1 is .theta..sub.c1 and an initial phase of an
oscillation signal having the frequency .omega..sub.B1 is
.theta..sub.B1. Note that, as explained above, the initial phases
.theta..sub.c1 and .theta..sub.B1 are not set anew as long as the
oscillation of the oscillator 13 continues.
[0134] Note that it is assumed that an initial phase of an
oscillation signal having the frequency .omega..sub.C2 output from
the oscillator 23 of the device 2 is .theta..sub.c2 and an initial
phase of an oscillation signal having the frequency .omega..sub.B2
is .theta..sub.B2. The initial phases .theta..sub.c2 and
.theta..sub.B2 are not set anew as long as the oscillation of the
oscillator 23 continues.
[0135] Note that, when simultaneous transmission and simultaneous
reception of two frequencies are assumed, two wireless sections
shown in FIG. 4 are necessary in the device 1 and two wireless
sections shown in FIG. 5 are necessary in the device 2.
Alternatively, a radio of a superheterodyne scheme or the like is
used. However, the respective oscillators use the same radio
section.
(Transmission and Reception of a Transmission Wave Having the
Angular Frequency .omega..sub.C1+.omega..sub.B1 from the Device
1)
[0136] Two transmission waves having the angular frequencies
.omega..sub.C1+.omega..sub.B1 and .omega..sub.C1-.omega..sub.B1 are
output from the transmitting section 14 of the device 1, and the
transmitting section 14 is composed of the multipliers TM11 and
TM12 and the adder TS11. The transmission signal tx1(t) having the
angular frequency .omega..sub.C1+.omega..sub.B1 is represented by
the following Equation (18):
tx1(t)=cos(.omega..sub.C1t+.theta..sub.C1)cos(.omega..sub.B1t+.theta..su-
b.B1)-sin(.omega..sub.C1t+.theta..sub.c1)sin(.omega..sub.B1t+.theta..sub.B-
1)=cos
{(.omega..sub.C1+.omega..sub.B1)t+.theta..sub.C1+.theta..sub.B1}
(18)
[0137] When the distance between the devices 1 and 2 is represented
as R and a delay until a transmission wave from the device 1 is
received by the device 2 is represented as .tau..sub.1, the
received signal rx2(t) of the device 2 can be represented by the
following Equations (19) and (20):
rx2(t)=cos
{(.omega..sub.C1+.omega..sub.B1)(t-.tau..sub.1)+.theta..sub.C1+.theta..su-
b.B1}=cos
{(.omega..sub.C1+.omega..sub.B1)t+.theta..sub.C1+.theta..sub.B1--
.theta..sub..tau.H1} (19)
.theta..sub..tau.H1=(.omega..sub.C1+.omega..sub.B1).tau..sub.1
(20)
[0138] The received signal rx2(t) is received by the antenna
circuit 27 and supplied to the receiving section 25. In the
receiver shown in FIG. 5, the received signal rx2(t) is input to
the multipliers RM21 and RM22. Subsequently, signals in respective
nodes of the receiver shown in FIG. 5 are sequentially calculated.
Outputs of the multipliers RM21, RM23, and RM24 are respectively
represented as I.sub.1(t), I.sub.2(t), and I.sub.3(t), outputs of
the multipliers RM22, RM26, and RM25 are respectively represented
as Q.sub.1(t), Q.sub.2(t), and Q.sub.3(t), and outputs of the
adders RS21 and RS22 are respectively represented as I(t) and Q(t).
The outputs are represented by the following Equations (21) to
(26):
I.sub.1(t)=cos(.omega..sub.C2t-.theta..sub.C2).times.cos
{(.omega..sub.C1+.omega..sub.B1)t+.theta..sub.c1+.theta..sub.B1-.theta..s-
ub..tau.H1} (21)
Q.sub.1(t)=sin(.omega..sub.C2t+.theta..sub.C2).times.cos
{(.omega..sub.C1+.theta..sub.B1)t+.theta..sub.c1+.theta..sub.B1-.theta..s-
ub..tau.H1} (22)
I.sub.2(t)=I.sub.1(t).times.cos(.omega..sub.B2t+.theta..sub.B2)
(23)
Q.sub.2(t)=Q.sub.1(t).times.sin(.omega..sub.B2t+.theta..sub.B2)
(24)
I.sub.3(t)=I.sub.1(t).times.sin(.omega..sub.B2t+.theta..sub.B2)
(25)
Q.sub.3(t)=Q.sub.1(t).times.cos(.omega..sub.B2t+.theta..sub.B2)
(26)
[0139] An output I(t) of the adder RS21 is
I(t)=I.sub.2(t)+Q.sub.2(t). An output Q(t) of the adder RS22 is
Q(t)=I.sub.3(t)-Q.sub.3(t). A phase .theta..sub.H1(t) obtained from
I(t) and Q(t) is represented by the following Equation (27):
.theta..sub.H1(t)=tan.sup.-1(Q(t)/I(t))=-{(.omega..sub.C1-.omega..sub.C2-
)t+(.omega..sub.B1-.omega..sub.B2)t+.theta..sub.C1-.theta..sub.C2+.theta..-
sub.B1-.theta..sub.B2-.theta..sub..tau.H1} (27)
(Transmission and Reception of a Transmission Wave Having the
Angular Frequency .omega..sub.C2+.omega..sub.B2 from the Device
2)
[0140] Similarly, when the signal tx2(t) having the angular
frequency (.omega..sub.C2+.omega..sub.B2 transmitted from the
device 2 is received by the device 1 after a delay .tau..sub.2, a
phase .theta..sub.H2(t) obtained from the signals I(t) and Q(t)
detected by the device 1 is calculated.
tx2(t)=cos(.omega..sub.C2t+.theta..sub.C2)cos(.omega..sub.B2t+.theta..su-
b.B2)-sin(.omega..sub.C2t+.theta..sub.c2)sin(.omega..sub.B2t+.theta..sub.B-
2)=cos
{(.omega..sub.C2+.omega..sub.B2)t+.theta..sub.C2+.theta..sub.B2}
(28)
rx1(t)=cos
{(.omega..sub.C2+.omega..sub.B2)(t-.tau..sub.2)+.theta..sub.C2+.theta..su-
b.B2}=cos
{(.omega..sub.C2+.omega..sub.B2)t+.theta..sub.C2+.theta..sub.B2--
.theta..sub..tau.H2} (29)
.theta..sub..tau.H2=(.omega..sub.C2+.omega..sub.B2).tau..sub.2
(30)
[0141] The received signal rx1(t) is received by the antenna
circuit 17 and supplied to the receiving section 15. In the
receiver shown in FIG. 4, the received signal rx1(t) is input to
the multipliers RM11 and RM12. Subsequently, signals in respective
nodes of the receiver shown in FIG. 4 are sequentially calculated.
Outputs of the multipliers RM11, RM13, and RM14 are respectively
represented as I.sub.1(t), I.sub.2(t), and I.sub.3(t), outputs of
the multipliers RM12, RM16, and RM15 are respectively represented
as Q.sub.1(t), Q.sub.2(t), and Q.sub.3(t), and outputs of the
adders RS11 and RS12 are respectively represented as I(t) and Q(t).
The outputs are represented by the following Equations (31) to
(36):
I.sub.1(t)=cos(.omega..sub.C1t+.theta..sub.C1).times.cos
{((.omega..sub.C2+.omega..sub.B2)t+.theta..sub.c2+.theta..sub.B2-.theta..-
sub..tau..sub.H2.sub.} (31)
Q.sub.1(t)=sin(.omega..sub.C1t+.theta..sub.C1).times.cos
{(.omega..sub.C2+.omega..sub.B2)t+.theta..sub.c2+.theta..sub.B2-.theta..s-
ub..tau.H2} (32)
I.sub.2(t)=I.sub.1(t).times.cos(.omega..sub.B1t+.theta..sub.B1)
(33)
Q.sub.2(t)=Q.sub.1(t).times.sin(.omega..sub.B1t+.theta..sub.B1)
(34)
I.sub.3(t)=I.sub.1(t).times.sin(.omega..sub.B1t+.theta..sub.B1)
(35)
Q.sub.3(t)=Q.sub.1(t).times.cos(.omega..sub.B1t+.theta..sub.B1)
(36)
[0142] An output I(t) of the adder RS11 is
I(t)=I.sub.2(t)+Q.sub.2(t). An output Q(t) of the adder RS12 is
Q(t)=I.sub.3(t)-Q.sub.3(t). A phase
.theta..sub.H2(t)=tan.sup.-1(Q(t)/I(t)) obtained from I(t) and Q(t)
is represented by the following Equation (37):
.theta..sub.H2(t)=(.omega..sub.C1-.omega..sub.C2)t+(.omega..sub.B1-.omeg-
a..sub.B2)t+.theta..sub.C1-.theta..sub.C2+.theta..sub.B1-.theta..sub.B2+.t-
heta..sub..tau.H2 (37)
(Transmission and Reception of a Transmission Wave Having the
Angular Frequency .omega..sub.C1-.omega..sub.B1 from the Device
1)
[0143] The signal tx1(t) having the angular frequency
.omega..sub.C1-.omega..sub.B1 transmitted from the device 1 is
calculated in the same manner.
tx1(t)=cos(.omega..sub.C1t+.theta..sub.C1)cos(.omega..sub.B1t+.theta..su-
b.B1)+sin(.omega..sub.C1t+.theta..sub.c1)sin(.omega..sub.B1t+.theta..sub.B-
1)=cos
{(.omega..sub.C1-.omega..sub.B1)t+.theta..sub.C1-.theta..sub.B1}
(38)
[0144] Since the distance between the devices 1 and 2 is R and the
delay time is the received signal rx2(t) in the device 2 is
represented by the following Equations (39) and (40):
rx2(t)=cos
{(.omega..sub.C1-.omega..sub.B1)(t-.tau..sub.1)+.theta..sub.C1+.theta..su-
b.B1}=cos
{(.omega..sub.C1-.omega..sub.B1)t+.theta..sub.C1-.theta..sub.B1--
.theta..sub..tau.L1} (39)
.theta..sub..tau.L1=(.omega..sub.C1-.omega..sub.B1).tau..sub.1
(40)
[0145] Signals of the respective nodes of the device 2 can be
represented by the following Equations (41) to (47):
I.sub.1(t)=cos(.omega..sub.C2t+.theta..sub.C2).times.cos
{(.omega..sub.C1-.omega..sub.B1)t+.theta..sub.c1-.theta..sub.B1-.theta..s-
ub..tau.L1} (41)
Q.sub.1(t)=sin(.omega..sub.C2t+.theta..sub.C2).times.cos
{(.omega..sub.C1-.omega..sub.B1)t+.theta..sub.c1-.theta..sub.B1.theta..su-
b..tau.L1} (42)
I.sub.2(t)=I.sub.1(t).times.cos(.omega..sub.B2t+.theta..sub.B2)
(43)
Q.sub.2(t)=Q.sub.1(t).times.-sin(.omega..sub.B2t+.theta..sub.B2)
(44)
I.sub.3(t)=I.sub.1(t).times.-sin(.omega..sub.B2t+.theta..sub.B2)
(45)
Q.sub.3(t)=Q.sub.1(t).times.cos(.omega..sub.B2t+.theta..sub.B2)
(46)
[0146] A phase .theta..sub.H1(t)=tan.sup.-1(Q(t)/I(t)) detected by
the device 2 from I(t)=I.sub.2(t)-Q.sub.2(t) obtained from the
adder RS21 and Q(t)=I.sub.3(t)+Q.sub.3(t) obtained from the adder
RS22 is represented by the following Equation (47):
.theta..sub.L1(t)=tan.sup.-1{(Q(t)/I(t))=-(.omega..sub.C1-.omega..sub.C2-
)t-(.omega..sub.B1-.omega..sub.B2)t+.theta..sub.C1-.theta..sub.C2-(.theta.-
.sub.B1-.theta..sub.B2)-.theta..sub..tau.L1} (47)
(Transmission and Reception of a Transmission Wave Having the
Angular Frequency .omega..sub.C2-.omega..sub.B2 from the Device
2)
[0147] Similarly, when the signal tx2(t) having the angular
frequency .omega..sub.C2-.omega..sub.B2 transmitted from the device
2 is received by the device 1 after a delay .tau..sub.2, a phase
.theta..sub.L2(t) obtained from I(t) and Q(t) detected by the
device 1 is calculated.
tx2(t)=cos(.omega..sub.C2t+.theta..sub.C2)cos(.omega..sub.B2t+.theta..su-
b.B2)+sin(.omega..sub.C2t+.theta..sub.C2)sin(.omega..sub.B2t+.theta..sub.B-
2)=cos
{(.omega..sub.C2.omega..sub.B2)t+.theta..sub.C2-.theta..sub.B2}
(48)
rx1(t)=cos
{(.omega..sub.C2-.omega..sub.B2)(t-.tau..sub.2)+.theta..sub.C2-.theta..su-
b.B2}=cos
{(.omega..sub.C2-.omega..sub.B2)t+.theta..sub.C2-.theta..sub.B2--
.sub..tau.L2} (49)
.theta..sub..tau.L2=(.omega..sub.C2-.omega..sub.B2).tau..sub.2
(50)
[0148] Signals of the respective nodes of the device 1 can be
represented by the following Equations (53) to (57):
I.sub.1(t)=cos(.omega..sub.C1t+.theta..sub.C1).times.cos
{(.omega..sub.C2-.omega..sub.B2)t+.theta..sub.c2-.theta..sub.B2-.theta..s-
ub..tau.L2} (51)
Q.sub.1(t)=sin(.omega..sub.C1t+.theta..sub.C1).times.cos
{(.omega..sub.C2-.omega..sub.B2)t+.theta..sub.c2-.theta..sub.B2.theta..su-
b..tau.L2} (52)
I.sub.2(t)=I.sub.1(t).times.cos(.omega..sub.B1t+.theta..sub.B1)
(53)
Q.sub.2(t)=Q.sub.1(t).times.-sin(.omega..sub.B1t+.theta..sub.B1)
(54)
I.sub.3(t)=I.sub.1(t).times.-sin(.omega..sub.B1t+.theta..sub.B1)
(55)
Q.sub.3(t)=Q.sub.1(t).times.cos(.omega..sub.B1t+.theta..sub.B1)
(56)
[0149] A phase .theta..sub.H1(t)=tan.sup.-1(Q(t)/I(t)) detected by
the device 1 from I(t)=I.sub.2(t)-Q.sub.2(t) obtained from the
adder RS11 and Q(t)=I.sub.3(t)+Q.sub.3(t) obtained from the adder
RS12 is represented by the following Equation (57):
.theta..sub.L2(t)=(.omega..sub.C1-.omega..sub.C2)t-(.omega..sub.B1-.omeg-
a..sub.B2)t+.theta..sub.C1-.theta..sub.C2-(.theta..sub.B1-.theta..sub.B2)+-
.theta..sub..tau.L2 (57)
[0150] In step S6 in FIG. 6, the control section 11 of the device 1
acquires the I and Q signals received by the receiving section 15.
