Symmetrical multi-path method for determining the distance between two transmitter-receivers

• US 7,843,379 B2
• Filed: 11/15/2005
• Issued: 11/30/2010
• Est. Priority Date: 11/15/2004
• Status: Active Grant

• Current Assignee: Nanotron Technologies GmbH (Inpixon GmbH)
• Original Assignee: Nanotron Technologies GmbH (Inpixon GmbH)
• Inventors: Menzer, Lars, Ianelli, Zbigniew, Hach, Rainer
• Primary Examiner(s): Tarcza, Thomas H
• Assistant Examiner(s): Brainard, Timothy A
• Application Number:
  US11/667,806
• Publication Number:
  US 20080231498A1
• Time in Patent Office: 1,841 Days
• Field of Search: 342/134
• US Class Current: 342/118
• CPC Class Codes: G01S 13/765 with exchange of information between interrogator and responder
• CPC Class Codes: G01S 7/28 Details of pulse systems

Abstract

The invention relates to a symmetrical multi-path method for determining the spatial distance between two transmitter-receivers. Both transmitter-receivers set off at least one signal round in each case. A signal round comprises the steps:

• a) transmitting at least one request data frame of a first transmitter-receiver to a second transmitter-receiver at a request transmitting time (T_TA1, T_TB2),
• b) receiving the request data frame at the second transmitter-receiver at a request receiving time (T_RB1, T_RA2),
• c) transmitting a reply data frame from the second transmitter-receiver to the first transmitter-receiver at a reply transmitting time (T_TB1, T_TA2), which has a respective reply time interval (T_replyB1, T_replyA2) from the request receiving time (T_RB1, T_RA2) and detecting the reply time interval,
• d) receiving the reply data frame at the first transmitter-receiver setting off the signal round and detecting an allocated reply receiving time (T_RA1, T_RB2).

The signal rounds are performed in such a way that the reply time intervals (T_replyA2, T_replyB1) are either identical or have a difference, in the case of performing more than one signal round set off by each transmitter-receiver an average difference, the amount of which is a maximum of 200 microseconds.

Claims

1. Method for determining the spatial distance between two transmitter-receivers within a distance range in the order of magnitude of 10 km,

in which both transmitter-receivers set off respectively at least one signal round, a signal round comprising the following steps:

transmitting at least one request data frame, containing a sequence of at least two signal pulses with a predetermined pulse time interval, from a first transmitter-receiver setting off the signal round to a second transmitter-receiver at a request transmitting time (T_TA1, T_TB2),

receiving the request data frame at the second transmitter-receiver at a request receiving time (T_RB1, T_RA2),

transmitting a reply data frame, containing a sequence of at least two signal pulses with a predetermined pulse time interval, from the second transmitter-receiver to the first transmitter-receiver at a reply transmitting time (T_TB1, T_TA2), which has a respective reply time interval (T_replyB1, T_replyA2) from the request receiving time (T_RB1, T_RA2), and detecting the respective reply time interval,

receiving the reply data frame at the first transmitter-receiver setting off the signal round and detecting a reply receiving time (T_RA1, T_RB2), allocated to the receipt of the reply data frame, relative to the request transmitting time (T_TA1, T_TB2),

at which an evaluation is carried out comprising the following steps;

ascertaining a round time interval (T_roundA1, T_roundB2) between the respective request transmitting time (T_TA1, T_TB2) and the respective reply receiving time (T_RA1, T_RB2) for each signal round, this step being able to be performed at any time after the relevant signal round,

ascertaining a signal transit time (T_prop) between the two transmitter-receivers using the ascertained round time intervals (T_roundA1, T_roundB2) and the reply time intervals (T_replyB1, T_replyA2) and

ascertaining the spatial distance between the first and second transmitter-receivers by multiplying the signal transit time (T_prop) (by a previously known propagation speed of the signal pulses,

and in which the signal rounds are performed in such a way that the reply time intervals (T_replyA2, T_replyB1) are either identical or have a difference, in the case of performing more than one signal round set off by each transmitter-receiver an average difference, the amount of which is a maximum of 200 microseconds.

