DE102007062726A1 - Receiver's space position determining method, involves determining electromagnetic wave from superimposition of partial waves, and determining spatial adjustment based on allocation of partial waves of reference stations - Google Patents

Abstract

The method involves determining an electromagnetic wave (232) e.g. circularly polarized electromagnetic wave and inphase-quadrature modulated wave, that is formed at a receiver (260) from a superimposition of partial waves by a set of reference stations (264, 266, 268) i.e. satellite. Spatial adjustment is determined based on allocation of the partial waves of the reference stations. The partial waves are transmitted to respective channels that are orthogonal to each other, where the channels convey different information. Independent claims are also included for the following: (1) a receiver for receiving an electromagnetic wave (2) a computer program with program code for performing a method for determining a space position of a receiver (3) a computer program product with program code for determining a space position of a receiver.

Description

The The invention relates to a method for determining a spatial position of a Receiving device, a receiving device and a computer program and a computer program product.

State of the art

navigation receiver or receivers are able, based on signals, sent by satellites to determine their position. For this purpose, the signal transit times between several satellites and a receiver provided by the satellite Satellite position data from the receiver to its own Position data converted. Thereby are for a position determination at least three satellites necessary, their signals from the receiver to receive.

Farther can by the shift of the current position an orientation a motion vector of the receiver are determined. From a Doppler shift of the received signals can also the motion vector of the receiver can be determined if the receiver moves sufficiently fast, so that the change of the Doppler shift becomes measurable. has the receiver has several antennas with a known distance between These antennas can also be an orientation in one direction, for example, a north orientation, be determined. This will be additional evaluated the Phaserninterschiede the individual antenna signals.

A Determining a rotational position orientation or orientation is thus only possible if the receiver is along moving a one-dimensional curve or when using multiple antennas become. If the receiver rotates in a small space area, only slightly larger than a positional accuracy is or is the recipient moving, such as B. a helicopter in a multi-dimensional space, can its rotational position but no longer notice.

Around the data necessary for the rotational position of an object typically receive additional facilities, such as As a compass or position sensors needed.

From the publication US 5 185 610 For example, a GPS system and a method for determining a direction of a GPS receiver are known. The GPS receiver has reference and auxiliary antennas that receive carrier signals. To determine an orientation of this GPS receiver, received carrier signals are assigned to a reference antenna via a first three-code correlator and to an auxiliary antenna via a second three-code correlator, which provide reference and auxiliary outputs of I and Q correlation. The reference and auxiliary outputs of the I and Q correlations are processed using a differential carrier Doppler phase or a phase code measurement to determine a phase difference by which the direction of the GPS receiver can be calculated. It is a conventional DGPS receiver with spatially distributed antennas. The angle measurement takes place via geometrically different paths and thus transit times between a transmitter and two receiver structures with a known distance.

From the publication US 5,268,695 is a differential phase measurement by antenna data transmission or multiplexing known. In this case, a multiplexing of a carrier signal, which is received by at least two GPS antennas, performed. With a numerically controlled oscillator, the received carrier signal for the individual antennas is compared regularly. Each comparison provides a measurement of a phase angle for the antennas. This GPS system is designed to minimize the need for correlation hardware.

A feasible with the help of a global satellite system direction determination is from the document US 2006/0244656 A1 known. Again, several antennas are provided for receiving a carrier signal. A receiver provided for carrying out this method acquires position information for these antennas, which depends on a clock signal. Furthermore, a phase measurement of the carrier signal between the individual antennas is performed.

Disclosure of the invention

at the method according to the invention for determining a spatial position of a receiving device is provided that to the receiving device from a number of reference stations in each case at least one electromagnetic wave, the superposition of a is formed first and a second part wave transmitted becomes. To determine the spatial orientation of the receiving device becomes an assignment of the first sub-waves of all reference stations and an assignment of the second partial waves of all reference stations considered.

In Embodiment is provided that the first and second partial waves all reference stations have the same Doppler shift. Alternatively or additionally, a rotation of a phase between the two sub-waves of each at least one Wave are taken into account.

typically, is an amplitude vector that is perpendicular to a propagation direction which each rotates an electromagnetic wave, by superposition formed of two mutually perpendicular partial waves. It can be provided that in each case a first part wave on a first channel and a second partial wave on a second Channel, these channels are mutually orthogonal transmitted becomes. This may mean that in each case at least one I (in-phase) Q (quadrature) modulated Wave, wherein the respective first partial wave on an I-channel and the each second sub-wave is provided on a Q-channel, is used.

