CN114509747A - radio frequency positioning method - Google Patents

Abstract

The application discloses a radio frequency positioning method, wherein the method comprises the following steps: when the positioning tag is set, the positioning tag and the transceiver carry out signal transmission, the operation host obtains an intermediate frequency signal through the signal transmission of the positioning tag and the transceiver, and calculates the signal intensity of the intermediate frequency signal; the operation host judges whether the signal intensity of the intermediate frequency signal is enough according to a preset intensity threshold value, and rejects the intermediate frequency signal of which the signal intensity is lower than the intensity threshold value; the operation host machine respectively compares the intermediate frequency signals after signal strength judgment with the initial intermediate frequency signals to generate phase difference; the operation host calculates the distance between the positioning tag and the transceiver by means of the phase difference; the operation host calculates the coordinate position of the positioning label according to the distance between the positioning label and the transceiver.

Description

Translated fromChinese

射频定位方法radio frequency positioning method

技术领域technical field

一种射频定位方法，尤指一种提升定位精准度的射频定位方法。A radio frequency positioning method, especially a radio frequency positioning method for improving positioning accuracy.

背景技术Background technique

应用于手术定位的定位技术包含机械式定位(mechanical positioning)、超声波定位(ultrasound positioning)、电磁定位(electromagnetic positioning)、光学定位(optical positioning)、射频定位(radio frequencypositioning)及X光与CT定位等。目前市面上应用于手术导引(surgical navigation)的定位技术产品，大多数采用光学定位技术中的红外线定位，由光学探头(optical probe)及嵌入反光球(reflective sphere)的参考框架(dynamic reference frame,DRF)组成，通过将参考框架安装于手术器械及患部上，利用光学技术追踪手术器械及患部的相对位置，再借由手术导引软件协助医师精准操作器械，然而临床资料显示，光学定位技术存在直视性遮蔽问题，因此，如何优化定位技术与手术导航系统整合，以确保医师能够更精准的依据术前规划操作器械，提升施术品质，改良当前的定位技术实有其必要性。The positioning technologies used in surgical positioning include mechanical positioning, ultrasonic positioning, electromagnetic positioning, optical positioning, radio frequency positioning, X-ray and CT positioning, etc. . At present, most of the positioning technology products used in surgical navigation on the market use infrared positioning in optical positioning technology, which consists of an optical probe and a dynamic reference frame embedded in a reflective sphere. ,DRF), by installing the reference frame on the surgical instrument and the affected part, using optical technology to track the relative position of the surgical instrument and the affected part, and then using the surgical guidance software to assist the physician in accurately operating the instrument, however, clinical data show that optical positioning technology There is a problem of direct vision occlusion. Therefore, it is necessary to optimize the integration of positioning technology and surgical navigation system to ensure that physicians can operate instruments more accurately according to preoperative planning, improve the quality of operation, and improve the current positioning technology.

发明内容SUMMARY OF THE INVENTION

有鉴于此，本发明提供一种射频定位方法，通过信号强度筛选合适的中频信号执行定位运算，以提升射频定位的精准度。In view of this, the present invention provides a radio frequency positioning method, which selects a suitable intermediate frequency signal according to the signal strength to perform a positioning operation, so as to improve the accuracy of the radio frequency positioning.

为达成前述目的，本发明射频定位方法包含有：In order to achieve the foregoing purpose, the radio frequency positioning method of the present invention includes:

A.当至少一定位标签设置时，该至少一定位标签中的至少一标签天线与多个收发器进行信号传输，一运算主机由该至少一标签天线与该多个收发器的信号传输取得多个中频信号，并计算各该中频信号的一信号强度；A. When at least one positioning tag is installed, at least one tag antenna in the at least one positioning tag performs signal transmission with multiple transceivers, and a computing host obtains multiple signals from the signal transmission between the at least one tag antenna and the multiple transceivers. an intermediate frequency signal, and calculate a signal strength of each intermediate frequency signal;

B.该运算主机由预设的一强度门槛值判断各该中频信号的该信号强度是否足够，并剔除该信号强度低于该强度门槛值的各该中频信号；B. The computing host judges whether the signal strength of each intermediate frequency signal is sufficient according to a preset strength threshold, and rejects each intermediate frequency signal whose signal strength is lower than the strength threshold;

C.该运算主机将经信号强度判断后的各该中频信号的一相位分别与一初始中频信号的一初始相位进行相位比对，以产生一相位差；C. The computing host compares a phase of each intermediate frequency signal determined by the signal strength with an initial phase of an initial intermediate frequency signal to generate a phase difference;

D.该运算主机借由该相位差计算该至少一标签天线与各该收发器的一距离；D. The computing host calculates a distance between the at least one tag antenna and each of the transceivers by using the phase difference;

E.该运算主机借由该至少一标签天线与各该收发器的该距离计算该至少一标签天线的一坐标位置。E. The computing host calculates a coordinate position of the at least one tag antenna by the distance between the at least one tag antenna and each of the transceivers.

本发明可由该多个收发器与该至少一定位标签之间双向电磁波信号传输，定位找出该至少一标签天线的坐标位置，达成该至少一定位标签的射频定位，另一方面，本发明可借由剔除信号强度不足的各该中频信号，防止射频定位技术因中频信号强度不足而造成该运算主机其定位运算产生误差的情形，提升本发明射频定位方法的定位精准度。In the present invention, two-way electromagnetic wave signal transmission between the plurality of transceivers and the at least one positioning tag can be used to locate and find the coordinate position of the antenna of the at least one tag to achieve the radio frequency positioning of the at least one positioning tag. On the other hand, the present invention can By eliminating the intermediate frequency signals with insufficient signal strength, the radio frequency positioning technology can prevent errors in the positioning operation of the computing host due to insufficient intermediate frequency signal strength, thereby improving the positioning accuracy of the radio frequency positioning method of the present invention.

附图说明Description of drawings

图1：本发明中射频定位系统的方块示意图。FIG. 1 is a block diagram of the radio frequency positioning system of the present invention.

图2：本发明中收发器的方块示意图。Figure 2: A block diagram of a transceiver in the present invention.

图3：本发明中定位标签的方块示意图。Figure 3: A block schematic diagram of the positioning label in the present invention.

图4A：本发明中信号模组的方块示意图。FIG. 4A is a block diagram of a signal module in the present invention.

图4B：本发明中处理单元的方块示意图。FIG. 4B is a block diagram of a processing unit in the present invention.

图5A：本发明射频定位方法的步骤流程图。FIG. 5A is a flow chart of the steps of the radio frequency positioning method of the present invention.

图5B：本发明射频定位方法中步骤S10的步骤流程图。FIG. 5B is a flow chart of step S10 in the radio frequency positioning method of the present invention.

图6A：第一实施例中射频定位系统的方块示意图。FIG. 6A is a block diagram of the radio frequency positioning system in the first embodiment.

图6B：第一实施例中处理单元的方块示意图。FIG. 6B is a block diagram of the processing unit in the first embodiment.

图7：第二实施例中定位标签的方块示意图。FIG. 7 is a block diagram of the positioning label in the second embodiment.

图8：本发明射频定位方法中相位修正的步骤流程图。FIG. 8 is a flow chart of the steps of phase correction in the radio frequency positioning method of the present invention.

具体实施方式Detailed ways

请参看图1所示，本发明射频定位方法可通过一射频定位系统执行，该射频定位系统包含有：多个收发器10、至少一定位标签20、一信号模组30及一运算主机40。Referring to FIG. 1 , the radio frequency positioning method of the present invention can be implemented by a radio frequency positioning system, which includes a plurality oftransceivers 10 , at least onepositioning tag 20 , asignal module 30 and acomputing host 40 .

如图2所示，各该收发器10包含有一发射电路11、一发射天线12、一接收电路13及一接收天线14，该发射电路11与该发射天线12连接，该接收电路13与该接收天线14连接；该发射电路11产生一发射信号，并通过该发射天线12发射与该发射信号相对应的一发射信号电磁波向外传输，该接收电路13则通过该接收天线14获取该至少一定位标签20传输的一调变信号电磁波，并产生一调变信号。As shown in FIG. 2 , eachtransceiver 10 includes a transmittingcircuit 11 , a transmittingantenna 12 , areceiving circuit 13 and a receivingantenna 14 . The transmittingcircuit 11 is connected to the transmittingantenna 12 , and thereceiving circuit 13 is connected to thereceiving circuit 13 . Theantenna 14 is connected; thetransmission circuit 11 generates a transmission signal, and transmits a transmission signal electromagnetic wave corresponding to the transmission signal through thetransmission antenna 12, and thereception circuit 13 obtains the at least one position through thereception antenna 14. Thetag 20 transmits a modulated signal electromagnetic wave, and generates a modulated signal.

