Detection device and detection method

Abstract

A detection device (100) is provided with: a generator (101) that generates a plurality of fluctuations; a plurality of transmitters (102) that radiate a plurality of fluctuations and each radiates one of the plurality of fluctuations; a plurality of receivers (103) that receive one or more fluctuations from among the plurality of fluctuations as synthetic fluctuations; a deriving unit (104) that derives individual data corresponding to each of the plurality of transmitters (102) from the reception data of each of the plurality of receivers (103), and that derives individual data for each combination between each of the plurality of transmitters (102) and each of the plurality of receivers (104), by deriving individual data corresponding to each of the plurality of transmitters (102) from the reception data of each of the plurality of receivers (103); and a detector (105) that detects, from the individual data, an object that affects at least one of the plurality of fluctuations.

Description

Technical Field

[0001] The present disclosure relates to a detection device for detecting an object, etc. Background Art

[0002] Patent document 1 proposes a weather radar device for reliably collecting three-dimensional weather data with high resolution in time and space. The weather radar device described in Patent document 1 transmits radar waves by radiating multiple beams to multiple areas different from each other in elevation directions, and receives reflected waves of each beam.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2012-52923 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] However, when multiple transmitters emit waves and multiple receivers receive waves, there is a possibility that the waves emitted from the multiple transmitters are mixed and received by the multiple receivers. As a result, it becomes difficult to determine the source of the waves from the reception data of each receiver, and it becomes difficult to determine the reflection position of the waves.

[0008] In order to suppress the mixing of multiple waves, each transmitter can send waves at a different timing from other transmitters. However, in this case, it takes a long time from the start of the first transmitter to the end of the last transmitter. Therefore, it is not easy to detect objects at high speed using multiple transmitters and multiple receivers.

[0009] Therefore, the present disclosure provides a detection device or the like capable of detecting an object at high speed using a plurality of transmitters and a plurality of receivers.

[0010] Means used to solve problems

[0011] A detection device according to one embodiment of the present disclosure includes: a generator for generating a plurality of waves; a plurality of transmitters for radiating the plurality of waves, each of which radiates one wave among the plurality of waves; a plurality of receivers for receiving one or more waves among the plurality of waves as a composite wave; a deriver for deriving individual data corresponding to each of the plurality of transmitters from the received data of each of the plurality of receivers, and deriving the individual data for each combination between each of the plurality of transmitters and each of the plurality of receivers; and a detector for detecting an object affecting at least one wave among the plurality of waves based on the individual data, wherein the generator generates a plurality of pulse train groups and at least one transport wave, modulates the plurality of pulse train groups with the at least one transport wave to generate a plurality of modulated waves as the plurality of waves, the plurality of pulse train groups respectively corresponding to a plurality of code groups having a reference code and one or more individual codes which are different from each other, and the deriver demodulates processing target data corresponding to the plurality of pulse train groups from the received data of each of the plurality of receivers, and derives the individual data from the processing target data, wherein the reference code is the same in the plurality of code groups, and the plurality of individual codes in the plurality of code groups are different from each other.

[0012] In addition, these general or specific methods can be implemented by systems, devices, methods, integrated circuits, computer programs, or non-temporary recording media such as computer-readable CD-ROMs, or by any combination of systems, devices, methods, integrated circuits, computer programs, and recording media.

[0013] Effects of the Invention

[0014] According to one aspect of the present disclosure, it is possible to detect an object at high speed using a plurality of transmitters and a plurality of receivers. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a conceptual diagram showing simultaneous transmission and simultaneous reception of multiple waves in multiple transmitters and multiple receivers.

[0016] Figure 2 A conceptual diagram showing confusion caused by simultaneous transmission and reception of multiple waves in multiple transmitters and multiple receivers.

[0017] Figure 3 is a conceptual diagram of multiple transmitters, multiple receivers, and exporters representing an implementation scheme.

[0018] Figure 4 It is a block diagram showing a configuration example of a detection device according to an embodiment.

[0019] Figure 5 This is a block diagram showing an example of the overall structure of a detection device.

[0020] Figure 6 This is a block diagram showing a structural example of a generator.

[0021] Figure 7 This is a block diagram showing a structural example of a code generator.

[0022] Figure 8 This is a block diagram showing another structural example of a code generator.

[0023] Fig. 9 This is a block diagram showing another structural example of the code generator.

[0024] Fig.10 This is a block diagram showing a structural example of an exporter.

[0025] Fig.11 This is a block diagram showing a structural example of a generator when a carrier wave is used.

[0026] Fig.12 This is a block diagram showing a structural example of an exporter when using a carrier wave.

[0027] Fig.13 This is a block diagram showing another structural example of an exporter when using a carrier wave.

[0028] Fig.14 This is a block diagram showing a structural example of a generator when a pair of carrier waves is used.

[0029] Fig.15 This is a block diagram showing a configuration example of a code generator when a pair of transport waves is used.

[0030] Fig.16 This is a block diagram showing another configuration example of a code generator when a pair of transport waves is used.

[0031] Fig.17 This is a block diagram showing another configuration example of a code generator when a pair of transport waves is used.

[0032] Fig.18 This is a block diagram showing a structural example of an exporter when a pair of carrier waves is used.

[0033] Fig.19 This is a block diagram showing another structural example of an exporter when a pair of carrier waves is used.

[0034] Fig. 20 This is a block diagram showing another structural example of an exporter when a pair of transport waves is used.

[0035] Fig.21 This is a conceptual diagram showing a processing example when a pair of carrier waves is used.

[0036] Fig. 22 This is a diagram representing formula (2-3-3).

[0037] Fig.23 This is a diagram representing equation (2-3-4).

[0038] Fig.24 This is a diagram representing equation (2-3-5).

[0039] Fig.25 This is a diagram representing equation (2-4-4).

[0040] Fig.26 This is a diagram representing equation (2-4-5).

[0041] Fig. 27 This is a diagram representing equation (2-4-6).

[0042] Fig.28 It is a diagram representing formula (2-5-1).

[0043] Fig.29 This is a diagram representing equation (2-5-2).

[0044] Fig.30 This is a block diagram showing a structural example of a generator when two pairs of carrier waves are used.

[0045] Fig.31 This is a block diagram showing a configuration example of a code generator when two pairs of transport waves are used.

[0046] Fig.32 This is a block diagram showing another configuration example of a code generator in the case of using two pairs of transport waves.

[0047] Fig.33 This is a block diagram showing another configuration example of a code generator in the case of using two pairs of transport waves.

[0048] Fig.34 This is a block diagram showing a structural example of an exporter when two pairs of carrier waves are used.

[0049] Fig.35 This is a block diagram showing another structural example of an exporter in the case of using two pairs of carrier waves.

[0050] Fig.36 This is a block diagram showing another structural example of an exporter using two pairs of transport waves.

[0051] Fig.37 This is a conceptual diagram showing a processing example when two pairs of carrier waves are used.

[0052] Fig.38 This is a diagram representing formula (3-3-3).

[0053] Fig.39 This is a diagram representing equation (3-4-4).

[0054] Fig.40 It is a diagram representing formula (3-4-5).

[0055] Fig.41 This is a diagram representing equation (3-4-6).

[0056] Fig.42 It is a diagram representing formula (3-4-7).

[0057] Fig.43 is a conceptual diagram showing the synchronization of multiple transmitters and multiple receivers.

[0058] Fig.44 This is a flowchart showing a basic operation example of the detection device according to the embodiment. DETAILED DESCRIPTION

[0059] Figure 1 is a conceptual diagram showing the simultaneous transmission and reception of multiple waves in multiple transmitters and multiple receivers. Figure 1 In the example, there are n transmitters T1, T2, ..., T n and n receivers R1, R2, ..., R n .

[0060] For example, n waves are transmitted from n transmitters T1, T2, ..., T n At the same time, it is radiated and reflected by the object, and incident on n receivers R1, R2, ..., R n Then, if it is possible to send n transmitters T1, T2, ..., T n Each transmitter and n receivers R1, R2, ..., R n By acquiring data for each combination of each receiver in the image processing system, objects can be efficiently detected based on the data acquired for each combination.

[0061] That is, if it is possible to use n transmitters T1, T2, ..., T n and n receivers R1, R2, ..., R n The n×n dimensional data corresponding to multiple combinations between them can efficiently detect objects.

[0062] Figure 2 A conceptual diagram showing confusion caused by simultaneous transmission and reception of multiple waves in multiple transmitters and multiple receivers.

[0063] like Figure 2 As shown, for example, from all transmitters T1, T2, ..., T nThe scattered waves of the radiated wave enter the receiver R j Therefore, it is difficult to distinguish the j Which transmitter T is the received fluctuation from? i How to get the fluctuations sent by the receiver R j The received data (time evolution waveform) obtained is extracted from the transmitter T i and receiver R j The combination of the corresponding individual data (time-evolving waveforms) is a difficult problem.

[0064] Therefore, for example, a detection device according to one embodiment of the present disclosure includes: a generator that generates a plurality of waves; a plurality of transmitters that radiate the plurality of waves, each of which radiates one wave among the plurality of waves; a plurality of receivers that receive one or more waves among the plurality of waves as a composite wave; a deriver that derives individual data corresponding to each of the plurality of transmitters from the respective received data of the plurality of receivers, and derives the individual data for each combination between each of the plurality of transmitters and each of the plurality of receivers; and a detector that detects an object that affects at least one of the plurality of waves based on the individual data, the generator generating a plurality of pulse train groups and at least one transport wave, the plurality of pulse train groups corresponding to a plurality of code groups that are different from each other and have a reference code and one or more individual codes, modulating the plurality of pulse train groups with the at least one transport wave to generate a plurality of modulated waves as the plurality of waves, the deriver demodulating processing target data corresponding to the plurality of pulse train groups from the respective received data of the plurality of receivers, and deriving the individual data from the processing target data, the reference code being the same in the plurality of code groups, and the plurality of individual codes in the plurality of code groups being different from each other.

[0065] Thus, even when a plurality of transmitters and a plurality of receivers are used simultaneously, since a plurality of waves correspond to a plurality of code groups different from each other, the detection device can obtain separate data for each combination between each transmitter and each receiver. Therefore, the detection device can detect an object at a high speed with a high resolution. Furthermore, the detection device can appropriately detect an object moving at a high speed.

[0066] In addition, for example, the generator generates a plurality of pairs of pulse strings and a pair of transport waves whose phases are orthogonal to each other as the plurality of pulse string groups and the at least one transport wave, the plurality of pairs of pulse strings respectively correspond to a plurality of different two-dimensional vector codes having the reference code and a single code as two elements, the generator generates the plurality of modulated waves by modulating the plurality of pairs of pulse strings with the pair of transport waves, the exporter demodulates the processing object data corresponding to the plurality of pairs of pulse strings from the received data of each of the plurality of receivers, the reference code is the same in the plurality of two-dimensional vector codes, and the plurality of single codes in the plurality of two-dimensional vector codes are different from each other.

[0067] Thus, the detection device can efficiently transmit a plurality of modulated waves corresponding to a plurality of two-dimensional vector codes based on a pair of carrier waves.

[0068] In addition, for example, the reference code and the plurality of individual codes are a plurality of orthogonal codes that are orthogonal to each other.

[0069] As a result, the detection device can efficiently obtain separate data for each combination of each transmitter and each receiver based on the orthogonality of the code.

[0070] In addition, for example, the reference code and the plurality of individual codes are a plurality of cyclic codes having shift amounts different from each other.

[0071] As a result, the detection device can efficiently obtain separate data for each combination of each transmitter and each receiver based on the difference in the shift amount.

[0072] In addition, for example, the reference code and the plurality of individual codes are a plurality of PN (Pseudo-Noise) codes that are orthogonal to each other and have different shift amounts from each other.

[0073] As a result, the detection device can efficiently obtain individual data for each combination of each transmitter and each receiver based on the characteristics of the PN code.

[0074] Furthermore, for example, the generator changes the reference code and the plurality of individual codes by selecting a set of the reference code and the plurality of individual codes from a plurality of set candidates every time a condition is satisfied.

[0075] Thus, the detection device can adaptively change the multiple codes associated with the multiple fluctuations. Furthermore, thereby, the detection device can suppress the accidental reduction in identifiability and can appropriately obtain individual data for each combination of each transmitter and each receiver.

[0076] In addition, for example, the generator randomly selects the set from the plurality of set candidates.

[0077] As a result, the detection device can suppress the accidental reduction in identifiability based on randomness, and can appropriately obtain separate data for each combination between each transmitter and each receiver.

[0078] Furthermore, for example, the exporter exports the individual data based on a calculation result obtained by deconvolving the processing target data with the plurality of two-dimensional vector codes, respectively.

[0079] Thus, the detection device can efficiently obtain individual data for each combination of each transmitter and each receiver based on the deconvolution corresponding to the two-dimensional vector code.

[0080] In addition, for example, the deriver derives the individual data based on a determinant relative to the operation result.

[0081] Thus, the detection device can efficiently obtain separate data for each combination of each transmitter and each receiver based on the deconvolution and determinant corresponding to the two-dimensional vector code.

