CN109116302A - A kind of arrival time detection method, device and positioning device - Google Patents
A kind of arrival time detection method, device and positioning device Download PDFInfo
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- CN109116302A CN109116302A CN201810994390.7A CN201810994390A CN109116302A CN 109116302 A CN109116302 A CN 109116302A CN 201810994390 A CN201810994390 A CN 201810994390A CN 109116302 A CN109116302 A CN 109116302A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
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Abstract
The invention discloses a kind of arrival time detection device and methods, by the way that multiple comparison circuits and time-to-digital conversion circuit are arranged in arrival time detection device, multi-point sampling is carried out to the pulse signal received, and then fit the envelope of pulse signal, by being matched with the pulse envelope prestored, assert that the pulse signal received is useful signal or interference signal.Further, according to matching result, reference point is set, by measuring reference point value at the time of on the pulsed signal envelope of pulse signal transmission envelop, this arrival time detection device and other arrival time detection devices, the accurate arrival time for obtaining pulse signal or reaching time-difference, solving in single comparison circuit and time-to-digital conversion circuit in the prior art cannot exclude interference signal, and the fluctuating due to pulse amplitude, can not Accurate Determining pulse signal arrival time the technical issues of.
Description
Technical field
The present invention relates to wireless communication fields, and in particular to the time measurement in positioning system.
Background technique
For the safety prison in the regions such as heavy construction inside, urban compact region and bridge, dam, massif, foundation pit
It surveys, helps to realize security monitoring, the emergency relief to personnel, transportation management, allocation schedule to goods and materials, and to natural calamity
Harmful prevention and monitoring etc..It due to intensive with groups of building, blocks, environment complexity monitors narrow space GPS, Beidou signal often
It cannot deeply cover, cause space monitoring difficult.In the prior art, it is realized by self-built positioning system in a particular area to finger
The positioning and monitoring to set the goal.UWB (Ultra Wideband) is a kind of no-load communication techniques, utilizes nanosecond to picosecond
Non-sinusoidal waveform burst pulse transmits data.UWB has pulse width narrow, and strong anti-interference performance, transmission rate are high, very bandwidth is wide, disappears
The many advantages such as consuming electric power is small, transmission power is small, are widely used in indoor communications, high-speed wireless LAN, home network, wireless electricity
The fields such as words, safety detection, position finding, radar.Sky can be made up as the positioning system of positioning signal using UWB signal to defend
The region that star can not cover facilitates arrangement, realizes the displacement monitoring of small space.
In the positioning system using UWB pulse as positioning signal common location algorithm have arrival time TOA position and
Reaching time-difference TDOA positioning, above-mentioned algorithm need the detection UWB pulse of positioning signal reception end to reach itself in implementation process
At the time of value.In existing positioning system, positioning signal reception end is by a certain amplitude of the UWB pulse received and systemic presupposition
Thresholding is compared, using value at the time of being just above magnitude threshold on UWB pulse envelope as the arrival time of positioning signal.Reason
In the case of thinking, the rising edge of UWB pulse, which can achieve, connects close to ninety degrees, at this point, the arrival time measured by the above method compared with
To be accurate, but in actual scene, it is limited to hardware device, the rising edge of UWB pulse, which is unable to reach, connects close to ninety degrees, at this point, setting
The different positioning signal arrival moment will be obtained by setting different magnitude thresholds, and positioning system can not provide accurate positioning signal
Arrival time measurement standard, seriously affects positioning accuracy.In addition, other interference signals of some super more magnitude thresholds of amplitude or making an uproar
Acoustical signal can be detected as positioning signal, to cause erroneous detection, seriously affect the performance of positioning system.
Therefore, the arrival time for how accurately detecting UWB pulse positioning signal becomes this field technology urgently to be resolved
Problem.