如图3所示，各该定位标签20包含有至少一标签电路21及至少一标签天线22，且该至少一标签电路21的数量与该至少一标签天线22的数量相同，每一标签天线22对应电连接其中一标签电路21；以一个收发器10及一个定位标签20为例，该定位标签20中的该标签天线22接收该收发器10中该发射天线12对外传输的一发射信号电磁波，经该定位标签20中的该标签电路21加入对应该标签天线22的一识别码后，并通过该标签天线22产生该调变信号电磁波向外传输，其中，不同的标签天线22具有不同的识别码，根据不同的识别码即可辨识该调变信号电磁波由哪一个标签天线22发出。As shown in FIG. 3 , each of thepositioning tags 20 includes at least onetag circuit 21 and at least onetag antenna 22 , and the number of the at least onetag circuit 21 is the same as the number of the at least onetag antenna 22 . Eachtag antenna 22 Correspondingly electrically connected to one of thetag circuits 21; taking atransceiver 10 and apositioning tag 20 as an example, thetag antenna 22 in thepositioning tag 20 receives a transmission signal electromagnetic wave externally transmitted by the transmittingantenna 12 in thetransceiver 10, After thetag circuit 21 in thepositioning tag 20 adds an identification code corresponding to thetag antenna 22, the electromagnetic wave of the modulated signal is generated by thetag antenna 22 and transmitted outward, whereindifferent tag antennas 22 have different identifications. According to different identification codes, it can be identified whichtag antenna 22 emits the electromagnetic wave of the modulation signal.

如图4A所示，该信号模组30连接各该收发器10，且包含有至少一处理单元31、一多工器32及一类比数字转换器33，该多工器32连接该至少一处理单元31，该类比数字转换器33连接该多工器32，每一个处理单元31会负责处理一个标签天线22所传输的该调变信号电磁波，因此该至少一处理单元31的数量与该至少一标签天线22的数量相同，而每一个处理单元31可连接每一个收发器10，以接收各该收发器10所传输的该调变信号，进一步参看图4B所示，各该处理单元31包含有一识别电路311及多个处理电路312，该多个处理电路312连接该识别电路311，且每一个处理电路312连接其中一个收发器10，因此该多个处理电路312的数量与该多个收发器10的数量相同，而该识别电路311提供对应各该标签天线22的识别信号给各该处理电路312，供各该处理电路312对该调变信号解调变而得到一接收信号，各该处理单元31将该发射信号与该接收信号混频以产生一中频信号并输出；该多工器32输出各该处理单元31产生的该中频信号至该类比数字转换器33，且该信号模组30借由该多工器32简化信号传输的通道数，减少该信号模组30所需要的类比数字转换器数量33；该类比数字转换器33将该多工器32传输的该中频信号由类比信号形式转换为数字信号形式向外传输。As shown in FIG. 4A , thesignal module 30 is connected to each of thetransceivers 10 and includes at least oneprocessing unit 31 , amultiplexer 32 and an analog-to-digital converter 33 , themultiplexer 32 is connected to the at least oneprocessing unit unit 31, the analog-to-digital converter 33 is connected to themultiplexer 32, and eachprocessing unit 31 is responsible for processing the electromagnetic wave of the modulated signal transmitted by atag antenna 22, so the number of the at least oneprocessing unit 31 is the same as that of the at least oneprocessing unit 31. The number oftag antennas 22 is the same, and eachprocessing unit 31 can be connected to eachtransceiver 10 to receive the modulated signal transmitted by eachtransceiver 10. Further referring to FIG. 4B , eachprocessing unit 31 includes a Theidentification circuit 311 and the plurality ofprocessing circuits 312, the plurality ofprocessing circuits 312 are connected to theidentification circuit 311, and eachprocessing circuit 312 is connected to one of thetransceivers 10, so the number of the plurality ofprocessing circuits 312 is related to the plurality of transceivers The number of 10 is the same, and theidentification circuit 311 provides identification signals corresponding to thetag antennas 22 to theprocessing circuits 312 for theprocessing circuits 312 to demodulate the modulated signal to obtain a received signal. Theunit 31 mixes the transmitted signal with the received signal to generate an intermediate frequency signal and outputs it; themultiplexer 32 outputs the intermediate frequency signal generated by each of theprocessing units 31 to the analog-to-digital converter 33, and thesignal module 30 The number of channels for signal transmission is simplified by themultiplexer 32, and the number of analog-to-digital converters 33 required by thesignal module 30 is reduced; the analog-to-digital converter 33 converts the intermediate frequency signal transmitted by themultiplexer 32 into an analog signal The form is converted into a digital signal form for external transmission.

该运算主机40连接该类比数字转换器33的输出端，以获得每个处理电路312计算出的该中频信号，将该中频信号的一相位与一初始中频信号的一初始相位进行相位比对产生一相位差，并根据该相位差进行距离及位置坐标的运算，其中，该射频定位系统进行射频定位前可进行系统初始化程序，将各该收发器10及该至少一定位标签20分别置于已知的坐标位置，借由各该收发器10与该至少一定位标签20间双向的电磁波信号传输产生该初始中频信号。Thecomputing host 40 is connected to the output end of the analog-to-digital converter 33 to obtain the intermediate frequency signal calculated by eachprocessing circuit 312, and compare a phase of the intermediate frequency signal with an initial phase of an initial intermediate frequency signal to generate A phase difference, and the calculation of distance and position coordinates is performed according to the phase difference. Before the radio frequency positioning system performs radio frequency positioning, a system initialization procedure can be performed, and each of thetransceivers 10 and the at least onepositioning tag 20 are respectively placed in the The initial intermediate frequency signal is generated by bidirectional electromagnetic wave signal transmission between each of thetransceivers 10 and the at least onepositioning tag 20 at a known coordinate position.

其中，本发明射频定位方法中该发射信号可通过频率调变，为了能够区别各该收发器10所产生的该发射信号，每个发射电路11可设计成不同的频率调变区间，达到分频多工；亦可设计成在不同时段依序产生发射信号，达到分时多工；又或者以分时分频的方式加以区分，使得同时间或同频率的发射信号不会重叠，达到区隔识别的目的。Wherein, in the radio frequency positioning method of the present invention, the transmission signal can be modulated by frequency. In order to distinguish the transmission signal generated by thetransceivers 10, eachtransmission circuit 11 can be designed into different frequency modulation intervals to achieve frequency division. Multiplexing; it can also be designed to generate transmit signals in sequence at different time periods to achieve time-division multiplexing; or to distinguish by time-division and frequency division, so that the transmit signals at the same time or frequency will not overlap and achieve separation. purpose of identification.

请参看图5A及图5B所示，本发明射频定位方法的步骤包含有：Please refer to FIG. 5A and FIG. 5B , the steps of the radio frequency positioning method of the present invention include:

S10：当该至少一定位标签20设置于一位置时，该至少一定位标签20与该多个收发器10进行信号传输，该运算主机40由该至少一定位标签20与该多个收发器10的信号传输取得多个中频信号，并计算各该中频信号的一信号强度，且步骤S10是包含以下步骤S101～S105。S10: When the at least onepositioning tag 20 is set at a position, the at least onepositioning tag 20 and the plurality oftransceivers 10 perform signal transmission, and thecomputing host 40 uses the at least onepositioning tag 20 and the plurality oftransceivers 10 to transmit signals. A plurality of intermediate frequency signals are obtained during signal transmission, and a signal strength of each intermediate frequency signal is calculated, and step S10 includes the following steps S101-S105.

