CN104076347A - Vehicle space locating system based on ultrasonic waves - Google Patents
Vehicle space locating system based on ultrasonic waves Download PDFInfo
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- CN104076347A CN104076347A CN201410297970.2A CN201410297970A CN104076347A CN 104076347 A CN104076347 A CN 104076347A CN 201410297970 A CN201410297970 A CN 201410297970A CN 104076347 A CN104076347 A CN 104076347A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/30—Determining absolute distances from a plurality of spaced points of known location
Abstract
The invention relates to a vehicle space locating system based on ultrasonic waves. The vehicle space locating system comprises a master control chip, a transmitting module, a receiving module, a switching-over processing module, a control input module, a serial port screen display module and a power source. The master control chip is connected with the transmitting module, the switching-over processing module and the control input module through GPIO ports, and meanwhile is in connection and communication with the serial port screen display module through an SCI. The master control chip is provided with a power management module and is connected with the power source through the power management module. The receiving module is connected to the switching-over processing module and is connected with the master control chip through the switching-over processing module. The vehicle space locating system is simple and reasonable in structural design and stable in running, error correction can be carried out on a locating position, final locating information reliability can be effectively improved, and accurate vehicle space locating can be achieved.
Description
Technical field
The present invention relates to vehicle space field of locating technology, relate in particular to a kind of based on hyperacoustic vehicle space positioning system.
Background technology
TOA (Time of Arrive) type location, AP (Access Point) signal location and GPS (Global Position System) location are main three large indoor positioning technology in the world at present.TOA is current common radio frequency ranging technology, and its principle is to obtain the distance between transmit leg and take over party by the measurement electric signal transmission time, and in indoor application, serious multipath and non line of sight phenomenon cause range error larger; AP location is to have located the position of the equipment of all these networks of use under this network coverage by wireless signal, and its shortcoming is that positioning precision is poor; GPS location be according to the satellite instantaneous position of sky aerial high-speed motion as the known data of starting at, adopt the method for space length resection, determine the position of tested point, its shortcoming is that indoor acceptable effect is poor.In sum, existing locator meams is affected by environment larger, locates unstable and has a larger error.Therefore to carry out local accurately location be necessary to research and utilization ultrasound wave.The F-Tong in Hong Kong etc. are applied in ultrasound wave Precise Position System on self-control navigation vehicle, the research of navigating.Chen Yong light etc. has been studied the relation of passive TDOA location principle and positioning precision, and the precision that the method that also has bear Chun-shan Mountain etc. to utilize crest counting and zero cross point to detect improves supersonic sounding is to realize accurate location etc.
Summary of the invention
There is certain defect in order to solve existing vehicle space positioning system structure design in the present invention, affected by environment larger, locate unstable and error is larger, cannot effectively realize and the pinpoint problem of vehicle space be proposed to a kind of structural design simply, rationally, stable, can just carry out error bridge to allocation, can effectively improve the reliability of final locating information, realize pinpoint based on hyperacoustic vehicle space positioning system at local space of vehicle.
The present invention is achieved by the following technical solutions:
Above-mentioned based on hyperacoustic vehicle space positioning system, comprise main control chip, transmitter module, receiver module, switching processing module, control inputs module, serial ports screen display module and power supply; Described main control chip connects respectively described transmitter module, switching processing module and control inputs module by GPIO port, is also connected communication by serial ports SCI with described serial ports screen display module simultaneously; Described main control chip is provided with power management module, and it connects described power supply by described power management module; Described receiver module is connected in described switching processing module and is connected with described main control chip by described switching processing module; Described control inputs module receives outside control operation to system and operating result is converted into the discernible information of system delivers to described main control chip; Described transmitter module receives the control command of described main control chip transmission and sends ultrasound wave, and described receiver module receives the ultrasound wave that described transmitter module sends; After described main control chip obtains receive interruption that described receiver module sends, described main control chip is given described switching processing module control signal and is controlled data that described switching processing module receives described receiver module and is converted into the signal that described main control chip can receive and delivers to described main control chip, described main control chip calculates corresponding position coordinates according to reception result and delivers to after treatment described serial ports screen display module, and described serial ports screen display module shows result.