2. Method according to claim 1, in which the signal rounds are performed in such a way that the reply time intervals (T_replyA2, T_replyB1) are either identical or have a difference, in the case of performing of more than one signal round set off by each transmitter-receiver an average difference, the amount of which is a maximum of 20 microseconds.

3. Method according to claim 1, in which the second transmitter-receiver does not set off a signal round until it has sent the reply data frame to the first transmitter-receiver.

4. Method according to claim 3, in which

each transmitter-receiver sets off at least two signal rounds, until the distance between the first and the second transmitter-receivers has been passed through by a number of request and reply data frames which is at least eight and a multiple of four,

additional round time intervals T_roundA1, with i=3, 5, 7, . . . , (n−

2) from T_roundA3 to T_roundA(n-2), to the signal rounds set off by the first transmitter-receiver are determined, n>

3 being an uneven number, and

additional round time intervals T_roundBk, with k=4, 6, 8, . . . , (n−

1) from T_round4 to T_roundB(n-1), to the signal rounds set off by the second transmitter-receiver are ascertained,

wherein reply time intervals T_replyAk, k=2, 4, 6, 8, . . . , (n−

1) from T_replyA2 to T_replyA(n-1), and T_replyBi, i=1, 3, 5, 7, . . . , (n−

2) from T_replyB1 to T_replyB(n-2) occur, which have an average difference according to the formula

5. Method according to claim 4, in which the signal transit time Tprop is ascertained according to the formula

6. Method according to claim 1, in which, on transmitting the reply data frame, the second transmitter-receiver simultaneously sets off a signal round, the reply data frame, allocated to a first signal round set off by the first transmitter-receiver, simultaneously constituting the request data frame of a second signal round set off by the second transmitter-receiver.

7. Method according to claim 6, in which

each transmitter-receiver sets off at least two signal rounds, until the distance between the first and second transmitter-receivers has been passed through by an uneven number n>

3 of request and reply data frames, all the additional round time intervals being ascertained and all the additional reply time intervals detected,

after repeated performance of the first signal round step sequence additional round time intervals T_roundAi with i=3, 5, 7, . . . , (n−

2), from T_roundA3 to T_roundA(n-2) are ascertained and

after repeated performance of the second signal round step sequence additional round time intervals T_roundBk, with k=4, 6, 8, . . . , (n−

1), from T_roundB4 to T_roundB(n-1) are ascertained,

wherein reply time intervals T_replyAk, k=2, 4, 6, 8, . . . , (n−

1) from T_replyA2 to T_{replyA(n-1), TreplyBi}, i=1, 3, 5, 7, . . . , (n−

2) from T_replyB1 to T_replyB(n-2) occur, which have an average difference according to the formula

8. Method according to claim 1 in which both transmitter-receivers set off precisely one signal round and the signal transit time T_prop is determined according to the formula

9. Method according to claim 1, in which as part of the evaluation either only the first or only the second transmitter-receiver ascertains the spatial distance and the other transmitter-receiver communicates to it in advance the round time interval ascertained on the part of the other transmitter-receiver and the reply time interval which has occurred on the part of the other transmitter-receiver.

10. Method according to claim 1, in which both transmitter-receivers ascertain the spatial distance and the round time intervals ascertained in each case and the reply time intervals which have occurred are communicated in advance by the first to the second transmitter-receiver and by the second to the first transmitter-receiver.

11. Method according to claim 1, in which a third transmitter-receiver ascertains the spatial distance between the first and second transmitter-receivers and the first and second transmitter-receivers transmit the ascertained round time intervals and reply time intervals in advance alternatively or additionally to the third transmitter-receiver.

12. Method according to claim 1, in which the communicated request data frames and reply data frames contain more than two signal pulses and the receiving times of more than two signal pulses of a respective request or reply data frame are detected on the part of a respective receiver.

13. Method according to claim 12, in which the respective transmitter of a request or reply data frame transmits signal pulses of the data frame at transmitting times which are delayed relative to a time grid defined in the data frame to be transmitted by the pulse time interval predetermined on the transmitter side in such a way that the signal pulses are on average transmitted at the grid times preset by the time grid.

14. Method according to claim 12, in which the respective receiver of a request or reply data frame delays signal pulses of the received data frame relative to a time grid, defined by the pulse time interval of the received signal pulses, in such a way that the delayed signal pulses are received on average with the pulse time interval predetermined on the transmitter side.

15. Method according to claim 14, in which scattering of the time delay of a signal pulse of the data frame on the part of the transmitter or the receiver, or in which the scattering of the sum of the time delays of a signal pulse on the part of the transmitter and the receiver is greater than the accuracy of a time measurement on the part of the receiver.

16. Method according to claim 14, in which at the respective receiver of a data frame the receiving times of a plurality of signal pulses contained in a received request or reply data frame are detected and stored relative to a time grid, defined by the pulse time interval of the received signal pulses and an agreed reference point in the request or reply data frame.

17. Method according to claim 16, in which the receiving transmitter-receiver in each case ascertains an average receiving time in respect of the time grid after the receiving times of the signal pulses have been detected.

18. Method according to claim 14, in which the respective receiver restarts a clock generator or oscillator which it uses to determine receiving times after determination of a request or reply receiving time and before subsequent determination of a next request or reply receiving time.

19. Method according to claim 18, in which the respective receiver modulates a clock generator or oscillator which it uses to determine transmitting and/or receiving time of the signal pulses in frequency according to a pseudo-random sequence during receipt of a request or reply data frame.

20. Method according to claim 1, in which the receiving transmitter-receiver of a signal pulse in each case ascertains the time at which a detected signal pulse has a maximum signal amplification or a maximum value of a correlation with a predetermined signal pattern.

21. Method according to claim 1, in which, if there is a pulse sequence in the receiving signal traceable to multi-path propagation of a single signal pulse, the respective receiver of a request or reply data frame ascertains as receiving time of the signal pulse the earliest time within a predetermined window of time in which the receiving signal adopts a maximum value.

22. Method according to claim 1, in which the first and second transmitter-receivers agree the values of the reply time intervals (T_replyAk, T_replyBi) before transmitting a reply data frame.

23. Method according to claim 22, in which the first and second transmitter-receivers transmit secretly encrypted messages to one another during agreement of the reply time intervals or the sequence of reply time intervals.

24. Method according to claim 1, in which the first and second transmitter-receivers perform the method multiple times and before transmitting the first request data frame of the first performance agree a sequence of different values of reply time intervals and in subsequent performances in each case adhere to the next preset reply time interval in the sequence.

25. Method according to claim 1, in which the first and second transmitter-receivers vary the reply time interval as a function of an unknown pseudo-random numerical sequence.

26. Method according to claim 1, in which the first and the second transmitter-receivers measure the reply time interval they have used and the measured reply time intervals are enlisted in the evaluation for determining the distance.

27. Method according to claim 1, in which the signal pulses used for determining the distance are simultaneously used as information symbols.

28. Method according to claim 1, in which the request data frames and reply data frames transmitted between the first and second transmitter-receivers obey a transmission protocol of layer 2 of the OSI reference model.

29. Method according to claim 1, in which the signal pulses are chirp pulses.

30. Method according to claim 29, in which two complementary types of chirp pulses are used which have an identical middle frequency and pulse duration, but by comparison with the two complementary chirp pulse types have a contra-directional frequency response, which is symmetrical about the middle frequency, rising in the case of one chirp pulse type and falling in the case of the other chirp pulse type, during the pulse duration, the same number of complementary chirp pulse types being used in a request or reply data frame in each case for determining the distance.

