Bidirectional radio ranging method suitable for high dynamic environment

Abstract

The invention discloses a two-way radio distance measurement method applicable to a high dynamic environment, which comprises the following steps: an inquiry unit and a response unit respectively exist in a distance measurement scheme, an inquiry signal and a response signal are sequentially sent, and the distance between the two units is calculated by using the round-trip time of the signals. The method mainly aims at the distance measurement problem under the high-dynamic motion condition, the two units do not need timing unification before distance measurement, the motion state of the two units on the connecting line is estimated through the navigation system, distance measurement of the two units is assisted, high-precision distance measurement can be achieved, and the distance measurement accuracy is improved. Meanwhile, the influence of electromagnetic interference on distance measurement and terminal viability is considered, the anti-interference capability of the distance measurement system is improved by setting pseudo-random time delay and an intermittent working mode, and the probability of being found can be obviously reduced in related applications.

Description

Technical Field

[0001] The present invention relates to the technical field of radio ranging, and in particular to a two-way radio ranging method suitable for use in a high dynamic environment. Background Art

[0002] In the field of radio communications, radio ranging technology has long been a hot topic of research and application, especially in highly dynamic environments. This technology can achieve high-precision distance measurement without strict time synchronization, which is of great significance to military, aerospace, unmanned driving and other fields.

[0003] Most existing ranging methods based on signal propagation time or round-trip time assume a short signal propagation time and fail to consider the impact of carrier motion on ranging accuracy, resulting in certain errors. The present invention takes into account carrier motion during signal propagation, further improving ranging accuracy. Traditional ranging methods primarily rely on pseudo-random code (PMR) or carrier phase measurement, but these methods face numerous challenges in burst communication systems. For example, burst communication systems typically transmit short signals, making continuous, high-precision ranging methods difficult to implement, and traditional spread-spectrum ranging technology cannot meet high-precision requirements. Furthermore, while carrier phase measurement offers high accuracy, its application is limited by signal continuity and stability. In most applications of radio ranging, the impact of electromagnetic interference on ranging is not considered, particularly in military-related ranging systems, where less consideration is given to improving the survivability of the ranging system and reducing the probability of detection. The present invention delays the response after receiving an interrogation signal, significantly improving the survivability of the ranging system.

[0004] In radio ranging, both two-way two-range and one-way two-way ranging have been widely researched and applied. However, two-way two-range ranging is typically used in short-range, low-dynamic scenarios, such as indoor positioning, and its application in long-range ranging is relatively limited. This invention, based on long-range ranging scenarios and taking into account the high dynamics of the carrier and battlefield survivability, implements radio ranging in highly dynamic environments. Summary of the Invention

[0005] In view of this, the present invention provides a two-way radio ranging method suitable for high dynamic environments, to achieve ranging in high dynamic scenarios.

[0006] In order to solve the above problems, the technical solutions of the present invention are as follows:

[0007] A two-way radio ranging method suitable for use in a high dynamic environment comprises the following steps:

[0008] Step 1: Divide the response unit and the inquiry unit in the communication ranging process;

[0009] Step 2: The inquiry unit and the response unit bind the initial time and related data;

[0010] Step 3: Allocate time slots and their time slot numbers during the communication process to the inquiry unit and the response unit;

[0011] Step 4: The inquiry unit enters the RTT ranging state at time zero of its own time slot, and the response unit enters the receiving state;

[0012] Step 5: The radio frequency device of the response unit receives the inquiry signal, and the response unit processor records the time TOA of receiving the inquiry signal under its own clock. I , and perform down-conversion, demodulation, decoding and baseband processing on the interrogation signal; after a certain time delay t d After that, the answering unit processor encodes the answering data and modulates it onto a carrier wave, which is then sent to the interrogation unit via a directional antenna;

[0013] Step 6: The interrogation unit antenna receives the response signal, and the interrogation unit processor records the time TOA when the response signal is received under its own clock. R , and processes and decodes the reply signal, extracts the data and information in the reply signal, and then calculates the distance between the two units based on the relevant time data.

[0014] Furthermore, the relevant data includes an authorization code, a station number, and transmission and reception time delay data.

[0015] Furthermore, the response data includes time delay data, reception time data and pre-calibrated frequency data.

[0016] Furthermore, the distance between two units is calculated as follows:

[0017]

[0018] Among them, Dis[T0] is the distance between the two units at T0 (time zero), Δa AS , ΔV AS is the relative acceleration and relative velocity of the two on the connecting line, Δt ST , Δt SR are the transmission delay and reception delay of the interrogation unit, Δt AT , Δt AR are the transmission delay and reception delay of the response unit, c is the speed of light, T d The calculation of is as follows:

[0019] T d =t d +TOA I

[0020] Furthermore, the relative speed ΔVAS and relative acceleration Δa AS The calculation process is:

[0021]

[0022] Where, P A 、V A 、a A is the position, velocity and acceleration vector of the interrogation unit; P S 、V S 、a S are the position, velocity and acceleration vectors of the response unit.

[0023] Beneficial effects:

[0024] 1. To address the ranging problem in highly dynamic scenarios, the present invention adopts the RTT method to obtain the round-trip time between the inquiry signal and the response signal. Compared with traditional ranging methods, the present invention comprehensively considers the balance between ranging accuracy, timing requirements, and communication complexity. It not only realizes the ranging function under highly dynamic conditions, but also effectively improves the survivability of the ranging system.