Summary of the invention
According to one aspect of the present invention, a kind of arrival that reception device is reached for detecting pulse transmission signals is disclosed
The detection device at moment, comprising: multiple comparison circuits all have first input end, the second input terminal and output end, wherein each
The first input end of a comparison circuit receives a reference thresholds respectively, and the second input terminal of each comparison circuit receives to be checked
Pulse signal to be checked is compared by pulse signal, each comparison circuit with itself received reference thresholds respectively, and according to
Comparison result exports timing trigger signal；Multiple time-to-digital conversion circuits and multiple comparison circuits correspond, multiple times
Digital conversion circuit all has first input end, the second input terminal and output end, wherein the of each time-to-digital conversion circuit
One input terminal is respectively coupled to corresponding comparison circuit to receive timing trigger signal, and the second of each time-to-digital conversion circuit
The equal receiving time reference signal of input terminal, each time-to-digital conversion circuit are obtained according to timing reference signal and timing trigger signal
Sampling instant, the reference thresholds and sampling instant corresponding thereto constitute the sampled point of pulse signal to be checked；And
The sampled point of pulse signal to be checked is fitted to sampled envelope, and carried out with the pulse transmission signals envelope prestored by match circuit
Matching, to obtain the arrival time that pulse transmission signals reach reception device according to matched result.
According to another aspect of the invention, it discloses a kind of for detecting arriving for pulse transmission signals arrival reception device
Up to the detection method at moment, comprising: pulse signal to be checked to be compared with multiple reference thresholds；When pulse signal to be checked
When amplitude is reference thresholds, record is when the moment is sampling instant, the reference thresholds and sampling corresponding thereto at this time
Carve the sampled point for constituting pulse signal to be checked；The corresponding sampled point of each reference thresholds is fitted to sampled envelope；And it will
Sampled envelope and the pulse transmission signals envelope prestored are matched, and are obtained pulse transmission signals arrival according to matched result and are connect
The arrival time of receiving apparatus.
Another aspect according to the present invention discloses a kind of positioning device, comprising: positioning signal emitter, transmitting
Pulse transmission signals are the transmitting of pulse transmission signals at the time of recording impulse emits on signal envelope corresponding to a selected point
Time；And positioning signal reception device, pulse transmission signals are received, the positioning signal reception device includes arrival time inspection
Device is surveyed, positioning signal reception device records specified point pair corresponding with selected point on pulse transmission signals envelope in sampled envelope
The arrival time of positioning signal reception device is reached at the time of answering as pulse transmission signals；Positioning device is believed using impulse ejection
Number launch time and the difference of arrival time obtain the flight time with for positioning.
Another aspect according to the present invention also discloses a kind of positioning device, comprising: positioning signal emitter, hair
Penetrate pulse transmission signals；First positioning signal reception device receives pulse transmission signals, the first positioning signal reception device
Including arrival time detection device, conduct at the time of a specified point corresponds in the first positioning signal reception device record sampled envelope
Pulse transmission signals reach the first arrival time of the first positioning signal reception device；And the second positioning signal reception device,
Pulse transmission signals are received, the second positioning signal reception device includes arrival time detection device, and the second positioning signal connects
The second positioning signal reception dress is reached as pulse transmission signals at the time of a specified point corresponds in receiving apparatus record sampled envelope
The second arrival time set；Positioning device using the difference of the first arrival time and the second arrival time obtain reaching time-difference with
In positioning.
Detailed description of the invention
Fig. 1 provides a kind of schematic diagram of the arrival time detection device 100 of embodiment according to the present invention；
Fig. 2 provides the schematic diagram that a kind of arrival time detection device 100 shown in FIG. 1 obtains pulse signal envelope to be checked；
Fig. 3 provides the signal that another arrival time detection device 100 shown in FIG. 1 obtains pulse signal envelope to be checked
Figure；
Fig. 4 provides a kind of schematic diagram of the arrival time detection device 400 of embodiment according to the present invention；
Fig. 5 provides the schematic diagram that a kind of arrival time detection device 400 shown in Fig. 4 obtains pulse signal envelope to be checked；
Fig. 6 provides a kind of flow chart of the arrival time detection method 600 of embodiment according to the present invention.
Specific embodiment
Specific embodiments of the present invention are described more fully below, it should be noted that the embodiments described herein is served only for illustrating
Illustrate, is not intended to restrict the invention.In the following description, in order to provide a thorough understanding of the present invention, a large amount of spies are elaborated
Determine details.It will be apparent, however, to one skilled in the art that: this hair need not be carried out using these specific details
It is bright.In other instances, in order to avoid obscuring the present invention, well known circuit, material or method are not specifically described.
