JP2984122B2 - Position measurement system - Google Patents
Position measurement systemInfo
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- JP2984122B2 JP2984122B2 JP3332651A JP33265191A JP2984122B2 JP 2984122 B2 JP2984122 B2 JP 2984122B2 JP 3332651 A JP3332651 A JP 3332651A JP 33265191 A JP33265191 A JP 33265191A JP 2984122 B2 JP2984122 B2 JP 2984122B2
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- signal
- pseudo
- time
- under test
- station
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Description
【０００１】[0001]
【技術分野】本発明は、位置測定システムに関し、より
詳細には、被測定体から発する音波を受信して被測定体
の位置の座標を測定する位置測定あるいは距離測定する
技術に関する。例えば、ローカルエリア無線通信、ファ
クトリーオートメーション、ホームオートメーションな
どに適用されるものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position measurement system, and more particularly, to a position measurement or distance measurement technique for receiving a sound wave emitted from a measured object and measuring coordinates of the position of the measured object. For example, it is applied to local area wireless communication, factory automation, home automation, and the like.
【０００２】[0002]
【従来技術】屋内環境などの限られた領域内での被測定
体の正確な位置座標情報を得ることができる発信機位置
測定システムとして、疑似雑音信号を発信する発信機を
被測定体に保持させ、測定領域内に設置された複数の基
準局の同期回路で信号の到達時刻を観測し、発信機の位
置を測定するシステムが提案されている。例えば、特願
平２−３５５５０号の「発信機位置測定システム及び発
信機」は、疑似雑音信号を発信する発信機と疑似雑音信
号発生の時刻の基準となる時計を被測定体に保持させ、
測定領域内に設置された複数の基準局の同期回路と発信
機の時計とほぼ同じ時刻を示す時計から、信号の到達時
間を連続的に観測し、発信機の位置を測定するシステム
である。2. Description of the Related Art As a transmitter position measuring system capable of obtaining accurate position coordinate information of a measured object within a limited area such as an indoor environment, a transmitter for transmitting a pseudo noise signal is held in the measured object. A system has been proposed in which the arrival time of a signal is observed by a synchronous circuit of a plurality of reference stations installed in a measurement area, and the position of the transmitter is measured. For example, Japanese Patent Application No. 2-35550 discloses a “transmitter position measuring system and transmitter”, in which an object to be measured holds a transmitter that transmits a pseudo-noise signal and a clock that is a reference of the time of generation of the pseudo-noise signal,
This is a system that continuously observes the arrival time of a signal from a synchronous circuit of a plurality of reference stations and a clock indicating substantially the same time as the clock of the transmitter, and measures the position of the transmitter.
【０００３】また、他に提案された「発信機位置測定シ
ステム」は、特定の領域における被測定体の位置を測定
する位置測定システムにおいて、被測定体に固有に割当
てられた疑似雑音符号の信号を周期的に連続もしくは間
欠的に発信する発信機を被測定体に保持させ、また、そ
の信号の到達時間計測の基準信号となる被測定体とは異
なる符号の疑似雑音信号を発生する基準発信機を領域内
に固定設置し、同領域内に複数設置された基準局におい
て、発信機からの疑似雑音信号と基準発信機からの疑似
雑音信号を受信し、被測定体に割当てられた疑似雑音信
号に関する整合フィルタと、基準発信機に割当てられた
疑似雑音信号に関する整合フィルタでそれぞれの相関パ
ルス信号を得て、基準発信機からの信号と被測定体から
の信号の到達時間差を計測することで被測定体の位置お
よび被測定体が保持する発信機の座標を計測することを
特徴とする位置測定システムである。[0003] Another proposed "transmitter position measuring system" is a position measuring system for measuring the position of an object to be measured in a specific area, which is a signal of a pseudo-noise code uniquely assigned to the object to be measured. A reference transmitter that causes the DUT to periodically and continuously or intermittently emit a pseudo-noise signal with a code different from that of the DUT as a reference signal for measuring the arrival time of the signal. A pseudo-noise signal from a transmitter and a pseudo-noise signal from a reference transmitter are received at a plurality of reference stations installed in the same area, and a pseudo-noise signal assigned to the device under test. And a matched filter for the pseudo-noise signal assigned to the reference transmitter, obtain the respective correlation pulse signals, and obtain the arrival time of the signal from the reference transmitter and the signal from the device under test. Measuring the coordinates of the transmitter position and the object to be measured of the object to be measured is held by measuring the a position measuring system according to claim.