[0082] In addition, for example, the generator generates a plurality of pairs of first pulse strings corresponding to a plurality of first two-dimensional vector codes different from each other, a plurality of pairs of second pulse strings corresponding to a plurality of second two-dimensional vector codes different from each other, a pair of first transport waves whose phases are orthogonal to each other, and a pair of second transport waves whose phases are orthogonal to each other as the plurality of pulse string groups and the at least one transport wave, generates a plurality of first modulated waves by modulating the plurality of first pulse strings with the pair of first transport waves, generates a plurality of second modulated waves by modulating the plurality of second pulse strings with the pair of first transport waves, generates the plurality of modulated waves by modulating the plurality of first modulated waves and the plurality of second modulated waves with the pair of second transport waves, and the exporter demodulates the received data from each of the plurality of receivers and the plurality of second modulated waves. The first processing object data corresponding to the multiple first modulation waves and the multiple second modulation waves are demodulated from the first processing object data as the second processing object data corresponding to the multiple pairs of first pulse strings and the multiple pairs of second pulse strings, the multiple first two-dimensional vector codes respectively have the reference code and the first individual code as two elements, the multiple second two-dimensional vector codes respectively have the second individual code and the third individual code as two elements, the reference code is the same in the multiple first two-dimensional vector codes, the multiple first individual codes, the multiple second individual codes and the multiple third individual codes in the multiple first two-dimensional vector codes and the multiple second two-dimensional vector codes are different from each other, and the frequency of the pair of first transport waves and the frequency of the pair of second transport waves are different from each other.

[0083] Thus, the detection device can efficiently transmit a plurality of modulated waves corresponding to a plurality of pairs of two-dimensional vector codes based on two pairs of transport waves.

[0084] Furthermore, for example, the reference code, the plurality of first individual codes, the plurality of second individual codes, and the plurality of third individual codes are a plurality of orthogonal codes that are orthogonal to each other.

[0085] As a result, the detection device can efficiently obtain separate data for each combination of each transmitter and each receiver based on the orthogonality of the code.

[0086] Furthermore, for example, the reference code, the plurality of first individual codes, the plurality of second individual codes, and the plurality of third individual codes are a plurality of cyclic codes having shift amounts different from each other.

[0087] As a result, the detection device can efficiently obtain separate data for each combination of each transmitter and each receiver based on the difference in the shift amount.

[0088] Furthermore, for example, the reference code, the plurality of first individual codes, the plurality of second individual codes, and the plurality of third individual codes are a plurality of PN (Pseudo-Noise) codes which are orthogonal to each other and have different shift amounts from each other.

[0089] As a result, the detection device can efficiently obtain individual data for each combination of each transmitter and each receiver based on the characteristics of the PN code.

[0090] In addition, for example, whenever a condition is met, the generator changes the reference code, the multiple first separate codes, the multiple second separate codes, and the multiple third separate codes by selecting a set of the reference code, the multiple first separate codes, the multiple second separate codes, and the multiple third separate codes from multiple set candidates.

[0091] Thus, the detection device can adaptively change the multiple codes associated with the multiple fluctuations. Furthermore, thereby, the detection device can suppress the accidental reduction in identifiability and can appropriately obtain individual data for each combination of each transmitter and each receiver.

[0092] In addition, for example, the generator randomly selects the set from the plurality of set candidates.

[0093] As a result, the detection device can suppress the accidental reduction in identifiability based on randomness, and can appropriately obtain separate data for each combination between each transmitter and each receiver.

[0094] In addition, for example, the exporter exports the separate data based on a calculation result obtained by deconvolving the second processing object data, and the deconvolution is performed using each combination of the corresponding first two-dimensional vector code and the second two-dimensional vector code among the multiple first two-dimensional vector codes and the multiple second two-dimensional vector codes.

[0095] As a result, the detection device can efficiently obtain separate data for each combination of each transmitter and each receiver based on the deconvolution corresponding to a pair of two-dimensional vector codes.

[0096] In addition, for example, the deriver derives the individual data based on a determinant relative to the operation result.

[0097] Thus, the detection device can efficiently obtain separate data for each combination of each transmitter and each receiver based on the deconvolution and determinant corresponding to a pair of two-dimensional vector codes.

[0098] In addition, for example, a detection method according to one embodiment of the present disclosure includes: a step of generating a plurality of waves; a step of radiating the plurality of waves from the plurality of transmitters by radiating one of the plurality of waves from the plurality of transmitters; a step of receiving one or more of the plurality of waves as a composite wave by a plurality of receivers; a step of deriving individual data corresponding to the plurality of transmitters from the reception data of the plurality of receivers, for each combination between each of the plurality of transmitters and each of the plurality of receivers; and a step of detecting an object affecting at least one of the plurality of waves based on the individual data, wherein in the step of generating the plurality of waves, a plurality of pulse train groups and at least one transport wave are generated, the plurality of pulse train groups respectively corresponding to a plurality of code groups having a reference code and one or more individual codes which are different from each other, a plurality of modulated waves are generated by modulating the plurality of pulse train groups with the at least one transport wave, and in the step of deriving the individual data, processing target data corresponding to the plurality of pulse train groups are demodulated from the reception data of the plurality of receivers, and the individual data are derived from the processing target data, the reference code being the same in the plurality of code groups and the plurality of individual codes in the plurality of code groups being different from each other.

[0099] Thus, even when multiple transmitters and multiple receivers are used simultaneously, since multiple waves correspond to multiple code groups that are different from each other, it is possible to obtain separate data for each combination between each transmitter and each receiver. Therefore, it is possible to detect objects at high speed with high resolution. Furthermore, it is possible to appropriately detect objects moving at high speed.

[0100] The following embodiments are described using the accompanying drawings. In addition, the embodiments described below are all general or specific examples. The numerical values, shapes, materials, constituent elements, configuration positions and connection methods of constituent elements, steps, and the order of steps shown in the following embodiments are only examples, and the main purpose is not to limit the scope of the protection requested.

[0101] In the following description, microwaves and other radio waves are mainly assumed as waves, but waves are not limited to microwaves and other radio waves, and may also be sound or light, etc. In addition, moving objects such as airplanes are mainly assumed as detection targets, but the detection targets may also be stationary objects, etc. In addition, radiated waves may sometimes appear as transmitted waves.

[0102] In addition, separating a whole into parts is sometimes expressed as separating the parts from the whole. In addition, a code in the following description sometimes means a code word or a collection of code words. In addition, a PN code vector in the following description may be expressed as a vector PN code.

[0103] (Implementation Method)

[0104] <Basic structure example>

[0105] Figure 3 is a conceptual diagram showing multiple transmitters, multiple receivers, and an exporter of this embodiment. Specifically, Figure 3 A plurality of transmitters T1, T2, ..., T n , multiple receivers R1, R2, ..., R n and an exporter 104. The exporter 104 can communicate with multiple receivers R1, R2, ..., R n Correspondingly distributed settings.

[0106] For example, multiple transmitters T1, T2, ..., T n and multiple receivers R1, R2, ..., R n Multiple waves are transmitted by multiple transmitters T1, T2, ..., T n It is radiated and reflected by the object at the same time, and is received by multiple receivers R1, R2, ..., R n The exporter 104 receives each receiver R j The received data is separated into each transmitter T i Individual data ij (t). Then, the exporter 104 sends the sender T i and receiver R j Find the individual data s for each combination between ij (t).

[0107] Figure 4 1 is a block diagram showing a configuration example of the detection device 100. The detection device 100 includes a generator 101, a plurality of transmitters 102, a plurality of receivers 103, a deriver 104, and a detector 105.

[0108] In the present disclosure, a transmitter 102 is sometimes referred to as a transmitter T, and the i-th transmitter 102 is sometimes referred to as a transmitter T. iIn addition, the receiver 103 sometimes appears as the receiver R, and the i-th receiver 103 sometimes appears as the receiver R i .

[0109] The generator 101 generates a plurality of waves corresponding to a plurality of signals different from each other. The waves may be electric waves, light, or sound, etc. For example, the generator 101 generates n waves. Here, n is the number of the plurality of transmitters 102. The generator 101 may be distributedly arranged corresponding to the plurality of transmitters 102.

[0110] The plurality of transmitters 102 radiate the plurality of waves generated by the generator 101. At this time, each transmitter 102 radiates one wave among the plurality of waves generated by the generator 101. For example, each transmitter 102 radiates the wave into a medium. The medium may be air, water, soil, or vacuum. Each transmitter 102 may be a transmitting antenna. In addition, the plurality of transmitters 102 may be arranged in a row or may not be arranged in a row. In addition, the plurality of transmitters 102 may be arranged at equal intervals or may not be arranged at equal intervals.

[0111] The plurality of receivers 103 receive one or more of the plurality of waves radiated from the plurality of transmitters 102 as a composite wave. For example, each receiver 103 receives the wave from the medium from which the wave is radiated. Each receiver 103 may be a receiving antenna. In addition, the plurality of receivers 103 may be arranged in a row or not in a row. In addition, the plurality of receivers 103 may be arranged at equal intervals or not. The number of the plurality of receivers 103 may be different from the number of the plurality of transmitters 102.

[0112] The exporter 104 exports individual data corresponding to the transmitter 102 radiating the fluctuation from the reception data of each receiver 103, based on the fluctuation signal radiated from each transmitter 102. Thus, the exporter 104 exports individual data for each combination between each transmitter 102 in the plurality of transmitters 102 and each receiver 103 in the plurality of receivers 103. The exporter 104 may be provided in a distributed manner corresponding to the plurality of receivers 103, or may be provided in a distributed manner and integrated with each receiver 103.

[0113] The detector 105 detects an object that affects at least one of the plurality of waves emitted from the plurality of transmitters 102 based on the individual data derived by the deriver 104. For example, the detector 105 detects an object in a medium to which the waves are emitted. In addition, for example, the detector 105 outputs a detection result. The detector 105 may display the detection result on a display device or the like, or may notify the detection result to other devices.

[0114] With the above configuration, even when a plurality of transmitters 102 and a plurality of receivers 103 are used simultaneously, the detection device 100 can obtain separate data for each combination of each transmitter 102 and each receiver 103. Therefore, the detection device 100 can detect an object at high speed with high resolution. Moreover, the detection device 100 can appropriately detect an object moving at high speed.

[0115] In addition, the generator 101 can send multiple waves to the multiple transmitters 102 by wireless or by wire. Similarly, each receiver 103 can send and receive data to the exporter 104 by wireless or by wire. Similarly, the exporter 104 can send individual data to the detector 105 by wireless or by wire.

[0116] Figure 5 1 is a block diagram showing an example of the overall structure of the detection device 100. In this example, the detection device 100 includes Figure 4 In addition to the generator 101 , multiple transmitters 102 , multiple receivers 103 , the exporter 104 and the detector 105 shown, there are also repeaters 106 , 107 and a controller 108 .

[0117] The repeater 106 relays the plurality of waves from the generator 101 to the plurality of transmitters 102. In addition, the repeater 107 relays the plurality of waves from the plurality of receivers 103 to the exporter 104. The repeaters 106 and 107 can each relay the waves as an electrical signal. The electrical signal can be an analog signal or a digital signal.

[0118] The controller 108 controls the actions of the components included in the detection device 100. Specifically, the controller 108 controls the actions of the generator 101, the plurality of transmitters 102, the plurality of receivers 103, the exporter 104, the detector 105, and the repeaters 106 and 107. The controller 108 can control the start and stop of the actions of the components, and can also change the action mode or action parameter of each component.

[0119] In addition, the plurality of components constituting the detection device 100 may be able to communicate with each other wirelessly or by wire. In addition, depending on the environment in which the detection device 100 is used, the repeaters 106 and 107 and the controller 108 may or may not be provided.

[0120] Figure 6 1 is a block diagram showing an example of the structure of the generator 101. Figure 6 As shown, the generator 101 may be provided with a code generator 121 .

[0121] In this example, the code generator 121 generates a plurality of pulse trains corresponding to a plurality of codes different from each other. For example, the code generator 121 generates n pulse trains corresponding to n codes different from each other. Here, n is the number of the plurality of transmitters 102. The generator 101 may generate the plurality of pulse trains generated by the code generator 121 as a plurality of fluctuations corresponding to a plurality of signals different from each other.

[0122] The multiple codes different from each other may be multiple orthogonal codes that are orthogonal to each other. The multiple codes different from each other may be multiple cyclic codes with different shift amounts. The multiple codes different from each other may be multiple PN (Pseudo-Noise) codes that are orthogonal to each other and have different shift amounts.

[0123] The PN code is a cyclic code based on the Galois system. In a cyclic code, the result obtained by cyclically permuting (cyclically shifting) the code word of the cyclic code is also the code word of the cyclic code. For example, the code word of the cyclic code is expressed as shown in the following equation (1-1).

[0124] [Mathematical formula 1]

[0125] c1={a n-1 , a n-2 ,…,a2,a1,a0}…(1-1)

[0126] By performing cyclic permutation on the code word of equation (1-1), the result obtained as shown in the following equation (1-2) is also a code word of the cyclic code.

[0127] [Mathematical formula 2]

[0128] c2={a n-2 , a n-3 ,…,a1,a0,a n-1}

[0129] c3=(a n-3 , a n-4 ,… ， a0,a n-1 , a n-2}

[0130] …

[0131] c n ={a0, a n-1 ,…,a3,a2,a1}…(1-2)

[0132] Next, the definition and properties of the PN sequence are described. The PN sequence can be defined as a code that satisfies the following random properties (i), (ii), and (iii).