It is usually provided that when carried out of the method at least one circularly polarized electromagnetic Wave is used.

in the Under the invention, effects due to the circular Polarizations or properties arise, exploited. Thus is a detection of a rotation of the receiving device possible. Otherwise disturbing phase errors are detected and used to determine the spatial position. The antenna modules can concentrated or as close together as possible, d. H. at a point or a position. Multipathfehler and reflections can be recognized with the invention.

In an alternative embodiment of the invention transmitted different information on both channels become. In this case, an antenna structure of a receiving device may be the same See information. This is, for example, in a television satellite with vertical and horizontal polarization at given temporal Synchronicity possible.

A Variant of the invention takes place using a global navigation Positioning system, the at least one trained as a satellite Reference station includes. This can be at least three Reference stations and thus satellites are used.

For Each electromagnetic wave is usually provided with a signal. The partial waves of this wave are defined phase-shifted. The Polarization changes as the receiver moves and / or the reference station static or dynamic. One each Signal is transmitted as electromagnetic wave and includes as information time and satellite position, the position the receiving device is over periods of the waves or signals from at least three satellites determined.

The polarization resulting from a ratio of both partial waves the at least one electromagnetic wave can therefore for Determine the spatial orientation of the receiving device be taken into account. In the context of the invention used circularly polarized waves have the amplitude vectors a constant amount of time and turn with a constant Speed.

In Embodiment may be an angle of incidence of the at least one electromagnetic Wave over an elliptical projection of at least one electromagnetic wave can be determined. By evaluation of the Partial waves becomes the spatial position, a spatial or vectorial Orientation or rotational position information of the receiving device, calculated. It can also change the phase or an assignment of the I and Q channels, each one of the Provide partial waves, be considered. The phase change is typically proportional to the rotation of the receiver or receiving device. It is also possible a change in the maturities of the part waves formed Amplitude vectors to be considered. The angle of incidence can alternatively or additionally via circular Properties of the amplitude waves are determined.

In Another embodiment, the orientation or rotational position of a Doppler shift of the partial waves of the wave and thus of the signal certainly.

The The invention also relates to a receiving device designed for this purpose is at least one of a number of reference stations electromagnetic waves generated by superposition of a first and a second sub-wave is formed to receive. The Receiving device is further adapted to an assignment the first partial waves of all reference stations and an assignment the second sub-waves of all reference stations for determining a spatial position of the receiving device.

This Receiver is therefore u. a. suitable for its orientation or vectorial orientation in space, in particular by evaluation partial waves of circularly polarized electromagnetic waves, to determine automatically.

In an embodiment, the receiving device for at least one spatial direction at least two antenna modules, which together form at least one antenna of the receiving device have. For this purpose, such an antenna module for a spatial direction receive at least two electromagnetic waves per spatial direction. The antenna modules can be arranged for this purpose at a position or a point. As a rule, an antenna module provided for a spatial direction can be designed in the form of a bar. An antenna module can also have an extended, two-dimensional structure in a plane. In order to be able to determine the orientation of the receiving device in all three spatial directions, an antenna structure or antenna of the receiving device has, per spatial direction, an antenna module, which may possibly also be extended. Accordingly, with the invention, inter alia, an extended receiver structure comprising a plurality of antenna modules is provided for the receiving device. In addition, when implementing the method, a polarization of the antenna modules are rotated.

A Device can with the at least one receiver be connected such that by determining an orientation of the at least one receiving device, the position of the device is to be determined. The method is thus a determination of complete spatial position of a receiving device or Satellite navigation receiver also as part of the facility possible.

at the exploited within the scope of the invention properties of signals The satellite can be the rotational position of a receiver or determine object from the signals of the satellites.

at an embodiment of the method for determining the rotational position of Device or typically an object, the example. As a Navigation receiver trained receiving device or has a receiver is u. a. provided that circular Characteristics of the electromagnetic wave and therefore of the signal be taken into account.

The described receiving device is adapted to all Perform steps of the presented method. there Individual steps of this procedure can also be done by individuals Components of the receiving device are performed. Farther can be functions of the receiving device or functions from individual components of the receiving device as steps be implemented in the process.