【０００４】また、更に他に提案された「発信機位置測
定システム」は、特定の領域における被測定体の位置を
測定する位置測定システムにおいて、被測定体に固有に
割当てられた疑似雑音符号の信号を周期的に発信する発
信機を被測定体に保持させ、同領域内に複数設置された
基準局において、被測定体から発信される疑似雑音信号
を受信し、被測定体に割当てられた疑似雑音信号に対応
した整合フィルタもしくは遅延ロックループなどの同期
回路によりタイミング信号を得て、各基準局から得られ
るタイミング信号のうち、最初のタイミング信号が検出
された時刻を基準とした他基準局で検出される信号の到
達遅れ時間を計測することで被測定体の位置および被測
定体が保持する発信機の座標を計測することを特徴とす
る位置測定システムである。[0004] Still another proposed "transmitter position measuring system" is a position measuring system for measuring the position of a device under test in a specific area, in which a pseudo-noise code uniquely assigned to the device under test is used. A transmitter that periodically transmits a signal is held by a DUT, and a plurality of reference stations installed in the same area receive a pseudo-noise signal transmitted from the DUT, and a pseudo-noise assigned to the DUT is received. A timing signal is obtained by a synchronous circuit such as a matched filter or a delay lock loop corresponding to the noise signal, and among the timing signals obtained from each reference station, the timing signal is detected by another reference station based on the time when the first timing signal is detected. A position measurement system that measures the position of the measured object and the coordinates of the transmitter held by the measured object by measuring the arrival delay time of the signal. It is.
【０００５】これらのシステムは、疑似雑音信号の送信
手段として疑似雑音信号で変調された電波、音波または
光を想定しており、距離の測定誤差要因として、送受信
の時刻をきめる時計やクロックなどの安定性に起因する
時間誤差を考慮し、“測定対象座標の次元数＋１”の数
の基準局を設置し、それらと被測定体との距離から測定
対象の座標を推定する計算をおこなっている。しかし、
音波を用いる場合、その伝播速度（音速）は測定領域の
温度に依存し、従来の計算方法では、温度変化が誤差要
因として考慮されていないため、被測定体の座標の測定
値が測定環境の温度変化の影響を受けてしまうという欠
点があった。[0005] These systems assume a radio wave, a sound wave or a light modulated by the pseudo noise signal as a transmission means of the pseudo noise signal, and as a distance measurement error factor, such as a clock or a clock for determining the transmission / reception time. In consideration of a time error due to stability, reference stations having the number of "dimensions of the coordinates of the object to be measured + 1" are set up, and calculations are performed to estimate the coordinates of the object to be measured from the distance between them and the object to be measured. But,
When a sound wave is used, its propagation speed (sound speed) depends on the temperature of the measurement area, and the conventional calculation method does not consider the temperature change as an error factor. There is a disadvantage that it is affected by temperature changes.
【０００６】[0006]
【目的】本発明は、上述のごとき実情に鑑みてなされた
もので、疑似雑音信号を送信するための搬送波として音
波を用いる場合に、座標計算に用いる基準局の数を増や
し、座標計算に音速の温度補正項を導入することで、環
境の温度変化に伴う座標の計測誤差が小さい発信機位置
測定システムを実現することを目的としている。SUMMARY OF THE INVENTION The present invention has been made in view of the above situation, and in the case where a sound wave is used as a carrier for transmitting a pseudo noise signal, the number of reference stations used for coordinate calculation is increased, and the speed of sound is used for coordinate calculation. An object of the present invention is to realize a transmitter position measurement system in which a measurement error of coordinates due to a temperature change of an environment is small by introducing a temperature correction term.