[0133] (i) Balance property

[0134] In each cycle of the series, the number of times "1" appears and the number of times "0" appears differ by at most 1.

[0135] (ii) Continuity (run property)

[0136] Among the multiple "series of 1" and multiple "series of 0" contained in one cycle, the length of half of the multiple series is 1, the length of 1 / 4 is "2", and the length of 1 / 8 is "3". The same rule applies to the rest. In other words, the length of a series of k is present in a ratio of 1 / 2k.

[0137] (iii) Correlation property

[0138] When the series is looped and the codewords are compared between the terms in all states, the number of identical terms and the number of inconsistent terms differ by at most one.

[0139] Although detailed description is omitted, the method of generating the PN sequence can be summarized as follows: In addition, it is practically preferable to reverse the order of the suffix of the code.

[0140] (i) First, find the primitive polynomial of order k.

[0141] (ii) Next, a linear regression equation is constructed based on the coefficients of the original polynomial as shown in equation (1-3). Here, h j corresponds to the coefficient.

[0142] [Mathematical formula 3]

[0143]

[0144] (iii) Then, k arbitrary initial values ​​(a0, a1, a2, ..., a k-1 ), according to the above formula (1-3) to calculate (a k 、a k+1 、a k+2 , …, a n-1 ).

[0145] PN code has an interesting property, that is, the code that can be cyclically (shifted) to a certain code is orthogonal to the original code. k-1 ) and the code generated according to other initial values ​​(a0', a1', a2', ..., a k-1 ') The codes generated are not orthogonal.

[0146] Figure 71 is a block diagram showing a configuration example of the code generator 121. In this example, the code generator 121 includes a memory 131 storing a code set. The code set includes a plurality of codes that are different from each other. The characteristics and usage of the plurality of codes included in the code set Figure 6 The characteristics of the multiple codes described are the same.

[0147] In addition, in this example, the code generator 121 can generate a plurality of pulse trains corresponding to a plurality of codes included in the code set according to the code set stored in the memory 131. Then, the generator 101 can generate the plurality of pulse trains generated by the code generator 121 as a plurality of fluctuations of the radiation object. Then, the plurality of pulse trains can be respectively radiated from the plurality of transmitters 102.

[0148] The number of the plurality of codes included in the code set is greater than the number of the plurality of transmitters 102. In the case where these numbers are greater than the number of the plurality of transmitters 102, some of them may not be used for transmission of fluctuations.

[0149] Figure 8 1 is a block diagram showing another configuration example of the code generator 121. In this example, except Figure 7 In addition to the memory 131 shown in FIG. 1 , the code generator 121 further includes a selector 132. In addition, in this example, the memory 131 stores a plurality of code set candidates. The plurality of code set candidates are different from each other. In addition, the characteristics of the plurality of codes included in each code set candidate are different from those of the code set candidate. Figure 7 The characteristics of the plurality of codes included in the described code set are the same.

[0150] In this example, the selector 132 selects a code set from a plurality of code set candidates. Then, the selector 132 generates a plurality of pulse trains corresponding to a plurality of codes included in the selected code set.

[0151] For example, each time a condition for changing a plurality of codes associated with a plurality of fluctuations of the radiating object is satisfied, the selector 132 changes the plurality of codes by selecting a code set from a plurality of code set candidates. Thus, the detection device 100 can adaptively change the plurality of codes associated with the plurality of fluctuations of the radiating object. Therefore, the detection device 100 can suppress the reduction in the identifiability that occurs accidentally, and can appropriately identify the data corresponding to the fluctuations radiated from each transmitter 102.

[0152] The selector 132 may change the plurality of codes by selecting a code set each time a plurality of waves are transmitted from the plurality of transmitters 102. Alternatively, the selector 132 may change the plurality of codes by selecting a code set at each predetermined period. Alternatively, the selector 132 may change the plurality of codes by selecting a code set each time a control signal is received from the controller 108.

[0153] Fig. 91 is a block diagram showing another configuration example of the code generator 121. In this example, the code generator 121 includes a random number generator 133 inside the selector 132.

[0154] In this example, the random number generator 133 generates a random number. The selector 132 randomly selects a code set from a plurality of code set candidates based on the random number obtained from the random number generator 133.

[0155] For example, an identification number is assigned to each code set candidate within the number range of the plurality of code set candidates. Then, the random number generator 133 generates a random number within the number range of the plurality of code set candidates. The selector 132 selects the code set candidate to which the random number obtained from the random number generator 133 is assigned as the identification number as the code set. Thus, a code set is randomly selected from the plurality of code set candidates.

[0156] In this case, the selector 132 generates a plurality of pulse trains corresponding to a plurality of codes included in the randomly selected code set.

[0157] Fig.10 14 is a block diagram showing a configuration example of the deriver 104. In this example, the deriver 104 includes a deconvolution operator 143.

[0158] In this example, the deconvolution operator 143 deconvolves the reception data of each receiver 103 with a code corresponding to the fluctuation radiated by each transmitter 102 .

[0159] Thus, the deconvolution operator 143 can obtain the component corresponding to the code from the received data. Therefore, the detection device 100 can derive the individual data corresponding to each transmitter 102 from the received data of each receiver 103, and can derive the individual data for each combination of each transmitter 102 and each receiver 103.

[0160] <Structure Example Using Carrier Wave>

[0161] Fig.11 1 is a block diagram showing a configuration example of the generator 101 when a carrier wave is used. In this example, the generator 101 includes a code generator 121, a carrier wave generator 122, a modulator 123, and an amplifier 124. The code generator 121 is Figures 6 to 9 The same constituent elements as one of the examples in FIG.

[0162] In this example, the carrier wave generator 122 generates a carrier wave. The carrier wave may be a sine wave.

[0163] In this example, the modulator 123 modulates the plurality of pulse trains generated by the code generator 121 with the carrier wave generated by the carrier wave generator 122. Thus, the modulator 123 generates a plurality of modulated waves.

[0164] Furthermore, in this example, the amplifier 124 amplifies the plurality of modulated waves generated by the modulator 123 .

[0165] In this example, the generator 101 generates a plurality of pulse trains and a carrier wave, and generates a plurality of modulated waves as a plurality of waves to be radiated by modulating the plurality of pulse trains with the carrier wave. For example, the generator 101 generates n pulse trains and a carrier wave, and generates n modulated waves as n waves to be radiated by modulating the n pulse trains with the carrier wave. Then, the n modulated waves are radiated from the n transmitters 102, respectively.

[0166] Fig.12 14 is a block diagram showing a configuration example of the deriver 104 when a carrier wave is used. In this example, the deriver 104 includes a local fluctuation generator 141 and a demodulator 142 .

[0167] In this example, the local fluctuation generator 141 generates a local fluctuation corresponding to the carrier wave generated by the carrier wave generator 122, etc. For example, the local fluctuation has the same frequency as the carrier wave. The phase of the local fluctuation may be synchronized with or may not be synchronized with the phase of the carrier wave.

[0168] In this example, the demodulator 142 demodulates the processing target data from the received data of each receiver 103 using the local fluctuation generated by the local fluctuation generator 141. The processing target data corresponds to a plurality of pulse trains. Then, the deriving unit 104 derives individual data for each combination between each transmitter 102 and each receiver 103 from the processing target data.

[0169] Fig.13 FIG. 1 is a block diagram showing another configuration example of the exporter 104 when using a carrier wave. Fig.12 In addition to the local fluctuation generator 141 and the demodulator 142 shown, the exporter 104 also includes a deconvolution operator 143.

[0170] In this example, the deconvolution operator 143 deconvolves the processing target data demodulated by the demodulator 142 with a code corresponding to the fluctuation radiated by each transmitter 102 .

[0171] Thus, the deconvolution operator 143 can obtain the component corresponding to the code from the processing target data. Therefore, the detection device 100 can derive the individual data corresponding to each transmitter 102 from the received data of each receiver 103, and can derive the individual data for each combination of each transmitter 102 and each receiver 103.

[0172] <Configuration Example Using a Pair of Transport Waves>

[0173] Fig.141 is a block diagram showing a configuration example of the generator 101 when a pair of carrier waves is used. In this example, the generator 101 includes a code generator 121 , a carrier wave generator 122 , modulators 151 , 152 , a synthesizer 153 , and an amplifier 124 .

[0174] In addition, in this example, the code generator 121 generates a plurality of pairs of pulse trains corresponding to a plurality of two-dimensional vector codes that are different from each other. For example, the code generator 121 generates n pairs of pulse trains corresponding to n two-dimensional vector codes that are different from each other. Here, n is the number of the plurality of transmitters 102. Each two-dimensional vector code has a reference code and an individual code as two elements. The reference code is the same in the plurality of two-dimensional vector codes. The common reference code and the plurality of individual codes in the plurality of two-dimensional vector codes are different from each other.

[0175] The common reference code and the multiple individual codes may be multiple orthogonal codes that are orthogonal to each other. The common reference code and the multiple individual codes may be multiple cyclic codes that have different shift amounts. The common reference code and the multiple individual codes may be multiple PN codes that are orthogonal to each other and have different shift amounts.

[0176] Furthermore, in this example, the carrier wave generator 122 generates a pair of carrier waves whose phases are orthogonal to each other.

[0177] In this example, the modulator 151 modulates a plurality of pulse trains on one side of a plurality of pairs of pulse trains generated by the code generator 121 using one of a pair of carrier waves generated by the carrier wave generator 122. Specifically, for example, the modulator 151 modulates a plurality of pulse trains corresponding to a common reference code using one of a pair of carrier waves. Thus, the modulator 151 generates a plurality of modulated waves.

[0178] In this example, the modulator 152 modulates the other pulse trains of the plurality of pairs of pulse trains generated by the code generator 121 with the other transport wave of the pair of transport waves generated by the transport wave generator 122. Specifically, for example, the modulator 152 modulates the plurality of pulse trains corresponding to the plurality of individual codes with the other transport wave. Thus, the modulator 152 generates a plurality of modulated waves.

[0179] In this example, the synthesizer 153 synthesizes the multiple modulation waves generated by the modulator 151 and the multiple modulation waves generated by the modulator 152. Thus, the synthesizer 153 generates multiple new modulation waves. For example, the synthesizer 153 generates n new modulation waves by synthesizing n modulation waves generated by the modulator 151 and n modulation waves generated by the modulator 152.

[0180] Furthermore, in this example, the amplifier 124 amplifies the plurality of modulated waves generated by the synthesizer 153 .

[0181] In this example, the generator 101 generates a plurality of pairs of pulse trains and a pair of transport waves, and generates a plurality of modulated waves as a plurality of waves to be radiated by modulating the plurality of pairs of pulse trains with the pair of transport waves. For example, the generator 101 generates n pairs of pulse trains and a pair of transport waves, and generates n modulated waves as n waves to be radiated by modulating the n pairs of pulse trains with the pair of transport waves. Then, the n modulated waves are radiated from the n transmitters 102, respectively.

[0182] Fig.15 1 is a block diagram showing a configuration example of a code generator 121 when a pair of carrier waves is used. In this example, the code generator 121 includes a memory 131 storing a code set. The code set includes a plurality of two-dimensional vector codes that are different from each other. The characteristics of the plurality of two-dimensional vector codes included in the code set and the usage Fig.14 The characteristics of the described plurality of two-dimensional vector codes are the same.

[0183] Furthermore, in this example, the code generator 121 can generate a plurality of pairs of pulse trains corresponding to a plurality of two-dimensional vector codes included in the code set, based on the code set stored in the memory 131. Then, the generator 101 can generate a plurality of modulated waves as a plurality of waves to be radiated by modulating the plurality of pairs of pulse trains generated by the code generator 121 with a pair of transport waves. Then, the plurality of modulated waves can be radiated from the plurality of transmitters 102, respectively.

[0184] The number of the plurality of two-dimensional vector codes included in the code set is greater than the number of the plurality of transmitters 102. In the case where these numbers are greater than the number of the plurality of transmitters 102, some of them may not be used for transmission of fluctuations.

[0185] Fig.16 FIG. 1 is a block diagram showing another configuration example of the code generator 121 when a pair of carrier waves is used. Fig.15 In addition to the memory 131 shown in FIG. 1 , the code generator 121 further includes a selector 132. In addition, in this example, the memory 131 stores a plurality of code set candidates. The plurality of code set candidates are different from each other. In addition, each code set candidate includes a plurality of two-dimensional vector codes having the same Fig.15 The characteristics of the plurality of two-dimensional vector codes included in the described code set are the same characteristics.

[0186] In addition, in this example, the selector 132 selects a code set from a plurality of code set candidates. Then, the selector 132 generates a plurality of pairs of pulse trains corresponding to a plurality of two-dimensional vector codes included in the selected code set.

[0187] In addition, in this example, Figure 8Similarly, each time a condition for changing a plurality of codes associated with a plurality of waves of a radiation target is satisfied, the selector 132 changes a plurality of two-dimensional vector codes by selecting a code set from a plurality of code set candidates.