Throughout the specification, meaning is referred to " one embodiment ", " embodiment ", " example " or " example "
: a particular feature, structure, or characteristic described in conjunction with this embodiment or example is comprised at least one embodiment of the invention.
Therefore, the phrase " in one embodiment ", " in embodiment ", " example " occurred in each place of the whole instruction
Or " example " is not necessarily all referring to the same embodiment or example.Furthermore, it is possible in any suitable combination and or sub-portfolio will be specific
Feature, structure or characteristic combine in one or more embodiment or examples.In addition, those of ordinary skill in the art should manage
Solution, diagram is provided to the purpose of explanation provided herein, and diagram is not necessarily drawn to scale.It should be appreciated that working as
Claim " element " " being connected to " or when ' attach ' to another element, it, which can be, is directly connected to or is connected to another element or can be with
There are intermediary elements.On the contrary, cental element is not present when claiming element " being directly connected to " or " being directly connected to " another element
Part.Identical appended drawing reference indicates identical element.Term "and/or" used herein includes that one or more correlations are listed
Any and all combinations of project.
Fig. 1 provides when reaching the arrival of reception device for detecting pulse transmission signals of a kind of embodiment according to the present invention
Carve the schematic diagram of detection device 100.Arrival time detection device 100 illustratively include comparison circuit COMP1 and COMP2, when
Between digital conversion circuit TDC1 and TDC2 and match circuit MAT.Wherein, comparison circuit COMP1 and COMP2 and time figure
Conversion circuit TDC1 and TDC2 all have first input end, the second input terminal and output end.The first of comparison circuit COMP1 is defeated
Enter end to receive with reference to thresholding v_th1, the second input terminal of comparison circuit COMP1 receives pulse signal mea_p to be checked.In a reality
It applies in example, the arrival time detection device 100 is placed in the reception device of positioning system, which further includes transmitting
Device, for emitting pulse transmission signals St, and reception device is to receive pulse transmission signals St, and detects impulse ejection letter
Number St reaches the arrival time of reception device, for positioning.Again in one embodiment, the pulse transmission signals St is
Ultra-wideband impulse signal (Ultra Wideband, UWB).In another embodiment, the pulse signal mea_p to be checked is characterization
The signal of pulse transmission signals St, be the received device front-end circuit of pulse transmission signals St that reception device receives (such as
The circuits such as amplifier, wave detector) treated signal, have and envelope that pulse transmission signals match.In another embodiment
In, pulse signal mea_p to be checked is the interference signal from other signal sources.Comparison circuit COMP1 will be from the second input terminal
The amplitude of the pulse signal mea_p to be checked received is compared with the reference thresholding v_th1 received from first input end, and root
Timing trigger signal Str1 is exported in output end according to comparison result.More specifically, the amplitude as pulse signal mea_p to be checked is equal to
When with reference to thresholding v_th1, timing trigger signal Str1 is effective status；When the amplitude of pulse signal mea_p to be checked is not equal to ginseng
When examining thresholding v_th1, timing trigger signal Str1 is invalid state.The first input end of time-to-digital conversion circuit TDC1 couples
To the output end of comparison circuit COMP1, to receive timing trigger signal Str1, the second input of time-to-digital conversion circuit TDC1
Receiving time reference signal t_ref is held, time-to-digital conversion circuit TDC1 is according to timing reference signal t_ref and timing triggering letter
Number Str1 obtains sampling instant t_tdc1.In one embodiment, timing reference signal t_ref is arrival time detection device
100 before time-to-digital conversion circuit TDC1 receives timing trigger signal Str1, and another timing inputted to it triggers letter
Number, the time-to-digital conversion circuit TDC1 starts timing under timing reference signal t_ref triggering, in timing trigger signal
Str1 transformation stops timing when having effective status, and then exports sampling instant t_tdc1 in output end.Again in one embodiment,
Timing reference signal t_ref is current time value of the arrival time detection device 100 on the basis of itself clock, is triggered in timing
When signal Str1 is changed into effective status, time-to-digital conversion circuit TDC1 record reaches itself clock of timing detection device 100
Current time value is simultaneously output it as sampling instant t_tdc1.Sampling instant t_tdc1 and reference thresholding v_th1 constitutes to be checked
The sampled point of pulse signal mea_p.