【０００７】[0007]
【構成】本発明は、上記目的を達成するために、被測定
体に固有に割当てられた疑似雑音符号の信号で変調され
た音波を発信する発信機を被測定体に保持させ、該被測
定体が存在する特定な領域内に設置された複数の基準局
を有し、該被測定体から発信される疑似雑音信号を受信
し、該被測定体に割当てられた疑似雑音信号に対応する
整合フィルタを用いた受動的な同期方法もしくは遅延ロ
ックループのような能動的な同期方法により受信された
疑似雑音信号の同期信号を得て、送信時刻から受信時刻
まで、もしくは最初に信号が到達した局の到達時刻を基
準として受信遅れ時間を計測し、各局の遅れ時間から被
測定体の座標を計測する位置測定シスシムにおいて、座
標の次元数に２局以上の基準局からの遅れ時間計測値を
加えたものを用いることで、座標計算と時間補正計算に
加えて測定領域内の温度を計測し、音波の伝播速度の温
度補正を行なうことを特徴としたものである。以下、本
発明の実施例に基づいて説明する。According to the present invention, in order to achieve the above-mentioned object, a transmitter for transmitting a sound wave modulated with a signal of a pseudo-noise code uniquely assigned to a device under test is held by the device under test, A matched filter having a plurality of reference stations installed in a specific area where the body is located, receiving a pseudo noise signal transmitted from the measured body, and corresponding to the pseudo noise signal assigned to the measured body; A synchronous signal of a pseudo-noise signal received by a passive synchronization method using a synchronous method or an active synchronization method such as a delay locked loop is obtained, from a transmission time to a reception time, or from a station where the signal arrives first. In a position measurement system that measures the reception delay time based on the arrival time and measures the coordinates of the measured object from the delay time of each station, the value obtained by adding the delay time measurement values from two or more reference stations to the number of dimensions of the coordinates Using It is, measures the temperature of the measurement area in addition to the coordinate calculation and time correction calculation, is obtained characterized by performing the temperature correction of the propagation velocity of the acoustic wave. Hereinafter, a description will be given based on examples of the present invention.
【０００８】図１は、本発明による位置測定システムの
一実施例を説明するための構成図で、図中、１ａ〜１ｅ
は基準局、２は被測定体、３は遅れ時間計測器、４は計
算機である。ここで、基準局１〜５は、例えば、屋内の
天井の四隅に固定設置され、受波器の位置座標がわかっ
ている。ただし、測定座標を一意に決める為に、各局の
受波器は同一平面上にないようにする。被測定体と基準
局はお互に見通し内にあり、従って、被測定体から発せ
られる疑似雑音信号で変調された音波は見通し内伝播を
して各基準局に到達する。FIG. 1 is a block diagram for explaining an embodiment of a position measuring system according to the present invention.
Denotes a reference station, 2 denotes an object to be measured, 3 denotes a delay time measuring device, and 4 denotes a computer. Here, the reference stations 1 to 5 are fixedly installed at, for example, four corners of an indoor ceiling, and the position coordinates of the receiver are known. However, in order to uniquely determine the measurement coordinates, the receivers of each station should not be on the same plane. The device under test and the reference station are in line of sight with each other, so that the sound wave modulated with the pseudo-noise signal emitted from the device under test propagates in line of sight and reaches each reference station.
