WO2003104841A1 - 距離測定方法および装置 - Google Patents
距離測定方法および装置 Download PDFInfo
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- WO2003104841A1 WO2003104841A1 PCT/JP2003/007060 JP0307060W WO03104841A1 WO 2003104841 A1 WO2003104841 A1 WO 2003104841A1 JP 0307060 W JP0307060 W JP 0307060W WO 03104841 A1 WO03104841 A1 WO 03104841A1
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- Prior art keywords
- distance
- radar image
- standing wave
- wave
- measurement
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S13/36—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
- G01S13/40—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal wherein the frequency of transmitted signal is adjusted to give a predetermined phase relationship
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/887—Radar or analogous systems specially adapted for specific applications for detection of concealed objects, e.g. contraband or weapons
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
- G01S13/32—Systems for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
Definitions
- the present invention relates to a distance measuring method and a device capable of measuring a distance to a measurement object by using a standing wave in a non-contact manner.
- distance is the same as “length” in physical dimensions, and may overlap in concept. For the same measurement target, the distance may be considered to be “distance” when measuring without contacting the measuring instrument, and “length” when measuring with the measuring instrument in contact.
- a basic length measuring instrument is a ruler graduated according to a certain standard.
- Japanese Unexamined Patent Publication (Kokai) No. 3-144036 discloses that a waveguide is provided with a slit extending in an axial direction, a standing wave of an electromagnetic wave is generated in the waveguide, and the waveguide enters from the outside through the slit to the inside.
- a length measuring device that can move a slider into which a plurality of probes are inserted in the axial direction and determine the position of the slider based on the amplitude of a standing wave detected by the probes. ing.
- the applicant of the present invention disclosed in Japanese Patent Application Laid-Open No. 11-23034, a standing wave formed by a frequency-modulated wave whose frequency periodically changes in a linear conductor path
- the prior art discloses a conventional encoder for measuring a layer position in a conductor path based on a correlation between an envelope of a standing wave and a modulation signal in the middle of the conductor path.
- No.2,001,237,280 proposes a technology that can measure distance in a non-contact manner by developing the concept of using standing waves applied to conductor paths in .
- Japanese Unexamined Patent Application Publication No. HEI 3 (1994) -144440/1994 Japanese Unexamined Patent Application Publication No. H11-234703, a waveguide or conductor path corresponding to a ruler is used as a measurement standard. Position It must be installed between the object and the object to be measured, and must be in mechanical contact with the object to be measured.
- the technology proposed in Japanese Patent Application No. 2000-01-23078 uses a standing wave formed in an electromagnetic wave or the like having a space as a propagation medium. It can measure distance and can be used as a radar mounted on a moving object such as a car.
- the technology proposed in Japanese Patent Application No. 2000-01—2 372 880 changes the frequency of electromagnetic waves that form a standing wave, and changes the relationship between the amplitude and frequency of the standing wave to be detected.
- the detection signal function shown is obtained, and the frequency at which the detection signal function takes an extreme value corresponds to the distance to the measurement target.
- the change of the detection signal function is small near the extremum, and it is difficult to accurately specify the position of the extremum, and there is a limit in increasing the resolution.
- the noise component is superimposed on the detection signal function, if the position of the extremum is specified based only on the amplitude information, the error may increase.
- the phase includes the amount of phase shift due to reflection at the measurement target, and it is generally difficult to find the exact amount of phase shift, and we must consider it as an unknown amount .
- the phase change is a short-period periodic function compared to the amplitude change, and there are a plurality of phases that have a fixed relationship with the phase shift amount even near the extreme value of the amplitude. Even if the quantity can be determined accurately, it is difficult to specify the extreme value of the amplitude. ⁇
- An object of the present invention is to provide a distance measuring method and device capable of measuring distance with high resolution.
- the present invention relates to a method for measuring a distance from a reference position to a measurement target, the traveling wave traveling from the reference position to the measurement target in a propagation medium existing around the reference position and the measurement target.
- the present invention is characterized in that, as the measurement object, measurement is performed simultaneously with a measurement object that is a target of distance measurement and a measurement object that is a reference of distance measurement.