[0188] Fig.17 1 is a block diagram showing another configuration example of the code generator 121 when a pair of carrier waves is used. In this example, the code generator 121 includes a random number generator 133 inside the selector 132. Then, Fig. 9 Similarly to the example of , the random number generator 133 generates a random number. The selector 132 randomly selects a code set from a plurality of code set candidates based on the random number obtained from the random number generator 133 .

[0189] Furthermore, in this example, the selector 132 generates a plurality of pairs of pulse trains corresponding to a plurality of two-dimensional vector codes included in the randomly selected code set.

[0190] Fig.18 14 is a block diagram showing a configuration example of the deriver 104 when a pair of carrier waves is used. In this example, the deriver 104 includes a local fluctuation generator 141 and a demodulator 142 .

[0191] In addition, in this example, the local fluctuation generator 141 generates a pair of local fluctuations corresponding to a pair of carrier waves generated by the carrier wave generator 122, etc. For example, the pair of local fluctuations has the same frequency as the pair of carrier waves and is orthogonal to each other. The phase of the pair of local fluctuations may be synchronized with or asynchronous with the phase of the pair of carrier waves.

[0192] In this example, the demodulator 142 demodulates the processing target data from the reception data of each receiver 103 using a pair of local fluctuations generated by the local fluctuation generator 141. The processing target data corresponds to a plurality of pairs of pulse trains. Then, the exporter 104 exports individual data for each combination between each transmitter 102 and each receiver 103 based on the processing target data.

[0193] Fig.19 FIG. 1 is a block diagram showing another configuration example of the exporter 104 when a pair of carrier waves is used. Fig.18 In addition to the local fluctuation generator 141 and the demodulator 142 shown, the exporter 104 also includes a deconvolution operator 143.

[0194] In this example, the deconvolution operator 143 deconvolves the processing target data demodulated by the demodulator 142 with a two-dimensional vector code corresponding to the fluctuation radiated from each transmitter 102 .

[0195] Thus, the deconvolution operator 143 can obtain the component corresponding to the two-dimensional vector code from the processing target data. Therefore, the detection device 100 can derive the individual data corresponding to each transmitter 102 from the received data of each receiver 103, and can derive the individual data for each combination between each transmitter 102 and each receiver 103.

[0196] Fig. 20 FIG. 1 is a block diagram showing another configuration example of the exporter 104 when a pair of carrier waves is used. Fig.19 In addition to the local fluctuation generator 141 , the demodulator 142 and the deconvolution operator 143 shown, the exporter 104 further includes a determinant operator 144 .

[0197] In this example, the determinant operator 144 performs a determinant operation on the result of the deconvolution operation performed by the deconvolution operator 143. Thus, the exporter 104 can export individual data in an appropriate form for each combination of each transmitter 102 and each receiver 103 based on the deconvolution and the determinant corresponding to the two-dimensional vector code.

[0198] Fig.21 1 is a conceptual diagram showing a processing example when a pair of carrier waves is used. In this example, the code generator 121, the modulator 154, the transmitter 102, the receiver 103, the demodulator 142 and the deconvolution operator 143 are shown as the components of the detection device 100. These components correspond to the above-mentioned components. For example, the modulator 154 corresponds to the modulators 151 and 152, etc. The operator 145 corresponds to the deconvolution operator 143 and the determinant operator 144, etc.

[0199] In this example, the code generator 121 generates a pair of pulse trains corresponding to a pair of PN codes and inputs them to the modulator 154. The modulator 154 generates a modulated wave by modulating a pair of pulse trains corresponding to a pair of PN codes with a pair of carrier waves (LO). Here, I / Q modulation, which is orthogonal modulation, is used. In addition, one of the pair of pulse trains is used as an in-phase (I) component, and the other is used as an orthogonal (Q) component. In addition, for example, the frequency of the pair of carrier waves is 10 GHz.

[0200] Then, the modulator 154 inputs the modulated wave to the transmitter 102. The transmitter 102 radiates the modulated wave. Then, the modulated wave is reflected by the object.

[0201] Then, the receiver 103 receives the modulated wave and inputs it to the demodulator 142. It is assumed that the modulated wave contains a plurality of modulated waves radiated from a plurality of transmitters 102 and reflected by an object.

[0202] The demodulator 142 demodulates the in-phase (I) component and the quadrature (Q) component from the modulated wave according to a pair of local fluctuations (LO). Then, the demodulator 142 inputs the in-phase (I) component and the quadrature (Q) component to the operator 145. The operator 145 deconvolves the in-phase (I) component and the quadrature (Q) component with a pair of PN codes. Thus, individual data corresponding to the pair of PN codes can be obtained.

[0203] For example, in order to facilitate simultaneous transmission and reception, the property of PN codes can be used, that is, a code that can be cyclically (shifted) to be orthogonal to the original code. This method is described using a two-dimensional PN code as shown in the following equation (2-1-1).

[0204] [Formula 4]

[0205]

[0206] Here, the code of the second row is the code of the first row staggered by p i These codes are modulated and input to Fig.21 Port I and port Q of modulator 154 are shown.

[0207] A signal modulated by quadrature modulation based on QPSK (Quadrature Phase Shift Keying) is output from transmitter 102 as a time series signal as shown in the following equation (2-1-2).

[0208] [Formula 5]

[0209] s(t)=c i I (t)cos(2πf c t)+c t Q (t)sin(2πf c t)…(2-1-2)

[0210] Here, c i I (t) and c i Q (t) represents a digital waveform (digital time waveform) corresponding to the time waveform when the code is transmitted digitally. c is the frequency of a pair of transport waves. The signal is radiated from the transmitter 102, reflected by an object, and received by the receiver 103. When the frequency and phase between the transmitter 102 and the receiver 103 are the same, the waveform of the signal received by the receiver 103 can be expressed as shown in the following formula (2-1-3).

[0211] [Mathematical formula 6]

[0212]

[0213] Here, f I (t) and g Q (t) are the I and Q components of the detected intermediate frequency (IF) signal. j ,y j} is t = t j In addition, in equation (2-1-3), j corresponds to the jth reflection point. Next, use code (c i I , c i Q ) for f I (t) and g Q (t) Perform deconvolution.

[0214] [Formula 7]

[0215]

[0216] The result is expressed as the following formula (2-1-5) using a matrix display. Here, it is ideal that x j =y j .

[0217] [Mathematical formula 8]

[0218]

[0219] By deconvolving with the code used in transmission, pulses of approximately equal size can be obtained at the same time. k I , c k Q ) is deconvolved, the following results can be obtained as shown in equations (2-1-6) and (2-1-7). For simplicity, it is assumed that the code (c k I , c k Q ) and the transmitted code (c i I , c i Q ) is shifted by 1 bit (i.e., p k =p i +1).

[0220] [Mathematical formula 9]

[0221]

[0222] [Formula 10]

[0223]

[0224] In the first and second rows of equation (2-1-7), there are no pulses at the same time.

[0225] Based on the above two results, the signals mixed and received by one receiver 103 can be separated from multiple transmitters 102 for each transmitter 102. In this example, the codes c of different transmitters 102 are Q In fact, code c Q The design is to stagger more than dozens of positions.

[0226] When using a high-precision crystal oscillator to generate the carrier wave, the frequency accuracy is 10 -10 Therefore, when the frequency of the transmission wave is 10 GHz, an error of about 1 Hz will occur. Therefore, when heterodyne detection is used where the transmission side and the reception side are not synchronized, the phase changes slowly over time. For example, a signal modulated by orthogonal modulation based on QPSK is output from the transmitter 102 as a time series signal as shown in the following equation (2-2-1).

[0227] [Mathematical formula 11]

[0228] s(t)=c i I (t)cos(2πf c t)+c i Q (t)sin(2πf c t)…(2-2-1)

[0229] In the following, it is assumed that the transmission wave for detection is generated by the local fluctuation generator 141, etc., and the phase difference between the transmission wave (ie, LO signal) on the transmission side and the reception side is θ. Under this assumption, the received signal s R (t) is expressed as shown in the following formula (2-2-2).

[0230] [Mathematical formula 12]

[0231] s R (t) = c i I (t)cos(2πf c t+θ)+c i Q (t)sin(2πf c t+θ)

[0232] ={c i I (t)cosθ+c i Q(t)sinθ}cos(2πf c t)+(-c i I (t)sinθ+c i Q (t)cosθ}sin(2πf c t)…(2-2-2)

[0233] In addition, for the received signal s of formula (2-2-2) R (t), the I component and Q component of the detected IF signal are expressed as shown in the following equation (2-2-3).

[0234] [Mathematical formula 13]

[0235]

[0236] The above formula (2-2-3) corresponds to the original signal {c i I (t), c i Q (t)} is rotated by an angle θ. Next, two-dimensional deconvolution is performed on equation (2-2-3) as expressed by the following equation (2-2-4).

[0237] [Formula 14]

[0238]

[0239] By calculating the determinant of formula (2-2-4), as long as p i If it is not 0, we can get the following formula (2-2-5).

[0240] [Mathematical formula 15]

[0241]

[0242] That is, the result does not depend on θ. This result indicates that since the product of the two eigenvalues ​​of the matrix is ​​rotation invariant, deconvolution is possible even if the phase of the LO signal between the transmitter 102 and the receiver 103 varies (even if not synchronized).

[0243] Next, it is assumed that a signal modulated by orthogonal modulation based on QPSK is output from transmitter 102 as a time series signal as shown in the following equation (2-3-1).

[0244] [Formula 16]

[0245] s(t)=c i I (t)cos(2πf c t)+c iQ (t)sin(2πf c t)…(2-3-1)

[0246] Here, c i I (t) and c i Q (t) represents a digital waveform (digital time waveform) corresponding to the time waveform when the code is transmitted digitally. c is the frequency of a pair of transmission waves. The signal is radiated from the transmitter 102, reflected by an object, and received by the receiver 103. When the frequencies are the same but the phases are different between the transmitter 102 and the receiver 103, the waveform received by the receiver 103 can be expressed as shown in the following formula (2-3-2).

[0247] [Mathematical formula 17]

[0248]

[0249] Regarding the received signal s expressed by equation (2-3-2): R (t), perform two-dimensional deconvolution on the detected signal.

[0250] For example, for a fixed j, Fig. 22 Formula (2-3-3) is established. By calculating the determinant of formula (2-3-3), as Fig.23 As in formula (2-3-4), a result that is independent of θ can be obtained.

[0251] Therefore, the received signal s is detected by the transmission wave R (t), use the two-dimensional PN code to perform two-dimensional deconvolution and calculate the determinant, so that we can get Fig.24 The result is as shown in formula (2-3-5).

[0252] For example, a QPSK quadrature modulated signal is output from the i-th transmitter 102 using the following time series signal.

[0253] [Mathematical formula 18]

[0254] s(t)=c i I (t)cos(2πf c t)+c i Q (t)sin(2πf c t)…(2-4-1)

[0255] The signal simultaneously radiated from all transmitters 102 and received by one receiver 103 is expressed as follows.

[0256] [Mathematical formula 19]

[0257]

[0258] x i，j ,t i，j and θ i，j They respectively represent the reflection amplitude, arrival time, and phase difference corresponding to the signal radiated from the i-th transmitter 102, reflected by the j-th reflection point, and received by the receiver 103. The following equations represent the i-th transmission code and the k-th transmission code.

[0259] [Mathematical formula 20]

[0260]

[0261] Use these codes to perform the two-dimensional deconvolution of formula (2-4-2). Therefore, first, perform the following Fig.25 Next, according to the deconvolution of formula (2-4-4). Fig.26 The determinant of time t is obtained from equation (2-4-5). Using these results, the complete deconvolution and determinant of equation (2-4-2) are as follows Fig. 27 It can be expressed as formula (2-4-6).

[0262] Here, except for the first row on the right, there are delta functions in the initial factors of each term, and the independent variable of the delta function is only determined by t i，j 、p i and p k is composed of constants, excluding the variable t. i，j is the time from when the wave radiated from the i-th transmitter 102 is reflected by the object (identification number j) and received by the receiver 103. i，j is a quantity that changes continuously with time t. On the other hand, p i 、p k etc. are quantities that can be determined freely.

[0263] For example, it may happen that the term shown in the following formula (2-4-7) on the right side of formula (2-4-6) is not 0. However, if p k If it is another value, the item becomes 0.

[0264] [Mathematical formula 21]

[0265]

[0266] Therefore, the terms other than the first row on the right side of equation (2-4-6) can be expressed as accidental confounding terms. Based on this, it is useful to generate a code in the following manner.

[0267] In the following formula, the two-dimensional PN code shown in formula (2-1-1) is shown.

[0268] [Mathematical formula 22]

[0269]

[0270] c i Q is to c i I Stagger p i The code generator 121 does not fix the bit delay amount p i , but makes it jump (hopping) each time the code is sent. In the case where the number of transmitters 102 is n, the code generator 121 selects p from n different integer values. i (i=1, 2, 3, ..., n). Then, each time a trigger for code transmission occurs, the code generator 121 makes the delay amount p of the i-th transmission code i Change, and permute the code of the i-th transmitter 102 in the following manner.

