CN102208951B - Method for eliminating acoustic radiation interferences in ultrasonic positioning - Google Patents
Method for eliminating acoustic radiation interferences in ultrasonic positioning Download PDFInfo
- Publication number
- CN102208951B CN102208951B CN 201110144562 CN201110144562A CN102208951B CN 102208951 B CN102208951 B CN 102208951B CN 201110144562 CN201110144562 CN 201110144562 CN 201110144562 A CN201110144562 A CN 201110144562A CN 102208951 B CN102208951 B CN 102208951B
- Authority
- CN
- China
- Prior art keywords
- breakpoint
- ultrasonic
- reception signal
- ultrasonic reception
- acoustic radiation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention provides a method for eliminating acoustic radiation interferences in ultrasonic positioning, which is characterized by comprising the following step: firstly, carrying out preprocessing on an ultrasonic receiving signal through digital filtering, and extracting the peak envelop of the ultrasonic receiving signal through first-order difference; then, carrying out second-order difference quotient on the peak envelop of the ultrasonic receiving signal, and obtaining the position of a breakpoint of the ultrasonic receiving signal based on the maximum value of the second-order difference quotient; mapping the position of the breakpoint to a reference signal so as to obtain the position of a 'false breakpoint' on the reference signal, and carrying out Taylor series expansion on the breakpoint based on the position of the 'false breakpoint' on the reference signal; and finally, replacing the previous waveform of the breakpoint with a waveform of the breakpoint obtained through Taylor series expansion. The method provided by the invention has the advantages that the method is low in cost, high in flexibility, strong in applicability and small in arithmetic computation load, can accurately recover ultrasonic signals suitable for positioning under the condition of no acoustic radiation interference, and can be applied to ultrasonic positioning systems with high instantaneity.
Description
Technical field
The present invention relates to a kind of method that acoustic radiation is disturbed of eliminating, be specifically related to a kind of method that acoustic radiation disturbs to obtain the ultrasonic signal that is suitable for locating of in localization by ultrasonic, eliminating.
Background technology
In practice, canonical system-ultrasonic electronic whiteboard system as localization by ultrasonic, it can exist a kind of acoustic radiation to disturb in the clipboard face, the generation of this interference meets the coincidence effect of structural acoustic, and its frequency is close with signal frequency even equate that non-directive is followed in its radiation and intensity is big, existing filtering technique is difficult to its filtering, thereby can badly influence system's positioning performance, even can cause system's positioning function to lose efficacy, seriously restrict the application of ultrasound positioning system.2008, the acoustic jamming problem that U.S. ebeam company causes at the refraction of ultrasonic wave under the non-uniform temperature situation, reflection etc., anti-interference scheme based on multiple collector subregion location has been proposed, it solves this acoustic jamming when big and variation of ambient temperature is inhomogeneous at locating area is effectively, but has shortcomings such as cost height and flexibility be not enough.2009, the said firm proposed the scheme that adaptive disturbance is eliminated at unknown disturbances, can suppress this type of interference well though use least mean square algorithm, and its convergence rate is slow, real-time is poor, is difficult to use in the Embedded Ultrasonic navigation system.
Summary of the invention
Based on above analysis, innovate on existing ultrasonic Anti-Jamming Technique basis, at the acoustic radiation interference is to the influence of positioning function in the localization by ultrasonic, seeking the higher acoustic radiation interference elimination method of a kind of real-time is main target of the present invention.
The invention provides acoustic radiation interference elimination method in a kind of effective localization by ultrasonic, comprise the steps:
(1) ultrasonic reception Signal Pretreatment;
(2) extract ultrasonic reception signal peak envelope, determine that maximum of points on the ultrasonic reception signal peak envelope or inferior maximum of points or minimum point are characteristic point;
(3) determine the position of breakpoint;
(4) according to the breakpoint location that obtains in the step (3), by choosing the characteristic point of the ultrasonic reception signal peak envelope that obtains in the step (2), calculate breakpoint on ultrasonic reception signal relative position and be mapped on the reference signal to obtain " pseudo-breakpoint " position of reference signal, make Taylor series expansion based on " pseudo-breakpoint ";
(5) waveform is replaced.
The ultrasonic reception Signal Pretreatment process of describing in the step of the present invention (1) refers to ultrasonic reception signal is carried out digital filtering, filtering high fdrequency component and removal DC component.