- the present invention relates to an apparatus for measuring a distance from a reference position to a measurement object, wherein the apparatus moves from the reference position to the measurement object in a propagation medium existing around the reference position and the measurement object.
- the standing wave generated by the traveling wave generated by the traveling wave generating means interferes with the reflected wave returning to the traveling wave generating means after being reflected by the object to be measured.
- Standing wave detection means for deriving a signal
- the signal corresponding to the standing wave derived from the standing wave detection means is arithmetically processed, and based on a plurality of different center frequencies, the distance from the reference position to one point on a virtual linear axis passing through the measurement target is calculated.
- Radar image calculating means for calculating a plurality of radar image functions as variables, respectively;
- a distance measuring device including a determination unit.
- the radar image calculating means calculates each of the plurality of radar image functions by Fourier transform processing
- the distance discriminating means sets the interval at which the phase difference between at least two radar image functions is 0 or a radian value that is an even multiple of the pi , and the amplitude of at least one of the radar image functions is an extreme value. To determine that the distance satisfies the predetermined conditions.
- the radar image calculating means performs a Fourier transform process on the plurality of different center frequencies with a common variable width by using a predetermined window function for the signal corresponding to the standing wave. And calculating the plurality of radar image functions.
- the traveling wave generating means includes:
- An oscillator capable of controlling an oscillation frequency and generating a high-frequency signal
- a controller that periodically changes the oscillation frequency of the oscillator within a predetermined range, and an antenna that transmits a high-frequency signal from the oscillator to the space as the propagation medium as a traveling wave of an electromagnetic wave,
- the standing wave detecting means is characterized in that the standing wave is detected using the antenna.
- FIG. 1 is a block diagram showing a schematic electrical configuration of a distance measuring device 1 according to an embodiment of the present invention, and a graph showing a change in amplitude of a standing wave with respect to a frequency f.
- FIG. 2 is a graph showing changes in amplitude and phase angle used to specify the distance of the target 5 in the distance measuring device 1 of FIG.
- FIG. 3 is a block diagram showing a schematic electrical configuration of the distance measuring device 20 based on the present invention, and a graph showing a change in the amplitude of the radar image function with respect to a change in the position on the X-axis.
- FIG. 4 is a graph showing a change in the amplitude of the standing wave with respect to the frequency f in the distance measuring device 20 of FIG.
- FIG. 5 is a graph showing a function waveform obtained by Fourier-transforming the window function used in the distance measuring device 1 of FIG.
- FIG. 6 is a graph showing the result of simultaneously measuring a movable target and a fixed target with the distance measuring device 1 of FIG.
- FIG. 7 is a graph showing changes in the amplitude and the phase angle used to specify the distance of the target 5 in the distance measuring device 1 of FIG.
- FIG. 8 is a flowchart showing a procedure for specifying a distance in the embodiment of FIG.
- FIG. 9 is a diagram schematically illustrating a state in which the human body 31 wearing the clothing 30 is targeted in the embodiment of FIG.
- FIG. 1 shows a schematic configuration for distance measurement according to an embodiment of the present invention.
- the distance measuring device 1 can change the oscillation frequency according to the externally applied voltage.
- the voltage control oscillator 2 abbreviated as VCO generates a high-frequency electric signal from the Voltage Controlled Oscillator, and the power is amplified.
- an antenna 4 via a transmission system 3 that performs impedance matching.
- the antenna 4 converts the supplied high-frequency electric signal into an electromagnetic wave and transmits it to the surrounding space. If the target 5 to be measured exists at a distance d in the traveling direction of the electromagnetic wave transmitted from the antenna 4, the interference between the traveling wave incident on the target 5 and the reflected wave reflected by the target 5 Then, a standing wave is generated.
- the antenna 4 can receive an electric signal corresponding to the standing wave, and the power of the standing wave is converted into power, which is a square value of the received input voltage, by the power detector 6 as the standing wave detecting means. To detect.
- the oscillation frequency of the voltage controlled oscillator 2 changes with the control voltage given from the frequency controller 7.
