JP5326982B2 - Position measuring method and position measuring apparatus - Google Patents

Description

  The present invention relates to a position measuring method and a position measuring apparatus, and more particularly to a position measuring method and a position measuring apparatus for measuring the position of a radio wave emission source.

  For the purpose of radio wave monitoring or the like, a position measuring device that measures the position of a radio wave emission source whose position is unknown from received radio waves is used.

  As such a position measuring device, the position measuring device described in Patent Document 1 simultaneously measures a “frequency difference” and an “arrival time difference” between received signals received by a plurality of mobile receivers, thereby providing a launch source. Seeking the position.

  Patent Document 2 discloses a position measuring device that measures the arrival directions of radio waves at a plurality of different positions and measures the emission source position from the intersection of azimuth lines indicating the direction measurement results.

JP 2006-349470 A JP 2002-267732 A

  In the position measuring device described in Patent Document 1, the bandwidth of the received signal is necessary to measure the arrival time difference. Assuming that the frequency bandwidth is f and the delay time is Δt, the phase change amount Δφ of the received signal is represented by 2πfΔt. Therefore, when the frequency bandwidth f is small (narrow band) and large (wide band), the amount of phase change for the same delay time Δt is larger in the wide band than in the narrow band. For this reason, even a small amount of error is greatly affected in a narrow band compared to a wide band.

  For this reason, in the position measuring device described in Patent Document 1, if the received signal is a narrow-band communication signal or the like, the arrival time difference cannot be measured accurately, so the position cannot be measured accurately, and the position is measured particularly with an unmodulated carrier wave. There is a disadvantage that it can not.

  On the other hand, the position measuring apparatus described in Patent Document 2 that measures the position based on the measurement result of the arrival direction of radio waves requires a plurality of antennas and receivers in order to measure the arrival direction of radio waves, and further reduces errors. In order to achieve this, it is necessary to arrange a large number of antennas, and there is a disadvantage that the circuit scale and dimensions become large.

  The present invention has been made in view of the above points, and a position measuring method capable of measuring the position of a radio wave emission source without a need to measure the arrival time difference or the radio wave arrival azimuth and without increasing the circuit scale and dimensions. And it aims at providing a position measuring device.

により算出する第２の位置算出ステップとを含むことを特徴とする。 In order to achieve the above object, the position measuring method of the present invention is based on a radio wave from a radio wave emission source in which two mobile bodies moving in the same direction at the same speed at a constant distance are located far away from each other. Based on the received signal and position information transmitted by the two mobile units, and transmitting the received signal, acquiring the position information of its current position, and transmitting the position information. In addition, the maximum value of the frequency difference between the two received signals received by the two mobile units is detected, and the position and velocity information of the two mobile units at the time of signal reception is calculated from the time change of the two positional information. Based on the detection and calculation steps to be performed and the position and velocity information, the maximum value of the frequency difference is obtained when the center position of the distance between the two mobile objects is obtained. Of two mobiles A first position calculating step for calculating a position in the x-axis direction, which is a moving direction, a position in the y-axis direction orthogonal to the x-axis direction of the radio wave emission source, a distance between the two moving bodies, d, a speed Is v, the wavelength of the carrier wave of the received signal is λ, and the maximum frequency difference is Δfmax,

And a second position calculating step calculated by the following.

により算出する第２の位置算出手段とを有することを特徴とする。 In order to achieve the above object, the position measuring apparatus of the present invention has a function of receiving radio waves and transmitting the received signals, and a function of acquiring and transmitting position information of its current position. The first and second moving bodies that move in the same direction at the same speed while maintaining a constant distance from each other, and receive signals and position information transmitted from the first and second moving bodies, respectively. Frequency difference between the two reception signals received by the first and second mobile units based on the communication means and the reception signals received by the first and second mobile units from the communication unit and the acquired position information. Detection and calculation means for calculating the position and speed information of the first and second moving bodies at the time of signal reception from the time change of the two position information, and based on the position and speed information, The maximum frequency difference is first Depending on the position at which the center position of the distance between the second moving body is obtained, the far-field radio waves of the two moving bodies in the x-axis direction, which is the moving direction of the two moving bodies The first position calculating means for calculating the position of the emission source, the position of the radio wave emission source in the y-axis direction orthogonal to the x-axis direction, the distance between the first and second moving bodies, d, and the velocity v When the received signal carrier wavelength is λ and the maximum frequency difference is Δfmax,

And second position calculating means for calculating by the following.

