TWI736043B - Multi-target radio frequency positioning system, positioning method and initial distance measurement method - Google Patents

Abstract

Translated fromChinese

本發明是一種多目標射頻定位系統、定位方法及初始距離量測方法，該多目標射頻定位系統包含有複數收發器、至少一定位標籤、一信號模組及一運算主機，其中，該至少一定位標籤設置於欲定位的目標物上，由收發器產生一發射信號及一發射信號電磁波；定位標籤接收該發射信號電磁波並產生一調變信號電磁波；該收發器接收該調變信號電磁波並產生一調變信號；該信號模組中的處理單元將該調變信號藉由一識別信號解調變產生一接收信號，並將該接收信號與該發射信號混頻得到一中頻信號；一運算主機比對該中頻信號與對應該中頻信號之一初始中頻信號得到一相位差，並根據該相位差得知該定位標籤與各該收發器的初始距離及距離變化量，藉此計算該定為標籤的座標位置。The present invention is a multi-target radio frequency positioning system, a positioning method, and an initial distance measurement method. The multi-target radio frequency positioning system includes a plurality of transceivers, at least one positioning tag, a signal module and a computing host, wherein the at least one The positioning tag is set on the target to be located, and the transceiver generates a transmission signal and a transmission signal electromagnetic wave; the positioning tag receives the transmission signal electromagnetic wave and generates a modulation signal electromagnetic wave; the transceiver receives the modulation signal electromagnetic wave and generates A modulated signal; the processing unit in the signal module demodulates the modulated signal by an identification signal to generate a received signal, and mixes the received signal with the transmit signal to obtain an intermediate frequency signal; an operation The host compares the intermediate frequency signal with an initial intermediate frequency signal corresponding to the intermediate frequency signal to obtain a phase difference, and obtains the initial distance and distance change between the positioning tag and each transceiver according to the phase difference, thereby calculating This is the coordinate position of the label.

Description

Translated fromChinese

多目標射頻定位系統、定位方法及初始距離量測方法Multi-target radio frequency positioning system, positioning method and initial distance measurement method

一種射頻定位系統、定位方法及初始距離量測方法，藉由定位標籤及收發器的雙向信號傳輸，進行射頻定位運算定位標籤的座標位置及定位標籤中標籤天線與收發器的初始距離。A radio frequency positioning system, a positioning method, and an initial distance measurement method are used to perform radio frequency positioning calculations to locate the coordinate position of the tag and the initial distance between the tag antenna and the transceiver in the positioning tag through the bidirectional signal transmission of the positioning tag and the transceiver.

應用於手術定位的定位技術包含機械式定位(mechanical positioning)、超音波定位(ultrasound positioning)、電磁定位(electromagnetic positioning)、光學定位(optical positioning)、射頻定位(radio frequency positioning)及X光與CT定位等。目前市面上應用於手術導引(surgical navigation)的定位技術產品，大多數採用光學定位技術中的紅外線定位，由光學探頭(optical probe)及嵌入反光球(reflective sphere)之參考框架(dynamic reference frame, DRF)組成，透過將參考框架安裝於手術器械及患部上，利用光學技術追蹤手術器械及患部的相對位置，再藉由手術導引軟體協助醫師精準操作器械，然而臨床資料顯示，光學定位技術存在直視性遮蔽問題且參考框架體積大，手術空間易受侷限，裝置普遍而言較為笨重，且容易影響醫師操作器械手感。The positioning technologies used in surgical positioning include mechanical positioning, ultrasonic positioning, electromagnetic positioning, optical positioning, radio frequency positioning, and 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), through the installation of the reference frame on the surgical instrument and the affected part, the optical technology is used to track the relative position of the surgical instrument and the affected part, and then the surgical guidance software is used to assist the doctor in the precise operation of the instrument. However, the clinical data shows that the optical positioning technology There are problems of direct-view obscuration and the reference frame is large in size, the operating space is easily limited, the device is generally bulky, and it is easy to affect the feel of the doctor in operating the instrument.

本發明的主要目的是提供一種射頻定位系統，利用無線射頻的信號傳輸進行定位。The main purpose of the present invention is to provide a radio frequency positioning system that utilizes radio frequency signal transmission for positioning.

本發明多目標射頻定位系統包含有複數個收發器、至少一定位標籤、一信號模組及一運算主機，其中：各收發器包含：一發射電路，連接一發射天線，該發射電路產生一發射信號，透過該發射天線產生與該發射信號相對應的一發射信號電磁波對外傳輸；以及一接收電路，連接一接收天線，該接收電路透過該接收天線截取該至少一定位標籤發出的一調變信號電磁波並產生一調變信號；該至少一定位標籤包含：至少一標籤電路與對應連接該標籤電路的一標籤天線，該標籤天線接收該發射天線對外傳輸的發射信號電磁波，經該標籤電路加入對應該標籤天線的一識別碼，該標籤天線產生該調變信號電磁波向外傳輸；該信號模組包含：至少一處理單元、一多工器、一類比數位轉換器，其中，該至少一處理單元與該多工器連接，每個處理單元會負責處理所對應標籤天線之調變信號，各該處理單元包含有一辨識電路及複數處理電路，該辨識電路提供對應該標籤天線的一識別信號給該些處理電路，供各該處理電路對該調變信號解調變，得到一接收信號，各該處理電路將該發射信號與該接收信號混頻，產生一中頻信號，並傳輸至該多工器，該多工器與該類比數位轉換器連接，藉由該多工器簡化訊號傳輸的通道數，減少該信號模組所需要的類比數位轉換器的通道數量，該類比數位轉換器將該多工器傳輸的中頻信號轉換為數位信號格式；該運算主機連接該類比數位轉換器，將該中頻信號與對應該中頻信號之一初始中頻信號相互比對得到一相位差，由該相位差計算一距離變化量，並根據該距離變化量進行初始距離量測、各該收發器的座標位置量測或是多目標射頻定位。The multi-target radio frequency positioning system of the present invention includes a plurality of transceivers, at least one positioning tag, a signal module and a computing host, wherein:Each transceiver includes:A transmitting circuit connected to a transmitting antenna, the transmitting circuit generates a transmitting signal, and a transmitting signal electromagnetic wave corresponding to the transmitting signal is generated through the transmitting antenna for external transmission; andA receiving circuit connected to a receiving antenna, the receiving circuit intercepts a modulation signal electromagnetic wave emitted by the at least one positioning tag through the receiving antenna and generates a modulation signal;The at least one positioning label includes:At least one tag circuit and a tag antenna corresponding to the tag circuit. The tag antenna receives the electromagnetic wave of the transmitted signal externally transmitted by the transmitting antenna, and adds an identification code corresponding to the tag antenna through the tag circuit, and the tag antenna generates the modulation Signal electromagnetic waves are transmitted outwards;The signal module includes:At least one processing unit, a multiplexer, and an analog-to-digital converter, wherein the at least one processing unit is connected to the multiplexer, and each processing unit is responsible for processing the modulation signal of the corresponding tag antenna, and each processing unit It includes an identification circuit and a complex processing circuit. The identification circuit provides an identification signal corresponding to the tag antenna to the processing circuits for each processing circuit to demodulate the modulated signal to obtain a received signal. Each processing circuit Mix the transmitted signal with the received signal to generate an intermediate frequency signal and transmit it to the multiplexer. The multiplexer is connected to the analog-to-digital converter. The multiplexer simplifies the number of channels for signal transmission. Reduce the number of channels of the analog-to-digital converter required by the signal module. The analog-to-digital converter converts the intermediate frequency signal transmitted by the multiplexer into a digital signal format;The arithmetic host is connected to the analog-to-digital converter, the intermediate frequency signal is compared with an initial intermediate frequency signal corresponding to the intermediate frequency signal to obtain a phase difference, a distance change is calculated from the phase difference, and the distance change is changed according to the phase difference Perform initial distance measurement, coordinate position measurement of each transceiver, or multi-target radio frequency positioning.

本發明初始距離量測方法，測量至少一定位標籤中的至少一標籤天線與複數收發器的初始距離，步驟包含有：The initial distance measurement method of the present invention measures the initial distance between at least one tag antenna in at least one positioning tag and a plurality of transceivers, and the steps include:

計算至少一定位標籤設置於複數個相異且相對位置已知的座標位置時，該標籤天線與設置於複數個相異已知座標位置的複數收發器的距離變化量，當該至少一定位標籤設置於各相對位置已知的座標位置時，係進行以下步驟：各該收發器中的該發射電路產生一發射信號，並透過該發射天線產生一發射信號電磁波向外傳輸；該至少一定位標籤中的該標籤天線接收該發射信號電射波，經過該標籤電路加入與該標籤天線相對應的一識別碼，該標籤天線產生一調變信號電磁波向外傳輸；各該收發器中的該接收天線接收該調變信號電磁波，與該接收天線相連接的該接收電路根據該調變信號電磁波產生一調變信號，並將該調變信號傳送至該信號模組；該信號模組中的該辨識電路產生對應該標籤天線的一識別信號，該處理單元中的各該處理電路藉由該識別信號對該調變信號解調變，產生一接收信號；各該處理電路將該發射信號與該接收信號混頻獲得一中頻信號，再將該中頻信號傳輸至該多工器；該多工器接收該處理單元所傳輸的該中頻信號並傳送至該類比數位轉換器，該類比數位轉換器將該中頻信號轉換為數位信號格式傳輸至該運算主機；該運算主機比對該中頻信號與對應該中頻信號之一初始中頻信號，得到一相位差，藉由該相位差，根據距離變化量的計算公式

計算各該收發器與該至少一定位標籤中該標籤天線的距離變化量，其中，上式中的∆D代表距離變化量、

代表波長、∆Ф代表相位差、π代表圓周率。When at least one positioning tag is set at a plurality of different coordinate positions with known relative positions, the distance change between the tag antenna and the plurality of transceivers set at a plurality of different known coordinate positions is calculated, when the at least one positioning tag When setting at each coordinate position with a known relative position, the following steps are performed: the transmitting circuit in each of the transceivers generates a transmitting signal, and generates a transmitting signal through the transmitting antenna; electromagnetic waves are transmitted outward; the at least one positioning tag The tag antenna in the antenna receives the radio wave of the transmitted signal, adds an identification code corresponding to the tag antenna through the tag circuit, and the tag antenna generates a modulated signal electromagnetic wave and transmits it outward; the receiver in each transceiver The antenna receives the modulated signal electromagnetic wave, the receiving circuit connected to the receiving antenna generates a modulated signal according to the modulated signal electromagnetic wave, and transmits the modulated signal to the signal module; the signal module in the signal module The identification circuit generates an identification signal corresponding to the tag antenna, and each of the processing circuits in the processing unit demodulates the modulated signal by the identification signal to generate a received signal; each of the processing circuits combines the transmitted signal with the The received signal is mixed to obtain an intermediate frequency signal, and then the intermediate frequency signal is transmitted to the multiplexer; the multiplexer receives the intermediate frequency signal transmitted by the processing unit and transmits it to the analog-to-digital converter, and the analog-to-digital converter The converter converts the intermediate frequency signal into a digital signal format and transmits it to the computing host; the computing host compares the intermediate frequency signal with an initial intermediate frequency signal corresponding to the intermediate frequency signal to obtain a phase difference, and the phase difference , According to the calculation formula of distance change

Calculate the distance change between each transceiver and the tag antenna in the at least one positioning tag, where ∆D in the above formula represents the distance change,

Represents the wavelength, ∆Ф represents the phase difference, and π represents the pi.

該運算主機根據該至少一定位標籤中該標籤天線與各該收發器的距離變化量，計算該標籤天線與各該收發器的初始距離。The computing host calculates the initial distance between the tag antenna and each transceiver according to the distance change between the tag antenna and each transceiver in the at least one positioning tag.

