CN101344586B - Method and apparatus for three-dimensional multi-movement objective positioning by using multi-frequency sound wave - Google Patents

Method and apparatus for three-dimensional multi-movement objective positioning by using multi-frequency sound wave Download PDF

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CN101344586B
CN101344586B CN2008101981663A CN200810198166A CN101344586B CN 101344586 B CN101344586 B CN 101344586B CN 2008101981663 A CN2008101981663 A CN 2008101981663A CN 200810198166 A CN200810198166 A CN 200810198166A CN 101344586 B CN101344586 B CN 101344586B
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韦岗
宁更新
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South China University of Technology SCUT
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Abstract

The invention discloses a three-dimensional multiple moving objects locating method and a corresponding apparatus which make use of multi-frequency sound waves. The method figures out the distances between an objective point and each receiving point according to the dynamic Doppler frequency deviation and phase differences of a measurement signal sent by the objective point and a measurement signal received by the receiving point and then gets a three-dimensional coordinate of the objective point in a referential coordinate system through a three-dimensional space geometric computation. The apparatus comprises a control unit and an objective sensor unit which are mutually connected with or without wire; wherein, the control unit comprises a digital signal processor, a modem, an oscillator, a multi-channel AD converter and a plurality of frequency dividers; the objective sensor unit comprises a plurality of objective apparatuses and a plurality of receiving sensors; the objective apparatus consists of a sensor provided with an on-off function and a transmission energy convertor; the oscillator is connected with a plurality frequency dividers. The invention has high locating accuracy for three-dimensional moving objects and high anti-interruption capability, and the structure of the apparatus is simple and the arrangement and use are convenient. The invention is applicable to various locating sites.

Description

Utilize the multifrequency sound wave to carry out the method and apparatus of three-dimensional multiple mobile object location
Technical field
The present invention relates to the acoustic measurement technology, be specifically related to a kind of multitone wave structure measuring-signal that utilizes, by dynamic Doppler shift and the control method and the device that differ the three-dimensional multiple mobile object location of carrying out in the appointed area of measuring-signal.
Background technology
At present general plane is positioning system among a small circle, as electronic whiteboard, touch-screen, handwriting pad etc., mainly adopts optical technology, sound wave sufacing and electromagnetic induction technology.This class positioning system advantage is accurate positioning, but equipment cost is higher, the main point that is fit on the two dimensional surface of location.Difference time of arrival to the present general using ultrasound wave of the location positioning of three dimensions point or other signals is estimated (ZL01144415.0), and this class positioning system is to the static target accurate positioning, and is still poor to the bearing accuracy of moving target.Another kind of 3 D locating device is by while emitting radio frequency signal and ultrasonic signal, utilize the positional information of measuring moving target time of arrival (ZL200610144285.1) of two signals, because the motion of target, when going out the position according to the calculated signals that receives, target has moved to other position in fact, so this class positioning system is about 1 decimeter to the bearing accuracy of moving target, is not very high, its bearing accuracy also has very big room for promotion.
For the location of high-speed moving object on a large scale, it is measurement by the Doppler frequency skew of it being sent electromagnetic wave signal, determine its movement velocity, thereby determine its position, this class utilizes the localization method of electromagnetic wave Doppler shift generally to be applied on a large scale in the positioning system (ZL02818290.1).Because electromagnetic frequency height, for low speed moving target among a small circle, its Doppler's relative frequency skew is just very little, is difficult to detect, thereby finds at present to utilize electromagnetic Doppler shift to do the location of moving target among a small circle.And to the signal of slower-velocity target emission lower frequency (frequency of sound wave), its Doppler frequency relativity shift is a component of very significantly can not ignore.For example: a 5G Hz (5 * 10 who sends with the target of 10m/s speed motion 9Hz) electromagnetic wave measurement signal, the Doppler shift that receives signal is 167Hz, and relatively frequency displacement only is 0.0000034%, and if this moving target with the audio frequency of 340Hz as measuring-signal, its Doppler frequency deviation that receives signal is 10Hz, and relative frequency deviation can reach 2.94%.And the speed of moving target among a small circle generally, as the movement velocity of nib when writing, all about several meters to tens meters of per seconds, if use electromagnetic Doppler frequency deviation to locate this type of low-speed motion target, because the relative frequency displacement of its Doppler is minimum, detection difficulty is very big; And the measuring-signal of use lower frequency, its Doppler is relative, and frequency displacement is bigger, is easy to detect, and therefore can assist according to the Doppler shift of low frequency signal and determine the hi-Fix of low-speed motion target among a small circle.