- the frequency of the high-frequency signal generated from the voltage-controlled oscillator 2 can use the oscillation frequency as it is, double the frequency to a multiple of the frequency, or perform heterodyne conversion.
- the voltage control oscillator 2, the antenna 4, and the frequency controller 7 function as traveling wave generating means.
- the power of the standing wave detected by the power detector 6 is converted into a radar image function by the radar image calculation means 10.
- the radar image calculation means 10 includes a plurality of, for example, two Fourier transform means 11 and 12.
- the first Fourier transform unit 11 converts the power function p 1 (f, 0) into a radar image function PI (x) with respect to the first center frequency f 1 of the center frequencies f 1 and f 2.
- Second Fourier transform means 1 2 Converts the power function p 2 (f, 0) to the radar image function ⁇ 2 ( ⁇ ) for the second center frequency f 2.
- the radar image calculation means 10 can be operated as a plurality of Fourier calculation means 11 and 12 by program processing of a general-purpose central processing unit (CPU).
- the speed can also be increased using a digital signal processor (DSP).
- Arithmetic processing can be further accelerated by operating multiple digital signal processors in parallel.
- a circuit dedicated to Fourier operation processing can be formed to increase the speed.
- FIG. 2 shows conditions for specifying the position of the target 15 in the present embodiment.
- the change in O.sub.2 is indicated by the alternate long and short dash line, and the solid line indicates the change in the phase difference .DELTA..sub.0.
- the distance to the target 15 as the position can be specified accurately and with high resolution.
- 3 to 7 show the principle by which the distance to the target 15 to be measured can be specified in the embodiment of the present invention.
- the basic idea of this principle is described in Japanese Patent Application No. 2000-1-23280.
- FIG. 3 (a) shows the electrical configuration of the distance measuring device 20 which is the basis of the present invention in (a),
- FIG. 3 shows the change in the amplitude of the radar image function.
- parts corresponding to the embodiment of FIG. 1 are denoted by the same reference numerals, and redundant description will be omitted.
- FIG. 3 shows a case where distances d1 to dn to a plurality of targets 21 to 2n are measured at the same time instead of measuring one target 5 in FIG.
- the electromagnetic wave signal transmitted from the antenna 4 becomes a traveling wave traveling in space toward the targets 21 to 2n.
- the distance measuring device 20 uses this property of the standing wave to measure the distance d to the measurement target using the feed section of the antenna 4 as an observation point.
- the traveling wave VT which is a signal transmitted from the antenna 4 is expressed by the following equation (1).
- c is the speed of the electromagnetic wave, that is, the speed of light
- ⁇ k is the magnitude of the reflection coefficient, including the propagation loss.
- c ⁇ k is the amount of phase shift in reflection, and does not include phase shift due to propagation.
- the standing wave is generated by the additive combination of the traveling wave VT and the reflected wave VRk, and the power function p ( ⁇ , X), which is the square value of the standing wave, is obtained from the equations (1) and (2). , next
- Equation (3) Equation (3) can be obtained. [Equation 3]
- w (f) is a window function
- a Blackman's Harris window shown in the following equation (7) can be suitably used.
- ⁇ ( ⁇ ) ⁇ ( -0 ) ⁇ (0) e /
- FIG. 10 shows the normalized function form of W (X) used in equation (9).
- W (X) is the Fourier transform of the window function w (X), and when using the Blackman-Harris window in Eq. (7), it can be expressed by the following Eq. (10).
- S a is a sampling function and is expressed by the following equation (11).
- Figure 6 shows two targets 2 1 and 2 2 with the distance d 1 of one target 21 changed from 0.3 m to 5 Om and the distance d 2 of the other target 2 fixed at 1 Om
- IP (X) I of the radar image function P (X) at the time are shown for the region X> 0.
- ⁇ (f, 0) the value obtained by removing the DC component from Equation (3) is used. This The results of these calculations include terms of second order and higher in ⁇ k.
- the distances of multiple targets 21 and 22 can be measured simultaneously, and if one distance d2 is measured before or after by another method, the other distance d1 is calibrated based on the measured value can do.