本發明多目標射頻定位方法，測量至少一定位標籤中的至少一標籤天線的座標位置，步驟包含有：The multi-target radio frequency positioning method of the present invention measures the coordinate position of at least one tag antenna in at least one positioning tag, and the steps include:

計算至少一定位標籤設置於待定位的座標位置時，與設置於複數個相異已知座標位置的複數收發器的距離，係進行以下步驟：各該收發器中的該發射電路產生一發射信號，該發射天線產生一發射信號電磁波向外傳輸；該至少一定位標籤中的該標籤天線接收該發射信號電射波，經過該標籤電路加入與該標籤天線相對應的一識別碼，該標籤天線產生一調變信號電磁波向外傳輸；各該收發器中的該接收天線接收該調變信號電磁波，與該接收天線相連接的該接收電路根據該調變信號電磁波產生一調變信號，並將該調變信號傳送至該信號模組；該信號模組中的該辨識電路產生對應該標籤天線的一識別信號，該處理單元中的各該處理電路藉由該識別信號對該調變信號解調變，產生一接收信號；各該處理電路將該發射信號及該接收信號混頻產生一中頻信號，並將該中頻信號傳送至該多工器；該多工器接收該處理單元所傳輸的該中頻信號並傳送至該類比數位轉換器，該類比數位轉換器將該中頻信號轉換為數位信號格式傳輸至該運算主機；以及該運算主機比對該中頻信號與對應該中頻信號之一初始中頻信號，得到一相位差，藉由該相位差，根據距離計算公式

及距離變化量的計算公式

計算各該收發器與該標籤天線的距離，其中，D代表距離、∆D代表距離變化量、D₁代表初始距離、

代表波長、∆Ф代表相位差、π代表圓周率；When calculating the distance between at least one positioning tag set at the coordinate position to be located, and a plurality of transceivers set at a plurality of different known coordinate positions, the following steps are performed: The transmitting circuit in each of the transceivers generates a transmitting signal , The transmitting antenna generates a transmitted signal electromagnetic wave for outward transmission; the tag antenna of the at least one positioning tag receives the transmitted signal electric wave, and adds an identification code corresponding to the tag antenna through the tag circuit, the tag antenna Generate a modulated signal electromagnetic wave to transmit outward; the receiving antenna in each transceiver receives the modulated signal electromagnetic wave, and the receiving circuit connected to the receiving antenna generates a modulated signal according to the modulated signal electromagnetic wave, and The modulated signal is transmitted to the signal module; the identification circuit in the signal module generates an identification signal corresponding to the tag antenna, and each processing circuit in the processing unit decodes the modulated signal by the identification signal Modulate to generate a received signal; each processing circuit mixes the transmitted signal and the received signal to generate an intermediate frequency signal, and transmits the intermediate frequency signal to the multiplexer; the multiplexer receives the processing unit The transmitted intermediate frequency signal is sent to the analog-to-digital converter, and the analog-to-digital converter converts the intermediate frequency signal into a digital signal format and transmits it to the computing host; and the computing host compares the intermediate frequency signal with the corresponding center One of the initial intermediate frequency signals of the frequency signal, a phase difference is obtained, with the phase difference, according to the distance calculation formula

And the calculation formula of distance change

Calculate the distance between each transceiver and the tag antenna, where D represents the distance, ∆D represents the distance change, D₁ represents the initial distance,

Represents the wavelength, ∆Ф represents the phase difference, and π represents the pi ratio;

該運算主機根據該至少一定位標籤中該標籤天線與各該收發器的距離及各該收發器的已知座標位置，計算該標籤天線的座標位置。The computing host calculates the coordinate position of the tag antenna according to the distance between the tag antenna and each transceiver in the at least one positioning tag and the known coordinate position of each transceiver.

本發明透過該至少一定位標籤與複數收發器雙向電磁波信號傳輸，計算該至少一定位標籤中該標籤天線與複數收發器的初始距離，可應用於射頻定位裝置的初始化；執行射頻定位時，本發明透過該標籤天線與複數收發器的初始距離，以及各收發器對應該標籤天線的中頻信號與初始中頻信號的相位差，量測該至少一定位標籤中該標籤天線的座標位置及該至少一定位標籤的方位。The present invention calculates the initial distance between the tag antenna and the plurality of transceivers in the at least one positioning tag through the two-way electromagnetic wave signal transmission of the at least one positioning tag and the plurality of transceivers, which can be applied to the initialization of the radio frequency positioning device; when performing radio frequency positioning, this The invention uses the initial distance between the tag antenna and the plurality of transceivers and the phase difference between the intermediate frequency signal and the initial intermediate frequency signal of each transceiver corresponding to the tag antenna to measure the coordinate position of the tag antenna in the at least one positioning tag and the The orientation of at least one locating tag.

請參看圖1所示，本發明多目標射頻定位系統包含有複數收發器10、至少一定位標籤20、一信號模組30及一運算主機40。Please refer to FIG. 1, the multi-target radio frequency positioning system of the present invention includes a plurality oftransceivers 10, at least onepositioning tag 20, asignal module 30 and acomputing host 40.

請參看圖2所示，各該收發器10包含有一發射電路11、一發射天線12、一接收電路13及一接收天線14，該發射電路11與該發射天線12連接，該接收電路13與該接收天線14連接；該發射電路11產生一發射信號，由該發射天線12發射與該發射信號相對應的發射信號電磁波向外傳輸，該接收電路13透過該接收天線14擷取該至少一定位標籤20傳輸的一調變信號電磁波，並產生一調變信號。Please refer to FIG. 2, each of thetransceivers 10 includes a transmittingcircuit 11, a transmittingantenna 12, areceiving circuit 13, and a receivingantenna 14. Thetransmitting circuit 11 is connected to the transmittingantenna 12, and thereceiving circuit 13 is connected to the The receivingantenna 14 is connected; the transmittingcircuit 11 generates a transmitting signal, and the transmittingantenna 12 transmits the electromagnetic wave corresponding to the transmitting signal and transmitting the electromagnetic wave to the outside. Thereceiving circuit 13 captures the at least one positioning tag through the receivingantenna 14 20 transmits a modulation signal electromagnetic wave, and generates a modulation signal.

請參看圖3所示，該至少一定位標籤20包含有至少一標籤電路21及與該至少一標籤電路21對應連接的一標籤天線22，該標籤天線22接收該發射天線12對外傳輸的該發射信號電磁波，經該標籤電路21加入對應該標籤天線22的一識別碼，該標籤天線22產生該調變信號電磁波向外傳輸，其中，不同的標籤天線22具有不同的識別碼，根據該識別碼即可辨識該調變信號電磁波由哪一個標籤天線22發出。Please refer to FIG. 3, the at least onepositioning tag 20 includes at least onetag circuit 21 and atag antenna 22 correspondingly connected to the at least onetag circuit 21, and thetag antenna 22 receives the external transmission of the transmittingantenna 12. The signal electromagnetic wave is added with an identification code corresponding to thetag antenna 22 through thetag circuit 21. Thetag antenna 22 generates the modulated signal electromagnetic wave and transmits it outwards.Different tag antennas 22 have different identification codes. That is to say, whichtag antenna 22 emits the electromagnetic wave of the modulation signal can be identified.

請參看圖4A所示，該信號模組30包含有至少一處理單元31、一多工器32及一類比數位轉換器33，該至少一處理單元31與該多工器32連接，每個處理單元31會負責處理所對應標籤天線22之調變信號，因此處理單元31的總數量等同於標籤天線22的總數量，進一步參看圖4B所示，該處理單元31包含有一辨識電路311及複數處理電路312，該辨識電路311提供對應該標籤天線22的識別信號給該些處理電路312，供該些處理電路312對該調變信號解調變，得到一接收信號，並將該發射信號與該接收信號混頻，產生一中頻信號，並傳輸至該多工器32；該多工器32與該類比數位轉換器33連接，藉由該多工器32簡化訊號傳輸的通道數，減少該信號模組30所需要的類比數位轉換器33的通道數量；該類比數位轉換器33將該多工器傳輸的中頻信號轉換為數位信號格式傳輸至該運算主機40；其中，該處理單元31中該些處理電路312的總數量等同於該些收發器10的總數量。Please refer to FIG. 4A. Thesignal module 30 includes at least oneprocessing unit 31, amultiplexer 32, and an analog-to-digital converter 33. The at least oneprocessing unit 31 is connected to themultiplexer 32, and eachprocessing unit 31 is connected to themultiplexer 32. Theunit 31 is responsible for processing the modulated signal of thecorresponding tag antenna 22, so the total number ofprocessing units 31 is equivalent to the total number oftag antennas 22. Further referring to FIG. 4B, theprocessing unit 31 includes anidentification circuit 311 and complexnumber processing Circuit 312. Theidentification circuit 311 provides the identification signal corresponding to thetag antenna 22 to theprocessing circuits 312 for theprocessing circuits 312 to demodulate the modulated signal to obtain a received signal, and combine the transmitted signal with the The received signal is mixed to generate an intermediate frequency signal and transmitted to themultiplexer 32; themultiplexer 32 is connected to the analog-to-digital converter 33, and themultiplexer 32 simplifies the number of signal transmission channels and reduces the The number of channels of the analog-to-digital converter 33 required by thesignal module 30; the analog-to-digital converter 33 converts the intermediate frequency signal transmitted by the multiplexer into a digital signal format and transmits it to thecomputing host 40; wherein, theprocessing unit 31 The total number of theprocessing circuits 312 is equal to the total number of thetransceivers 10.

該運算主機40連接該類比數位轉換器33，將該中頻信號與對應該中頻信號的一初始中頻信號比對得到一相位差，根據相位差進行距離及位置座標的運算。由於該距離的計算方法是透過信號相位比對獲得，該距離的距離計算誤差會小於一個波長，因此可提升計算該位置座標的精準度。Thehost computer 40 is connected to the analog-to-digital converter 33, compares the intermediate frequency signal with an initial intermediate frequency signal corresponding to the intermediate frequency signal to obtain a phase difference, and performs distance and position coordinate calculations based on the phase difference. Since the distance calculation method is obtained through signal phase comparison, the distance calculation error of the distance will be less than one wavelength, so the accuracy of calculating the position coordinates can be improved.

其中，本發明多目標射頻定位系統中該發射信號透過頻率調變，為了能夠區別各該收發器10所產生的發射信號，每個發射電路11會設計成不同的頻率調變區間，如圖5A所示，以使用三個該收發器10為例，則三組發射信號TX1~TX3可以採用不同的頻率調變區間，達到分頻多工；亦可如圖5B所示，以使用四個該收發器10為例，將每個發射電路11設計成在不同時段依序產生發射信號TX1~TX4，達到分時多工；又或者如圖5C所示，以使用四個該收發器10為例，四組發射信號TX1~TX4以分時分頻的方式加以區分，使得同時間或同頻率的發射信號不會重疊，達到區隔識別的目的。Among them, in the multi-target radio frequency positioning system of the present invention, the transmission signal passes through frequency modulation. In order to be able to distinguish the transmission signals generated by thetransceivers 10, eachtransmission circuit 11 is designed to have a different frequency modulation interval, as shown in Fig. 5A As shown, taking threesuch transceivers 10 as an example, the three sets of transmit signals TX1~TX3 can adopt different frequency modulation intervals to achieve frequency division multiplexing; as shown in Figure 5B, four such transceivers can also be used. Take thetransceiver 10 as an example, each transmittingcircuit 11 is designed to sequentially generate transmission signals TX1 to TX4 at different time periods to achieve time division multiplexing; or, as shown in FIG. 5C, use foursuch transceivers 10 as an example , The four groups of transmission signals TX1~TX4 are distinguished by time division frequency division, so that the transmission signals of the same time or the same frequency will not overlap, so as to achieve the purpose of distinguishing and identifying.

本發明射頻定位系統進行射頻定位前，需要進行系統初始化，首先對各該收發器10進行位置座標的量測，藉由定位標籤20與收發器10之間雙向電磁波信號傳輸，定位找出各該收發器10的位置座標；定位找出各該收發器10的位置座標後，進行定位標籤20中該標籤天線22與各該收發器10的初始距離測量，以進行定位標籤20的射頻定位計算。Before the radio frequency positioning system of the present invention performs radio frequency positioning, system initialization is required. First, the position coordinates of eachtransceiver 10 are measured, and the two-way electromagnetic wave signal transmission between thepositioning tag 20 and thetransceiver 10 is used to locate each of the transceivers. The position coordinates of thetransceiver 10; after the position coordinates of eachtransceiver 10 are found, the initial distance measurement between thetag antenna 22 in thepositioning tag 20 and eachtransceiver 10 is performed to perform the radio frequency positioning calculation of thepositioning tag 20.

