TWI675214B - Signal-direction discriminating device and signal postioning and tracking system - Google Patents

Abstract

A signal direction discrimination device and a signal tracking and positioning system, by using a plurality of signal detection elements arranged in a specific direction to simultaneously detect a signal sent by a signal source, and using the measured signal strengths respectively, through these signal strengths The relationship between them calculates the direction and distance of the signal source.

Description

Signal direction discrimination device and signal tracking positioning system

The invention relates to a signal direction discrimination device and a signal tracking and positioning system.

In recent decades, the transportation industry has developed vigorously. In order to improve transportation efficiency and personnel safety, the concept of Intelligent Transportation System (ITS) has gradually taken shape. In terms of land vehicle transportation, in addition to the various performances of various types of vehicles and the continuous improvement of their personnel safety protection capabilities, in order to achieve the purpose of intelligent transportation and enable the transmission of information to the passengers in the vehicle, the combination of vehicles and communication systems Become an inevitable trend. According to the development order and technological maturity, vehicle communication can be roughly divided into two categories. The first is the communication between the vehicle and the off-road fixed system, also known as telematics. The electronic toll collection (ETC) of the highway falls into this category. Perform a specific purpose (such as charging a fee). After years of development, this area has gradually expanded the application level. In addition to the aforementioned electronic toll collection, it also includes traffic information transmission, traffic road guidance, and emergency notification. In recent years, it has also been conceived to expand it to other aspects of commercial applications of people's livelihood, such as parking spaces and even reservations for restaurants and cinemas.

In addition to the aforementioned vehicle-to-vehicle communication, that is, the communication between the vehicle and the off-road fixed system, the other category is the inter-vehicle communication between the vehicle and the vehicle. This one The field may not be as urgent as the former in the history of transportation development, so it started late and is currently less mature, but it has gradually gained attention in recent years. At present, the technical breakthrough is in urgent need of short-range communication required for automatic driving of vehicles. The application scope includes the control of vehicle platooning, cooperative driving, and the prevention of vehicle collision. (pileup-crash prevention), and other necessary data transmission.

In terms of automatic formation driving, taking the expressway as an example, the vehicles in the inner lane are driving at the same speed as the maximum speed defined by the road at the same time. Unless you join the formation or leave the formation without changing lanes, the outer lane is open for slow vehicles. In this way, the number of lane changes of all vehicles can be greatly reduced, which also indirectly improves driving safety, and all of them are driving at the highest speed and reach the end quickly. This type of intelligent driving relies on the communication between vehicles to transfer vehicle coordinates (from the global positioning system (GPS) installed in each vehicle), speed (from each sensor), and relative position (From the on-board radar, it may be a microwave radar (radar) or an infrared radar (ladar) using lasers), and even information intended to change lanes to the adjacent car to control the vehicle's driving.

As far as vehicle collision prevention is concerned, due to the high speed of the highway, when the vehicle is driving fast, the braking distance is very long. If the vehicle in front of the vehicle is in an emergency and brakes, the only signal transmission method at present is the warning of the brake tail lights. Rear driving can only be vigilant to take contingency measures. A common scenario is that although the second vehicle that followed immediately stopped in time and did not hit the front vehicle, the third and fourth vehicles following it failed to respond, causing multiple vehicles to chase and cause serious casualties. The prevention of vehicle chase is mainly aimed at this problem, and hopes that the information of the front brakes will be transmitted to the rear vehicles quickly and successively through communication, especially after the third one. The current function is to remind all drivers to respond early, and in the future, it will be extended to autonomous driving, that is, to provide information on braking in front of the control. Make the computer and perform the necessary processing by the self-driving software program.

In view of this, the object of the present invention is to provide a signal tracking and positioning system and a signal direction discrimination device. With a special geometric structure composed of multiple signal detection elements, different parts of this structure will generate different receptions for the same incident signal. The strength characteristic compares the strength of the received signal at each location to obtain the signal direction, and uses the geometric relationship to obtain the target coordinates. If the vehicles are equipped with the signal tracking and positioning system of the present invention, the positions and relative coordinates of neighboring vehicles can be detected, which is beneficial for the purpose of preventing vehicle collision and automatically driving in formation.