Described based on hyperacoustic vehicle space positioning system, wherein: it is consistent that described main control chip is that baud rate and the data layout of described serial ports SCI and described serial ports screen display module are set to, to realize proper communication; Described serial ports screen display module is to be configured and corresponding instruction is set to described main control chip transmission data by touch-control.
Described based on hyperacoustic vehicle space positioning system, wherein: what described main control chip adopted is TMS320F28027 chip and being also provided with for generation of 40KHz square wave with for the timer of timing, its FIFO interrupt mode by described serial ports SCI is accepted the data that described serial ports screen display module sends over and is kept in corresponding array, meanwhile, described main control chip sends data to described serial ports screen display module with the FIFO query pattern of described serial ports SCI.
Described based on hyperacoustic vehicle space positioning system, wherein: described transmitter module is connected to form by resistance R 1 ~ R3, triode P1, transformer T1, ultrasonic transmitter US-Tx, field effect transistor N1 and contact pin P; Described resistance R 2 one end are connected with Cut off terminal, and the other end is connected in the base stage of described triode P1; Described Cut off connecting terminals is connected to the GPIO port of described main control chip, suppresses for repercussions; The emitter of described triode P1 connects 5V power supply, the collector of described triode P1 connects respectively No. 2 ports of described contact pin P and the negative pole end of described transformer T1 primary coil by described resistance R 1, and the positive terminal of described transformer T1 primary coil connects 5V power supply; Described ultrasonic transmitter US-Tx is connected between the both positive and negative polarity of described transformer T1 secondary coil; The source electrode of described field effect transistor N1 is connected in No. 1 port of described contact pin P, grounded drain, and grid is connected with send ctrl terminal; Described Send ctrl terminal is connected with the ultrasonic pulse signal emission port of described main control chip, and is produced the control signal of 40KHZ ultrasonic pulse by the ultrasonic pulse signal emission port input of described main control chip; Described resistance R 3 one end ground connection, the other end connects described send ctrl terminal.
Described based on hyperacoustic vehicle space positioning system, wherein: described contact pin P in normal use procedure in short circuit state; What described triode P1 adopted is positive-negative-positive triode.
Described based on hyperacoustic vehicle space positioning system, wherein: described receiver module adopts TL852 chip to form ultrasonic signal testing circuit, to carry out the amplification of signal and to detect; Described ultrasonic signal testing circuit is connected to form by TL852 chip U2, resistance R 1 ~ R3, capacitor C 1 ~ C3 and C7 ~ C9, inductance L 1 and L2, ultrasonic receiver US-Rx; Described TL852 chip U2 comprises REC pin, NC pin, GCA pin, GCB pin, GCC pin, GCD pin, BIAS pin, LC pin, G21N pin, GIOUT pin, GADJ pin, GIIN pin, XIN pin, VCC pin and GND pin; Described REC pin is connected with lead-out terminal SOUT; Described TL852 chip, by described VCC pin connection+5V power supply, by described GND pin ground connection, is connected with the GPIO port of described main control chip by described GCA pin, GCB pin, GCC pin and GCD pin; Described resistance R 1 one end connects described BIAS pin, other end ground connection; Described resistance R 2 one end connect described GADJ pin, and the other end connects described GIIN pin; Described resistance R 3 one end connect described XIN pin, and the other end connects described GIIN pin; Described capacitor C 1 one end ground connection, the other end is connected in the tie point of described+5V power supply and VCC pin; Described capacitor C 7 one end are connected in described lead-out terminal SOUT, other end ground connection; Described capacitor C 8 is connected between described G21N pin and GIOUT pin; Described inductance L 1 one end connects described+5V power supply, and the other end connects described LC pin; Described capacitor C 2 is parallel to described inductance L 1 two ends; Described inductance L 2 one end connect described XIN pin, and the other end connects described ultrasonic receiver US-Rx one end, the other end ground connection of described ultrasonic receiver US-Rx by described capacitor C 3; Described capacitor C 9 is parallel to ultrasonic receiver US-Rx two ends.
Described based on hyperacoustic vehicle space positioning system, wherein: described lead-out terminal SOUT is connected with TL852 chip signal output treatment circuit, described TL852 chip signal output treatment circuit is connected to form by operational amplifier A 1 and A2, resistance R 4 ~ R6, capacitor C 10, diode D1 and D2; The input end in the same way of described operational amplifier A 1 connects described lead-out terminal SOUT, reverse input end and the output terminal of described operational amplifier A 1 link together, and the output terminal of described operational amplifier A 1 is also connected in the input end in the same way of described operational amplifier A 2 by described resistance R 4; The positive pole of described operational amplifier A 1 connects 3.3V power supply, minus earth; Described resistance R 5 one end connect the reverse input end of described operational amplifier A 2, and the other end connects 3.3V power supply by described resistance R 6; Described capacitor C 10 one end ground connection, the other end is connected in the tie point of described operational amplifier A 1 and 3.3V power supply; The anode tap of described diode D1 is connected in the tie point of described resistance R 5 and R6, and the cathode terminal of described diode D1 is connected in the anode tap of described diode D2, the cathode terminal ground connection of described diode D2.
Described based on hyperacoustic vehicle space positioning system, wherein: what described serial ports screen display module adopted is enlightening literary composition serial ports screen, described enlightening literary composition serial ports screen is asynchronous, the full duplex serial ports adopting, serial ports pattern is 8n1, each data transmit i.e. 1 start bit in 10 positions, 8 data bit and 1 position of rest.
Described based on hyperacoustic vehicle space positioning system, wherein: described power acquisition provides and stablizes 5V-3A power supply with 50W three-way switch power supply; Described serial ports screen display shows that module for power supply demand is 5V-800mA; It is that 3.3V is described main control chip power supply by the 5V voltage transitions of Switching Power Supply that described switching processing module adopts the three-terminal voltage-stabilizing power supply of AMS1117-3.3V voltage stabilizing chip.
Beneficial effect:
The present invention is based on hyperacoustic vehicle space positioning system structure simplicity of design, reasonable, it mainly utilizes ultrasonic ranging to realize local space and accurately locates, the demonstration of locating information etc., compare the traditional unidirectional range finding of ultrasound wave or barrier judgment utilized, native system adopts multicast pattern that ultrasound wave is expanded to " complanation utilization " by " dotted line utilization ", increases its range of application; When measurement, multipoint reception location can be avoided stopping because of barrier the positioning result mistake that causes a certain road dropout to cause, ensure the stability of system operation, multimetering data can be carried out error correction to allocation after respective algorithms, have greatly improved the reliability of final locating information; Simultaneously, native system can apply to by increasing acceptance point expansion orientation range the floor truck location in factory or laboratory, break through the route restrictions of traditional trajectory Car, dolly scope of activities is extended to the total space, improve greatly the utilization ratio of dolly, also can apply in many real lifes simultaneously; Moreover, native system is realized local space based on ultrasonic ranging and is accurately located, make dolly break through the restriction of traditional locator meams to work space, system is by the acceptance point received ultrasonic signal of the fixed position of some, according to transmitting with reception mistiming can measure exactly the distance between known point and tested point, utilize location algorithm to obtain the position of tested point, positioning precision can reach centimetre-sized.
Brief description of the drawings
Fig. 1 is the structure principle chart that the present invention is based on hyperacoustic vehicle space positioning system;
Fig. 2 is the structure principle chart that the present invention is based on the ultrasound wave transmitter module of hyperacoustic vehicle space positioning system;
Fig. 3 is the ultrasonic signal testing circuit figure that the present invention is based on the ultrasound wave receiver module of hyperacoustic vehicle space positioning system;
Fig. 4 is the TL852 chip signal output treatment circuit figure that the present invention is based on hyperacoustic vehicle space positioning system.