請參看圖6所示，本發明初始距離量測方法，測量該標籤天線22與各該收發器10初始距離的步驟包含有：Please refer to FIG. 6, in the initial distance measurement method of the present invention, the steps of measuring the initial distance between thetag antenna 22 and each of thetransceivers 10 include:

S101：計算至少一定位標籤20設置於複數個相異且相對位置已知的座標位置時，與設置於複數個相異已知座標位置的複數收發器10的距離變化量，當該至少一定位標籤20設置於各相對位置已知的座標位置時，本步驟係進行以下步驟S102~S108：S101: When at least onepositioning tag 20 is set at a plurality of different coordinate positions with known relative positions, the distance change from the plurality oftransceivers 10 set at a plurality of different known coordinate positions is calculated. When the at least onepositioning tag 20 is positioned When thelabel 20 is set at the coordinate positions of which the relative positions are known, this step is to perform the following steps S102 to S108:

S102：各該收發器10中的該發射電路11產生一發射信號，並透過該發射天線12產生一發射信號電磁波，將該發射信號以電磁波形式向外傳輸；S102: The transmittingcircuit 11 in each of thetransceivers 10 generates a transmitting signal, and generates a transmitting signal electromagnetic wave through the transmittingantenna 12, and transmits the transmitting signal to the outside in the form of electromagnetic wave;

S103：該至少一定位標籤20中的該標籤天線22接收該發射信號電射波，經過該標籤電路21加入與該標籤天線22相對應的一識別碼，該標籤天線22產生一調變信號電磁波向外傳輸；S103: Thetag antenna 22 of the at least onepositioning tag 20 receives the transmitted signal radio wave, adds an identification code corresponding to thetag antenna 22 through thetag circuit 21, and thetag antenna 22 generates a modulation signal electromagnetic wave Outward transmission

S104：各該收發器10中的該接收天線14接收該調變信號電磁波，與該接收天線14相連接的該接收電路13根據該調變信號電磁波產生一調變信號，並將該調變信號傳送至該信號模組30；S104: Thereceiving antenna 14 in each of thetransceivers 10 receives the modulated signal electromagnetic wave, thereceiving circuit 13 connected to thereceiving antenna 14 generates a modulated signal according to the modulated signal electromagnetic wave, and sends the modulated signal Sent to thesignal module 30;

S105：該信號模組30中該處理單元31中該辨識電路311產生對應該標籤天線22的識別信號，該處理單元31中的各該處理電路312藉由該識別信號對該調變信號解調變，產生一接收信號；S105: Theidentification circuit 311 in theprocessing unit 31 in thesignal module 30 generates an identification signal corresponding to thetag antenna 22, and eachprocessing circuit 312 in theprocessing unit 31 demodulates the modulated signal by the identification signal Change to generate a received signal;

S106：各該處理電路312將該發射信號與該接收信號混頻獲得一中頻信號IF，再將該中頻信號IF傳輸至該多工器32；S106: Eachprocessing circuit 312 mixes the transmit signal with the received signal to obtain an intermediate frequency signal IF, and then transmits the intermediate frequency signal IF to themultiplexer 32;

S107：該多工器32接收該處理單元31所傳輸的該中頻信號IF並傳送至該類比數位轉換器33，該類比數位轉換器33將該中頻信號IF轉換為數位信號格式傳輸至該運算主機40；S107: Themultiplexer 32 receives the intermediate frequency signal IF transmitted by theprocessing unit 31 and transmits it to the analog-to-digital converter 33. The analog-to-digital converter 33 converts the intermediate frequency signal IF into a digital signal format and transmits it to theOperation host 40;

S108：該運算主機40比對該中頻信號IF與對應該中頻信號IF之一初始中頻信號IF₁，得到一相位差∆Ф，藉由該相位差∆Ф，根據距離變化量∆D的計算公式

計算各該收發器10與該至少一定位標籤20中該標籤天線22的距離變化量∆D；S108: Thecomputing host 40 compares the intermediate frequency signal IF with an initial intermediate frequency signal IF_{1 corresponding to the} intermediate frequency signal IF, and obtains a phase difference ∆Ф. With the phase difference ∆Ф, the distance change ∆D Calculation formula

Calculate the distance change ΔD between each of thetransceiver 10 and thetag antenna 22 in the at least onepositioning tag 20;

S109：該運算主機40根據該定位標籤20中該標籤天線22與各該收發器10的距離變化量∆D計算該標籤天線22與各該收發器10的初始距離。S109: Thecomputing host 40 calculates the initial distance between thetag antenna 22 and eachtransceiver 10 according to the distance change ΔD between thetag antenna 22 and eachtransceiver 10 in thepositioning tag 20.

在步驟S106中，該處理單元31中的各該處理電路312可將第一個發射信號與第一個接收信號混頻所得到的一中頻信號定義為一初始中頻信號。In step S106, each of theprocessing circuits 312 in theprocessing unit 31 may define an intermediate frequency signal obtained by mixing the first transmitted signal and the first received signal as an initial intermediate frequency signal.

請參看圖7A及圖7B所示，以包含有四個收發器10a~10d、一定位標籤20、一信號模組30及一運算主機40的一射頻定位系統於三維環境中分時多工運作的第一實施例，說明上述步驟S101~S109，而三維環境中至少需要四個相異且相對位置已知的該定位標籤20的位置求解該定位標籤20中各標籤天線22與四個收發器10a~10d的初始距離，本實施例中以六個相異且相對位置已知的該定位標籤20的位置為例，且該定位標籤20包含有三個標籤電路21及三個標籤天線22，為了方便說明以下的電路動作，在此特別將該定位標籤20中的三個標籤天線標示為A1~A3。在環境中擺放該定位標籤20於一第一未知座標位置，並固定設置第一~第四收發器10a~10d於已知座標位置(x_a,y_a,z_a)、(x_b,y_b,z_b)、(x_c,y_c,z_c)、(x_d,y_d,z_d)，而該些第一~第四收發器10a~10d與一信號模組30連接，該信號模組30包含有三個處理單元31a~31c、一多工器32及一類比數位轉換器33，且該信號模組30與一運算主機40連接。Please refer to FIG. 7A and FIG. 7B. A radio frequency positioning system including fourtransceivers 10a~10d, apositioning tag 20, asignal module 30 and acomputing host 40 operates in a three-dimensional environment with time-sharing multiplexing. In the first embodiment, the above steps S101 to S109 are described. In a three-dimensional environment, at least four different and known relative positions of thepositioning tag 20 are required to solve for eachtag antenna 22 and four transceivers in thepositioning tag 20 The initial distance of 10a~10d. In this embodiment, six different positions of thepositioning tag 20 with known relative positions are taken as an example, and thepositioning tag 20 includes threetag circuits 21 and threetag antennas 22. To facilitate the description of the following circuit actions, the three tag antennas in thepositioning tag 20 are specifically labeled A1 to A3 here. Place thepositioning tag 20 at a first unknown coordinate position in the environment, and fix the first tofourth transceivers 10a-10d at known coordinate positions (x_a , y_a , z_a ), (x_b , y_b , z_b ), (x_c , y_c , z_c ), (x_d , y_d , z_d ), and the first tofourth transceivers 10a to 10d are connected to asignal module 30, Thesignal module 30 includes three processingunits 31 a to 31 c, amultiplexer 32 and an analog-to-digital converter 33, and thesignal module 30 is connected to acomputing host 40.

請參看圖8所示，該定位標籤20可安裝於一治具上，該治具具有多個安裝插槽，各安裝插槽間x軸、y軸、z軸間的距離變化量為已知，以安裝在插槽A及插槽B的定位標籤20座標為例，該定位標籤20安裝於插槽A的座標(x_A,y_A,z_A)及安裝於插槽B的座標(x_B,y_B,z_B)間的x軸距離變化量∆x、y軸的距離變化量∆y及z軸的距離變化量∆z可透過該治具得知，以供該運算主機40進行步驟S109。Please refer to Figure 8, thepositioning label 20 can be installed on a jig, the jig has a plurality of installation slots, the x-axis, y-axis, z-axis distance changes between the installation slots are known Take the coordinates of thepositioning label 20 installed in the slot A and the slot B as an example. Thepositioning label 20 is installed in the coordinates (x_A , y_A , z_A ) of the slot A and the coordinates (x A, y A, z A) installed in the slot B_B , y_B , z_B ) between the x-axis distance change Δx, the y-axis distance change Δy, and the z-axis distance change Δz can be known through the fixture for thecomputing host 40 to perform Step S109.

首先，該第一收發器10a中的該發射電路11a產生一發射信號S_a，並透過與其連接的該發射天線12a發射與該發射信號S_a相對應的發射信號電磁波E_a，且該發射信號S_a亦會傳送至三個處理單元31a~31c的該處理電路312a中；該定位標籤20透過三個標籤天線A1~A3接收該發射信號電磁波E_a後，由該標籤電路21a加入該標籤天線A1的一識別碼而產生之調變信號電磁波標示為E_at1A1，由該標籤電路21b、21c加入第二、第三標籤天線A2、A3的一識別碼而產生之調變信號電磁波標示為E_at1A2、E_at1A3，三個標籤天線A1~A3將調變信號電磁波E_at1A1、E_at1A2、E_at1A3向外傳輸；該接收天線14a接收調變信號電磁波E_at1A1、E_at1A2、E_at1A3，接著該接收電路13a產生與調變信號電磁波E_at1A1、E_at1A2、E_at1A3相對應的一調變信號S_at1A1、S_at1A2、S_at1A3。First, the transmittingcircuit 10a of thefirst transceiver 11a is generated in a transmission signal S_a, and transmit through the transmittingantenna 12a connected thereto to the transmission signal S_a signal corresponding to the emission of electromagnetic waves E_a, and the transmission signal S_a will also be transmitted to theprocessing circuit 312a of the threeprocessing units 31a~31c; after thepositioning tag 20 receives the transmitted signal electromagnetic wave E_a through the three tag antennas A1~A3, thetag circuit 21a adds it to the tag antenna The electromagnetic wave of the modulated signal generated by an identification code of A1 is labeled E_at1A1 , and the electromagnetic wave of the modulated signal generated by adding an identification code of the second and third tag antennas A2 and A3 to thetag circuits 21b, 21c is labeled E_at1A2 E_at1A3 , the three tag antennas A1~A3 transmit the modulated signal electromagnetic waves E_at1A1 , E_at1A2 , E_at1A3 ; the receivingantenna 14a receives the modulated signal electromagnetic waves E_at1A1 , E_at1A2 , E_at1A3 , and then the receivingcircuit 13a generates a modulated signal wave_E at1A1, E at1A2, E at1A3 corresponding to a modulation signal_{S at1A1, S at1A2, S at1A3} .

同理，該第二~第四收發器10b、10c、10d中的該些發射電路11b~11d依序產生發射信號，並透過與其連接的該發射天線12b~12d輸出發射信號電磁波；該定位標籤20透過三個標籤天線A1~A3依序接收該些發射信號電磁波，由該標籤電路21a加入該標籤天線A1的一識別碼而產生之調變信號電磁波標示為E_bt1A1、E_ct1A1、E_dt1A1，由該標籤電路21b、21c加入第二、第三標籤天線A2、A3的一識別碼而產生之調變信號電磁波標示為E_bt1A2、E_ct1A2、E_dt1A2、E_bt1A3、E_ct1A3、E_dt1A3，三個標籤天線A1~A3將該些調變信號電磁波向外傳輸；該些接收天線14b~14d接收該些調變信號電磁波，接著該些接收電路13b~13d產生分別與該些調變信號電磁波相對應的調變信號。In the same way, the transmittingcircuits 11b-11d in the second tofourth transceivers 10b, 10c, and 10d generate transmitting signals in sequence, and output electromagnetic waves of the transmitted signals through the transmittingantennas 12b-12d connected to them; thepositioning tag 20 through three tag antennas A1~A3 to receive the transmitted signal electromagnetic waves in sequence, and the modulation signal electromagnetic waves generated by thetag circuit 21a adding an identification code of the tag antenna A1 are marked as E_bt1A1 , E_ct1A1 , E_dt1A1 , The electromagnetic waves of the modulated signal generated by thetag circuits 21b, 21c adding the identification codes of the second and third tag antennas A2 and A3 are marked as E_bt1A2 , E_ct1A2 , E_dt1A2 , E_bt1A3 , E_ct1A3 , E_dt1A3 , three The tag antennas A1~A3 transmit the electromagnetic waves of the modulation signals outward; the receivingantennas 14b-14d receive the electromagnetic waves of the modulation signals, and then the receivingcircuits 13b-13d generate electromagnetic waves corresponding to the modulation signals. Corresponding modulation signal.

該信號模組30中的第一處理單元31a接收第一收發器10a所傳輸對應於該標籤天線A1的調變信號S_at1A1，該第一處理單元31a中該辨識電路311a產生對應於該標籤天線A1的一識別信號，供處理電路312a對調變信號S_at1A1解調變，產生相對應的接收信號S_at1A1'；第一處理單元31a接收第二~第四收發器10b~10d所傳輸對應於該標籤天線A1的調變信號，該第一處理單元31a中該辨識電路311a產生對應於該標籤天線A1的一識別信號，供處理電路312b~312d對調變信號解調變，產生相對應的接收信號。Thefirst processing unit 31a in thesignal module 30 receives the modulated signal S_at1A1 corresponding to the tag antenna A1 transmitted by thefirst transceiver 10a, and theidentification circuit 311a in thefirst processing unit 31a generates the modulation signal corresponding to the tag antenna A1. An identification signal of A1 for theprocessing circuit 312a to_{demodulate the modulated signal S at1A1 to} generate a corresponding received signal S_at1A1 '; thefirst processing unit 31a receives the second tofourth transceivers 10b~10d and transmits corresponding to the The modulation signal of the tag antenna A1, theidentification circuit 311a in thefirst processing unit 31a generates an identification signal corresponding to the tag antenna A1, and theprocessing circuits 312b~312d demodulate the modulation signal to generate the corresponding received signal .