[0271] [Mathematical formula 23]

[0272]

[0273] σ t (i) (i=1, 2, 3, ..., n) represents t rightward shifts at the trigger timing t. In addition, when t exceeds a certain number N, the code generator 121 changes the code using mod(N) as a cyclic permutation. In this control, the delay amount is p σt(i) . In this way, the probability of accidental confusion can be reduced to 1 / N.

[0274] For example, two different transmission codes c i Q and c j Q The codes are reflected by the object and enter the same receiver 103. The difference in reception time between these codes is equal to the initially defined code c k Q The delay p k By changing the delay amount, the probability of such confusion can be reduced to 1 / N.

[0275] In the above, it is assumed that the delay amount of the jump is selected cyclically from the sample of the delay amount. However, the delay amount can be selected more freely from a large sample.

[0276] Therefore, by detecting the received signal s with the transmission wave R (t), using the two-dimensional PN code to perform two-dimensional deconvolution and calculate the determinant, the following formula can be obtained.

[0277] [Mathematical formula 24]

[0278]

[0279] Therefore, even if a plurality of transmitters 102 modulate two-dimensional PN codes different from each other using QPSK orthogonal modulation and radiate them simultaneously, received data with substantially no interference can be obtained.

[0280] The above results are obtained when the synchronization of the transmission waves is not required. When the transmission waves are synchronized, more precise results can be obtained.

[0281] For example, using the transmission wave to detect the received signal s R (t), and use the two-dimensional PN code to receive the signal s R (t) Perform two-dimensional deconvolution. In this case, the two-dimensional deconvolution is represented by a matrix, such as Fig.28 By expressing t=t k，b Substituting this formula, we can get Fig.29 Formula (2-5-2).

[0282] The 0 (time average) in equation (2-5-2) means that the average over a time period longer than the code period is 0. The signal radiated from transmitter 102 is represented by equation (2-3-1). The following equation is the same as equation (2-3-1). In addition, f c is the frequency of the transport wave.

[0283] [Mathematical formula 25]

[0284] s(t)=c i I (t)cos(2πf c t)+c i Q (t)sin(2πf c t)…(2-5-3)

[0285] The signal obtained by the receiver 103 is generally expressed as follows.

[0286] [Mathematical formula 26]

[0287]

[0288] x j is the reflectivity. j is the phase difference in propagation between the transmitter 102 and the receiver 103, and has the following physical meaning.

[0289] [Mathematical formula 27]

[0290]

[0291] That is, θ j The phase difference is obtained by dividing the distance from the transmission point to the reception point after being reflected by the object P by the wavelength of the transmission wave. The signal received by one receiver 103 from the kth transmitter 102 is expressed as follows.

[0292] [Mathematical formula 28]

[0293]

[0294] Formula (2-5-6) represents the reflectivity of the signal received from the kth transmitter 102 by one receiver 103 and the phase difference of the transmission wave. Since the phase difference of the transmission wave can be obtained without causing interference even when transmitting simultaneously, high-resolution data can be obtained by calculating the data of formula (2-5-6) for each receiver 103.

[0295] <Structural Example Using Two Pairs of Transport Waves>

[0296] Fig.30 1 is a block diagram showing a configuration example of the generator 101 when two pairs of carrier waves are used. In this example, the generator 101 includes a code generator 121 , a carrier wave generator 122 , modulators 161 to 166 , synthesizers 167 to 169 , and an amplifier 124 .

[0297] In addition, in this example, the code generator 121 generates a plurality of pairs of first pulse strings corresponding to a plurality of first two-dimensional vector codes different from each other, and a plurality of pairs of second pulse strings corresponding to a plurality of second two-dimensional vector codes different from each other. For example, the code generator 121 generates n pairs of first pulse strings corresponding to n first two-dimensional vector codes different from each other, and n pairs of second pulse strings corresponding to n second two-dimensional vector codes different from each other. Here, n is the number of the plurality of transmitters 102.

[0298] Each first two-dimensional vector code has a reference code and a first individual code as two elements. Each second two-dimensional vector code has a second individual code and a third individual code as two elements. The reference code is the same in the plurality of first two-dimensional vector codes. The common reference code, the plurality of first individual codes, the plurality of second individual codes, and the plurality of third individual codes in the plurality of first two-dimensional vector codes and the plurality of second two-dimensional vector codes are different from each other.

[0299] The common reference code, the plurality of first individual codes, the plurality of second individual codes, and the plurality of third individual codes may be a plurality of orthogonal codes orthogonal to each other. The common reference code, the plurality of first individual codes, the plurality of second individual codes, and the plurality of third individual codes may be a plurality of cyclic codes with different shift amounts. The common reference code, the plurality of first individual codes, the plurality of second individual codes, and the plurality of third individual codes may be a plurality of PN codes orthogonal to each other and with different shift amounts.

[0300] In this example, the carrier wave generator 122 generates a pair of first carrier waves orthogonal in phase and a pair of second carrier waves orthogonal in phase. The frequencies of the pair of first carrier waves and the frequencies of the pair of second carrier waves are different from each other.

[0301] In this example, the modulator 161 modulates a plurality of pulse trains on one side of a plurality of pairs of first pulse trains generated by the code generator 121 with one of the pair of first carrier waves generated by the carrier wave generator 122. Specifically, for example, the modulator 161 modulates a plurality of pulse trains corresponding to the reference code with one of the pair of first carrier waves. Thus, the modulator 161 generates a plurality of modulated waves.

[0302] In addition, in this example, the modulator 162 modulates the other pulse strings of the plurality of pairs of first pulse strings generated by the code generator 121 with the other transport wave of the pair of first transport waves generated by the transport wave generator 122. Specifically, for example, the modulator 162 modulates the plurality of pulse strings corresponding to the plurality of first individual codes in the plurality of first two-dimensional vector codes with the other transport wave of the pair of first transport waves. Thus, the modulator 162 generates a plurality of modulated waves.

[0303] In this example, the synthesizer 167 synthesizes the multiple modulation waves generated by the modulator 161 and the multiple modulation waves generated by the modulator 162. Thus, the synthesizer 167 generates multiple new modulation waves. For example, the synthesizer 167 generates n new modulation waves by synthesizing n modulation waves generated by the modulator 161 and n modulation waves generated by the modulator 162.

[0304] In addition, in this example, the modulator 163 modulates a plurality of pulse trains on one side of a plurality of pairs of second pulse trains generated by the code generator 121 with one of the pair of first transport waves generated by the transport wave generator 122. Specifically, for example, the modulator 163 modulates a plurality of pulse trains corresponding to a plurality of second individual codes in a plurality of second two-dimensional vector codes with one of the pair of first transport waves. Thus, the modulator 163 generates a plurality of modulated waves.

[0305] In addition, in this example, the modulator 164 modulates the other pulse strings of the plurality of pairs of second pulse strings generated by the code generator 121 with the other transport wave of the pair of first transport waves generated by the transport wave generator 122. Specifically, for example, the modulator 164 modulates the plurality of pulse strings corresponding to the plurality of third individual codes of the plurality of second two-dimensional vector codes with the other transport wave of the pair of first transport waves. Thus, the modulator 164 generates a plurality of modulated waves.

[0306] In this example, the synthesizer 168 synthesizes the multiple modulation waves generated by the modulator 163 and the multiple modulation waves generated by the modulator 164. Thus, the synthesizer 168 generates multiple new modulation waves. For example, the synthesizer 168 generates n new modulation waves by synthesizing n modulation waves generated by the modulator 163 and n modulation waves generated by the modulator 164.

[0307] In this example, the modulator 165 modulates the plurality of modulated waves generated by the synthesizer 167 with one of the pair of second carrier waves generated by the carrier wave generator 122. Thus, the modulator 165 generates a plurality of new modulated waves.

[0308] In this example, the modulator 166 modulates the plurality of modulated waves generated by the synthesizer 168 with the other of the pair of second carrier waves generated by the carrier wave generator 122. Thus, the modulator 166 generates a plurality of new modulated waves.

[0309] In this example, the synthesizer 169 synthesizes the multiple modulation waves generated by the modulator 165 and the multiple modulation waves generated by the modulator 166. Thus, the synthesizer 169 generates multiple new modulation waves. For example, the synthesizer 169 generates n new modulation waves by synthesizing n modulation waves generated by the modulator 165 and n modulation waves generated by the modulator 166.

[0310] Furthermore, in this example, the amplifier 124 amplifies the plurality of modulated waves generated by the synthesizer 169 .

[0311] Through the above-mentioned operation, the generator 101 generates a plurality of pairs of first pulse trains, a plurality of pairs of second pulse trains, a pair of first carrier waves, and a pair of second carrier waves. Then, the generator 101 generates a plurality of first modulated waves by modulating a plurality of pairs of first pulse trains with a pair of first carrier waves, and generates a plurality of second modulated waves by modulating a plurality of pairs of second pulse trains with a pair of first carrier waves. Then, the generator 101 generates a plurality of modulated waves as a plurality of waves to be radiated by modulating a plurality of first modulated waves and a plurality of second modulated waves with a pair of second carrier waves.

[0312] For example, the generator 101 generates n pairs of first pulse trains, n pairs of second pulse trains, a pair of first transport waves, and a pair of second transport waves. Then, the generator 101 generates n modulation waves as n waves to be radiated based on the n pairs of first pulse trains, n pairs of second pulse trains, a pair of first transport waves, and a pair of second transport waves. Then, the n modulation waves are radiated from the n transmitters 102, respectively.

[0313] In addition, the first two-dimensional vector code and the second two-dimensional vector code may also be interpreted as four-dimensional vector codes.

[0314] Fig.311 is a block diagram showing a configuration example of a code generator 121 when two pairs of carrier waves are used. In this example, the code generator 121 includes a memory 131 storing a code set. The code set includes a plurality of first two-dimensional vector codes and a plurality of second two-dimensional vector codes. The characteristics and usage of the plurality of first two-dimensional vector codes and the plurality of second two-dimensional vector codes included in the code set Fig.30 The first plurality of two-dimensional vector codes and the second plurality of two-dimensional vector codes described above have the same characteristics.

[0315] In addition, in this example, the code generator 121 may also generate multiple pairs of first pulse strings and multiple pairs of second pulse strings corresponding to multiple first two-dimensional vector codes and multiple second two-dimensional vector codes included in the code set based on the code set stored in the memory 131.

[0316] Furthermore, the generator 101 can generate a plurality of modulated waves as a plurality of waves by modulating a plurality of pairs of first pulse trains and a plurality of pairs of second pulse trains generated by the code generator 121 using a pair of first transport waves and a pair of second transport waves. Then, the plurality of modulated waves can be radiated from the plurality of transmitters 102, respectively.

[0317] The number of the first two-dimensional vector codes included in the code set and the number of the second two-dimensional vector codes included in the code set are greater than the number of transmitters 102. When these numbers are greater than the number of transmitters 102, some of them may not be used for transmission of fluctuations.

[0318] Fig.32 FIG. 1 is a block diagram showing another configuration example of the code generator 121 when two pairs of carrier waves are used. Fig.31 In addition to the memory 131 shown, the code generator 121 further includes a selector 132. In this example, the memory 131 stores a plurality of code set candidates. The plurality of code set candidates are different from each other.

[0319] In addition, each code set candidate includes Fig.31 The code set described herein includes a plurality of first two-dimensional vector codes and a plurality of second two-dimensional vector codes having the same characteristics as the plurality of first two-dimensional vector codes and the plurality of second two-dimensional vector codes.

[0320] In this example, the selector 132 selects a code set from a plurality of code set candidates and generates a plurality of pairs of first pulse trains and a plurality of pairs of second pulse trains corresponding to a plurality of first two-dimensional vector codes and a plurality of second two-dimensional vector codes included in the selected code set.

[0321] In addition, in this example, Figure 8Similarly, each time a condition for changing a plurality of codes associated with a plurality of waves of a radiation target is satisfied, the selector 132 changes a plurality of two-dimensional vector codes by selecting a code set from a plurality of code set candidates.

[0322] Fig.33 1 is a block diagram showing another configuration example of the code generator 121 when two pairs of carrier waves are used. In this example, the code generator 121 includes a random number generator 133 inside the selector 132. Then, Fig. 9 Similarly to the example of , the random number generator 133 generates a random number. The selector 132 randomly selects a code set from a plurality of code set candidates based on the random number obtained from the random number generator 133 .

[0323] In addition, in this example, the selector 132 generates a plurality of pairs of first pulse strings and a plurality of pairs of second pulse strings corresponding to a plurality of first two-dimensional vector codes and a plurality of second two-dimensional vector codes included in the randomly selected code set.

[0324] Fig.34 1 is a block diagram showing a configuration example of the deriver 104 when two pairs of carrier waves are used. In this example, the deriver 104 includes a local fluctuation generator 141 and demodulators 171 to 173.

[0325] In addition, in this example, the local fluctuation generator 141 generates Fig.30 The pair of first local fluctuations corresponding to the pair of first transport waves generated by the transport wave generator 122 shown in FIG. Fig.30 The pair of second transport waves generated by the transport wave generator 122 shown corresponds to a pair of second local fluctuations.

[0326] For example, a pair of first local fluctuations has the same frequency as a pair of first transport waves and is orthogonal to each other. In addition, a pair of second local fluctuations has the same frequency as a pair of second transport waves and is orthogonal to each other. The phase of the pair of first local fluctuations and the phase of the pair of second local fluctuations may be synchronized with the phase of the pair of first transport waves and the phase of the pair of second transport waves, or may be asynchronous.