- the radar image as shown in the following equation (12) is obtained from Eq. (9).
- the function P (X) is obtained.
- the amount of phase shift ⁇ is unknown, and in Fig. 7 (b), it is shown as folded in the range of soil ⁇ , so the ⁇ value can be found in the range of 1 ⁇ ⁇ ⁇ ⁇ + ⁇ .
- a plurality of displacements ⁇ ⁇ ⁇ correspond, and the distance d cannot be determined.
- the amplitude IP (X) I of the radar image function shows a gradual change in the shape of the mountain, making it difficult to pinpoint its maximum position precisely, and there is a limit to performing high-resolution measurements.
- phase shift amount ⁇ is known at least within the range of ⁇ ⁇ ⁇ + ⁇
- the change in phase (X) is steep, and even near the maximum value of the amplitude IP (X) I, it corresponds to multiple displacements ⁇ , and it is difficult to assist in specifying the maximum position.
- FIG. 1 (b) shows a schematic procedure for specifying the distance d by the distance measuring device 1 of the present embodiment. The procedure starts from step s0, and in step si, the frequency controller 7 sets the center frequency f0 and the variable width fB0 of the voltage controlled oscillator 2 and oscillates.
- the signal source frequency needs to be stable enough for the reflected wave for the traveling wave to return to the antenna 4 and cause interference to form a standing wave.
- the distance d is shorter than the speed of light c, and the required time is shorter.
- the frequency controller 7 digitally controls the oscillation frequency of the voltage controlled oscillator 2, the signal source frequency changes in a step-like manner, which can satisfy a sufficient time condition for forming a standing wave. .
- step s3 the power detector 6 adjusts the amplitude of the standing wave input to the antenna 4
- the corresponding power p (f, 0) is detected.
- the reflection coefficient ⁇ and the phase shift ⁇ can be considered to be constant in the range from the center frequency f 0 to ⁇ 1/2 X f B 0.
- step s4 of the detected power p (f, 0) as shown in Fig. 1 (b), the range of f1 ⁇ 12 X fB1 and f2 ⁇ 1/2 X
- the range of f B 2 is extracted, and the Fourier transform means 11 and 12 respectively divide them into radar image functions P 1 (x) and P 2 (x) by Fourier transform processing such as FFT (Fast Fourier Transfer).
- FFT Fast Fourier Transfer
- Equation 14 The following equations (14) and (15) are obtained from equation (13).
- the selection of the two frequency ranges can be performed by using a band-pass filter or by giving a control signal for the signal source frequency ⁇ to the Fourier transform means 11 and 12 from the frequency controller 7 to obtain a temporal change of the frequency. Can be performed based on the differences. [Equation 14]
- step s5 in Fig. 8 the amplitude IP1 (X) I or
- the position where the phase difference ⁇ 0 0 is set as the position of the target 5, and the distance d is specified.
- step s6 the power signals of the two center frequencies f 1 and f 2 are extracted from the common power signal.
- the signal source frequency ⁇ ⁇ is changed for each of the center frequencies f 1 and ⁇ 2 to obtain a constant value. It is also possible to detect the presence of each wave separately at the detection timing.
- FIG. 9 schematically shows a state in which the distance to the surface of a human body 31 wearing clothes 30 is measured in a non-contact manner using the distance measuring device 1 of the present embodiment.
- the clothes 30 are electrically insulative, they can transmit electromagnetic waves, cause reflection on the surface of the human body 31, and form standing waves.
- distance measurement based on standing waves is performed with high accuracy. Since the distance measurement can be performed, the distance between the clothing 30 and the surface of the skin of the human body 31 can be accurately reflected to measure the distance. If the distance to the human body 31 is measured at multiple points, the dimensions can be measured. For example, in an optical measurement, even if the distance to the human body 31 wearing the clothing 30 is measured in a non-contact manner, only the surface shape of the clothing 30 can be measured.
- the signal source frequency may be increased.
- the size of the measurable area is considered to be on the order of the wavelength of the electromagnetic wave. If that target such as a human body 3 1, 3 0 the wavelength in GH Z is 1 cm, may be used to a frequency of about 3 0 GH z ⁇ 6 0 GH z . Since the distance is short, it is possible to measure even a very small output.
