CN104297745B - A kind of range unit and distance-finding method and localization method based on wavelength of radio wave - Google Patents

Abstract

The invention relates to a distance measuring device based on radio wave wavelength, a distance measuring method and a positioning method, and belongs to the technical field of radio wave positioning. The invention adopts the method of transmitting electromagnetic waves to the measured target, and the measured target returns the received electromagnetic waves to the positioning terminal after amplitude modulation, and the positioning terminal immediately stops sending electromagnetic waves after receiving the returned electromagnetic waves, receives the returned electromagnetic waves from the measured target, and utilizes these electromagnetic waves The analog-to-digital converter is digitized. The wavelength of the electromagnetic wave is only related to the frequency. The wavelength will not change due to interference and diffraction. After digital conversion, the electromagnetic wave can be divided into many extremely small square waves with digitally encoded information, and each small square wave The number represented is unique, and the accuracy of the value can be guaranteed. Finally, these digitized electromagnetic waves are used as the basis for accurately calculating the distance between the positioning terminal and the measured target, and precise positioning can be achieved based on these precise distance measurements. Moreover, the positioning speed is fast, the positioning value is accurate, and the interference from the external environment is small.

Description

A distance measuring device based on radio wave wavelength, a distance measuring method and a positioning method

technical field

The invention relates to a distance measuring device based on radio wave wavelength, a distance measuring method and a positioning method, and belongs to the technical field of radio wave positioning.

Background technique

Wireless positioning technology is familiar to most people. The navigation system we use in our daily life is an application of wireless positioning technology based on radio waves. It appeared in the last century and developed very rapidly, especially in the middle of the last century with the rapid development of computer technology and wireless communication technology, wireless positioning technology was gradually applied in human life.

At present, the wireless positioning technologies widely used by people, such as radar ranging and satellite positioning, generally use the time difference between radio wave transmission and reception as the main basis for ranging. Although such a ranging method has been dominant in radio wave ranging for many years, and has developed relatively maturely in the field of industrial applications, especially after the use of differential technology, the positioning accuracy of civil navigation satellite GPS can reach 5 meters, military, The positioning accuracy of aviation is higher, but as a wave, electromagnetic waves have the same unique commonality as other waves. It will interfere, diffract and be affected by the propagation medium, especially in the presence of obstacles, because interference The role of the electromagnetic wave emission - reception time will be greatly affected. In addition, electromagnetic wave is a kind of light wave, so its speed is the same as the speed of light. It is internationally recognized that its propagation value in vacuum is c=299792458 m/s, even if we can record a more accurate time difference according to the emission-reception time of radio waves det(t), but according to L=c*det(t), the resulting ranging error will still be large.

Today, with the development of industrial productivity, the gradual improvement of automation level and the gradual expansion of production scale, industrial robots and self-driving trucks have gradually entered people's sight, and people's requirements for wireless positioning technology are also increasing. In the actual production of industrial automation, if we want to control the automatic production in real time and accurately, we must have an accurate and stable positioning of the key movement links in the production process. The traditional distance measurement and positioning scheme is far from meeting the needs of modern Enterprise automation production needs.

Contents of the invention

The purpose of the present invention is to provide a distance measuring device based on radio wave wavelength, a distance measuring method and a positioning method, so as to solve the problem of large errors caused by using the time difference between radio wave transmission and reception as the basis for distance measurement and positioning.

In order to solve the above technical problems, the present invention provides a distance measuring device based on radio wave wavelength. The distance measuring device includes a positioning terminal and a positioned terminal. The positioning terminal is provided with a radio wave transmitting module, a radio wave receiving module, An analog-to-digital conversion module and a radio wave information comprehensive processing module, the positioned terminal is provided with a positioned radio wave receiving module and a radio wave transmitting module, and the radio wave transmitting module of the positioning terminal is used to transmit information to The positioned terminal emits source electromagnetic waves, the radio wave receiving module of the positioned terminal is used to receive the electromagnetic waves sent by the positioning terminal, and the radio transmitting module of the positioned terminal is used to amplify the amplitude of the received source electric waves to generate return electric waves And transmit to the positioning terminal, the analog-to-digital conversion module is used to convert the return electric waves received by the radio wave receiving module into digital square waves encoded by numbers and transmit these digital square waves to the radio wave information comprehensive processing module, the radio wave information The integrated processing module is used to calculate the distance between the positioning terminal and the positioned terminal according to the digitally processed square wave.