In step S7, the control section 11 calculates the phases
.theta..sub..tau.H1(t) and .theta..sub..tau.L1(t) represented by
Equations (27) and (47) described above. In step S16 in FIG. 6, the
control section 21 of the device 2 acquires the I and Q signals
received by the receiving section 25. In step S17, the control
section 21 calculates the phases .theta..sub..tau.H2(t) and
.theta..sub..tau.L2(t) represented by Equations (37) and (57)
described above.
[0151] The control section 11 gives acquired phase information to
the transmitting section 14 and causes the transmitting section 14
to transmit the phase information (step S8). For example, the
control section 11 supplies the I and Q signals based on the phase
information instead of the oscillation signals supplied to the
multipliers TM11 and TM12 shown in FIG. 4. As described later, the
phase information are given to I.sub.T, Q.sub.T signals in FIG. 50
and FIG. 51. Note that another transmitter for transmitting the
phase information may be used.
[0152] In step S18, the control section 21 of the device 2 receives
the phase information from the device 1. As explained above, the
phase information may be the I and Q signals from the receiving
section 15 of the device 1, may be information concerning phases
obtained from the I and Q signals, or may be information concerning
a difference between the phases.
[0153] In step S19, the control section 21 performs an operation of
the following Equation (58) to calculate a distance. The following
Equation (58) is an Equation for adding up a difference between
Equation (27) and Equation (47) and a difference between Equation
(37) and Equation (57).
{.theta..sub.H1(t)-.theta..sub.L1(t)}+{.theta..sub.H2(t)-.theta..sub.L2(-
t)}=(.theta..sub..tau.H1-.theta..sub..tau.L1)+(.theta..sub..tau.H2-.theta.-
.sub..tau.L2) (58)
[0154] The following Equations (59) and (60) hold:
.theta..sub..tau.H1-.theta..sub..tau.L1=(.omega..sub.C1+.omega..sub.B1).-
tau..sub.1-(.omega..sub.C1-.omega..sub.B1).tau..sub.1=2.omega..sub.B1.tau.-
1 (59)
.theta..sub..tau.H2-.theta..sub..tau.L2=(.omega..sub.C2+.omega..sub.B2).-
tau..sub.2-(.omega..sub.C2-.omega..sub.B2).tau..sub.2=2.omega..sub.B2.tau.-
2 (60)
[0155] The delays .tau..sub.1 and .tau..sub.2 of radio waves
between the devices 1 and 2 are the same irrespective of a
traveling direction. Therefore, the following Equation (61) is
obtained from Equation (58):
{.theta..sub.H1(t)-.theta..sub.L1(t)}+{.theta..sub.H2(t)-.theta..sub.L2(-
t)}=(.theta..sub..tau.H1-.theta..sub..tau.L1)+(.theta..sub..tau.H2-.theta.-
.sub..tau.L2)=2.times.(.omega..sub.B1+.omega..sub.B2).tau..sub.1
(61)
[0156] Equation (61) described above indicates that a value
proportional to a double of the distance R is calculated by
addition of a phase difference between two frequencies by the I and
Q signals detected by the device 2 and a phase difference between
two frequencies by the I and Q signals detected by the device 1. In
general, the angular frequency .omega..sub.B1 by the oscillator 13
of the device 1 and the angular frequency .omega..sub.B2 by the
oscillator 13 of the device 2 can be matched with an error in the
order of several ten ppm. Therefore, the distance R by Equation
(61) described above can be calculated at resolution of equal to or
higher than at least approximately 1 m.
[0157] In step S9, the control section 11 stops the oscillator 13.
In step S20, the control section 21 stops the oscillator 23. Note
that, as explained above, the control sections 11 and 21 only have
to continue the oscillation in a period of transmission and
reception in steps S4, S5, S14, and S15. Start and end timings of
the oscillation of the oscillators 13 and 23 are not limited to the
example shown in FIG. 6.
(Calculation of a Distance by a Residue of 2.pi.)
[0158] Incidentally, when the addition of the phase differences
detected by the device 1 and the device 2 is performed, a result of
the addition is sometimes equal to or smaller than -.pi.(rad) or
larger than .pi.(rad). In this case, it is possible to calculate a
correct distance R with respect to a detected phase by calculating
a residue of 2.pi..
[0159] FIGS. 7 and 8 are explanatory diagrams for explaining a
method of calculating a distance using a system of residue.
[0160] For example, when R=11 m and
.omega..sub.B1=.omega..sub.B2=2.pi..times.5 M, a detected phase
difference .DELTA..theta..sub.12 obtained by the device 1 and a
detected phase difference .DELTA..theta..sub.21 obtained by the
device 2 are respectively as represented by the following Equations
(62) and (63):
.DELTA..theta..sub.12=.theta..sub..tau.H1-.theta..sub..tau.L1=-1.8849
(62)
.DELTA..theta..sub.21=.theta..sub..tau.H2-.theta..sub..tau.L2=-6.0737
(63)
[0161] The following Equation (61a) is obtained from Equation (61)
described above:
(1/2)[{.DELTA..theta..sub.12}+.DELTA.{.theta..sub.21}]=(.omega..sub.B1+.-
omega..sub.B2)(R/c) (61a)
[0162] FIG. 7 shows a phase relation between Equations (62) and
(63) described above. A phase of a sum of .DELTA..theta..sub.21
indicated by an arrow on inner most side and .DELTA..theta..sub.12
indicated by a second arrow from the inner side rotating in a
clockwise direction on a basis of a phase 0 degree is a phase
indicated by a third arrow from the inner side. A half angle of
this phase is a phase of a thick line indicated by an arrow on the
outermost side.
[0163] From Equation (61a),
-0.3993=(.omega..sub.B1+.omega..sub.B2)(R/c) is obtained. When this
Equation is solved, R=-19 m. It is seen that a distance cannot be
correctly calculated because a detected phase difference is larger
than -.pi.(rad).
[0164] Therefore, in the present embodiment, in such a case, as
shown in FIG. 8, 2.pi. is added to both of .DELTA..theta..sub.12
and .DELTA..theta..sub.21. That is, a phase of a sum of
2.pi.+.DELTA..theta..sub.21 indicated by an arrow on inner most
side and 2.pi.+.DELTA..theta..sub.12 indicated by a second arrow
from the inner side rotating in a counterclockwise direction on a
basis of the phase 0 degree is a phase indicated by a third arrow
from the inner side. A half angle of this phase is a phase of a
thick line indicated by an arrow on the outermost side.
2.pi.+(.DELTA..theta..sub.12+.DELTA..theta..sub.21)/2=2.3008
From Equation (61a), R is calculated as R=11 m.
[0165] Consequently, in the present embodiment, when the detected
phase differences are added up, a residue of 2.pi. only has to be
calculated to calculate the distance R. Note that the method of
using the residue of 2.pi. in the phase addition is applicable in
other embodiments.
(Selection from a Plurality of Distance Candidates)
[0166] Incidentally, a detected phase difference exceeding 2.pi.
cannot be detected. Therefore, a plurality of distance candidates
are present with respect to a calculated detected phase difference.
As a method of selecting a correct distance from the plurality of
distance candidates, a method of transmitting three transmission
waves having different angular frequencies and a method of
determining a distance according to received power exist.
[0167] FIG. 9 is an explanatory diagram showing an example in which
a distance is plotted on the horizontal axis and a phase is plotted
on the vertical axis and the third transmission wave having a
different angular frequency is transmitted.
[0168] The following Equation (64) is obtained from Equation (61)
described above:
(1/2).times.{(.theta..sub..tau.H1-.theta..sub..tau.L1)+(.theta..sub..tau-
.H2-.theta..sub..tau.L2)}=(.omega..sub.B1+.theta..sub.B2).times.(R/c)
(64)
[0169] When a left side is described as .theta..sub.det, a relation
between the distance R and .theta..sub.det is as indicated by a
solid line in FIG. 9. However, although a sum .theta..sub.det of
detected phase differences calculated by Equation (64) described
above can take a value other than a value between -.pi.(rad) and
.pi.(rad), the sum .theta..sub.det of the phase differences is a
value converted into a value between -.pi.(rad) and .pi.(rad). In
general, this is because a phase angle is displayed within a range
[-.pi.(rad), .pi.(rad)].
[0170] Referring to FIG. 9, candidates of a distance by the sum
.theta..sub.det of the detected phase differences include R.sub.1,
R.sub.2, and R.sub.3. The sum .theta..sub.det of the detected phase
differences is an addition and subtraction result of phases
obtained by transmission and reception of respective transmission
waves having angular frequencies .omega..sub.C1+.omega..sub.B1,
.omega..sub.C1-.omega..sub.B1, .omega..sub.C2+.omega..sub.B2, and
.omega..sub.C2-.omega..theta..sub.B2. However, an addition and
subtraction result of phases obtained by transmission and reception
of transmission waves having angular frequencies
.omega..sub.C1+.omega..sub.B1/Q and .omega..sub.C2+.omega..sub.B2/Q
is considered anew. Q is a rational number satisfying the following
Inequality (65):
Q>1 (65)
[0171] A relation between detected phases at the new angular
frequencies and the distance R can be indicated by a broken line
shown in FIG. 9. To select a correct distance from the candidates
R.sub.1, R.sub.2, and R.sub.3 of the distance, a result of the
detected phases obtained at the new angular frequencies is referred
to. That is, if .theta..sub.det1 is detected, the correct distance
is determined as the distance R.sub.1. If .theta..sub.det2 is
detected, the correct distance is determined as the distance
R.sub.2. Note that, if a coverage of a radio wave is kept small,
the inspection by the phase aliasing is unnecessary. Note that the
transmission at the different three frequencies is explained above.
However, the same can be realized by transmitting different three
or more frequencies.
[0172] A method of selecting a correct distance according to
amplitude observation of a detected signal is explained with
reference to the explanatory diagram of FIG. 10.
[0173] In Equation (8) described above, the amplitude is attenuated
at the attenuation L.sub.1 according to the distance R. However,
propagation attenuation in a free space is represented by the
following Equation (66):
L.sub.1=(.lamda./4.pi.R).sup.2 (66)
where .lamda. is a wavelength. According to Equation (66), if the
distance R is large, the attenuation L.sub.1 is also large and, if
the distance R is small, the attenuation L1 is also small. FIG. 10
shows this relation. When it is assumed that an antenna gain of
transmission and reception is 1 and transmission power is P.sub.0,
received power P.sub.1 at the distance R.sub.1 and received power
P.sub.2 at the distance R.sub.2 are respectively represented by the
following Equations (67) and (68):
P.sub.1=(.lamda./4.pi.R.sub.1).sup.2.times.P.sub.0 (67)
P.sub.2=(.lamda./4.pi.R.sub.2).sup.2.times.P.sub.0 (68)
[0174] It is possible to distinguish the distances R.sub.1 and
R.sub.2 from the sum .theta..sub.det of the detected phase
differences and the received power.
[0175] Note that, in this case, it is possible to perform sure
distance measurement by using the residue of 2.pi. in the phase
addition as well.
[0176] As explained above, in the present embodiment, the signals
having the two angular frequencies are transmitted from the first
device and the second device to the second device and the first
device respectively, and the two phases of the two received signals
having different angular frequencies are respectively calculated in
the first and second devices. Any one of the first device and the
second device transmits calculated phase information to the other.
The device that receives the phase information accurately
calculates the distance between the first device and the second
device irrespective of initial phases of the oscillators of the
first device and the second device according to an addition result
of a phase difference between the two received signals received by
the first device and a phase difference between the two received
signals received by the second device. In the distance measuring
system, a reflected wave is not used. The accurate distance
measurement is performed by only one direction from the first
device and the second device. It is possible to increase a
measurable distance.
Second Embodiment
[0177] FIG. 11A is a flowchart according to a second embodiment of
the present invention. FIGS. 11B to 15 are explanatory diagrams
according to the second embodiment. A hardware configuration in the
present embodiment is the same as the hardware configuration in the
first embodiment. A method of transmitting two transmission waves
and receiving the transmission waves in both the devices 1 and 2
and calculating a distance according to an addition result of phase
differences detected from received signals is the same as the
method in the first embodiment.
{.theta..sub.H1(t)-.theta..sub.L1(t)}+{.theta..sub.H2(t)-.theta..sub.L2(-
t)}=(.theta..sub..tau.H1-.theta..sub..tau.L1)+(.theta..sub..tau.H2-.theta.-
.sub..tau.L2) (58)
[0178] In the first embodiment, Equation (61) described above for
calculating a distance from addition of detected phase differences
is calculated assuming that the delays .tau..sub.1 and .tau..sub.2
of the radio wave are the same in Equation (58) described above.
However, Equation (58) is an example in the case in which
transmission and reception processing is simultaneously performed
in the devices 1 and 2.
[0179] However, because of the provision of the Radio Law in the
country, a frequency band in which simultaneous transmission and
reception cannot be performed is present. For example, a 920 MHz
band is an example of the frequency band. When distance measurement
is performed in such a frequency band, transmission and reception
has to be performed in time-series processing. In the present
embodiment, an example adapted to such time-series transmission and
reception is explained.
(Problems in the Time-Series Transmission and Reception)
[0180] When it is specified that only one wave can be transmitted
and received at the same time between the devices 1 and 2, it is
necessary to carry out, in time-series processing, transmission and
reception of at least four waves necessary for distance
measurement. However, when the time-series transmission and
reception is carried out, a phase equivalent to a delay that occurs
in time-series processing is added to a detected phase. A phase
required for propagation cannot be calculated. A reason for this is
explained by modifying Equation (58) explained above.
[0181] Note that a broken line portion of FIG. 6 is substantially
simultaneously executed. However, when transmission and reception
of one wave is performed in time-series processing, the broken line
portion is as shown in FIG. 11A.
[0182] As in the first embodiment, in the devices 1 and 2 separated
from each other by the distance R, a phase (shift amount) at the
time when a signal having the angular frequency
.omega..sub.C1+.omega..sub.B1 transmitted from the device 1 is
detected in the device 2 is represented as .theta..sub.H1, a phase
at the time when a signal having the angular frequency
.omega..sub.C1-.omega..sub.B1 transmitted from the device 1 is
detected in the device 2 is represented as .theta..sub.L1, a phase
(shift amount) at the time when a signal having the angular
frequency .omega..sub.C2+.omega..sub.B2 transmitted from the device
2 is detected in the device 1 is represented as .theta..sub.H2, and
a phase at the time when a signal having the angular frequency
.omega..sub.C2-.omega..sub.B2 transmitted from the device 2 is
detected in the device 1 is represented as .theta..sub.L2.
[0183] For example, phase detection order is set as .theta..sub.H1,
.theta..sub.L2, .theta..sub.H2, and .theta..sub.L1. As shown in
FIGS. 11B and 11C, respective transmission signals are transmitted
and received while being shifted by a time T. In this case, a time
is substituted in (t) of Equations (27), (37), (47), and (57)
described above. The following Equation (120) obtained by modifying
Equation (58) described above holds:
{.theta..sub.H1(t)-.theta..sub.L1(t+3T)}+{.theta..sub.H2(t+2T)-.theta..s-
ub.L2(t+T)}=(.theta..sub..tau.H1-.theta..sub..tau.L1)+(.theta..sub..tau.H2-
-.theta..sub..tau.L2)+(.omega..sub.C1-.omega..sub.C2)4T (120)
[0184] A last term of Equation (120) described above is a phase
added by the time-series transmission and reception. The added
phase is a multiplication result of error angular frequencies
between the local angular frequencies used in the device 1 and the
device 2 and a delay 4T, where the local frequencies are almost the
same frequencies as the RF frequencies used in the device 1 and the
device 2. When a local frequency is set to 920 MHz, a frequency
error is set to 40 ppm, and a delay T is set to 0.1 ms, the added
phase is 360.degree..times.14.7. It is seen that an error due to
the added phase is too large and distance measurement cannot be
correctly performed.