The Invention further relates to a computer program with program code means, to perform all the steps of a described method, if the computer program on a computer or equivalent Arithmetic unit, in particular in an inventive Receiving device is running.

The Computer program product according to the invention with program code means, which are stored on a computer-readable medium, is to perform all steps of a described Process trained when the computer program on a computer or a corresponding computing unit, in particular in an inventive Receiving device is executed.

by virtue of the movement of the satellites arises in the receiving device one Doppler shift of partial waves, which is a permanent Rotation of the phase relative to the unchanged, non-Doppler shifted electromagnetic wave corresponds. The speed with which the amplitude vector of the shaft rotates depends on the Doppler shift and thus the orbit of the satellite with respect to the receiving device and is therefore for each satellite from which the receiving device Signals or electromagnetic waves can receive, different. The various Doppler shifts are typically used for every single satellite compensates for the rotation of the Phase of the I-Q modulated or in-phase and quadrature modulated Signal is removed. Does the receiving device move itself, changes the Doppler shift for the Waves received by each satellite. From this change can be the spatial orientation or orientation and thus, for example, also the motion vector of the receiving device determine.

rotates For example, the receiving device around its own axis, so changes the assignment of the I and Q channels of all satellites to the receiving device at the same time and typically in the same Scope. The phase change that results is proportional to the rotation of the receiving device. She is for all satellites alike. When using a patch antenna takes place a change in an assignment of the I and Q channels with a rotation in the same extent. Such patch antennas can also be elliptically polarized.

in the Within the scope of the invention, in a first variant, a phase shift with a change in a transit time of the partial waves of the electromagnetic Wave and thus the signal equated. That's why it's possible a change in the time difference between two consecutive ones Time trigger events or time trigger events of the phase shift due to a rotation of the receiving device assign. In conventional approaches, only for locating a receiving device are provided by the corresponding Receiving device, the differences of the term for single satellites dissolved. In an embodiment of the present Procedure will be the differences of time differences for the partial waves of all satellites at the differences of the transit time determined in the past. The receiving device is typical with any type of antenna, for example. Reception antenna to operate. This antenna can be circular or linearly polarized, since the phase shift in the circularly polarized wave by the satellite is broadcast.

In A second variant comprises the antenna of the receiving device as antenna modules, for example. Two crossed by 90 ° dipoles. The signals received by the dipoles can each fed separately to an antenna or receiving structure become. Here it is possible to both channels I for Evaluate in-phase and Q for quadrature separately. By the evaluation of the two channels by phase and partial waves can be an assignment of the constellation diagram to the individual Channels done. It is thus possible with help the ellipticity of the amplitude in addition to the Elevation or elevation angle of each satellite too determine. A rotation of the receiving device rotates the constellation diagram by shifting the assignment to the I and Q channels. Thus, a rotation of the receiving device becomes detectable.

With Help of ellipticity may be at the receiving device be determined according to a variant of the invention, under which Angle of the satellite is above the receiver. Furthermore, it can be determined whether the signal that the Receiving device receives, from above or from below comes because the crossed dipole or a cross dipole in one direction waves or receives signals with a circular polarization. Signals coming from below or reflecting oddly too the at least one antenna module and thus reach the antenna, have the reverse circular polarization. This turns a left circular polarized signal by reflection a right circularly polarized Wave and vice versa. This will change the signal one of the channels 180 ° relative to the second Signal, allowing a phase shift or a phase shift to 180 ° takes place.

adds one adds a third dipole in design, so by combination of magnitude and phase of the partial waves with the now three formed as dipoles Antenna modules for the receiving device the direction determines, from which the wave comes. Lets out of this combination determine at any time, from which direction the wave each of a satellite is received. Thus, it is possible all six mechanical degrees of freedom of the spatial position of the receiving device to determine. Furthermore, it is possible a distance between the satellites and the receiving device using of the congruence theorem by the enclosing angle replace. Thus, even with only two satellites the position of Receiving device on the earth's surface determined become. With three satellites, a three-dimensional position determination is possible.

By Exploitation of the circular properties of the partial waves of each At least one wave and thus the signal can, for example. considering an elliptical projection of the wave Information about the angle of incidence of the signal evaluated and processed.

The Receiver can be the spatially directed circular polarized antenna modules or antennas for evaluating the angle of incidence a signal. At least one antenna module of the receiving device can, for example, a helical structure and thus a simple helix structure or possibly also have a multi-armed helical structure.