  According to the present invention, even if the received signal is a narrowband signal or only an unmodulated carrier wave, the position of the radio wave emission source can be measured at high speed by simple calculation, and the circuit scale and dimensions can be obtained. Can be realized small.

It is a block diagram of one embodiment of a position measuring device of the present invention. Schematic showing the relationship between the two mobile bodies constituting the position measuring device of the present invention and the radio wave emission source, the relationship between the reception frequency difference and the position of the radio wave emission source in the y-axis direction, the reception frequency difference and x It is a figure which shows the relationship between the center position of the distance between the two mobile bodies of an axial direction. It is a figure which shows an example of the relationship between the distance between two mobile bodies, and a radio wave emission source, and time. It is a figure which shows an example of the time variation | change_quantity of the distance between two mobile bodies and a radio wave emission source. It is a figure which shows an example of the time change of the Doppler frequency of two moving bodies. It is a figure which shows an example of the relationship between the Doppler frequency difference of two moving bodies, and time. It is a figure which shows an example of the relationship between maximum value (DELTA) fmax of a frequency difference, and the position of the y-axis direction of a radio wave emission source.

  Next, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 shows a block diagram of an embodiment of a position measuring apparatus according to the present invention. As shown in the figure, the position measuring apparatus 10 of this embodiment includes two mobile units 1a and 1b, a base station communication unit 2, a frequency difference detection unit 3, a position information processing unit 4, and a maximum frequency. The difference detection unit 5 and the emission source position calculation unit 6 are configured.

  The two mobile units 1a and 1b receive radio waves independently while moving in the same direction and at the same speed at regular intervals, and constitute a global positioning system (GPS), for example. It has a function of receiving GPS signals from artificial satellites to acquire position information of its current position. In addition, when the two mobile units 1a and 1b receive radio waves, the two mobile units 1a and 1b also have a function of transmitting the received reception signal and a function of transmitting the acquired current position information of the current position.

  The base station communication unit 2 includes the first received signal and the first position information of the mobile unit 1a transmitted from the mobile unit 1a, and the second received signal and the second position information of the mobile unit 1b transmitted from the mobile unit 1b. Are received, signal processed, and output.

  The frequency difference detection unit 3 receives the first and second reception signals output from the base station communication unit 2 as inputs, detects the frequency difference between these reception signals by a known method, and detects the frequency difference. Output a signal. The position information processing unit 4 receives the first and second position information output from the base station communication unit 2 as input, and the position of the mobile bodies 1a and 1b at the time of signal reception from the time change of the position information. And speed information is calculated.

  The maximum frequency difference detection unit 5 receives the frequency difference detection signal output from the frequency difference detection unit 3 as an input, acquires the frequency difference indicated by the frequency difference detection signal at regular time intervals, for example, from the previously acquired frequency difference If the frequency difference acquired this time is larger, it is updated to the frequency difference acquired this time, and if the frequency difference acquired this time is smaller, the maximum frequency difference is detected by a method such as holding the frequency difference acquired last time. To do.

  Based on the maximum frequency difference detected by the maximum frequency difference detection unit 5 and the position and speed information output from the position information processing unit 4, the launch source position calculation unit 6 determines the maximum value of the frequency difference. It is calculated at which position the center position of the distance between the two mobile bodies 1a and 1b was obtained, and the calculation result indicates that the same radio waves received by the two mobile bodies 1a and 1b respectively. Estimate (measure) the position of the launch source. This is because the frequency difference is maximized when the line connecting the center position of the distance between the two mobile bodies 1a and 1b and the radio wave emission source is the line connecting the two mobile bodies 1a and 1b. Based on when it crosses vertically.

  Next, the operation of this embodiment will be described with reference to FIGS. 1 and 2 to 7.

