Monitoring device and method using echo signals
An echo-signal monitoring device having a plurality of transceiver units for transmitting signals and receiving the echoes reflected by an external object and an analyzer unit for estimating the distance from the monitoring device to the external object on the basis of the received echoes is characterized in that the device has an operating mode for calculating the relative position of the transceiver units from one another on the basis of the reflected echoes.
1. An echo-signal monitoring device comprising:
transceiver units, each for transmitting a signal and receiving an echo reflected back by an external object; and
an analyzer unit for estimating a distance from the monitoring device to the external object based on received echoes;
wherein the monitoring device includes an operating mode for calculating a relative position of the transceiver units to one another based on a reflected echo.
2. The echo-signal monitoring device of claim 1 , wherein the monitoring device checks whether propagation times of the received echoes meet predetermined conditions, and if so, the monitoring device switches to the operating mode for calculating the relative position of the transceiver units to one another.
3. The echo-signal monitoring device of claim 2 , wherein the monitoring device includes a signal input for a speed signal and it switches to the operating mode for calculating the relative position of the transceiver units to one another only when the speed signal applied to the signal input indicates a speed below a predetermined limiting value.
4. The echo-signal monitoring device of claim 2 , wherein the monitoring device is operable to estimate a speed of the external object associated with the echoes based on a change in the propagation times of successively received echoes over time, and it switches to the operating mode for calculating the relative position of the transceiver units to one another only when the estimated speed is below a predetermined limiting value.
5. The echo-signal monitoring device of claim 1 , wherein the each of the transceiver units include a detection threshold which an amplitude of a received signal must exceed to be detected by the transceiver units, the detection threshold dropping gradually from a high value to a low value immediately after transmission of the signal by a corresponding one of the transceiver units.
6. The echo-signal monitoring device of claim 1 , further comprising:
a control unit to determine points in time for transmitting a pulse-shaped signal for the transceiver units according to a stochastic model.
7. The echo-signal monitoring device of claim 1 , further comprising:
adaptive filters for the transceiver units.
8. A method for determining a relative position of transceiver units of an echo-signal monitoring device, the method comprising:
measuring direct echo propagation times from a pair of the transceiver units and back to the same transceiver units and a cross-echo propagation time from one of the transceiver units to another one of the transceiver units of the pair being measured for at least one pair of the transceiver units, the distance being determined based on measured direct echo propagation times.
9. The method of claim 8 , wherein the direct echo propagation times are measured repeatedly and calculation of a distance includes averaging over repeated ones of the measured times.
10. The method of claim 9 , wherein a geometry quality measure is determined based on the measurements, and is used to increase an accuracy of an estimate of a sensor position.
11. The method of claim 9 , wherein the repeated ones of the measurements are performed during a movement of the echo-signal monitoring device.
12. The method of claim 8 , wherein the direct echo propagation times are measured for a plurality of pairs of the transceiver units.
13. The method of claim 12 , wherein the plurality of pairs is selected so that redundant measurements are performed, and positions of the transceiver units are obtained from the redundant measurements with an error minimization process.
14. The method of claim 13 , wherein a reliability of a measurement of an echo propagation time is evaluated based on a fluctuation in the measured echo propagation time in the repeated measurements, and the measurement is considered in the error minimization process using a weighting that is greater the smaller the fluctuation.
15. The method of claim 13 , wherein a reliability of a measurement of a cross-echo propagation time is evaluated based on its relationship to the direct echo propagation times of the transceiver units involved in the measurement of the cross-echo propagation time, the measurement being considered in the error minimization process using a weighting that is greater the longer the cross-echo propagation time is in relation to the direct echo propagation times.