Summary of the invention
The objective of the invention is to overcome the deficiency that above-mentioned prior art exists, a kind of method and apparatus that utilizes the multifrequency sound wave to carry out three-dimensional multiple mobile object location is provided, this method is utilized multifrequency sound wave (comprising infrasonic wave, sound wave and ultrasound wave) structure measuring-signal, by detect measuring letter, number Doppler shift and phase differential carry out the moving target location.Apparatus of the present invention are with low cost, install simply, and are easy to use, and the bearing accuracy height.The present invention is achieved through the following technical solutions.
Utilize the multifrequency sound wave to carry out the method for three-dimensional multiple mobile object location, this method is calculated the distance of impact point from each acceptance point according to the Dynamic Doppler Frequency skew and the phasometer of the measuring-signal that the measuring-signal and the acceptance point of impact point emission receives, pass through the calculating of three dimensions geometry again, obtain the three-dimensional coordinate of impact point at reference frame, described acceptance point is that point of fixity and number are no less than four, four acceptance points is wherein arranged not in same plane; The measuring-signal of described impact point emission is the different sound waves of one or more frequencies.
In the said method, when impact point moved in a two dimensional surface, described acceptance point was that point of fixity and number are no less than three, three acceptance points was wherein arranged not on same straight line.
In the said method, the frequency range of described measuring-signal comprises infrasonic wave frequency, sound wave frequency and ultrasound wave frequently; Described measuring-signal is modulated to supersonic band, launches, calculate the distance of impact point from each acceptance point according to the Dynamic Doppler Frequency skew and the phasometer of the measuring-signal after acceptance point reception and the demodulation in hyperacoustic mode.
When measuring-signal is the different sound wave of a plurality of frequencies, with infrasonic wave frequently or the sound wave preliminary position of measuring-signal measuring target point frequently, with sound wave frequently or the ultrasound wave exact position of measuring target point frequently.
When measuring-signal was infra-acoustic frequency and two frequencies formations of audio frequency, infra-acoustic frequency was used for the position range of preliminary surveying impact point, and audio frequency is used for the accurate location of measuring target point: the wavelength of establishing the infra-acoustic frequency measuring-signal is λ 0, determine that by infra-acoustic frequency the preliminary distance of target is l 0, the wavelength of measurement of audio frequency signal is λ 1, determine that with this measurement of audio frequency signal the accurate distance of target is l=k λ 1+ l 1, l 1Calculate by the Doppler shift that transmits and receives measuring-signal and differing, k by preliminary apart from l 0With audio frequency measuring-signal wavelength X 1Determine,
When impact point was static, the measuring-signal that the measuring-signal of impact point emission and acceptance point receive was respectively s (t)=Acos (2 π f 0T) and
Figure G2008101981663D0002093455QIETU
F wherein 0Be the emission measurement signal frequency, Be phase differential, A, B are known constant, according to digital signal processing theory, calculate phase differential For: It is the cross-correlation operation of two sequences; Then this static target point from the distance of receiver is this moment:
The integer of k for determining determined jointly by each measurement result of a plurality of survey frequency signals.