[0185] The phase detection order is set as .theta..sub.H1,
.theta..sub.L1, .theta..sub.H2, and .theta..sub.L2. FIGS. 12A and
12B show an example of this case. In this case, the following
Equation (121) is obtained by modifying Equation (58) described
above:
{.theta..sub.H1(t)-.theta..sub.L1(t+T)}+{.theta..sub.H2(t+2T)-.theta..su-
b.L2(t+3T)}=(.theta..sub..tau.H1-.theta..sub..tau.L1)+(.theta..sub..tau.H2-
-.theta..sub..tau.L2)+(.omega..sub.B1-.omega..sub.B2)4T (121)
[0186] A last term of Equation (121) described above is a phase
added by the time-series transmission and reception. The added
phase is a multiplication result of error angular frequencies
between the local angular frequencies for baseband processing used
in the device 1 and the device 2 and a delay 4T, where the local
frequencies for baseband processing are almost the same frequencies
as the baseband frequencies used in the device 1 and the device 2.
When a local frequency for baseband processing is set to 5 MHz, a
frequency error is set to 40 ppm, and the delay T is set to 0.1 ms,
the added phase is 360.degree..times.0.08=28.8.degree.. It is seen
from precedence that distance measurement can be correctly
performed.
[0187] However, in this case, it depends on a system whether an
error is within an allowable error of system specifications. The
present embodiment presents a time-series procedure for reducing a
distance error that occurs because of the time-series transmission
and reception. Note that the present embodiment indicates a
procedure that takes into account the regulation of transmission
and reception specified by the Radio Law.
(Specific Procedure)
[0188] First, an influence due to a transmission delay is
considered.
[0189] The following Equation (122) is obtained by modifying
Equation (58) described above:
{.theta..sub.H1(t)+.theta..sub.H2(t)}-{.theta..sub.L1(t)+.theta..sub.L2(-
t)}=(.theta..sub..tau.H1+.theta..sub..tau.H2)-(.theta..sub..tau.L1+.theta.-
.sub..tau.L2) (122)
In the equation,
.theta..sub.H1(t)+.theta..sub.H2(t)=.theta..sub..tau.H1-.theta..sub..tau-
.H2 (123)
.theta..sub.L1(t)+.theta..sub.L2(t)=.theta..sub..tau.L1+.theta..sub..tau-
.L2 (124)
[0190] In wireless communication, there is a provision that, when a
signal addressed to oneself is received, a reply can be transmitted
without carrier sense. According to the provision, after
transmission of a signal from the device 1 to the device 2 ends, a
reply is immediately transmitted from the device 2 to the device 1.
To simplify an analysis, it is assumed that the device 2 transmits
a reply to the device 1 after to from the transmission by the
device 1. The following Equation (125) is obtained from Equations
(27) and (37):
.theta..sub.H1(t)+.theta..sub.H2(t+t.sub.0)=.theta..sub..tau.H1+.theta..-
sub..tau.H2+{(.omega..sub.B1-.omega..sub.B2)+(.omega..sub.C1-.omega..sub.C-
2)}t.sub.0 (125)
[0191] A delay t.sub.0 is a shortest time period and includes a
time period in which a signal having the angular frequency
.omega..sub.C1+.omega..sub.B1 is transmitted from the device 1 to
the device 2, a transmission and reception timing margin, and a
propagation delay. A third term and a fourth term on a right side
are phase errors due to the delay t.sub.0. The fourth term is
particularly a problem because a frequency is high. This is
referred to below.
[0192] The delay T is further added to a left side of Equation
(125). FIG. 13 shows such a transmission procedure. As shown in
FIG. 13, an addition value of a detected phase in this case is the
same irrespective of the addition of the delay T. Therefore, the
following Equation (126) is obtained:
.theta..sub.H1(t+T)+.theta..sub.H2(t+t.sub.0+T)=.theta..sub..tau.H1+.the-
ta..sub..tau.H2+{(.omega..sub.B1-.omega..sub.B2)+(.omega..sub.C1-.omega..s-
ub.C2)}t.sub.0 (126)
[0193] A right side of Equation (126) described above and a right
side of Equation (125) described above are the same. That is, if a
relative time difference is the same (in the example explained
above, T), an addition result of a phase in which a signal
transmitted from the device 1 is received by the device 2 and a
phase in which a signal transmitted from the device 2 is received
by the device 1 does not change irrespective of the delay T. That
is, the addition result of the phases is a value that does not
depend on the delay T.
[0194] Transmission and reception of the angular frequency
foci-corn signal between the device 1 and the device 2 is explained
the same. That is, the following Equations (127) and (128) are
obtained from Equations (47) and (57) described above:
.theta..sub.L1(t)+.theta..sub.L2(t+t.sub.0)=.theta..sub..tau.L1+.theta..-
sub..tau.L2+{-(.omega..sub.B1-.omega..sub.B2)+(.omega..sub.C1-.omega..sub.-
C2)}t.sub.0 (127)
.theta..sub.L1(t+T)+.theta..sub.L2(t+t.sub.0+T)=.theta..sub..tau.L1+.the-
ta..sub..tau.L2+{-(.omega..sub.B1-.omega..sub.B2)+(.omega..sub.C1-.omega..-
sub.C2)}t.sub.0 (128)
[0195] From the above examination, a sequence is considered in
which, after transmission and reception in both directions of the
angular frequency .omega..sub.C1+.omega..sub.B1 signal,
transmission of reception of the angular frequency
.omega..sub.C1-.omega..sub.B1 signal is performed. When a
transmission start time of the angular frequency
.omega..sub.C1-.omega..sub.B1 signal from the device 1 is
represented as T on a basis of a transmission start time of the
angular frequency .omega..sub.C1+.omega..sub.B1 signal, the
following Equation (129) is obtained from Equations (125) and (128)
describe above, where T>t.sub.0 is assumed.
.theta..sub.H1(t)+.theta..sub.H2(t+t.sub.0)-{.theta..sub.L1(t+T)+.theta.-
.sub.L2(t+t.sub.0+T)}=.theta..sub..tau.H1-.theta..sub..tau.L1+.theta..sub.-
.tau.H2-.theta..sub..tau.L2+2(.omega..sub.B1-.omega..sub.B2)t.sub.0
(129)
[0196] A last term of a left side of Equation (129) described above
is a phase error due to a transmission delay. A delay error due to
a received local frequency for high-frequency is cancelled by
calculating a difference between the angular frequency
.omega..sub.C1+.omega..sub.B1 signal and the angular frequency
.omega..sub.C1-.omega..sub.B1 signal. Therefore, the phase error
is, in terms of time series, multiplication of a shortest delay
time t.sub.0 and an error of a local angular frequency (e.g.,
2.pi..times.5 MHz) for a baseband processing. If the delay time
t.sub.0 is set small, the error is small. Therefore, depending on a
value of the delay time t.sub.0, practically, it is considered
possible to perform distance measurement without a problem in
accuracy.
[0197] A method of removing the last term of Equation (129)
described above, which is a distance estimation error factor, is
explained.
[0198] The following Equation (130) is obtained from Equations (27)
and (37) described above:
.theta..sub.H1(t+t.sub.0)+.theta..sub.H2(t)=.theta..sub..tau.H1+.theta..-
sub..tau.H2-{(.omega..sub.B1-.omega..sub.B2)+(.omega..sub.C1-.omega..sub.C-
2)}t.sub.0 (130)
[0199] Even if a predetermined delay D is added to a left side of
Equation (130), as explained above, a value of a right side does
not change. Therefore, the following Equation (131) is
obtained:
.theta..sub.H1(t+t.sub.0+D)+.theta..sub.H2(t+D)=.theta..sub..tau.H1-.the-
ta..sub..tau.H2-{(.omega..sub.B1-.omega..sub.B2)+(.omega..sub.C1-.omega..s-
ub.C2)}t.sub.0 (131)
[0200] When the Equations (125) and (131) are added up, the
following Equation (132) is obtained:
.theta..sub.H1(t)+.theta..sub.H2(t+t.sub.0)+.theta..sub.H1(t+t.sub.0+D)+-
.theta..sub.H2(t+D)=2(.theta..sub..tau.H1+.theta..sub..tau.H2)
(132)
[0201] A left side of FIG. 14 shows a state of Equation (132)
described above. When D=t.sub.0 in Equation (132), the following
Equation (133) is obtained:
.theta..sub.H1(t)+2.theta..sub.H2(t+t.sub.0)+.theta..sub.H1(t+2t.sub.0)=-
2(.theta..sub..tau.H1+.theta..sub..tau.H2) (133)
[0202] A right side of Equation (133) described above is only a
term of a radio wave propagation delay corresponding to a distance
that does not depend on time.
[0203] From Equations (47) and (57) described above, the following
Equation (134) is obtained:
.theta..sub.L1(t+t.sub.0)+.theta..sub.L2(t)=.theta..sub..tau.L1+.theta..-
sub..tau.L2-.omega..sub.B1-.omega..sub.B2)+(.omega..sub.C1-.omega..sub.C2)-
t.sub.0 (134)
[0204] Even if the predetermined delay D is added to a left side of
Equation (134), a value of a right side does not change. Therefore,
the following Equation (135) is obtained:
.theta..sub.L1(t+t.sub.0+D)+.theta..sub.L2(t+D)=.theta..sub..tau.L1+.the-
ta..sub..tau.L2-{-(.omega..sub.B1-.omega..sub.B2)+(.omega..sub.C1-.omega..-
sub.C2)}t.sub.0 (135)
[0205] When Equations (127) and (135) described above are added up,
the following Equation (136) is obtained:
.theta..sub.L1(t)+.theta..sub.L2(t+t.sub.0)+.theta..sub.L1(t+t.sub.0+D)+-
.theta..sub.L2(t+D)=2(.theta..sub..tau.L1+.theta..sub..tau.L2)
(136)
[0206] In Equation (136), when D=t.sub.0, the following Equation
(137) is obtained:
.theta..sub.L1(t)+2.theta..sub.L2(t+t.sub.0)+.theta..sub.L1(t+2t.sub.0)=-
2(.theta..sub..tau.L1+.theta..sub..tau.L2) (137)
[0207] A right side of Equation (137) described above is only a
term of a radio wave propagation delay corresponding to a distance
that does not depend on time.
[0208] Equations (133) and (137) described above mean a sequence
for performing phase detection of a transmission signal of the
device 1 in the device 2, performing phase detection of a
transmission signal of the device 2 in the device 1 after t.sub.0,
and performing the phase detection of the transmission signal of
the device 1 in the device 2 again after 2t.sub.0. In the following
explanation, the process in which transmission of the transmission
signal of the device 1 and phase detection in the device 2 for the
transmission signal and transmission of the transmission signal of
the device 2 and phase detection in the device 1 for the
transmission signal alternate and the phase detections are measured
again by shifting time is referred to as "repeated
alternation".
[0209] That is, the repeated alternation for respectively
transmitting and receiving two carrier signals in the devices 1 and
2 and transmitting and receiving the carrier signals again at a to
interval from the device 1 or 2 to the other device is performed.
Consequently, although the order and time of the transmission are
limited, it is possible to perform accurate distance measurement
that does not depend on time.
[0210] Further, depending on a transmission and reception sequence
of carrier signals, even if the repeated alternation is not
performed at the to interval, it is possible to perform accurate
distance measurement that does not depend on time.
[0211] That is, even if a fixed delay T is added to a left side of
Equation (136) described above, a right side is fixed. Therefore,
the following Equation (138) is obtained:
.theta..sub.L1(t+T)+.theta..sub.12(t+t.sub.0+T)+.theta..sub.L1(t+t.sub.0-
+D+T)+.theta..sub.L2(t+D+T)=2(.theta..sub..tau.L1+.theta..sub..tau.L2)
(138)
[0212] The following Equation (139) is obtained from Equations
(132) and (138) described above:
.theta..sub.H1(t)+.theta..sub.H2(t+t.sub.0)+.theta..sub.H1(t+t.sub.0+D)+-
.theta..sub.H2(t+D)-{.theta..sub.L1(t+T)+.theta..sub.L2(t+t.sub.0+T)+.thet-
a..sub.L1(t+t.sub.0+D+T)+.theta..sub.L2(t+D+T)}=2{(.theta..sub..tau.H1-.th-
eta..sub..tau.L1)+(.theta..sub..tau.H2-.theta..sub..tau.L2)}=4.times.(.ome-
ga..sub.B1+.omega..sub.B2).tau..sub.1 (139)
[0213] Equation (139) described above indicates a sequence for,
after performing the repeated alternation of reciprocation of the
angular frequencies .omega..sub.C1+.omega..sub.B1 signal and
.omega..sub.C2+.omega..sub.B2 signal at the time interval D,
performing the repeated alternation of reciprocation of the angular
frequencies .omega..sub.C1-.omega..sub.B1 signal and
.omega..sub.C2-.omega..sub.B2 signal at the time interval D after T
from a measurement start. By adopting this sequence, it is possible
to remove a distance estimation error factor of the last term of
Equation (129) described above and perform accurate distance
measurement.
[0214] FIGS. 14 and 15 show the sequence. It is possible to extract
only a propagation delay component by measuring a phase in such a
sequence. That is, the control section 11 of the device 1 transmits
a transmission wave having the angular frequency
.omega..sub.C1+.omega..sub.B1 (hereinafter referred to as
transmission wave H1A) at predetermined timing. Immediately after
receiving the transmission wave H1A, the control section 21 of the
device 2 transmits a transmission wave having the angular frequency
.omega..sub.C2+.omega..sub.B2 (hereinafter referred to as
transmission wave H2A). Further, after transmitting the
transmission wave H2A, the control section 21 of the device 2
transmits a transmission wave having the angular frequency
.omega..sub.C2+.omega..sub.B2 (hereinafter referred to as
transmission wave H2B). After receiving the second transmission
wave H2B, the control section 11 of the device 1 transmits a
transmission wave having the angular frequency
.omega..sub.C1+.omega..sub.B1 (hereinafter referred to as
transmission wave H1B).
[0215] Further, the control section 11 transmits a transmission
wave having the angular frequency .omega..sub.C1-.omega..sub.B1
(hereinafter referred to as transmission wave L1A). Immediately
after receiving the transmission wave L1A, the control section 21
of the device 2 transmits a transmission wave having the angular
frequency (.omega..sub.C2-.omega..sub.B2 (hereinafter referred to
as transmission wave L2A). Further, after transmitting the
transmission wave L2A, the control section 21 of the device 2
transmits a transmission wave having the angular frequency
.omega..sub.C2-.omega..sub.B2 (hereinafter referred to as
transmission wave L2B). After receiving the second transmission
wave L2B, the control section 11 of the device 1 transmits a
transmission wave having the angular frequency
.omega..sub.C1-.omega..sub.B1 (hereinafter referred to as
transmission wave L1B).
[0216] In this way, as shown in FIGS. 14 and 15, the control
section 21 of the device 2 acquires a phase .theta..sub.H1(t) based
on the transmission wave H1A in a predetermined time from a
predetermined reference time 0, acquires a phase
.theta..sub.H1(t+t.sub.0+D) based on the transmission wave H1B in a
predetermined time from a time t.sub.0+D, acquires a phase
.theta..sub.L1(t+T) based on the transmission wave L1A in a
predetermined time from the time T, and acquires a phase
.theta..sub.L1(t+t.sub.0+D+T) based on the transmission wave L1B in
a predetermined time from a time t.sub.0+D+T.
[0217] The control section 11 of the device 1 acquires a phase
.theta..sub.H2(t+t.sub.0) based on the transmission wave H2A in a
predetermined time from a time t.sub.0, acquires a phase
.theta..sub.H2(t+D) based on the transmission wave H2B in a
predetermined time from a time D, acquires a phase
.theta..sub.L2(t+t.sub.0+T) based on the transmission wave L2A in a
predetermined time from a time t.sub.0+T, and acquires a phase
.theta..sub.L2(t+D+T) based on the transmission wave L2B in a
predetermined time from a time D+T.
[0218] At least one of the devices 1 and 2 transmits phase
information, that is, calculated four phases or two phase
differences or an operation result of Equation (139) described
above of the phase differences. The control section of the device 1
or 2, which receives the phase information, calculates a distance
according to an operation of Equation (139) described above. Note
that, although "calculate a phase difference" is described in steps
S7 and S17 in FIG. 6, in this case, it is not always necessary to
calculate a phase difference in steps S7 and S17. A phase
difference may be calculated during the distance calculation in
S19.
[0219] In this way, in the present embodiment, by repeatedly
alternating the carrier signals from the first device and the
second device, even when the carrier signals cannot be
simultaneously transmitted and received, it is possible to perform
accurate distance measurement. For example, the first device and
the second device respectively transmit signals having two angular
frequencies twice to the second device and the first device in a
predetermined sequence and calculate phase differences respectively
in the first and second devices. Any one of the first device and
the second device transmits calculated phase information to the
other. The device, which receives the phase information, calculates
a distance between the first device and the second device on a
basis of eight phases calculated by the first device and the second
device. Consequently, the distance between the first device and the
second device is accurately calculated irrespective of initial
phases of the oscillators of the first device and the second
device. In this way, even when signals having respective angular
frequencies are not simultaneously transmitted and are transmitted
and received at timings shifted from each other, it is possible to
remove an error of distance estimation and perform accurate
distance measurement.
Third Embodiment
[0220] FIG. 16 is a block diagram showing a third embodiment of the
present invention. FIG. 16 shows a transceiver adopted instead of
the transceiver by the transmitting section 14 and the receiving
section 15 shown in FIG. 1 and the transceiver by the transmitting
section 24 and the receiving section 25 shown in FIG. 1. In the
present embodiment, a configuration of the transceiver is only
different from the configuration of the transceiver in the first
embodiment.
[0221] In the first embodiment, the device 2 receives the
transmission signal two waves having the angular frequencies
.omega..sub.C1+.omega..sub.B1 and .omega..sub.C1-.omega..sub.B1
from the device 1 and detects the phases .theta..sub.H1(t) and
.theta..sub.L1(t) and the device 1 receives the transmission signal
two waves having the angular frequencies
.omega..sub.C2+.omega..sub.B2 and .omega..sub.C2-.omega..sub.B2
from the device 2 and detects the phases .theta..sub.H2(t) and
.theta..sub.L2(t). The distance is calculated using these four
phases.
[0222] However, in general, a band-pass filter (BPF) that
suppresses frequency components other than a frequency component
near a desired wave is inserted between the transceiver and the
antenna. Since the filter is requested to have a steep frequency
characteristic, in general, an order of the filter is high.
Therefore, a delay of a signal passing through the filter is large.
For example, a delay of approximately 10 ns occurs in a BPF in a
900 MHz band. If .tau..sub.1 increases by 10 ns because of a delay
of the BPF of the transceiver, a calculated distance increases by 3
m. Moreover, a delay amount of the BPF has a temperature
characteristic and involves an increase or a decrease of 10% or
more according to an ambient environment. Therefore, unless a BPF
delay time is not compensated during distance measurement, a
distance cannot be accurately calculated. The present embodiment
compensates for such a BPF delay time.
[0223] In FIG. 16, a multiplier TMIX1 is equivalent to the
multipliers TM11 and TM21 shown in FIG. 4 or 5. Similarly,
multipliers TMIX2 and RMIX1 to RMIX6 are equivalent to the
multipliers TM12 and 22 and the multipliers RM11 and 21 to RM16 and
26. Adders TSUM1, RSUM1, and RSUM2 are equivalent to the adders
TS11 and TS21, the adders RS11 and RS21, and the adders RS12 and
RS22.
[0224] A transmitter including the multipliers TMIX1 and TMIX2 and
the adder TSUM1 and a receiver including the multipliers RMIX1 to
RMIX6 and the adders RSUM1 and RSUM2 adopt the image suppression
scheme like the transmitter and the receiver shown in FIGS. 4 and
5. In the present embodiment, multipliers RSMIX1 and RSMIX2 are
provided in parallel to multipliers RMIX1 and RMIX2.
[0225] An RF (high-frequency) input terminal RX1 is connected to an
RX terminal of a switch SW1. An RF output terminal TX1 is connected
to a TX terminal of the switch SW1. An FIL terminal of the switch
SW1 is connected to an input terminal of the band-pass filter BPF.
A DET terminal of a switch SW2 is connected to a common input
terminal of an added RF input terminal sRX1, that is, a common
input terminal of the multiplier RMIX1 and the multiplier RMIX2. An
FIL_I terminal of the switch SW2 is coupled to an input terminal of
the band-pass filter BPF by a not-shown coupler. An FIL_O terminal
of the switch SW2 is coupled to an output terminal of the band-pass
filter BPF by a not-shown coupler. The output terminal of the
band-pass filter BPF is connected to an antenna ANT terminal. Note
that the switches SW1 and SW2 are controlled by the control section
11 (or the control section 21).
[0226] In the present embodiment, a delay time of the band-pass
filter BPF (hereinafter referred to as BPF delay time) is measure
in advance. The delay time is subtracted from a delay time
calculated during phase detection to perform accurate distance
measurement. The BPF delay time is obtained according to a
difference between a signal delay time calculated by giving a
transmission signal from the transmitter to the receiver via the
switches SW1 and SW2 and a signal delay time calculated by giving
the transmission signal to the receiver via the switch SW1, the
band-pass filter BPF, and the switch SW2.
[0227] That is, when the BPF delay time is measured, the switch SW1
selects the TX terminal and the switch SW2 is connected to either
one of the FIL_I terminal and the FIL_O terminal. In this state,
the control sections 11 and 21 operate the transmitter. The
receiver turns off only the multipliers RMIX1 and RMIX2 and
operates the other circuit blocks.
[0228] The BPF delay time is calculated by detecting a transmission
signal from the transmitter via the switch SW2 and the multipliers
RSMIX1 and RSMIX2. The multiplier RMIX1 and the multiplier RMIX2
are turned off in order to prevent an error from increasing because
a situation in which a signal leaks from the TX terminal to the RX
terminal of the switch SW1 and is added to a detection signal. If
the multiplier RMIX1 and the multiplier RMIX2 are turned off,
isolation of the multiplier RMIX1 and the multiplier RMIX2 is added
to isolation of the switch SW1. Therefore, it is possible to
greatly attenuate a signal directly leaking from the
transmitter.
[0229] In order to detect the BPF delay time, the switch SW2 is
connected to the FIL_I terminal first to detect a signal via the
FIL_I terminal and thereafter connected to the FIL_O terminal to
detect a signal via the FIL_O terminal. Alternatively, the opposite
sequence may be adopted. However, in the following explanation, the
switch SW2 is connected to the FIL_I terminal and thereafter
connected to the FIL_O terminal. Note that the transmitter and the
receiver that detect the BPF delay time are present in the same
device and can use a common local signal. Therefore, there is no
problem concerning an initial phase and a frequency shift.
[0230] When an angular frequency of a transmission wave is
represented as .omega..sub.C1+.omega..sub.B1 and an initial phase
is represented as .theta..sub.C1+.theta..sub.B1, a signal of the
TX1 terminal is represented by the following Equation (169):
tx1(t)=cos
{(.omega..sub.C1+.omega..sub.B1)t+.theta..sub.C1+.theta..sub.B1}
(169)
[0231] A signal delay due to the switch SW1, the not-shown
couplers, and the switch SW2 can be neglected. Therefore, the
signal represented by Equation (169) is input to the multipliers
RSMIX1 and RSMIX2. The phase .theta..sub.H1I(t) detected in this
case is calculated by Equation (27) described above. That is, the
phase .theta..sub.H1I(t) is a result obtained by applying condition
.omega..sub.C1=.omega..sub.C2, .omega..sub.B1=.omega..sub.B2,
.theta..sub.C1=.theta..sub.C2, .theta..sub.B1=.theta..sub.B2, and
.theta..sub..tau.H1=0.
.theta..sub.H1I(t)=0 (170)
[0232] Similarly, when an angular frequency of a transmission wave
is represented as .omega..sub.C1-.omega..sub.B1 and an initial
phase is represented as .theta..sub.C1-.theta..sub.B1, a signal of
the TX1 terminal is represented by the following Equation
(171):
tx1(t)=cos
{(.omega..sub.C1-.omega..sub.B1)t+.theta..sub.C1-.theta..sub.B1}
(171)
[0233] In this case, signals input to the multipliers RSMIX1 and
RSMIX2 are the same as the signal represented by Equation (171). A
phase .theta..sub.L1I(t) detected in this case is calculated from
Equation (47) described above. That is, the .theta..sub.H1I(t) is a
result obtained by applying conditions
.omega..sub.C1=.omega..sub.C2, .omega..sub.B1=.omega..sub.B2,
.theta..sub.C1=.theta..sub.C2, .theta..sub.B1=.theta..sub.B2, and
.theta..sub..tau.L1=0.
.theta..sub.L1I(t)=0 (172)
[0234] Subsequently, the switch SW2 is connected to the FIL_O
terminal. When a BPF delay is represented as .tau..sub.BPF, signals
having two frequencies input to the multipliers RSMIX1 and RSMIX2
via the switch SW1, the not-shown couplers, and the switch SW2 are
respectively represented by the following Equations (173) and
(174):
rx1(t)=cos
{(.omega..sub.C1+.omega..sub.B1)t+.theta..sub.C1+.theta..sub.B1-.theta..s-
ub.BPFH} (173)
rx1(t)=cos
{(.omega..sub.C1-.omega..sub.B1)t+.theta..sub.C1-.theta..sub.B1-.sub.BPFL-
} (174)
In the equations,
.theta..sub.BPFH=((.omega..sub.C1+.omega..sub.B1).tau..sub.BPF
(175)
.theta..sub.BPFL=((.omega..sub.C1+.omega..sub.B1).tau..sub.BPF
(176)
[0235] From Equations (27) and (47) described above, phases
.theta..sub.H10(t) and .theta..sub.L10(t) are represented by the
following Equations (177) and (178):
.theta..sub.H10(t)=.theta..sub.BPFH (177)
.theta..sub.L10(t)=.theta..sub.BPFL (178)
[0236] The following Equation (179) is derived from Equations
(170), (171), (177), and (178):
{.theta..sub.H10(t)-.theta..sub.L10(t)}-{.theta..sub.H1I(t)-.theta..sub.-
L1I(t)}=.theta..sub.BPFH-.theta..sub.BPFL=2.omega..sub.B1.tau..sub.BPF
(179)
[0237] A BPF delay time is calculated by Equation (179). The other
components and action are the same as the components and the action
in the first embodiment. That is, during actual use, the control
sections 11 and 21 cause the switch SW1 to select the TX terminal
during transmission and select RX terminal during reception.
[0238] The control sections 11 and 21 correct .tau..sub.1 in the
calculation of Equation (61) described above with the BPF delay
time calculated from Equation (179) and thereafter calculate the
distance R.
[0239] Note that, in the above explanation, the phase of the
band-pass filter BPF input terminal is calculated assuming that the
phase is equal to the TX output phase. However, if there is a delay
in the switch SW, the coupler 1, or the like, a phase difference is
detected taking into account the delay. However, even during the
actual use, a signal including a delay of the switch SW1, the
coupler, or the like appear at a band-pass filter BPF output end
and is supplied to the antenna ANT. Therefore, even if there is a
delay before a band-pass filter BPF input end, it is possible to
correctly perform measurement. Note that the control sections 11
and 21 may calculate a BPF delay time, for example, during a start
of the actual use.
[0240] Incidentally, as an environment depending element, the
band-pass filter BPF is mainly conceivable. Therefore, if a phase
at the time when the switch SW2 is connected to the FIL_I terminal,
that is, a phase at the band-pass filter BPF input end less easily
affected by an environment is saved in a memory in advance, there
is no problem even if a value saved in the memory is used during
subsequent calculation of a BPF delay time. That is, in this case,
after the phase detection at the band-pass filter BPF input end, it
is possible to always connect the switch SW2 to the FIL_O terminal
(the band-pass filter BPF output end). Consequently, it is possible
to prevent a situation in which a power step change occurs and a
large spurious occurs because the switch SW2 is switched during
transmission.
[0241] As explained above, in the present embodiment, effects same
as the effects in the respective embodiments explained above.
Further, there is an advantage that it is possible to perform
accurate distance measurement by removing the influence of a delay
time due to the band-pass filter.
[0242] Note that, in the present embodiment, in order to avoid a
measurement error due to a lack of isolation of the switch SW1, the
multiplier RSMIX1 and the multiplier RSMIX2 used during calculation
of a BPF delay time are adopted. However, if sufficient isolation
of the switch SW1 can be secured, it is also possible to connect
the DET terminal of the switch SW2 to the RX1 terminal and measure
a delay via the multiplier RMIX1 and the multiplier RMIX2. In this
case, during reception, the switch SW1 is connected to the RX1
terminal and the switch SW2 is connected to the FIL_I terminal or
opened. In this case, the multiplier RSMIX1 and the multiplier
RSMIX2 may be omitted.
Fourth Embodiment
[0243] FIGS. 17 and 18 are explanatory diagrams showing a fourth
embodiment of the present invention. The present embodiment
indicates an example in which the respective distance measuring
systems are applied to a smart entry system.
[0244] In FIG. 17, a key 31 can transmit, by radio, a signal for
enabling unlocking and locking of a door of an automobile 32 and a
start of an engine of the automobile 32. That is, the key 31
includes a not-shown data transmitting/receiving section and can
transmit encrypted peculiar data for authentication with the data
transmitting/receiving section. A radio wave from the data
transmitting/receiving section of the key 31 is received in a
not-shown vehicle control device 35 mounted on the automobile
32.
[0245] As shown in FIG. 18, a control section 36 is provided in the
vehicle control device 35. The control section 36 controls
respective sections of the vehicle control device 35. The control
section 36 is configured of a processor including a CPU. The
control section 36 may operate a computer program stored in a
memory 38 and control the respective sections.