  FIG. 2 (A) is a schematic diagram showing the relationship between the two mobile bodies constituting the position measuring apparatus according to the present invention and the radio wave emission source. In the figure, the same components as those in FIG. As shown in FIG. 2 (A), for example, two moving bodies 1a and 1b, which are aircraft, move in the same direction and at the same speed v at a certain distance d while maintaining a certain altitude. It is assumed that the radio waves from the radio wave emission source 7 at the position (X0, Y0) are received independently.

  In addition, each of the mobile bodies 1a and 1b receives, on the ground, a reception signal of a radio wave from the radio wave emission source 7 and position information of its current position obtained based on a GPS signal received from an artificial satellite constituting the GPS. It is transmitted to a certain base station communication unit 2 (not shown in FIG. 2).

  Here, as shown in FIG. 2, when the distance between the moving body 1a and the radio wave emission source 7 is R1, and the distance between the mobile body 1b and the radio wave emission source 7 is R2, the distances R1 and R2 are expressed by the following equations. The

図３は、２台の移動体１ａ及び１ｂが、同一方向に、一定間隔ｄで、同じ速度ｖで高速に移動するときの電波発射源７との距離Ｒ１、Ｒ２の変化と時間との関係の一例を示す。図３において、実線が時間に対する距離Ｒ１の変化を示し、点線が距離Ｒ２の変化を示す。

FIG. 3 shows the relationship between changes in distances R1 and R2 with respect to the radio wave emission source 7 and time when the two moving bodies 1a and 1b move at high speed at the same speed v in the same direction at a constant interval d. An example is shown. In FIG. 3, a solid line indicates a change in the distance R1 with respect to time, and a dotted line indicates a change in the distance R2.

  Moreover, the time variation of the distances R1 and R2 can be obtained by the following equation by differentiating the equations (1) and (2) with respect to time.

図４は、上記の距離Ｒ１、Ｒ２の時間変化量の一例を示す。図４において、実線がｄＲ１／ｄｔの時間変化量を示し、点線がｄＲ２／ｄｔの時間変化量を示す。

FIG. 4 shows an example of the amount of time change of the distances R1 and R2. In FIG. 4, the solid line indicates the time change amount of dR1 / dt, and the dotted line indicates the time change amount of dR2 / dt.

  The above equations (3) and (4) divided by the wavelength λ of the carrier wave of the radio wave received by the mobile bodies 1a and 1b are Doppler frequencies fd1 and fd2, which are obtained by the following equations.

図５は、上記のドップラー周波数ｆｄ１、ｆｄ２と時間との関係の一例を示す。図５において、実線が時間に対するドップラー周波数ｆｄ１の変化を示し、点線が時間に対するドップラー周波数ｆｄ２の変化を示す。

FIG. 5 shows an example of the relationship between the Doppler frequencies fd1 and fd2 and time. In FIG. 5, the solid line shows the change of the Doppler frequency fd1 with respect to time, and the dotted line shows the change of the Doppler frequency fd2 with respect to time.

  Therefore, the Doppler frequency difference Δf between the two mobile bodies 1a and 1b is obtained by the following equation (7).

図６は、上記のドップラー周波数差Δｆと時間との関係の一例を示す。また、図２（Ｃ）は、上記のドップラー周波数差Δｆと移動体１ａ及び１ｂ間の距離の中心位置との間の関係の一例を示す。図２（Ｃ）及び図６に示すように、最大の周波数差Δｆmaxが得られた時間における２台の移動体１ａ及び１ｂ間の距離の中心位置が、電波発射源７のＸ軸方向の位置Ｘ０である。

FIG. 6 shows an example of the relationship between the Doppler frequency difference Δf and time. FIG. 2C shows an example of the relationship between the Doppler frequency difference Δf and the center position of the distance between the moving bodies 1a and 1b. As shown in FIG. 2C and FIG. 6, the center position of the distance between the two mobile bodies 1a and 1b at the time when the maximum frequency difference Δfmax is obtained is the position of the radio wave emission source 7 in the X-axis direction. X0.