The ultrasonic reception signal peak of the extraction envelope process of describing in the step of the present invention (2) refers to that pretreated ultrasonic reception signal is carried out the first-order difference computing to be judged to carry out sign change, thereby extracts the peak envelope of ultrasonic reception signal.
The process of the position of definite breakpoint of describing in the step of the present invention (3) refers to the ultrasonic reception signal peak envelope that obtains in the step (2) is carried out the second order difference coefficient, and obtains the position of ultrasonic reception signal breakpoint by obtaining second order difference coefficient maximum.
Step of the present invention (4) is made the process of Taylor series expansion based on " pseudo-breakpoint ", and wherein said reference signal can be blended index model signals, biexponential model signal or Gauss model signal.
Waveform replacement process in the present invention's 6 described steps (5) refers to utilize the waveform before the breakpoint described in the waveform replacement step (3) that Taylor series expansion obtains in the step (4).
By obtaining the ultrasonic reception signal breakpoint location of actual measurement, again by " pseudo-breakpoint " position on the mapping relations acquisition reference signal, the waveform that the Taylor series expansion of further utilizing " pseudo-breakpoint " to locate obtains is replaced the waveform before the ultrasonic reception signal breakpoint of actual measurement, finally eliminates acoustic radiation and disturbs.By above-mentioned steps, reach and eliminate the purpose that acoustic radiation is disturbed.
Advantage of the present invention has following advantage:
1. compare with existing filtering technique, the method that the present invention proposes is eliminated the acoustic radiation of ultrasound positioning system effectively and is disturbed.
2. utilize reference signal " pseudo-breakpoint " to locate Taylor series expansion and substitute ultrasonic reception signal breakpoint waveform before, operand guaranteeing can reduce effectively when eliminating acoustic radiation disturbs algorithm is beneficial to the application in the Embedded Ultrasonic navigation system that real-time is had relatively high expectations.
Description of drawings
Fig. 1 is the overview flow chart of acoustic radiation interference method in the elimination localization by ultrasonic of the present invention;
Fig. 2 is ultrasonic reception Signal Pretreatment block diagram of the present invention;
Fig. 3 A is oscillogram of carrying after the ultrasonic reception Signal Pretreatment that acoustic radiation disturbs of the present invention;
Fig. 3 B is that ultrasonic electronic whiteboard system of the present invention produces the specific embodiment that acoustic radiation is disturbed;
Fig. 4 is the pretreated peak envelope figure of ultrasonic signal that acoustic radiation is disturbed that has of the present invention;
Fig. 5 A is the flow chart that ultrasonic reception signal breakpoint location of the present invention is determined;
Fig. 5 B is of the present invention for the definite oscillogram of ultrasonic reception signal breakpoint location;
Fig. 6 is breakpoint location mapping relations schematic diagram of the present invention;
Fig. 7 is the implementation process that waveform that the Taylor series expansion of utilizing on the reference signal corresponding " pseudo-breakpoint " position of the present invention obtains is replaced ultrasonic reception signal breakpoint front signal waveform;
Fig. 8 A-1,8A-2,8B-1,8B-2,8C-1,8C-2 are The simulation experiment result figure of the present invention.
Embodiment
Comprise the steps:
(1) ultrasonic reception Signal Pretreatment;
Fig. 1 is the overview flow chart that illustrates according to acoustic radiation interference method in the elimination localization by ultrasonic of the present invention.Specifically comprise the steps:
[101]-ultrasonic reception signal is carried out preliminary treatment, to obtain the signal data of high s/n ratio, low data error rate;
[102]-extract ultrasonic reception signal peak envelope, in order to utilize it to carry out algorithm process;
[103]-determine the position of breakpoint, in order to carry out mapping transformation;
[104]-make Taylor series expansion based on " pseudo-breakpoint ", to extract desirable ultrasonic signal envelope;
[105]-waveform is replaced, so that the ultrasonic signal that is suitable for locating after acoustic radiation is disturbed is eliminated in acquisition.