S101：各该收发器10中的该发射电路11产生一发射信号，相对应的该发射天线12将该发射信号以电磁波形式产生一发射信号电磁波向外传输；S101: The transmittingcircuit 11 in eachtransceiver 10 generates a transmitting signal, and the corresponding transmittingantenna 12 generates a transmitting signal electromagnetic wave in the form of an electromagnetic wave to transmit the transmitting signal to the outside;

S102：该至少一定位标签20中的各该标签天线22接收该发射信号电磁波，各该标签电路21在该发射信号电磁波中加入与其相对应的该标签天线22的一识别码，通过各该标签天线22产生一调变信号电磁波向外传输；S102: Each of thetag antennas 22 in the at least onepositioning tag 20 receives the electromagnetic wave of the transmission signal, and each of thetag circuits 21 adds an identification code of thecorresponding tag antenna 22 to the electromagnetic wave of the transmission signal, and passes through each of the tags Theantenna 22 generates a modulated signal electromagnetic wave for outward transmission;

S103：各该收发器10的该接收天线14接收该调变信号电磁波，与该接收天线14相对应的该接收电路13根据该调变信号电磁波产生一调变信号，并将该调变信号传送至该信号模组30；S103: The receivingantenna 14 of eachtransceiver 10 receives the electromagnetic wave of the modulation signal, the receivingcircuit 13 corresponding to the receivingantenna 14 generates a modulation signal according to the electromagnetic wave of the modulation signal, and transmits the modulation signal to thesignal module 30;

S104：该信号模组30中各该处理单元31的该识别电路311产生对应各该标签天线22的一识别信号，各该处理电路312借由该识别信号对该调变信号解调变，产生一接收信号，且该信号模组30的各该处理单元31将该发射信号及该接收信号混频产生一中频信号，并由该信号模组30将各该中频信号经由该多工器32及该类比数字转换器33向外传输；S104: Theidentification circuit 311 of eachprocessing unit 31 in thesignal module 30 generates an identification signal corresponding to each of thetag antennas 22, and each of theprocessing circuits 312 demodulates the modulated signal by the identification signal to generate A received signal, and each of theprocessing units 31 of thesignal module 30 mixes the transmitted signal and the received signal to generate an intermediate frequency signal, and thesignal module 30 combines the intermediate frequency signals through themultiplexer 32 and The analog-to-digital converter 33 transmits externally;

S105：该运算主机40接收各该中频信号，并计算各该中频信号的一信号强度。S105: The computinghost 40 receives each of the intermediate frequency signals, and calculates a signal strength of each of the intermediate frequency signals.

S11：该运算主机40由预设的一强度门槛值判断各该中频信号的该信号强度是否足够，并剔除该信号强度不足的各该中频信号，而保留该信号强度大于或等于该强度门槛值的各该中频信号，并进行后续定位运算；S11: The computinghost 40 judges whether the signal strength of each intermediate frequency signal is sufficient according to a preset strength threshold, and rejects each intermediate frequency signal whose signal strength is insufficient, and keeps the signal strength greater than or equal to the strength threshold each of the IF signals, and perform subsequent positioning operations;

S12：该运算主机40将各该中频信号的一相位与对应的一初始中频信号的一初始相位做比对产生一相位差ΔФ；S12: The computinghost 40 compares a phase of each intermediate frequency signal with an initial phase of a corresponding initial intermediate frequency signal to generate a phase difference ΔФ;

S13：该运算主机40借由该相位差ΔФ，根据距离计算公式D＝ΔD+D₀及距离变化量的计算公式

计算各该收发器10与该至少一定位标签20中各该标签天线22的一距离变化量，以及各该收发器10与该至少一定位标签20中各该标签天线22的一距离，其中D₀为各该收发器10与该至少一定位标签20中各该标签天线22的一初始距离。S13: The computinghost 40 uses the phase difference ΔФ to calculate the distance according to the distance calculation formula D=ΔD+D₀ and the calculation formula of the distance change

Calculate a distance variation between each of thetransceivers 10 and each of thetag antennas 22 in the at least onepositioning tag 20, and a distance between each of thetransceivers 10 and each of thetag antennas 22 in the at least onepositioning tag 20, where D₀ is an initial distance between each of thetransceivers 10 and each of thetag antennas 22 in the at least onepositioning tag 20 .

S14：该运算主机40根据该至少一定位标签20中各该标签天线22与各该收发器10的距离计算各该标签天线22所在的一坐标位置，即可由各该标签天线22的该坐标位置得知该至少一定位标签20的坐标位置。S14: The computinghost 40 calculates a coordinate position where eachtag antenna 22 is located according to the distance between eachtag antenna 22 and eachtransceiver 10 in the at least onepositioning tag 20, and the coordinate position of eachtag antenna 22 can be obtained from the coordinate position The coordinate position of the at least onepositioning tag 20 is known.

在步骤S14中，完成计算该至少一定位标签20中各该标签天线22所在的该坐标位置后，该运算主机40可将对应各该收发器10的该发射信号与该接收信号混频所得到的该中频信号定义为新的该初始中频信号，而该中频信号的该相位则定义为新的该初始相位，且该运算主机40将计算出的该收发器10与该至少一定位标签20中各该标签天线22的该距离定义为新的初始距离，以供下一轮定位时计算使用。In step S14 , after calculating the coordinate position of each of thetag antennas 22 in the at least onepositioning tag 20 , thecomputing host 40 can mix the transmit signal corresponding to thetransceiver 10 with the receive signal to obtain The intermediate frequency signal is defined as the new initial intermediate frequency signal, and the phase of the intermediate frequency signal is defined as the new initial phase, and thecomputing host 40 will calculate thetransceiver 10 and the at least onepositioning tag 20 The distance of eachtag antenna 22 is defined as a new initial distance for calculation in the next round of positioning.

请参看图6A及图6B所示，第一实施例中，以包含有六个收发器10a～10f、一定位标签20、一信号模组30及一运算主机40的一射频定位系统为例，执行本发明射频定位方法，说明上述步骤S10～S14。本实施例中固定设置第一～第六收发器10a～10f于已知坐标位置(x_a,y_a,z_a)、(x_b,y_b,z_b)、(x_c,y_c,z_c)、(x_d,y_d,z_d)、(x_e,y_e,z_e)、(x_f,y_f,z_f)，而该些第一～第六收发器10a～10f分别与一信号模组30连接，该信号模组30包含有一第一处理单元31a、一第二处理单元31b、一多工器32及一类比数字转换器33，该多工器32与该第一处理单元31a及该第二处理单元31b连接，该类比数字转换器33与该多工器32连接，且该第一处理单元31a包含有一识别电路311a及六个处理电路312a～312f，该第二处理单元31b包含有一识别电路311b及六个处理电路312a～312f，该运算主机40与该信号模组30连接，而该定位标签20包含有两个标签电路21及两个标签天线22，为了方便说明以下的电路动作，在此特别将该定位标签20中一标签天线22标示为A1，而该标签天线A1对应的一标签天线21a。Referring to FIGS. 6A and 6B , in the first embodiment, taking a radio frequency positioning system including sixtransceivers 10a-10f, apositioning tag 20, asignal module 30 and acomputing host 40 as an example, Executing the radio frequency positioning method of the present invention will describe the above steps S10-S14. In this embodiment, the first tosixth transceivers 10a to 10f are fixedly arranged at known coordinate positions (x_a , y_a , za ), (x_b , y_b , z_b) , (x_c , y_c , z_c ), (x_d , y_d , z_d ), (x_e , y_e , z_e ), (x_f , y_f , z_f ), and the first tosixth transceivers 10a to 10f They are respectively connected with asignal module 30. Thesignal module 30 includes afirst processing unit 31a, asecond processing unit 31b, amultiplexer 32 and an analogdigital converter 33. Themultiplexer 32 is connected to thefirst processing unit 31b. Aprocessing unit 31a is connected to thesecond processing unit 31b, the analog-to-digital converter 33 is connected to themultiplexer 32, and thefirst processing unit 31a includes anidentification circuit 311a and sixprocessing circuits 312a-312f. Thesecond processing unit 31b includes anidentification circuit 311b and sixprocessing circuits 312a-312f, thecomputing host 40 is connected to thesignal module 30, and thepositioning tag 20 includes twotag circuits 21 and twotag antennas 22, in order to To facilitate the description of the following circuit operations, here, atag antenna 22 in thepositioning tag 20 is marked as A1, and atag antenna 21a corresponding to the tag antenna A1.

执行步骤S10之前，射频定位系统可将该定位标签20置于一初始位置进行初始化，使该运算主机40可储存有该定位标签20设置于该初始位置时，该第一～该第六收发器10a～10f分别与该定位标签20的该标签天线A1间的一初始距离D_atA1～D_ftA1以及一初始中频信号S_atA1”～S_ftA1”。Before step S10 is performed, the radio frequency positioning system can initialize thepositioning tag 20 by placing thepositioning tag 20 at an initial position, so that thecomputing host 40 can store the first to sixth transceivers when thepositioning tag 20 is set at the initial position. 10a ˜ 10f are respectively an initial distance D_{atA1˜D ftA1} and an initial intermediate frequency signal S_atA1 ”_{˜S ftA1} ” between the locatingtag 20 and the tag antenna A1 of thepositioning tag 20 .