The distance L between the positioning terminal and the positioned terminal calculated by the radio wave information comprehensive processing module according to the wavelength is:

Among them, L is the required distance, λ is the wavelength of the radio wave received by the radio wave receiving module of the positioning terminal, k is the number of 1/4 wavelengths recorded by the radio wave information comprehensive processing module, and n is less than 1 received before the signal mutation The number of copies of the coded digital square wave of /4 wavelength, m is the number of digits of the resolution of the analog-to-digital conversion module.

The positioning terminal immediately stops sending electromagnetic waves after receiving the returned electromagnetic waves, and the radio wave information comprehensive processing module judges that the returned radio waves are completely received by using the received electromagnetic waves with a sharply attenuated amplitude as a sign of radio wave terminal signal reception identification, and the rapidly attenuated amplitude The electromagnetic wave is the electromagnetic wave whose amplitude attenuates sharply after the transmitting module of the radio wave positioning terminal stops transmitting because the energy cannot be replenished.

The present invention provides a kind of ranging method based on radio wave wavelength for solving above-mentioned technical problem, and this ranging method comprises the following steps:

1) Set up a test point, and send electromagnetic waves of a certain frequency to the target at the test point;

2) The target under test will amplify the received electromagnetic wave and return it to the test point;

3) The test point performs analog-to-digital conversion on the received electromagnetic waves, and counts the number of received 1/4 wavelengths and the number of digitally encoded square waves received before the signal mutation is less than 1/4 wavelength. According to the statistical information Calculate the distance from the test point to the measured target using the wavelength of the electromagnetic wave.

The distance between the test point and the measured target is:

Among them, L is the required distance, λ is the wavelength of the radio wave received by the target under test, k is the number of 1/4 wavelengths received by the test point, and n is the digital code of less than 1/4 wavelength received before the signal mutation The number of copies of the square wave, m is the number of digits of the resolution of the analog-to-digital conversion module.

The test point judges that the return wave is completely received by receiving the electromagnetic wave with a sharply attenuated amplitude as a sign of the identification of the radio wave end signal. Sharply attenuating electromagnetic waves.

The present invention also provides a positioning method based on radio wave wavelength, the positioning method includes the following steps:

1) Establish a global coordinate system, and set corresponding measuring points on the three coordinate axes under the coordinate system;

2) Control each measuring point to send electromagnetic waves with a corresponding set frequency to the measured target;

3) The target under test amplifies the received electromagnetic wave and returns it to the corresponding test point;

4) Each test point performs analog-to-digital conversion on the received electromagnetic waves, and counts the number of received 1/4 wavelengths and the number of digitally encoded square waves received before the signal mutation is less than 1/4 wavelength. According to the statistics Calculate the distance from each test point to the measured target based on the information and the wavelength of the electromagnetic wave;

5) Calculate the coordinate values of the measured target according to the calculated distances between the test points on the three coordinate axes and the test target and the coordinate positions of the three test points themselves.

The distance formula between the test point and the measured target in the described step 4 is:

Among them, L is the distance to be sought, λ is the wavelength of the radio wave received by the target under test, k is the number of 1/4 wavelengths received by the test point, and n is the coded number of less than 1/4 wavelength received before the signal mutation The number of copies of the square wave, m is the number of digits of the resolution of the analog-to-digital converter used in the analog-to-digital conversion process.

The coordinate calculation formula of the measured target in described step 5) is:

Among them, (0,0,c), (a,0,0), and (0,b,0) are the coordinates of the three test points respectively, and L ₁ , L ₂ and L ₃ are the coordinates of the three test points to the The distance of the measured target, (x, y, z) is the coordinates of the measured target.

The test point judges that the return wave is completely received by receiving the electromagnetic wave with a sharply attenuated amplitude as a sign of the identification of the radio wave end signal. Sharply attenuating electromagnetic waves.

The beneficial effects of the present invention are: the distance measuring method of the present invention adopts the positioning terminal to transmit electromagnetic waves to the measured target, and the measured target returns to the positioning terminal after amplitude modulation of the received electromagnetic wave, and the positioning terminal stops sending electromagnetic waves immediately after receiving the returned electromagnetic wave, and receives the electromagnetic wave from the The electromagnetic wave returned by the measured target is digitized by the analog-to-digital converter. The wavelength of the electromagnetic wave is only related to the frequency. If the frequency does not change, the wavelength will not change due to interference and diffraction. The electromagnetic wave can be divided into many poles after digital conversion Small square waves with digitally encoded information for guaranteed numerical accuracy. Finally, these digitized electromagnetic waves are used as the basis for accurately calculating the distance between the positioning terminal and the measured target, and precise positioning can be achieved based on these precise distance measurements. Moreover, the positioning speed is fast, the positioning value is accurate, and the interference from the external environment is small.

Description of drawings

Fig. 1 is the calculation basis figure of the positioning target coordinates of the present utility model;

Fig. 2 is a module principle frame diagram of radio wave wavelength ranging;

Fig. 3 is a calculation principle diagram of radio wave wavelength ranging;

Fig. 4 is a schematic diagram of radio wave end signal reception identification.

detailed description

The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

An embodiment of the present invention for a distance measuring device based on a radio wave wavelength.

As shown in Figure 2, the distance measuring device of the present invention includes a positioning terminal 201 and a positioned terminal 212. The positioning terminal 201 is provided with a radio transmitting module 206, a radio receiving module 203, an analog-to-digital conversion module 202 and a radio wave information comprehensive processing module. The output terminal of the integrated information processing module 205 is controlled to connect to the radio transmitting module 206, and one output terminal of the radio receiving module 203 is connected to the input terminal of the integrated radio wave information processing module 205 through the analog-to-digital conversion module 202, and the other output terminal is directly connected to the integrated radio wave information processing module. The modules 205 are connected, and the positioned terminal 212 is provided with a radio wave transmitting module 211 of the positioned terminal and a radio wave receiving module 213 of the positioned terminal, and the radio wave receiving module 213 of the positioned terminal 212 is used to receive the radio wave transmitting module of the positioning terminal 201 206 transmits the source electromagnetic wave 208 and transmits it to the radio wave transmitting module 211 of the positioned terminal 212. The radio wave transmitting module 211 amplifies the amplitude of the source wave 208 to generate a return wave 209, and then the transmitting-receiving end of the positioned terminal 212 210 radiation emitted.

The working process of the ranging device is as follows. When starting ranging, each module in the positioning terminal 201 and the positioned terminal 212 is initialized first, and then the radio wave information comprehensive processing module 205 in the positioning terminal 201 transmits the radio wave to the positioning terminal radio wave transmitting module 206. After sending an instruction, the radio wave transmitting module 206 of the positioning terminal starts to oscillate to generate the source electromagnetic wave 208, which is radiated and sent out by the transmitting-receiving antenna 207 of the positioning terminal. The radio wave receiving module of the positioned end 212 receives the source electric wave 208 transmitted from the transmitting-receiving end 210, and transmits it to the radio wave transmitting module 211, and the radio wave transmitting module 211 amplifies the amplitude of the source electric wave 208 to generate a return electric wave 209 , and then radiated by the transmitting-receiving terminal 210 of the positioned terminal 212 . The return radio wave 209 is received by the radio wave receiving module 203 of the positioning terminal 201 via the radio wave transmitting-receiving terminal 207 . The radio wave receiving module 203 sends instructions to the radio wave information comprehensive processing module 205 and the analog-to-digital conversion module 202 after receiving the return radio wave 209; The sending of the transmission, the analog-to-digital conversion module 202 converts the return wave 209 received by the radio wave receiving module 203 into a digital square wave encoded by numbers and transmits these digital square waves to the radio wave information comprehensive processing module 205, and the radio wave information comprehensive processing module 205 Start processing the incoming data. After the radio wave transmitting module 206 terminates the transmission of electromagnetic waves, the transmitted electromagnetic waves will continue to propagate to the transmitting-receiving end of the positioned target 212, and return after being amplified in amplitude. When the returned electromagnetic wave is completely received and processed, the distance traveled by the electromagnetic wave is twice the distance between the transmitter-receiver of the positioning terminal and the transmitter-receiver of the positioned target.

The analog-to-digital conversion module 202 of the positioning terminal 201 digitizes the received radio waves, and then transmits them to the integrated radio wave information processing module 205 . The radio wave information comprehensive processing module 205 is by detecting the analog-to-digital conversion module 202 head sign bit output pin level change (the characteristic is the change between "0" and "1") and the appearance of other digital coding bit peaks except the first place (characteristic In addition to the first digit, other digital code bits are all "1"), and the number k of 1/4 wavelengths of received radio waves can be determined (every time the first symbol digit changes once, it means that two 1/4 wavelengths have been received, and the symbol digit at the end of the radio wave If there is no change, if there is a peak value, another 1/4 wavelength needs to be recorded); by detecting the sudden change of the digital signal output by the analog-to-digital conversion module 202, the end coded information transmitted by the radio wave is identified.

At present, analog-to-digital conversion chips can be divided into 4-bit, 6-bit, 8-bit, 10-bit, 14-bit, 16-bit, 18-bit, 24-bit, etc. according to the resolution. Among them, the sampling rate of the excellent analog-to-digital conversion chip can be as high as 50GS/ s or more, and built-in large-capacity on-chip buffer. High resolution digits can ensure the longitudinal accuracy of the analog signal converted by the analog-to-digital converter, and then can achieve a high degree of discretization; high sampling rate can ensure the effective use of vertical resolution, that is, it can guarantee the analog signal of a certain resolution. All the digital codes that can be represented by the digital converter can find a unique sampling point on the horizontal axis corresponding to it; the large built-in on-chip buffer can ensure the complete and accurate conversion of the analog signal by the analog-to-digital converter.

A 24-bit high-resolution high-sampling rate analog-to-digital conversion chip is used as an embodiment. A sample frequency of 3MHz is selected, and its wavelength is 100m (measured at a wave velocity of 300,000 km/s). For a 24-bit analog-to-digital conversion chip, take the first bit as the sign bit to assist in identifying the reception of electromagnetic waves, then a 1/4 wavelength can be divided into 223 digital square waves 301, and the corresponding width of each digital square wave is λ/225, that is, 0.00000298m, and the ranging accuracy from the transmitter-receiver 204 of the positioning terminal 201 to the transmitter-receiver 201 of the measured target 212 is 0.00000149m, that is, 1.49um. The calculation based on radio wave wavelength ranging in the present invention is as shown in Figure 3, and the radio wave information comprehensive processing module 205 outputs the level change of the pin by detecting the first sign bit of the analog-to-digital conversion module 202 (the characteristic is between "0" and "1") The number of 1/4 wavelengths entered can be determined by the appearance of other digital coded peaks except the first digit. After entering k 1/4 wavelengths, the radio wave information comprehensive processing module 205 detects the output of the analog-to-digital conversion module 202. There is a sudden change in the digital information of the electric wave, and there are n coded digital square waves between the signal mutation point and the kth entry of 1/4 wavelength through the coded information at the end of the electric wave, then the measured distance is:

Among them, L is the required distance, λ is the wavelength of the radio wave received by the radio wave receiving module of the positioning terminal, k is the number of 1/4 wavelengths recorded by the radio wave information comprehensive processing module, and n is less than 1 received before the signal mutation Number of copies of the coded digital square wave at /4 wavelength.

In an ideal state, when the transmitting module of the radio wave positioning terminal 201 stops transmitting, there will no longer be electromagnetic waves behind the transmitted electromagnetic waves, but in fact, after the radio waves stop transmitting, some of them have a sharply attenuated amplitude due to the inability to supply energy. The electromagnetic wave 403 will still be sent out, and then return after being processed by the measured target 212. As shown in Figure 4, a sharply attenuated radio wave 403 appears after the end 402 of the radio wave 401. After passing through the end of the radio wave, the amplitude of the radio wave changes from the original A1 The attenuation is A2, and the wavelength and frequency remain the same.

An embodiment of a distance measuring method based on radio wave wavelength of the present invention.

1. set up test point, send the electromagnetic wave of certain frequency to measured target at test point, the electromagnetic wave frequency that we select is the sample frequency of 3MHz in the present embodiment, and its wavelength is 100m (with wave velocity being 300,000 kilometers per second).

2. The test target receives the electromagnetic wave and returns it to the test point after being amplified. The test point converts the received electromagnetic wave into a digital square wave through analog to digital, and counts the number of received 1/4 wavelengths and the dissatisfaction received before the signal mutation The number of copies of the digitally encoded square wave of 1/4 wavelength, and the distance from the test point to the measured target is calculated according to the statistical information and the wavelength of the electromagnetic wave.

Among them, L is the required distance, λ is the wavelength of the radio wave received by the radio wave receiving module of the positioning terminal, k is the number of 1/4 wavelengths recorded by the radio wave information comprehensive processing module, and n is less than 1 received before the signal mutation Number of copies of the coded digital square wave at /4 wavelength.

An embodiment of the radio wave wavelength based positioning method of the present invention.

First establish a global coordinate system, as shown in Figure 1, set corresponding measuring points on the three coordinate axes under the coordinate system, and set corresponding transmitting-receiving ends on each measuring point. Suppose the coordinates of the three measuring points are 101(0,0,c), 102(a,0,0), 103(0,b,0), and the distances from these three measuring points to the measured target are L ₁ , L ₂ and L ₃ ,

Then, the distances L ₁ , L ₂ , and L ₃ between each measuring point and the target on the north side are calculated by using the method of the above-mentioned embodiment. The specific process has been described in detail in the above-mentioned embodiment and will not be repeated here.

The coordinates of the measured target 104 are (x, y, z), then the following matrix can be obtained from the relationship shown in the figure:

Bring the obtained L ₁ , L ₂ and L ₃ into the above formula, and the coordinate value of the measured target 104 (x, y, z) can be uniquely determined (the calculation result of this matrix is two sets of solutions, and the two sets of solutions Regarding the plane symmetry composed of three measuring points, discard the unrealistic set of solutions according to the actual position relationship between the measured point and the test point).

It can be known from the geometric meaning of the positional relationship of the graph elements that the basis for calculating the coordinates of the measured points in the present invention is equivalent to setting up a tripod on the plane, the coordinates of the three points are determined, the plane is determined, the length of the three poles is determined, and the position of the measured point relative to the plane Determined, the target of the measured point is determined and unique. As can be seen from Figure 1, as long as the distances from the measured point to the transmitter-receiver of the three positioning terminals can be accurately measured, the coordinate position information of the positioned point can be obtained through calculation to realize positioning.

Claims (10)

1. a kind of range unit based on wavelength of radio wave, it is characterised in that the range unit includes positioning terminal and determined Position terminal, described positioning terminal is provided with radio wave transmission module, radio wave reception module, analog-to-digital conversion module and electricity Ripple informix processing module, it is described be positioned terminal and be provided be positioned radio wave reception module and radio wave transmission mould Block, the radio wave transmission module of the positioning terminal is used for according to the instruction of wave information integrated treatment module to being positioned end End transmitting source and electromagnetic wave, the radio wave reception module that is positioned for being positioned terminal is used to receive the source of positioning terminal transmission Electromagnetic wave, the described radio transmitter module of terminal that is positioned is returned for being generated after the Amplitude amplification that will receive source and electromagnetic wave Electric wave simultaneously launches given position terminal, and analog-to-digital conversion module is used for the return for receiving the radio wave reception module of positioning terminal Electric wave is converted into by digitally coded Digital Square-Wave and these Digital Square-Waves is sent to wave information integrated treatment module, described Wave information integrated treatment module be used for the quantity of 1/4 wavelength of Digital Square-Wave received according to statistics and sign mutation before The number of the Digital Square-Wave of discontented 1/4 wavelength for being received calculates positioning terminal and is positioned the distance of terminal；When detecting mould The digital information of number modular converter output is judged to sign mutation when undergoing mutation.

2. the range unit based on wavelength of radio wave according to claim 1, it is characterised in that the wave information is comprehensive Close the positioning terminal that is calculated according to wavelength of processing module is with the distance between terminal L is positioned：

$L=\frac{k*\mathrm{\λ}}{8}+\frac{n*\mathrm{\λ}}{2^{m+2}}$

Wherein L is required distance, and λ is received the wavelength of electric wave by positioning terminal radio wave reception module, and k is wave information The number of 1/4 wavelength that integrated treatment module is recorded, n is by the Digital Square-Wave for being discontented with 1/4 wavelength received before sign mutation Number, m for analog-to-digital conversion module resolution ratio digit.

3. the range unit based on wavelength of radio wave according to claim 2, it is characterised in that described positioning terminal To receive stop immediately after return electric wave and send source and electromagnetic wave, wave information integrated treatment module is receiving the electricity of amplitude sharp-decay Magnetic wave judges that return to electric wave is received completely as the mark that radio wave distal tip signal receives identification, the amplitude sharp-decay Electromagnetic wave be positioning terminal radio wave transmission module stop transmitting after because energy cannot feed and amplitude sharp-decay Electromagnetic wave.

4. a kind of distance-finding method based on wavelength of radio wave, it is characterised in that the distance-finding method is comprised the following steps：

1) test point is set up, the electromagnetic wave of certain frequency is sent to measured target in test point；

2) test point is back to after the amplified treatment of electromagnetic wave that measured target will be received；

3) electromagnetic wave that test point will be received carries out analog-to-digital conversion, and counts the quantity and sign mutation for receiving 1/4 wavelength The number of the digital coding square wave of preceding received discontented 1/4 wavelength, the wavelength according to the information and electromagnetic wave for counting on is calculated Distance of the test point to measured target；

It is judged to sign mutation when the digital information for detecting analog-to-digital conversion module output is undergone mutation.

5. the distance-finding method based on wavelength of radio wave according to claim 4, it is characterised in that the test point and quilt Survey target distance be：

$L=\frac{k*\mathrm{\λ}}{8}+\frac{n*\mathrm{\λ}}{2^{m+2}}$

Wherein L is required distance, and λ is received the wavelength of electromagnetic wave, 1/4 wavelength that k is received for test point by measured target Number, by the number of the digital coding square wave of discontented 1/4 wavelength received before sign mutation, m is analog-to-digital conversion module point to n The digit of resolution.

6. the distance-finding method based on wavelength of radio wave according to claim 5, it is characterised in that the test point is receiving Electromagnetic wave to amplitude sharp-decay judges that return to electric wave is connect completely as the mark that radio wave distal tip signal receives identification Receive, the electromagnetic wave of the amplitude sharp-decay is that the transmitter module of test point stops after transmitting because energy cannot feed and amplitude urgency The electromagnetic wave of play decay.

7. a kind of localization method based on wavelength of radio wave, it is characterised in that the localization method is comprised the following steps：

1) global coordinate system is set up, corresponding test point is respectively provided with three reference axis under the coordinate system；

2) control each test point that the electromagnetic wave of respective settings frequency is sent to measured target；

3) corresponding test point is back to after the electromagnetic wave enhanced processing that measured target will be received；

4) electromagnetic wave that each test point will be received carries out analog-to-digital conversion, and counts the quantity and signal for receiving 1/4 wavelength The number of the digital coding square wave of discontented 1/4 wavelength received before mutation, according to the information and the wavelength of electromagnetic wave that count on Calculate each test point to the distance of measured target；

5) distance according to the test point in three reference axis for being calculated and test target and three test points itself Coordinate position, calculates the coordinate value of measured target；

It is judged to sign mutation when the digital information for detecting analog-to-digital conversion module output is undergone mutation.

8. the localization method based on wavelength of radio wave according to claim 7, it is characterised in that described step 4) in Test point is with the range formula of measured target：

$L=\frac{k*\mathrm{\λ}}{8}+\frac{n*\mathrm{\λ}}{2^{m+2}}$

Wherein L is required distance, and λ is received the wavelength of electromagnetic wave, 1/4 wavelength that k is received for test point by measured target Number, n by the number of the digital coding square wave of discontented 1/4 wavelength received before sign mutation, during m is analog-digital conversion process The digit of the analog-to-digital converter resolution for being used.

9. the localization method based on wavelength of radio wave according to claim 8, it is characterised in that described step 5) in The coordinate value computing formula of measured target is：

$\left[\begin{array}{ccc}x& y& z-2c\\ x-2a& y& z\\ x& y-2b& z\end{array}\right]*\left[\begin{array}{c}x\\ y\\ z\end{array}\right]=\left[\begin{array}{c}{L}_1^2-c^2\\ L_2^2-a^2\\ L_3^2-b^2\end{array}\right]$

Wherein (0,0, c), (a, 0,0) and (0, b, 0) be respectively three coordinates of test point, L₁、L₂And L₃It is respectively three surveys To the distance of measured target, (x, y, z) is the coordinate of measured target to pilot.

10. the localization method based on wavelength of radio wave according to claim 8, it is characterised in that the test point with The electromagnetic wave for receiving amplitude sharp-decay judges to return to electric wave quilt completely as the mark that radio wave distal tip signal receives identification Receive, the electromagnetic wave of the amplitude sharp-decay is that the transmitter module of test point stops after transmitting because energy cannot feed and amplitude The electromagnetic wave of sharp-decay.