Fig. 2 illustrates according to ultrasonic reception Signal Pretreatment block diagram of the present invention.The signal that ultrasonic receiving sensor receives is very faint analog signal, still carry certain high-frequency noise at signal behind signal amplification circuit and A/D change-over circuit, for this reason, in specific embodiments of the invention, choose digital FIR filter ultrasonic reception signal is carried out preliminary treatment, and through time domain convolution algorithm filtering high fdrequency component and removal DC component, to obtain the signal data of high s/n ratio, low data error rate;
Fig. 3 A illustrates the oscillogram of carrying after the ultrasonic reception Signal Pretreatment that acoustic radiation disturbs according to of the present invention.As shown in the figure, [301] are ultrasonic signals, and [302] are the acoustic radiation signals.Produce in the specific embodiment of acoustic radiation interference at ultrasonic electronic whiteboard system of the present invention, shown in Fig. 3 B, because the excitation meeting of sign pen [303] forms an acoustic radiation source [305] at clipboard face [304], its radiation frequency is relevant with the plate face thickness with plate face bending stiffness, radiation directivity is weak directive property, radiation intensity is big, after receiving, ultrasonic receiver [306] will obtain having the ultrasonic reception signal waveform that acoustic radiation is disturbed, the existence that acoustic radiation is disturbed can badly influence system's positioning performance, even can cause system's positioning function to lose efficacy.
(2) extract ultrasonic reception signal peak envelope, determine that maximum of points on the ultrasonic reception signal peak envelope or inferior maximum of points or minimum point are characteristic point;
Fig. 4 illustrates the pretreated peak envelope figure of ultrasonic signal that has the acoustic radiation interference according to of the present invention.As shown in Figure 4, [401] representation signal maximal peak point, [402] represent first breakpoint that is calculated forward by maximal peak point, pretreated ultrasonic reception signal is carried out the first-order difference computing to be judged to carry out sign change, thereby extract the peak envelope of ultrasonic reception signal, be convenient to utilize it to carry out algorithm process.
(3) determine the position of breakpoint;
Fig. 5 A, 5B illustrate the specific implementation process of determining according to ultrasonic reception signal breakpoint location of the present invention.Its concrete position fixing process is as follows:
[501]-search maximum amplitude max1[505 in preserving data];
[502]-search direct signal max2[506] and preserve its address max2ad[507];
[503]-in [506], calculate the second order difference coefficient of signal peak at preceding 200;
[504]-and search second order difference coefficient maximum, obtain signal breakpoint [402].
(4) according to the breakpoint location that obtains in the step (3), by choosing the characteristic point of the ultrasonic reception signal peak envelope that obtains in the step (2), calculate breakpoint on ultrasonic reception signal relative position and be mapped on the reference signal to obtain " pseudo-breakpoint " position of reference signal, make Taylor series expansion based on " pseudo-breakpoint ";
Fig. 6 illustrates according to breakpoint location mapping relations schematic diagram of the present invention.In the peak envelope of ultrasonic reception signal, extract breakpoint [402] position and characteristic value point [401] (in the present embodiment, characteristic value point is the maximum of points on the ultrasonic reception signal peak envelope, but also be not limited only to this, can also be according to actual conditions with the inferior maximum of points on the ultrasonic reception signal peak envelope or minimum point as the characteristic value point) after, with its correspondence mappings on the reference signal to obtain " pseudo-breakpoint " [602] and the position of maximal peak point [601] of reference signal, its mapping relations are [401]
[601], [402]
[602].
What need further specify is in the present embodiment, and reference signal can be blended index model signals, biexponential model signal or Gauss model signal.Be example with the blended index model signals, its signal expression is
, wherein,
Be the amplitude of signal, m is positive integer, and span is 1 ~ 3,
Be the centre frequency of ultrasonic signal,
Be initial phase, h is decay factor.The envelope of signal is
(5) waveform is replaced.
Fig. 7 illustrates the implementation process that waveform that the Taylor series expansion of utilizing on the reference signal corresponding " pseudo-breakpoint " position according to the present invention obtains is replaced ultrasonic reception signal breakpoint front signal waveform.Its specific implementation process is as follows:
[701]-locate to do Taylor series expansion and keep first three items in reference signal " pseudo-breakpoint ";
[702]-utilize the waveform of Taylor series expansion acquisition to replace ultrasonic reception signal breakpoint front signal waveform;
[703]-and eliminate radiated interference, obtain to remove the ultrasonic signal that acoustic radiation is disturbed.
The ultrasonic reception signal peak of the extraction envelope process of describing in the step of the present invention (2) refers to that pretreated ultrasonic reception signal is carried out the first-order difference computing to be judged to carry out sign change, thereby extracts the peak envelope of ultrasonic reception signal.