同理，該信號模組30中的第二、第三處理單元31b~31c接收第一收發器10a所傳輸對應於該些標籤天線A2、A3的調變信號S_at1A2、S_at1A3，該第二處理單元31b、該第三處理單元31c中該辨識電路311b、311c產生對應於該些標籤天線A2、A3的一識別信號，供該第二處理單元31b、該第三處理單元31c中各處理電路312a分別對調變信號S_at1A2、S_at1A3解調變，產生相對應的接收信號S_at1A2'、S_at1A3'；第二、第三處理單元31b、31c接收第二~第四收發器10b~10d所傳輸對應於該些標籤天線A2、A3的調變信號，該第二處理單元31b、該第三處理單元31c中該辨識電路311b、311c產生對應於該標籤天線A2、A3的一識別信號，供處理電路312b~312d對調變信號解調變，產生相對應的接收信號。Similarly, the second andthird processing units 31b~31c in thesignal module 30 receive the modulated signals S_at1A2 and S_at1A3 corresponding to the tag antennas A2 and A3 transmitted by thefirst transceiver 10a, and the second Theidentification circuits 311b and 311c in theprocessing unit 31b and thethird processing unit 31c generate an identification signal corresponding to the tag antennas A2 and A3 for each processing circuit in thesecond processing unit 31b and thethirdprocessing unit 31c 312a respectively_{demodulates the modulated signals S at1A2} and S_{at1A3 to} generate corresponding received signals S_at1A2 'and S_at1A3 '; the second andthird processing units 31b and 31c receive the second tofourth transceivers 10b~10d. The modulation signals corresponding to the tag antennas A2 and A3 are transmitted, and theidentification circuits 311b and 311c in thesecond processing unit 31b and thethird processing unit 31c generate an identification signal corresponding to the tag antennas A2 and A3 for Theprocessing circuits 312b to 312d demodulate the modulated signal to generate corresponding received signals.

該第一處理單元31a將發射信號S_a分別與接收信號S_at1A1'進行混頻，產生第一收發器10a對應於標籤天線A1設置於第一未知位置時的一初始中頻信號S_at1A1''；該第二、第三處理單元31b、31c將發射信號S_a分別與接收信號S_at1A2'、S_at1A3'進行混頻，產生第一收發器10a對應於標籤天線A2、A3設置於第一未知位置時的一初始中頻信號S_at1A2''、S_at1A3''。Thefirst processing unit 31a_{mixes thetransmitted signal S a} with the received signal S_{at1A1 ′ to generate an initial intermediate frequency signal S at1A1} corresponding to the tag antenna A1 when the tag antenna A1 is set at the first unknown position. ; the second,third processing unit 31b, 31c respectively transmit signal and the received signal S_aS at1A2 ', S at1A3' mixes, generating afirst transceiver 10a corresponding to the tag antenna A2, A3 disposed on the first unknown An initial intermediate frequency signal S_{at1A2 ”} , S_{at1A3 ”} at the time of the position.

同理，該第一~第三處理單元31a~31c將第二~第四收發器10b~10d的發射信號分別與接收信號進行混頻，產生第二~第四收發器10b~10d對應於標籤天線A1~A3設置於第一未知位置時的初始中頻信號。In the same way, the first tothird processing units 31a to 31c respectively mix the transmitted signals of the second tofourth transceivers 10b to 10d with the received signals to generate second tofourth transceivers 10b to 10d corresponding to the tags The initial intermediate frequency signal when the antennas A1 to A3 are set at the first unknown position.

該多工器32接收該第一~第三處理單元31a~31c所傳輸的該些初始中頻信號，並傳輸至該類比數位轉換器33，該類比數位轉換器33將該些初始中頻信號轉換為數位信號格式，並傳輸至該運算主機40。Themultiplexer 32 receives the initial intermediate frequency signals transmitted by the first tothird processing units 31a to 31c, and transmits them to the analog-to-digital converter 33, and the analog-to-digital converter 33 transmits the initial intermediate frequency signals Converted into a digital signal format, and transmitted to thecomputing host 40.

將該定位標籤20放置於一第二位置，該第二位置與該第一未知座標位置的相對位置已知，以第一收發器10a為例，該第一收發器10a中的該發射電路11a產生一發射信號S_a，並透過與其連接的該發射天線12a發射與該發射信號S_a相對應的發射信號電磁波E_a，且該發射信號S_a亦會傳送至三個處理單元31a~31c的該處理電路312a中；該定位標籤20透過三個標籤天線A1~A3接收該發射信號電磁波E_a後，由該標籤電路21a加入該標籤天線A1的一識別碼而產生之調變信號電磁波標示為E_at2A1，由該標籤電路21b、21c加入第二、第三標籤天線A2、A3的一識別碼而產生之調變信號電磁波標示為E_at2A2、E_at2A3，三個標籤天線A1~A3將調變信號電磁波E_at2A1、E_at2A2、E_at2A3向外傳輸；該接收天線14a接收調變信號電磁波E_at2A1、E_at2A2、E_at2A3，接著該接收電路13a產生與調變信號電磁波E_at2A1、E_at2A2、E_at2A3相對應的一調變信號S_at2A1、S_at2A2、S_at2A3。Thepositioning tag 20 is placed in a second position. The relative position of the second position and the first unknown coordinate position is known. Taking thefirst transceiver 10a as an example, the transmittingcircuit 11a in thefirst transceiver 10a generating a transmission signal S_a, and transmit through the transmittingantenna 12a connected thereto to the transmission signal S_a signal corresponding to the emission of electromagnetic waves E_a, and which also sends the transmission signal S_a to the threeprocessing units 31a ~ 31c of In theprocessing circuit 312a; after thepositioning tag 20 receives the transmitted signal electromagnetic wave E_a through three tag antennas A1 ~ A3, the modulation signal electromagnetic wave generated by thetag circuit 21a adding an identification code of the tag antenna A1 is marked as E_at2A1 , the modulation signal generated by adding an identification code of the second and third tag antennas A2 and A3 to thetag circuits 21b, 21c, the electromagnetic waves are marked as E_at2A2 , E_at2A3 , and the three tag antennas A1~A3 will be modulated Signal electromagnetic waves E_at2A1 , E_at2A2 , E_at2A3 are transmitted outward; the receivingantenna 14a receives modulation signal electromagnetic waves E_at2A1 , E_at2A2 , E_at2A3 , and then the receivingcircuit 13a generates and modulates signal electromagnetic waves E_at2A1 , E_at2A2 , E_at2A3 corresponding to a modulation signal_{S at2A1, S at2A2, S at2A3} .

該信號模組30中的第一~第三處理單元31a~31c接收第一收發器10a所傳輸對應於該些標籤天線A1~A3的調變信號S_at2A1、S_at2A2、S_at2A3，該第一~第三處理單元31a~31c中該些辨識電路311a~311c產生對應於該些標籤天線A1~A3的一識別信號，供第一~第三處理單元31a~31c中各處理電路312a分別對調變信號S_at2A1、S_at2A2、S_at2A3解調變，產生相對應的接收信號S_at2A1'、S_at2A2'、S_at2A3'。The first tothird processing units 31a to 31c in thesignal module 30 receive the modulated signals S_at2A1 , S_at2A2 , and S_at2A3 corresponding to the tag antennas A1 to A3 transmitted by thefirst transceiver 10a, and the first ~Theidentification circuits 311a~311c in thethird processing units 31a~31c generate an identification signal corresponding to the tag antennas A1~A3 for therespective processing circuits 312a in the first~third processing units 31a~31c to respectively modulate The signals S_at2A1 , S_at2A2 , and S_{at2A3 are} demodulated to generate corresponding received signals S_at2A1 ', S_at2A2 ', and S_at2A3 '.

該第一~第三處理單元31a~31c將發射信號S_a分別與接收信號S_at2A1'、S_at2A2'、S_at2A3'進行混頻，產生第一收發器10a對應於標籤天線A1~A3設置於該第二位置時的一中頻信號S_at2A1''、S_at2A2''、S_at2A3''。The first tothird processing units 31a ~ 31c are respectively the transmit signal and the received signal S_{aS at2A1 ', S at2A2',} S at2A3 ' mixes, generating afirst transceiver 10a corresponding to the tag antenna provided in the A1 ~ A3 an intermediate frequency signal_S at2A1 second position at which the_{'', S at2A2 '',} S at2A3 ''.

該多工器32接收第一~第三處理單元31a~31c所傳輸該第一收發器10a的中頻信號S_at2A1''、S_at2A2''、S_at2A3''，並傳輸至該類比數位轉換器33，該類比數位轉換器33將中頻信號S_at2A1''、S_at2A2''、S_at2A3''轉換為數位信號格式傳輸至該運算主機40。Themultiplexer 32 receives the first tothird processing units 31a ~ 31c of thefirst transceiver 10a to transmit the intermediate frequency signal_{S at2A1 '', S at2A2 '} ', S at2A3 '', such ratio and transmitted to digital conversion The analog-to-digital converter 33 converts the intermediate frequency signals S_{at2A1 ”} , S_{at2A2 ”} , and S_{at2A3 ”} into digital signal formats and transmits them to thecomputing host 40.

該運算主機將中頻信號S_at2A1''、S_at2A2''、S_at2A3''的相位分別與初始中頻信號S_at1A1''、S_at1A2''、S_at1A3''的相位進行比對，得到該第一收發器10a對應標籤天線A1~A3的相位差∆Ф_at2A1、∆Ф_at2A2、∆Ф_at2A3。The host computer compares the_{phases of the} intermediate frequency signals S at2A1 ``, S<sub>at2A2</sub> '', and S<sub>at2A3</sub> '' with the phases of the initial intermediate frequency signals S<sub>at1A1</sub> '', S<sub>at1A2</sub> '', and S<sub>at1A3</sub> ``, respectively, and obtains Thefirst transceiver 10a corresponds to the phase difference_{∆Ф at2A1} ,_{∆Ф at2A2} , and_{∆Ф at2A3 of the} tag antennas A1 to A3.

同理，該第二~第四收發器10b~10d中的該些發射電路11b~11d產生發射信號，並透過與其連接的該些發射天線12b~12d發射與該些發射信號相對應的發射信號電磁波，且該些發射信號亦會傳送至三個處理單元31a~31c的該處理電路312a中；該定位標籤20透過三個標籤天線A1~A3接收該些發射信號電磁波後，由標籤電路21a~21c於該些發射信號電磁波中加入對應於標籤天線A1~A3的一識別碼產生調變信號電磁波，再由三個標籤天線A1~A3將該些調變信號電磁波向外傳輸；該些接收天線14b~14d接收調變信號電磁波，接著該接收電路13b~13d產生與該些調變信號電磁波相對應的調變信號。In the same way, the transmittingcircuits 11b-11d in the second tofourth transceivers 10b-10d generate transmission signals, and transmit the transmission signals corresponding to the transmission signals through thetransmission antennas 12b-12d connected to them. Electromagnetic waves, and the transmitted signals will also be transmitted to theprocessing circuit 312a of the threeprocessing units 31a~31c; after thepositioning tag 20 receives the electromagnetic waves of the transmitted signals through the three tag antennas A1~A3, thetag circuit 21a~ 21c adds an identification code corresponding to the tag antennas A1 to A3 to the transmitted signal electromagnetic waves to generate the modulated signal electromagnetic waves, and then the three tag antennas A1 to A3 transmit the modulated signal electromagnetic waves outward; the receivingantennas 14b-14d receive the electromagnetic wave of the modulation signal, and then the receivingcircuit 13b-13d generates the modulation signal corresponding to the electromagnetic wave of the modulation signal.

該信號模組30中的第一~第三處理單元31a~31c接收該第二~第四收發器10b~10d所傳輸對應於該些標籤天線A1~A3的調變信號，該第一~第三處理單元31a~31c中該些辨識電路311a~311c產生對應於該些標籤天線A1~A3的一識別訊號，供第一~第三處理單元31a~31c中各處理電路312b~312d分別對調變信號解調變，產生相對應的接收信號。The first tothird processing units 31a to 31c in thesignal module 30 receive the modulated signals corresponding to the tag antennas A1 to A3 transmitted by the second tofourth transceivers 10b to 10d. Theidentification circuits 311a to 311c in the threeprocessing units 31a to 31c generate an identification signal corresponding to the tag antennas A1 to A3 for theprocessing circuits 312b to 312d in the first tothird processing units 31a to 31c to respectively modulate The signal is demodulated, and the corresponding received signal is generated.

該第一~第三處理單元31a~31c將該第二~第四收發器10b~10d的發射信號分別與接收信號進行混頻，產生該第二~第四收發器10b~10d對應於標籤天線A1~A3設置於該第二位置時的該些中頻信號。The first tothird processing units 31a to 31c respectively mix the transmitted signals of the second tofourth transceivers 10b to 10d with the received signals to generate the second tofourth transceivers 10b to 10d corresponding to tag antennas The intermediate frequency signals when A1 to A3 are set at the second position.