首先，该定位标签20设置于一第一位置，以该标签天线A1为例，该第一收发器10a中的该发射电路11a产生一发射信号S_a，并通过与其连接的该发射天线12a发射与该发射信号S_a相对应的一发射信号电磁波E_a，且该发射信号S_a亦会传送至该处理单元31a的该处理电路312a中；该定位标签20通过该标签天线A1接收该发射信号电磁波E_a后，由该标签电路21a于该发射信号电磁波E_a中加入该标签天线A1的一识别码，再由该标签天线A1产生一调变信号电磁波E_at1A1向外传输；该接收天线14a接收该调变信号电磁波E_at1A1，接着该接收电路13a产生与该调变信号电磁波E_at1A1相对应的一调变信号S_at1A1。First, thepositioning tag 20 is set at a first position. Taking the tag antenna A1 as an example, the transmitting circuit 11a in thefirst transceiver 10a generates_a transmitting signal Sa and transmits it through the transmittingantenna 12a connected to it. A transmission signal electromagnetic wave E_a corresponding to the transmission signal_Sa , and the transmission signal_Sa will also be transmitted to theprocessing circuit 312a of theprocessing unit 31a; thepositioning tag 20 receives the transmission signal through the tag antenna A1 After the electromagnetic wave E_a , thetag circuit 21a adds an identification code of the tag antenna A1 to the transmission signal electromagnetic wave E_a , and then the tag antenna A1 generates a modulated signal electromagnetic wave E_{at1A1 for} transmission outward; the receivingantenna 14a After receiving the modulation signal electromagnetic wave E_at1A1 , the receivingcircuit 13a then generates a modulation signal S_{at1A1 corresponding to the modulation signal electromagnetic wave E at1A1.}

同理，该第二～该第六收发器10b～10f中的该些发射电路11b～11f依序产生发射信号S_b～S_f，并通过与其连接的该发射天线12b～12f输出相对应的发射信号电磁波E_b～E_f；该定位标签20通过该标签天线A1依序接收该些发射信号电磁波E_b～E_f，由该标签电路21a于该些发射信号电磁波E_b～E_f中加入该标签天线A1的一识别码，再通过该标签天线A1产生调变信号电磁波E_bt1A1～E_ft1A1向外传输；该些接收天线14b～14f接收该些调变信号电磁波E_bt1A1～E_ft1A1，接着该些接收电路13b～13f产生分别与该些调变信号电磁波相对应的调变信号S_bt1A1～S_ft1A1。Similarly, the transmittingcircuits 11b-11f in the second-sixth transceivers 10b-10f sequentially generate the transmitting signals Sb-_Sf , and output the corresponding signals through the transmittingantennas 12b-12f connected_thereto . Transmitting signal electromagnetic waves E_b ˜E_f ; thepositioning tag 20 sequentially receives these transmitting signal electromagnetic waves E_b ˜E_f through the tag antenna A1, and thetag circuit 21a adds the electromagnetic waves E_b ˜E_f of the transmitting signals An identification code of the tag antenna A1 is used to generate modulation signal electromagnetic waves E_{bt1A1 ˜E ft1A1through} the tag antenna A1 for transmission outward; the receivingantennas 14b ˜ 14f receive the modulation signal electromagnetic waves E_{bt1A1˜E ft1A1} , and then The receivingcircuits 13b ˜ 13f generate modulation signals S_{bt1A1 ˜S ft1A1respectively} corresponding to the electromagnetic waves of the modulation signals.

该信号模组30中的该第一处理单元31a接收该第一收发器10a所传输对应于该标签天线A1的调变信号S_at1A1，该第一处理单元31a中该识别电路311a产生对应于该标签天线A1的一识别信号，供处理电路312a对调变信号S_at1A1解调变，产生相对应的接收信号S_at1A1'；同理，该信号模组30中的该第一处理单元31a接收该第二～该第六收发器10b～10f所传输对应于该标签天线A1的调变信号S_bt1A1～S_ft1A1，该第一处理单元31a中该识别电路311a产生对应于该标签天线A1的一识别信号，供处理电路312b～312f对调变信号S_bt1A1～S_ft1A1解调变，产生相对应的接收信号S_bt1A1'～S_ft1A1'。Thefirst processing unit 31a in thesignal module 30 receives the modulation signal S_at1A1 corresponding to the tag antenna A1 transmitted by thefirst transceiver 10a, and theidentification circuit 311a in thefirst processing unit 31a generates a signal corresponding to the tag antenna A1. An identification signal of the tag antenna A1 is used by theprocessing circuit 312a to demodulate the modulated signal S_at1A1 to generate a corresponding received signal S_at1A1 '; similarly, thefirst processing unit 31a in thesignal module 30 receives the first 2. The modulation signals S_bt1A1 to S_ft1A1 corresponding to the tag antenna A1 transmitted by thesixth transceivers 10b to 10f, theidentification circuit 311a in thefirst processing unit 31a generates an identification signal corresponding to the tag antenna A1 , for theprocessing circuits 312b to 312f to demodulate the modulated signals S_bt1A1 to S_ft1A1 to generate corresponding received signals S_bt1A1 ′ to S_ft1A1 ′.

该第一处理单元31a将发射信号S_a～S_f分别与接收信号S_at1A1'～S_ft1A1'进行混频，产生第一～第六收发器10a～10f对应于标签天线A1设置于该第一位置时的该些中频信号S_at1A1”～S_ft1A1”。Thefirst processing unit 31a mixes the transmitted signals S_a to S_f with the received signals S_at1A1 ′ to S_ft1A1 ′, respectively, to generate the first tosixth transceivers 10 a to 10 f corresponding to the tag antenna A1, which are arranged in the first The intermediate frequency signals S_at1A1 ”～S_ft1A1 ” at the position.

该运算主机40预设有一强度门槛值，且该运算主机40接收该些中频信号S_at1A1”～S_ft1A1”并计算出该些中频信号S_at1A1”～S_ft1A1”的一中频信号强度I_at1A1～I_ft1A1，并将该些中频信号强度I_at1A1～I_ft1A1与该强度门槛值比对，若该些中频信号强度低于该强度门槛值，则剔除低于该强度门槛值的该些中频信号，由高于或等于该强度门槛值的该些中频信号进行后续运算。Thecomputing host 40 is preset with an intensity threshold, and thecomputing host 40 receives the intermediate frequency signals_Sat1A1 ″～S_ft1A1 ″ and calculates an intermediate frequency signal strength I_at1A1 ～S_ft1A1 ″ of the intermediate frequency signals_Sat1A1 ″～S ft1A1 ” I_ft1A1 , and compare the intermediate frequency signal strengths I_at1A1 to I_ft1A1 with the strength threshold value, if the intermediate frequency signal strengths are lower than the strength threshold value, then remove the intermediate frequency signals below the strength threshold value, Subsequent operations are performed by the intermediate frequency signals higher than or equal to the intensity threshold.

在步骤S12中，以该第六收发器10f的该中频信号强度I_ft1A1不足为例，该运算主机40由该些中频信号S_at1A1”～S_et1A1”的一相位Ф_at1A1～Ф_et1A1分别与对应的初始中频信号S_atA1”～S_etA1”的一初始相位Ф_atA1～Ф_etA1进行相位比对，得到相位差ΔФ_at1A1、ΔФ_bt1A1、ΔФ_ct1A1、ΔФ_dt1A1、ΔФ_et1A1。In step S12, taking an example that the intermediate frequency signal strength I_ft1A1 of thesixth transceiver 10f is insufficient, thecomputing host 40 corresponds to a phase_{Φ at1A1 ˜Φet1A1} of the intermediate frequency signals_Sat1A1 ”_{˜S et1A1} ” respectively corresponding to An initial phase Ф_atA1 ～Ф_etA1 of the initial intermediate frequency signal S_atA1 ”～S_etA1 ” is compared to obtain the phase differences_{ΔФ at1A1} ,_{ΔФ bt1A1} ,_{ΔФ ct1A1} ,_{ΔФ dt1A1} ,_{ΔФ et1A1} .