[0327] In this example, the demodulator 171 demodulates the first processing target data from the received data of each receiver 103 using the pair of second local fluctuations generated by the local fluctuation generator 141. The first processing target data corresponds to a plurality of first modulation waves and a plurality of second modulation waves. In addition, the demodulated first processing target data includes two components, an in-phase component and an orthogonal component. Then, the demodulators 172 and 173 demodulate the second processing target data corresponding to the plurality of pairs of first pulse trains and the plurality of pairs of second pulse trains from the two components of the first processing target data using the pair of first local fluctuations generated by the local fluctuation generator 141.

[0328] Thus, second processing target data corresponding to a plurality of first two-dimensional vector codes (a plurality of pairs of first pulse trains) and a plurality of second two-dimensional vector codes (a plurality of pairs of second pulse trains) obtained by demodulating the pair of first transport waves and the pair of second transport waves are obtained. Then, the exporter 104 exports individual data for each combination of each transmitter 102 and each receiver 103 based on the second processing target data.

[0329] Fig.35 FIG. 1 is a block diagram showing another configuration example of the exporter 104 when two pairs of carrier waves are used. Fig.34 In addition to the local fluctuation generator 141 and demodulators 171 to 173 shown, the exporter 104 further includes a deconvolution operator 143 .

[0330] In this example, the deconvolution operator 143 deconvolves the second processing target data demodulated by the demodulators 172 and 173 with the first two-dimensional vector code and the second two-dimensional vector code corresponding to each transmitter 102 .

[0331] Thus, the deconvolution operator 143 can obtain the component corresponding to the two-dimensional vector code from the second processing target data. Therefore, the detection device 100 can derive the individual data corresponding to each transmitter 102 from the received data of each receiver 103, and can derive the individual data for each combination between each transmitter 102 and each receiver 103.

[0332] Fig.36 FIG. 1 is a block diagram showing another configuration example of the exporter 104 when two pairs of carrier waves are used. Fig.35 In addition to the local fluctuation generator 141 , demodulators 171 to 173 , and deconvolution operator 143 shown, the exporter 104 further includes a determinant operator 144 .

[0333] In this example, the determinant operator 144 performs a determinant operation on the result of the deconvolution operation performed by the deconvolution operator 143. Thus, the exporter 104 can export individual data in an appropriate form for each combination of each transmitter 102 and each receiver 103 based on the deconvolution and the determinant corresponding to the first two-dimensional vector code and the second two-dimensional vector code.

[0334] Fig.371 is a conceptual diagram showing a processing example when two pairs of carrier waves are used. In this example, the code generator 121, modulators 181 to 183, the transmitter 102, the receiver 103, the demodulators 171 to 173, and the operator 145 are shown as components of the detection device 100. These components correspond to the above-mentioned components. For example, the modulators 181 to 183 correspond to the modulators 161 to 166, etc. The operator 145 corresponds to the deconvolution operator 143 and the determinant operator 144, etc.

[0335] In this example, code generator 121 generates four pulse strings corresponding to four PN codes, inputs a pair of pulse strings corresponding to the first PN code and the second PN code to modulator 182, and inputs a pair of pulse strings corresponding to the third PN code and the fourth PN code to modulator 183.

[0336] The modulator 182 generates a modulated wave by modulating a pair of pulse trains corresponding to the first PN code and the second PN code with a pair of first transport waves. The modulator 183 generates a modulated wave by modulating a pair of pulse trains corresponding to the third PN code and the fourth PN code with a pair of first transport waves. Here, I / Q modulation, which is orthogonal modulation, is used. In addition, one of the pair of pulse trains is used as an in-phase (I) component, and the other is used as an orthogonal (Q) component. In addition, for example, the frequency of the pair of first transport waves is 6 GHz.

[0337] The modulator 181 generates a new modulated wave by modulating the modulated wave generated by the modulator 182 and the modulated wave generated by the modulator 183 with a pair of second transport waves. I / Q modulation, which is orthogonal modulation, is also used here. In addition, one of the two modulated waves is used as an in-phase (I) component, and the other is used as an orthogonal (Q) component. In addition, for example, the frequency of the pair of second transport waves is 40 GHz.

[0338] Then, the modulator 181 inputs the modulated wave to the transmitter 102. The transmitter 102 radiates the modulated wave. Then, the modulated wave is reflected by the object.

[0339] Then, the receiver 103 receives the modulated wave and inputs it to the demodulator 171. It is assumed that a plurality of modulated waves radiated from a plurality of transmitters 102 and reflected by an object are mixed in the modulated wave.

[0340] The demodulator 171 demodulates the in-phase (I) component and the quadrature (Q) component from the modulated wave according to a pair of second local fluctuations. Then, the demodulator 171 inputs the in-phase (I) component to the demodulator 172, and inputs the quadrature (Q) component to the demodulator 173. The demodulator 172 demodulates the II and IQ components from the in-phase (I) component demodulated by the demodulator 171 according to a pair of first local fluctuations. The demodulator 173 demodulates the QI component and the QQ component from the quadrature (Q) component demodulated by the demodulator 171 according to a pair of first local fluctuations.

[0341] Then, the operator 145 deconvolves the demodulated II component, IQ component, QI component and QQ component with the first PN code, the second PN code, the first PN code and the second PN code, thereby obtaining separate data corresponding to the first PN code, the second PN code, the first PN code and the second PN code.

[0342] Next, the PN code vector when two pairs of carrier waves are used is described. First, a PN code is selected. This PN code is expressed as shown in the following equation (3-1-1).

[0343] [Mathematical formula 29]

[0344] c=(a j )=(a0,a1,a2,…,a M-1 )(j=0,1,2,…,M - 1)…(3-1-1)

[0345] In the following, a code obtained by cyclically shifting the code of equation (3-1-1) is used. Next, two sets of two-dimensional PN codes as shown in equation (3-1-2) are determined.

[0346] [Math 30]

[0347]

[0348] The suffix corresponds to Fig.37 , c i AB i corresponds to the i-th transmitter 102 , A corresponds to the i port or Q port of the modulator 181 , and B corresponds to the i port or Q port of the modulators 182 and 183 .

[0349] In addition, here p IIi is determined to be 0. The remaining p ABi (AB = IQ, QI, QQ) is a positive integer value. ABi (AB=II、IQ、QI、QQ), if AB changes, p ABi Also changes. In addition, in addition to AB = II, if i corresponding to the transmitter 102 changes, then pAB i Except for AB=II, a different value can be selected as pAB for each combination of AB and i. i .

[0350] Two-dimensional PN code c i I The two-dimensional PN code c is input from the code generator 121 to the I port and Q port of the modulator 182. i QThe code generator 121 is input to the I port and Q port of the modulator 183 to satisfy the above conditions.

[0351] Then, the modulator 182 generates a two-dimensional PN code c based on the i I Generate the 6 GHz modulated signal s shown in the following formula (3-1-3): I (t), and inputs it to the I port of the modulator 181. In addition, the modulator 183 is based on the two-dimensional PN code c i Q Generate the 6 GHz modulated signal s shown in the following formula (3-1-4): Q (t), and input it to the Q port of modulator 181. In addition, f in equations (3-1-3) and (3-1-4) c2 6GH z .

[0352] [Mathematical formula 31]

[0353] s I (t) = c i II (t)cos(2πf c2 t)+c i IQ (t)sin(2πf c2 t)…(3-1-3)

[0354] [Math 32]

[0355] s Q (t) = c i QI (t)cos(2πf c2 t)+c i QQ (t)sin(2πf c2 t)…(3-1-4)

[0356] Modulator 181 is based on a 6 GHz modulation signal s I (t) and s Q (t) generates and outputs a modulated signal of 40 GHz. Thus, as a signal modulated by orthogonal modulation based on QPSK, a time series signal as shown in the following equation (3-1-5) is output from the transmitter 102 using a 40 GHz carrier wave. In addition, f in equation (3-1-5) c1 It is 40GHz.

[0357] [Mathematical formula 33]

[0358] s(t)=s I (t)cos(2πf c1 t)+sQ (t)sin(2πf c1 t)

[0359] ={c i II (t)cos(2πf c2 t)+c i IQ (t)sin(2πf c2 t)}cos(2πf c1 t)+{c i QI (t)cos(2πf c2 t)+c i QQ (t)sin(2πf c2 t)}sin(2πf c1 t)

[0360] = {cos(2πf c2 t)cos(2πf c1 t)}c i II (t)+{sin(2πf c2 t)cos(2πf c1 t)}c i IQ (t)+{cos(2πf c2 t)sin(2πf c1 t)}c i QI (t)+{sin(2πf c2 t)sin(2πf c1 t)}c i QQ (t)…(3-1-5)

[0361] When using a high-precision crystal oscillator to generate the carrier wave, the frequency accuracy is 10- 10 Therefore, when the frequency of the transmission wave is 40 GHz, an error of about 4 Hz is generated. Therefore, when heterodyne detection is used where the transmission side and the reception side are not synchronized, the phase changes slowly over time. For example, a signal modulated by orthogonal modulation based on QPSK is output from the transmitter 102 as a time series signal such as the above formula (3-1-5).

[0362] In the following, it is assumed that the phases of the carrier wave (i.e., LO signal) are different in the transmitter 102 and the receiver 103. Specifically, it is assumed that the phase of the transmitter (local fluctuation generator 141) for detection of 40 GHz differs from the phase of the transmitter (carrier wave generator 122) for the transmitter 102 by β, and the phase of the transmitter for detection of 6 GHz differs from the phase of the transmitter for the transmitter 102 by α. Under this assumption, the signal input to the receiver 103 located at the same point as the transmitter 102 is expressed as in the following equation (3-2-1).

[0363] [Math 34]

[0364] s R (t)

[0365] = {cos(2πf c2 t+β)cos(2πf c1 t+α)}c i II (t)+{sin(2πf c2 t+β)cos(2πf c1 t+α)}c i IQ (t)+{cos(2πf c2 t+β)sin(2πf c1 t+α)}c i QI (t)+{sin(2πf c2 t+β)sin(2πf c1 t+α)}c i QQ (t)

[0366] = {cos(2πf c2 t)cos(β)-sin(2πf c2 t)sin(β)}·{cos(2πf c1 t)cos(α)-sin(2πf c1 t)sin(α)}c i II (t)+{sin(2πf c2 t)cos(β)+cos(2πf c2 t)sin(β)}·{cos(2πf c1 t)cos(α)-sin(2πf c1 t)sin(α)}c i IQ (t)+{cos(2πf c2 t)cos(β)-sin(2πfc2 t)sin(β)}·{sin(2πf c1 t)cos(α)+cos(2πf c1 t)sin(α)}c i QI (t)+{sin(2πf c2 t)cos(β)+cos(2πf c2 t)sin(β)}·{sin(2πf c1 t)cos(α)+cos(2πf c1 t)sin(α)}c i QQ (t)…(3-2-1)

[0367] The baseband signal output from the two 6 GHz detectors (demodulators 172 and 173) is expressed as shown in the following equation (3-2-2). The meaning of the suffix is ​​defined as follows. R means receive. The I or Q after R means the I port or Q port of the 40 GHz detector (demodulator 171), and the third suffix means the I port or Q port of the 6 GHz detector (demodulator 172 or 173).

[0368] [Mathematical formula 35]

[0369] s RII (t) = cos(β)cos(a)c i II (t)+sin(β)cos(a)c i IQ (t)+cos(β)sin(α)c i QI (t)+sin(β)sin(α)c i QQ (t)

[0370] s RIQ (t) = -sin(β)cos(α)c i II (t)+cos(β)cos(α)c i IQ (t)-sin(β)sin(α)c i QI (t)+cos(β)sin(α)c i QQ (t)

[0371] s RQI (t) = -cos(β)sin(α)c i II(t)-sin(β)sin(α)c i IQ (t)+cos(β)cos(α)c i QI (t)+sin(β)cos(α)c i QQ (t)

[0372] s RQQ (t) = sin(β)sin(α)c i II (t)-cos(β)sin(α)c i IQ (t)-sin(β)cos(α)c i QI (t)+cos(β)cos(α)c i QQ (t)…(3-2-2)

[0373] Formula (3-2-2) is expressed as shown in the following formula (3-2-3) using a matrix display.

[0374] [Mathematical formula 36]

[0375]

[0376] Regarding the matrix on the right side of equation (3-2-3), the following equation (3-2-4) holds.

[0377] [Mathematical formula 37]

[0378]

[0379] By decomposing the equation (3-2-4), it is easy to derive that the following equation (3-2-5) holds true.

[0380] [Math 38]

[0381]

[0382] Here, it is assumed that there is only one transmitter 102. Equation (3-2-3) can be expressed as the following equations (3-3-1) and (3-3-2).

[0383] [Math 39]

[0384]

[0385] [Math 40]

[0386]

[0387] The deconvolution of equation (3-3-1) using the code defined in equation (3-1-2) is as follows: Fig.38 When the matrix on the left side of equation (3-3-3) is represented by X, the following equation (3-3-4) can be obtained.