The signal direction judging device of the present invention is used to track a signal source, and the signal source sends a signal. In an embodiment, the signal direction judging device includes a first signal detecting element, which is a first signal detecting element relative to a reference direction. An angle is used to detect the intensity of the signal and obtain a first intensity value; a second signal detection element is at a second angle relative to the reference direction to detect the intensity of the signal and obtain a first Two intensity values; and an arithmetic unit that receives the first intensity value and the second intensity value, and calculates the azimuth of the signal source according to the first intensity value and the second intensity value.

In another embodiment, the first signal detection element is a single or a plurality of arrayed light detection diodes; the second signal detection element is a single or a plurality of arrayed light detection diodes. .

In another embodiment, the signal is an infrared signal.

In another embodiment, the signal is a visible light signal.

In another embodiment, the first angle and the second angle respectively face two sides of the reference direction.

In another embodiment, the operation unit calculates the position of the signal source according to the following formula: Where θ represents the angle between the incident direction of the signal and the vertical line of the reference direction, θt represents the first angle, S1 represents the first intensity value, and S2 represents the second intensity value.

An embodiment of the signal tracking and positioning system of the present invention includes at least two of the above-mentioned signal direction discrimination devices. The signal direction discrimination devices are disposed at a predetermined distance in a first direction, the first direction being parallel to the aforementioned reference direction. , And set the midpoint of the position connection of the two signal direction discrimination devices as the origin of the coordinate system. The signal tracking and positioning system calculates the coordinates of the signal source relative to the origin according to the following formula: ; , Where d represents one-half of the predetermined distance, θ1 represents the angle between the signal source measured by one of the direction discrimination devices and the vertical line of the reference direction, and θ2 represents the other of the direction discrimination devices The measured angle between the signal source and the vertical line in the reference direction, x and y represent the coordinate values of the signal source relative to the midpoint.

Another embodiment of the signal direction discrimination device of the present invention is used to track a signal source, the signal source sends out a signal, the signal direction discrimination device includes four sets of signal detection elements, and the four sets of signal detection elements are relative to one The reference plane is at an inclined angle, wherein the first signal detection element is at a first angle with a reference direction on the reference plane to detect the signal and obtain a first intensity value; the second signal detection element and The reference direction is at a second angle to detect the signal and obtain a second intensity value; the third signal detection element is at a third angle to the reference direction to detect the signal and obtain a third Intensity value; the fourth signal detection element is at a fourth angle to the aforementioned reference direction to detect the signal and obtain a fourth intensity value; the direction determination device described in this section further includes an arithmetic unit for receiving the First intensity value, the second intensity value, The third intensity value and the fourth intensity value, and the orientation of the signal source is calculated based on the four intensity values.

In another embodiment, the first angle, the second angle, the third angle, and the fourth angle are divided into four quadrants of the plane.

In another embodiment, the aforementioned first angle, second angle, third angle, and fourth angle may be symmetrical.

In another embodiment, the operation unit calculates the position of the signal source according to the following formula: ; Where θ and Φ are in accordance with the definition of general spherical coordinates, θ is a polar angle, and Φ is an azimuthal angle. Φ represents the angle between the incident plane of the signal and the aforementioned reference direction, θ represents the angle between the incident direction of the signal and the normal normal to the reference plane, and Φt represents the aforementioned first angle when the equation is symmetrical, θt Represents the inclination angles of the four sets of signal detection elements relative to the aforementioned reference plane, S1 represents the first intensity, S2 represents the second intensity, S3 represents the third intensity, and S4 represents the fourth intensity.

In another embodiment, the operation unit calculates the position of the signal source according to the following formula: ; Where the definitions of θ, Φ, θt, and Φt are the same as above.

