| CPC G01S 5/0244 (2020.05) [G01S 5/02213 (2020.05); G01S 5/12 (2013.01); G01S 5/0268 (2013.01); G01S 5/0289 (2013.01); G01S 5/04 (2013.01); G01S 5/06 (2013.01)] | 18 Claims |
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1. A positioning apparatus comprising:
a communicator comprising at least three transceivers that are arranged in a first line, and a processor configured to,
calculate a first phase difference between reference signals received by a first transceiver pair arranged in the first line, by converting the reference signals received by the first transceiver pair to baseband demodulated signals, by calculating a conjugate multiplication of the baseband demodulated signals, and by calculating a phase angle of the conjugate multiplication of the baseband demodulated signals;
and a second phase difference between reference signals received by a second transceiver pair arranged in the first line, by converting the reference signals received by the first transceiver pair to baseband demodulated signals, by calculating a conjugate multiplication of the baseband demodulated signals, and by calculating a phase angle of the conjugate multiplication of the baseband demodulated signals;
and a third phase difference between reference signals received by a third transceiver pair arranged in the first line, by converting the reference signals received by the first transceiver pair to baseband demodulated signals, by calculating a conjugate multiplication of the baseband demodulated signals, and by calculating a phase angle of the conjugate multiplication of the baseband demodulated signals;
determine an integer ambiguity of the second phase difference and an integer ambiguity of the third phase difference based on the first phase difference, and
calculate a position of an apparatus to be positioned based on the second phase difference, the integer ambiguity of the second phase difference, the third phase difference, and the integer ambiguity of the third phase difference.
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