【０００９】各基準局は被測定体および基準発信機から
連続的もしくは間欠的に発信される信号を受信し、整合
フィルタや遅延ロックループなどの同期回路で同期信号
を取り出し、信号到達を知らせるタイミング信号を遅れ
時間計測器に送出する。遅れ時間計測器では被測定体か
ら信号が発せられた時刻から各基準局に信号が到達する
までの絶対遅れ時間もしくは最初に入力されたタイミン
グ信号をトリガとして、それぞれの局における信号の到
達遅れ時間を計測し、結果を計算機に転送する。計算機
では、転送されてきた遅れ時間の情報と各基準局の受信
位置の座標（Ｘ1，Ｙ1，Ｚ1）〜（Ｘ5，Ｙ5，Ｚ5）から
被測定体の位置座標（Ｘ,Ｙ,Ｚ）を測定する。Each reference station receives a signal continuously or intermittently transmitted from the device under test and the reference transmitter, extracts a synchronization signal with a synchronization circuit such as a matched filter or a delay lock loop, and outputs a timing signal indicating the arrival of the signal. Is sent to the delay time measuring device. The delay time measuring instrument uses the absolute delay time from when the signal is emitted from the DUT to the arrival of the signal at each reference station or the first input timing signal as a trigger to determine the arrival delay time of the signal at each station. Measure and transfer the result to the computer. The computer obtains the position coordinates (X, Y) of the measured object from the transferred delay time information and the coordinates (X 1 , Y 1 , Z 1 ) to (X 5 , Y 5 , Z 5 ) of the reception position of each reference station. Y, Z) is measured.
【００１０】図２（ａ），（ｂ）は、被測定体が保持す
る発信機と各基準局の受信機の構成図で、図中、１１は
ＰＮ信号発生器、１２は乗算器、１３はアンプ、１４は
トランスジューサ（送信用）、１５は搬送波信号発生
器、１６はトランスジューサ（受信用）、１７はアン
プ、１８は周波数変換器、１９は乗算器、２０は搬送波
信号発生器、２１は遅延ロックループ、２２は相関ネッ
トワーク、２３は電圧制御クロック、２４はＰＮ符号発
生器である。被測定体は固有の系列の疑似雑音（ＰＮ）
信号発生器１１を有し、その信号を超音波トランスデュ
ーサの中心周波数帯（例えば４０ｋＨｚ）にアップコン
バートしてアンプ１３を介してトランスデューサ１４に
入力し、音波として送信する。本発明の実施例では、Ｐ
Ｎ信号が常に連続的に発せられている場合を示す。基準
局では、受信した搬送波周波数帯信号をダウンコンバー
トして、遅延ロックループ２１に入力し、遅延ロックル
ープ２１から得られる同期信号をもとにタイミング信号
を取り出している。2 (a) and 2 (b) are configuration diagrams of a transmitter held by the device under test and a receiver of each reference station. In the figure, 11 is a PN signal generator, 12 is a multiplier, and 13 is a multiplier. An amplifier, 14 is a transducer (for transmission), 15 is a carrier signal generator, 16 is a transducer (for reception), 17 is an amplifier, 18 is a frequency converter, 19 is a multiplier, 20 is a carrier signal generator, and 21 is a delay. A lock loop, 22 is a correlation network, 23 is a voltage control clock, and 24 is a PN code generator. The device under test is a unique series of pseudo noise (PN)
It has a signal generator 11, upconverts the signal to the center frequency band (for example, 40 kHz) of the ultrasonic transducer, inputs the signal to the transducer 14 via the amplifier 13, and transmits it as a sound wave. In an embodiment of the present invention, P
It shows a case where the N signal is always emitted continuously. The reference station down-converts the received carrier frequency band signal, inputs the down-converted signal to the delay lock loop 21, and extracts a timing signal based on the synchronization signal obtained from the delay lock loop 21.
【００１１】図２ではＰＮ信号が７ビットのフィードバ
ック・シフトレジスタ（ＦＳＲ）から発生される１２７
チップ長のＭ系列符号である場合を想定し、タイミング
信号の抽出回路を設けている。ＦＳＲの７チップからそ
れぞれ同期したＰＮ信号を取り出し、アンド・ゲートに
入力している。１２７チップ中、“１”が７回連続する
信号列“１１１１１１１”は１パターンしか存在しない
ので、この信号が来た時のみタイミング信号が出力され
る。同期信号の抽出には整合フィルタを用いてもよく、
従来の方法のどの方法でもよい。被測定体とある一つの
基準局、それぞれの座標を（ｘ,ｙ,ｚ）と（Ｘ,Ｙ,Ｚ）
とおき、被測定体から発せられた信号が基準局に到達す
るまでの時間をｔとすると、被測定体と基準局間の距離
の関係より次の関係式が得られる。In FIG. 2, the PN signal is generated from a 7-bit feedback shift register (FSR).
A timing signal extraction circuit is provided, assuming the case of an M-sequence code having a chip length. Synchronized PN signals are extracted from the seven chips of the FSR and input to the AND gate. Since only one pattern exists in the signal sequence “1111111” in which “1” is repeated seven times in 127 chips, a timing signal is output only when this signal comes. A matching filter may be used to extract the synchronization signal,
Any of the conventional methods may be used. The object to be measured and one reference station, the coordinates of which are (x, y, z) and (X, Y, Z)
Assuming that the time required for the signal emitted from the measured object to reach the reference station is t, the following relational expression is obtained from the relationship between the measured object and the reference station.
【００１２】[0012]
【数１】 (Equation 1)
【００１３】ただし、Ｃｏは０℃における空気中の音速
であり、通常３３１.５［ｍ／ｓ］が用いられる。Ｔ
［℃］は測定時の環境の温度であるが、音波の伝播経路
上に温度分布がある場合はＴは環境のおおよその温度を
反映するとみなす。ここで、座標測定の一つの方法とし
て、最初に信号を受信した基準局からのタイミング信号
を基準として相対的な時間遅れを用いる場合を考える。
いま、第１の基準局１ａに最初に信号が到達したとし、
該第１の基準局１ａで受信された信号からの他局信号の
遅れ時間をｔ2，ｔ3，ｔ4，ｔ5とすると、被測定体の座
標（ｘ,ｙ,ｚ）と各基準局座標（Ｘ1，Ｙ1，Ｚ1）〜
（Ｘ5，Ｙ5，Ｚ5）との関係は次式で与えられる。However, Co is the speed of sound in air at 0 ° C., and usually 331.5 [m / s] is used. T
[° C.] is the temperature of the environment at the time of measurement. If there is a temperature distribution on the propagation path of the sound wave, T is considered to reflect the approximate temperature of the environment. Here, as one method of coordinate measurement, a case where a relative time delay is used with reference to a timing signal from a reference station that first receives a signal is considered.
Now, assuming that the signal first arrives at the first reference station 1a,
Assuming that the delay time of the other station signal from the signal received by the first reference station 1a is t 2 , t 3 , t 4 , t 5 , the coordinates (x, y, z) of the measured object and each reference station coordinate (X 1 , Y 1 , Z 1 ) ~
The relationship with (X 5 , Y 5 , Z 5 ) is given by the following equation.
【００１４】[0014]
【数２】 (Equation 2)
【００１５】上式を解くことで、被測定体の座標（ｘ,
ｙ,ｚ）および温度Ｔが計算される。被測定体が移動
し、第２の基準局１ｂで最初に受信信号が得られた場
合、該第２の基準局１ｂで受信された信号からの他局信
号の遅れ時間ｔ1，ｔ3，ｔ4，ｔ5が計測されれば、被測
定体の座標（ｘ,ｙ,ｚ）と各基準局座標（Ｘ1，Ｙ1，Ｚ
1）〜（Ｘ5，Ｙ5，Ｚ5）との関係は次式で与えられる。By solving the above equation, the coordinates (x,
y, z) and the temperature T are calculated. Object to be measured is moved, if the first received signal obtained by the second base station 1b, the delay time t 1 of the other station signal from the signal received at the second base station 1b, t 3, t 4 , T 5 are measured, the coordinates (x, y, z) of the measured object and the coordinates of each reference station (X 1 , Y 1 , Z)
1) the relationship between the ~ (X 5, Y 5, Z 5) is given by the following equation.