该运算主机40可由该些相位差ΔФ_at1A1～ΔФ_et1A1根据公式ΔD＝λΔΦ/2π得知该标签天线A1设置于该第一位置时与该初始位置的距离变化量ΔD_at1A1、ΔD_bt1A1、ΔD_ct1A1、ΔD_dt1A1、ΔD_et1A1，并根据距离D＝距离变化量ΔD+初始距离D₀得到下列关系式：Thecomputing host 40 can know the distance changes ΔD_at1A1 , ΔD_bt1A1 , ΔD_ct1A1 when the tag antenna A1 is set at the first position and the initial position from the phase differences_{ΔФ at1A1˜ΔФ et1A1} according to the formula ΔD=λΔΦ/2π , ΔD_dt1A1 , ΔD_et1A1 , and according to distance D = distance change ΔD + initial distance D₀ to obtain the following relationship:

D_at1A1＝ΔD_at1A1+D_atA1D_at1A1 =ΔD_at1A1 +D_atA1

D_bt1A1＝ΔD_bt1A1+D_btA1D_bt1A1 =ΔD_bt1A1 +D_btA1

D_ct1A1＝ΔD_ct1A1+D_ctA1D_ct1A1 = ΔD_ct1A1 +D_ctA1

D_dt1A1＝ΔD_dt1A1+D_dtA1D_dt1A1 =ΔD_dt1A1 +D_dtA1

D_et1A1＝ΔD_et1A1+D_etA1D_et1A1 = ΔD_et1A1 + D_etA1

再由该运算主机40由下列关系矩阵得知该定位标签20中该标签天线A1的一坐标位置(x_t1A1,y_t1A1,z_t1A1)：Then, thecomputing host 40 obtains a coordinate position (x_t1A1 , y_t1A1 , z_t1A1 ) of the tag antenna A1 in thepositioning tag 20 from the following relationship matrix:

而若以该第五收发器10e的该中频信号强度I_et1A1以及该第六收发器10f的该中频信号强度I_ft1A1不足为例，该运算主机40由该些中频信号S_at1A1”～S_dt1A1”分别与对应的初始中频信号S_atA1”～S_dtA1”进行相位比对，得到相位差ΔФ_at1A1、ΔФ_bt1A1、ΔФ_ct1A1、ΔФ_dt1A1。And if the intermediate frequency signal strength I et1A1 of thefifth transceiver 10e and the intermediate frequency signal strength I_ft1A1 of thesixth transceiver 10f are insufficient as an example, thecomputing host 40_uses the intermediate frequency signals_Sat1A1 ″～S_dt1A1 ″ The phases are compared with the corresponding initial intermediate frequency signals S_atA1 ”~S_dtA1 ” respectively, and the phase differences_{ΔФ at1A1} ,_{ΔФ bt1A1} ,_{ΔФ ct1A1} , and_{ΔФ dt1A1 are obtained} .

该运算主机40可由该些相位差ΔФ_at1A1～ΔФ_dt1A1根据公式ΔD＝λΔΦ/2π得知该标签天线A1设置于该第一位置时与该初始位置的距离变化量ΔD_at1A1、ΔD_bt1A1、ΔD_ct1A1、ΔD_dt1A1，并根据距离D＝距离变化量ΔD+初始距离D₀得到下列关系式：Thecomputing host 40 can know the distance changes ΔD_at1A1 , ΔD_bt1A1 , ΔD_ct1A1 when the tag antenna A1 is set at the first position and the initial position from the phase differences_{ΔФ at1A1˜ΔФ dt1A1} according to the formula ΔD=λΔΦ/2π , ΔD_dt1A1 , and obtain the following relational formula according to distance D=distance change ΔD+initial distance D₀ :

D_at1A1＝ΔD_at1A1+D_atA1D_at1A1 =ΔD_at1A1 +D_atA1

D_bt1A1＝ΔD_bt1A1+D_btA1D_bt1A1 =ΔD_bt1A1 +D_btA1

D_ct1A1＝ΔD_ct1A1+D_ctA1D_ct1A1 = ΔD_ct1A1 +D_ctA1

D_dt1A1＝ΔD_dt1A1+D_dtA1D_dt1A1 =ΔD_dt1A1 +D_dtA1

再由该运算主机40通过该第一～第四收发器10a～10d的已知坐标位置(x_a,y_a,z_a)、(x_b,y_b,z_b)、(x_c,y_c,z_c)、(x_d,y_d,z_d)，根据以下关系式计算该标签天线A1的坐标位置：Then, thecomputing host 40 passes the known coordinate positions (x_a , y_a , za ), (x_b , y_b , z_b ), (x_c , y of the first tofourth transceivers 10 a to 10_d )_c , z_c ), (x_d , y_d , z_d ), calculate the coordinate position of the tag antenna A1 according to the following relationship:

请参看图7所示，于一第二实施例中，第一实施例的该定位标签20可包含有三个标签电路21及三个标签天线22，为了方便说明以下的电路动作，在此特别将该定位标签20的三个标签天线22分别标示为A1、A2及A3。Referring to FIG. 7 , in a second embodiment, thepositioning tag 20 of the first embodiment may include threetag circuits 21 and threetag antennas 22 . The threetag antennas 22 of thepositioning tag 20 are marked as A1, A2 and A3, respectively.

同理，该运算主机40可根据上述流程得知该些标签天线A1、A2、A3的坐标位置(x_t1A1,y_t1A1,z_t1A1)、(x_t1A2,y_t1A2,z_t1A2)、(x_t1A3,y_t1A3,z_t1A3)。Similarly, thecomputing host 40 can obtain the coordinate positions (x_t1A1 , y_t1A1 , z_t1A1 ), (x_t1A2 , y_t1A2 , z_t1A2 ), (x_t1A3 ) of the tag antennas A1 , A2 , and A3 according to the above process , y_t1A3 , z_t1A3 ).

当该运算主机40得知该些标签天线A1～A3坐标位置后，可进一步依下式计算该定位标签20的方位(u,v,w)。After thecomputing host 40 knows the coordinate positions of the tag antennas A1 to A3, the azimuth (u, v, w) of thepositioning tag 20 can be further calculated according to the following formula.

u＝(x_t1A2-x_t1A1,y_t1A2-y_t1A1,2_t1A2-z_t1A1)u=(x_t1A2 -x_t1A1 ,y_t1A2 -y_t1A1 ,2_t1A2 -z_t1A1 )

v′＝(x_t1A3-x_t1A1,y_t1A3-y_t1A1,z_t1A3-z_t1A1)v′=(x_t1A3 -x_t1A1 ,y_t1A3 -y_t1A1 ,z_t1A3 -z_t1A1 )

w＝u×v′w=u×v′

v＝w×uv=w×u

请参看图8所示，当完成步骤S14后，若步骤S11中该运算主机40判断有信号强度不足的中频信号时，本发明射频定位方法执行以下相位修正流程：Referring to FIG. 8 , after step S14 is completed, if thecomputing host 40 determines in step S11 that there is an intermediate frequency signal with insufficient signal strength, the radio frequency positioning method of the present invention executes the following phase correction process:

S201：该运算主机40由该至少一标签天线22的坐标位置计算步骤S11中信号强度不足的各该中频信号所对应的各该收发器10与该至少一标签天线22的一修正距离。S201 : The computinghost 40 calculates a corrected distance between thetransceiver 10 and the at least onetag antenna 22 corresponding to each of the intermediate frequency signals with insufficient signal strength in step S11 from the coordinate position of the at least onetag antenna 22 .

S202：该运算主机40由该修正距离计算信号强度不足的各该中频信号所对应的各该收发器10与该至少一标签天线22的一修正相位差。S202: The computinghost 40 calculates a corrected phase difference between each of thetransceivers 10 and the at least onetag antenna 22 corresponding to each of the intermediate frequency signals with insufficient signal strength from the corrected distance.

S203：该运算主机40由该修正相位差计算信号强度不足的各该中频信号的一修正相位。S203: The computinghost 40 calculates a corrected phase of each of the intermediate frequency signals with insufficient signal strength from the corrected phase difference.

S204：该运算主机40将信号强度不足的各该中频信号定义为新的该初始中频信号，而各该修正相位则定义为新的该初始相位，且该运算主机40将信号强度不足的中频信号所对应的各该收发器10与标签天线22的该修正距离定义为新的该初始距离，并回到步骤S10进行新一轮的定位流程。S204: The computinghost 40 defines each IF signal with insufficient signal strength as the new initial IF signal, and each corrected phase as the new initial phase, and thecomputing host 40 defines the IF signal with insufficient signal strength as the new initial IF signal The corresponding corrected distance between thetransceiver 10 and thetag antenna 22 is defined as the new initial distance, and the process returns to step S10 to perform a new round of positioning process.