[0388] [Mathematical formula 41]

[0389]

[0390] By finding the determinant on both sides of equation (3-3-4), we can obtain the following equation (3-3-5).

[0391] [Mathematical formula 42]

[0392]

[0393] The result of equation (3-3-5) is obtained by using the restriction described in the definition of the code of equation (3-1-2). Therefore, when the transmitter 102 is different, detX becomes 0.

[0394] Next, it is assumed that signals such as those expressed in equation (3-1-5) are output from a plurality of transmitters 102, and the signals are reflected by a plurality of objects and received by receiver 103. Then, for example, the signal transmitted from the i-th transmitter 102 is expressed as in equation (3-4-1).

[0395] [Mathematical formula 43]

[0396] s i (t) = s i I (t)cos(2πf c1 t)+s i Q (t)sin(2πf c1 t)

[0397] ={c i II (t)cos(2πf c2 t)+c i IQ (t)sin(2πf c2 t)}cos(2πf c1 t)+{c i QI (t)cos(2πf c2 t)+c i QQ (t)sin(2πf c2 t)}sin(2πf c1 t)…(3-4-1)

[0398] The reflection signal is expressed as shown in the following equation (3-4-2): In equation (3-4-2), j corresponds to the jth reflection point.

[0399] [Mathematical formula 44]

[0400]

[0401] The four time series signals received and detected by one receiver 103 are expressed as shown in the following equation (3-4-3).

[0402] [Mathematical formula 45]

[0403]

[0404] When displayed using a matrix, formula (3-4-3) is as follows Fig.39 It can be expressed as formula (3-4-4).

[0405] The deconvolution of equation (3-4-4) using the code defined in equation (3-1-2) is performed using Fig.40 A shown in formula (3-4-5) i，j ,like Fig.41 By referring to the calculation of deconvolution described later, calculating formula (3-4-6), and expressing the matrix on the left with X, we can get Fig.42 Formula (3-4-7).

[0406] By expressing the calculation result of the determinant relative to each time as detX, the following formula (3-4-8) can be obtained.

[0407] [Mathematical formula 46]

[0408]

[0409] Here, the accidental confounding term is composed of a term including a delta function as a factor, similarly to the formula (2-5-7), and the delta function does not include the time t. For example, the accidental confounding term includes a term such as the following formula.

[0410] [Mathematical formula 47]

[0411] x o，o x o，o x o，o x o，o A oo A oo A oo A oo ·δ(t i1，j1 -p IQi1 -t i2，j2 -pIQk +p QIi2 )·δ(t i3，j3 +p QIk -p QQi3 -t i4，j4 -p QQk )(tt o，o )…(3-4-9)

[0412] t i，j is the time from when the wave radiated from the i-th transmitter 102 is reflected by the object (identification number j) and received by the receiver 103. i，j is a quantity that changes continuously with time t. On the other hand, p Qi 、p Qk etc. are quantities that can be determined freely.

[0413] For example, occasionally the term shown in formula (3-4-9) is not 0. However, if p Qi 、p Qk If it is another value, the item becomes 0.

[0414] By using each trigger p sent by the ABi The code hopping of (AB=IQ, QI, QQ) changes can make the accidental confusion term converge to a time average of 0. Therefore, the following equation can be obtained.

[0415] [Mathematical formula 48]

[0416]

[0417] When there are M receivers 103, the above-described deconvolution processing can be performed simultaneously and in parallel in each receiver 103. In addition, although two-level modulation is applied here, three or more-level modulation may also be applied.

[0418] Fig.43 It represents multiple transmitters T1, T2, ..., T n and multiple receivers R1, R2, ..., R n Conceptual diagram of synchronization in .

[0419] Multiple transmitters T1, T2, ..., T3 are connected by optical fiber cables using E / O converters and O / E converters for converting into optical signals for communication. n For example, once a pulse arrives from transmitter T1 via the optical fiber, transmitter T2 radiates microwaves from the antenna. At the same time, transmitter T2 sends a synchronization signal to transmitter T3 via the optical fiber.

[0420] Receiver R1, R2, ..., R nHowever, the cascade operation starts after the transmitter T1 sends a synchronization signal to the receiver R1 and the receiver R1 receives the pulse. By receiving the synchronization pulse of the signal, each receiver R i Start receiving data.

[0421] For example, in the case of each receiver R i In the corresponding distributed processing circuit 191, the receiver R i The received data is deconvolved and each transmitter T i In addition, in the centralized processing circuit 192, each transmitter T i and each receiver R i For example, the deriver 104 may be included in the distributed processing circuit 191 , and the detector 105 may be included in the centralized processing circuit 192 .

[0422] The distributed processing circuit 191 may be an information processing circuit corresponding to a CPU or a GPU, etc. The centralized processing circuit 192 may be an information processing circuit corresponding to a PC cluster or a host computer, etc.

[0423] In the above method, the integral of the following equation (4-1) appears in the calculation of deconvolution. Here, A and B represent I (in-phase component) or Q (quadrature component), respectively. The same is true for C and D.

[0424] [Math 49]

[0425] ∫c AB (τ-t)s CD (τ-t a )dτ…(4-1)

[0426] When the basic code of equation (3-1-1) is expressed as c(t), the above equation (4-1) can be expressed as the following equation (4-2). AB and P CD Corresponds to the number of bits of the cyclic shift.

[0427] [Mathematical formula 50]

[0428] ∫c(τ+P AB -t)c(τ+P CD -t a )dτ…(4-2)

[0429] Due to the properties of the code, the integral of equation (4-2) is not zero only when the following equation (4-3) holds.

[0430] [Mathematical formula 51]

[0431] τ+P AB -t=τ+P CD -t a …(4-3)

[0432] Therefore, the following formula (4-4) can be obtained.

[0433] [Mathematical formula 52]

[0434] ∫c(τ+P AB -t)c(τ+P CD -t a )dτ=δ(tP AB +P CD -t a )…(4-4)

[0435] Specifically, based on the above, the following formula (4-5) is used for deconvolution calculation.

[0436] [Mathematical formula 53]

[0437] A=I, B=I: ∫c(τ-t)c(τ-t a )dτ=δ(tt a )

[0438] A=I, B=Q: ∫c(τ-t)c(τ+P CD -t a )dτ=δ(t+P CD -t a )

[0439] A=Q,B=I:∫c(τ+P AB -t)c(τ-t a )dτ=δ(tP AB -t a )

[0440] A=Q,B=Q:∫c(τ+P AB -t)c(τ+P CD -t a )dτ=δ(tP AB +P CD -t a )…(4-5)

[0441] <Basic operation example>

[0442] Fig.44 Yes means Figure 4 Flowchart of a basic operation example of the detection device 100 shown in FIG.

[0443] First, the generator 101 generates a plurality of waves (S101). At this time, the generator 101 generates a plurality of pulse train groups corresponding to a plurality of code groups different from each other and at least one transport wave.

[0444] Here, each code group has a reference code and one or more individual codes. The reference code is the same in multiple code groups. Multiple individual codes in multiple code groups are different from each other. Then, the generator 101 generates multiple modulated waves as multiple waves by modulating multiple pulse train groups with at least one transport wave.

[0445] Next, the plurality of transmitters 102 emit the plurality of waves generated by the generator 101 (S102). At this time, each transmitter 102 emits one wave among the plurality of waves generated by the generator 101. Then, each receiver 103 receives one or more waves among the plurality of waves emitted from the plurality of transmitters 102 as a composite wave (S103).

[0446] Next, the exporter 104 exports individual data corresponding to each transmitter 102 from the received data of each receiver 103, and exports individual data for each combination between each transmitter 102 and each receiver 103 (S104). At this time, the exporter 104 demodulates the processing target data corresponding to the plurality of pulse train groups from the received data of each receiver 103, and exports the individual data from the processing target data. Then, the detector 105 detects an object that affects at least one of the plurality of fluctuations based on the individual data (S105).

[0447] Thus, even when a plurality of transmitters 102 and a plurality of receivers 103 are used simultaneously, since a plurality of signals of a plurality of fluctuations correspond to a plurality of code groups different from each other, the detection device 100 can obtain separate data for each combination between each transmitter 102 and each receiver 103. Therefore, the detection device 100 can detect an object at a high speed with a high resolution. Furthermore, the detection device 100 can appropriately detect an object moving at a high speed.

[0448] Here, each code group may be, for example, a two-dimensional vector code having a pair of codes, or two two-dimensional vector codes each having a pair of codes. In addition, each pulse train group may be, for example, a pair of pulse trains, or two pairs of pulse trains. At least one carrier wave may be a pair of carrier waves, or two pairs of carrier waves.

[0449] In addition, for example, the generator 101 may generate a plurality of pairs of pulse trains corresponding to a plurality of two-dimensional vector codes different from each other and a pair of transport waves whose phases are orthogonal to each other as a plurality of pulse train groups and at least one transport wave. Here, each two-dimensional vector code has a reference code and an individual code as two elements. The reference code is the same in the plurality of two-dimensional vector codes. The plurality of individual codes in the plurality of two-dimensional vector codes are different from each other.

[0450] Then, the generator 101 can generate a plurality of modulated waves by modulating a plurality of pairs of pulse trains with a pair of transport waves. Then, the exporter 104 can demodulate the processing target data corresponding to the plurality of pairs of pulse trains from the reception data of each receiver 103 .

[0451] Thus, the detection device 100 can efficiently transmit a plurality of modulated waves corresponding to a plurality of two-dimensional vector codes using a pair of carrier waves.

[0452] In addition, for example, the reference code and the plurality of individual codes may be a plurality of orthogonal codes that are orthogonal to each other. Thus, the detection device 100 can efficiently obtain individual data for each combination of each transmitter 102 and each receiver 103 based on the orthogonality of the codes.

[0453] Furthermore, for example, the reference code and the plurality of individual codes may be a plurality of cyclic codes having different shift amounts. Thus, the detection device 100 can efficiently obtain individual data for each combination of each transmitter 102 and each receiver 103 according to the difference in shift amount.

[0454] In addition, for example, the reference code and the multiple individual codes may be multiple PN (Pseudo-Noise) codes that are orthogonal to each other and have different shift amounts. Thus, the detection device 100 can efficiently obtain individual data for each combination between each transmitter 102 and each receiver 103 based on the characteristics of the PN code.

[0455] In addition, for example, each time a condition is satisfied, the generator 101 can change the reference code and the plurality of individual codes by selecting a set of the reference code and the plurality of individual codes from a plurality of set candidates. Thus, the detection device 100 can adaptively change the plurality of codes associated with the plurality of fluctuations. Then, the detection device 100 can suppress the reduction of the identifiability that occurs accidentally, and can appropriately obtain individual data for each combination between each transmitter 102 and each receiver 103.

[0456] Alternatively, for example, the generator 101 may randomly select a set from a plurality of set candidates. Thus, the detection device 100 can suppress the reduction in identifiability that occurs accidentally due to randomness, and can appropriately acquire individual data for each combination of each transmitter 102 and each receiver 103 .

[0457] In addition, for example, the deriver 104 may derive separate data based on a calculation result obtained by deconvolving the processing target data with each two-dimensional vector code. Thus, the detection device 100 can efficiently obtain separate data for each combination of each transmitter 102 and each receiver 103 based on the deconvolution corresponding to the two-dimensional vector code.

[0458] In addition, for example, the deriver 104 can derive individual data based on the determinant corresponding to the calculation result. Thus, the detection device 100 can efficiently obtain individual data for each combination of each transmitter 102 and each receiver 103 based on the deconvolution and determinant corresponding to the two-dimensional vector code.

[0459] In addition, for example, the generator 101 may generate a plurality of pairs of first pulse trains, a plurality of pairs of second pulse trains, a pair of first transport waves, and a pair of second transport waves as a plurality of pulse train groups and at least one transport wave. The plurality of pairs of first pulse trains correspond to a plurality of first two-dimensional vector codes that are different from each other. The plurality of pairs of second pulse trains correspond to a plurality of second two-dimensional vector codes that are different from each other. The phases of the pair of first transport waves are orthogonal to each other. The phases of the pair of second transport waves are orthogonal to each other.

[0460] In addition, each first two-dimensional vector code has a reference code and a first individual code as two elements. Each second two-dimensional vector code has a second individual code and a third individual code as two elements. The reference code is the same in the plurality of first two-dimensional vector codes. The plurality of first individual codes, the plurality of second individual codes, and the plurality of third individual codes in the plurality of first two-dimensional vector codes and the plurality of second two-dimensional vector codes are different from each other. In addition, the frequency of the pair of first transport waves and the frequency of the pair of second transport waves are different from each other.

[0461] Then, the generator 101 can generate a plurality of first modulation waves by modulating a plurality of pairs of first pulse trains with a pair of first transport waves. In addition, the generator 101 can generate a plurality of second modulation waves by modulating a plurality of pairs of second pulse trains with a pair of first transport waves. Then, a plurality of modulation waves can be generated by modulating a plurality of first modulation waves and a plurality of second modulation waves with a pair of second transport waves.

[0462] Then, the exporter 104 can demodulate the first processing target data corresponding to the plurality of first modulation waves and the plurality of second modulation waves from the received data of each receiver 103. In addition, the exporter 104 can demodulate the second processing target data corresponding to the plurality of pairs of first pulse trains and the plurality of pairs of second pulse trains from the first processing target data as the processing target data.