Embodiment
As shown in Figure 1, the present invention is based on hyperacoustic vehicle space positioning system, comprise main control chip 1, transmitter module 2, receiver module 3, switching processing module 4, control inputs module 5, serial ports screen display module 6 and power supply 7.
What this main control chip 1 adopted is TMS320F28027 main control chip, and it connects respectively transmitter module 2, switching processing module 4 and control inputs module 5 by GPIO port, meanwhile, also connects serial ports screen display module 6 by serial ports SCI; This main control chip 1 is provided with for generation of 40KHz square wave with for timer and the power management module of timing, this power supply 7 is connected with the power management module of main control chip 1, and this receiver module 3 is connected in switching processing module 4 and is connected with main control chip 1 by switching processing module 4.
This control inputs module 5 receives outside control operation to system and operating result is converted into the discernible information of system, then delivers in main control chip 1, this main control chip 1 sends control command to transmitter module 2, transmitter module 2 sends ultrasound wave, ultrasound wave is aloft propagated, received by different receiver module 3 according to distance is far and near, after main control chip 1 obtains receive interruption that receiver module 3 sends, main control chip 1 gives switching processing module 4 control signals, controlling switching processing module 4 data that receiver module 3 is received is converted into the signal that main control chip 1 can receive and delivers to main control chip 1, main control chip calculates corresponding position coordinates according to reception result, deliver to after treatment serial ports screen display module 6, serial ports screen display module 6 shows result.
Wherein, this main control chip 1 is mainly to communicate by serial ports SCI and serial ports screen display module 6, and the baud rate of serial ports SCI is set to the consistent proper communication that gets final product with data layout (8n1) and screen; It is to be configured and corresponding instruction is set sends main control chip 1 to by touch-control that serial ports screen display module 6 sends data to main control chip 1, main control chip 1 is accepted the data that serial ports screen display module 6 sends over and is kept in corresponding array by the FIFO interrupt mode of serial ports SCI, carrying out corresponding judgement according to the needs of system arranges, and it is to send data with the FIFO query pattern of serial ports SCI to serial ports screen display module 6, the corresponding operation of serial ports screen display module 6 is all carried out according to corresponding instruction, so the data that send need send with the form of instruction.
As shown in Figure 2, this transmitter module 2 is mainly used in realizing the sending function of ultrasonic pulse signal, it prevents what circuit from damaging when being used for test by resistance R 1 ~ R3, triode P1, transformer T1, ultrasonic transmitter US-Tx, field effect transistor N1 and contact pin P(, in normal use procedure, is short circuit state) connect to form.Wherein, these resistance R 2 one end are connected with Cut off terminal, and the other end is connected in triode P1(PNP type triode) base stage; Cut off terminal connects the GPIO port of main control chip 1, suppresses for repercussions; The emitter of triode P1 connects 5V power supply, and the collector of triode P1 is by resistance R 1 No. 2 ports of connecting contact pin P and the negative pole end of transformer T1 primary coil respectively, and the positive terminal of transformer T1 primary coil connects 5V power supply; Ultrasonic transmitter US-Tx is connected between the both positive and negative polarity of transformer T1 secondary coil; The source electrode of field effect transistor N1 is connected in No. 1 port of contact pin P, the grounded drain of field effect transistor N1, and the grid of field effect transistor N1 is connected with send ctrl terminal; Send ctrl terminal is connected with the ultrasonic pulse signal emission port of main control chip 1, is produced the control signal of 40KHZ ultrasonic pulse by the ultrasonic pulse signal emission port input of main control chip 1; Resistance R 3 one end ground connection, the other end connects send ctrl terminal.