配合图6A及图6B所示，以第一实施例中包含有六个收发器10a～10f、该定位标签20、该信号模组30及该运算主机40的该射频定位系统为例，并接续第一实施例，说明上述步骤S201～S204。6A and 6B, take the radio frequency positioning system including sixtransceivers 10a-10f, thepositioning tag 20, thesignal module 30 and thecomputing host 40 as an example in the first embodiment, and continue In the first embodiment, the above steps S201 to S204 are described.

若以该运算主机40判断该第六收发器10f的该中频信号强度I_ft1A1不足为例，该运算主机40由下列关系式计算该第六收发器10f与该标签天线A1的一修正距离D_ft1A1：If thecomputing host 40 judges that the intermediate frequency signal strength I_ft1A1 of thesixth transceiver 10f is insufficient as an example, thecomputing host 40 calculates a corrected distance D_ft1A1 between thesixth transceiver 10f and the tag antenna A1 according to the following relationship :

接着该运算主机40通过该修正距离，根据相位差公式ΔΦ＝(D-D₀)2π/λ，D为收发器10与标签天线22的距离，D₀为收发器10与标签天线22的初始距离，以下列关系式计算对应该第六收发器10f与该标签天线A1的该中频信号与该初始中频信号的一修正相位差：Then thecomputing host 40 passes the corrected distance, according to the phase difference formula ΔΦ=(DD₀ )2π/λ, D is the distance between thetransceiver 10 and thetag antenna 22 , D₀ is the initial distance between thetransceiver 10 and thetag antenna 22 , A corrected phase difference between the intermediate frequency signal and the initial intermediate frequency signal corresponding to thesixth transceiver 10f and the tag antenna A1 is calculated by the following relationship:

ΔΦ_ft1A1＝(D_ft1A1-D_ftA1)2π/λΔΦ_ft1A1 =(D_ft1A1 -D_ftA1 )2π/λ

该运算主机40由该修正相位差，根据相位公式Φ＝Φ₀+ΔΦ，以下列关系式计算对应该第六收发器10f与该标签天线A1的该中频信号的一修正相位：Based on the corrected phase difference, thecomputing host 40 calculates a corrected phase of the intermediate frequency signal corresponding to thesixth transceiver 10f and the tag antenna A1 according to the phase formula Φ=Φ₀ +ΔΦ with the following relation:

Φ_ft1A1＝Φ_ftA1+ΔΦ_ft1A1Φ_ft1A1 = Φ_ftA1 +ΔΦ_ft1A1

最后该运算主机40将对应该第六收发器10f与该标签天线A1的该中频信号定义为新的初始中频信号，而该中频信号的该修正相位Φ_ft1A1定义为新的初始相位，并将该第六收发器10f与该标签天线A1的该修正距离D_ft1A1定义为新的初始距离，以供进行新一轮定位时该运算主机40执行步骤S12及步骤S13。Finally, thecomputing host 40 defines the intermediate frequency signal of thesixth transceiver 10f and the tag antenna A1 as a new initial intermediate frequency signal, and the modified phase Φ_ft1A1 of the intermediate frequency signal is defined as a new initial phase, and the The corrected distance D_ft1A1 between thesixth transceiver 10f and the tag antenna A1 is defined as a new initial distance for thecomputing host 40 to execute steps S12 and S13 when a new round of positioning is performed.

完成该定位标签20设置于该第一位置时的定位以及相位修正后，可将该定位标签20设置于一第二位置执行下一轮定位。After completing the positioning and phase correction when thepositioning label 20 is set at the first position, thepositioning label 20 can be set at a second position to perform the next round of positioning.

同样以该标签天线A1为例，该第一收发器10a中的该发射电路11a产生一发射信号S_a，并通过与其连接的该发射天线12a发射与该发射信号S_a相对应的一发射信号电磁波E_a，且该发射信号S_a亦会传送至该处理单元31a的该处理电路312a中；该定位标签20通过该标签天线A1接收该发射信号电磁波E_a后，由该标签电路21a于该发射信号电磁波E_a中加入该标签天线A1的一识别码，再由该标签天线A1产生一调变信号电磁波E_at2A1向外传输；该接收天线14a接收该调变信号电磁波E_at2A1，接着该接收电路13a产生与该调变信号电磁波E_at2A1相对应的一调变信号S_at2A1。Taking the tag antenna A1 as an example, the transmitting circuit 11a in thefirst transceiver 10a generates a transmitting signal_Sa , and transmits_a transmitting signal corresponding to the transmitting signal Sa through the transmittingantenna 12a connected thereto. electromagnetic wave E_a , and the transmission signal_Sa will also be transmitted to theprocessing circuit 312a of theprocessing unit 31a; after thepositioning tag 20 receives the electromagnetic wave E_a of the transmission signal through the tag antenna A1, thetag circuit 21a transmits the electromagnetic wave E a to theprocessing unit 31a. An identification code of the tag antenna A1 is added to the transmission signal electromagnetic wave E_a , and then a modulation signal electromagnetic wave E_at2A1 is generated by the tag antenna A1 for transmission outward; the receivingantenna 14a receives the modulation signal electromagnetic wave E_at2A1 , and then the reception Thecircuit 13a generates a modulation signal_Sat2A1 corresponding to the modulation signal electromagnetic wave E_at2A1 .

同理，该第二～该第六收发器10b～10f中的该些发射电路11b～11f依序产生发射信号S_b～S_f，并通过与其连接的该发射天线12b～12f输出相对应的发射信号电磁波E_b～E_f；该定位标签20通过该标签天线A1依序接收该些发射信号电磁波E_b～E_f，由该标签电路21a于该些发射信号电磁波E_b～E_f中加入该标签天线A1的一识别码，再通过该标签天线A1产生调变信号电磁波E_bt2A1～E_ft2A1向外传输；该些接收天线14b～14f接收该些调变信号电磁波E_bt2A1～E_ft2A1，接着该些接收电路13b～13f产生分别与该些调变信号电磁波相对应的调变信号S_bt2A1～S_ft2A1。Similarly, the transmittingcircuits 11b-11f in the second-sixth transceivers 10b-10f sequentially generate the transmitting signals Sb-_Sf , and output the corresponding signals through the transmittingantennas 12b-12f connected_thereto . Transmitting signal electromagnetic waves E_b ˜E_f ; thepositioning tag 20 sequentially receives these transmitting signal electromagnetic waves E_b ˜E_f through the tag antenna A1, and thetag circuit 21a adds the electromagnetic waves E_b ˜E_f of the transmitting signals An identification code of the tag antenna A1 is used to generate modulation signal electromagnetic waves E_{bt2A1 ˜E ft2A1through} the tag antenna A1 for transmission outward; the receivingantennas 14b ˜ 14f receive the modulation signal electromagnetic waves E_{bt2A1˜E ft2A1} , and then The receivingcircuits 13b ˜ 13f generate modulation signals S_{bt2A1 ˜S ft2A1respectively} corresponding to the electromagnetic waves of the modulation signals.

该信号模组30中的该第一处理单元31a接收该第一收发器10a所传输对应于该标签天线A1的调变信号S_at2A1，该第一处理单元31a中该识别电路311a产生对应于该标签天线A1的一识别信号，供处理电路312a对调变信号S_at2A1解调变，产生相对应的接收信号S_at2A1'；同理，该信号模组30中的该第一处理单元31a接收该第二～该第六收发器10b～10f所传输对应于该标签天线A1的调变信号S_bt2A1～S_ft2A1，该第一处理单元31a中该识别电路311a产生对应于该标签天线A1的一识别信号，供处理电路312b～312f对调变信号S_bt2A1～S_ft2A1解调变，产生相对应的接收信号S_bt2A1'～S_ft2A1'。Thefirst processing unit 31a in thesignal module 30 receives the modulated signal_Sat2A1 corresponding to the tag antenna A1 transmitted by thefirst transceiver 10a, and theidentification circuit 311a in thefirst processing unit 31a generates a signal corresponding to the tag antenna A1. An identification signal of the tag antenna A1 is used for theprocessing circuit 312a to demodulate the modulated signal_Sat2A1 to generate a corresponding received signal_Sat2A1 '; similarly, thefirst processing unit 31a in thesignal module 30 receives the first processing unit 31a. 2. The modulation signals S_bt2A1 to S_ft2A1 corresponding to the tag antenna A1 transmitted by thesixth transceivers 10b to 10f, theidentification circuit 311a in thefirst processing unit 31a generates an identification signal corresponding to the tag antenna A1 , for theprocessing circuits 312b to 312f to demodulate the modulated signals S_bt2A1 to S_ft2A1 to generate corresponding received signals S_bt2A1 ′ to S_ft2A1 ′.