The both partial waves and thus components of the radiated from the satellites signals provided as electromagnetic waves, usually each a time and position signal, are derived from a clock. The reference used for this purpose is a clock arrangement of atomic clocks on board a satellite. The individual components of the signal are thus connected in phase with each other. A location of the receiving device This can be done by making runtime differences between the position the receiving device and the positions of the individual satellites be evaluated as a measure of route differences. Here, the time of a phase jump to the beginning of a transmission unit of the by binary phase shift keying (BPSK) modulated signal as a trigger or trigger for used a time difference measurement. Would the phases of the individual components of the signal is not connected in a phase-locked, would be the condition for the trigger is no longer sharp.

There however, mobile receivers can also turn It is not enough, the signal with a simple linearly polarized transmit electromagnetic wave. For a tracking to avoid the orientation of a receiver antenna is the signal on both orthogonally juxtaposed partial waves and thus transmit partial polarizations of the shaft. To the Orthogonality of partial waves to be sure both sub-waves additionally sent temporally orthogonal. Since the field vectors of the partial waves of a wave thus generated in time Turning on a circular orbit around the Poynting vector will become that kind the transmission referred to as circular or cross polarization.

In addition to the generation of such a polarization by means of an antenna, which may be formed as a so-called. Panel patch antenna of a generally rectangular metal surface or as a helical or helical antenna, this polarization can also be done with two rotated by 90 ° to each other dipoles, which are excited by 90 ° offset in time to be generated. Thus, it is possible to use the two linearly polarized dipoles rotated by 90 ° from the I and Q paths or channels, ie from the in-phase and quadrature paths, of an IQ demodulator whose input is the logical satellite signal at the transmitter end is to dine. This becomes possible because of the IQ demodulator two offset by 90 ° or phase-shifted partial waves generated from an incoming or received signal. On the receiver side, the signal from the two 90 ° crossed dipoles is fed to an IQ modulator to recover the original signal. This IQ treatment of the signal occurs in patch and helix antennas due to a structure of the respective antennas.

in the According to the invention, it can also be provided that the logical signal of the satellite on two orthogonal channels is transmitted to the receiver. typically, is the horizontally polarized partial wave the I- or in-phase channel and the vertically polarized sub-wave the Q or quadrature channel assigned, thus is due to the phase rigidity of the partial waves clearly defined among themselves on which of the channels the phase change trigger or trigger tripped first becomes. On the second channel for the second part wave finds the change 90 ° later and thus phase-shifted to the first channel for the first part wave instead. This difference is also available on Frequenzumsetzungsstufen.

Further Advantages and embodiments of the invention will become apparent from the Description and attached drawing.

It it is understood that the above and the following yet to be explained features not only in each case specified combination, but also in other combinations or can be used in isolation, without the scope of the present To leave invention.

Brief description of the drawings

1 shows a schematic diagram of a first diagram for determining a direction of a receiving device.

2 shows a schematic representation of a first embodiment of an antenna structure.

3 shows a schematic representation of a second diagram for determining a direction of a receiving device.

4 shows a schematic representation of a second embodiment of an antenna structure.

5 shows a schematic representation of various arrangements of dipoles.

6 shows a schematic representation of an example of an electromagnetic wave.

7 shows vector diagrams to an electromagnetic wave.

8th shows a schematic representation of a block diagram of a converter.

9 shows a schematic representation of an embodiment of a receiving device and a plurality of reference stations.

embodiments the invention

The The invention is based on embodiments in the drawings and will be described in detail below with reference to the drawings described.

The Figures become coherent and comprehensive described. The same reference numerals designate the same components or Components.

The diagram 1 shows a schematic representation of three antenna modules 2 . 4 . 6 a non-illustrated first embodiment of a receiving device. Here is a first antenna module 2 aligned in the x-direction, a second antenna module 4 in the y direction and a third antenna module 6 aligned in z-direction. Accordingly, it is with all three antenna modules shown 2 . 4 . 6 possible, along the respective spatial direction mentioned electromagnetic waves, which are here by reference stations, which are formed as satellites, and are each formed by superposition of a first and a second partial waves, with respect. To detect their spatial orientation.