31. Method according to claim 1, in which a calibration run is performed in that, before a first signal round as part of the distance determination from the other transmitter-receiver in each case, the first or the second or both transmitter-receivers perform at least one pair of signal rounds for determining the distance from one or from one each of the calibrating transmitter-receivers arranged at a previously known distance from the respective transmitter-receiver and additionally uses a reply time interval known to or to be communicated to the respective transmitter-receiver in each case,

in which the thus ascertained and the previously known spatial distance from the calibrating transmitter-receiver are compared and

in which the result of the comparison is used for error correction as part of the subsequent distance determination.

32. Method according to claim 31, in which during the performance of distance determination or at a time interval in the order or magnitude of one second before or afterwards either a current temperature at the site of a respective transmitter-receiver or a current supply voltage of a respective transmitter-receiver or both the current temperature and the current supply voltage are ascertained.

33. Method according to claim 32, in which before or during performance of the calibration run the first or the second or both transmitter-receivers

store the result of the comparison to ascertain error data characteristic of the respective transmitter-receiver either as a function of the temperature at the site of a respective transmitter-receiver or as a function of the current supply voltage of a respective transmitter-receiver or as a function of both said parameters,

enlist the ascertained error data to determine an error correction function dependent on the temperature and supply voltage individual to the respective transmitter-receiver or an appropriate error correction table for distance values stored in the respective transmitter-receiver,

and in which distance values ascertained as part of a subsequent distance determination are corrected by applying the error correction function or by enlisting a correction value contained in the error table.

34. Method according to claim 1, in which

determining the distance is repeated after a predeterminable or dynamically changeable measuring time interval and

by forming a difference in interval of distance values ascertained in succession between the first and second transmitter-receivers and subsequent forming of a quotient of the difference in distance and the measuring time interval the speed of the transmitter-receivers relative to one another is ascertained.

35. Method according to claim 34, in which

two speed values are ascertained with a predeterminable or dynamically changeable interval between speed and measuring time and

by forming a speed difference of speed values ascertained in succession and subsequent forming of the quotient of the speed difference and the measuring time interval the acceleration of the transmitter-receivers relative to one another is ascertained.

36. Method according to claim 34, in which the number of signal rounds set off is chosen additionally as a function of a predetermined upper limit of the time duration of performing the distance determination.

37. Method according to claim 1, in which the number of signal rounds set off in each case is chosen as a function of a predetermined accuracy of the distance determination.

38. Method for determining the position of a first transmitter-receiver relative to at least one second transmitter-receiver within a distance range in the order of magnitude of 10 km, in which for determining the distance between the first and the second or every other transmitter-receiver a method according to claim 1.

39. Method according to claim 1,

with a step of ascertaining a clock generator error of both transmitter-receivers in the evaluation step,

in which a subsequent distance determination relating to at least one of the two transmitter-receivers, comprises only one single signal round set off by one of the transmitter-receivers and one evaluation step,

and in which in the evaluation step of the subsequent distance determination a corruption of a distance value provisionally ascertained on the basis of the single signal round is worked out on the basis of the previously ascertained clock generator error of the relevant transmitter-receiver for ultimate ascertainment of the distance value.

40. Transmitter-receiver for determining the spatial distance from a second transmitter-receiver within a distance range in the order of magnitude of 10 km comprising:

a transmitting unit, configured

to set off at least one first signal round by transmitting a respective first request data frame, containing a sequence of at least two signal pulses with a predetermined pulse time interval, at a first request transmitting time (T_TA1, T_TB2) to a second transmitter-receiver,

a receiving unit configured

to monitor the receipt of a first reply data frame sent in reply to the first request data frame from the second transmitter-receiver and to ascertain a first reply receiving time (T_RA1) relative to the first request transmitting time (T_TA1,) allocated to the receipt of the first reply data frame,

the transmitting unit being additionally configured,

after receipt of a second request data frame from the second transmitter-receiver setting off a second signal round, to transmit a second reply data frame, containing a sequence of at least two signal pulses with a predetermined pulse time interval, with a reply time interval (T_replyA2) of an allocated second request receiving time (T_RA2) of the second request data frame to the second transmitter-receiver,