The process of the position of definite breakpoint of describing in the step of the present invention (3) refers to the ultrasonic reception signal peak envelope that obtains in the step (2) is carried out the second order difference coefficient, and obtains the position of ultrasonic reception signal breakpoint by obtaining second order difference coefficient maximum.
Step of the present invention (4) is made the process of Taylor series expansion based on " pseudo-breakpoint ", and wherein said reference signal can be blended index model signals, biexponential model signal or Gauss model signal.
Waveform replacement process in the present invention's 6 described steps (5) refers to utilize the waveform before the breakpoint described in the waveform replacement step (3) that Taylor series expansion obtains in the step (4).
Special needs to be pointed out is, the Taylor series expansion method that adopts in the embodiment of the invention is to simplify the Mathematical Modeling of reference signal with multinomial, when asking the functional value at certain some place, only need carry out the limited number of time multiply-add operation, reduce operand to a great extent, guaranteed the requirement of ultrasound positioning system to real-time.
Eliminate the effect of acoustic radiation interference method the localization by ultrasonic below from presentation of results the present invention of emulation experiment.
In specific embodiments of the invention, the experiment condition of setting is: the canonical system-ultrasonic electronic whiteboard system with localization by ultrasonic is experiment porch, is that the even sheet material of irony of 0.25mm, 0.45mm and 0.65mm utilizes method provided by the invention to eliminate the acoustic radiation interference experiment at thickness respectively.
It is that the even sheet material of irony of 0.25mm, 0.45mm and 0.65mm utilizes the inventive method to recover the design sketch of ultrasonic signal that Fig. 8 A-1,8A-2,8B-1,8B-2,8C-1,8C-2 show respectively at thickness.As can be seen from the figure, the method for disturbing according to the acoustic radiation in the elimination localization by ultrasonic provided by the invention all can recover the ultrasonic signal that is suitable for locating exactly under the condition that has or not acoustic radiation to disturb, and applicability is stronger.
Claims (6)
1. eliminate the method that acoustic radiation is disturbed in the localization by ultrasonic for one kind, it is characterized in that comprising the steps:
(1) ultrasonic reception Signal Pretreatment;
(2) extract ultrasonic reception signal peak envelope, determine that maximum of points on the ultrasonic reception signal peak envelope or inferior maximum of points or minimum point are characteristic point;
(3) determine the position of breakpoint;
(4) according to the breakpoint location that obtains in the step 3, by choosing the characteristic point of the ultrasonic reception signal peak envelope that obtains in the step 2, calculate breakpoint on ultrasonic reception signal relative position and be mapped on the reference signal to obtain " pseudo-breakpoint " position of reference signal, make Taylor series expansion based on " pseudo-breakpoint ";
(5) waveform is replaced.
2. a kind of method that acoustic radiation in the localization by ultrasonic is disturbed of eliminating according to claim 1, it is characterized in that the ultrasonic reception Signal Pretreatment process of describing in the wherein said step 1 refers to ultrasonic reception signal is carried out digital filtering, filtering high fdrequency component and removal DC component.
3. a kind of method that acoustic radiation in the localization by ultrasonic is disturbed of eliminating according to claim 1, it is characterized in that the ultrasonic reception signal peak of the extraction envelope process of describing in the wherein said step 2 refers to that pretreated ultrasonic reception signal is carried out the first-order difference computing to be judged to carry out sign change, thereby extract the peak envelope of ultrasonic reception signal.
4. a kind of method that acoustic radiation in the localization by ultrasonic is disturbed of eliminating according to claim 1, the process that it is characterized in that in the wherein said step 3 position of definite breakpoint of describing refers to the ultrasonic reception signal peak envelope that obtains in the step 2 is carried out the second order difference coefficient, and obtains the position of ultrasonic reception signal breakpoint by obtaining second order difference coefficient maximum.
5. a kind of method that acoustic radiation in the localization by ultrasonic is disturbed of eliminating according to claim 1, it is characterized in that wherein said step 4 makes the process of Taylor series expansion based on " pseudo-breakpoint ", wherein said reference signal is blended index model signals, biexponential model signal or Gauss model signal.