In the present example, the first antenna module is used 2 , which is oriented in the x-direction, with respect to the partial waves, a first x-component 8th for a positive z-component 26 of a satellite position, a second x-component 10 for a negative z component 32 a satellite position, a third x component 12 for a positive y-component 40 a satellite position and a fourth x component 14 for a negative y component 52 a satellite position.

Through the second antenna module 4 oriented in the y-direction becomes a first y-component 16 for a positive x-component 44 a satellite position and a second y-component 18 for a negative x component 56 a satellite position. Furthermore, it is provided that a third y-component 20 of the second antenna module 4 a 90 ° phase shift 22 is subjected. After this 90 ° phase shift 22 becomes a fourth y-component 24 provided with the first x component 8th of the first antenna module 2 is added, making it the positive z-component 26 the satellite position is determined. Furthermore, a fifth y-component 25 also a 180 ° phase shift 28 subjected and a sixth y-component 30 provided with the second x component 10 of the first antenna module 2 is added, so that from such addition, a negative z-component 32 the satellite position is determined.

A first z-component 34 of the third antenna module 6 , which is oriented in the z-direction, becomes a 90 ° phase shift 36 subjected, with a second z-component 38 is formed with the third x-component 12 of the second antenna module 2 is added, leaving a positive y-component 40 the satellite position is provided. A third z-component 42 comes with the first y-component 16 of the second antenna module 4 added, where a positive x-component 44 the satellite position is formed by addition. A fourth z-component 46 after the 90 ° phase shift 36 from the first z-component 34 is still apparent a 180 ° phase shift 48 subjected. This results in a fifth z-component 50 of the third antenna module 6 that with the fourth x component 14 of the first antenna module 2 is added, making it a negative y component 52 the satellite position is formed. In addition, by the latter 180 ° phase shift 48 a sixth z component 54 of the third antenna module 6 formed with the second y-component 18 of the second antenna module 4 is added, making it a negative x component 56 the satellite position is provided.

2 shows on the left a cross-dipole antenna structure or antenna 70 the first embodiment of the receiving device not shown here, the in 1 already presented first antenna module 2 in the x direction 72 is aligned, the second antenna module 4 in the y direction 72 is aligned, and the third antenna module 6 in the z direction 76 is aligned. These are the antenna modules 2 . 4 . 6 designed as dipoles. In 2 on the right are the three described antenna modules 2 . 4 . 6 designed as monopolies and relative to the three spatial directions 72 . 74 . 76 shown. Further shows 2 right each a ground plane 80 for z = 0 in a plane in x-direction 72 and y direction 47 , As a result, a coordinate transformation undertaken in carrying out the method according to the invention for determining the in 1 already described direction-dependent components 26 . 32 . 40 . 44 . 52 . 56 the satellite position. Also, along the three directions 72 . 74 . 76 the feed voltage vectors of a voltage source or, alternatively, the tap voltage vectors of a voltage sink.

This ground plane 80 serves here as a symmetry plane. Reflection at the symmetry plane produces exactly the same antenna designed as a crossed dipole 70 with the three antenna modules 2 . 4 . 6 as he is in 2 shown on the left. With this arrangement, even at shallow angles of incidence, circular waves can be received. The influence that results is to be considered in the mathematical models to be used to solve the system of equations for space.

Of the three mentioned antenna modules 2 . 4 . 6 For example, in the presently described embodiment of the method, for each spatial direction of a received, circularly polarized electromagnetic wave, a first and a second partial wave are detected, and from these the said x components 8th . 10 . 12 . 14 of the first antenna module, the y-components 16 . 18 . 20 . 24 . 25 . 30 of the second antenna module 4 and the z-components 34 . 38 . 42 . 46 . 50 . 54 of the third antenna module 6 derived. To provide the directional components 26 . 32 . 40 . 44 . 52 . 56 for the satellite position by adding the from the antenna modules 2 . 4 . 6 provided directional components 8th . 10 . 12 . 14 . 16 . 18 . 24 . 30 . 38 . 42 . 54 Only the contributions of the first partial waves or the second partial waves depending on a spatial direction are taken into account.