In another embodiment, the operation unit calculates the coordinate position (x, y) of the signal source according to the following formula: ; , Where h represents the vertical height difference between the direction discrimination device and the signal source horizontal plane, x represents the distance between the direction discrimination device and the signal source in a first direction, and y represents the direction discrimination device and the signal originated from a first direction The distance in two directions, the first direction is perpendicular to the second direction, and α represents the depression angle of the direction determination device with respect to the horizontal direction.

In another embodiment, at least two signal direction determining devices are included. The signal direction determining devices are separated by a predetermined distance in a first direction, the first direction is parallel to the aforementioned reference plane, and the signal is tracked. The positioning system calculates the three-dimensional spatial coordinate position (x, y, z) of the midpoint of the position connection of the signal source relative to the direction of the signal according to the following formula: ; ; Z = [( x - d ) ² + y ² + z ² ] ^1/2 cos θ 1; ; ; Z = [( x - d ) ² + y ² + z ² ] ^1/2 cos θ 1, where d represents one-half of the predetermined distance, and θ1 and Φ1 represent one of these direction discrimination devices. The orientation of the signal source obtained, θ2 and Φ2 represent the orientation of the signal source measured by the other of these direction discrimination devices, and x, y, and z represent the coordinate values of the signal source relative to the midpoint.

In order to make the above and other objects, features, and advantages of the present invention more comprehensible, embodiments are described below in detail with reference to the drawings.

10‧‧‧The first signal detection element

20‧‧‧Second signal detection element

30‧‧‧ Computing Unit

10’‧‧‧first signal detection element

20’‧‧‧Second signal detection element

30’‧‧‧ the third signal detection element

40’‧‧‧Fourth signal detection element

50’‧‧‧ Computing Unit

100, 100’‧‧‧ signal direction discrimination device

N‧‧‧normal

S‧‧‧ incident signal

θ‧‧‧ Polar angle of signal incidence

θt‧‧‧Sweep tilt angle of signal detection element

t ‧‧‧ Symmetrical plane configuration of signal detection element installation relationship angle

‧‧‧Azimuthal angle of signal incidence

, , , , , ‧‧‧Unit direction of Cartesian coordinate axis

ρ ^ ‧‧‧ radial unit vector of cylindrical coordinates

RSU‧‧‧Lane communication unit

OBU‧‧‧ Onboard Communication Unit

Installation angle of α‧‧‧ lane communication unit

Installation angle of β‧‧‧ communication unit on board

Coordinates of x, y, z‧‧‧

h‧‧‧Vertical installation height of lane communication unit

d‧‧‧half of the distance between two signal direction discrimination devices

θ 1, Φ1, θ 2, Φ2‧‧‧ azimuth angle of the signal source

FIG. 1 is a schematic diagram of a dimensional signal direction discrimination device according to the present invention.

FIG. 2 is a schematic diagram of a two-dimensional signal direction discrimination device of the present invention.

FIG. 3 is a schematic diagram showing the relationship between the signal incident direction and the signal direction discrimination device of the present invention.

Figure 4 is a schematic diagram of the aforementioned signal detection element when it is symmetrically mounted. When it is completely symmetrical, Φt is 45 °, and the signal detection element is inclined backward by an angle θt in the direction of the arrow.

Figures 5A and 5B are coordinate diagrams of the aforementioned signal incident direction (θ, Φ) and the signal direction discrimination device of the present invention.

FIG. 6 is a schematic diagram of a lane communication device in which a signal direction discrimination device of the present invention is applied to a lane system.

FIG. 7 is a schematic diagram of the signal tracking and positioning system of the present invention using the triangle positioning method to calculate the signal source coordinates.

FIG. 8 is a schematic diagram of coordinate positioning using a signal tracking and positioning system of the present invention for large cars and small cars.

FIG. 9 is a schematic diagram of a vehicle applying the signal tracking and positioning system of the present invention for all-directional positioning and tracking.

Please refer to FIG. 1, which shows a dimensional signal direction determining device according to the present invention. A dimensional signal direction determining device 100 according to the present invention includes a first signal detection element 10, a second signal detection element 20, and an operation unit 30. As shown in FIG. 3, the first signal detection element 10 is inclined to the left with respect to the horizontal line by a first angle θt, and the second signal detection element 20 is inclined to the right with respect to the horizontal line by the same angle θt to form a second angle. When a signal S from a signal source is at an angle θ with the normal N of the one-dimensional signal direction discrimination device, the first signal detection element 10 detects the signal and obtains a first intensity S 1 and a second signal detection The measuring element 20 also detects the same signal and obtains a second intensity S 2. For the normals of the first signal detection element 10 and the second signal detection element 20, the directions of the signal S incident on the first signal detection element 10 and the second signal detection element 20 are θ + θt and θ - θt , respectively. Therefore, for the same signal, the first intensity S1 and the second intensity S2 will be: S 1 = S 0cos ( θ + θt ) (1) and S 2 = S 0cos ( θ - θt ) (2) The constant S 0 is for each single signal detection element. When this signal is incident perpendicularly, the signal strength received by the signal detection element. Then define the signal difference △ (difference) and the signal and Σ (sum) as follows △ ≡ S 2- S 1 = S 0 [cos ( θ - θt ) -cos ( θ + θt )] (3)

Σ≡ S 1+ S 2 = S 0 [cos ( θ-θt ) + cos ( θ + θt )] (4) Divide the signal difference △ by the signal and Σ to get △ / Σ = [cos ( θ-θt ) -cos ( θ + θt )] / [cos ( θ-θt ) + cos ( θ + θt )] = tan θ tan θt (5) (6) It can be known from equation (6) that after determining the inclination angle θt of the first signal detection element 10 and the second signal detection element 20, the difference in signal strength Δ received by the two signal detection elements is divided by Δ The signal intensity and the value of Σ (△ / Σ) can obtain the one-dimensional infrared signal incident angle θ . In addition, the tilt angle θt of a single-chip module also plays an important role. As can be understood from equation (5), for the same signal incident direction θ , a larger module tilt angle θt has a larger value of Δ / Σ, Therefore, it is possible to obtain a more accurate signal direction discrimination capability, but its field of view (FOV) is narrow. Conversely, if the tilt angle θt of the signal detection element is small, its accuracy is slightly worse, but the advantage is that the field of vision is wider. The computing unit 30 receives the first intensity S1 and the second intensity S2, and calculates the orientation θ of the signal source according to equation (6).

For the application of vehicle-to-vehicle communication, since vehicles are driving on the road, in most cases, the aforementioned one of the dimensional signal direction determination devices can fully grasp the direction from which the signal is received. For this issue, the present invention is the addition of Theoretical Physics Model Analysis calculated outside, and a complete two-dimensional signal of the direction determining and measuring entity making the verification device, which are inclined sweep angle θt = 30 ° and 45 °, to obtain Excellent results.

