Ranging and positioning system
A ranging and positioning system comprising transmitters and receiver nodes communicating together by chirp-modulated radio signals, that have a ranging mode in which ranging exchange of signals takes place between a master device and a slave device that leads to the evaluation of the range between them. The slave is arranged for recognizing a ranging request and transmit back a ranging response containing chirps that precisely aligned in time and frequency with the chirps in the ranging requests, whereupon the master can receive the ranging response, analyze the time and frequency the chirps contained therein with respect to his own time reference, and estimate a range to the slave.
1. A system comprising at least
a transmitting device and
a receiving device,
wherein each device includes a time reference,
wherein each device is arranged for transmitting and receiving radio signals that include a plurality of chirps, wherein each chirp is limited in time between an initial instant, at which the signal has an initial instantaneous frequency and a final instant at which the signal has a final instantaneous frequency, said initial and final instants and said initial and final instantaneous frequencies being determined by the time reference of the transmitting device or by the time reference of the receiving device,
said devices having a ranging mode, in which a ranging request is transmitted from the transmitting device to the receiving device, wherein the ranging request includes a plurality of ranging request chirps,
wherein the receiving device is arranged for receiving the ranging request and for determining the time and frequency shifts of the time reference of the receiving device with respect to the time reference of the transmitting device, based on the time and frequency of ranging request chirps,
wherein the receiving device is arranged for transmitting to the transmitting device in response to the ranging request, a ranging response containing chirps that are aligned in time and frequency with the time reference of the transmitting device, and the ranging request comprises a header with a ciphered information that can be understood only using a secret shared between the transmitting device and the receiving device, such that the ranging information cannot be collected or falsified by devices other than the transmitting device and the receiving device.
2. The system of claim 1 , wherein the ranging response being separated from the ranging request by a delay whose length is determined by the secret shared by the transmitting device and the receiving device.
3. The system of claim 1 , further comprising a plurality of receiving devices having a common time reference arranged for receiving the ranging request, and for determining a plurality of time offsets dependent on the range between the transmitting device and each receiving device, and a computing means, arranged for determining the position of the transmitting device based on said time offsets.
4. The system of claim 1 , comprising a plurality of transmitting devices having a common time reference arranged for transmitting said ranging requests, and a receiving device, arranged for arranged for receiving the ranging requests and for determining a plurality of time offsets dependent on the range between the receiving device and each transmitting device, and for determining the position of the receiving device based on said time offsets.
5. The system of claim 1 , the transmitting device and the receiving device are arrange to perform the ranging several times, wherein the delay is different for each ranging response.
6. The system of claim 5 , wherein the delay of each ranging response is specified in each respective ranging request, or wherein the shared secret transmitted by the transmitting device is used to generate a pseudorandom sequence of variable delays.
7. The system of claim 1 , wherein each ranging request chirp is limited in time between an initial instant, at which the signal has an initial instantaneous frequency and an initial phase; and a final instant at which the signal has a final instantaneous frequency and a final phase, the phase of the signal being essentially continuous.
8. The system of claim 1 , wherein the ranging request comprises a series of identical ranging request chirps, and the receiving device is arranged for performing a dechirp operation, in which each received ranging request chirp is multiplied by a locally-generated conjugate chirp, and a FFT is executed on the result, whereupon the peak of the FFT is an indication of the time shift between the received chirps and the locally generated ones.
9. The system of claim 8 , wherein the receiving device is arranged for performing an adjusted dechirp, in which a different locally-generated chirp is used at each received ranging request chirp in order to adjust for the timing and frequency shifts.
10. The system of claim 1 , wherein the ranging response comprises a series of identical chirps that are synthesized in the receiving device applying different parameters to each chirp, such that they are aligned in time and frequency with the time reference of the transmitting device.
11. The system of claim 1 , wherein the receiving and/or the transmitting devices are arranged to perform several ranging measures and for combining them based on the associated signal strength.
12. The system of claim 1 , wherein the frequency and/or the bandwidth and/or the spreading factor of the radio signals is adapted based on the channel state.
13. The system of claim 1 , wherein the receiving device is arranged to compensate a range estimate affected by multipath by applying a compensation curve.
14. The system of claim 13 , arranged to execute automatic calibration of the compensation curve, in which the rate of change of the estimated range is used as an indication of the true range.
15. The system of claim 1 , further arranged to computed an obstruction indication based on the range estimate and the received signal strength.