The diagram 3 shows a schematic representation of a second embodiment of a receiving device not shown here, a first circular antenna module 90 for an xy plane as well as a second antenna module 92 , which is oriented in the z-direction. When looking at this chart 3 described further embodiment of the method is provided that of the first antenna module 90 from the electromagnetic wave received by the satellite, a first xy component 94 , a second xy component 96 , a third xy component 98 , a fourth xy component 100 , a fifth xy component 102 , a sixth xy component 104 and a seventh xy component 106 to be provided. The latter seventh xy component 106 becomes a 90 ° phase shift 108 subjected. This results in an eighth xy component 110 that with the first xy component 94 is added, making it a positive z-component 112 the satellite position is formed. One out of the phase shift 108 emerged ninth xy component 112 becomes a 180 ° phase shift 114 subjected, resulting in a tenth xy component 116 is formed with the second xy component 96 is added, resulting in a negative z-component 118 the satellite position is formed.

From the second antenna module 92 oriented in the z-direction becomes a first z-component 120 provided a 90 ° phase shift 122 is subjected. From this 90 ° phase shift results in a second z-component 124 that with the third xy component 98 of the first antenna module 90 is added, resulting in a positive y-component 126 the satellite position. One out of the 90 ° phase shift 122 resulting third z-component 128 of the second antenna module is connected to the fifth xy component 102 of the first antenna module 90 added, where a positive x-component 130 the satellite position is provided. A fourth z-component 132 of the second antenna module 92 becomes a 180 ° phase shift 134 subjected. This results in a fifth z-component 136 of the second antenna module 92 connected to the fourth xy component of the first antenna module 90 is added, resulting in a negative y-component 138 the satellite position. From the latter 180 ° phase shift 134 continues to go a sixth z-component 140 of the second antenna module 92 forth with the sixth xy component 104 of the first antenna module 90 providing a negative x component 142 the satellite position is added.

4 shows right an antenna structure and thus an antenna 160 not shown here second embodiment of a receiving device. This antenna 160 that already includes in 3 presented first antenna module 90 , here formed as a so-called helical or circular antenna module and in an x-direction 162 and y direction 164 spanned level is arranged. In addition, this antenna includes 160 that too in 3 presented second antenna module 92 in the z direction 166 is oriented.

4 further shows on the left a trained as a patch antenna antenna module 168 in an x direction 162 and y direction 164 spanned level is arranged and another in z-direction 166 above the antenna module designed as a patch antenna 168 arranged antenna module 170 , which is designed here as a monopoly. Also with these antenna modules 168 . 170 According to the second embodiment of the method according to the invention, a direction of the electromagnetic waves emitted by the satellites is to be determined. Again, it is envisaged that along the three directions 72 . 74 . 76 the supply voltage vectors for two voltage sources and the tap voltage vectors for two voltage sinks are shown schematically.

With the two described antenna modules 90 . 92 of the receiving device receive circularly polarized electromagnetic waves emitted by the satellites. It is envisaged that these waves or amplitude vectors of these waves are formed by superimposition of two phase shifts phase-shifted by 90 °. The antenna modules 90 . 92 are designed to differentiate between the sub-waves direction-dependent. These partial waves become the xy components 94 . 96 . 98 . 100 . 106 . 110 . 112 . 116 of the first antenna module 90 as well as the z-components 120 . 124 . 128 . 132 . 136 . 140 of the second antenna module 92 educated. To calculate the directional components 112 . 118 . 126 . 130 . 138 . 148 The satellite position is taken into account in each case the first partial waves and the second partial waves.

In 5 are four coordinate systems 190 . 192 . 194 and 196 shown, each one x-direction 198 , a y direction 200. and a z-direction 202 exhibit. In addition, the first two coordinate systems show 190 . 192 first antenna modules 204 pointing in the x direction 198 are oriented, as well as second antenna modules 206 in the y direction 200. are oriented. In the third and fourth coordinate system 194 . 196 are next to the second antenna module 206 in the y direction 200. also third antenna modules 208 shown schematically in the z direction 202 are oriented. These described antenna modules 204 . 206 . 208 form a third antenna structure of an embodiment of a receiving device not shown here.

In the first coordinate system 190 is a first guideline 210 in the positive z-direction 202 is oriented. A second in negative z-direction 202 oriented directional diagram 212 is in the second coordinate system 192 shown. The third coordinate system 194 includes a third guideline 214 that is in the positive x-direction 198 and positive z-direction 202 extends. The fourth coordinate system 196 shows a fourth directional diagram 216 that is in the positive x-direction 198 and in the positive y-direction 200. extends. Like here the two lower coordinate systems 194 . 196 show, an assignment can be made in any direction.

The first and second coordinate system 190 . 192 each show the circular antenna directional diagram of a normal cross dipole at a 90 ° to each other shifted excitation of the two dipoles. In a first case, the shift of + 90 ° and in the second case of -90 ° is provided. In both cases, the amplitude amount of a right circular wave is displayed. As from the coordinate systems 190 . 192 shows, only in a half-space power with the corresponding polarization is radiated or received. In a representation of the same coordinate systems 190 . 192 with the same phase shifts for left-circular waves, a map of the half-spaces is mirrored. However, since the satellites radiate only defined with one of the two polarization, receives such a cross dipole only Sig from a half-space. Signals received from the second half space are reflections.

The third and fourth coordinate system 194 . 196 show that with appropriate excitation of the beam or beam for a wave with circular polarization can be aligned in any direction in space, for example, if designed as a cross-dipole antenna 70 like out 2 is used. With appropriate excitation of the dipoles a left circular wave, such. B. in the coordinate system 194 shown, radiate. The corresponding reflection or right-circular wave is at the same excitation, as in the third coordinate system 196 shown, radiated. All reflections or reflections coming from another direction produce a different phase and amplitude ratio of the signals which can be tapped in the respective antenna base points. A reflection thus produces a different phase and amplitude ratio of the received signals to one another than the original, since it comes from a different direction and is typically polarized differently. Thus, the angle of incidence of the shaft with respect to the receiver coordinate system can be determined. If the angles of incidence of the received signals are compared with the angular ratios resulting from the known constellation of the satellites, reflected signals are formed by the fact that they do not match the angular relationships between the satellites. Thus, reflections can be detected. Becomes a coordinate system 190 . 192 . 194 . 196 of a receiving device mathematically rotated so that it fits exactly to the constellation of the satellites, this rotation reflects exactly the rotational position of the receiver again. From this, the rotational position information for determining the direction is determined in an embodiment of the invention.

6 shows a schematic representation of a z-direction 230 propagating electromagnetic wave 232 , This circularly polarized electromagnetic wave 232 is made up of two partial waves 234 and 236 educated. The first partial wave is in the x-direction 238 and z direction 230 clamped. The second part wave 236 is in the y direction 240 and z direction 230 clamped. Accordingly, the two are partial waves 238 . 236 perpendicular to each other and form by superimposing a perpendicular to the propagation direction, ie the z-direction 230 , the wave 232 rotating amplitude vector 242 ,

In one embodiment of the method for determining a spatial position of a receiving device, it is provided that at least one circularly polarized electromagnetic wave is transmitted to the receiving device by a number of reference stations 132 is transmitted. Here is the rotating amplitude vector 242 the electromagnetic wave 232 by superposition of the two partial waves 234 . 236 educated. In order to determine the spatial orientation and thus to determine the rotational position of the receiving device, in each case an assignment of the first partial waves of all reference stations of the at least one first partial wave 234 all reference stations and an assignment of the at least one second partial wave 236 all reference stations considered.

In the two diagrams 244 . 246 out 7 is the basis of 6 already presented circularly polarized electromagnetic wave 232 presented from further perspectives. Here is the electromagnetic wave 232 from the temporally rotating amplitude vector 242 which has a constant amount formed. This amplitude vector 242 in turn arises from overlays of a projection of field vectors of the first partial wave 234 as well as the second part wave 236 , Here, the first diagram shows the amplitude vector 242 in a first angular position and the second diagram 246 the amplitude vector in a phase-shifted by 90 ° second position.

To determine the spatial direction of a receiving device, the two partial waves are used in an embodiment of the method 234 . 236 considered. This is the first part wave 234 as an imaginary part and the second part wave 236 as a real part of the rotating amplitude vector 242 construed.

In the 8th schematically illustrated embodiment of a transducer 248 A further embodiment of a receiving device according to the invention comprises a phase shift module 250 to provide a phase shift through an angle of 90 ° and a first analog-to-digital converter 252 and a second analog-to-digital converter 254 ,

The basis of the above 6 and 7 described partial waves 234 . 236 be from at least one antenna module of the receiving device to the converter shown here 248 provided. In the process, values of the second partial wave become 236 and thus the real part of the amplitude vector 242 the first analog-to-digital converter 252 provided from which this first analog-to-digital converter 252 I or in-phase data 256 the electromagnetic wave 232 or the amplitude vector 242 provides. About the phase shift module 250 become values of the first partial wave 234 and thus the imaginary part of the amplitude vector 242 or the electromagnetic wave filtered and the second analog-to-digital converter 254 supplied, so this second analog-to-digital converter 254 from values of the first partial wave 234 Q or quadrature data 258 of the amplitude vector 242 and thus the electromagnetic wave 232 provides.

9 shows a schematic representation of an embodiment of a receiving device 260 that one based on 2 already described in detail antenna 70 with three antenna modules 2 . 4 . 6 for three spatial directions, one already based on 8th described converter 248 as well as a computing unit 262 having.

Further shows 9 in a schematic representation of three trained as a satellite reference stations 264 . 266 . 268 of a global positioning system in a schematic representation. These three reference stations 264 . 266 . 268 each send a circularly polarized electromagnetic wave 232 out. Each of these is circularly polarized electromagnetic waves 232 formed by superposition of a first partial wave and a second partial wave.

The receiver 260 is designed to handle these electromagnetic waves 232 and thus also the two partial waves of these electromagnetic waves 232 via the antenna modules 2 . 4 . 6 depending on the direction of the room. To determine a spatial orientation of the receiving device 260 is provided that an assignment of the respective first partial waves of the electromagnetic waves 232 all reference stations 264 . 266 . 280 and an assignment of the second partial waves of the electromagnetic waves 232 all reference stations 264 . 266 . 268 is taken into account.

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• US 5185610 [0006]
• - US 5268695 [0007]
• US 2006/0244656 A1 [0008]

Claims (13)

Method for determining a spatial position of a receiving device ( 260 ), which is provided to the receiving device ( 260 ) from a number of reference stations ( 264 . 266 . 268 ) at least one electromagnetic wave ( 232 ), which consists of a superimposition of a first and a second partial wave ( 234 . 236 ), is transmitted, wherein for determining the spatial orientation, an assignment of the first partial waves ( 234 ) of all reference stations and an assignment of the second partial waves ( 236 ) of all reference stations ( 264 . 266 . 268 ) is taken into account. Method according to Claim 1, in which a Doppler shift between the first partial waves ( 234 ) of all reference stations ( 264 . 266 . 268 ) and a Doppler shift between the second partial waves ( 236 ) of all reference stations ( 264 . 266 . 268 ) is taken into account. Method according to Claim 1 or 2, in which a rotation of a phase between the two partial waves ( 234 . 236 ) of at least one wave ( 232 ) is taken into account. Method according to one of the preceding claims, in which at least one circularly polarized electromagnetic wave ( 232 ) is used. Method according to one of the preceding claims, in which in each case a first partial wave ( 234 ) on a first channel and in each case a second partial wave ( 236 ) on a second channel, these channels being orthogonal to one another. Method according to one of the preceding claims, in which in each case at least one IQ-modulated wave ( 232 ) is used. The method according to claim 5 or 6, wherein the two Channels transmit different information. Method according to one of the preceding claims, in which a positioning system is used which comprises at least one reference station ( 264 . 266 . 268 ). Method according to one of the preceding claims, in which at least three reference stations ( 234 . 266 . 268 ) be used. Receiver adapted to receive from a plurality of reference stations ( 264 . 266 . 268 ) at least one electromagnetic wave ( 232 ) by superimposing a first and a second partial wave ( 234 . 236 ) is arranged to receive, and which is further adapted, an assignment of the first partial waves ( 234 ) of all reference stations ( 264 . 266 . 268 ) and an assignment of the second partial waves ( 236 ) of all reference stations ( 264 . 266 . 268 ) for determining a spatial position of the receiving device ( 260 ). Receiving device according to Claim 9, which has at least one antenna module for at least one spatial direction ( 2 . 4 . 6 . 90 . 92 ) having. Computer program with program code means for carrying out all the steps of a method according to one of Claims 1 to 9, when the computer program is stored on a computer or a corresponding computer unit ( 262 ), in particular in a receiving device ( 260 ) according to claim 10 or 11, is executed. A computer program product comprising program code means stored on a computer-readable medium for carrying out all the steps of a method according to one of claims 1 to 9, when the computer program is stored on a computer or a corresponding computer unit ( 262 ), in particular in a receiving device ( 260 ) according to claim 10 or 11, is executed.