6. a kind of method that acoustic radiation is disturbed in the localization by ultrasonic of eliminating according to claim 1 is characterized in that the waveform replacement process in the wherein said step 5 refers to utilize the waveform before the breakpoint described in the waveform replacement step 3 that Taylor series expansion obtains in the step 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110144562 CN102208951B (en) | 2011-05-31 | 2011-05-31 | Method for eliminating acoustic radiation interferences in ultrasonic positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110144562 CN102208951B (en) | 2011-05-31 | 2011-05-31 | Method for eliminating acoustic radiation interferences in ultrasonic positioning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102208951A CN102208951A (en) | 2011-10-05 |
| CN102208951B true CN102208951B (en) | 2013-07-03 |
Family
ID=44697630
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110144562 Active CN102208951B (en) | 2011-05-31 | 2011-05-31 | Method for eliminating acoustic radiation interferences in ultrasonic positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102208951B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102455423B (en) * | 2011-05-31 | 2013-04-17 | 吉林大学 | Method for eliminating sound reflection interference in ultrasonic location |
| CN102866801B (en) * | 2012-08-26 | 2015-05-27 | 吉林大学 | Method for effectively filtering same frequency signal interference from electronic whiteboard system |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101714045A (en) * | 2009-11-17 | 2010-05-26 | 旋永南 | Method for eliminating interference of heat-nonuniform plane on ultrasonic positioning |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6876859B2 (en) * | 2001-07-18 | 2005-04-05 | Trueposition, Inc. | Method for estimating TDOA and FDOA in a wireless location system |
| WO2010010832A1 (en) * | 2008-07-25 | 2010-01-28 | 日本電気株式会社 | Position detecting system, transmission device, reception device, position detecting method, and position detecting program |
-
2011
- 2011-05-31 CN CN 201110144562 patent/CN102208951B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101714045A (en) * | 2009-11-17 | 2010-05-26 | 旋永南 | Method for eliminating interference of heat-nonuniform plane on ultrasonic positioning |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102208951A (en) | 2011-10-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102455423B (en) | Method for eliminating sound reflection interference in ultrasonic location | |
| CN102879766A (en) | Method and apparatus for detecting and tracking faint target of high frequency ground wave radar | |
| CN106507958B (en) | The method of the real-time coherent accumulation of external illuminators-based radar signal | |
| CN103364783B (en) | Moving target radial velocity non-fuzzy estimation method based on single-channel SAR (synthetic aperture radar) | |
| CN103760614A (en) | Transient electromagnetic forward modeling method applicable to irregular transmitted waveforms | |
| CN108345033A (en) | A kind of microseism signal time-frequency domain first arrival detection method | |
| CN102208951B (en) | Method for eliminating acoustic radiation interferences in ultrasonic positioning | |
| CN105676205A (en) | Airborne LiDAR waveform data Gaussian decomposition method | |
| CN104656131A (en) | Method for improving seismic horizon automatic tracking precision based on waveform recovery technique | |
| CN101320060A (en) | Fast phase meter | |
| CN103063909A (en) | Linear frequency modulation signal parameter valuation method based on power spectrum | |
| CN102508264B (en) | Method for inhibiting pulse interference of satellite navigation system | |
| CN108196241A (en) | A kind of High-speed target speed estimation method based on Hough transform | |
| Tian et al. | Underwater multi-target passive detection based on transient signals using adaptive empirical mode decomposition | |
| Changlin et al. | Hybrid polarization anti-SMSP jamming based on jamming reconstruction and blind source separation | |
| DUAN et al. | The Application of wavelet transform coherency algorithm in seismic data interpretation | |
| CN106950600A (en) | A kind of minimizing technology of near surface scattering surface ripple | |
| CN105720943A (en) | RSSI (Received Signal Strength Indication)-based filtering method and system | |
| CN105429720A (en) | Related delay estimation method based on EMD reconstruction | |
| CN107248869A (en) | A kind of multicomponent linear frequency-modulated signalses noise-removed technology being distributed based on Lv | |
| CN106209715A (en) | A kind of amplitude modulated jamming suppressing method offseted based on time domain | |
| CN110161481A (en) | Based on the follow-on signal-to-noise ratio measuring method of laser radar echo signal | |
| CN103795473A (en) | Method and system for eliminating power-frequency interference | |
| CN104793197A (en) | Direct-wave suppression method based on IFFT frequency spectrum division method and gradient adaptive lattice filter | |
| CN110456420B (en) | Method for eliminating noise of underground water detection signal based on near-end reference coil nuclear magnetic resonance |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |