Distance measuring device, distance measuring system, distance measuring method, and program

A distance measuring device comprising a distance calculating unit configured to calculate a distance to a target, the distance measuring device being configured to receive, from a wave reception module including a plurality of wave receivers configured to receive the measuring wave that has been transmitted from a wave transmission module and reflected from the target, results of wave reception by the plurality of wave receivers,

• respective wave reception periods in which the plurality of wave receivers receive the measuring wave overlapping with each other on a time axis, a time lag being provided between respective beginning times of the plurality of wave reception periods, the time lag being shorter than each of the plurality of wave reception periods,
• the distance calculating unit is configured to calculate the distance to the target based on:
• at least one of a post-start-of-wave-reception period or a pre-start-of-wave-reception period, the post-start-of-wave-reception period being out of the plurality of wave reception periods in which the measuring wave has been received for the first time, the pre-start-of-wave-reception period being a wave reception period that has begun at a beginning time earlier by one unit than a beginning time of the post-start-of-wave-reception period;
• at least one of a post-end-of-wave-reception period or a pre-end-of-wave-reception period, the post-end-of-wave-reception period being out of the plurality of wave reception periods that has begun for the first time at a beginning time later than a wave reception period in which the measuring wave has been received, the pre-end-of-wave-reception period being a wave reception period that has begun at a beginning time earlier by one unit than a beginning time of the post-end-of-wave-reception period;
• or
• a series of wave reception periods from the post-start-of-wave-reception period through the pre-end-of-wave-reception period.

A distance measuring method comprising:

• receiving, from a wave reception module including a plurality of wave receivers configured to receive the measuring wave that has been transmitted from a wave transmission module and reflected from a target, results of wave reception by the plurality of wave receivers,
• respective wave reception periods in which the plurality of wave receivers receive the measuring wave overlapping with each other on a time axis, a time lag being provided between respective beginning times of the plurality of wave reception periods, the time lag being shorter than each of the plurality of wave reception periods,
• the distance measuring method further comprising calculating the distance to the target based on:
• at least one of a post-start-of-wave-reception period or a pre-start-of-wave-reception period, the post-start-of-wave-reception period being out of the plurality of wave reception periods in which the measuring wave has been received for the first time, the pre-start-of-wave-reception period being a wave reception period that has begun at a beginning time earlier by one unit than a beginning time of the post-start-of-wave-reception period;
• at least one of a post-end-of-wave-reception period or a pre-end-of-wave-reception period, the post-end-of-wave-reception period being out of the plurality of wave reception periods that has begun for the first time at a beginning time later than a wave reception period in which the measuring wave has been received, the pre-end-of-wave-reception period being a wave reception period that has begun at a beginning time earlier by one unit than a beginning time of the post-end-of-wave-reception period;
• or
• a series of wave reception periods from the post-start-of-wave-reception period through the pre-end-of-wave-reception period.