Correspondingly, the first input end of comparison circuit COMP2, which receives, refers to thresholding v_th2, and the of comparison circuit COMP2
Two input terminals equally receive pulse signal mea_p to be checked.In the ginseng that one embodiment, comparison circuit COMP1 and COMP2 receive
Examining thresholding v_th1 and v_th2 is different value.The pulse signal to be checked that comparison circuit COMP2 will be received from the second input terminal
The amplitude of mea_p is and defeated in output end according to comparison result compared with the reference thresholding v_th2 received from first input end
Timing trigger signal Str2 out.More specifically, when the amplitude of pulse signal mea_p to be checked is equal to reference to thresholding v_th2, timing
Trigger signal Str1 is effective status；When the amplitude of pulse signal mea_p to be checked is not equal to reference to thresholding v_th1, timing touching
Signalling Str1 is invalid state.The first input end of time-to-digital conversion circuit TDC2 is coupled to the defeated of comparison circuit COMP2
Outlet, to receive timing trigger signal Str2, the same receiving time reference of the second input terminal of time-to-digital conversion circuit TDC2
Signal t_ref, time-to-digital conversion circuit TDC2 are adopted according to timing reference signal t_ref and timing trigger signal Str2
Sample moment t_tdc2.Sampling instant t_tdc2 and the sampled point that pulse signal mea_p to be checked is constituted with reference to thresholding v_th2.
The pulse envelope of pulse transmission signals St is prestored in match circuit MAT.As next will described in Fig. 2 or Fig. 3
Shown, the sampled point of pulse signal mea_p to be checked is fitted to sampled envelope by match circuit MAT, and will be adopted using related operation
Sample envelope is matched with the pulse envelope of the pulse transmission signals St prestored, to obtain impulse ejection letter according to matched result
Number St reaches the arrival time t_arr of reception device.
In one embodiment, pulse signal mea_p to be checked can be the signal of characterization pulse transmission signals St or come
From the interference signal of other signal sources.When pulse signal mea_p to be checked is to characterize the signal of pulse transmission signals St, for example,
When pulse signal mea_p to be checked is pulse transmission signals St by reception device front-end circuit (such as amplifier, wave detector)
When signal after reason, the amplitude of pulse signal mea_p to be checked and pulse transmission signals St is different, but its pulse envelope shape
Approximately uniform, therefore, the pulse prestored in the sampled envelope and arrival time detection device 100 of pulse signal mea_p to be checked is sent out
The pulse envelope for penetrating signal St matches.When pulse signal mea_p to be checked is interference signal, pulse signal to be checked
Mea_p and pulse transmission signals St envelope switch it is different, be it is unmatched, therefore, match circuit MAT can according to
The result matched screens whether pulse signal to be checked is the signal for characterizing pulse transmission signals.
In one embodiment, when pulse signal mea_p to be checked is to characterize the signal of pulse transmission signals St, acquisition is adopted
Value reaches the arrival time of reception device as pulse transmission signals at the time of specified point on sample envelope.Wherein, specified point can be with
For the point or point corresponding with a reference point preset on the pulse transmission signals envelope prestored of amplitude maximum in sampled envelope,
Or starting point or end point for can be sampled envelope etc., depending on circuit design.
Fig. 2 provides arrival time detection device 100 shown in Fig. 1 according to an embodiment of the invention and obtains pulse signal to be checked
The schematic diagram of envelope.As shown in Fig. 2, being respectively that axis of abscissas and axis of ordinates establish coordinate system with time t and amplitude v, utilize
The sampling instant t_tdc1 of time-to-digital conversion circuit TDC1 output and arrival time corresponding with sampling instant t_tdc1 inspection
Survey device 100 is preset to refer to thresholding v_th1, the sampled point p1 on available pulse signal mea_p envelope to be checked.Equally
Ground utilizes the sampling instant t_tdc2 and the preset ginseng of arrival time detection device 100 of time-to-digital conversion circuit TDC2 output
Examine thresholding v_th2, the sampled point p2 on available pulse signal mea_p envelope to be checked.
In the embodiment shown in Figure 2, match circuit MAT obtain pulse signal mea_p envelope to be checked sampled point p1 and
P2, by the oblique of the slope of the line segment constituted using sampled point p1 and p2 as endpoint and the pulse envelope of the pulse transmission signals St prestored
Rate matches, if successful match, assert that the pulse signal mea_p to be checked is the signal for characterizing pulse transmission signals St.
Fig. 3 provides arrival time detection device 100 shown in Fig. 1 according to another embodiment of the present invention and obtains pulse letter to be checked
The schematic diagram of number envelope.Embodiment illustrated in fig. 3 and embodiment illustrated in fig. 2 the difference is that, the width of pulse signal mea_p to be checked
Value is equal to there are two the points with reference to thresholding v_th1, and the amplitude of pulse signal mea_p to be checked is also equal to the point with reference to thresholding v_th2
There are two.The amplitude of pulse signal mea_p to be checked is compared with reference thresholding v_th1 and exports meter by comparison circuit COMP1
When trigger signal.Due to pulse signal mea_p to be checked amplitude be equal to reference to thresholding v_th1 point there are two, timing triggering letter
Number Str1 is changed into effective status twice, and then triggered time digital conversion circuit exports two sampling instants t_tdc1 and t_
Tdc1 ', and then obtain the sampled point p1 and p1 ' of pulse signal mea_p envelope to be checked；Similarly, time-to-digital conversion circuit
TDC2 export sampling instant t_tdc2 and t_tdc2 ', and then obtain pulse signal mea_p envelope to be checked sampled point p2 and
p2’。
It will be appreciated by those skilled in the art that in other embodiments, according to the waveform of pulse signal mea_p to be checked
It is fixed, thresholding is referred to for same, corresponding one, two or more sampling instant can be obtained, to obtain pulse to be checked
Signal mea_p one, two or more sampled point.
In one embodiment, reception device belongs to positioning device, and positioning device further includes emitter.The emitter
Emit pulse transmission signals, and on recording impulse transmitting signal envelope corresponding to selected point at the time of is pulse transmission signals
Launch time.The reception device receives pulse transmission signals, which includes the arrival time inspection in above-described embodiment
Device 100 is surveyed, it is corresponding that reception device records specified point corresponding with selected point on pulse transmission signals envelope in sampled envelope
Moment reaches the arrival time of positioning signal reception device as pulse transmission signals.The difference of arrival time and launch time,
The flight time for being pulse transmission signals between emitter and reception device, it can be used for realizing location Calculation.Utilize this hair
The flight time obtained of technical solution described in bright embodiment is to utilize pulse transmission signals envelope and pulse signal envelope to be checked
What upper corresponding two points were calculated, more accurately, such flight time will treat more accurately for positioning
Positioning object is positioned.
Again in one embodiment, positioning device further includes another identical positioning signal reception device, and positioning device obtains
Another positioning signal reception device received arrival time with the reference point corresponding points on the pulse signal envelope that prestores, two
The pulse signal to be checked that a reception device receives is corresponding specified point corresponding two arrival times, when the two arrival
Between difference be pulse transmission signals reach two reception devices reaching time-difference, can be used for realizing location Calculation.Utilize this
The reaching time-difference obtained of technical solution described in inventive embodiments is using corresponding two on two pulse signal envelopes to be checked
What a point was calculated, more accurately, such reaching time-difference for position will more accurately to object to be positioned into
Row positioning.
Fig. 4 provides a kind of schematic diagram of the arrival time detection device 400 of embodiment according to the present invention.Arrival time detection
Device 400 includes n comparison circuit and n time-to-digital conversion circuit, and each comparison circuit and time-to-digital conversion circuit are pressed
It is operated according to the mode of comparison circuit COMP1 and time-to-digital conversion circuit TDC1 in embodiment illustrated in fig. 1.Implement at one
In example, arrival time detection device 400 is that n comparison circuit inputs n different reference thresholdings respectively.
Fig. 5 provides the schematic diagram that a kind of arrival time detection device 400 shown in Fig. 4 obtains pulse signal envelope to be checked,
As shown in figure 5, arrival time detection device 100 obtain sampled point p1, p1 of pulse signal mea_p envelope to be checked ', p2,
P2 ' ..., pn, pn ', n value is bigger, and the envelope of the pulse signal mea_p to be checked of fitting gets over approaching to reality value, thus, acquisition is arrived
It is more accurate up to the time.
Fig. 6 provides when reaching the arrival of reception device for detecting pulse transmission signals of a kind of embodiment according to the present invention
The flow chart of the detection method 600 at quarter.Detection method 600 includes the following steps:
Step 601: pulse signal to be checked is compared with multiple reference thresholds.
Wherein, pulse signal to be checked may be the signal for characterizing pulse transmission signals, it is also possible to come from other sources
Interference signal.In one embodiment, pulse signal to be checked can be the received device front end of signal that reception device receives
Circuit (e.g., the circuits such as amplifier, wave detector) treated signal.
Step 602: when the amplitude of pulse signal to be checked is reference thresholds, the moment is sampling instant to record at this time.Respectively
The sampling instant of a reference thresholds corresponding thereto constitutes multiple sampled points of pulse signal to be checked.
Step 603: the corresponding sampled point of each reference thresholds is fitted to sampled envelope.
Step 604: sampled envelope being matched with the pulse transmission signals envelope prestored, arteries and veins is obtained according to matching result
Punching transmits signals to the arrival time up to reception device.
In one embodiment, step 604 further includes screening whether pulse signal to be checked is characterization according to matched result
The signal of pulse transmission signals, if so, when obtaining the arrival of pulse transmission signals arrival reception device according to matched result
Between.
In one embodiment, related operation is fitted through to realize in step 604.
In one embodiment, pulse transmission signals are obtained according to matched result in step 604 and reaches reception device
Value reaches reception device as pulse transmission signals at the time of the step of arrival time includes specified point in acquisition sampled envelope
Arrival time.In one embodiment, which is the point of amplitude maximum or and the pulse transmission signals that prestore in sampled envelope
The corresponding point of a preset reference point on envelope.In another embodiment, which is also possible to the starting of sampled envelope
Point or end point.
Arrival time detection device and method disclosed by the invention, by the way that multiple ratios are arranged in arrival time detection device
Compared with circuit and time-to-digital conversion circuit, multi-point sampling can be carried out to the pulse signal received, and then fit pulse letter
Number envelope assert that the pulse signal received is that useful signal is still interfered by being matched with the pulse envelope prestored
Signal.Further, reference point is arranged according to matching result, by measurement reference point in pulse signal transmission envelop, this arrival
Value at the time of on timing detection device and the pulsed signal envelope of other arrival time detection devices, it is accurate to obtain pulse letter
Number arrival time or reaching time-difference, solving can not in single comparison circuit and time-to-digital conversion circuit in the prior art
Exclude the interference signal, and due to the fluctuating of pulse amplitude, can not Accurate Determining pulse signal arrival time technology
Problem.
As the above mentioned, although having illustrated and described the preferred embodiment of the present invention, without departing substantially from this hair
In the case where bright spirit and scope, many changes can be carried out.The scope of the present invention is not by the open institute of preferred embodiment as a result,
Limitation.But the present invention should be determined entirely by reference to following claims.
Claims (14)
1. a kind of detection device for reaching the arrival time of reception device for detecting pulse transmission signals, comprising:
Multiple comparison circuits all have first input end, the second input terminal and output end, wherein the first of each comparison circuit
Input terminal receives a reference thresholds respectively, and the second input terminal of each comparison circuit receives pulse signal to be checked, each ratio
Pulse signal to be checked is compared respectively with itself received reference thresholds compared with circuit, and timing is exported according to comparison result
Trigger signal；
Multiple time-to-digital conversion circuits and multiple comparison circuits correspond, and multiple time-to-digital conversion circuits all have the
One input terminal, the second input terminal and output end, wherein the first input end of each time-to-digital conversion circuit is respectively coupled to pair
The comparison circuit answered is to receive timing trigger signal, the equal receiving time reference of the second input terminal of each time-to-digital conversion circuit
Signal, each time-to-digital conversion circuit obtain sampling instant, the reference according to timing reference signal and timing trigger signal
Threshold value and sampling instant corresponding thereto constitute the sampled point of pulse signal to be checked；And
The sampled point of pulse signal to be checked is fitted to sampled envelope by match circuit, and with the pulse transmission signals envelope that prestores
It is matched, to obtain the arrival time that pulse transmission signals reach reception device according to matched result.
