Method for angle determination for moving assemblies, and apparatus

• US 9,612,321 B2
• Filed: 10/08/2012
• Issued: 04/04/2017
• Est. Priority Date: 10/07/2011
• Status: Expired due to Fees

• Current Assignee: Siemens AG
• Original Assignee: Siemens AG
• Inventors: Httner, Jrg, Ziroff, Andreas
• Primary Examiner(s): GREGORY, BERNARR E
• Application Number:
  US14/350,315
• Publication Number:
  US 20140285374A1
• Time in Patent Office: 1,639 Days
• CPC Class Codes: G01S 13/02 Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
• CPC Class Codes: G01S 13/751 wherein the responder or reflector radiates a coded signal
• CPC Class Codes: G01S 13/753 using frequency selective elements, e.g. resonator
• CPC Class Codes: G01S 13/755 using delay lines, e.g. acoustic delay lines
• CPC Class Codes: G01S 13/874 Combination of several systems for attitude determination in general G01C, control of attitude G05D1/49
• CPC Class Codes: G01S 7/025 involving the transmission of linearly polarised waves
• CPC Class Codes: G01S 7/4026 Antenna boresight
• CPC Class Codes: G01S 7/403 in azimuth, i.e. in the horizontal plane
• CPC Class Codes: G01S 7/4034 in elevation, i.e. in the vertical plane

Abstract

In an installation including first and second components, a radar sensor that has at least two channels, each arranged to be spatially at a distance from the other, is motion-coupled to the first component, and at least two coding radar targets, each arranged to be spatially at a distance from an adjacent target, are motion-coupled to the second component. A signal is sent to each of the radar targets using one of the at least two channels of the radar sensor. At least one coded signal is respectively sent by the radar targets upon or after receiving such a signal, one of the at least two coded signals being received by one or more channels of the radar sensor from each target. The temporal relationship between at least two of the received coded signals is acquired and used to determine an angle between the first and second components.

Claims

1. A method for determining an assembly angle between a first assembly and a second assembly movable relative to the first assembly, comprising:

coupling a radar sensor with at least two channels physically spaced apart from each other, each channel coupled to the first assembly such that motion of the first assembly causes motion of the respective channel;

coupling at least two coding radar targets physically spaced apart from each other, each coding radar target coupled to the second assembly such that motion of the second assembly causes motion of the respective coding radar target;

sending, from the at least two channels of the radar sensor, a sensor signal to the coding radar targets;

sending, respectively by the coding radar targets in response to the sensor signal, at least one coded signal;

receiving at least two coded signals from at least two of the coding radar targets by at least one channel of the radar sensor;

ascertaining a temporal relationship between the at least two coded signals received; and

determining the assembly angle from the temporal relationship.

2. The method as claimed in claim 1,

further comprising calibrating the temporal relationship based on at least one known calibration angle between the first and the second assembly, and

wherein said determining of the assembly angle relies on said calibrating.

3. The method as claimed in claim 2, wherein each of at least one channel of the radar sensor has

at least one transmitter sending radar signals;

at least one reception device receiving radar signals; and

an antenna shared by the at least one transmitter and the at least one reception device.

4. The method as claimed in claim 2, wherein said sending and receiving by at least one channel of the radar sensor is performed by at least one of frequency modulated continuous wave radar, pulse radar, frequency-stepped continuous wave radar and Doppler radar.

5. The method as claimed in claim 4, wherein at least one of the coding radar targets has a base-point-modulated antenna with at least one of amplitude-modulating reflectivity and phase-modulating reflectivity.

6. The method as claimed in claim 4, wherein said sending by at least one of the coding radar targets sends as the coded signal a received signal with a characteristic time delay generated by a surface wave device.

7. The method as claimed in claim 4, further comprising switching on or off at least one of the coding radar targets.

8. The method as claimed in claim 4, wherein said sending by at least one of the coding radar targets sends as the coded signal a previously received signal with changed or stipulated polarization.

9. The method as claimed in claim 4, wherein said sending by each of a plurality of the coding radar targets sends as the coded signal an environmental signal dependent on at least one of pressure, temperature, and changes in pressure and/or temperature over time.

10. The method as claimed in claim 9, wherein the channels and/or the coding radar targets are linearly arranged equidistantly apart.

11. The method as claimed in claim 10, wherein said ascertaining of the temporal relationship between the at least two coded signals includes separating the at least two of the coded signals explicitly or implicitly, by at least one of multiple signal classification and estimation of signal parameters via rotational invariance techniques.

12. The method as claimed in claim 11, wherein said ascertaining of the temporal relationship between the at least two coded signals is based on a relative phase relationship between the at least two coded signals.

13. An apparatus including a first assembly and a second assembly movable relative to the first assembly, comprising:

a radar sensor having at least two channels physically spaced apart from each other and coupled to the first assembly such that motion of the first assembly causes motion of the at least two channels;

at least two coding radar targets physically spaced apart from each other and coupled to the second assembly such that motion of the second assembly causes motion of the at least two coding radar targets; and

an evaluation device ascertaining a temporal relationship between at least two coded signals by separating the coded signals explicitly or implicitly beforehand, based on at least one of multiple signal classification and estimation of signal parameters via rotational invariance techniques.

14. The apparatus as claimed in claim 13, wherein each of at least one channel of the radar sensor includes

at least one transmitter sending radar signals;

at least one reception device receiving radar signals; and

an antenna shared by the at least one transmitter and the at least one reception device.

15. The apparatus as claimed in claim 14, wherein the at least one channel of said radar sensor operates as at least one of frequency modulated continuous wave radar, pulse radar, frequency-stepped continuous wave radar and Doppler radar.

16. The apparatus as claimed in claim 15, wherein at least one of said coding radar targets includes a base-point-modulated antenna with at least one of amplitude-modulating reflectivity and phase-modulating reflectivity.

17. The apparatus as claimed in claim 15, wherein at least one of said coding radar targets includes a surface wave device sending a received signal with a characteristic time delay.

18. The apparatus as claimed in claim 15, wherein at least one of said coding radar targets is switchable on and off.

19. The apparatus as claimed in claim 15, wherein at least one of said coding radar targets sends a previously received signal with changed or stipulated polarization.

20. The apparatus as claimed in claim 15, wherein each of a plurality of the coding radar targets sends an environmental signal dependent on at least one of pressure, temperature, and changes in pressure and/or temperature over time.

21. The apparatus as claimed in claim 20, wherein the channels and/or the coding radar targets are linearly arranged equidistantly apart.

22. The apparatus as claimed in claim 13, wherein said evaluation device ascertains the temporal relationship between the at least two coded signals by separating the at least two of the coded signals explicitly or implicitly, base on at least one of multiple signal classification and estimation of signal parameters via rotational invariance techniques.

23. The apparatus as claimed in claim 13, wherein said evaluation device ascertains the temporal relationship between the at least two coded signals based on a relative phase relationship between the at least two coded signals.

24. The apparatus as claimed in claim 23, wherein at least one channel of the radar sensor is directionally sensitive.

25. An installation comprising:

a first assembly;

a second assembly movable relative to the first assembly;

a radar sensor having at least two channels physically spaced apart from each other and coupled to the first assembly such that motion of the first assembly causes motion of the at least two channels;

at least two coding radar targets physically spaced apart from each other and coupled to the second assembly such that motion of the second assembly causes motion of the at least two coding radar targets; and

an evaluation device ascertaining a temporal relationship between at least two coded signals by separating the coded signals explicitly or implicitly beforehand, based on at least one of multiple signal classification and estimation of signal parameters via rotational invariance techniques.