after receipt of a first request data frame from a second transmitter-receiver setting off a first signal round, to transmit a first reply data frame, containing a sequence of at least two signal pulses with a predetermined pulse time interval, with a reply time interval (T_replyB1) relative to an allocated first request receiving time (T_RB1) of the first request data frame to the second transmitter-receiver and on receipt of the first request data frame from the second transmitter-receiver to set off a second signal round by transmitting a second request data frame, containing a sequence of at least two signal pulses with a predetermined pulse time interval, to the second transmitter-receiver at a second request transmitting time (T_TB1),

the receiving unit additionally being configured,

to monitor the receipt of a second reply data frame sent from the second transmitter-receiver in reply to the second request data frame and to ascertain a second reply receiving time (T_RB2) relative to the second request transmitting time (T_TB2) allocated to the receipt of the second reply data frame,

and the transmitter-receiver being configured to transmit the first and the second reply data frames with a predetermined value of the reply time interval relative to the respective request receiving time with a chronological precision, at which the reply time intervals (T_replyA2, T_replyB1) on the part of the first and second transmitter-receivers in the signal rounds are either identical or have a difference, in the case of performing more than one signal round set off by each transmitter-receiver an average difference, the amount of which is a maximum of 200 microseconds.

41. Transmitter-receiver according to claim 40, wherein the transmitter-receiver is designed to transmit the first and second reply data frames with a predetermined value of the reply time interval relative to the respective request receiving time with a chronological precision with which the reply time intervals (T_replyA2, T_reply,B1) on the part of the first and second transmitter-receivers in the signal rounds are either identical or have a difference, in the case of performing more than one signal round set off by each transmitter-receiver an average difference, the amount of which is a maximum of 20 microseconds.

42. Transmitter-receiver according to claim 40, with an evaluation unit which is connected to the transmitting and receiving unit and is designed to ascertain a round time interval (T_roundA1 T_roundB2) between the request transmitting time (T_TA1, T_TB2) of a request data frame transmitted by the transmitting unit and the reply receiving time (T_RA1, T_RB2) of a reply data frame received from the second transmitter-receiver.

43. Transmitter-receiver according to claim 42, which is designed to repeat the distance determination after a predeterminable or dynamically changeable measuring time interval and in which the evaluation unit is designed by forming a difference in distance of distance values ascertained in succession between the first and second transmitter-receivers and subsequent forming of a quotient of the difference in distance and the measuring time interval to ascertain the speed of the transmitter-receivers relative to one another.

44. Transmitter-receiver according to claim 42, which is designed to ascertain two speed values with a predeterminable or dynamically changeable interval between speed and measuring time and in which the evaluation unit is designed to ascertain the acceleration of the transmitter-receivers relative to one another by forming a difference in speed between speed values ascertained in succession and subsequent forming of the quotient of the difference in speed and the measuring time interval.

45. Arrangement for determining the spatial distance between a first transmitter-receiver and a second transmitter-receiver each according to claim 42 within a distance range in the order of magnitude of 10 km.

46. Arrangement according to claim 45, in which the first and second transmitter-receivers are designed,

to perform the first and second signal rounds at least twice until the distance between the first and second transmitter-receivers has been passed through by a number of request and reply data frames which is a multiple of four and to ascertain all the additional round time intervals and detect reply time intervals,

the first and second transmitter-receivers being designed to use reply time intervals T_replyAk, k=2, 4, 6, 8, . . . , (n−

1) from T_replyA2 to T_replyA(n-1), and T_replyBi, i=1, 3, 5, 7, . . . , (n−

2) from T_replyB1 to T_replyB(n-2), which have an average difference according to the formula

47. Arrangement according to claim 45, with at least one additional calibrating transmitter-receiver which is arranged at a previously known distance from the first or second transmitter-receiver and which uses a reply time interval known or to be communicated to the first or second transmitter-receiver in each case, in which the first or the second or both transmitter-receivers are designed to perform at least one pair of signal rounds for determining the distance from the calibrating transmitter-receiver before a first signal round as part of the distance determination from before a first signal round as part of the distance determination to the other transmitter-receiver in each case the other transmitter-receiver in each case,

and in which the first or second transmitter-receiver is designed to compare the thus ascertained and the previously known spatial distance from the calibrating transmitter-receiver and to use the result of the comparison as part of the subsequent distance determination for error correction of the there ascertained distance value.

48. Arrangement according to claim 47, in which the first or the second transmitter-receiver or both transmitter-receivers are designed to measure either a current temperature at the site of a respective transmitter-receiver or a current supply voltage of a respective transmitter-receiver or both the current temperature and the current supply voltage during performance of a distance determination or at a time interval in the order of magnitude of one second before or afterwards.

49. Transmitter-receiver according to claim 40,

in which the evaluation unit has a data connection to the second receiver and is additionally designed,

to transmit a detected reply time interval (T_replyA2, T_replyB1) and an ascertained round time interval (T_roundA1, Tr_oundB2) to the second transmitter-receiver via the transmitting unit or

to receive a detected reply time interval (T_replyA2, T_replyB1) and an ascertained round time interval (T_roundA1, Tr_oundB2) on the part of the second transmitter-receiver via the receiving unit and

to ascertain a signal transit time T_prop between the first and second transmitter-receivers using the ascertained round time interval(s) and the reply time intervals and

to determine the spatial distance between the first and second transmitter-receivers by multiplying the signal transit time T_prop by a previously known propagation speed of the signal pulses.

50. Transmitter-receiver according to claim 40, in which the transmitting unit is designed to send the second request data frame for setting off the second signal round to the second transmitter-receiver after the first reply data frame.

51. Transmitter-receiver according to claim 40, in which the transmitting unit is designed to transmit a combined request and reply data frame to the second transmitter-receiver at the second request transmitting time (T_TB1) with the predetermined reply time interval (T_replyB1, T_replyA2) relative to the first receiving time (T_RB1,) of the first request data frame, which in a single data frame unites both the function of a first reply data frame and the function of a second request data frame,

and in which the receiving unit is designed to monitor the receipt of a second reply data frame sent in reply to the combined request and reply data frame from the second transmitter-receiver and to detect a second reply receiving time (T_RB2) relative to the second request transmitting time allocated to the receipt of the second reply data frame.

52. Arrangement with two transmitter-receivers according to claim 51, in which each transmitter-receiver is designed to set off at least two signal rounds, until the distance between the first and second transmitter-receivers has been passed through by an uneven number n>

3 of request and reply data frames and to ascertain all the additional round time intervals and detect reply time intervals, the first or second transmitter-receiver being designed,

after repeated performance of the first signal round step sequence to ascertain additional round time intervals T_roundAi with i=3, 5, 7, . . . , (n−

2), from T_roundB4 to T_roundB(n-2) and

after repeated performance of the second signal round step sequence to ascertain additional round time intervals T_roundBk, with k=4, 6, 8, . . . , (n−

1), from T_roundA3 to T_roundA(n-2),

the first and second transmitter-receivers being designed to use reply time intervals T_replyAk, k=2, 4, 6, 8, . . . , (n−

1) from T_replyA2 to T_replyA(n-1), T_replyBi, i⁼1, 3, 5, 7, . . . , (n−

2) from T_replyB1 to T_replyB(n-2), which have an average difference according to the formula,

53. Transmitter-receiver according to claim 40, in which the transmitting unit is designed to transmit request data frames and reply data frames with more than two signal pulses in each case and in which the receiving unit is designed to detect the receiving times of more than two signal pulses of a respective request or reply data frame.

54. Transmitter-receiver according to claim 53, in which the transmitting unit is designed to transmit signal pulses of a request or reply data frame at transmitting times which are delayed relative to a time grid, defined in the data frame to be transmitted by the pulse time interval predetermined on the transmitter side, in such a way that the signal pulses are transmitted on average at the grid times preset by the time grid.