In the said method, the distance calculation of an impact point and an acceptance point is as follows: establish t moment moving target point and be positioned at a point, this distance from acceptance point i is l I0, in the Δ t time, target is by a point motion b point, and the motion of target in the Δ t time is considered as uniform motion, and the measurement sinusoidal signal of establishing emission is: s (t)=Acos (2 π f 0T), the measuring-signal that receives is:
Figure G2008101981663D00031
F wherein 0Be the emission measurement signal frequency, Be phase differential, A, B are known constant; In given time Δ t, move to the impact point that b orders and be from the distance of receiver i:
l i＝l i0+v i·Δt，
v iMovement velocity for target; Receive signal so
Figure G2008101981663D00033
Be expressed as:
d ( t , τ i ) = B cos ( 2 π f 0 ( t - l i λ ) ) = B cos ( 2 π ( f 0 - v i λ ) t + 2 π f 0 ( l i 0 - v i t 0 ) ) ,
λ is the wavelength of measuring-signal; Can calculate the frequency f of this signal according to the measuring-signal that receives i, the Doppler shift Δ f=f of this measuring-signal then 0-f i, the movement velocity of this target in the Δ t time is so: v i=Δ f λ, then this is engraved in that distance is between impact point that b orders and the acceptance point: l i=l I0+ Δ f λ Δ t.
In the said method, the calculating that described three dimensions is how much is specially in three dimensions, if determined an impact point and the distance of four point of fixity in same plane not, then the three-dimensional coordinate of this impact point is just unique determines: establishing the space has four not at grade point of fixity d 1, d 2, d 3And d 4, its 3 d space coordinate is respectively (x 1, y 1, z 1), (x 2, y 2, z 2), (x 3, y 3, z 3) and (x 4, y 4, z 4), and the distance of four reference point of impact point d distance is respectively l 1, l 2, l 3And l 4, so the coordinate of this target (x, y, z) satisfy below system of equations:
( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 ) 2 = l 1 2 ( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 = l 2 2 ( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 = l 3 2 ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 4 ) 2 = l 4 2
By above-mentioned system of equations can obtain impact point unique three-dimensional coordinate (x, y, z), when impact point moves in a two dimensional surface, the z in the above-mentioned formula 1=z 2=z 3=z, only need three equations just can solve target coordinate (x, y).
Realize the device of said method, comprise control module and sensor of interest unit, described control module comprises digital signal processor, modulator-demodular unit, oscillator, multipath A/D converter, some frequency dividers and some receiving sensors; Described sensor of interest unit comprises some target devices, and wherein target devices is made up of sensor with switching function and transmitting transducer, passes through wired connection or wireless connections between sensor of interest unit and the main control unit; Described oscillator is connected with described some frequency dividers, after the switch sensor on the described target devices is triggered, makes the transmitting transducer that is connected with this sensor launch the request positioning signal; After control module receives this request positioning signal, distribute many measurement of audio frequency signal and modulation superaudio signal for the receiving sensor on this target devices by described frequency divider, many measurement of audio frequency signal is sent to described target devices by wired or wireless mode after the modulation of superaudio modulation signal, and is launched by the transmitting transducer on the target devices; Utilize the ultrasonic CF signal identical to demodulate the multichannel measurement signal that a plurality of receiving sensors on the control module receive with this target measurement signal of modulation, the multichannel measurement signal that demodulates becomes the multi-path digital signal through the multipath A/D converter sample conversion, digital signal processor goes out the distance of target from each receiving sensor according to this multi-path digital calculated signals then, and the three dimensional local information that calculates at last is sent to the output of control module output terminal.
In the said method, described frequency divider number is 3, after control module receives this request positioning signal, distribute many measurement of audio frequency signal and modulation superaudio signal for the receiving sensor on this target devices by these 3 frequency dividers: many measurement of audio frequency of one of frequency divider control output signal frequency, the ultrasonic CF signal frequency of two control outputs of frequency divider, the controlled variable of the sampled clock signal frequency of three control output analog-to-digital conversion modules of frequency divider; When described device was in idle condition, digital signal processor will move superaudio Channel Detection algorithm when not busy selected to disturb minimum some superaudiies as standby carrier frequencies, improves the robustness of system;
Described digital signal processor is DSP or monolithic processor ARM, and described sensor with switching function is piezoelectricity, friction sensor etc.; Described control module and sensor of interest unit all also comprise radio-frequency (RF) receiving and transmission module, are used to realize described wireless connections.