Please refer to Figures 2, 4, 5A, and 5B. These four figures show the basic structure of the two-dimensional signal direction discrimination device and the two-dimensional direction discrimination principle in the present invention. The two-dimensional signal direction discrimination device 100 'of the present invention includes a first signal detection element 10', a second signal detection element 20 ', a third signal detection element 30', and a fourth signal detection element 40. 'And an arithmetic unit 50'. As shown in Figures 4, 5A, and 5B, two-dimensional signal direction discrimination is performed, that is, simultaneous detection of the pitch angle (polar angle, θ ) and orientation defined by general spherical coordinates Angle (azimuthal angle, ), One of the feasible and simpler methods of mathematical processing, as shown in Figures 4 and 5A, adopt a symmetrical formula. That is, relative to the central symmetry axis (z'-axis) of the signal direction discrimination device 100 ', four identical first signal detection elements 10', second signal detection elements 20 ', and third signal detection elements 30 ', the fourth signal detection element 40' extends respectively on the x'-y 'plane t (first angle), π- t (second angle), π + t (third angle), and 2 π- The t (fourth angle) directions are each inclined by an angle θt '(tilt angle). Figures 5A and 5B are schematic diagrams showing the relationship between the signal incident direction and the signal direction discrimination device. Figure 5A is a side view and Figure 5B is a top view. Signal from a signal source from azimuth Incidence, that is, the coordinate axis of the device 100 'relative to the direction of the signal , , , The incident plane of the signal is the ρ ^ -k ^ ' plane, ρ ^ is located on the x'-y' plane, and its direction is The angle between directions is And the central axis of symmetry of the signal incident direction and the signal direction discrimination device 100 ' The angle between (z 'axis) is θ . Therefore, if it is expressed in the conventional spherical coordinates, the signal incident direction can be expressed as ( θ , ). At this time, the intensity of the signals received by the first signal detection element 10 ', the second signal detection element 20', the third signal detection element 30 ', and the fourth signal detection element 40' is ranked first in the quadrant order. The intensity S1 , the second intensity S2 , the third intensity S3, and the fourth intensity S4 . The arithmetic unit 50 'receives the first intensity S1 , the second intensity S2 , the third intensity S3, and the fourth intensity S4. And calculate the bearing of the signal source. First define the upper and lower signal difference △ E, the left and right signal difference △ A, and the signal and Σ as follows: △ E≡ ( S 1+ S 2)-( S 3+ S 4) (7)

△ A≡ ( S 1+ S 4)-( S 2+ S 3) (8)

Σ≡ S 1+ S 2+ S 3+ S 4 (9) can be obtained after simple processing

as well as So according to the first angle t , tilt angle θt ', first intensity S1 , second intensity S2 , third intensity S3, and fourth intensity S4 . First, the azimuth angle of the signal can be calculated by using equation (12) , And then bring it into equation (10) or (11) to get the pitch angle θ of the signal, so as to determine the signal direction.

If the two-dimensional signal direction discriminating device of the present invention is set above a road, since the vehicle is traveling on a flat road, after obtaining the signal direction, the coordinates of the target object can be calculated according to a simple geometric relationship, so the two-dimensional infrared signal direction of the present invention The discriminating device can be applied to a vehicle and off-road communication system, providing a lane system for vehicle coordinate positioning, and grasping a vehicle's traveling trajectory.

Please refer to FIG. 6. If the road communication unit RSU (road-side unit) of the off-road system (lane system) is installed with the two-dimensional signal direction discrimination device of the present invention, the installation depression angle is α ; the on-board communication unit OBU ( On-board unit (OBU), here plays the role of infrared signal source, its installation elevation angle is β , and there is a lateral distance x between the vertical plane of the vehicle and the lane communication unit, that is, the centerline of the lane. If the origin of the lane communication unit RSU is set as the origin, and the vehicle advances in the -y direction, then for this ground coordinate, the positions of the vehicle (infrared signal source) and the infrared signal direction discrimination device can be expressed as ( x, y, 0) and (0 , 0 , h ). At this time, the unit vectors of the x ' axis, y' axis, and z ' axis of the signal direction discrimination device of the present invention installed above the lane with a depression angle of α can be expressed by using the aforementioned ground coordinates as

j ^ ' = -i ^ (14)

k ^ ' = cos α j ^ -sin α k ^ (15) i ^ , j ^ , and k ^ in the first three formulas are the unit vectors of the ground coordinate x- axis, y- axis, and z- axis, respectively. After determining the coordinate axis of the infrared signal direction discrimination device, the vehicle (i.e., the coordinates of the infrared signal source ( x , y , 0)) and the signal direction detected by the signal direction discrimination device ( θ , The relationship between) is

Therefore, the signal orientation θ and Substituting into two formulas (16) and (17), the coordinates ( x, y ) of the signal source are solved, the vehicle position is obtained, and the vehicle's travel track is locked as it moves. This can be of great help in smart system applications.