該多工器32接收第一~第三處理單元31a~31c所傳輸該第二~第四收發器10b~10d的該些中頻信號，並傳輸至該類比數位轉換器33，該類比數位轉換器33將該第二~第四收發器10b~10d的該些中頻信號轉換為數位信號格式傳輸至該運算主機40。Themultiplexer 32 receives the intermediate frequency signals from the second tofourth transceivers 10b to 10d transmitted by the first tothird processing units 31a to 31c, and transmits them to the analog-to-digital converter 33, and the analog-to-digital conversion Theconverter 33 converts the intermediate frequency signals of the second tofourth transceivers 10 b to 10 d into a digital signal format and transmits it to thecomputing host 40.

該運算主機40將該些中頻信號分別與所對應之該些初始中頻信號進行相位比對，得到第二~第四收發器10b~10d對應標籤天線A1~A3的該些相位差。Thecomputing host 40 performs phase comparison of the intermediate frequency signals with the corresponding initial intermediate frequency signals to obtain the phase differences of the tag antennas A1 to A3 corresponding to the second tofourth transceivers 10b to 10d.

接著，將該定位標籤20依序放置於一第三位置、一第四位置、一第五位置、一第六位置上，該第三~第六位置與該第一未知座標位置的相對位置已知，重複上述流程S102~S107，該運算主機40得到該定位標籤20於該第三~第六位置時，第一~第四收發器10a~10d對應標籤天線A1~A3的該些相位差。Then, thepositioning tag 20 is placed in a third position, a fourth position, a fifth position, and a sixth position in sequence. The relative positions of the third to sixth positions and the first unknown coordinate position have been It is known that by repeating the above procedures S102 to S107, thecomputing host 40 obtains that when thepositioning tag 20 is at the third to sixth positions, the first tofourth transceivers 10a to 10d correspond to the phase differences of the tag antennas A1 to A3.

在步驟S108中，以量測該第一收發器10a與標籤天線A1~A3的距離變化量為例，該運算主機40可由該些相位差∆Ф_at2A1~∆Ф_at2A3、∆Ф_at3A1~∆Ф_at3A3、∆Ф_at4A1~∆Ф_at4A3、∆Ф_at5A1~∆Ф_at5A3、∆Ф_at6A1~∆Ф_at6A3根據公式

得知該定位標籤20中標籤天線A1~A3設置於該第二~第六位置時分別與該第一未知座標位置的距離變化量ΔD_at2A1~ΔD_at6A1、ΔD_at2A2~ΔD_at6A2、ΔD_at2A3~ΔD_at6A3，得到下列關係式：

其中，(x_t1A1,y_t1A1,z_t1A1)代表該標籤天線A1設置於該第一未知座標位置時的未知座標，已知量∆x_t2A1~∆x_t6A1代表該定位標籤20中該標籤天線A1設置於該第二~第六位置時與該第一未知座標位置的x軸方向距離變化量，已知量∆y_t2A1~∆y_t6A1代表該定位標籤20中該標籤天線A1設置於該第二~第六位置時與該第一未知座標位置的y軸方向距離變化量，已知量∆z_t2A1~∆z_t6A1代表該定位標籤20中該標籤天線A1設置於該第二~第六位置時與該第一未知座標位置的z軸方向距離變化量。In step S108, taking the measurement of the distance change between thefirst transceiver 10a and the tag antenna A1~A3 as an example, thecalculation host 40 can determine the phase difference_{∆Ф at2A1} ~_{∆Ф at2A3} ,_{∆Ф at3A1} ~∆Ф_at3A3 ,_{∆Ф at4A1} ~_{∆Ф at4A3} ,_{∆Ф at5A1} ~_{∆Ф at5A3} ,_{∆Ф at6A1} ~_{∆Ф at6A3} according to the formula

It is known that when the tag antennas A1~A3 of thepositioning tag 20 are set at the second to sixth positions, the distance change ΔD_at2A1 ~ΔD_at6A1 , ΔD_at2A2 ~ΔD_at6A2 , ΔD_at2A3 ~ΔD_at6A3 , get the following relationship:

Among them, (x_t1A1 ,y_t1A1 ,z_t1A1 ) represents the unknown coordinate when the tag antenna A1 is set at the first unknown coordinate position, and the known quantity ∆x_t2A1 ~ ∆x_t6A1 represents the tag antenna A1 in thepositioning tag 20 When set at the second to sixth positions, the distance change in the x-axis direction from the first unknown coordinate position. The known quantities ∆y_t2A1 ~ ∆y_t6A1 represent that the tag antenna A1 of thepositioning tag 20 is set in the second ~ The change in the y-axis distance from the first unknown coordinate position at the sixth position, the known quantity ∆z_t2A1 ~ ∆z_t6A1 represents when the tag antenna A1 in thepositioning tag 20 is set at the second to sixth positions The amount of change in the z-axis distance from the first unknown coordinate position.

在步驟S109中，以標籤天線A1與第一收發器10a為例，該運算主機40透過該標籤天線A1設置於該第二~第六位置時分別與該第一未知座標位置的距離變化量ΔD_at2A1~ΔD_at6A1，得到下列關係矩陣：

In step S109, taking the tag antenna A1 and thefirst transceiver 10a as an example, when thecomputing host 40 is placed at the second to sixth positions through the tag antenna A1, the distance change ΔD from the first unknown coordinate position respectively_at2A1 ~ΔD_at6A1 , get the following relationship matrix:

再透過下列關係矩陣得知該定位標籤20中該標籤天線A1設置於該第一未知座標位置時與第一收發器10a的初始距離D_at1A1：

以此類推，該運算主機40可透過上述方法得知該定位標籤20中該標籤天線A2、A3設置於該第一未知座標位置時與第一收發器10a的初始距離D_at1A2、D_at1A3。_{Then know the initial distance D at1A1} between the tag antenna A1 of thepositioning tag 20 and thefirst transceiver 10a when the tag antenna A1 is set at the first unknown coordinate position through the following relationship matrix:

_{By analogy, the computing host 40 can learn the initial distances D at1A2} and D_at1A3 between the tag antennas A2 and A3 of thepositioning tag 20 and thefirst transceiver 10a when the tag antennas A2 and A3 are set at the first unknown coordinate position through the aforementioned method.

同理，該運算主機40亦可透過上述方法得知該定位標籤20中該標籤天線A1、A2、A3設置於該第一未知座標位置時與第二~第四收發器10b~10d的初始距離。In the same way, thecomputing host 40 can also learn the initial distances between the tag antennas A1, A2, and A3 of thepositioning tag 20 and the second tofourth transceivers 10b~10d when the tag antennas A1, A2, A3 are set at the first unknown coordinate position through the above-mentioned method. .

一定位標籤20中的該標籤天線22經過初始距離量測後，在複數收發器10不移動的情況下，即可透過將該定位標籤20設置於欲定位的目標位置，對欲定位目標進行射頻定位，請參看圖9所示，本發明多目標的射頻定位方法的步驟包含有：After the initial distance measurement of thetag antenna 22 in apositioning tag 20, when the plurality oftransceivers 10 do not move, thepositioning tag 20 can be set at the target location to be located, and radio frequency of the target to be located can be performed. For positioning, please refer to Figure 9. The steps of the multi-target radio frequency positioning method of the present invention include:

S201：計算至少一定位標籤20設置於待定位的座標位置時，該標籤天線22與設置於複數個相異已知座標位置的複數收發器10的距離，係進行以下步驟S202~S208；S201: When calculating the distance between thetag antenna 22 and the plurality oftransceivers 10 arranged at a plurality of different known coordinate positions when at least onepositioning tag 20 is set at the coordinate position to be located, the following steps S202 to S208 are performed;

S202：各該收發器10中的該發射電路11產生一發射信號，該發射天線12產生一發射信號電磁波向外傳輸；S202: The transmittingcircuit 11 in each of thetransceivers 10 generates a transmitting signal, and the transmittingantenna 12 generates a transmitting signal electromagnetic wave for outward transmission;

S203：該至少一定位標籤20中的該標籤天線22接收該發射信號電射波，經過該標籤電路21加入與該標籤天線22相對應的一識別碼，該標籤天線22產生一調變信號電磁波向外傳輸；S203: Thetag antenna 22 of the at least onepositioning tag 20 receives the transmitted signal radio wave, adds an identification code corresponding to thetag antenna 22 through thetag circuit 21, and thetag antenna 22 generates a modulation signal electromagnetic wave Outward transmission

S204：各該收發器10中的該接收天線14接收該調變信號電磁波，與該接收天線14相連接的該接收電路13根據該調變信號電磁波產生一調變信號，並將該調變信號傳送至該信號模組30；S204: The receivingantenna 14 in eachtransceiver 10 receives the modulated signal electromagnetic wave, the receivingcircuit 13 connected to the receivingantenna 14 generates a modulated signal according to the modulated signal electromagnetic wave, and sends the modulated signal Sent to thesignal module 30;

S205：該信號模組30中該辨識電路311產生對應該標籤天線22的一識別信號，該處理單元31中的各該處理電路312藉由該識別信號對該調變信號解調變，產生一接收信號；S205: Theidentification circuit 311 in thesignal module 30 generates an identification signal corresponding to thetag antenna 22, and each of theprocessing circuits 312 in theprocessing unit 31 demodulates the modulated signal by the identification signal to generate a receive signal;

S206：各該處理電路312將該發射信號及該接收信號混頻產生一中頻信號，並將該中頻信號傳送至該多工器32；S206: Eachprocessing circuit 312 mixes the transmission signal and the reception signal to generate an intermediate frequency signal, and transmits the intermediate frequency signal to themultiplexer 32;

S207：該多工器32接收該處理單元31所傳輸的該中頻信號並傳送至該類比數位轉換器33，該類比數位轉換器33將該中頻信號轉換為數位信號格式傳輸至該運算主機40；S207: Themultiplexer 32 receives the intermediate frequency signal transmitted by theprocessing unit 31 and transmits it to the analog-to-digital converter 33. The analog-to-digital converter 33 converts the intermediate frequency signal into a digital signal format and transmits it to thearithmetic host 40;

S208：該運算主機40比對該中頻信號與對應該中頻信號之一初始中頻信號，得到一相位差∆Ф，藉由該相位差∆Ф，根據距離計算公式

及距離變化量的計算公式

計算各該收發器10與該定位標籤20中該標籤天線22的距離；S208: The computinghost 40 compares the intermediate frequency signal with an initial intermediate frequency signal corresponding to the intermediate frequency signal, and obtains a phase difference ∆Ф. With the phase difference ∆Ф, the distance calculation formula is used

And the calculation formula of distance change

Calculate the distance between eachtransceiver 10 and thetag antenna 22 in thepositioning tag 20;

S209：該運算主機40根據該定位標籤20中該標籤天線22與各該收發器10的距離及各該收發器10的已知座標位置，計算該標籤天線22的座標位置。S209: The computinghost 40 calculates the coordinate position of thetag antenna 22 according to the distance between thetag antenna 22 and eachtransceiver 10 in thepositioning tag 20 and the known coordinate position of eachtransceiver 10.

在步驟S208中，該初始中頻信號為該標籤天線22於該初始距離量測步驟S106中，各該處理電路312將第一個發射信號與第一個接收信號混頻所得到的中頻信號。In step S208, the initial intermediate frequency signal is the intermediate frequency signal obtained by thetag antenna 22 in the initial distance measurement step S106, and each of theprocessing circuits 312 mixes the first transmitted signal with the first received signal. .

請參看圖10A及圖10B所示，以包含有四個收發器10a~10d、一定位標籤20、一信號模組30及一運算主機40的一射頻定位系統於三維環境中分時多工運作的第二實施例，說明上述步驟S201~S209。本實施例中固定設置第一~第四收發器10a~10d於已知座標位置(x_a,y_a,z_a)、(x_b,y_b,z_b)、(x_c,y_c,z_c)、(x_d,y_d,z_d)，而該些第一~第四收發器10a~10d與一信號模組30連接，該信號模組30包含有三個處理單元31a~31c、一多工器32及一類比數位轉換器33，且該信號模組30與一運算主機40連接，而該定位標籤20包含有三個標籤電路21及三個標籤天線22，為了方便說明以下的電路動作，在此特別將該定位標籤20中的三個天線標示為A1~A3。Please refer to FIG. 10A and FIG. 10B. A radio frequency positioning system including fourtransceivers 10a~10d, apositioning tag 20, asignal module 30 and acomputing host 40 operates in a three-dimensional environment with time division multiplexing. In the second embodiment, the above steps S201 to S209 are described. In this embodiment, the first tofourth transceivers 10a-10d are fixedly arranged at known coordinate positions (x_a , y_a , z_a ), (x_b , y_b , z_b ), (x_c , y_c , z_c ), (x_d , y_d , z_d ), and the first tofourth transceivers 10a to 10d are connected to asignal module 30 that includes threeprocessing units 31a to 31c, Amultiplexer 32 and an analog-to-digital converter 33, and thesignal module 30 is connected to anarithmetic host 40, and thepositioning tag 20 includes threetag circuits 21 and threetag antennas 22, in order to facilitate the description of the following circuits Action, the three antennas in thepositioning tag 20 are specifically marked as A1~A3 here.