Advantage of the present invention has: the present invention can accurately carry out the location of three-dimensional motion target, the bearing accuracy height, and antijamming capability is strong, and installation cost is cheap, and device is simple, and is easy to install, can be applied to multiple location occasion.
Description of drawings
Fig. 1 is the composition frame chart of locating device under wired working method in the embodiment of the present invention.
Fig. 2 is the composition frame chart of locating device under the wireless working method in the embodiment of the present invention.
Fig. 3 is the principle schematic of location moving target in the embodiment, and t target constantly is positioned at a point, and Δ t time internal object is by a point motion b point, ob=oc=oa+ac, l i=l I0+ Δ l=l I0+ v iΔ t.
Fig. 4 apparatus of the present invention in embodiment to the calculation flow chart of locating information.
The validity testing process figure of Fig. 5 apparatus of the present invention received signal in embodiment.
The process flow diagram of Fig. 6 localization process process of the present invention.
Channel Detection process flow diagram when Fig. 7 apparatus of the present invention are idle.
Embodiment
As shown in Figure 1, apparatus of the present invention comprise control module and sensor unit, and control module comprises digital signal processor, modulator-demodular unit, oscillator, some frequency dividers and analog-to-digital conversion device (A/D).Oscillator uses the 20M crystal oscillator, and frequency divider realizes that with phase-locked loop circuit modulator and demodulator realizes that with mlultiplying circuit analog-to-digital conversion device and digital signal processor select for use the dsp chip TMS 320C2812 of a TI to realize.Sensor unit comprises the target devices of some, some receiving sensors (plane positioning: install at least 3 not at collinear sensor; Three-dimensional localization: install at least 4) not at conplane sensor.Wherein the switching function sensor of target devices uses piezoelectric sensor, and target transmits and receives sensor and all uses ultrasonic transducer.Localizing objects is connected by lead with control module.
In wireless connections mode as shown in Figure 2, control module comprises with the identical device circuitry of wired connection mode with objective circuit, and comprises the radio-frequency (RF) receiving and transmission module that is operated in 2.4G.
In three dimensions, if determined a point and the distance of four reference point in same plane not, the three-dimensional coordinate of this point is just unique so determines.For example there are 4 not at grade reference point d in the space 1, d 2, d 3And d 4, its 3 d space coordinate is respectively (x 1, y 1, z 1), (x 2, y 2, z 2), (x 3, y 3, z 3) and (x 4, y 4, z 4).There is the distance of four reference point of extraterrestrial target point d distance to be respectively l 1, l 2, l 3And l 4, so the coordinate of this target (x, y, z) satisfy below system of equations:
( x - x 1 ) 2 + ( y - y 1 ) 2 + ( z - z 1 ) 2 = l 1 2 ( x - x 2 ) 2 + ( y - y 2 ) 2 + ( z - z 2 ) 2 = l 2 2 ( x - x 3 ) 2 + ( y - y 3 ) 2 + ( z - z 3 ) 2 = l 3 2 ( x - x 4 ) 2 + ( y - y 4 ) 2 + ( z - z 4 ) 2 = l 4 2 (formula 1)
Can obtain like this impact point unique three-dimensional coordinate (x, y, z).If be applied on the two dimensional surface, the z in (formula 1) 1=z 2=z 3=z, (x y), has also promptly determined a point and the distance of three reference point on same straight line not, and the two-dimensional coordinate of this point is just unique definite so so only to need three equations just can just solve the coordinate of target.
To acceptance point, the phase differential that then transmits and receives sinusoidal signal a little depends on propagation distance between the two from sinusoidal signal of static target emission.And launch a sinusoidal signal to acceptance point from a moving target, and the Doppler frequency shift phenomenon can take place in the signal that receives, and target speed is depended in this frequency shift (FS).
For example: to the location of a static target.If transmitting and receiving the measuring-signal that receives on the device on the static target is respectively: s (t)=Acos (2 π f 0T) and
Figure G2008101981663D00052
F wherein 0Be the emission measurement signal frequency,
Figure G2008101981663D00053
It is phase differential.According to digital signal processing theory, can calculate the phase differential that transmits and receives signal
Figure G2008101981663D00054
For:
Figure G2008101981663D00055
(formula 2)
For the cross-correlation operation of asking two sequences is calculated.
This static target from the distance of receiver is so:
(formula 3)
K is a certain definite integer, can be determined jointly by each measurement result of a plurality of survey frequency signals.
For example: for the location of a moving target.As Fig. 3, suppose that t moment moving target is positioned at a point, this distance from receiver i (oa among Fig. 3) is l I0, in the given very little Δ t time, target is by a point motion b point, and the motion of target in this very short time can be regarded uniform motion as.Provide the method for calculating distance (ob among Fig. 3) between target that b is ordered and receiver below.
If the emission measurement sinusoidal signal is: s (t)=A cos (2 π f 0T), the measuring-signal that receives is:
Figure G2008101981663D00061
F wherein 0Be the emission measurement signal frequency, It is phase differential.In given time Δ t, move to the target that b orders and be from the distance of receiver i:
l i=l I0+ v iΔ t (formula 4)
v iMovement velocity for target.Receive signal d (t, τ so i) can be expressed as:
d ( t , τ i ) = B cos ( 2 π f 0 ( t - l i λ ) ) = B cos ( 2 π ( f 0 - v i λ ) t + 2 π f 0 ( l i 0 - v i t 0 ) ) (formula 5)
λ is the wavelength of measuring-signal.
Can calculate the frequency f of this signal according to the measuring-signal that receives i, the Doppler shift Δ f=f of this measuring-signal then 0-f iThe movement velocity of this target in the Δ t time is so:
v i=Δ f λ (formula 6)
Moving target from the distance of receiver i is:
l i=l I0+ Δ f λ Δ t (formula 7)
So, the present invention calculates the distance of target from each acceptance point according to the Dynamic Doppler Frequency skew and the phasometer of emission measurement signal and reception measuring-signal, by processing, the calculating of master control digital signal processing unit, thereby obtain the three-dimensional coordinate of anchor point at specific reference frame.The present invention is disturbed by other acoustic signals for fear of emitting sound wave frequency range measuring-signal, measuring-signal is modulated to supersonic band, launch in hyperacoustic mode, calculate the distance of target from each acceptance point according to the Dynamic Doppler Frequency skew and the phasometer of measuring-signal behind the receiver receiving demodulation.
Measuring-signal frequency range of the present invention be several hertz infrasonic wave frequently frequently to the ultrasound wave of tens KHz.Each moving target all is assigned with the measuring-signal of one or more frequency of sound wave, so that obtain high-precision position information.Infra-acoustic frequency in many measurement of audio frequency signal, audio frequency are determined preliminary position, and audio frequency, superaudio are determined the exact position.This is invented orientation range applicatory and reaches several centimetres to hundreds of rice, and minimum bearing accuracy can reach millimeter following (error is less than 1 millimeter).
For example: establish measuring-signal and be made of two frequencies: 34Hz infra-acoustic frequency and 3400Hz audio signal are formed by stacking, and wherein the 34Hz infra-acoustic frequency is used for the scope of preliminary surveying target, and the 3400Hz audio frequency is used for accurate location.The wavelength of 34Hz infra-acoustic frequency measuring-signal is λ 0=10 meters, can utilize its to measure scope from 10 meters of reception sources, thereby tentatively determine target apart from l 0The wavelength of 3400Hz measurement of audio frequency signal is λ 1=0.1 meter, can utilize this measuring-signal to determine the accurate distance l=k λ of target 1+ l 1, l 1Calculate with differing by the Doppler shift that transmits and receives measuring-signal.K is by distance l 0With accurate measuring-signal wavelength X 1Determine, promptly
Figure G2008101981663D00064
If the A/D sampling rate of control module is 1M Hz (1 * 10 6Hz), measuring error is a sampling point, and measuring accuracy is 0.34 millimeter so; If adopt the method for digital signal processing, measuring error can be reduced to a part sampling point, and precision can reach below 0.34 millimeter like this.