In the vehicle-to-vehicle communication application, there is no doubt that in addition to the signal direction, if the position of the signal source can be further detected, the system function will be greatly improved. In order to achieve this purpose, the infrared signal direction discrimination technology of the present invention can be used to set at least two signal direction discrimination devices along the x-axis at a position 2d apart, and use the signal direction discrimination devices to determine the target coordinate triangle. Positioning (target positioning by triangulation).

As shown in FIG. 7, two sets of the dimensional signal direction determining device of the present invention are divided into two ends of the front edge of the vehicle, separated by 2 d . The cross in the figure represents the aforementioned signal direction determining device. If the center point of the front edge of the vehicle is set as the origin of the coordinates, the coordinates of the two signal direction discrimination devices will be ( d , 0) and ( -d , 0) respectively. At this time, the position coordinates of the target ( x , y ) The relationship between the signal source orientations θ 1 and θ 2 measured by these two signal direction discrimination devices is Therefore, using the signal source direction angles θ 1 and θ 2 measured by these two signal direction discrimination devices, the coordinate position of the signal source can be obtained smoothly as follows

Generally speaking, vehicles are traveling on flat roads, so in most cases the aforementioned two-dimensional coordinate positioning ( x , y ) is already satisfactory. However, when large cars and small cars communicate in close distance, as shown in Figure 8, due to the height difference between the communication modules, three-dimensional positioning is required to obtain the precise position of the coordinates. At this time, two of the aforementioned Two-dimensional signal direction discrimination device. As shown in FIG. 7, the two signal direction discrimination devices are divided into the same position separated by 2 d , and a z- axis is added in addition to the x and y axes. At this time, the relationship between the coordinates ( x , y , z ) of the signal source and the orientation ( θ 1, Φ1) and ( θ 2, Φ2) of the signal source measured by the two signal direction discrimination devices are as follows:

z = [( xd ) ² + y ² + z ² ] ^1/2 cos θ 1 (24)

z = [( xd ) ² + y ² + z ² ] ^1/2 cos θ 1 (27) The six equations are a set of simultaneous nonlinear equations, and the measured target directions ( θ 1, Φ1) and ( θ 2, Φ2) Find the coordinate position ( x , y , z ) of the signal source.

If the signal direction discrimination devices are installed on all four corners of the car body, it can receive signals in all directions and 360 degrees in all directions to determine the signal direction and positioning tracking. Figure 9 is a schematic diagram of this concept. The rectangle in the figure represents the vehicle, the crosses at the four corners of the rectangle represent the signal direction discrimination device, and the dots in the middle of the front and rear edges of the vehicle represent the signal source. Utilizing the triangular positioning provided by the present invention, 360-degree positioning and tracking can be achieved in all directions.

Although the present invention is disclosed as above by way of example, it is not intended to limit the scope of the present invention. Any person with ordinary knowledge in the technical field to which the present invention pertains may make some modifications and retouching without departing from the spirit of the present invention. The protection scope of the present invention shall be determined by the scope of the attached patent application.

Claims (5)