[0246] A data transmitting/receiving section 37 is provided in the
vehicle control device 35. The data transmitting/receiving section
37 can perform wireless communication with the data
transmitting/receiving section of the key 31 via an antenna 35a.
The data transmitting/receiving section 37 receives the peculiar
data transmitted from the key 31 and transmits predetermined
response data to the key 31 to perform authentication of the key 31
and the automobile 32.
[0247] The data transmitting/receiving section 37 can finely set
electric field intensity. The authentication is not performed
unless the key 31 is located in a relatively close position where
the key 31 is capable of receiving transmission data of the data
transmitting/receiving section 37, that is, near the automobile
32.
[0248] For example, as indicated by a broken line in FIG. 17, it is
assumed that the key 31 is located sufficiently close to the
automobile 32. In this case, the data transmitting/receiving
section 37 is capable of communicating with the key 31. The data
transmitting/receiving section 37 authenticates the key 31 through
collation with peculiar data recorded in a memory 37a. The data
transmitting/receiving section 37 outputs a signal indicating that
the key 31 is authenticated to the control section 36.
Consequently, the control section 36 controls an unlocking/locking
device 39 to give permission of locking or unlocking.
[0249] In FIG. 17, attackers of a relay attack carry relay devices
33 and 34. The relay device 33 is capable of communicating with the
key 31. The relay device 34 is capable of communicating with the
data transmitting/receiving section 37 in the automobile 32. The
relay devices 33 and 34 relay communication between the key 31 and
the data transmitting/receiving section 37. Consequently, even when
the key 31 is sufficiently separated from the automobile 32 as
shown in FIG. 17 and direct communication between the key 31 and
the data transmitting/receiving section 37 cannot be performed, the
data transmitting/receiving section 37 can authenticate the key 31
through the relay devices 33 and 34.
[0250] Therefore, in the present embodiment, the control section 36
determines on a basis of an authentication result of the data
transmitting/receiving section 37 and a distance measurement result
from the second device 2 whether unlocking and locking, a start of
the engine, and the like are permitted.
[0251] The second device 2 in the respective embodiments is
incorporated in the key 31. On the other hand, the device 1 in the
respective embodiments is mounted on the vehicle control device 35.
A transmission wave from the device 1 is received in the device 2
via an antenna 27a. A transmission wave from the device 2 is
received in the device 1 via the antenna 27a. The transmission wave
from the device 1 is directly received by the antenna 27a in some
case and is received by the antenna 27a through the relay devices
33 and 34 in other cases. Similarly, the transmission wave from the
second device 2 is directly received by the device 1 from the
antenna 27a in some case and is received by the device 1 from the
antenna 27a through the relay devices 33 and 34.
[0252] When it is assumed that phases of the transmission waves
from the device 1 and the device 2 do not change in the relay
devices 33 and 34, the device 2 can calculate a distance from the
key 31 on a basis of the phases calculated in the devices 1 and 2.
The device 2 outputs the calculated distance to the control section
36. A distance threshold for permitting authentication of the key
31 is stored in the memory 38. When the distance calculated by the
device 2 is within the distance threshold read out from the memory
38, the control section 36 assumes that the key 31 is authenticated
and permits unlocking and locking, a start of the engine, and the
like. When the distance calculated by the device 2 is larger than
the distance threshold read out from the memory 38, the control
section 36 does not permit the authentication of the key 31.
Therefore, in this case, the control section 36 does not permit
unlocking and locking, a start of the engine, and the like.
[0253] Note that the relay devices 33 and 34 can change the phases
of the transmission waves from the device 1 and the device 2. Even
in this case, since initial phases of the devices 1 and 2 are
unknown, the relay devices 33 and 34 cannot calculate a phase shift
amount necessary for keeping the distance calculated by the device
2 within the distance threshold read out from the memory 38.
Therefore, even if the relay devices 33 and 34 are used,
possibility that the authentication of the key 31 is permitted is
sufficiently small.
[0254] As explained above, in the present embodiment, by using the
distance measuring system in the respective embodiments, it is
possible to prevent unlocking and the like of a vehicle from being
performed by a relay attack to the smart entry system.
(Transmission Sequence)
[0255] FIGS. 19 to 44 are explanatory diagrams showing various
sequences adoptable in the respective embodiments.
(Examples of Two Waves)
[0256] First, various sequences for transmitting two waves from
each of the devices 1 and 2 are explained with reference to FIGS.
19 to 32.
[0257] Two transmission waves output from the device 1 are
represented as transmission waves A1 and A2. Frequencies of the
transmission waves A1 and A2 are respectively represented as
f.sub.A1 and f.sub.A2. Two transmission waves output from the
device 2 are represented as transmission waves B1 and B2.
Frequencies of the transmission waves B1 and B2 are respectively
represented as f.sub.B1 and f.sub.B2. As explained above, taking
into account the presence of a frequency band in which simultaneous
transmission and reception is prohibited in the Radio Law, the
transmission waves A1, A2, B1, and B2 are transmitted in
time-series processing in a predetermined sequence.
[0258] FIG. 19 shows a sequence in which carrier sense is
performed, a response is absence, and the repeated alternation is
absent.
[0259] The device 1 carries out the carrier sense at the frequency
f.sub.A1 for, for example, 128 .mu.S (second) and thereafter
transmits the transmission wave A1. Further, the device 1 carries
out the carrier sense at the frequency f.sub.A2 for, for example,
128 .mu.S and thereafter transmits the transmission wave A2.
[0260] The device 2 carries out the carrier sense at the frequency
f.sub.B1 for, for example, 128 .mu.S after a predetermined period
after the transmission of the transmission wave A2 from the device
1 without responding to reception of the transmission wave A2 (a
response is absent) and thereafter transmits the transmission wave
B1. Further, the device 2 carries out the carrier sense at the
frequency f.sub.B2 for, for example, 128 .mu.S and thereafter
transmits the transmission wave B2. Note that a phase detected in
the device 2 may be reflected in phases of the transmission waves
B1 and B2 in a predetermined period (which may include a carrier
sense period) after the transmission of the transmission wave A2
from the device 1.
[0261] This example of the sequence is an example in which presence
or absence of a distance measurement frequency is determined by the
carrier sense. When the distance measurement frequency is sensed by
the carrier sense, (a) the sequence may be started from the
beginning again after a predetermined time (e.g., several
milliseconds) or (b) may be started in a carrier sense exception
sequence explained below.
[0262] FIG. 20 shows a sequence in which the carrier sense is
performed, a response is absent, and the repeated alternation is
present.
[0263] The device 1 carries out the carrier sense at the frequency
f.sub.A1 for, for example, 128 .mu.S and thereafter transmits the
transmission wave A1. Further, the device 1 carries out the carrier
sense at the frequency f.sub.A2 for, for example, 128 .mu.S without
waiting for a response of a transmission wave from the device 2 and
thereafter transmits the transmission wave A2. Further, the device
1 carries out the carrier sense at the frequency f.sub.A1 for, for
example, 128 .mu.S without waiting for a response of a transmission
wave from the device 2 and thereafter transmits the transmission
wave A1 again (the repeated alternation is present).
[0264] On the other hand, the device 2 carries out the carrier
sense at the frequency f.sub.B1 for, for example, 128 .mu.S after a
predetermined period after the transmission of the transmission
wave A2 from the device 1 and thereafter transmits the transmission
wave B1. Further, the device 2 carries out the carrier sense at the
frequency f.sub.B2 for, for example, 128 .mu.S without a response
of a transmission wave from the device 1 and thereafter transmits
the transmission wave B2. Further, the device 2 carries out the
carrier sense at the frequency f.sub.B1 for, for example, 128 .mu.S
without a response of a transmission wave from the device 1 and
thereafter transmits the transmission wave B1 again (the repeated
alternation is present).
[0265] This example of the sequence is also an example in which
presence or absence of a distance measurement frequency is
determined by the carrier sense. When the distance measurement
frequency is sensed by the carrier sense, (a) the sequence may be
started from the beginning again after a predetermined time (e.g.,
several milliseconds) or (b) may be started in the carrier sense
exception sequence.
[0266] FIG. 21 shows a sequence in which the carrier sense is
performed, a response is present, and the repeated alternation is
absent.
[0267] The device 1 carries out the carrier sense at the frequency
f.sub.A1 for, for example, 128 .mu.S and thereafter transmits the
transmission wave A1. When receiving the transmission wave A1 from
the device 1, the device 2 transmits the transmission wave B1
after, for example, 0 microsecond to 2 milliseconds from the
reception without carrying out the carrier sense in response to the
reception of the transmission wave A1.
[0268] The device 1 carries out the carrier sense at the frequency
f.sub.A2 for, for example, 128 .mu.S after a predetermined period
after reception of the transmission wave B1 from the device 2 and
thereafter transmits the transmission wave A2. When receiving the
transmission wave A2 from the device 1, the device 2 transmits the
transmission wave B2 after, for example, 0 microsecond to 2
milliseconds from the reception without carrying out the carrier
sense in response to the reception of the transmission wave A2.
Note that, in an idle time until the response, the device 2 may
reflect a received and detected phase on phases of the transmission
waves B1 and B2.
[0269] This example of the sequence is also an example in which
presence or absence of a distance measurement frequency is
determined by the carrier sense. When the distance measurement
frequency is sensed by the carrier sense, (a) the sequence may be
started from the beginning again after a predetermined time (e.g.,
several milliseconds) or (b) may be started in the carrier sense
exception sequence.
[0270] FIG. 22 shows a sequence in which the carrier sense is
performed, a response is present, and the repeated alternation is
present.
[0271] The device 1 carries out the carrier sense at the frequency
f.sub.A1 for, for example, 128 .mu.S and thereafter transmits the
transmission wave A1. When receiving the transmission wave A1 from
the device 1, the device 2 transmits the transmission wave B1
after, for example, 0 microsecond to 2 milliseconds from the
reception without carrying out the carrier sense in response to the
reception of the transmission wave A1.
[0272] The device 1 carries out the carrier sense at the frequency
f.sub.A2 for, for example, 128 .mu.S after a predetermined period
after reception of the transmission wave B1 from the device 2 and
thereafter transmits the transmission wave A2. When receiving the
transmission wave A2 from the device 1, the device 2 transmits the
transmission wave B2 after, for example, 0 microsecond to 2
milliseconds from the reception without carrying out the carrier
sense in response to the reception of the transmission wave A2.
[0273] Further, in this example, the device 1 carries out the
carrier sense at the frequency f.sub.A1 for, for example, 128 .mu.S
after a predetermined period after reception of the transmission
wave B2 from the device 2 and thereafter transmits the transmission
wave A1 again (the repeated alternation is present). When receiving
the transmission wave A1 from the device 1, the device 2 transmits
the transmission wave B1 again after, for example, 0 microsecond to
2 milliseconds from the reception without carrying out the carrier
sense in response to the reception of the transmission wave A1.
Note that, in an idle time until the response, the device 2 may
reflect a received and detected phase on phases of the transmission
waves B1 and B2.
[0274] This example of the sequence is also an example in which
presence or absence of a distance measurement frequency is
determined by the carrier sense. When the distance measurement
frequency is sensed by the carrier sense, (a) the sequence may be
started from the beginning again after a predetermined time (e.g.,
several milliseconds) or (b) may be started in the carrier sense
exception sequence.
[0275] FIG. 23 shows a sequence in which the carrier sense is
performed in some case and is not performed in other cases, a
response is absent, and the repeated alternation is absent.
[0276] The device 1 carries out the carrier sense at the frequency
f.sub.A1 for, for example, 128 .mu.S and thereafter continuously
transmits the transmission waves A1 and A2.
[0277] The device 2 carries out the carrier sense at the frequency
f.sub.B1 for, for example, 128 .mu.S after a predetermined period
after reception of the transmission wave A2 from the device 1 and
thereafter continuously transmits the transmission waves B1 and B2.
Note that, in an idle time until the response, the device 2 may
reflect a received and detected phase on phases of the transmission
waves B1 and B2.
[0278] This example of the sequence is an example in which presence
or absence of a distance measurement frequency is determined by the
carrier sense only at a start time of transmission. When the
distance measurement frequency is sensed by the carrier sense, (a)
the sequence may be started from the beginning again after a
predetermined time (e.g., several milliseconds) or (b) may be
started in the carrier sense exception sequence.
[0279] FIG. 24 shows a sequence in which the carrier sense is
performed in some case and is not performed in other cases, a
response is present, and the repeated alternation is absent.
[0280] The device 1 carries out the carrier sense at the frequency
f.sub.A1 for, for example, 128 .mu.S and thereafter transmits the
transmission wave A1. When receiving the transmission wave A1 from
the device 1, the device 2 transmits the transmission wave B1
after, for example, 0 microsecond to 2 milliseconds from the
reception without carrying out the carrier sense in response to the
reception of the transmission wave A1. When receiving the
transmission wave B1 from the device 2, the device 1 transmits the
transmission wave A2 after, for example, 0 microsecond after the
reception without carrying out the carrier sense.
[0281] When receiving the transmission wave A2 from the device 1,
the device 2 transmits the transmission wave B2 after, for example,
0 microsecond to 2 milliseconds from the reception without carrying
out the carrier sense in response to the reception of the
transmission wave A2. Note that, in an idle time until the
response, the device 2 may reflect a received and detected phase on
phases of the transmission waves B1 and B2.
[0282] This example of the sequence is an example in which presence
or absence of a distance measurement frequency is determined by the
carrier sense only at a start time of transmission. When the
distance measurement frequency is sensed by the carrier sense, (a)
the sequence may be started from the beginning again after a
predetermined time (e.g., several milliseconds) or (b) may be
started in the carrier sense exception sequence.
[0283] FIG. 25 shows a sequence in which the carrier sense is
absent, a response is absent, and the repeated alternation is
absent.
[0284] The device 1 transmits the transmission wave A1 without
carrying out the carrier sense. Further, the device 1 transmits the
transmission wave A2 after several ten milliseconds after the
transmission of the transmission wave A1 without carrying out the
carrier sense. The device 2 transmits the transmission wave B1
after, for example, 100 milliseconds after reception of the
transmission wave A2 from the device 1 without carrying out the
carrier sense. Further, the device 2 transmits the transmission
wave B2 after several ten milliseconds after the transmission of
the transmission wave B1 without carrying out the carrier
sense.
[0285] FIG. 26 shows a sequence in which the carrier sense is
absent, a response is absent, and the repeated alternation is
absent.
[0286] The device 1 transmits the transmission wave A1 without
carrying out the carrier sense. Further, the device 1 once suspends
the transmission after the transmission of the transmission wave A1
and thereafter transmits the transmission wave A2 without carrying
out the carrier sense. In the figure, a transmission suspension
section is described as 0 microsecond to 2 milliseconds. The device
2 immediately transmits the transmission wave B1 after reception of
the transmission wave A2 from the device 1 without carrying out the
carrier sense. In the figure, the device 2 transmits the
transmission wave B1 after, for example, 0 microsecond to 2
milliseconds after the reception of the transmission wave A2 from
the device 1. Further, the device 2 once suspends transmission
after the transmission of the transmission wave B1 and thereafter
transmits the transmission wave B2 without carrying out the carrier
sense. In the figure, a transmission suspension section is
described as 0 microsecond to 2 milliseconds.