首先，該定位標籤20設置於未知的一欲定位位置，以該標籤天線A1為例，該第一收發器10a中的該發射電路11a產生一發射信號S_a，並透過與其連接的該發射天線12a發射與該發射信號S_a相對應的發射信號電磁波E_a，且該發射信號S_a亦會傳送至該處理單元31a的該處理電路312a中；該定位標籤20透過該標籤天線A1接收該發射信號電磁波E_a後，由該標籤電路21a加入該標籤天線A1的一識別碼，該標籤天線A1產生一調變信號電磁波E_atA1向外傳輸；該接收天線14a接收調變信號電磁波E_atA1，接著該接收電路13a產生與調變信號電磁波E_atA1相對應的一調變信號S_atA1。First, thepositioning tab 20 is provided to be positioned in a known position, to the tag antenna A1, for example, the transmittingcircuit 10a of thefirst transceiver 11a generates in a transmission signal S_a, and transmitted through the transmitting antenna connected thereto 12a transmit the transmission signal S_a signal corresponding to the emission of electromagnetic waves E_a, the transmission signal S_a and also transmitted to theprocessing circuit 31a of theprocessing unit 312a; and positioning thetag 20 receiving the tag through the transmitting antennas A1 After the signal electromagnetic wave E_a , thetag circuit 21a adds an identification code of the tag antenna A1, the tag antenna A1 generates a modulation signal electromagnetic wave E_atA1 and transmits it outward; the receivingantenna 14a receives the modulation signal electromagnetic wave E_atA1 , and then thereception circuit 13a generates a modulated signal corresponding to the electromagnetic waves_E atA1 a modulated signal S_atA1.

同理，該些第二~第四收發器10b、10c、10d中的該些發射電路11b~11d依序產生發射信號S_b、S_c、S_d，並透過與其連接的該發射天線12b~12d輸出相對應的發射信號電磁波E_b、E_c、E_d；該定位標籤20透過該標籤天線A1依序接收該些發射信號電磁波E_b、E_c、E_d，由該標籤電路21a於加入該標籤天線A1的一識別碼，該標籤天線A1產生該些調變信號電磁波E_btA1、E_ctA1、E_dtA1向外傳輸；該些接收天線14b~14d接收該些調變信號電磁波E_btA1、E_ctA1、E_dtA1，接著該些接收電路13b~13d產生分別與該些調變信號電磁波相對應的調變信號S_btA1、S_ctA1、S_dtA1。In the same way, the transmittingcircuits 11b-11d in the second tofourth transceivers 10b, 10c, and 10d sequentially generate transmission signals S_b ,_Sc , S_d , and pass through the transmittingantenna 12 b ˜ connected thereto. 12d outputs the corresponding emission signal electromagnetic waves E_b , E_c , E_d ; thepositioning tag 20 sequentially receives the emission signal electromagnetic waves E_b , E_c , E_d through the tag antenna A1, and is added by thetag circuit 21a An identification code of the tag antenna A1, the tag antenna A1 generates the modulation signal electromagnetic waves E_btA1 , E_ctA1 , E_dtA1 and transmits outwards; the receivingantennas 14b-14d receive the modulation signal electromagnetic waves E_btA1 , E_ctA1 , E_dtA1 , and then the receivingcircuits 13b-13d generate modulation signals S_btA1 , S_ctA1 , S_dtA1 corresponding to the electromagnetic waves of the modulation signals, respectively.

該信號模組30中的第一處理單元31a接收第一收發器10a所傳輸對應於該標籤天線A1的調變信號S_atA1，該第一處理單元31a中該辨識電路311a產生對應於該標籤天線A1的一識別信號，供處理電路312a對調變信號S_atA1解調變，產生相對應的接收信號S_atA1'；同理，該信號模組30中的第一處理單元31a接收第二~第四收發器10b~10d所傳輸對應於該標籤天線A1的調變信號S_btA1、S_ctA1、S_dtA1，該第一處理單元31a中該辨識電路311產生對應於該標籤天線A1的一識別信號，供處理電路312b~312d對調變信號S_btA1、S_ctA1、S_dtA1解調變，產生相對應的接收信號S_btA1'、S_ctA1'、S_dtA1'。Thefirst processing unit 31a in thesignal module 30 receives the modulated signal S_atA1 corresponding to the tag antenna A1 transmitted by thefirst transceiver 10a, and theidentification circuit 311a in thefirst processing unit 31a generates the modulation signal corresponding to the tag antenna A1. An identification signal of A1 is used by theprocessing circuit 312a to_{demodulate the modulated signal S atA1 to} generate the corresponding received signal S_atA1 '; in the same way, thefirst processing unit 31a in thesignal module 30 receives the second to fourth_{The modulated signals S btA1} , S_ctA1 , and S_dtA1 corresponding to the tag antenna A1 transmitted by thetransceivers 10b~10d, theidentification circuit 311 in thefirst processing unit 31a generates an identification signal corresponding to the tag antenna A1 for Theprocessing circuits 312b to 312d_{demodulate the modulated signals S btA1} , S_ctA1 , and S_{dtA1 to} generate corresponding received signals S_btA1 ′, S_ctA1 ′, and S_dtA1 ′.

該第一處理單元31a將發射信號S_a、S_b、S_c、S_d分別與接收信號S_atA1'、S_btA1'、S_ctA1'、S_dtA1'進行混頻，產生第一~第四收發器10a~10d對應於標籤天線A1設置於該欲定位位置時的中頻信號S_atA1''、S_btA1''、S_ctA1''、S_dtA1''。Thefirst processing unit 31a_{mixes thetransmitted signals S a} , S_b , S_c , and S_d with the received signals S atA1 ′, S_btA1 ′, S_ctA1 ′, S_dtA1 ′, respectively, to generate first to fourth transceivers.device 10a ~ 10d correspond to the tag antenna A1 disposed in the intermediate frequency signal_S atA1 to be positioned at the position_{'', S btA1 '',} S ctA1 '', S dtA1 ''.

依此類推，以標籤天線A2、A3為例，該第一~第四收發器10a~10d中的該些發射電路11a~11d產生一發射信號，並透過與其連接的該發射天線12a~12d發射與該發射信號相對應的發射信號電磁波，且該發射信號亦會傳送至該些處理單元31b、31c的該些處理電路312a~312d中；該定位標籤20透過該些標籤天線A2、A3接收該些發射信號電磁波後，由該些標籤電路21b、21c加入該些標籤天線A2、A3的一識別碼，該些標籤天線A2、A3產生該些調變信號電磁波向外傳輸；該些接收天線14a~14d接收調變信號電磁波，接著該些接收電路13a~13d產生與調變信號電磁波相對應的調變信號。By analogy, taking tag antennas A2 and A3 as examples, the transmittingcircuits 11a-11d in the first tofourth transceivers 10a-10d generate a transmission signal, and transmit it through the transmittingantenna 12a-12d connected to it. The transmission signal electromagnetic wave corresponding to the transmission signal, and the transmission signal will also be transmitted to theprocessing circuits 312a~312d of theprocessing units 31b and 31c; thepositioning tag 20 receives the transmission signal through the tag antennas A2 and A3. After transmitting the signal electromagnetic waves, thetag circuits 21b, 21c add an identification code of the tag antennas A2, A3, and the tag antennas A2, A3 generate the modulated signal electromagnetic waves and transmit them outward; the receivingantennas 14a ~14d receives the electromagnetic wave of the modulation signal, and then the receivingcircuits 13a-13d generate the modulation signal corresponding to the electromagnetic wave of the modulation signal.

該信號模組30中的第二、第三處理單元31b、31c接收第一~第四收發器10a~10d所傳輸對應於該些標籤天線A2、A3的調變信號，該第二、第三處理單元31b、31c中該辨識電路311b、311c產生對應於該些標籤天線A2、A3的一識別信號，供該些處理電路312a~312d對調變信號解調變，產生相對應的接收信號；該第二、第三處理單元31b、31c將第一~第四收發器10a~10d的發射信號分別與接收信號進行混頻，產生第一~第四收發器10a~10d對應於標籤天線A2~A3設置於該欲定位位置時的各中頻信號。The second andthird processing units 31b and 31c in thesignal module 30 receive the modulated signals corresponding to the tag antennas A2 and A3 transmitted by the first tofourth transceivers 10a to 10d, and the second and third Theidentification circuits 311b and 311c in theprocessing units 31b and 31c generate an identification signal corresponding to the tag antennas A2 and A3 for theprocessing circuits 312a to 312d to demodulate the modulated signal to generate the corresponding received signal; The second andthird processing units 31b and 31c respectively mix the transmitted signals of the first tofourth transceivers 10a to 10d with the received signals to generate the first tofourth transceivers 10a to 10d corresponding to the tag antennas A2 to A3 Set each intermediate frequency signal at the position to be positioned.

第一~第三處理單元31a~31c將第一收發器10a對應於標籤天線A1~A3設置於該欲定位位置時的各中頻信號傳輸至該多工器32，而該多工器32將第一收發器10a對應於標籤天線A1~A3設置於該欲定位位置時的各中頻信號傳送至該類比數位轉換器33，再由該類比數位轉換器33將第一收發器10a對應於標籤天線A1~A3設置於該欲定位位置時的各中頻信號轉換為數位信號格式傳輸至該運算主機40。The first tothird processing units 31a to 31c transmit the intermediate frequency signals corresponding to the tag antennas A1 to A3 when the tag antennas A1 to A3 are set to themultiplexer 32 to themultiplexer 32, and themultiplexer 32 transfers Thefirst transceiver 10a corresponds to each intermediate frequency signal when the tag antennas A1~A3 are set at the position to be located and transmits to the analog-to-digital converter 33, and then the analog-to-digital converter 33 converts thefirst transceiver 10a to the tag When the antennas A1 to A3 are set at the position to be positioned, each intermediate frequency signal is converted into a digital signal format and transmitted to thecomputing host 40.

同理，該第一~第三處理單元31a~31c依序將第二~第四收發器10b~10d對應於標籤天線A1~A3設置於該欲定位位置時的各中頻信號傳輸至該多工器32，而該多工器32依序將第二~第四收發器10b~10d對應於標籤天線A1~A3設置於該欲定位位置時的各中頻信號傳送至該類比數位轉換器33，再由該類比數位轉換器33依序將第二~第四收發器10b~10d對應於標籤天線A1~A3設置於該欲定位位置時的各中頻信號轉換為數位信號格式傳輸至該運算主機40。In the same way, the first tothird processing units 31a to 31c sequentially transmit the intermediate frequency signals of the second tofourth transceivers 10b to 10d corresponding to the tag antennas A1 to A3 to the position to be located. Themultiplexer 32 sequentially transmits the intermediate frequency signals of the second tofourth transceivers 10b to 10d corresponding to the tag antennas A1 to A3 at the position to be positioned to the analog-to-digital converter 33 , And then the analog-to-digital converter 33 sequentially converts the IF signals of the second tofourth transceivers 10b to 10d corresponding to the tag antennas A1 to A3 when the tag antennas A1 to A3 are set to the position to be positioned into a digital signal format for transmission to thecalculation Host 40.

該運算主機40藉由該標籤天線A1於該初始距離量測中所得到的初始中頻信號S_at1A1''、S_bt1A1''、S_ct1A1''、S_dt1A1''，分別與中頻信號S_atA1''、S_btA1''、S_ctA1''、S_dtA1''進行相位比對，得到相位差∆Ф_atA1、∆Ф_btA1、∆Ф_ctA1、∆Ф_dtA1。The initial operation by thehost 40 to the intermediate frequency signal_S at1A1 tag antenna A1 in the initial distance measurement obtained in the_{'', S bt1A1 '',} S ct1A1 '', S dt1A1 '', respectively, the intermediate frequency signal S_AtA1 '', S_btA1 '', S_ctA1 '', S_dtA1 '' perform phase comparison to obtain phase differences_{∆Ф atA1} ,_{∆Ф btA1} ,_{∆Ф ctA1} ,_{∆Ф dtA1} .