As shown in Figure 3, this receiver module 3 adopts TL852 chip to form ultrasonic signal testing circuit, carries out the amplification of signal and detects; Wherein, this ultrasonic signal testing circuit is connected to form by TL852 chip U2, resistance R 1 ~ R3, capacitor C 1 ~ C3 and C7 ~ C9, inductance L 1 and L2, ultrasonic receiver US-Rx.This TL852 chip U2 comprises REC pin, NC pin, GCA pin, GCB pin, GCC pin, GCD pin, BIAS pin, LC pin, G21N pin, GIOUT pin, GADJ pin, GIIN pin, XIN pin, VCC pin and GND pin; Wherein, this pin REC is connected with lead-out terminal SOUT, this TL852 chip is by VCC pin connection+5V power supply, by GND pin ground connection, this GCA pin, GCB pin, GCC pin and GCD pin are all connected with the GPIO port of main control chip 1, start timing as starting point taking main control chip 1 for the timer of timing, increase its gain multiple (multiple that gains with reference to TL852 chip in the gain selection of different time sections) before measuring along with the increase of time not completing, to make up the loss of ultrasound wave energy in communication process; Resistance R 1 one end connects BIAS pin, other end ground connection; Resistance R 2 one end connect GADJ pin, and the other end connects GIIN pin; Resistance R 3 one end connect XIN pin, and the other end also connects GIIN pin; Capacitor C 1 one end ground connection, the tie point of the other end be connected in+5V power supply and VCC pin; Capacitor C 7 one end are connected in lead-out terminal SOUT, other end ground connection; Capacitor C 8 is connected between G21N pin and GIOUT pin; Inductance L 1 one end connection+5V power supply, the other end connects LC pin; Capacitor C 2 is parallel to inductance L 1 two ends; Inductance L 2 one end connect XIN pin, and the other end connects ultrasonic receiver US-Rx one end by capacitor C 3, the other end ground connection of ultrasonic receiver US-Rx; Capacitor C 9 is parallel to ultrasonic receiver US-Rx two ends, and wherein, this capacitor C 3 and C9 are for receiving loop resonance, and the ultrasonic receiver US-Rx capacitance that need to use by measurement and corresponding inductance L 2, transformer secondary output inductance are determined.
Wherein, this lead-out terminal SOUT is connected with TL852 chip signal output treatment circuit, and as shown in Figure 4, this TL852 chip signal output treatment circuit is connected to form by operational amplifier A 1 and A2, resistance R 4 ~ R6, capacitor C 10, diode D1 and D2.The input end in the same way of this operational amplifier A 1 connects lead-out terminal SOUT, reverse input end and output terminal link together, and output terminal is also connected in the input end in the same way of operational amplifier A 2 by resistance R 4, simultaneously, the positive pole of operational amplifier A 1 connects 3.3V power supply, minus earth; The reverse input end of resistance R 5 one end concatenation operation amplifier A2, the other end connects 3.3V power supply by resistance R 6; Capacitor C 10 one end ground connection, the other end is connected in the tie point of 3.3V power supply and operational amplifier A 1; The anode tap of diode D1 is connected in the tie point of resistance R 5 and R6, and the cathode terminal of diode D1 is connected in the anode tap of diode D2, the cathode terminal ground connection of diode D2.
Switching processing module 4 is integrated and is connected with other modules, and the fly line situation while reducing circuit connection reduces line error, increases stability and the security of system.
What serial ports screen display module 6 adopted is (7.0 cun of enlightening literary composition serial ports screens, 800*480 graphic dot matrix K600+ kernel 65K look DGUS screen), this enlightening literary composition serial ports screen is asynchronous, the full duplex serial ports (UART) adopting, serial ports pattern is 8n1, be that each data transmit 10 positions: 1 start bit, 8 data bit (status is at front transmission, LSB), 1 position of rest.
Power supply 7 provides power supply to whole system, and it adopts 50W three-way switch power supply (5V3A-12V1A-24V1A) to provide to stablize 5V-3A power supply, wherein, and serial ports screen display module 6 power demands 5V-800mA are larger to current requirements; It is that 3.3V is that main control chip 1 is powered by the 5V voltage transitions of Switching Power Supply that switching processing module 4 adopts the three-terminal voltage-stabilizing power supply of AMS1117-3.3V voltage stabilizing chip.
Structural design of the present invention is simple, reasonable, stable, can just carry out error bridge to allocation, can effectively improve the reliability of final locating information, realizes the accurate location of vehicle space.