The course of work of the present invention is: at first trigger the switch sensor on the target, trigger the back target and just launch specific request positioning signal, be sent to control module by wired or wireless mode.After control module receives request signal, control module is given specific many measurement of audio frequency signal and the modulation superaudio signal of this Target Assignment immediately, promptly disposes the controlled variable of frequency divider 1 (many measurement of audio frequency of control output signal frequency), frequency divider 2 (the ultrasonic CF signal frequency of control output) and frequency divider 3 (control output A/D sampled clock signal frequency).Many measurement of audio frequency signal is sent to this target by wired or wireless mode after the modulation of superaudio modulation signal subsequently, and is launched by the transmitting transducer on it.
Thereafter receiving processing procedure begins to start, utilize the ultrasonic CF signal identical to demodulate the multichannel measurement signal that a plurality of receiving sensors receive with this target measurement signal of modulation, the multichannel measurement signal that demodulates transforms through hyperchannel A/D sampling mould/number, becomes the multi-path digital signal.Digital signal processing unit goes out the distance of target from each receiving sensor according to this multi-path digital calculated signals then, thereby obtains the three-dimensional localization information of moving target.The three dimensional local information that calculates at last is sent to the output of device output terminal, and output terminal can be received and do further application processing on computing machine or other equipment.
When locating device was in idle condition, digital signal processor will move superaudio Channel Detection algorithm when not busy selected to disturb minimum some superaudiies standby as candidate carrier frequencies, improves the robustness of system.
The job step of locating device of the present invention is as shown in Figure 4, and is specific as follows:
Switch sensor on step 1 target begins emission request positioning signal, is sent to control module by wired or wireless mode.
Applicating example: in the positioning system of blank numeral classroom, moving target has: the electronics chalk of wired connection, the electronics blackboard eraser of wired connection etc.When the electronics chalk write on blank, pressure transducer was experienced pressure just by specific request signal of transmitting transducer emission, shows that the electronics chalk begins to write, the request location.When the electronics blackboard eraser rubbed on blank, friction sensor was experienced friction and is just launched another request signal by transmitting transducer, and it is erasable to show that the electronics blackboard eraser begins, the request location.
After step 2 received request signal, control module distributed multitone wave measurement signal and modulation ultrasound wave frequently, disposes each frequency divider controlled variable.
The present invention can detect the position of a plurality of moving targets simultaneously, and the differentiation of each moving target can be passed through accomplished in many ways, can select for use flexibly according to different situations.As: 1) each moving target distributes identical survey frequency, different ultrasonic carrier frequency; 2) each moving target distributes identical ultrasonic carrier, different survey frequencies; 3) each moving target distributes the still different transmissions constantly of identical ultrasonic carrier frequency and survey frequency.
Step 3 measuring-signal is launched by the wired or wireless transducer sensor that sends to target by superaudio modulation signal modulation back.
In order to avoid disturbing, be easy to emission, reduce the movement velocity of electric signal, measuring-signal is modulated to supersonic band, launch in hyperacoustic mode.After many measurement of audio frequency signal is modulated (as amplitude modulation) via the superaudio carrier signal, deliver to transmitting transducer and change into the ultrasonic signal emission.
Step 4 demodulates the measuring-signal of reception, becomes digital signal through A/D sampling, mould/number after transforming.
The measuring-signal that demodulates reception changes into digital signal through A/D sampling, mould/number, delivers to the digital signal processing unit compute location, and the sampling sample frequency of A/D is controlled by DSP.
Step 5 digital signal processing calculating location process, the idiographic flow process as shown in Figure 4.
Whether effective, as shown in Figure 5 if at first detecting the signal of receiving.Concrete detection method has a lot: the energy measuring method, if the energy after the demodulation just can be judged as useful signal greater than a threshold value.The frequency detecting method estimates the frequency of the measuring-signal that receives according to receiving signal, if the signal frequency and the measuring-signal frequency that detect are very near, is judged as useful signal so.Be judged as effective signal, carry out follow-up processing and calculate.