在步驟S208中，以量測第一~第四收發器10a與標籤天線A1的距離為例，該運算主機40可由該些相位差∆Ф_atA1、∆Ф_btA1、∆Ф_ctA1、∆Ф_dtA1根據公式

得知該標籤天線A1設置於該欲定位位置時與第一座標位置的距離變化量ΔD_atA1、ΔD_btA1、ΔD_ctA1、ΔD_dtA1，並根據距離D=距離變化量∆D+初始距離D₁得到下列關係式：

In step S208, taking the measurement of the distance between the first tofourth transceivers 10a and the tag antenna A1 as an example, thecomputing host 40 can be based on the phase differences_{∆Ф atA1} ,_{∆Ф btA1} ,_{∆Ф ctA1} , and_{∆Ф dtA1} formula

_{Knowing the distance change ΔD atA1} , ΔD_btA1 , ΔD_ctA1 , and ΔD_dtA1 from the first coordinate position when the tag antenna A1 is set at the position to be located, and according to the distance D=distance change ΔD+initial distance D_{1, the} following are obtained Relationship:

在步驟S209中，以該定位標籤20中的該標籤天線A1為例，該運算主機40可透過該第一~第四收發器10a~10d的已知座標位置(x_a,y_a,z_a)、(x_b,y_b,z_b)、(x_c,y_c,z_c)、(x_d,y_d,z_d)，根據以下關係式計算該標籤天線A1的座標位置：

In step S209, taking the tag antenna A1 in thepositioning tag 20 as an example, thecomputing host 40 can pass through the known coordinate positions (x_a , y_a , z_a ), (x_b ,y_b ,z_b ), (x_c ,y_c ,z_c ), (x_d ,y_d ,z_d ), calculate the coordinate position of the tag antenna A1 according to the following relationship:

同理，該運算主機40可根據上述流程，計算該些標籤天線A2、A3的座標位置(x_tA2,y_tA2,z_tA2)、(x_tA3,y_tA3,z_tA3)。Similarly, thecomputing host 40 can calculate the coordinate positions (x_tA2 , y_tA2 , z_tA2 ) and (x_tA3 , y_tA3 , z_tA3 ) of the tag antennas A2 and A3 according to the above process.

當該運算主機40得知該些標籤天線A1~A3座標位置後，可進一步依下式計算該定位標籤20的方位(u,v,w)。

After thecomputing host 40 knows the coordinate positions of the tag antennas A1 to A3, it can further calculate the position (u, v, w) of thepositioning tag 20 according to the following formula.

於另一實施例中包含四個收發器10a~10d、三個定位標籤20，一信號模組30及一運算主機40，其中，各該定位標籤20具有一個標籤電路21及一個標籤天線22，而該信號模組30具有三個處理單元31a~31c、一多工器32及一類比數位轉換器33，各處理單元31具有一辨識電路311及四個處理電路312a~312d，以下為方便說明，將三個定位標籤20中的該標籤天線22分別標示為A1、A2、A3。該三個定位標籤設置於一欲被定位之目標上。In another embodiment, it includes fourtransceivers 10a-10d, threepositioning tags 20, asignal module 30 and acomputing host 40, wherein eachpositioning tag 20 has atag circuit 21 and atag antenna 22, Thesignal module 30 has threeprocessing units 31a~31c, amultiplexer 32, and an analog-to-digital converter 33. Eachprocessing unit 31 has anidentification circuit 311 and fourprocessing circuits 312a~312d. The following is for convenience of description , Thetag antennas 22 of the threepositioning tags 20 are respectively labeled as A1, A2, and A3. The three positioning tags are set on a target to be located.

該運算主機40經由該信號模組30，接收該三個處理單元30a~30c輸出的該些中頻信號，並藉由該三個標籤天線A1、A2、A3於初始距離量測中所得到的初始中頻信號及初始距離，分別計算出該三個標籤天線A1、A2、A3的座標位置(x_t1A1,y_t1A1,z_t1A1)、(x_t2A2,y_t2A2,z_t2A2)、(x_t3A3,y_t3A3,z_t3A3)，且該運算主機40可再依下式進一步計算該目標物之方位(u,v,w)。

Thehost computer 40 receives the intermediate frequency signals output by the three processing units 30a-30c through thesignal module 30, and obtains the initial distance measurement by the three tag antennas A1, A2, and A3 Initial IF signal and initial distance, respectively calculate the coordinate positions of the three tag antennas A1, A2, A3 (x_t1A1 ,y_t1A1 ,z_t1A1 ), (x_t2A2 ,y_t2A2 ,z_t2A2 ), (x_t3A3 , y_t3A3 , z_t3A3 ), and thecomputing host 40 can further calculate the orientation (u, v, w) of the target according to the following formula.

綜上所述，本發明可基於收發器10與定位標籤20之間雙向電磁波信號傳輸，定位找出定位標籤20的座標位置。進一步參看圖11所示，本發明方法可應用於手術定位裝置的術前架設流程及定位流程中，透過該些收發器10的發射信號及接收信號進行射頻定位演算，量測定位標籤20中各標籤天線22與各收發器10的初始距離，在該些收發器10位置已知且固定的情形下，根據各標籤天線22與各收發器10的距離，計算各標籤天線22的座標位置，供手術定位裝置於手術中精準運算安裝於手術器械及病患患部的定位標籤20的位置及方位，以減少因電路延遲使得收發器10天線的相位中心不在收發器10幾何中心上導致的運算誤差，並透過中頻信號相位比對提升標籤天線22的座標位置及定位標籤20的方位的精準度，使醫生能更精準的操作器械，提升施術品質。In summary, the present invention can locate and find the coordinate position of thepositioning tag 20 based on the two-way electromagnetic wave signal transmission between thetransceiver 10 and thepositioning tag 20. Further referring to FIG. 11, the method of the present invention can be applied to the preoperative erection process and the positioning process of the surgical positioning device. The radio frequency positioning calculation is performed through the transmitted signals and received signals of thetransceivers 10, and each of the position tags 20 is measured. The initial distance between thetag antenna 22 and eachtransceiver 10, in the case where the positions of thetransceivers 10 are known and fixed, the coordinate position of eachtag antenna 22 is calculated according to the distance between eachtag antenna 22 and eachtransceiver 10, and is provided for The surgical positioning device accurately calculates the position and orientation of thepositioning tag 20 installed on the surgical instrument and the patient's part during the operation, so as to reduce the calculation error caused by the circuit delay and the phase center of thetransceiver 10 antenna is not on the geometric center of thetransceiver 10. And through the intermediate frequency signal phase comparison to improve the accuracy of the coordinate position of thetag antenna 22 and the orientation of thepositioning tag 20, the doctor can operate the equipment more accurately and improve the quality of the operation.

10、10a、10b、10c、10d:收發器11、11a、11b、11c、11d:發射電路12、12a、12b、12c、12d:發射天線13、13a、13b、13c、13d:接收電路14、14a、14b、14c、14d:接收天線20:定位標籤21、21a、21b、21c:標籤電路22、A1、A2、A3:標籤天線30:信號模組31、31a、31b、31c:處理單元311、311a、311b、311c:辨識電路312、312a、312b、312c、312d:處理電路32:多工器33:類比數位轉換器40:運算主機TX、TX1、TX2、TX3、TX4:發射信號RX:接收信號IF₁:初始中頻信號IF:中頻信號10, 10a, 10b, 10c, 10d:transceiver 11, 11a, 11b, 11c, 11d: transmittingcircuit 12, 12a, 12b, 12c, 12d: transmittingantenna 13, 13a, 13b, 13c, 13d: receivingcircuit 14, 14a, 14b, 14c, 14d: receiving antenna 20:positioning tag 21, 21a, 21b, 21c:tag circuit 22, A1, A2, A3: tag antenna 30:signal module 31, 31a, 31b, 31c: processingunit 311 , 311a, 311b, 311c:identification circuit 312, 312a, 312b, 312c, 312d: processing circuit 32: multiplexer 33: analog-to-digital converter 40: operation host TX, TX1, TX2, TX3, TX4: transmit signal RX: Received signal IF₁ : Initial IF signal IF: IF signal

圖1：本發明多目標射頻定位系統的示意圖。圖2：本發明多目標射頻定位系統中收發器的示意圖。圖3：本發明多目標射頻定位系統中定位標籤的示意圖。圖4A：本發明多目標射頻定位系統中信號模組的示意圖。圖4B：本發明多目標射頻定位系統中處理單元的示意圖。圖5A：不同頻率之發射信號的波形示意圖。圖5B：不同時段之發射信號的波形示意圖。圖5C：不同頻率、不同時段之發射信號的波形示意圖。圖6：測量標籤天線與收發器初始距離的流程圖。圖7A：第一實施例中多目標射頻定位系統的示意圖。圖7B：第一實施例中多目標射頻定位系統的處理單元的示意圖。圖8：第一實施例中定位標籤安裝治具的示意圖。圖9：測量標籤天線座標位置的流程圖。圖10A：第二實施例中多目標射頻定位系統的示意圖。圖10B：第二實施例中多目標射頻定位系統的處理單元的示意圖。圖11：本發明多目標射頻定位系統實際應用的示意圖。Figure 1: Schematic diagram of the multi-target radio frequency positioning system of the present invention.Figure 2: Schematic diagram of the transceiver in the multi-target radio frequency positioning system of the present invention.Figure 3: Schematic diagram of positioning tags in the multi-target radio frequency positioning system of the present invention.Fig. 4A: A schematic diagram of the signal module in the multi-target radio frequency positioning system of the present invention.Fig. 4B: A schematic diagram of the processing unit in the multi-target radio frequency positioning system of the present invention.Figure 5A: Schematic diagram of waveforms of transmitted signals at different frequencies.Figure 5B: Schematic diagram of the waveform of the transmitted signal in different time periods.Figure 5C: Schematic diagram of the waveform of the transmitted signal at different frequencies and different time periods.Figure 6: Flow chart of measuring the initial distance between the tag antenna and the transceiver.Fig. 7A: A schematic diagram of the multi-target radio frequency positioning system in the first embodiment.Fig. 7B: A schematic diagram of the processing unit of the multi-target radio frequency positioning system in the first embodiment.Figure 8: Schematic diagram of the positioning label installation jig in the first embodiment.Figure 9: Flow chart of measuring the coordinate position of the tag antenna.Fig. 10A: A schematic diagram of the multi-target radio frequency positioning system in the second embodiment.Fig. 10B: A schematic diagram of the processing unit of the multi-target radio frequency positioning system in the second embodiment.Figure 11: A schematic diagram of the practical application of the multi-target radio frequency positioning system of the present invention.

10:收發器10: Transceiver

20:定位標籤20: Positioning label

30:信號模組30: Signal module

40:運算主機40: Computing host

Claims (14)