【００１６】[0016]
【数３】 (Equation 3)
【００１７】上式を解くことで、移動先の被測定体の座
標が計算される。以上のように本発明によれば、座標
（ｘ,ｙ,ｚ）の計算に環境の温度をパラメータに加え、
３次元座標の計測では最低５局の基準局を設けて、温度
変化による測定誤差を小さくすることができる。実施例
では被測定体が一つであったが、複数の異なる系列のＰ
Ｎ符号を用い、基準局にはそれらに対応した複数の同期
回路を用意することで、複数の被測定体の位置追跡が可
能である。By solving the above equation, the coordinates of the moving target object are calculated. As described above, according to the present invention, the temperature of the environment is added to the parameters in the calculation of the coordinates (x, y, z),
In the measurement of three-dimensional coordinates, at least five reference stations are provided to reduce measurement errors due to temperature changes. In the embodiment, the measured object is one.
By using an N code and preparing a plurality of synchronization circuits corresponding to the reference station in the reference station, it is possible to track the positions of a plurality of DUTs.
【００１８】[0018]
【効果】以上の説明から明らかなように、本発明による
と、以下のような効果がある。被測定体に固有に割当て
られた疑似雑音符号の信号で変調された音波を発信する
発信機を被測定体に保持させ、被測定体が存在する特定
な領域内に設置された複数の基準局において、被測定体
から発信される疑似雑音信号を受信し、被測定体に割当
てられた疑似雑音信号に応じた同期方法により、受信し
た疑似雑音信号の同期信号を得て、送信時刻から受信時
刻までもしくは最初に信号が到達した局の到達時刻を基
準として受信遅れ時間を計測し、各局の遅れ時間から被
測定体の座標を計測する位置測定システムにおいて、複
数の基準局からの遅れ時間計測値を時間補正項と音速の
温度補正項を考慮した座標計算式にあてることで、環境
の温度変化に伴う測定誤差の少ない位置測定が可能とな
る。As apparent from the above description, the present invention has the following effects. A transmitter that emits a sound wave modulated by a signal of a pseudo-noise code uniquely assigned to the DUT is held by the DUT, and a plurality of reference stations installed in a specific area where the DUT exists are located. Receiving a pseudo-noise signal transmitted from the device under test, and obtaining a synchronization signal of the received pseudo-noise signal by a synchronization method according to the pseudo noise signal assigned to the device under test, from the transmission time to the reception time. Alternatively, in a position measurement system that measures the reception delay time based on the arrival time of the station where the signal first arrived and measures the coordinates of the measured object from the delay time of each station, the delay time measurement values from multiple reference stations are measured By applying the coordinate calculation formula in consideration of the correction term and the sound velocity temperature correction term, it is possible to perform position measurement with a small measurement error due to a temperature change in the environment.
【図１】 本発明による位置測定システムの一実施例を
説明するための構成図である。FIG. 1 is a configuration diagram for explaining an embodiment of a position measurement system according to the present invention.
【図２】 発信機と受信機の構成図である。FIG. 2 is a configuration diagram of a transmitter and a receiver.
１ａ〜１ｅ…基準局、２…被測定体、３…遅れ時間計測
器、４…計算機。1a to 1e: Reference station, 2: Object to be measured, 3: Delay time measuring instrument, 4: Computer.
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開 平３−205579（ＪＰ，Ａ) 特開 平３−146891（ＪＰ，Ａ) 特開 平３−42590（ＪＰ，Ａ) 特開 平１−295107（ＪＰ，Ａ) 特開 平１−263514（ＪＰ，Ａ) 特開 昭63−266377（ＪＰ，Ａ) 特開 昭63−118637（ＪＰ，Ａ) (58)調査した分野(Int.Cl.6，ＤＢ名) G01S 3/80 - 3/86 G01S 5/18 - 5/30 G01S 7/52 - 7/64 G01S 15/00 - 15/96 ──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-3-205579 (JP, A) JP-A-3-146891 (JP, A) JP-A-3-42590 (JP, A) JP-A-1- 295107 (JP, A) JP-A-1-263514 (JP, A) JP-A-63-266377 (JP, A) JP-A-63-118637 (JP, A) (58) Fields studied (Int. 6, DB name) G01S 3/80 - 3/86 G01S 5/18 - 5/30 G01S 7/52 - 7/64 G01S 15/00 - 15/96
Claims (1)
符号の信号で変調された音波を発信する発信機を被測定
体に保持させ、該被測定体が存在する特定な領域内に設
置された複数の基準局を有し、該被測定体から発信され
る疑似雑音信号を受信し、該被測定体に割当てられた疑
似雑音信号に対応する整合フィルタを用いた受動的な同
期方法もしくは遅延ロックループのような能動的な同期
方法により受信された疑似雑音信号の同期信号を得て、
送信時刻から受信時刻まで、もしくは最初に信号が到達
した局の到達時刻を基準として受信遅れ時間を計測し、
各局の遅れ時間から被測定体の座標を計測する位置測定
シスシムにおいて、座標の次元数に２局以上の基準局か
らの遅れ時間計測値を加えたものを用いることで、座標
計算と時間補正計算に加えて測定領域内の温度を計測
し、音波の伝播速度の温度補正を行なうことを特徴とす
る位置測定システム。1. A device for transmitting a sound wave modulated by a signal of a pseudo noise code uniquely assigned to a device under test is held by the device under test and installed in a specific area where the device under test exists. A plurality of reference stations, receive a pseudo-noise signal transmitted from the DUT, and use a matched filter corresponding to the pseudo-noise signal assigned to the DUT to perform a passive synchronization method or delay. Obtaining a synchronization signal of the pseudo noise signal received by an active synchronization method such as a lock loop,
Measure the reception delay time from the transmission time to the reception time, or based on the arrival time of the station where the signal first arrived,
In a position measurement system that measures the coordinates of the measured object from the delay time of each station, the coordinate calculation and time correction calculation can be performed by using the value obtained by adding the delay time measurement values from two or more reference stations to the coordinate dimension. In addition, a position measurement system that measures the temperature in a measurement area and performs temperature correction of the propagation speed of a sound wave.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3332651A JP2984122B2 (en) | 1991-11-20 | 1991-11-20 | Position measurement system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3332651A JP2984122B2 (en) | 1991-11-20 | 1991-11-20 | Position measurement system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05142331A JPH05142331A (en) | 1993-06-08 |
| JP2984122B2 true JP2984122B2 (en) | 1999-11-29 |
Family
ID=18257348
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3332651A Expired - Fee Related JP2984122B2 (en) | 1991-11-20 | 1991-11-20 | Position measurement system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2984122B2 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2702876B2 (en) * | 1993-09-08 | 1998-01-26 | 株式会社石川製作所 | Sound source detection device |
| JP5350122B2 (en) * | 2009-08-06 | 2013-11-27 | 本田技研工業株式会社 | POSITION DETECTION DEVICE, POSITION DETECTION METHOD, AND PROGRAM |
| JP2011038799A (en) * | 2009-08-06 | 2011-02-24 | Honda Motor Co Ltd | Position detection device, position detection method and program |
| JP2011038800A (en) * | 2009-08-06 | 2011-02-24 | Honda Motor Co Ltd | Position detection device, position detection method, and program |
| KR101452853B1 (en) * | 2013-11-28 | 2014-10-22 | 한국해양과학기술원 | calibration device of underwater hydrophone array location using transducer |
| KR101540171B1 (en) * | 2014-01-27 | 2015-07-28 | 한국해양과학기술원 | manufacturing method of identification device for underwater hydrophone array location |
-
1991
- 1991-11-20 JP JP3332651A patent/JP2984122B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH05142331A (en) | 1993-06-08 |
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