[0287] FIG. 27 shows a sequence in which the carrier sense is
absent, a response is absent, and repeated alternation is
present.
[0288] The device 1 transmits the transmission wave A1 without
carrying out the carrier sense. The device 1 transmits the
transmission wave A2 after several ten milliseconds after the
transmission of the transmission wave A1 without carrying out the
carrier sense. Further, the device 1 transmits the transmission
wave A1 again after several ten milliseconds after the transmission
of the transmission wave A2 without carrying out the carrier sense.
The device 2 transmits the transmission wave B1 after, for example,
100 milliseconds after reception of the transmission wave A1 from
the device 1 without carrying out the carrier sense. Further, the
device 2 transmits the transmission wave B2 after, for example, 100
milliseconds after the transmission of the transmission wave B1
without carrying out the carrier sense. Further, the device 2
transmits the transmission wave B1 after, for example, 100
milliseconds after the transmission of the transmission wave B2
without carrying out the carrier sense.
[0289] FIG. 28 shows a sequence in which the carrier sense is
absent, a response is present, and the repeated alternation is
absent.
[0290] The device 1 transmits the transmission wave A1 without
carrying out the carrier sense. When receiving the transmission
wave A1 from the device 1, the device 2 transmits the transmission
wave B1 after, for example, 0 microsecond to 2 milliseconds from
the reception without carrying out the carrier sense in response to
the reception of the transmission wave A1. The device 1 transmits
the transmission wave A2 after several ten milliseconds after the
transmission of the transmission wave A1 without carrying out the
carrier sense. When receiving the transmission wave A2 from the
device 1, the device 2 transmits the transmission wave B2 after,
for example, 0 microsecond to 2 milliseconds from the reception
without carrying out the carrier sense in response to the reception
of the transmission wave A2.
[0291] FIG. 29 shows a sequence in which the carrier sense is
absent, a response is present, and the repeated alternation is
present.
[0292] The device 1 transmits the transmission wave A1 without
carrying out the carrier sense. When receiving the transmission
wave A1 from the device 1, the device 2 transmits the transmission
wave B1 after, for example, 0 microsecond to 2 milliseconds from
the reception without carrying out the carrier sense in response to
the reception of the transmission wave A1. The device 1 transmits
the transmission wave A2 after several ten milliseconds after the
transmission of the transmission wave A1 without carrying out the
carrier sense. When receiving the transmission wave A2 from the
device 1, the device 2 transmits the transmission wave B2 after,
for example, 0 microsecond to 2 milliseconds from the reception
without carrying out the carrier sense in response to the reception
of the transmission wave A2. Further, the device 1 transmits the
transmission wave A1 again after several ten milliseconds after the
transmission of the transmission wave A2 without carrying out the
carrier sense. When receiving the transmission wave A1 from the
device 1, the device 2 transmits the transmission wave B1 again
after, for example, 0 microsecond to 2 milliseconds from the
reception without carrying out the carrier sense in response to the
reception of the transmission wave A1.
[0293] FIG. 30 shows a sequence in which the carrier sense is
performed in some case and is not performed in other cases, a
response is present, and the repeated alternation is present.
[0294] The device 1 carries out the carrier sense at the frequency
f.sub.A1 for, for example, 128 .mu.S and thereafter transmits the
transmission wave A1. When receiving the transmission wave A1 from
the device 1, the device 2 transmits the transmission wave B1
after, for example, 0 microsecond to 2 milliseconds from the
reception without carrying out the carrier sense in response to the
reception of the transmission wave A1. After reception of the
transmission wave B1 after several ten milliseconds after the
transmission of the transmission wave A1, the device 1 carries out
the carrier sense at the frequency f.sub.A2 for, for example, 128
.mu.S and thereafter transmits the transmission wave A2. When
receiving the transmission wave A2 from the device 1, the device 2
transmits the transmission wave B2 after, for example, 0
microsecond to 2 milliseconds from the reception without carrying
out the carrier sense in response to the reception of the
transmission wave A2. After the reception of the transmission wave
B1 after several ten milliseconds after the transmission of the
transmission wave A1, the device 1 transmits the transmission wave
A1 again without carrying out the carrier sense this time. When
receiving the transmission wave A1 from the device 1, the device 2
transmits the transmission wave B1 again after, for example, 0
microsecond to 2 milliseconds after the reception without carrying
out the carrier sense in response to the reception of the
transmission wave A1. Note that, in an idle time until the
response, the device 2 may reflect a received and detected phase on
phases of the transmission waves B1 and B2.
[0295] This example of the sequence is an example in which presence
or absence of a distance measurement frequency is determined by the
carrier sense only before the repeated alternation. When the
distance measurement frequency is sensed by the carrier sense, (a)
the sequence may be started from the beginning again after a
predetermined time (e.g., several milliseconds) or (b) may be
started in the carrier sense exception sequence.
[0296] FIG. 31 shows a sequence in which the carrier sense is
performed in some case and is not performed in other cases, a
response is absent, and the repeated alternation is absent.
[0297] The device 1 carries out the carrier sense at the frequency
f.sub.A1 for, for example, 128 .mu.S and thereafter continuously
transmits the transmission waves A1 and A2. The device 2 carries
out the carrier sense at the frequency f.sub.B1 for, for example,
128 .mu.S after reception of the transmission wave A2 from the
device 1 and thereafter continuously transmits the transmission
waves B1 and B2. Further, the device 2 carries out the carrier
sense at the frequency f.sub.B1 for, for example, 128 .mu.S after,
for example, 100 milliseconds from the transmission of the
transmission wave B2 and thereafter continuously transmits the
transmission waves B1 and B2 again. After receiving the
transmission wave B2 from the device 2, the device 1 carries out
the carrier sense at the frequency f.sub.A1 for, for example, 128
.mu.S and thereafter continuously transmits the transmission waves
A1 and A2. Note that, in an idle time until the response, the
device 2 may reflect a received and detected phase on phases of the
transmission waves B1 and B2.
[0298] This example of the sequence is an example in which presence
or absence of a distance measurement frequency is determined by the
carrier sense only at start times of respective transmissions. When
the distance measurement frequency is sensed by the carrier sense,
(a) the sequence may be started from the beginning again after a
predetermined time (e.g., several milliseconds) or (b) may be
started in the carrier sense exception sequence.
[0299] FIG. 32 shows a sequence in which the carrier sense is
performed in some case and is not performed in other cases, a
response is present, and the repeated alternation is absent.
[0300] The device 1 carries out the carrier sense at the frequency
f.sub.A1 for, for example, 128 .mu.S and thereafter transmits the
transmission wave A1. After receiving the transmission wave A1 from
the device 1, the device 2 transmits the transmission wave B1
after, for example, 0 microsecond to 2 milliseconds from the
reception without carrying out the carrier sense in response to the
reception of the transmission wave A1. After receiving the
transmission wave B1 from the device 2, the device 1 transmits the
transmission wave A2 without carrying out the carrier sense. When
receiving the transmission wave A2 from the device 1, the device 2
transmits the transmission wave B2 after, for example, 0
microsecond to 2 milliseconds from the reception without carrying
out the carrier sense in response to the reception of the
transmission wave A2.
[0301] Further, the device 2 carries out the carrier sense at the
frequency f.sub.B1 for, for example, 128 .mu.S after, for example,
100 milliseconds after the transmission of the transmission wave B2
and transmits the transmission wave B1. When receiving the
transmission wave B1 from the device 2, the device 1 transmits the
transmission wave A1 without carrying out the carrier sense in
response to the reception of the transmission wave B1. After
receiving the transmission wave A1 from the device 1, the device 2
transmits the transmission wave B2 without carrying out the carrier
sense. When receiving the transmission wave B2 from the device 2,
the device 1 transmits the transmission wave A2 without carrying
out the carrier sense in response to the reception of the
transmission wave B2. Note that, in an idle time until the
response, the device 2 may reflect a received and detected phase on
phases of the transmission waves B1 and B2.
[0302] This example of the sequence is an example in which presence
or absence of a distance measurement frequency is determined by the
carrier sense only at start times of the devices 1 and 2. When the
distance measurement frequency is sensed by the carrier sense, (a)
the sequence may be started from the beginning again after a
predetermined time (e.g., several milliseconds) or (b) may be
started in the carrier sense exception sequence.
[0303] FIG. 33 shows a sequence in which the carrier sense is
present, a response is present, and the repeated alternation is
present.
[0304] The device 1 carries out the carrier sense at the frequency
f.sub.A1 for, for example, 128 .mu.S and thereafter transmits the
transmission wave A1. When receiving the transmission wave A1 from
the device 1, the device 2 transmits the transmission wave B1
after, for example, 0 microsecond to 2 milliseconds from the
reception without carrying out the carrier sense in response to the
reception of the transmission wave A1. After the transmission of
the transmission wave B1, the device 2 carries out the carrier
sense at the frequency f.sub.B1 for, for example, 128 .mu.S and
thereafter transmits the transmission wave B1. When receiving the
transmission wave B1 from the device 2, the device 1 transmits the
transmission wave A1 without carrying out the carrier sense in
response to the reception of the transmission wave B1. Further,
after transmitting the transmission wave A1, the device 1 carries
out the carrier sense at the frequency f.sub.A2 for, for example,
128 .mu.S and thereafter transmits the transmission wave A2. When
receiving the transmission wave A2 from the device 1, the device 2
transmits the transmission wave B2 after, for example, 0
microsecond to 2 milliseconds from the reception without carrying
out the carrier sense in response to the reception of the
transmission wave A2. Further, after the transmission of the
transmission wave B2, the device 2 carries out the carrier sense at
the frequency f.sub.B2 for, for example, 128 .mu.S and thereafter
transmits the transmission wave B2. When receiving the transmission
wave B2 from the device 2, the device 1 transmits the transmission
wave A2 without carrying out the carrier sense in response to the
reception of the transmission wave B2.
[0305] This example of the sequence is an example in which presence
or absence of a distance measurement frequency is determined by the
carrier sense. When the distance measurement frequency is sensed by
the carrier sense, (a) the sequence may be started from the
beginning again after a predetermined time (e.g., several
milliseconds) or (b) may be started in the carrier sense exception
sequence.
(Examples of Three Waves)
[0306] Various sequences for transmitting three waves from each of
the devices 1 and 2 are explained with reference to FIGS. 34 to
44.
[0307] Three transmission waves output from the device 1 are
represented as transmission waves A1, A2, and A3. Frequencies of
the transmission waves A1, A2, and A3 are respectively represented
as f.sub.A1, f.sub.A2, and f.sub.A3 Three transmission waves output
from the device 2 are represented as transmission waves B1, B2, and
B3. Frequencies of the transmission waves B1, B2, and B3 are
respectively represented as f.sub.B1, f.sub.B2, and f.sub.B3. As
explained above, taking into account the presence of a frequency
band in which simultaneous transmission and reception is prohibited
in the Radio Law, the transmission waves A1 to A3 and B1 to B3 are
transmitted in time-series processing in a predetermined
sequence.
[0308] Note that a method of describing sequences of transmission
and reception in FIGS. 34 to 44 is the same as the method shown in
FIGS. 19 to 32. In the following explanation, explanation is
omitted concerning specific sequences of transmission and
reception.
[0309] FIG. 34 shows a sequence in which the carrier sense is
performed, a response is absent, and the repeated alternation is
absent. This example of the sequence is an example in which
presence or absence of a distance measurement frequency is
determined by the carrier sense. When the distance measurement
frequency is sensed by the carrier sense, (a) the sequence may be
started from the beginning again after a predetermined time (e.g.,
several milliseconds) or (b) may be started in the carrier sense
exception sequence.
[0310] FIG. 35 shows a sequence in which the carrier sense is
performed, a response is absent, and the repeated alternation is
present. This example of the sequence is also an example in which
presence or absence of a distance measurement frequency is
determined by the carrier sense. When the distance measurement
frequency is sensed by the carrier sense, (a) the sequence may be
started from the beginning again after a predetermined time (e.g.,
several milliseconds) or (b) may be started in the carrier sense
exception sequence.
[0311] FIG. 36 shows a sequence in which the carrier sense is
performed, a response is present, and the repeated alternation is
absent. This example of the sequence is also an example in which
presence or absence of a distance measurement frequency is
determined by the carrier sense. When the distance measurement
frequency is sensed by the carrier sense, (a) the sequence may be
started from the beginning again after a predetermined time (e.g.,
several milliseconds) or (b) may be started in the carrier sense
exception sequence.
[0312] FIG. 37 shows a sequence in which the carrier sense is
performed, a response is present, and the repeated alternation is
present. This example of the sequence is also an example in which
presence or absence of a distance measurement frequency is
determined by the carrier sense. When the distance measurement
frequency is sensed by the carrier sense, (a) the sequence may be
started from the beginning again after a predetermined time (e.g.,
several milliseconds) or (b) may be started in the carrier sense
exception sequence.
[0313] FIG. 38 shows a sequence in which the carrier sense is
absent, a response is absent, and the repeated alternation is
absent.
[0314] FIG. 39 shows a sequence in which the carrier sense is
absent, a response is present, and the repeated alternation is
present.
[0315] FIG. 40 shows a sequence in which the carrier sense is
absent, a response is present, and the repeated alternation is
absent.
[0316] FIG. 41 shows a sequence in which the carrier sense is
absent, a response is present, and the repeated alternation is
present.
[0317] FIG. 42 shows a sequence in which the carrier sense is
present in some case and is absent in other cases, a response is
present, and the repeated alternation is absent. This example of
the sequence is also an example in which presence or absence of a
distance measurement frequency is determined by the carrier sense.
When the distance measurement frequency is sensed by the carrier
sense, (a) the sequence may be started from the beginning again
after a predetermined time (e.g., several milliseconds) or (b) may
be started in the carrier sense exception sequence.
[0318] FIG. 43 shows a sequence in which the carrier sense is
performed, a response is present, and the repeated alternation is
present. This example of the sequence is also an example in which
presence or absence of a distance measurement frequency is
determined by the carrier sense. When the distance measurement
frequency is sensed by the carrier sense, (a) the sequence may be
started from the beginning again after a predetermined time (e.g.,
several milliseconds) or (b) may be started in the carrier sense
exception sequence.
[0319] FIG. 44 shows a sequence in which the carrier sense is
performed, a response is present, and the repeated alternation is
present. This example of the sequence is also an example in which
presence or absence of a distance measurement frequency is
determined by the carrier sense. When the distance measurement
frequency is sensed by the carrier sense, (a) the sequence may be
started from the beginning again after a predetermined time (e.g.,
several milliseconds) or (b) may be started in the carrier sense
exception sequence.
(Modification)
[0320] FIGS. 45 to 47 show a modification. In the modification, a
period in which an initial phase should be fixed is explained. FIG.
45 is an explanatory diagram showing a relation between a
transmission sequence and a period in which an initial phase is
maintained. FIG. 46 is an explanatory diagram showing a carrier
frequency used for distance measurement. FIG. 47 is a flowchart for
explaining the modification.