2. arrival time detection device as described in claim 1, wherein match circuit is screened to be checked also according to matched result
Whether pulse signal is the signal for characterizing pulse transmission signals, is arrived if so, obtaining pulse transmission signals according to matched result
Up to the arrival time of reception device.
3. arrival time detection device as described in claim 1, wherein when the amplitude of pulse signal to be checked is corresponding reference gate
When limit value, timing trigger signal triggered time digital conversion circuit makes time-to-digital conversion circuit export conduct at the time of at this time
Sampling instant.
4. arrival time detection device as described in claim 1, wherein match circuit using related operation by sampled envelope with
The pulse transmission signals envelope prestored carries out Waveform Matching.
5. arrival time detection device as claimed in claim 2, wherein when pulse signal to be checked characterizes pulse transmission signals
When, value reaches the arrival time of reception device as pulse transmission signals at the time of obtaining specified point in sampled envelope.
6. arrival time detection device as claimed in claim 5, wherein specified point be sampled envelope on amplitude maximum point or
Point corresponding with a reference point preset on the pulse transmission signals envelope prestored.
7. arrival time detection device as described in claim 1, wherein pulse transmission signals are UWB signal.
8. a kind of detection method for reaching the arrival time of reception device for detecting pulse transmission signals, comprising:
Pulse signal to be checked is compared with multiple reference thresholds；
When the amplitude of pulse signal to be checked is reference thresholds, the moment is sampling instant, the reference thresholds to record at this time
Sampling instant corresponding thereto constitutes the sampled point of pulse signal to be checked；
The corresponding sampled point of each reference thresholds is fitted to sampled envelope；And
Sampled envelope and the pulse transmission signals envelope prestored are matched, pulse transmission signals are obtained according to matched result
Reach the arrival time of reception device.
9. detection method as claimed in claim 8 further includes screening whether pulse signal to be checked is table according to matched result
The signal of pulse transmission signals is levied, if so, obtaining the arrival that pulse transmission signals reach reception device according to matched result
Time.
10. detection method as claimed in claim 8, wherein carry out sampled envelope and the pulse transmission signals envelope prestored
Fit through related operation realization.
11. detection method as claimed in claim 8, wherein obtain pulse transmission signals according to matched result and reach reception
Value is reached as pulse transmission signals at the time of the step of arrival time of device includes specified point in acquisition sampled envelope receives
The arrival time of device.
12. detection method as claimed in claim 11, wherein specified point be sampled envelope on amplitude maximum point or and prestore
Pulse transmission signals envelope on the corresponding point of a preset reference point.
13. a kind of positioning device, comprising:
Positioning signal emitter, emits pulse transmission signals, and recording impulse emits on signal envelope corresponding to a selected point
At the time of for pulse transmission signals launch time；And
Positioning signal reception device, receives pulse transmission signals, and the positioning signal reception device includes such as claim 1 to 7
Arrival time detection device described in any one, positioning signal reception device records in sampled envelope and pulse transmission signals packet
When reaching the arrival of positioning signal reception device as pulse transmission signals at the time of the corresponding specified point of selected point corresponds on network
Between；
Positioning device utilizes the launch time of pulse transmission signals and the difference of arrival time to obtain the flight time for positioning.
14. a kind of positioning device, comprising:
Positioning signal emitter emits pulse transmission signals；
First positioning signal reception device, receives pulse transmission signals, and the first positioning signal reception device includes such as right
It is required that arrival time detection device described in 1 to 7 any one, the first positioning signal reception device records a spy in sampled envelope
The first arrival time of the first positioning signal reception device is reached at the time of fixed point is corresponding as pulse transmission signals；And
Second positioning signal reception device, receives pulse transmission signals, and the second positioning signal reception device includes such as right
It is required that arrival time detection device described in 1 to 7 any one, the second positioning signal reception device records a spy in sampled envelope
The second arrival time of the second positioning signal reception device is reached at the time of fixed point is corresponding as pulse transmission signals；
Positioning device utilizes the difference of the first arrival time and the second arrival time to obtain reaching time-difference for positioning.
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