55. Transmitter-receiver according to claim 53, in which the receiving unit is designed to delay signal pulses of a received request or reply data frame relative to a time grid, defined by the pulse time interval of the received signal pulses, in such a way that

the delayed signal pulses are received on average with the pulse time interval predetermined on the transmitter side.

56. Transmitter-receiver according to claim 55, in which the receiving unit is designed, after detection of the receiving times of the signal pulses, to ascertain an average receiving time in respect of the time grid.

57. Transmitter-receiver according to claim 40, in which the receiving unit is designed to ascertain the time and to detect it as receiving time of a signal pulse, at which a detected signal pulse has a maximum signal amplification or a maximum value of a correlation with a predetermined signal pattern.

58. Transmitter-receiver according to claim 40, in which the receiving unit is designed, to restart a clock generator or oscillator used to determine transmitting and receiving times after determining of a request or reply receiving time and before subsequent determining of a request or reply receiving time of a next request or reply data frame.

59. Transmitter-receiver according to claim 40, in which the receiving unit is designed to check a receiving signal for the presence of a pulse sequence traceable to a multi-path propagation of a single signal pulse and, if there is such a pulse sequence, to ascertain as receiving time of the signal pulse the earliest time within a predetermined window of time at which the receiving signal adopts a maximum value.

60. Transmitter-receiver according to claim 40, which is designed to agree the values of the reply time intervals (T_replyAk, T_replyBi) with the second transmitter-receiver before transmitting a request data frame.

61. Transmitter-receiver according to claim 40, which is designed to measure the reply time interval.

62. Transmitter-receiver according to claim 40, which is designed to agree a sequence of different values of reply time intervals with the second transmitter-receiver and when each subsequent distance determination is performed to adhere in each case to the next reply time interval preset in the sequence.

63. Transmitter-receiver according to claim 40, in which the transmitting unit is designed to use the signal pulses used for determining the distance simultaneously as information symbols.

64. Transmitter-receiver according to claim 40, in which the transmitting unit is designed to transmit generated signal pulses in the form of chirp pulses and the receiving unit is designed to reconstruct signal pulses generated on the transmitter side from received chirp pulses.

65. Transmitter-receiver according to claim 64, in which the transmitting unit is designed to transmit two complementary types of chirp pulses which have an identical middle frequency and pulse duration, but a contra-directional frequency response which is symmetrical about the middle frequency, in the case of one chirp pulse type rising and in the case of the other chirp pulse type falling, during the pulse duration, the same number of complementary chirp pulse types being used in a request or reply data frame in each case for determining the distance.

66. Arrangement for determining the spatial distance between a first transmitter-receiver and a second transmitter-receiver each according to claim 40 within a distance range in the order of magnitude of 10 km.

67. Arrangement according to claim 66, with a third transmitter-receiver which is designed to set up a data connection to the first and to the second transmitter-receivers for transmitting round time intervals and reply time intervals to the third transmitter-receiver and which has a distance determining unit which is designed to set up a data connection to the first and to the second transmitter-receivers for transmitting round time intervals and reply time intervals to the distance determining unit,

to ascertain a signal transit time (T_prop) between the first and the second transmitter-receivers using the round time intervals ascertained by the first and second transmitter-receivers and the reply time intervals detected by the first and second transmitter-receivers and

to calculate the spatial distance between the first and second transmitter-receivers by multiplying the signal transit time (T_prop) by a previously known propagation speed of the signal pulses.

68. Arrangement according to claim 66, in which a database unit is provided in a transmitter-receiver, which is designed to ascertain and store clock generator errors of transmitter-receivers using a previously performed distance determination,

in which the first and second transmitter-receivers are designed to perform distance determinations taking place after ascertaining their clock generator errors, with just one single signal round and one evaluation step,

and in which the evaluation unit of the transmitter-receivers is designed in the evaluation step to work out a corruption of a distance value provisionally ascertained after a single signal round by access to the clock generator errors of the participating transmitter-receiver, previously stored by the database unit for ultimate ascertainment of the distance value.