[0025] 2. The present invention can complete the ranging process without the need for high-precision timing between the units to be measured in advance; ranging is based on signal round-trip time rather than pseudo code or carrier phase, further simplifying the ranging system.

[0026] 3. The present invention takes into account the movement of the carrier during signal propagation, further improving the ranging accuracy.

[0027] 4. The present invention adopts random time delay response and intermittent working mode, which further improves battlefield survivability and reduces the probability of being discovered. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a working schematic diagram of the present invention.

[0029] Figure 2 It is a schematic diagram of the process of the present invention. DETAILED DESCRIPTION

[0030] The present invention is described in detail below.

[0031] The present invention designs a two-way radio ranging method suitable for high dynamic environment. The overall execution flow chart is as follows: Figure 2 As shown, the following steps are included:

[0032] Step 1: Divide the response unit A and the inquiry unit S in the communication ranging process;

[0033] Step 2: The inquiry unit and the response unit bind the initial time and related data, including the authorization code, station number, and transmission and reception time delay data;

[0034] Step 3: Allocate time slots and their time slot numbers during the communication process to the inquiry unit and the response unit;

[0035] Step 4: The interrogation unit enters the RTT ranging state at time zero of its own time slot, and the response unit enters the receiving state. The information involved in the interrogation signal is encoded and radio-frequency processed, and modulated into a carrier wave. The interrogation signal is then broadcasted via the radio frequency equipment. The data contained in the interrogation signal and the response signal are shown in Table 1.

[0036] Table 1

[0037]

[0038]

[0039] Step 5: The radio frequency device of the response unit receives the inquiry signal, and the response unit processor records the time TOA of receiving the inquiry signal under its own clock. I , and perform down-conversion, demodulation, decoding, baseband processing and other related processing on the interrogation signal. After a certain time delay t d After that, the response unit processor encodes the response data (including time delay data, reception time data and pre-calibrated frequency data, etc.) and modulates it onto a carrier, which is then sent to the interrogation unit via a directional antenna.

[0040] Step 6: The interrogation unit antenna receives the response signal, and the interrogation unit processor records the time TOA when the response signal is received under its own clock. R , and process and decode the response signal, extract the data and information in the response signal, and then calculate the distance between the two units based on the relevant time data, such as Figure 1 As shown:

[0041]

[0042] Where Dis[T0] is the distance between the two units at T0 (time zero), Δa AS , ΔV AS is the relative acceleration and relative velocity of the two on the connecting line, Δt ST , Δt SR are the transmission delay and reception delay of the interrogation unit, Δt AT , Δt AR are the transmission delay and reception delay of the response unit, c is the speed of light, T d The calculation is as follows:

[0043] Td =t d +TOA I

[0044] Specifically, the relative speed ΔV AS and relative acceleration Δa AS The calculation process is:

[0045]

[0046] Where, P A 、V A 、a A is the position, velocity and acceleration vector of the interrogation unit; P S 、V S 、a S are the position, velocity and acceleration vectors of the response unit.

Claims

1. A two-way radio ranging method suitable for use in a high dynamic environment, characterized in that: The following steps are involved: Step 1: Divide the response unit and the inquiry unit in the communication ranging process; Step 2: The inquiry unit and the response unit bind the initial time and related data; Step 3: Allocate time slots and their time slot numbers during the communication process to the inquiry unit and the response unit; Step 4: The inquiry unit enters the RTT ranging state at time zero of its own time slot, and the response unit enters the receiving state; Step 5: The radio frequency device of the response unit receives the inquiry signal, and the response unit processor records the time TOA of receiving the inquiry signal under its own clock. I , and perform down-conversion, demodulation, decoding and baseband processing on the interrogation signal; after a certain time delay t d After that, the answering unit processor encodes the answering data and modulates it onto a carrier wave, which is then sent to the interrogation unit via a directional antenna; Step 6: The interrogation unit antenna receives the response signal, and the interrogation unit processor records the time TOA when the response signal is received under its own clock. R , and processes and decodes the reply signal, extracts the data and information in the reply signal, and then calculates the distance between the two units based on the relevant time data.

2. The two-way radio ranging method applicable to a high dynamic environment according to claim 1, wherein: The relevant data includes authorization code, station number, transmission and reception time delay data.

3. The two-way radio ranging method applicable to a high dynamic environment according to claim 1 or 2, characterized in that: The response data includes time delay data, receiving time data and pre-calibrated frequency data.

4. The two-way radio ranging method applicable to a high dynamic environment according to claim 1, wherein: The distance between two elements is calculated as follows: Among them, Dis[T0] is the distance between the two units at T0 (time zero), Δa AS , ΔV AS is the relative acceleration and relative velocity of the two on the connecting line, Δt ST , Δt SR are the transmission delay and reception delay of the interrogation unit, Δt AT , Δt AR are the transmission delay and reception delay of the response unit, c is the speed of light, T d The calculation of is as follows: T d =t d +TOA I 。 5. The two-way radio ranging method applicable to a high dynamic environment as claimed in claim 4, characterized in that: Relative speed ΔV AS and relative acceleration Δa AS The calculation process is: Where, P A 、V A 、a A is the position, velocity and acceleration vector of the interrogation unit; P S 、V S 、a S are the position, velocity and acceleration vectors of the response unit.

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