Concrete positioning calculation process is wherein calculated principle as shown in Figure 6 for to determine approximate location with the low frequency measurement signal, calculates the exact position with high-frequency signal measurement.At first calculate rest position according to phasometer.Estimate the frequency of the measuring-signal that receives according to receiving signal.If signal that receives and original measurement signal have frequency deviation, the expression target is kept in motion, and the target location equals the moving displacement that last detected position adds assay intervals time internal object.According to the measuring-signal that each receiver receives, calculate the distance of target and each parametric receiver, thereby obtain out three coordinate outputs of moving target.
Ultrasound wave Channel Detection when step 6 is not busy, idiographic flow as shown in Figure 7.
In order to improve the robustness of system, reduce the interference of other superaudio signal, system will carry out the ultrasound wave channel when not busy and intercept detection, and selecting several to disturb minimum ultrasonic frequency to do may CF signal.
Detection algorithm flow process when not busy: in the ultrasonic frequency section, uniformly-spaced select M frequency f 1, f 2F MAs using carrier frequency.Ultrasound wave Channel Detection algorithm is exactly to select to disturb minimum N (M is greater than N) frequency f o from this M carrier frequency when not busy 1, fo 2Fo NAs standby carrier frequency.Idiographic flow as shown in Figure 7, be that M ultrasonic carrier frequency control signal of digital signal processor generation earlier delivered to frequency divider two, deliver to digital signal processor after signal mode/number that detuner utilizes the CF signal of this M quantity to demodulate channel transforms, calculate the ENERGY E that each demodulates signal then 1, E 2E M, with this M energy basis rule compositor from small to large, select minimum N the pairing frequency f o of energy in front so again 1, fo 2Fo NAs standby ultrasonic carrier frequency.

Claims (5)

1. utilize the multifrequency sound wave to carry out the method for three-dimensional multiple mobile object location, the Dynamic Doppler Frequency skew and the phasometer that it is characterized in that the measuring-signal that measuring-signal and acceptance point according to impact point emission receive are calculated the distance of impact point from each acceptance point, pass through the calculating of three dimensions geometry again, obtain the three-dimensional coordinate of impact point at reference frame, described acceptance point is that point of fixity and number are no less than four, four acceptance points is wherein arranged not in same plane; The measuring-signal of described impact point emission is the different sound waves of one or more frequencies; Described acceptance point is that point of fixity and number are no less than three, three acceptance points is wherein arranged not on same straight line; The frequency range of described measuring-signal comprises infrasonic wave frequency, sound wave frequency and ultrasound wave frequently; Described measuring-signal is modulated to supersonic band, launches, calculate the distance of impact point from each acceptance point according to the Dynamic Doppler Frequency skew and the phasometer of the measuring-signal after acceptance point reception and the demodulation in hyperacoustic mode;
When measuring-signal is the different sound wave of a plurality of frequencies, with infrasonic wave frequently or the sound wave preliminary position of measuring-signal measuring target point frequently, with sound wave frequently or the ultrasound wave exact position of measuring target point frequently;
When measuring-signal was infra-acoustic frequency and two frequencies formations of audio frequency, infra-acoustic frequency was used for the position range of preliminary surveying impact point, and audio frequency is used for the accurate location of measuring target point: the wavelength of establishing the infra-acoustic frequency measuring-signal is λ 0, determine that by infra-acoustic frequency the preliminary distance of target is l 0, the wavelength of measurement of audio frequency signal is λ 1, determine that with this measurement of audio frequency signal the accurate distance of target is l=k λ 1+ l 1, l 1Calculate by the Doppler shift that transmits and receives measuring-signal and differing, k by preliminary apart from l 0With audio frequency measuring-signal wavelength X 1Determine,
Figure FSB00000351352000011
2. method according to claim 1 is characterized in that when impact point is static, and the measuring-signal that the measuring-signal of impact point emission and acceptance point receive is respectively s (t)=Acos (2 π f 0T) and
Figure FSB00000351352000012
F wherein 0Be the emission measurement signal frequency, Be phase differential, A, B are known constant, according to digital signal processing theory, calculate phase differential For:
Figure FSB00000351352000015
Figure FSB00000351352000016
It is the cross-correlation operation of two sequences; Then this static target point from the distance of receiver is this moment:
Figure FSB00000351352000017
The distance calculation of an impact point and an acceptance point is as follows: establish t moment moving target point and be positioned at a point, this distance from acceptance point i is l I0, in the Δ t time, target is by a point motion b point, and the motion of target in the Δ t time is considered as uniform motion, and the measurement sinusoidal signal of establishing emission is: s (t)=Acos (2 π f 0T), the measuring-signal that receives is:
Figure FSB00000351352000018
F wherein 0Be the emission measurement signal frequency,
Figure FSB00000351352000019
Be phase differential, A, B are known constant; In given time Δ t, move to the impact point that b orders and be from the distance of receiver i:
l i＝l i0+v i·Δt，
v iMovement velocity for target; Receive signal so
Figure FSB00000351352000021
Be expressed as:
Figure FSB00000351352000022
λ is the wavelength of measuring-signal; Can calculate the frequency f of this signal according to the measuring-signal that receives i, the Doppler shift Δ f=f of this measuring-signal then 0-f i, the movement velocity of this target in the Δ t time is so: v i=Δ f λ, then this is engraved in that distance is between impact point that b orders and the acceptance point: l i=l I0+ Δ f λ Δ t.