Translated fromChinese

一種多目標射頻定位系統，包含有複數個收發器、至少一定位標籤、一信號模組及一運算主機，其中：各收發器包含：一發射電路，連接一發射天線，該發射電路產生一發射信號，透過該發射天線產生與該發射信號相對應的一發射信號電磁波對外傳輸；以及一接收電路，連接一接收天線，該接收電路透過該接收天線截取該至少一定位標籤發出的一調變信號電磁波並產生一調變信號；該至少一定位標籤包含：至少一標籤電路與對應連接該標籤電路的一標籤天線，該標籤天線接收該發射天線對外傳輸的發射信號電磁波，經該標籤電路加入對應該標籤天線的一識別碼，該標籤天線產生該調變信號電磁波向外傳輸；該信號模組連接各收發器，且包含有：至少一處理單元，包含有一辨識電路及複數個處理電路，該處理電路的數目與該收發器的總數一致，該辨識電路提供對應該標籤天線的一識別信號給該些處理電路，供各該處理電路對該調變信號解調變得到一接收信號，各該處理電路將該發射信號與該接收信號混頻，產生一中頻信號；一多工器，與該至少一處理單元連接，接收該至少一處理單元傳輸的該中頻信號並向外傳輸；以及一類比數位轉換器，與該多工器連接，藉由該多工器簡化訊號傳輸的通道數，減少該信號模組所需要的類比數位轉換器的通道數量，該類比數位轉換器將該多工器傳輸的該中頻信號轉換為數位信號格式；該運算主機連接該類比數位轉換器，將該中頻信號與對應該中頻信號之一初始中頻信號相互比對得到一相位差，由該相位差計算一距離變化量，並根據該距離變化量進行初始距離量測、各該收發器的座標位置量測或是多目標射頻定位。A multi-target radio frequency positioning system includes a plurality of transceivers, at least one positioning tag, a signal module and a computing host, wherein:Each transceiver includes:A transmitting circuit connected to a transmitting antenna, the transmitting circuit generates a transmitting signal, and a transmitting signal electromagnetic wave corresponding to the transmitting signal is generated through the transmitting antenna for external transmission; andA receiving circuit connected to a receiving antenna, the receiving circuit intercepts a modulation signal electromagnetic wave emitted by the at least one positioning tag through the receiving antenna and generates a modulation signal;The at least one positioning label includes:At least one tag circuit and a tag antenna corresponding to the tag circuit. The tag antenna receives the electromagnetic wave of the transmitted signal externally transmitted by the transmitting antenna, and adds an identification code corresponding to the tag antenna through the tag circuit, and the tag antenna generates the modulation Signal electromagnetic waves are transmitted outwards;The signal module is connected to each transceiver and includes:At least one processing unit includes an identification circuit and a plurality of processing circuits. The number of the processing circuits is consistent with the total number of the transceivers. The identification circuit provides an identification signal corresponding to the tag antenna to the processing circuits for each of the processing circuits. The circuit demodulates the modulated signal into a received signal, and each of the processing circuits mixes the transmitted signal with the received signal to generate an intermediate frequency signal;A multiplexer connected to the at least one processing unit, receiving the intermediate frequency signal transmitted by the at least one processing unit and transmitting it to the outside; andAn analog-to-digital converter is connected to the multiplexer. The multiplexer simplifies the number of channels for signal transmission and reduces the number of analog-to-digital converter channels required by the signal module. The intermediate frequency signal transmitted by the worker is converted into a digital signal format;The arithmetic host is connected to the analog-to-digital converter, the intermediate frequency signal is compared with an initial intermediate frequency signal corresponding to the intermediate frequency signal to obtain a phase difference, a distance change is calculated from the phase difference, and the distance change is changed according to the phase difference Perform initial distance measurement, coordinate position measurement of each transceiver, or multi-target radio frequency positioning.如請求項1所述之多目標射頻定位系統，其中，該複數個收發器的複數發射電路，以分頻多工、分時多工、分頻分時多工三種方式中其中一種產生該些發射信號，在同時間發出之發射信號頻率不會重疊。The multi-target radio frequency positioning system according to claim 1, wherein the complex transmitting circuits of the plurality of transceivers generate the plurality of transmission circuits in one of three ways: frequency division multiplexing, time division multiplexing, and frequency division time division multiplexing. When transmitting signals, the frequencies of the transmitted signals sent at the same time will not overlap.如請求項1所述之多目標射頻定位系統，其中，該至少一定位標籤包含複數個標籤電路，各該標籤電路連接至對應的標籤天線，該標籤天線的總數目與該標籤電路的數目相同；該信號模組中的該至少一處理單元的數目與該標籤天線的總數相同，每個處理單元負責處理所對應標籤天線之調變信號。The multi-target radio frequency positioning system according to claim 1, wherein the at least one positioning tag includes a plurality of tag circuits, each of the tag circuits is connected to a corresponding tag antenna, and the total number of the tag antennas is the same as the number of the tag circuits ; The number of the at least one processing unit in the signal module is the same as the total number of the tag antenna, and each processing unit is responsible for processing the modulated signal of the corresponding tag antenna.如請求項1所述之多目標射頻定位系統，其中，該至少一定位標籤為複數個定位標籤；該信號模組中的該至少一處理單元的數目與該標籤天線的總數相同，每個處理單元負責處理所對應標籤天線之調變信號。The multi-target radio frequency positioning system according to claim 1, wherein the at least one positioning tag is a plurality of positioning tags; the number of the at least one processing unit in the signal module is the same as the total number of the tag antenna, and each processing The unit is responsible for processing the modulation signal of the corresponding tag antenna.一種初始距離量測方法，包含有：A. 計算至少一定位標籤設置於複數個相異且相對位置已知的座標位置時，該至少一定位標籤中的一標籤天線與設置於複數個相異已知座標位置的複數收發器的距離變化量，當該至少一定位標籤設置於各相對位置已知的座標位置時，係進行以下步驟：a1. 各該收發器中的一發射電路產生一發射信號，並透過與該發射電路連接的一發射天線產生一發射信號電磁波向外傳輸；a2. 該至少一定位標籤中的該標籤天線接收該發射信號電射波，經過與該標籤天線連接的一標籤電路加入與該標籤天線相對應的一識別碼，該標籤天線產生一調變信號電磁波向外傳輸；a3. 各該收發器中的一接收天線接收該調變信號電磁波，與該接收天線連接的一接收電路根據該調變信號電磁波產生一調變信號，並將該調變信號傳送至一信號模組；a4. 該信號模組中的至少一處理單元中的一辨識電路產生對應該標籤天線的一識別信號，該至少一處理單元中的複數處理電路藉由該識別信號對該調變信號解調變，產生一接收信號；a5. 各該處理電路將該發射信號與該接收信號混頻產生一中頻信號，並將該中頻信號傳送至一多工器；a6. 該多工器接收該至少一處理單元所傳輸的該中頻信號並傳送至一類比數位轉換器，該類比數位轉換器將該中頻信號轉換為數位信號格式傳輸至一運算主機；a7. 該運算主機比對該中頻信號與對應該中頻信號之一初始中頻信號，得到一相位差，藉由該相位差，根據距離變化量的計算公式計算各該收發器與該至少一定位標籤中該標籤天線的距離變化量；B. 該運算主機根據該至少一定位標籤中該標籤天線與各該收發器的距離變化量，計算該標籤天線與各該收發器的初始距離。An initial distance measurement method, including:A. Calculate the distance between a tag antenna in the at least one positioning tag and a plurality of transceivers installed at a plurality of different coordinate positions when the at least one positioning tag is set at a plurality of different coordinate positions with known relative positions The amount of change, when the at least one positioning label is set at each coordinate position with a known relative position, the following steps are performed:a1. A transmission circuit in each of the transceivers generates a transmission signal, and generates a transmission signal through a transmission antenna connected to the transmission circuit to transmit electromagnetic waves to the outside;a2. The tag antenna in the at least one positioning tag receives the transmitted signal radio waves, and adds an identification code corresponding to the tag antenna through a tag circuit connected to the tag antenna, and the tag antenna generates a modulation signal Electromagnetic waves are transmitted outwards;a3. A receiving antenna in each of the transceivers receives the modulated signal electromagnetic wave, and a receiving circuit connected to the receiving antenna generates a modulated signal according to the modulated signal electromagnetic wave, and transmits the modulated signal to a signal module Group;a4. An identification circuit in at least one processing unit in the signal module generates an identification signal corresponding to the tag antenna, and a complex processing circuit in the at least one processing unit demodulates the modulated signal by the identification signal To generate a received signal;a5. Each of the processing circuits mixes the transmitted signal with the received signal to generate an intermediate frequency signal, and transmits the intermediate frequency signal to a multiplexer;a6. The multiplexer receives the intermediate frequency signal transmitted by the at least one processing unit and transmits it to an analog-to-digital converter, which converts the intermediate frequency signal into a digital signal format and transmits it to an arithmetic host;a7. The computing host compares the intermediate frequency signal with an initial intermediate frequency signal corresponding to the intermediate frequency signal to obtain a phase difference. With the phase difference, each transceiver and the at least one transceiver are calculated according to the calculation formula of the distance change. A distance change of the tag antenna in the positioning tag;B. The computing host calculates the initial distance between the tag antenna and each transceiver according to the distance change between the tag antenna and each transceiver in the at least one positioning tag.如請求項5所述之初始距離量測方法，其中，步驟a5中，各該處理電路中由第一個發射信號與第一個接收信號混頻獲得的中頻信號為該初始中頻信號。The initial distance measurement method according to claim 5, wherein, in step a5, the intermediate frequency signal obtained by mixing the first transmitted signal and the first received signal in each of the processing circuits is the initial intermediate frequency signal.如請求項5所述之初始距離量測方法，其中，步驟a7中，距離變化量的計算公式

，∆D代表距離變化量、

代表波長、∆Ф代表相位差、π代表圓周率。The initial distance measurement method described in claim 5, wherein, in step a7, the calculation formula of the distance change is

, ∆D represents the distance change,

Represents the wavelength, ∆Ф represents the phase difference, and π represents the pi.一種多目標射頻定位方法，包含有：A. 計算至少一定位標籤設置於待定位的座標位置時，該至少一定位標籤中的至少一標籤天線與設置於複數個相異已知座標位置的複數收發器的距離，係進行以下步驟：a1. 各該收發器中的一發射電路產生一發射信號，與該發射電路連接的一發射天線產生一發射信號電磁波向外傳輸；a2. 該至少一定位標籤中的該至少一標籤天線接收該發射信號電射波，與該至少一標籤天線連接的一標籤電路加入與該至少一標籤天線相對應的一識別碼，該至少一標籤天線產生一調變信號電磁波向外傳輸；a3. 各該收發器中的一接收天線接收該調變信號電磁波，與該接收天線連接的一接收電路根據該調變信號電磁波產生一調變信號，並將該調變信號傳送至一信號模組；a4. 該信號模組中的至少一處理單元中的一辨識電路產生對應該至少一標籤天線的一識別信號，該至少一處理單元中的複數處理電路藉由該識別信號對該調變信號解調變，產生一接收信號；a5. 各該處理電路將該發射信號與該接收信號混頻產生一中頻信號，並將該中頻信號傳送至一多工器；a6. 該多工器接收該至少一處理單元所傳輸的該中頻信號並傳送至一類比數位轉換器，該類比數位轉換器將該中頻信號轉換為數位信號格式傳輸至一運算主機；a7. 該運算主機比對該中頻信號與對應該中頻信號之一初始中頻信號，得到一相位差，藉由該相位差，根據距離計算公式及距離變化量的計算公式計算各該收發器與該至少一定位標籤中該至少一標籤天線的距離；B. 該運算主機根據該至少一定位標籤中該至少一標籤天線與各該收發器的距離及各該收發器的已知座標位置，計算該至少一標籤天線的座標位置。A multi-target radio frequency positioning method, including:A. Calculating the distance between at least one tag antenna in the at least one positioning tag and the plurality of transceivers installed at a plurality of different known coordinate positions when the at least one positioning tag is set at the coordinate position to be located, the following steps are performed: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 for outward transmission;a2. The at least one tag antenna in the at least one positioning tag receives the transmitted signal radio waves, and a tag circuit connected to the at least one tag antenna adds an identification code corresponding to the at least one tag antenna, and the at least one tag antenna The tag antenna generates a modulated signal electromagnetic wave and transmits it outward;a3. A receiving antenna in each of the transceivers receives the modulated signal electromagnetic wave, and a receiving circuit connected to the receiving antenna generates a modulated signal according to the modulated signal electromagnetic wave, and transmits the modulated signal to a signal module Group;a4. An identification circuit in at least one processing unit in the signal module generates an identification signal corresponding to at least one tag antenna, and a complex processing circuit in the at least one processing unit decodes the modulation signal by the identification signal Modulate to generate a received signal;a5. Each of the processing circuits mixes the transmitted signal with the received signal to generate an intermediate frequency signal, and transmits the intermediate frequency signal to a multiplexer;a6. The multiplexer receives the intermediate frequency signal transmitted by the at least one processing unit and transmits it to an analog-to-digital converter, which converts the intermediate frequency signal into a digital signal format and transmits it to an arithmetic host;a7. The computing host compares the intermediate frequency signal with an initial intermediate frequency signal corresponding to the intermediate frequency signal, and obtains a phase difference. With the phase difference, each of the transceivers is calculated according to the distance calculation formula and the distance change calculation formula The distance between the device and the at least one tag antenna in the at least one positioning tag;B. The computing host calculates the coordinate position of the at least one tag antenna according to the distance between the at least one tag antenna and each transceiver in the at least one positioning tag and the known coordinate position of each transceiver.如請求項8所述之多目標射頻定位方法，其中，步驟A中，該至少一定位標籤是一個定位標籤，包含複數個標籤天線。The multi-target radio frequency positioning method according to claim 8, wherein in step A, the at least one positioning tag is a positioning tag and includes a plurality of tag antennas.如請求項8所述之多目標射頻定位方法，其中，步驟A中，該至少一定位標籤是複數個定位標籤。The multi-target radio frequency positioning method according to claim 8, wherein, in step A, the at least one positioning tag is a plurality of positioning tags.如請求項9所述之多目標射頻定位方法，其中，該運算主機根據該定位標籤其複數個標籤天線的位置座標，計算出該定位標籤的方位。The multi-target radio frequency positioning method according to claim 9, wherein the computing host calculates the position of the positioning tag according to the position coordinates of the plurality of tag antennas of the positioning tag.如請求項10所述之多目標射頻定位方法，其中，該運算主機根據該複數個定位標籤的複數個標籤天線的位置座標，計算出至少一方位。The multi-target radio frequency positioning method according to claim 10, wherein the computing host calculates at least one position according to the position coordinates of the plurality of tag antennas of the plurality of positioning tags.如請求項8所述之多目標射頻定位方法，其中，步驟a7中，該初始中頻信號為該至少一標籤天線於一初始距離量測中，各該處理電路將第一個發射信號與第一個接收信號混頻所獲得的中頻信號。The multi-target radio frequency positioning method according to claim 8, wherein, in step a7, the initial intermediate frequency signal is the at least one tag antenna in an initial distance measurement, and each processing circuit compares the first transmitted signal with the second An intermediate frequency signal obtained by mixing the received signal.如請求項8所述之多目標射頻定位方法，其中，步驟a7中，距離計算公式為

及距離變化量的計算公式為

，D代表距離、∆D代表距離變化量、D₁代表初始距離、

代表波長、∆Ф代表相位差、π代表圓周率。The multi-target radio frequency positioning method according to claim 8, wherein, in step a7, the distance calculation formula is

And the calculation formula of distance change is

, D stands for distance, ∆D stands for distance change, D₁ stands for initial distance,

Represents the wavelength, ∆Ф represents the phase difference, and π represents the pi.

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