Claims (9)
1. based on a hyperacoustic vehicle space positioning system, it is characterized in that: described vehicle space positioning system comprises main control chip, transmitter module, receiver module, switching processing module, control inputs module, serial ports screen display module and power supply; Described main control chip connects respectively described transmitter module, switching processing module and control inputs module by GPIO port, is also connected communication by serial ports SCI with described serial ports screen display module simultaneously; Described main control chip is provided with power management module, and it connects described power supply by described power management module; Described receiver module is connected in described switching processing module and is connected with described main control chip by described switching processing module;
Described control inputs module receives outside control operation to system and operating result is converted into the discernible information of system delivers to described main control chip; Described transmitter module receives the control command of described main control chip transmission and sends ultrasound wave, and described receiver module receives the ultrasound wave that described transmitter module sends; After described main control chip obtains receive interruption that described receiver module sends, described main control chip is given described switching processing module control signal and is controlled data that described switching processing module receives described receiver module and is converted into the signal that described main control chip can receive and delivers to described main control chip, described main control chip calculates corresponding position coordinates according to reception result and delivers to after treatment described serial ports screen display module, and described serial ports screen display module shows result.
2. as claimed in claim 1 based on hyperacoustic vehicle space positioning system, it is characterized in that: it is consistent that described main control chip is that baud rate and the data layout of described serial ports SCI and described serial ports screen display module are set to, to realize proper communication; Described serial ports screen display module is to be configured and corresponding instruction is set to described main control chip transmission data by touch-control.
3. as claimed in claim 1 or 2 based on hyperacoustic vehicle space positioning system, it is characterized in that: what described main control chip adopted is TMS320F28027 chip and being also provided with for generation of 40KHz square wave with for the timer of timing, its FIFO interrupt mode by described serial ports SCI is accepted the data that described serial ports screen display module sends over and is kept in corresponding array, meanwhile, described main control chip sends data to described serial ports screen display module with the FIFO query pattern of described serial ports SCI.
4. as claimed in claim 1 based on hyperacoustic vehicle space positioning system, it is characterized in that: described transmitter module is connected to form by resistance R 1 ~ R3, triode P1, transformer T1, ultrasonic transmitter US-Tx, field effect transistor N1 and contact pin P;
Described resistance R 2 one end are connected with Cut off terminal, and the other end is connected in the base stage of described triode P1; Described Cut off connecting terminals is connected to the GPIO port of described main control chip, suppresses for repercussions; The emitter of described triode P1 connects 5V power supply, the collector of described triode P1 connects respectively No. 2 ports of described contact pin P and the negative pole end of described transformer T1 primary coil by described resistance R 1, and the positive terminal of described transformer T1 primary coil connects 5V power supply; Described ultrasonic transmitter US-Tx is connected between the both positive and negative polarity of described transformer T1 secondary coil; The source electrode of described field effect transistor N1 is connected in No. 1 port of described contact pin P, grounded drain, and grid is connected with Send ctrl terminal; Described Send ctrl terminal is connected with the ultrasonic pulse signal emission port of described main control chip, and is produced the control signal of 40KHZ ultrasonic pulse by the ultrasonic pulse signal emission port input of described main control chip; Described resistance R 3 one end ground connection, the other end connects described send ctrl terminal.
5. as claimed in claim 4 based on hyperacoustic vehicle space positioning system, it is characterized in that: described contact pin P in normal use procedure in short circuit state; What described triode P1 adopted is positive-negative-positive triode.