[0321] In the first embodiment, the simultaneous transmission and
the simultaneous reception of the respective two frequencies from
the devices 1 and 2 are assumed. In a period of the transmission
and reception, the oscillators 13 and 23 are caused to continue
oscillation such that the initial phase does not change. On the
other hand, in the second embodiment, between the devices 1 and 2,
it is specified that only one wave can be transmitted and received
at the same time, transmission and reception of at least four waves
necessary for distance measurement is carried out in time-series
processing, and carrier signals from the devices 1 and 2 are
repeatedly alternated to enable accurate distance measurement even
when the time-series transmission and reception is performed.
[0322] For example, as explained above, in the example shown in
FIG. 15, the transmission and reception of the transmission wave
having the angular frequency .omega..sub.C1+.omega..sub.B1 from the
device 1, the two times of transmission and reception of the
transmission wave having the angular frequency
.omega..sub.C2+.omega..sub.B2 from the device 2, and the
transmission and reception of the transmission wave having the
angular frequency .omega..sub.C1+.omega..sub.B1 from the device 1
are performed.
[0323] Further, the transmission and reception of the transmission
wave having the angular frequency .omega..sub.C1-.omega..sub.B1
from the device 1, the two times of transmission and reception of
the transmission wave having the angular frequency
.omega..sub.C2-.omega..sub.B2 from the device 2, and the
transmission and reception of the transmission wave having the
angular frequency .omega..sub.C1-.omega..sub.B1 from the device 1
are performed.
[0324] An addition result of phases obtained in the devices 1 and 2
according to first transmission and reception of four waves in FIG.
15 is shown in a former half portion (first to fourth terms) of
Equation (139) described above. The addition result of the first to
fourth terms is 2(.theta..sub..tau.H1+.theta..sub..tau.H2) as shown
in Equation (132) described above. As shown in Equations (20) and
(30) described above, the addition result does not include a term
of an initial phase. That is, information concerning the initial
phase is not included in an operation result of phases obtained by
the first transmission and reception of the four waves in FIG. 15.
Therefore, in an operation of the first to fourth terms of Equation
(139) described above, a correct result is obtained if the initial
phase is not changed only in the transmission and reception period
of the four waves.
[0325] Similarly, an addition result of phases obtained in the
devices 1 and 2 by last transmission and reception of fourth waves
in FIG. 15 is shown in a latter half portion (fifth to eighth
terms) of Equation (139) described above. The addition result of
the fifth to eighth terms is
2(.theta..sub..tau.L1+.theta..sub..tau.L2) as shown in Equation
(138) described above. As shown in Equations (40) and (50)
described above, the addition result does not include a term of an
initial phase. That is, information concerning the initial phase is
not included in an operation result of phases obtained by last
transmission and reception of the four waves in FIG. 15. Therefore,
in an operation of the fifth to eighth terms of Equation (139)
described above, a correct result is obtained if the initial phase
is not changed only in the transmission and reception period of the
four waves.
[0326] FIG. 45 shows this state and indicates that an initial phase
is maintained fixed in a distance measurement period in which the
angular frequencies .omega..sub.C1-.omega..sub.B1 and
.omega..sub.C2+.omega..sub.B2 are used and an initial phase is
maintained fixed in a distance measurement period in which the
angular frequencies .omega..sub.C1-.omega..sub.B1 and
.theta..sub.C2-.omega..sub.B2 are used.
[0327] That is, for example, when the sequence of FIG. 15 is
adopted, it is sufficient to cause the oscillators 13 and 23 to
continue oscillation such that the initial phase does not change in
a period of the first transmission and reception of the four waves
and cause the oscillators 13 and 23 to continue oscillation such
that the initial phase does not change in a period of last
transmission and reception of the four waves. Even if the
oscillation of the oscillators 13 and 23 stops and the initial
phase changes until transmission and reception of a fifth wave from
transmission and reception of a fourth wave, an accurate distance
can be calculated on a basis of Equation (139) described above.
[0328] On the other hand, even if the oscillators 13 and 23
continuously operate, the initial phase changes if a frequency
setting is not changed in the .omega..sub.C+.omega..sub.B distance
measurement section and if a frequency setting is not changed in
the .omega..sub.C-.omega..sub.B distance measurement section. This
is explained in detail below (concerning two carrier signals).
[0329] Incidentally, in the respective embodiments, the example is
explained in which the two carrier signals transmitted by the
devices 1 and 2 has a frequency of a sum of or a difference
between, for example, the relatively high angular frequencies
.omega..sub.C1 and .omega..sub.C2 and, for example, the relatively
low angular frequencies .omega..sub.B1 and .omega..sub.B2 Note that
the angular frequencies .omega..sub.C1 and .omega..sub.C2 are set
to substantially the same frequency and the angular frequencies
.omega..sub.B1 and .omega..sub.B2 are set to substantially the same
frequency.
(Concerning Two Carrier Signals)
[0330] However, in the distance measurement in the respective
embodiments, as explained below, the devices 1 and 2 only have to
transmit two carrier signals respectively having predetermined
frequency differences.
[0331] An angular frequency .omega..sub.C+.omega..sub.B and an
angular frequency .omega..sub.C-.omega..sub.B can be modified as
described below.
.omega..sub.C+.omega..sub.B=(.omega..sub.C-.DELTA..omega..sub.c)+(.DELTA-
..omega..sub.C+.omega..sub.B)=.omega.'.sub.C+.omega..sub.H
(201)
.omega..sub.C-.omega..sub.B=(.omega..sub.C-.DELTA..omega..sub.c)+(.DELTA-
..omega..sub.C-.omega..sub.B)=.omega.'.sub.C+.omega..sub.L
(202)
[0332] When transmission waves having the angular frequency
.omega..sub.C and the angular frequency .omega..sub.B are
represented as f.sub.C and f.sub.B on a frequency axis,
transmission waves having the angular frequency
.omega..sub.C+.omega..sub.B and the angular frequency
.omega..sub.C-.omega..sub.B are as shown on a left side of FIG.
46.
[0333] Equations (201) and (202) described above indicate that a
representation method is changed without changing a frequency. The
transmission wave having the angular frequency
.omega..sub.C+.omega..sub.B is obtained by a sum of transmission
waves having an angular frequency .omega.'.sub.C and an angular
frequency .omega..sub.H. The transmission wave having the angular
frequency .omega..sub.C-.omega..sub.B is obtained by a sum of
transmission waves having the angular frequency .omega.'.sub.C and
an angular frequency .omega..sub.L.
[0334] The center in FIG. 46 shows transmission waves based on this
representation. The transmission waves having the angular
frequencies .omega.'.sub.C, .omega..sub.H, and .omega..sub.L, are
respectively represented as f.sub.C, f.sub.H, and f.sub.L on the
frequency axis. A transmission wave having a frequency
f.sub.C-f.sub.B and a transmission wave having a frequency
f.sub.C+f.sub.B on the left side of FIG. 46 respective indicates
that the transmission waves can be represented as a transmission
wave having the same frequency f.sub.C+f.sub.L and a transmission
wave having the same frequency f.sub.C+f.sub.H.
[0335] That is, Equations (201) and (202) described above indicate
that two carriers transmitted by the devices 1 and 2 do not need to
be obtained by a sum of and a difference between two frequencies
and the devices 1 and 2 only have to generate two carriers having a
predetermined frequency difference and transmit the carriers.
[0336] As an example in which the transmission waves having the
angular frequency .omega..sub.C+.omega..sub.B and the angular
frequency .omega..sub.C-.omega..sub.B shown on the left side of
FIG. 46 are obtained, for example, the oscillators 13 and 23 shown
in FIG. 1 only have to generate a local signal having the angular
frequency we as a relatively high local frequency (hereinafter
referred to as RF-LO frequency) and a local signal having the
angular frequency .omega..sub.B as a relatively low local frequency
(hereinafter referred to as IF-LO frequency) and the transmitting
section 14 and 24 only have to generate signals having a sum of or
a difference between the local frequencies as transmission
signals.
[0337] On the other hand, the transmission waves in the center of
FIG. 46 are obtained by generating a local signal having the
angular frequency .omega.'.sub.C as the RF-LO frequency and
generating two local signals having the angular frequencies
.omega..sub.L and .omega..sub.H as the IF-LO frequency and
generating, in the transmitting sections 14 and 24, signals having
a sum of these local frequencies as transmission signals. That is,
the transmission waves in the center of FIG. 46 are obtained by
fixing the RF-LO frequency and changing the IF-LO frequency.
[0338] The angular frequency .omega..sub.C-.omega..sub.B can be
modified as shown below.
.omega..sub.C-.omega..sub.B=(.omega..sub.C-2.omega..sub.B)+(2.omega..sub-
.B-.omega..sub.B)=.omega.''.sub.C+.omega..sub.B (203)
[0339] A right side of FIG. 46 shows transmission waves based on
the representation of Equation (203) and indicates that, when a
transmission wave having an angular frequency .omega.''.sub.C is
represented as f''.sub.C on the frequency axis, the transmission
wave having the frequency f.sub.C-f.sub.B on the left side of FIG.
46 can be represented as a transmission wave having the same
frequency f''.sub.C+f.sub.B.
[0340] For example, the transmission waves on the right side of
FIG. 46 are obtained by generating a local signal having the
angular frequency .omega.'.sub.C and a local signal having the
angular frequencies .omega.''.sub.C as the RF-LO frequency and
generating a local signal having the angular frequency
.omega..sub.B as the IF-LO frequency and generating, in the
transmitting sections 14 and 24, signals having a sum of these
local frequencies as transmission signals. That is, the
transmission waves on the right side of FIG. 46 are obtained by
fixing the IF-LO frequency and changing the RF-LO frequency.
(Change of the Carrier Frequencies)
[0341] In this way, the devices 1 and 2 only have to transmit the
two carrier signals respectively having the predetermined frequency
difference in the distance measurement. Moreover, when transmission
and reception of a carrier having a higher frequency of the two
carriers is alternately performed and transmission and reception of
a carrier having a low frequency is subsequently alternately
performed as in the sequence shown in FIG. 15, initial phases may
be different in the transmission and reception of the carrier
having the high frequency and the transmission and reception of the
carrier having the low frequency.
[0342] Further, only the carrier having the high frequency is used
for an operation of Equation (132) described above obtained by
decomposing Equation (139) described above and only the carrier
having the low frequency is used for an operation of Equation (138)
described above. That is, the operation of Equation (132) described
above and the operation of Equation (138) described above only have
to be independently performed. The local frequencies may be changed
between a transmission and reception period of the carrier having
the high frequency and a transmission and reception period of the
carrier having the low frequency.
[0343] When the change in the initial phase and the change in the
carrier angular frequency are allowed, a flow shown in FIG. 47 can
be adopted instead of the flow shown in FIG. 11A.
[0344] In the flow shown in FIG. 47, the device 1 sets a first
local (LO) frequency before one wave transmission signal generation
and the device 2 sets a first local (LO) frequency before reception
of one wave transmission wave from the device 1. The device 1
generates a carrier having a high frequency, for example, as one
wave transmission signal using the local signal having the first LO
frequency. The device 2 receives the one wave transmission wave
using the carrier having the high frequency and acquires I and Q
signals.
[0345] After acquisition of the I and Q signals based on the
transmission signal having the high frequency from the device 2 and
before generation of the next one wave transmission signal, the
device 1 sets a second local (LO) frequency. Similarly, after the
transmission of the one wave transmission wave to the device 1 and
before reception of the next one wave transmission wave, the device
2 sets a second local (LO) frequency. The device 1 generates a
carrier having a low frequency, for example, as one wave
transmission signal using the local signal having the second LO
frequency. The device 2 receives the transmission wave of the
device 1 using the carrier having the low frequency and acquires I
and Q signals.
(Configuration Example of the Oscillators and the Transceivers)
[0346] In this way, the devices 1 and 2 only have to be capable of
generating and transmitting the two carrier signals having the
predetermined frequency difference. Circuits having various
configurations can be adopted as the oscillators 13 and 23, the
transmitting sections 14 and 24, and the receiving sections 15 and
25 in FIG. 1.
[0347] FIG. 48A is an explanatory diagram showing, in a simplified
manner, an example of the configurations of the oscillator 13, the
transmitting section 14, and the receiving section 15 of the device
1. FIG. 48B is an explanatory diagram showing, in a simplified
manner, an example of the configurations of the oscillator 23, the
transmitting section 24, and the receiving section 25 of the device
2.
[0348] As shown in FIGS. 48A and 48B, the device 1 and the device 2
include an oscillator that generates an IF-LO frequency and an
oscillator that generates an RF-LO frequency. Oscillation
frequencies of the oscillators are, for example, fixed. Two carrier
signals having a frequency difference can be generated by adding
the IF-LO frequency to or subtracting the IF-LO frequency from the
RF-LO frequency.
[0349] FIG. 49A is an explanatory diagram showing, in a simplified
manner, an example of the configurations of the oscillator 13, the
transmitting section 14, and the receiving section 15 of the device
1. FIG. 49B is an explanatory diagram showing, in a simplifier
manner, an example of the configurations of the oscillator 23, the
transmitting section 24, and the receiving section 25 of the device
2.
[0350] The examples shown in FIGS. 49A and 49B are examples in
which two carrier signals having a frequency difference are
generated by an oscillator having a variable frequency and a
frequency divider (N-div).
[0351] FIG. 50 is a circuit diagram more specifically showing an
example of a circuit that generates signals given to the
multipliers TM11 and TM12 in FIG. 4. FIG. 51 is a circuit diagram
more specifically showing an example of a circuit that generates
signals given to the multipliers TM21 and TM22 in FIG. 5.
[0352] In FIG. 50, a multiplier TM15 gives, to an adder TS15, a
multiplication result of an I.sub.T signal and a local signal
cos(.omega..sub.B1t+.omega..sub.B1) from the oscillator 13. A
multiplier TM16 gives, to the adder TS15, a multiplication result
of a Q.sub.T signal and a local signal
.+-.sin(.omega..sub.B1t+.theta..sub.B1) from the oscillator 13. The
adder TS15 adds up the two inputs and gives an addition result to
the multiplier TM11.
[0353] A multiplier TM17 gives, to an adder TS16, a multiplication
result of the I.sub.T signal and the local signal
.+-.sin(.omega..sub.B1t+.theta..sub.B1) from the oscillator 13. A
multiplier TM18 gives, to the adder TS16, a multiplication result
of the Q.sub.T signal and the local signal
cos(.omega..sub.B1t+.theta..sub.B1) from the oscillator 13. The
adder TS16 subtracts the output of a multiplier TM18 from the
output of the multiplier TM17 and gives a subtraction result to the
multiplier TM12. The other components are the same as the
components shown in FIG. 4.
[0354] In FIG. 51, a multiplier TM25 gives, to an adder TS25, a
multiplication result of the I.sub.T signal and a local signal
cos(.omega..sub.B2t+.theta..sub.B2) from the oscillator 23. A
multiplier TM26 gives, to the adder TS25, a multiplication result
of the Q.sub.T signal and a local signal
.+-.sin(.omega..sub.B2t+.theta..sub.B2) from the oscillator 23. The
adder TS25 adds up the two inputs and gives an addition result to
the multiplier TM21.