A signal tracking and positioning system includes at least two one-dimensional signal direction discriminating devices. The one-dimensional signal direction discriminating devices are separated by a predetermined distance in a reference direction and are used to track a signal source. The signal source sends a signal, where The signal tracking and positioning system calculates the coordinates of the midpoint of the position connection of the signal source relative to the one-dimensional signal direction discrimination device according to the following formula: Among them, d represents one-half of the aforementioned predetermined distance, and θ1 represents the vertical line of the signal source and the one-dimensional signal direction judging device which is measured by one of the one-dimensional signal direction judging devices with respect to the reference line. Included angle, θ2 represents another included angle between the signal source and the other one-dimensional signal direction discriminating device with respect to a vertical line directly in front of the reference direction, and x and y represent A coordinate value of the signal source relative to the midpoint; wherein the aforementioned one-dimensional signal direction discrimination device includes a first signal detection element, a second signal detection element, and an arithmetic unit, and the first signal detection element is relatively A first angle in the reference direction is used to detect the intensity of the signal and a first intensity value is obtained. The second signal detection element is in a second angle to the reference direction to detect the signal. And obtain a second intensity value, and the arithmetic unit receives the first intensity value and the second intensity value, and calculates the signal source based on the first intensity value and the second intensity value. Position; wherein the calculation means calculates the orientation of the lines of the source signal in accordance with the following formula: Where θ represents the angle between the signal traveling direction and the vertical line directly in front of the aforementioned one-dimensional signal direction discrimination device, θt represents the first angle, S1 represents the first intensity value, and S2 represents the second intensity value. The signal tracking and positioning system described in item 1 of the scope of patent application, wherein the signal is an infrared signal. A two-dimensional signal direction discrimination device is used to track a signal source. The signal source sends a signal. The two-dimensional signal direction discrimination device includes a first signal detection element at an inclined angle with respect to a reference plane, and A first angle with a reference direction on the reference plane to detect the signal and obtain a first intensity value; a second signal detection element at the inclined angle with respect to a reference plane, and The reference direction on the reference plane is at a second angle to detect the signal and obtain a second intensity value; a third signal detection element is at the inclination angle with respect to a reference plane, and is at an angle with the reference plane The reference direction above is at a third angle to detect the signal and obtain a third intensity value; a fourth signal detection element is at the inclined angle with respect to a reference plane, and is at an angle with the reference plane. The reference direction is at a fourth angle for detecting the signal and obtaining a fourth intensity value; and an arithmetic unit for receiving the first intensity value, the second intensity value, the third intensity value, and the fourth intensity value Intensity value and based on this A strength value, the second intensity value, the third and the fourth intensity value calculated by the orientation of the intensity values of the source signal; wherein the calculation means calculates the orientation of the lines of the source signal in accordance with the following formula: Where Φ represents the angle between the vertical direction of the signal and the reference direction, θ represents the angle between the vertical direction of the signal and the vertical line of the reference plane, Φt represents the first angle, θt represents the tilt angle, and S1 represents the first intensity, S2 indicates the second intensity, S3 indicates the third intensity, and S4 indicates the fourth intensity. According to the two-dimensional signal direction judging device described in item 3 of the scope of patent application, wherein the operation unit is based on the signal position (θ, Φ) obtained by item 3 of the scope of patent application, using the following formula to calculate the plane of the signal source Coordinates (x, y): Where h represents the height difference between the two-dimensional signal direction discrimination device and the signal source, that is, if the two-dimensional signal direction discrimination device is installed above the coordinate origin at a height of h, its coordinates are (0,0, h), x indicates the coordinates of the signal source in a first direction, y indicates the coordinates of the signal source in a second direction, the first direction is perpendicular to the second direction, and α indicates that the two-dimensional signal direction discrimination device is relative to The mounting depression angle in the horizontal direction along the second direction. A signal tracking and positioning system includes at least two two-dimensional signal direction discrimination devices as described in item 3 of the scope of patent application, and the two-dimensional signal direction discrimination devices are separated by a predetermined distance in a first direction, the first direction Is parallel to the reference plane, where the signal tracking and positioning system calculates the coordinates of the midpoint of the position connection of the signal source relative to the two-dimensional signal direction discrimination device according to the following formula: z = [( xd ) ² + y ² + z ² ] ^1/2 cos θ 1 z = [( xd ) ² + y ² + z ² ] ^1/2 cos θ 1 where d represents one-half of the predetermined distance, and θ1 and Φ1 represent one of the two-dimensional signal direction discrimination devices. The orientation of the signal source, θ2 and Φ2 represent the orientation of the signal source measured by the other of the two-dimensional signal direction discrimination devices, and x, y, and z represent the coordinate values of the signal source relative to the midpoint.