- a conductive object 32 hidden under clothing 30 can also be detected. If an electromagnetic wave for detection is run, an image of the object 32 can be formed.
- the distance measuring device 1 simultaneous measurement of a plurality of targets as shown in FIG. 3 is also possible.
- the distance based on the phase difference can be specified with high resolution.
- the distance to the target to be measured can also be increased based on the distance of the reference target by measuring the distance in advance using another method or measuring the distance afterwards using one target as the reference. It can be specified with accuracy.
- the distance measuring device 1 of the present embodiment can also be used as a radar device as proposed in Japanese Patent Application No. 2001-237720.
- distance measurement required for realizing an intelligent transportation system (ITS), such as an onboard sensor and a roadside sensor can be realized with high accuracy.
- ITS intelligent transportation system
- it can be applied to fields that require high-resolution and absolute value measurement, such as liquid level gauges, berthing gauges for ships, altimeters for aircraft, and landslide measurements.
- the concept of the present invention can be applied not only to electromagnetic waves using space as a propagation medium but also to sound waves using air as a propagation medium.
- the speed of sound changes with temperature, the sound speed is unknown by simultaneously measuring the reference target.
- the distance to the measurement target can be accurately measured.
- a liquid such as water or a solid such as soil
- the liquid or solid can be used as a propagation medium.
- standing waves generated in surface waves can be used for distance measurement.
- a standing wave with a short wavelength, such as light is used, a standing wave is formed by using the amplitude change instead of the wave of the electromagnetic wave itself, and can be used for distance measurement.
- the traveling wave traveling from the reference position toward the measurement target in the propagation medium existing around the reference position and the measurement target is changed in frequency. Since a standing wave is generated by changing it and interfering with the reflected wave reflected by the object to be measured, it is not necessary to bring the measuring instrument corresponding to the ruler into contact with the object to be measured. Even distance can be measured.
- a standing wave is detected at the standing wave detection stage, and a point on the virtual linear axis that passes through the measurement target from the reference position based on a plurality of different center frequencies at the radar image calculation stage from the detected standing wave Calculate multiple radar image functions with the interval up to a variable.
- the phase difference between the plurality of radar image functions calculated in the radar image calculating step and the amplitude of any one of the radar image functions determines an interval that satisfies a predetermined condition, the distance from the reference position to the measurement target. Is determined.
- the effect of the phase shift due to the reflection at the measurement object is canceled by the phase difference, and the period of the change of the phase difference is larger than the period of the change of the phase of each radar image function.
- the interval that satisfies the condition can be specified with high resolution from the phase difference.
- the traveling wave generating means generates a traveling wave traveling from the reference position toward the measurement object in the propagation medium existing around the reference position and the measurement object while changing the frequency. In the propagation medium, a standing wave is generated by the interference between the traveling wave and the reflected wave reflected by the object to be measured.
- the radar image calculating means calculates the distance from the standing wave detected by the standing wave detecting means to a point on a virtual linear axis passing through the measurement target from the reference position based on a plurality of different center frequencies. Calculate multiple radar image functions as variables. If the difference between the center frequencies is small compared to the absolute value of the center frequency, the reflection from the object to be measured affects the calculated radar image function equally.
- the distance discriminating means determines, from the reference position, an interval in which the phase difference between the plurality of radar image functions calculated by the radar image calculating means and the amplitude of any one of the radar image functions satisfy a predetermined condition.
- a predetermined condition Judge as the distance to the measurement target.
- the effect of the phase shift due to reflection at the measurement object is canceled out by the phase difference, and the period of the phase difference change is larger than the period of the phase change of each radar image function, so the amplitude of the radar image function is predetermined.
- the interval satisfying the condition can be specified with high resolution from the phase difference.
- the radar image calculation means calculates each of the plurality of radar image functions by Fourier transform processing, so that the influence of the reflection on the measurement target is represented by the amplitude as a complex function in the frequency space from the real-time signal. It is possible to calculate a radar image function that includes as a phase shift amount together with a reflection coefficient for.