  The frequency difference between the two received signals detected by the frequency difference detection unit 3 shown in FIG. 1 represents Δf in the equation (7). Here, in the equation (7), the wavelength λ is determined by the reception frequency, the distance d between the moving bodies 1a and 1b is known, the speed v and the position information vt are the speed information and position from the position information processing unit 4. Since it is obtained from the information, only the position coordinates X0 and Y0 of the radio wave emission source 7 are unknown values.

  The maximum frequency difference detection unit 5 in FIG. 1 detects the maximum value Δfmax of the frequency difference Δf detected by the frequency difference detection unit 3. 1 obtains position information of the moving bodies 1a and 1b when the maximum frequency difference Δfmax is obtained from the position information processing section 4, and the moving body 1a and The center position of the distance between 1b, that is, the position X0 of the radio wave emission source 7 in the X-axis direction is calculated.

  Further, the frequency difference Δf represented by the equation (7) becomes the maximum value Δfmax at a point where X0 = vt in the equation (7). Therefore, Δfmax is expressed by the following equation by substituting X0 = vt into equation (7).

よって、電波発射源７のｙ軸方向の位置Ｙ０は、（８）式をＹ０について整理することにより次式で算出される。

Therefore, the position Y0 of the radio wave emission source 7 in the y-axis direction is calculated by the following formula by arranging the formula (8) for Y0.

図７は、周波数差の最大値Δｆmaxと電波発射源７のｙ軸方向の位置との関係の一例を示す。また、図２（Ｂ）は、上記の周波数差Δｆと電波発射源７のｙ軸方向との関係の一例を示す。電波発射源７のｙ軸方向の位置に応じて、（８）式に示すように周波数差の最大値Δｆmaxは変化し、また、周波数差Δｆも図２（Ｂ）に示すように変化するが、電波発射源７のｙ軸方向の位置Ｙ０は、（９）式により決定される。

FIG. 7 shows an example of the relationship between the maximum frequency difference Δfmax and the position of the radio wave emission source 7 in the y-axis direction. FIG. 2B shows an example of the relationship between the frequency difference Δf and the y-axis direction of the radio wave emission source 7. Depending on the position of the radio wave emission source 7 in the y-axis direction, the maximum value Δfmax of the frequency difference changes as shown in the equation ( 8 ), and the frequency difference Δf also changes as shown in FIG. The position Y0 of the radio wave emission source 7 in the y-axis direction is determined by equation (9).

  Thus, according to the present embodiment, the maximum value of the frequency difference between the two received signals respectively received by the two mobile bodies 1a and 1b moving at the same speed in the same direction at a constant interval (distance). And the position of the radio wave emission source 7 can be measured based on the speed and position information of the mobile bodies 1a and 1b. For the measurement of the position of the radio wave emission source, the “arrival time difference” or “ "Radio arrival direction" is not required.

  Therefore, according to the present embodiment, the position of the radio wave emission source can be measured even if the received signal is a narrowband signal or only an unmodulated carrier wave. Moreover, according to this embodiment, since many antennas are unnecessary, the circuit scale and dimension from the base station communication part 2 to the emission source position calculating part 6 are realizable. In addition, the calculation is very simple and high-speed processing is possible.

  In the above embodiment, the moving bodies 1a and 1b move while maintaining the same altitude. However, when the altitude changes at a constant inclination, the time change amount in the Y direction must also be taken into consideration. However, the present invention can be applied to a slightly complicated expression as compared with movement at the same altitude.

  Further, the present invention is not limited to the above-described embodiment. For example, the moving body used in the present invention is not limited to an aircraft, and may be an automobile, an artificial satellite, or the like.

DESCRIPTION OF SYMBOLS 1a, 1b Mobile body 2 Base station communication part 3 Frequency difference detection part 4 Position information processing part 5 Maximum frequency difference detection part 6 Emergence source position calculation part 7 Radio wave emission source 10 Position measuring apparatus

Claims (4)

