Method and apparatus for distance measurement

• US 6,404,703 B1
• Filed: 07/06/1999
• Issued: 06/11/2002
• Est. Priority Date: 05/14/1996
• Status: Expired due to Fees

• Current Assignee: Guide DOGS For The Blind Association
• Original Assignee: Guide DOGS For The Blind Association
• Inventors: Burrell, Christopher Simon
• Primary Examiner(s): Lobo, Ian J.
• Application Number:
  US09/180,739
• Time in Patent Office: 1,071 Days
• Field of Search: 367/128, 367/127, 367/118, 340/825.54, 342/128, 342/129, 342/130
• US Class Current: 367/128
• CPC Class Codes: G01S 1/75 Transmitters
• CPC Class Codes: G01S 11/16 using difference in transit time between electrical and acoustic signals

Abstract

A method and apparatus for distance measurement is disclosed in which first and second signals having different propagation speeds are transmitted between a transmitter (2) at a first location and a receiver (3) at a second location. The distance between the first and second locations is determined from the difference in propagation time between the first and second signals.

Claims

1. A distance measuring method comprising the steps of:

transmitting between at least one pair of first and second locations a respective first signal having a first propagation speed, wherein the or each said first signal includes a respective first modulation signal having a repetition period longer than a propagation time of said first signal between the at least one pair of the first and second locations, and wherein the or each said first signal is sequentially transmitted at two carrier frequencies, and said carrier frequencies are selected according to the respective first modulating signal;

transmitting between the or each pair of first and second locations a respective second signal having a second propagation speed higher than the first propagation speed; and

determining the distance between the first and second locations from the difference in propagation time between said first and second signals.

2. A method according to claim 1, further comprising the step of rotating the or each said first signal.

3. A method according claim 1, wherein the or each said first and second signal is emitted from a respective first location and detected at a respective second location.

4. A method according to claim 1, wherein the or each said second signal includes a respective second modulation signal associated with said first modulation signal.

5. A method according to claim 4, wherein the step of detecting the or each said second signal further comprises deriving the respective second modulation signal, generating at the respective second location a plurality of reference signals corresponding to the respective first modulation signals delayed by substantially constant time intervals relative to each other, and comparing a signal derived from the or each said detected first signal with each of the plurality of reference signals.

6. A method according to claim 5, wherein the step of generating said reference signals comprises generating respective first modulation signals at the or each second location and inputting each said first modulation signal to a respective shift register having a plurality of outputs.

7. A method according to claim 5, further comprising the step of determining a degree of correlation between the or each signal derived from the detected first signal and each reference signal.

8. A method according to claim 1, wherein the or each said first modulation signal is a pseudo-random bit sequence.

9. A method according to claim 8, wherein the time interval between successive bits of the pseudo-random bit sequence is a multiple of the periods corresponding to said respective carrier frequencies.

10. A method according to claim 1, further comprising the step of transmitting a third signal from at least one said second location to a said first location to activate emission of said first and second signal.

11. A method according to claim 1, wherein the or each said first signal is an acoustic signal, and preferably an ultrasonic signal.

12. A method according to claim 1, wherein the or each said second signal is an electromagnetic, optical or radio frequency signal.

13. A transmitter for a distance measurement system, the transmitter comprising:

a first emitter for emitting a first signal having a first propagation speed;

a second emitter for emitting a second signal having a second propagation speed higher than the first propagation speed;

first modulating means for modulating said first signal by a first modulation signal having a repetition period longer than a propagation time of the first signal from the first emitter to a detector; and

control means for controlling the delay between emission of said first and second signals, wherein the first emitter in use emits the first signal sequentially at two frequencies selected according to the first modulation signal.

14. A transmitter according to claim 13, further comprising means for rotating said first signal.

15. A transmitter according to claim 13, further comprising signal generating means for generating the first modulating signal.

16. A transmitter according to claim 13, wherein the first modulation signal is a pseudo-random bit sequence.

17. A transmitter according to claim 16, wherein the time interval between successive bits of the pseudo-random bit sequence is a multiple of the periods corresponding to the respective two frequencies.

18. A transmitter according to claim 16, wherein the signal generating means comprises at least one shift register for receiving the seed of the pseudo-random bit sequence and a gate network connected to outputs of the shift register.

19. A transmitter according to claim 18, wherein the gate network comprises a plurality of XOR gates.

20. A transmitter according to claim 16, further comprising second modulating means for modulating the second signal with the seed of the pseudo-random bit sequence.

21. A transmitter according to claim 13, wherein the transmitter has an inactive mode in which said first and second signals are not emitted, and further comprises detector means for detecting a third signal and actuating emission of said first and second signals in response thereto.

22. A transmitter according to claim 13, wherein the first emitter comprises means for emitting an acoustic, and preferably an ultrasonic, signal.

23. A transmitter according to claim 13, wherein the second emitter comprises means for emitting an electromagnetic, optical or radio frequency signal.

34. A distance measuring system comprising at least one transmitter according to claim 13, and at least one detector apparatus according to claim 24.

24. A detector apparatus for a distance measuring system, the apparatus comprising:

a first detector for detecting a first signal having a first propagation speed, wherein the first detector in use detects a first modulation signal having a longer repetition period than a transmitter-detector propagation time or the first signal;

frequency discriminator means for detecting the first signal transmitted sequentially at two frequencies selected according to the first modulation signal;

a second detector for detecting a second signal having a second propagation speed higher than the first propagation speed; and

means for determining a transmitter-detector distance from a time interval between detection of said first and second signals.

25. An apparatus according to claim 24, wherein the second detector in use detects a second modulation signal associated with the first modulation signal.

26. An apparatus according to claim 25, wherein the first modulation signal is a pseudo-random bit sequence, and the second modulation signal includes the seed of said pseudo-random bit sequence.

27. An apparatus according to claim 26, wherein the time interval between successive bits of the pseudo-random bit sequence is a multiple of the periods corresponding to said respective two frequencies.

28. An apparatus according to claim 24, wherein the frequency discriminator means comprises a phase locked loop.

29. An apparatus according to claim 24, wherein the determining means comprises processor means for generating a plurality of reference signals corresponding to the first modulating signal delayed by substantially fixed time intervals relative to each other and comparing the detected first modulating signal with each of the said plurality of reference signals.

30. An apparatus according to claim 29, wherein the processor means comprises a shift register for receiving a seed of the pseudo-random bit sequence and a gate network for generating the pseudo-random bit sequence therefrom.

31. An apparatus according to claim 30, wherein the gate network comprises a plurality of XOR gates.

32. An apparatus according to claim 29, wherein the processor means evaluates a degree of correlation between the first modulation signal and each of the plurality of reference signals.

33. An apparatus according to claim 29, wherein the processor means comprises a micro computer.