6. as claimed in claim 1 based on hyperacoustic vehicle space positioning system, it is characterized in that: described receiver module adopts TL852 chip to form ultrasonic signal testing circuit, to carry out the amplification of signal and to detect; Described ultrasonic signal testing circuit is connected to form by TL852 chip U2, resistance R 1 ~ R3, capacitor C 1 ~ C3 and C7 ~ C9, inductance L 1 and L2, ultrasonic receiver US-Rx;
Described TL852 chip U2 comprises REC pin, NC pin, GCA pin, GCB pin, GCC pin, GCD pin, BIAS pin, LC pin, G21N pin, GIOUT pin, GADJ pin, GIIN pin, XIN pin, VCC pin and GND pin; Described REC pin is connected with lead-out terminal SOUT; Described TL852 chip, by described VCC pin connection+5V power supply, by described GND pin ground connection, is connected with the GPIO port of described main control chip by described GCA pin, GCB pin, GCC pin and GCD pin; Described resistance R 1 one end connects described BIAS pin, other end ground connection; Described resistance R 2 one end connect described GADJ pin, and the other end connects described GIIN pin; Described resistance R 3 one end connect described XIN pin, and the other end connects described GIIN pin; Described capacitor C 1 one end ground connection, the other end is connected in the tie point of described+5V power supply and VCC pin; Described capacitor C 7 one end are connected in described lead-out terminal SOUT, other end ground connection; Described capacitor C 8 is connected between described G21N pin and GIOUT pin; Described inductance L 1 one end connects described+5V power supply, and the other end connects described LC pin; Described capacitor C 2 is parallel to described inductance L 1 two ends; Described inductance L 2 one end connect described XIN pin, and the other end connects described ultrasonic receiver US-Rx one end, the other end ground connection of described ultrasonic receiver US-Rx by described capacitor C 3; Described capacitor C 9 is parallel to ultrasonic receiver US-Rx two ends.
7. as claimed in claim 6 based on hyperacoustic vehicle space positioning system, it is characterized in that: described lead-out terminal SOUT is connected with TL852 chip signal output treatment circuit, described TL852 chip signal output treatment circuit is connected to form by operational amplifier A 1 and A2, resistance R 4 ~ R6, capacitor C 10, diode D1 and D2;
The input end in the same way of described operational amplifier A 1 connects described lead-out terminal SOUT, reverse input end and the output terminal of described operational amplifier A 1 link together, and the output terminal of described operational amplifier A 1 is also connected in the input end in the same way of described operational amplifier A 2 by described resistance R 4; The positive pole of described operational amplifier A 1 connects 3.3V power supply, minus earth; Described resistance R 5 one end connect the reverse input end of described operational amplifier A 2, and the other end connects 3.3V power supply by described resistance R 6; Described capacitor C 10 one end ground connection, the other end is connected in the tie point of described operational amplifier A 1 and 3.3V power supply; The anode tap of described diode D1 is connected in the tie point of described resistance R 5 and R6, and the cathode terminal of described diode D1 is connected in the anode tap of described diode D2, the cathode terminal ground connection of described diode D2.
8. as claimed in claim 1 based on hyperacoustic vehicle space positioning system, it is characterized in that: what described serial ports screen display module adopted is enlightening literary composition serial ports screen, described enlightening literary composition serial ports screen is asynchronous, the full duplex serial ports adopting, serial ports pattern is 8n1, each data transmit i.e. 1 start bit in 10 positions, 8 data bit and 1 position of rest.
9. as claimed in claim 1 based on hyperacoustic vehicle space positioning system, it is characterized in that: described power acquisition 50W three-way switch power supply provides stablizes 5V-3A power supply;
Described serial ports screen display shows that module for power supply demand is 5V-800mA;
It is that 3.3V is described main control chip power supply by the 5V voltage transitions of Switching Power Supply that described switching processing module adopts the three-terminal voltage-stabilizing power supply of AMS1117-3.3V voltage stabilizing chip.
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| CN105572693A (en) * | 2014-10-16 | 2016-05-11 | 嘉兴职业技术学院 | Vehicle-mounted positioning device |
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| CN202815216U (en) * | 2012-10-15 | 2013-03-20 | 徐军 | Intelligent ultrasonic distance-measuring system |
| CN103487787A (en) * | 2013-09-26 | 2014-01-01 | 上海大学 | Ultrasonic positioning device and method for four-rotor unmanned aerial vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105572693A (en) * | 2014-10-16 | 2016-05-11 | 嘉兴职业技术学院 | Vehicle-mounted positioning device |
| CN105572693B (en) * | 2014-10-16 | 2018-10-12 | 嘉兴职业技术学院 | Vehicle carried pick device |
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