Two mobile objects moving in the same direction at the same speed at a constant distance receive radio waves from radio wave emission sources located far away, transmit the received signals, and A transmission step of acquiring position information of each position and transmitting the position information;
Based on the received signal and the position information transmitted by the two mobile units, the maximum value of the frequency difference between the two received signals respectively received by the two mobile units is detected, and the two positions are detected. A detection and calculation step for calculating position and speed information of the two moving bodies at the time of signal reception from a time change of information;
Based on the position and speed information, the two values of the radio wave emission source are determined depending on which position the center of the distance between the two moving objects is obtained. A first position calculating step for calculating a position in the x-axis direction that is a moving direction of the moving body;
The position of the radio wave emission source in the y-axis direction orthogonal to the x-axis direction, the distance between the two moving bodies is d, the velocity is v, the wavelength of the carrier wave of the received signal is λ, and the frequency difference When the maximum value of Δfmax is

And a second position calculating step for calculating the position . Two mobile objects moving in the same direction at the same speed at a constant distance receive radio waves from radio wave emission sources located far away, transmit the received signals, and A transmission step of acquiring position information of each position and transmitting the position information;
A reception step of receiving the received signal and the position information transmitted by the two mobile units;
A frequency difference detecting step of detecting a frequency difference between the two received signals transmitted by the two mobile units received in the receiving step;
A maximum value detecting step for detecting a maximum value of the frequency difference detected in the frequency difference detecting step;
A position and velocity information calculating step for calculating position and velocity information of the two moving bodies at the time of signal reception from time changes of the two pieces of position information respectively transmitted by the two moving bodies received in the receiving step; ,
Based on the position and speed information, the two values of the radio wave emission source are determined depending on which position the center of the distance between the two moving objects is obtained. A first position calculating step for calculating a position in the x-axis direction that is a moving direction of the moving body;
The position of the radio wave emission source in the y-axis direction orthogonal to the x-axis direction, the distance between the two moving bodies is d, the velocity is v, the wavelength of the carrier wave of the received signal is λ, and the frequency difference When the maximum value of Δfmax is

And a second position calculating step for calculating the position . It has a function to receive each radio wave and transmit the received signal, and a function to acquire and transmit position information of its current position, and move in the same direction at the same speed with a fixed distance from each other First and second moving bodies to perform,
Communication means for receiving the received signal and the position information transmitted from the first and second moving bodies, respectively;
Based on the received signals received by the first and second mobile units from the communication means and the acquired location information, the frequencies of the two received signals received by the first and second mobile units, respectively. Detecting and calculating means for detecting the maximum value of the difference and calculating the position and velocity information of the first and second moving bodies at the time of signal reception from the time change of the two pieces of position information;
Based on the position and speed information, the maximum value of the frequency difference is obtained depending on which position the central position of the distance between the first and second moving bodies is obtained. First position calculating means for calculating a position of a radio wave emission source far away from the two moving bodies in the x-axis direction that is a moving direction of the body;
The position of the radio wave emission source in the y-axis direction orthogonal to the x-axis direction, the distance between the first and second moving bodies is d, the velocity is v, the wavelength of the carrier wave of the received signal is λ, When the maximum value of the frequency difference is Δfmax,

And a second position calculation means for calculating the position by the position measurement device. It has a function to receive each radio wave and transmit the received signal, and a function to acquire and transmit position information of its current position, and move in the same direction at the same speed with a fixed distance from each other First and second moving bodies to perform,
Communication means for receiving the received signal and the position information transmitted from the first and second moving bodies, respectively;
A frequency difference detecting means for detecting a frequency difference between the two received signals from the first and second moving bodies received by the communication means;
Maximum frequency difference detecting means for detecting a maximum value of the frequency difference detected by the frequency difference detecting means;
A position for calculating the position and speed information of the first and second moving bodies at the time of signal reception from the time change of the two pieces of position information from the first and second moving bodies received by the communication means; and Speed information calculating means;
Based on the position and speed information, the maximum value of the frequency difference is obtained depending on which position the central position of the distance between the first and second moving bodies is obtained. First position calculating means for calculating a position of a radio wave emission source far away from the two moving bodies in the x-axis direction that is a moving direction of the body;
The position of the radio wave emission source in the y-axis direction orthogonal to the x-axis direction, the distance between the first and second moving bodies is d, the velocity is v, the wavelength of the carrier wave of the received signal is λ, When the maximum value of the frequency difference is Δfmax,

And a second position calculation means for calculating the position by the position measurement device.

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