该第一处理单元31a将发射信号S_a～S_f分别与接收信号S_at2A1'～S_ft2A1'进行混频，产生第一～第六收发器10a～10f对应于标签天线A1设置于该第二位置时的该些中频信号S_at2A1”～S_ft2A1”。Thefirst processing unit 31a mixes the transmit signals S_a to S_f with the received signals S_at2A1 ′ to S_ft2A1 ′, respectively, to generate the first tosixth transceivers 10 a to 10 f corresponding to the tag antenna A1 and are arranged on the second The intermediate frequency signals S_at2A1 ”～S_ft2A1 ” at the position.

该运算主机40预设有一强度门槛值，且该运算主机40计算出该些中频信号S_at2A1”～S_ft2A1”的一中频信号强度I_at2A1～I_ft2A1，并将该些中频信号强度I_at2A1～I_ft2A1与该强度门槛值比对，若该些中频信号强度低于该强度门槛值，则剔除低于该强度门槛值的该些中频信号，由高于或等于该强度门槛值的该些中频信号进行后续运算。Thecomputing host 40 presets an intensity threshold value, and thecomputing host 40 calculates an intermediate frequency signal strength I at2A1 ～I ft2A1 of the intermediate frequency signals_Sat2A1 ″～S_ft2A1 ″, and calculates the intermediate frequency signal strengths I_at2A1 ～I_ft2A1. I_ft2A1 is compared with the intensity threshold value, if the intensity of the intermediate frequency signals is lower than the intensity threshold value, the intermediate frequency signals below the intensity threshold value are eliminated, and the intermediate frequency signals higher than or equal to the intensity threshold value are selected. signal for subsequent operations.

在步骤S12中，以该第六收发器10f的该中频信号强度I_ft2A1不足为例，该运算主机40由该些中频信号S_at2A1”～S_et2A1”的一相位Ф_at2A1～Ф_et2A1分别与对应的新的初始中频信号S_at1A1”～S_et1A1”的一初始相位Ф_at1A1～Ф_et1A1进行相位比对，得到相位差ΔФ_at2A1、ΔФ_bt2A1、ΔФ_ct2A1、ΔФ_dt2A1、ΔФ_et2A1。In step S12, taking an example that the intermediate frequency signal strength I_ft2A1 of thesixth transceiver 10f is insufficient, thecomputing host 40 corresponds to a phase_{Φ at2A1 ˜Φet2A1} of the intermediate frequency signals_Sat2A1 ”_{˜S et2A1} ” respectively corresponding to The new initial intermediate frequency signals S_at1A1 ”～S_et1A1 ” are compared with an initial phase Ф_at1A1 ～Ф_et1A1 to obtain the phase differences_{ΔФ at2A1} ,_{ΔФ bt2A1} ,_{ΔФ ct2A1} ,_{ΔФ dt2A1} ,_{ΔФ et2A1} .

该运算主机40可由该些相位差ΔФ_at2A1～ΔФ_et2A1根据公式ΔD＝λΔΦ/2π得知该标签天线A1设置于该第二位置时与该初始位置的距离变化量ΔD_at2A1、ΔD_bt2A1、ΔD_ct2A1、ΔD_dt2A1、ΔD_et2A1，并根据距离D＝距离变化量ΔD+初始距离D₀得到下列关系式：Thecomputing host 40 can know the distance changes ΔD_at2A1 , ΔD_bt2A1 , ΔD_ct2A1 when the tag antenna A1 is set at the second position and the initial position from the phase differences_{ΔФ at2A1˜ΔФ et2A1} according to the formula ΔD=λΔΦ/2π , ΔD_dt2A1 , ΔD_et2A1 , and obtain the following relationship according to distance D=distance change ΔD+initial distance D₀ :

D_at2A1＝ΔD_at2A1+D_at1A1D_at2A1 =ΔD_at2A1 +D_at1A1

D_bt2A1＝ΔD_bt2A1+D_bt1A1D_bt2A1 =ΔD_bt2A1 +D_bt1A1

D_ct2A1＝ΔD_ct2A1+D_ct1A1D_ct2A1 = ΔD_ct2A1 + D_ct1A1

D_dt2A1＝ΔD_dt2A1+D_dt1A1D_dt2A1 =ΔD_dt2A1 +D_dt1A1

D_et2A1＝ΔD_et2A1+D_et1A1D_et2A1 = ΔD_et2A1 + D_et1A1

再由该运算主机40由下列关系矩阵得知该定位标签20中该标签天线A1的一坐标位置(x_t2A1,y_t2A1,z_t2A1)：Then, thecomputing host 40 obtains a coordinate position (x_t2A1 , y_t2A1 , z_t2A1 ) of the tag antenna A1 in thepositioning tag 20 from the following relation matrix:

综上所述，本发明可基于该多个收发器10与该至少一定位标签20之间双向电磁波信号传输，定位找出该至少一定位标签20中各该标签天线22的坐标位置，并可借由多个标签天线22的坐标位置计算该至少一定位标签20的方位，使本发明可供应用于手术定位装置，于手术中精准运算安装于手术器械及病患患部的该至少一定位标签20的位置及方位，另一方面，该至少一定位标签20与各该收发器10相互对应的角度不同或是受物件屏蔽时，会影响各该发射信号及各该调变信号的信号强度，造成后续产生的各该接收信号与各该中频信号的信号强度不足，使得各该中频信号受到杂讯干扰，进而影响该运算主机40进行坐标运算，本发明可借由剔除信号强度不足的各该中频信号，避免该运算主机40后续的定位运算产生误差，提升本发明定位方法的定位精准度，且本发明包含定位后的相位修正流程，由定位流程中计算出的定位坐标，反向计算出信号强度不足的各该中频信号的一修正相位，使对应信号强度不足的各该中频信号的各该收发器10能继续应用于后续的定位流程中，提升本发明射频定位方法的定位稳定性。To sum up, the present invention can locate and find the coordinate position of eachtag antenna 22 in the at least onepositioning tag 20 based on the two-way electromagnetic wave signal transmission between the plurality oftransceivers 10 and the at least onepositioning tag 20, and can The orientation of the at least onepositioning tag 20 is calculated by the coordinate positions of the plurality oftag antennas 22, so that the present invention can be applied to a surgical positioning device, and the at least one positioning tag installed on the surgical instrument and the patient's affected part can be accurately calculated during the operation. 20, on the other hand, when the at least onepositioning tag 20 and each of thetransceivers 10 have different angles corresponding to each other or are shielded by objects, the signal strength of each of the transmitted signals and each of the modulated signals will be affected, As a result, the signal strength of each of the received signals and each of the intermediate frequency signals generated subsequently is insufficient, so that each of the intermediate frequency signals is interfered with by noise, thereby affecting thecalculation host 40 to perform coordinate calculation. The present invention can eliminate the lack of signal strength. The intermediate frequency signal can avoid errors in the subsequent positioning operation of thecomputing host 40, and improve the positioning accuracy of the positioning method of the present invention, and the present invention includes a phase correction process after positioning, and the positioning coordinates calculated in the positioning process are calculated in the reverse direction. A corrected phase of each IF signal with insufficient signal strength enables eachtransceiver 10 corresponding to each IF signal with insufficient signal strength to continue to be used in subsequent positioning procedures, thereby improving the positioning stability of the radio frequency positioning method of the present invention.