[0463] Thus, the detection device 100 can efficiently transmit a plurality of modulated waves corresponding to a plurality of pairs of two-dimensional vector codes based on two pairs of transport waves.

[0464] In addition, for example, the reference code, the plurality of first individual codes, the plurality of second individual codes, and the plurality of third individual codes may be a plurality of orthogonal codes that are orthogonal to each other. Thus, the detection device 100 can efficiently obtain individual data for each combination of each transmitter 102 and each receiver 103 based on the orthogonality of the codes.

[0465] In addition, for example, the reference code, the plurality of first individual codes, the plurality of second individual codes, and the plurality of third individual codes may be a plurality of cyclic codes having different shift amounts. Thus, the detection device 100 can efficiently obtain individual data for each combination of each transmitter 102 and each receiver 103 according to the difference in shift amount.

[0466] In addition, for example, the reference code, the first individual code, the second individual code, and the third individual code may be a plurality of PN (Pseudo-Noise) codes that are orthogonal to each other and have different shift amounts. Thus, the detection device 100 can efficiently obtain individual data for each combination between each transmitter 102 and each receiver 103 based on the characteristics of the PN code.

[0467] In addition, for example, whenever a condition is met, the generator 101 can select a set of a reference code, a plurality of first separate codes, a plurality of second separate codes, and a plurality of third separate codes from a plurality of set candidates. Then, the generator 101 can also change the reference code, a plurality of first separate codes, a plurality of second separate codes, and a plurality of third separate codes.

[0468] Thus, the detection device 100 can adaptively change the multiple codes associated with the multiple fluctuations. Then, thereby, the detection device 100 can suppress the accidental reduction in identifiability and can appropriately obtain individual data for each combination of each transmitter 102 and each receiver 103 .

[0469] In addition, for example, the generator 101 may randomly select a set from a plurality of set candidates. Thus, the detection device 100 can suppress accidental reduction in identifiability due to randomness, and can appropriately obtain individual data for each combination of each transmitter 102 and each receiver 103 .

[0470] In addition, for example, the deriver 104 derives separate data based on a calculation result obtained by deconvolving the second processing target data with each combination of the corresponding first two-dimensional vector code and the second two-dimensional vector code. Thus, the detection device 100 can efficiently obtain separate data for each combination between each transmitter 102 and each receiver 103 based on the deconvolution corresponding to a pair of two-dimensional vector codes.

[0471] In addition, for example, the deriver 104 can derive separate data based on the determinant corresponding to the calculation result. Thus, the detection device 100 can efficiently obtain separate data for each combination between each transmitter 102 and each receiver 103 based on the deconvolution and the determinant corresponding to a pair of two-dimensional vector codes.

[0472] The above describes the method of the detection device based on the embodiment, but the method of the detection device is not limited to the embodiment. The embodiment can be modified as thought of by a person skilled in the art, and multiple constituent elements in the embodiment can be arbitrarily combined. For example, in the embodiment, a specific constituent element can be replaced by another constituent element to perform the processing performed by a specific constituent element. In addition, the order of multiple processing can be changed, and multiple processing can be performed in parallel.

[0473] In addition, the mathematical expressions shown in this embodiment can be appropriately modified and used. For example, a mathematical expression that expresses substantially the same content as the above mathematical expression in other expressions can be used, and other mathematical expressions derived based on the above theory can also be used.

[0474] In addition, some of the multiple components shown in the above description may not be installed. In particular, in the above description, the processing performed by the second component included in the first component can also be interpreted as processing performed by the first component, not limited to the second component shown as an example, but performed by the first component. In addition, some of the processing shown in the above description may not be executed.

[0475] In addition, the first and second ordinal numbers used in the description may be replaced, deleted, or newly assigned as appropriate. These ordinal numbers do not necessarily correspond to a meaningful order, but may be used to identify elements.

[0476] In addition, the detection method including the steps performed by each component of the detection device can be performed by any device or system. For example, part or all of the detection method can be performed by a computer having a processor, a memory, and an input-output circuit, etc. In this case, the detection method can be performed by the computer executing a program for causing the computer to perform the detection method.

[0477] In addition, the above-mentioned program can be recorded in a non-transitory computer-readable recording medium.

[0478] In addition, each component of the detection device may be composed of dedicated hardware, general hardware that executes the above-mentioned program, etc., or a combination thereof. In addition, the general hardware may also be composed of a memory that records the program, and a general processor that reads out and executes the program from the memory, etc. Here, the memory may be a semiconductor memory or a hard disk, etc., and the general processor may be a CPU, etc.

[0479] In addition, the dedicated hardware may be constituted by a memory and a dedicated processor, etc. For example, the dedicated processor may execute the above-mentioned detection method using a memory for recording the received data and the separate data.

[0480] In addition, each component of the detection device may be an electrical circuit. These electrical circuits may constitute an electrical circuit as a whole, or may be independent electrical circuits. In addition, these electrical circuits may correspond to dedicated hardware, or may correspond to general hardware for executing the above-mentioned program, etc.

[0481] In addition, the detection device is not limited to a physically integrated device, and may include a plurality of sub-devices that are distributed. In addition, the detection device may be expressed as a detection system.

[0482] Industrial Applicability

[0483] One aspect of the present disclosure is useful for a detection device that detects an object using wave motion, and can be applied to detection of a moving object, etc.

[0484] Description of Reference Numerals

[0485] 100 detection devices

[0486] 101 Generator

[0487] 102 Transmitter

[0488] 103 Receiver

[0489] 104 Exporter

[0490] 105 detector

[0491] 106, 107 repeaters

[0492] 108 Controller

[0493] 121 code generator

[0494] 122 Transport Wave Generator

[0495] 123, 151, 152, 154, 161, 162, 163, 164, 165, 166, 181, 182, 183 modulator

[0496] 124 Amplifier

[0497] 131 Memory

[0498] 132 Selector

[0499] 133 Random Number Generator

[0500] 141 Local Wave Generator

[0501] 142, 171, 172, 173 demodulator

[0502] 143 Deconvolution operator

[0503] 144 Matrix operator

[0504] 145 operator

[0505] 153, 167, 168, 169 Synthesizer

[0506] 191 Distributed Processing Circuit

[0507] 192 centralized processing circuit

Claims

1. A detection device, wherein: have: Generator, generates multiple waves; A plurality of transmitters radiate the plurality of waves, and each of the plurality of transmitters radiates one wave among the plurality of waves; A plurality of receivers, each of which receives one or more of the plurality of fluctuations as a composite fluctuation; an exporter for exporting the individual data respectively corresponding to the plurality of senders from the respective received data of the plurality of receivers, for each combination between each of the plurality of senders and each of the plurality of receivers; as well as a detector for detecting an object affecting at least one of the plurality of fluctuations based on the individual data, The generator, generating a plurality of pulse train groups and at least one transport wave, wherein the plurality of pulse train groups respectively correspond to a plurality of code groups different from each other and having a reference code and one or more individual codes, generating a plurality of modulated waves as the plurality of waves by modulating the plurality of pulse train groups with the at least one transport wave, the exporter, demodulating the processing target data corresponding to the plurality of pulse train groups from the received data of each of the plurality of receivers, deriving the separate data from the processing target data, The reference code is the same in the plurality of code groups, The plurality of individual codes in the plurality of code groups are different from each other.

2. The detection device according to claim 1, wherein: The generator, generating a plurality of pairs of pulse trains and a pair of transport waves whose phases are orthogonal to each other as the plurality of pulse train groups and the at least one transport wave, the plurality of pairs of pulse trains respectively corresponding to a plurality of two-dimensional vector codes different from each other having the reference code and a separate code as two elements, generating the plurality of modulated waves by modulating the plurality of pairs of pulse trains with the pair of transport waves, the exporter, demodulating the processing target data corresponding to the plurality of pairs of pulse trains from the reception data of the plurality of receivers, The reference code is the same in the plurality of two-dimensional vector codes, The plurality of individual codes in the plurality of two-dimensional vector codes are different from each other.

3. The detection device according to claim 2, wherein: The reference code and the plurality of individual codes are a plurality of orthogonal codes that are orthogonal to each other.

4. The detection device according to claim 2, wherein: The reference code and the plurality of individual codes are a plurality of cyclic codes having shift amounts different from each other.

5. The detection device according to claim 2, wherein: The reference code and the plurality of individual codes are a plurality of PN codes, ie, pseudo noise codes, which are orthogonal to each other and have different shift amounts from each other.

6. The detection device according to claim 2, wherein: The generator changes the reference code and the plurality of individual codes by selecting a set of the reference code and the plurality of individual codes from a plurality of set candidates every time a condition is satisfied.

7. The detection device according to claim 6, wherein: The generator randomly selects the set from the plurality of set candidates.

8. The detection device according to any one of claims 2 to 7, wherein: The exporter exports the individual data based on a calculation result obtained by deconvolving the processing target data using the plurality of two-dimensional vector codes.

9. The detection device according to claim 8, wherein: The deriver derives the individual data based on a determinant corresponding to the operation result.

10. The detection device according to claim 1, wherein: The generator, generating a plurality of pairs of first pulse trains corresponding to a plurality of first two-dimensional vector codes different from each other, a plurality of pairs of second pulse trains corresponding to a plurality of second two-dimensional vector codes different from each other, a pair of first transport waves having orthogonal phases to each other, and a pair of second transport waves having orthogonal phases to each other as the plurality of pulse train groups and the at least one transport wave, generating a plurality of first modulated waves by modulating the plurality of pairs of first pulse trains with the pair of first transport waves, generating a plurality of second modulated waves by modulating the plurality of pairs of second pulse trains with the pair of first transport waves, generating the plurality of modulated waves by modulating the plurality of first modulated waves and the plurality of second modulated waves with the pair of second transport waves, the exporter, demodulating first processing target data corresponding to the plurality of first modulated waves and the plurality of second modulated waves from the reception data of each of the plurality of receivers, demodulating second processing target data corresponding to the plurality of pairs of first pulse trains and the plurality of pairs of second pulse trains from the first processing target data as the processing target data, The plurality of first two-dimensional vector codes respectively have the reference code and the first individual code as two elements, The plurality of second two-dimensional vector codes respectively have a second individual code and a third individual code as two elements, The reference code is the same in the plurality of first two-dimensional vector codes, The plurality of first individual codes, the plurality of second individual codes, and the plurality of third individual codes in the plurality of first two-dimensional vector codes and the plurality of second two-dimensional vector codes are different from each other. The frequencies of the pair of first transport waves and the frequencies of the pair of second transport waves are different from each other.

11. The detection device according to claim 10, wherein: The reference code, the plurality of first individual codes, the plurality of second individual codes, and the plurality of third individual codes are a plurality of orthogonal codes that are orthogonal to each other.

12. The detection device according to claim 10, wherein: The reference code, the plurality of first individual codes, the plurality of second individual codes, and the plurality of third individual codes are a plurality of cyclic codes having shift amounts different from each other.

13. The detection device according to claim 10, wherein: The reference code, the plurality of first individual codes, the plurality of second individual codes, and the plurality of third individual codes are a plurality of PN codes, ie, pseudo noise codes, which are orthogonal to each other and have different shift amounts from each other.

14. The detection device according to claim 10, wherein: Whenever a condition is met, the generator changes the reference code, the multiple first separate codes, the multiple second separate codes and the multiple third separate codes by selecting a set of the reference code, the multiple first separate codes, the multiple second separate codes and the multiple third separate codes from multiple set candidates.

15. The detection device according to claim 14, wherein: The generator randomly selects the set from the plurality of set candidates.

16. The detection device according to any one of claims 10 to 15, wherein: The exporter exports the separate data based on a calculation result obtained by deconvolving the second processing target data with each combination of a corresponding first two-dimensional vector code and a corresponding second two-dimensional vector code among the plurality of first two-dimensional vector codes and the plurality of second two-dimensional vector codes.

17. The detection device according to claim 16, wherein: The deriver derives the individual data based on a determinant corresponding to the operation result.

18. A detection method, wherein: include: Steps to generate multiple waves; a step of radiating the plurality of waves from the plurality of transmitters by radiating one of the plurality of waves from the plurality of transmitters respectively; The step of using a plurality of receivers to respectively receive at least one of the plurality of fluctuations as a synthetic fluctuation; A step of deriving the individual data respectively corresponding to the plurality of transmitters from the respective reception data of the plurality of receivers, deriving the individual data for each combination between each of the plurality of transmitters and each of the plurality of receivers; as well as a step of detecting an object affecting at least one of the plurality of fluctuations based on the individual data, In the step of generating the plurality of fluctuations, generating a plurality of pulse train groups and at least one transport wave, wherein the plurality of pulse train groups respectively correspond to a plurality of code groups different from each other and having a reference code and one or more individual codes, generating a plurality of modulated waves as the plurality of waves by modulating the plurality of pulse train groups with the at least one transport wave, In the step of exporting the separate data, demodulating the processing target data corresponding to the plurality of pulse train groups from the received data of each of the plurality of receivers, deriving the separate data from the processing target data, The reference code is the same in the plurality of code groups, The plurality of individual codes in the plurality of code groups are different from each other.

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