3. method according to claim 2, the calculating that it is characterized in that described three dimensions geometry is specially in three dimensions, if determined an impact point and the distance of four point of fixity in same plane not, then the three-dimensional coordinate of this impact point is just unique determines: establishing the space has four not at grade point of fixity d 1, d 2, d 3And d 4, its 3 d space coordinate is respectively (x 1, y 1, z 1), (x 2, y 2, z 2), (x 3, y 3, z 3) and (x 4, y 4, z 4), and the distance of four reference point of impact point d distance is respectively l 1, l 2, l 3And l 4, so the coordinate of this target (x, y, z) satisfy below system of equations:
Figure FSB00000351352000023
By above-mentioned system of equations can obtain impact point unique three-dimensional coordinate (x, y, z), when impact point moves in a two dimensional surface, the z in the above-mentioned formula 1=z 2=z 3=z, only need three equations just can solve target coordinate (x, y).
4. realize the device of each described method of claim 1～3, it is characterized in that comprising control module and sensor of interest unit, described control module comprises digital signal processor, modulator-demodular unit, oscillator, multipath A/D converter, some frequency dividers and some receiving sensors; Described sensor of interest unit comprises some target devices, and wherein target devices is made up of sensor with switching function and transmitting transducer, passes through wired connection or wireless connections between sensor of interest unit and the main control unit; Described oscillator is connected with described some frequency dividers, after the switch sensor on the described target devices is triggered, makes the transmitting transducer that is connected with this sensor launch the request positioning signal; After control module receives this request positioning signal, distribute many measurement of audio frequency signal and modulation superaudio signal for the receiving sensor on this target devices by described frequency divider, many measurement of audio frequency signal is sent to described target devices by wired or wireless mode after the modulation of superaudio modulation signal, and is launched by the transmitting transducer on the target devices; Utilize the ultrasonic CF signal identical to demodulate the multichannel measurement signal that a plurality of receiving sensors on the control module receive with this target measurement signal of modulation, the multichannel measurement signal that demodulates becomes the multi-path digital signal through the multipath A/D converter sample conversion, digital signal processor goes out the distance of target from each receiving sensor according to this multi-path digital calculated signals then, and the three dimensional local information that calculates at last is sent to the output of control module output terminal.
5. device according to claim 4, it is characterized in that described frequency divider number is 3, after control module receives this request positioning signal, distribute many measurement of audio frequency signal and modulation superaudio signal for the receiving sensor on this target devices by these 3 frequency dividers: many measurement of audio frequency of one of frequency divider control output signal frequency, the ultrasonic CF signal frequency of two control outputs of frequency divider, the controlled variable of the sampled clock signal frequency of three control output analog-to-digital conversion modules of frequency divider; When described device was in idle condition, superaudio Channel Detection algorithm when digital signal processor will move the spare time selected to disturb minimum some superaudiies as standby carrier frequencies.
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