Claims (10)

Translated fromChinese

1.一种射频定位方法，其特征在于，包含有：1. a radio frequency positioning method, is characterized in that, comprises:A.当至少一定位标签设置时，所述至少一定位标签中的至少一标签天线与多个收发器进行信号传输，一运算主机由所述至少一标签天线与所述多个收发器的信号传输取得多个中频信号，并计算各所述中频信号的一信号强度；A. When at least one positioning tag is set, at least one tag antenna in the at least one positioning tag performs signal transmission with multiple transceivers, and a computing host uses the signals from the at least one tag antenna and the multiple transceivers transmitting and obtaining a plurality of intermediate frequency signals, and calculating a signal strength of each of the intermediate frequency signals;B.所述运算主机由预设的一强度门槛值判断各所述中频信号的所述信号强度是否足够，并剔除所述信号强度低于所述强度门槛值的各所述中频信号；B. The computing host judges whether the signal strength of each of the intermediate frequency signals is sufficient according to a preset strength threshold value, and rejects each of the intermediate frequency signals whose signal strength is lower than the strength threshold value;C.所述运算主机将经信号强度判断后的各所述中频信号的一相位分别与一初始中频信号的一初始相位进行相位比对，以产生一相位差；C. the computing host compares a phase of each of the intermediate frequency signals after the signal strength judgment with an initial phase of an initial intermediate frequency signal, respectively, to generate a phase difference;D.所述运算主机借由所述相位差计算所述至少一标签天线与各所述收发器的一距离；D. The computing host calculates a distance between the at least one tag antenna and each of the transceivers by using the phase difference;E.所述运算主机借由所述至少一标签天线与各所述收发器的所述距离计算所述至少一标签天线的一坐标位置。E. The computing host calculates a coordinate position of the at least one tag antenna based on the distance between the at least one tag antenna and each of the transceivers.2.如权利要求1所述的射频定位方法，其特征在于，步骤A中包含步骤：2. radio frequency positioning method as claimed in claim 1, is characterized in that, comprises step in step A:a1:各所述收发器中的一发射电路产生一发射信号，连接所述发射电路的一发射天线产生对应所述发射信号的一发射信号电磁波向外传输；a1: a transmitting circuit in each of the transceivers generates a transmitting signal, and a transmitting antenna connected to the transmitting circuit generates a transmitting signal electromagnetic wave corresponding to the transmitting signal and transmits it to the outside;a2:所述至少一定位标签中的至少一标签天线接收所述发射信号电磁波，至少一标签电路在所述发射信号电磁波中加入与其相对应的所述标签天线的一识别码，并通过所述至少一标签天线产生一调变信号电磁波向外传输；a2: At least one tag antenna in the at least one positioning tag receives the electromagnetic wave of the transmission signal, and at least one tag circuit adds an identification code of the corresponding tag antenna to the electromagnetic wave of the transmission signal, and passes the At least one tag antenna generates a modulated signal electromagnetic wave for outward transmission;a3:各所述收发器的一接收天线接收所述调变信号电磁波，与所述接收天线连接的一接收电路根据所述调变信号电磁波产生一调变信号，并将所述调变信号传送至与各所述收发器连接的一信号模组；a3: A receiving antenna of each transceiver receives the electromagnetic wave of the modulation signal, and a receiving circuit connected to the receiving antenna generates a modulation signal according to the electromagnetic wave of the modulation signal, and transmits the modulation signal to a signal module connected to each of the transceivers;a4:所述信号模组产生对应各所述标签天线的一识别信号，借由所述识别信号对所述调变信号解调变，产生一接收信号，且所述信号模组将所述发射信号及所述接收信号混频产生所述中频信号，并将各所述中频信号传输至与所述信号模组连接的所述运算主机。a4: The signal module generates an identification signal corresponding to each of the tag antennas, and demodulates the modulated signal by the identification signal to generate a received signal, and the signal module converts the transmission The signal and the received signal are mixed to generate the intermediate frequency signal, and each intermediate frequency signal is transmitted to the computing host connected to the signal module.3.如权利要求2所述的射频定位方法，其特征在于，步骤a4中，所述信号模组包含至少一处理单元，各所述处理单元包含一识别电路及多个处理电路，由所述识别电路产生对应各所述标签天线的所述识别信号，由各所述处理电路对各所述收发器的所述调变信号解调变产生所述接收信号，并将各所述收发器的所述发射信号及所述接收信号混频产生所述中频信号。3. The radio frequency positioning method according to claim 2, wherein in step a4, the signal module comprises at least one processing unit, each of the processing units comprises an identification circuit and a plurality of processing circuits, the The identification circuit generates the identification signal corresponding to each of the tag antennas, each of the processing circuits demodulates the modulated signal of each of the transceivers to generate the received signal, and converts the received signal to The transmit signal and the receive signal are mixed to generate the intermediate frequency signal.4.如权利要求3所述的射频定位方法，其特征在于，每一处理单元对应一标签天线，所述至少一处理单元的数量与所述至少一标签天线的数量相同。4 . The radio frequency positioning method of claim 3 , wherein each processing unit corresponds to a tag antenna, and the number of the at least one processing unit is the same as the number of the at least one tag antenna. 5 .5.如权利要求3所述的射频定位方法，其特征在于，每一处理电路对应一收发器，所述多个处理电路的数量与所述多个收发器的数量相同。5 . The radio frequency positioning method of claim 3 , wherein each processing circuit corresponds to a transceiver, and the number of the plurality of processing circuits is the same as the number of the plurality of transceivers. 6 .6.如权利要求1所述的射频定位方法，其特征在于，步骤D中，所述运算主机借由所述相位差，根据距离计算公式D＝ΔD+D₀及距离变化量的计算公式

计算各所述收发器与所述至少一标签天线的所述距离，其中D代表距离、ΔD代表距离变化量、D₀代表初始距离、λ代表波长、ΔФ代表相位差、π代表圆周率。6 . The radio frequency positioning method according to claim 1 , wherein in step D, the computing host uses the phase difference to calculate the distance according to the distance calculation formula D=ΔD+D₀ and the calculation formula of the distance change amount. 7 .

Calculate the distance between each transceiver and the at least one tag antenna, where D represents distance, ΔD represents distance variation, D₀ represents initial distance, λ represents wavelength, ΔФ represents phase difference, and π represents pi.7.如权利要求1所述的射频定位方法，其特征在于，所述运算主机将对应各所述收发器的所述中频信号定义为新的所述初始中频信号，而所述中频信号的所述相位则定义为新的所述初始相位，且所述运算主机将计算出的各所述收发器与所述至少一标签天线的所述距离定义为新的初始距离，以供下一轮定位时计算使用。7. The radio frequency positioning method according to claim 1, wherein the computing host defines the intermediate frequency signal corresponding to each transceiver as the new initial intermediate frequency signal, and all the intermediate frequency signals of the intermediate frequency signal are defined as the new initial intermediate frequency signal. The phase is defined as the new initial phase, and the computing host defines the calculated distance between each of the transceivers and the at least one tag antenna as a new initial distance for the next round of positioning time calculation.8.如权利要求1所述的射频定位方法，其特征在于，完成步骤E后，若所述运算主机于步骤B中判断有信号强度不足的中频信号时，是执行以下相位修正流程：8. The radio frequency positioning method as claimed in claim 1 , wherein after step E is completed, if the computing host determines in step B that there is an intermediate frequency signal with insufficient signal strength, the following phase correction process is performed:F.所述运算主机由所述至少一标签天线的所述坐标位置，计算信号强度不足的各所述中频信号所对应的各所述收发器与所述至少一标签天线的一修正距离；F. The computing host calculates a corrected distance between each of the transceivers and the at least one tag antenna corresponding to each of the intermediate frequency signals with insufficient signal strength from the coordinate position of the at least one tag antenna;G.所述运算主机由所述修正距离计算信号强度不足的各所述中频信号所对应的各所述收发器与所述至少一标签天线的一修正相位差；G. The computing host calculates a corrected phase difference between each of the transceivers and the at least one tag antenna corresponding to each of the intermediate frequency signals with insufficient signal strength from the corrected distance;H.所述运算主机由所述修正相位差计算信号强度不足的各所述中频信号，以获得一修正相位。H. The computing host calculates each intermediate frequency signal with insufficient signal strength from the corrected phase difference to obtain a corrected phase.9.如权利要求8所述的射频定位方法，其特征在于，所述运算主机将信号强度不足的各所述中频信号定义为新的所述初始中频信号，而各所述修正相位则定义为新的所述初始相位，且将各所述修正距离定义为新的初始距离。9 . The radio frequency positioning method according to claim 8 , wherein each of the intermediate frequency signals with insufficient signal strength is defined by the computing host as a new initial intermediate frequency signal, and each of the corrected phases is defined as the new initial phase, and each of the corrected distances is defined as a new initial distance.10.如权利要求1所述的射频定位方法，其特征在于，所述至少一标签天线为多个标签天线，所述运算主机由所述多个标签天线的各所述坐标位置计算所述至少一定位标签的一方位。10. The radio frequency positioning method according to claim 1, wherein the at least one tag antenna is a plurality of tag antennas, and the computing host calculates the at least one tag antenna based on the coordinate positions of the plurality of tag antennas. An orientation of a positioning label.

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