- the distance discriminating means determines the interval at which the phase difference between at least two radar image functions is 0 or a radian value that is an even multiple of the ⁇ , and the amplitude of at least one of the radar image functions is an extreme value. Is determined as a distance that satisfies. If the phase difference is considered within a range of ⁇ ⁇ with a period of 2 ⁇ , the distance can be determined based on the zero cross position of the phase difference.
- the radar image calculating means uses a predetermined window function for a signal corresponding to the standing wave, and performs Fourier transform processing on a plurality of different center frequencies with a common variable width. To calculate a plurality of radar image functions.
- the variable range of the frequency of the traveling wave generated by the traveling wave generating means is finite, and the frequency range when performing the Fourier transform processing with the window function can be narrowed to facilitate the Fourier transform processing.
- the traveling wave generating means includes: an oscillator capable of controlling an oscillation frequency and generating a high frequency signal; a controller for periodically changing the oscillation frequency of the oscillator within a predetermined range; and a high frequency signal from the oscillator.
- the antenna includes an antenna that transmits electromagnetic waves as traveling waves in the space as the propagation medium
- the distance can be measured in a non-contact manner using the universal space as the propagation medium. Since objects that do not reflect electromagnetic waves are excluded from the measurement target, it is possible to measure the distance to a measurement target such as a concealed object or a human body wearing clothes. Since the standing wave detecting means detects the standing wave using the antenna for transmitting the electromagnetic wave, it is possible to search for the measurement target and measure the distance as in the case of the conventional radar.
Abstract
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Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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AU2003242019A AU2003242019A1 (en) | 2002-06-07 | 2003-06-04 | Distance measurement method and device |
US10/506,014 US7145502B2 (en) | 2002-06-07 | 2003-06-04 | Distance measurement method and device |
KR1020047014034A KR100684811B1 (ko) | 2002-06-07 | 2003-06-04 | 거리측정방법 및 장치 |
JP2004511860A JPWO2003104841A1 (ja) | 2002-06-07 | 2003-06-04 | 距離測定方法および装置 |
EP03736015A EP1512987A4 (en) | 2002-06-07 | 2003-06-04 | METHOD AND DEVICE FOR MEASURING DISTANCES |
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JP2002-167634 | 2002-06-07 | ||
JP2002167634 | 2002-06-07 |
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WO2003104841A1 true WO2003104841A1 (ja) | 2003-12-18 |
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PCT/JP2003/007060 WO2003104841A1 (ja) | 2002-06-07 | 2003-06-04 | 距離測定方法および装置 |
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US (1) | US7145502B2 (ja) |
EP (1) | EP1512987A4 (ja) |
JP (1) | JPWO2003104841A1 (ja) |
KR (1) | KR100684811B1 (ja) |
CN (1) | CN1322335C (ja) |
AU (1) | AU2003242019A1 (ja) |
WO (1) | WO2003104841A1 (ja) |
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WO2010134367A1 (ja) * | 2009-05-19 | 2010-11-25 | 財団法人雑賀技術研究所 | 位相情報を用いた高分解能距離測定方法及び距離測定装置 |
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JP2012103203A (ja) * | 2010-11-12 | 2012-05-31 | Denso Corp | Fmcwレーダ装置 |
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JP2018031640A (ja) * | 2016-08-24 | 2018-03-01 | 株式会社Cq−Sネット | 定在波レーダーによる位置検知装置 |
Also Published As
Publication number | Publication date |
---|---|
CN1322335C (zh) | 2007-06-20 |
KR20040105758A (ko) | 2004-12-16 |
EP1512987A4 (en) | 2009-05-20 |
KR100684811B1 (ko) | 2007-02-20 |
US20060023571A1 (en) | 2006-02-02 |
EP1512987A1 (en) | 2005-03-09 |
JPWO2003104841A1 (ja) | 2005-10-06 |
US7145502B2 (en) | 2006-12-05 |
AU2003242019A1 (en) | 2003-12-22 |
CN1646936A (zh) | 2005-07-27 |
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