[0355] A multiplier TM27 gives, to an adder TS26, a multiplication
result of the I.sub.T signal and the local signal
.+-.sin(.omega..sub.B2t+.theta..sub.B2) from the oscillator 23. A
multiplier TM28 gives, to the adder TS26, a multiplication result
of the Q.sub.T signal and the local signal
cos(.omega..sub.B2t+.theta..sub.B2) from the oscillator 23. The
adder TS26 subtracts the output of the multiplier TM28 from the
output of the multiplier TM27 and gives a subtraction result to the
multiplier TM22. The other components are the same as the
components shown in FIG. 5.
[0356] FIG. 52 is a circuit diagram showing an example of specific
configurations of the transmitting section 14 and the receiving
section 15 shown in FIG. 1. FIG. 53 is a circuit diagram showing an
example of specific configurations of the transmitting section 24
and the receiving section 25 shown in FIG. 1. Note that FIGS. 52
and 53 show transceivers having a heterodyne configuration.
[0357] In FIG. 52, a multiplier TM1A gives, to an adder TS1A, a
multiplication result of the I.sub.T signal and the local signal
cos(.omega..sub.B1t+.theta..sub.B1) from the oscillator 13. A
multiplier TM1B gives, to the adder TS1A, a multiplication result
of the Q.sub.T signal and the local signal
sin(.omega..sub.B1t+.theta..sub.B1) from the oscillator 13. The
adder TS1A subtracts the output of the multiplier TM1B from the
output of the multiplier TM1A and gives a subtraction result to a
multiplier TM1C. The multiplier TM1C multiplies together the output
of the adder TS1A and a local signal
cos(.omega..sub.C1t+.theta..sub.C1) and outputs a multiplication
result as the transmission signal tx1.
[0358] A multiplier RM1A multiplies together the received signal
rx1 and the local signal cos(.omega..sub.C1t+.theta..sub.C1) to
obtain an I.sub.1 signal and outputs the I.sub.1 signal to
multipliers RM1B and RM1C. The multiplier RM1B outputs a
multiplication result of the I.sub.1 signal and the local signal
cos(.omega..sub.B1t+.theta..sub.B1) as an I signal. The multiplier
RM1C outputs a multiplication result of the I.sub.1 signal and the
local signal sin(.omega..sub.B1t+.theta..sub.B1) as a Q signal.
[0359] In FIG. 53, a multiplier TM2A gives, to an adder TS2A, a
multiplication result of the I.sub.T signal and the local signal
cos(.omega..sub.B2t+.theta.B2) from the oscillator 23. A multiplier
TM2B gives, to the adder TS2A, a multiplication result of the
Q.sub.T signal and the local signal
sin(.omega..sub.B2t+.theta..sub.B2) from the oscillator 23. The
adder TS2A subtracts the output of the multiplier TM2B from the
output of the multiplier TM2A and gives a subtraction result to a
multiplier TM2C. The multiplier TM2C multiplies together the output
of the adder TS2A and a local signal
cos(.omega..sub.C2t+.omega..sub.C2) and outputs a multiplication
result as the transmission signal tx2.
[0360] A multiplier RM2A multiplies together the received signal
rx2 and the local signal cos(.omega..sub.c2t+.omega..sub.C2) to
obtain the I.sub.1 signal and outputs the I.sub.1 signal to
multipliers RM2B and RM2C. The multiplier RM2B outputs a
multiplication result of the I.sub.1 signal and the local signal
cos(.omega..sub.B2t-.omega..sub.B2) as the I signal. The multiplier
RM2C outputs a multiplication result of the I.sub.1 signal and the
local signal sin(.omega..sub.B2t+.theta..sub.B2) as the Q
signal.
[0361] FIG. 54 is a circuit diagram showing an example of the
specific configurations of the transmitting section 14 and the
receiving section 15 shown in FIG. 1. FIG. 55 is a circuit diagram
showing an example of the specific configurations of the
transmitting section 24 and the receiving section 25 shown in FIG.
1. Note that FIGS. 54 and 55 show transceivers in which a direct
conversion scheme is adopted.
[0362] In FIG. 54, a multiplier TM1D gives, to an adder TS1C, a
multiplication result of the I.sub.T signal and the local signal
cos(.omega..sub.C1t+.theta..sub.C1) from the oscillator 13. A
multiplier TM1E gives, to the adder TS1C, a multiplication result
of the Q.sub.T signal and the local signal
sin(.omega..sub.C1t+.theta..sub.C1) from the oscillator 13. The
adder TS1C subtracts the output of the multiplier TM1E from the
output of the multiplier TM1D and outputs a subtraction result as
the transmission signal tx1.
[0363] A multiplier RM1D multiplies together the received signal
rx1 and the local signal cos(.omega..sub.C1t+.theta..sub.C1) and
outputs a multiplication result as the I signal. A multiplier RM1E
multiplies together the received signal rx1 and the local signal
sin(.omega..sub.C1t+.theta..sub.C1) and outputs a multiplication
result as the Q signal.
[0364] In FIG. 55, a multiplier TM2D gives, to the adder TS2C, a
multiplication result of the I.sub.T signal and the local signal
cos(.omega..sub.C2t+.theta..sub.C2) from the oscillator 23. A
multiplier TM2E gives, to the adder TS2C, a multiplication result
of the Q.sub.T signal and the local signal
sin(.omega..sub.C2t+.theta..sub.C2) from the oscillator 23. The
adder TS2C subtracts the output of the multiplier TM2E from the
output of the multiplier TM2D and outputs a subtraction result as
the transmission signal tx2.
[0365] A multiplier RM2D multiplies together the received signal
rx2 and the local signal cos(.omega..sub.C2t+.theta..sub.C2) and
outputs a multiplication result as the I signal. A multiplier RM2E
multiplies together the received signal rx2 and the local signal
sin(.omega..sub.C2t+.theta..sub.C2) and outputs a multiplication
result as the Q signal.
(Transmission Example of Phase Information)
[0366] In the respective embodiments, the phase information is
transmitted from either one of the first device and the second
device to the other. However, as explained above, a method of
transmitting the phase information is not particularly limited. For
example, the phase information may be transmitted by shifting by a
phase obtained from a received signal, a phase of a carrier signal
to be transmitted.
[0367] For example, in this case, it is possible to adopt a flow in
which the broken line portion of FIG. 6 is replaced with a flow
shown in FIG. 56 and steps S7, S8, and S18 in FIG. 6 are
omitted.
[0368] FIG. 56 is a flowchart for explaining an example
corresponding to FIG. 11A in which the second device transmits
phase information to the first device. FIG. 56 includes a step of
adding up a received phase and an initial phase between the
acquisition step for the I and Q signals and the one wave
transmission signal generating step in the second device shown in
FIG. 11A. Consequently, a carrier signal in which a phase detected
from a received signal is added to the initial phase of the device
2 is generated. The device 1 can acquire phase information
calculated by the device 2 by receiving the carrier signal from the
device 2 and calculating a phase.
[0369] As extension of the addition of the received phase and the
initial phase, for example, in the eight-times repeated alternating
sequence shown in FIG. 15, a sequence of .theta..sub.L2,
.theta..sub.L2, and .theta..sub.L1 is considered, that is, after
the device 2 transmits signals to the device 1 twice, the device 1
transmits a signal to the device 2. A received phase added to the
initial phase during last .theta..sub.L1 transmission may be a
phase of the immediately preceding .theta..sub.L2 but may be a
value obtained by taking into account a phase detection result of
.theta..sub.L2 immediately preceding .theta..sub.1,2. That is, in
addition to simply reflecting an immediately preceding received
result, a result reflecting phases in the past may be added. In
this case, in general, a result obtained by performing a
predetermined operation on detected phase in the past is added to
the initial phase. Further, in the case of the sequence shown in
FIG. 15, since the device 2 receives a signal last, the device 2 is
a device that calculates a distance. In this case, the device 1
does not always need to calculate a distance.
[0370] FIG. 57 is a flowchart for explaining an example
corresponding to FIG. 47. A flow shown in FIG. 57 includes a step
of adding up a received phase and an initial phase between the
acquisition step for I and Q signals and the one wave transmission
signal generating step in the device 2 shown in FIG. 47. When the
eight-time repeated alternating sequence shown in FIG. 15 is
assumed, as explained above, a predetermined calculation result
with respect to detected phases in the past is added to the initial
phase. Further, the device 2 is a device that calculates a
distance. In this way, even when the carrier frequency is changed
halfway in the distance measurement, the phase information may be
transmitted while being included in the information concerning the
phase of the carrier signal transmitted for the distance
measurement.
(Doubling of a Measurement Distance)
[0371] Incidentally, the result of Equation (139) described above
is a value in a system of residue of 2.pi., that is, a value
between 0 and 2.pi.. The distance R is R=.tau..sub.1/C. When a left
side of Equation (139) described above is represented as S.sub.A
and R is calculated, the following Equation (210) is obtained:
R=(S.sub.A/4).times.{c/(.omega..sub.B1+.omega..sub.B2)} (210)
[0372] A maximum of S.sub.A of Equation (210) described above is
2.pi.. When (.omega..sub.B1+.omega..sub.B2)=2.pi..DELTA.f, a
maximum R.sub.MAX of the distance R is represented by the following
Equation (211):
R.sub.MAX=c/4.DELTA.f (211)
[0373] That is, Equation (211) described above indicates a maximum
distance measurable without adopting the methods shown in FIGS. 9
and 10 in the sequence shown in FIG. 15 for transmitting two
carriers having different frequencies four times from each of the
device 1 and the device 2, eight times in total (hereinafter
referred to as eight-time alternate sequence). On the other hand,
when four waves are simultaneously transmitted and a distance is
calculated by Equation (61) described above, R.sub.MAX=c/2.DELTA.f.
That is, in the eight-time alternate sequence shown in FIG. 15, a
measurable distance is a half of a measurable distance during the
four-wave simultaneous transmission.
[0374] Therefore, a method of increasing the measurable distance in
the eight-time alternate sequence shown in FIG. 15 is examined.
When .omega..sub.B1-.omega..sub.B2 represents a beat angular
frequency and a result obtained by multiplying the time t.sub.0
with a double of the beat angular frequency is represented as
A(=2(.omega..sub.B1-.omega..sub.B2)t.sub.0). A can be calculated by
the following Equation (212) in which measured eight phases are
used:
A=[mod
{(.theta..sub.H1(t)+.theta..sub.H2(t+t.sub.0)-.theta..sub.H1(t+t.-
sub.0+D)-.theta..sub.H2(t+D)-(.theta..sub.L1(t+T)+.theta..sub.L2(t+t.sub.0-
+T)-.theta..sub.L1(t+t.sub.0+D+T)-.theta..sub.L2(t+D+T))+.pi.,2.pi.}-.pi.]-
/2 (212)
[0375] When the following Equation (213) is satisfied, Equation
(129) is modified to represent a distance with the following
Equation (214):
|2(.omega..sub.B1-.omega..sub.B2)t.sub.0|.ltoreq..pi./2 (213)
R=[{.theta..sub.H1(t)+.theta..sub.H2(t+t.sub.0)-(.theta..sub.L1(t+T)+.th-
eta..sub.L2(t+t.sub.0+T))-A}/2].times.c/(.omega..sub.B1+.omega..sub.B2)
(214)
[0376] Therefore, the maximum R.sub.MAX of the distance R in this
case is represented by the following Equation (215):
R.sub.MAX=c/2.DELTA.f (215)
[0377] That is, by performing distance measurement using Equation
(214) described above, in the eight-time alternate sequence shown
in FIG. 15, it is possible to set a transmittable and measurable
maximum distance to a measurement distance same as the measurement
distance during the four-wave simultaneous transmission without
adopting the methods shown in FIGS. 9 and 10.
[0378] For example, if .omega..sub.B1=2.pi..times.5 [MHz], an error
of .omega..sub.B2 with respect to .omega..sub.B1 is 40 [ppm], and
t.sub.0=100 [.mu.s], a left side of Equation (213) described above
is
2(.omega..sub.B1-.omega..sub.B2)t.sub.0=2.times.2.pi..times.5.times.40.ti-
mes.10.sup.-6.times.100=0.08.pi.. It is relatively easy to perform
system design to satisfy Equation (213) described above.
[Notes]
[Note 1]
[0379] A distance measuring device that calculates a distance on a
basis of carrier phase detection, the distance measuring device
including a calculating section configured to calculate, on a basis
of phase information acquired by a first device and a second
device, at least one of which is movable, a distance between the
first device and the second device, wherein
[0380] the first device includes:
[0381] a first reference signal source; and
[0382] a first transceiver configured to transmit two or more first
carrier signals and receives two or more second carrier signals
using an output of the first reference signal source,
[0383] the second device includes:
[0384] a second reference signal source configured to operate
independently from the first reference signal source; and
[0385] a second transceiver configured to transmit the two or more
second carrier signals and receives the two or more first carrier
signals using an output of the second reference signal source,
and
[0386] the calculating section calculates the distance on a basis
of a phase detection result obtained by reception of the first and
second carrier signals.
[Note 2]
[0387] The distance measuring device according to the note 1,
wherein the calculating section calculates the distance by
calculating a residue of 2.pi. concerning an addition result of a
residue result of 2.pi. concerning the first phase difference and a
residue result of 2.pi. concerning the second phase difference.
[Note 3]
[0388] The distance measuring device according to the note 1,
wherein
[0389] the first and second reference signal sources generate two
kinds of local signals, and
[0390] the first and second transceivers are configured of a
wireless receiver of an image suppression scheme in which the two
kinds of local signals are used.
[Note 4]
[0391] The distance measuring device according to the note 1,
further including:
[0392] a band-pass filter provided between the first transceiver
and an antenna; and
[0393] a switch circuit that switches a first route for giving an
output of a transmitter in the first transceiver to a receiver in
the first transceiver via the band-pass filter and a second route
for giving the output to the receiver in the first transceiver not
via the band-pass filter, wherein
[0394] a receiver of the first transceiver includes two inputs, one
of which is connected to an output of the switch circuit, and
[0395] the calculating section calculates a delay time due to the
band-pass filter on a basis of a phase of the first carrier signal
that passes the first route and a phase of the first carrier signal
that passes the second route.
[Note 5]
[0396] The distance measuring device according to the note 1,
wherein
[0397] the first carrier signal is two or more carrier signals
having different frequencies,
[0398] the second carrier signal is two or more carrier signals
having frequencies respectively corresponding to the two or more
carrier signals of the first carrier signal, and
[0399] the first and second transceivers do not change initial
phases and frequencies of the first and second carrier signals
during a period in which carrier signals having frequencies
corresponding to each other of the first and second carrier signals
are transmitted and received.
[Note 6]
[0400] The distance measuring device according to the note 1,
wherein one device of the first and second devices generates a
carrier signal obtained by adding, to an initial phase, a phase
detection result obtained by reception of a carrier signal from
another device of the first and second devices and transmits the
carrier signal to the other device, and the device that receives
the carrier signal last in a distance measurement sequence is a
device that performs distance measurement calculation.
[0401] While certain embodiments have been described, these
embodiments have been presented by way of example only, and are not
intended to limit the scope of the inventions. Indeed, the novel
devices and methods described herein may be embodied in a variety
of other forms; furthermore, various omissions, substitutions and
changes in the form of the embodiments described herein may be made
without departing from the spirit of the inventions. The
accompanying claims and their equivalents are intended to cover
such forms or modification as would fall within the scope and
spirit of the inventions.
* * * * *