CN114136351B - Single code channel absolute coding and decoding method with error detection and correction function - Google Patents
Single code channel absolute coding and decoding method with error detection and correction function Download PDFInfo
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- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
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Abstract
The invention discloses a single code channel absolute coding and decoding method with error detection and correction functions, which adopts a coding mode of cyclic codes in linear block codes to generate a coding matrix with error detection and correction functions, adopts a coding mode of code division to generate absolute code disc codes of single code channels, and realizes the output of position information and error correction and detection through an error catching decoding algorithm of the cyclic codes after image information coded by the code disc is acquired by a sensor. The method is based on the coding mode of the cyclic code in the linear block code, increases the minimum code distance of the coding matrix by adding the supervision code, realizes error correction and detection functions while guaranteeing the decoding accuracy, effectively reduces the error rate by reporting errors and correcting errors when the code disc is damaged, polluted or deviated, simplifies the decoding of the code disc by utilizing the grouping characteristic of the linear block code and adopts the partition coding mode, enhances the robustness of a decoding algorithm, and is more beneficial to improving the accuracy of an image subdivision algorithm.
Description
Technical Field
The invention relates to the field of precision surveying and mapping instruments, in particular to a single code channel absolute coding and decoding method with error detection and correction functions.
Background
High-precision angle identification and detection play an extremely important role in various fields such as aerospace, automatic control, civil mapping and the like. Along with the continuous development of technology, people mainly adopt photoelectric digital angle measurement technology to carry out high-precision angle identification detection at present, and a photoelectric shaft angle encoder is one of the wide applications.
At present, the existing encoder has an incremental type and an absolute type, but the existing encoding technology does not have an error correction and detection function.
The absolute encoder marks a plurality of code channels around the circle center of the code disc, the light transmission conditions of code elements in the code channels are different, the code channels are formed by using different code elements, and then the code disc is formed by using the plurality of code channels for coding. The absolute encoder has unique character string corresponding to each position, so that compared with the incremental encoder, the absolute encoder can save position information even if power is cut off after the initial position is fixed, errors in angle measurement cannot be accumulated, and the anti-interference capability is stronger.
The existing coding modes include an incremental coding mode, a natural binary coding mode, a periodic binary coding mode, a binary-decimal coding mode, a sexagesimal coding mode, a matrix coding mode, a quasi-absolute coding mode, a pseudo-random coding mode, a vernier coding mode, an M-code coding mode, a multi-circle absolute M-code coding mode, a simple code coding mode, an image coding mode, a single code channel absolute coding mode and a distance coding mode, wherein the size of a code disc manufactured by the single code channel absolute coding mode is smaller, the stability is higher, and the decoding method is simple.
Although the coding method has higher angle measurement precision, the coding and decoding methods have obvious defects: the coding method does not have error correction and detection functions, and the use of equipment is greatly affected after the code disc is damaged; the code disc is more difficult to manufacture and has higher complexity, so that the cost is higher, the size of the code disc is larger, and the code disc cannot be used in specific application occasions; the encoding and decoding methods are too complex, so that the algorithm running speed is low and the equipment use efficiency is low due to the excessive operand.
Disclosure of Invention
In order to solve the technical problems, the invention provides a single code channel absolute coding method and a decoding method with an error detection and correction function, which adopt a coding mode of cyclic codes in linear block codes to generate a coding matrix with the error detection and correction function, adopt a mode of code division coding to generate an absolute code disc code of a single code channel, and realize the output and error correction of position information through an error-catching decoding algorithm of the cyclic codes after image information of the code disc code is acquired by a sensor.
The invention provides a single code channel absolute coding method and a decoding method with error detection and correction functions, wherein the coding method comprises the following steps:
step 1, determining an information bit polynomial m (x) needing cyclic code coding, namely a code region numbering polynomial after decoding;
step 2, selecting a generator polynomial based on a given code length and number of information bits, i.e. from (x n Selecting one (n-k) degree polynomial as g (x) from the factors of +1), this stepCan be completed by a computer;
step 3, using x n-k Multiplying m (x), i.e. adding (n-k) 0's after m (x);
step 4, dividing x by g (x) n-k m (x) to obtain the remainder r (x);
step 5, the remainder r (x) and x n-k m (x) are added to obtain a polynomial, namely a coded cyclic code polynomial;
and 6, coding the code region number polynomials of each code region, and storing the generated coding matrix after coding is finished.
Further, the single code channel absolute coding code disc coded by the adopted code division coding mode consists of three different code elements, the width of each code element on the code disc is equal, black codes with different widths are scored at the middle position of each code element for distinguishing different code elements, wherein the code element with the black code width of a is defined as 0, the code element with the black code width of b is defined as 1, the code element with the black code width of c is defined as 2, c is larger than a and larger than b, the code elements defined as 0 and 1 are used for coding, and the code element defined as 2 is used as a zone bit code for separating the code areas.
Further, when the code group generated based on the coding mode of the cyclic code in the linear block code is converted into the code disc code, the first method is divided into two methods, wherein the first method is direct construction, namely the coding matrix stored in the step 6 is respectively used as the code of each code region, and a bit zone bit code is added between each code region to directly construct the code disc code; the second is an indirect structure, namely, the cyclic characteristic of the cyclic code is utilized, the cyclic code in one cycle is firstly constructed into displacement continuous codes, then the constructed displacement continuous codes are used as codes of each code area, and a bit area bit code is added between each code area to generate code disc codes.
The error-catching decoding algorithm comprises the following steps:
step 1, setting a brightness threshold according to data acquired by a sensor, and converting a brightness amplitude signal into a binary signal, namely a bright-dark signal;
step 2, setting a width threshold according to the black code width of the code element, and converting image data acquired by the sensor into coded data, namely acquiring a code group B (x);
step 3, dividing the acquisition code group B (x) by the generator polynomial g (x) during encoding to obtain a residual formula r' (x);
step 4, obtaining an error pattern E (x) according to the residual formula r' (x) by a table look-up method or other calculation methods;
step 5, judging the error code condition of the acquisition code group B (x) according to the E (x), simultaneously carrying out error detection, error reporting and error correction, and subtracting the B (x) from the E (x) to obtain an error-corrected code disc code;
and 6, extracting code region numbers from the code disc codes after error correction, and outputting position information.
The beneficial effects of the invention are as follows: because the coding mode with the error detection and correction functions is adopted, the influence caused by damage, pollution or offset and other reasons can be avoided to a great extent in the angle measurement process, the stability of the code disc in use is improved, and the requirement on the environment is reduced; because a single code channel absolute coding mode is adopted, the size of the code disc is small, and the manufacturing cost and the mounting difficulty of the code disc are reduced; because of adopting the code division area coding modes of direct construction and indirect construction, a CCD sensor with smaller size can be adopted, and the hardware cost is reduced; as the marking of the code disc only has three bar codes of 0, 1 and 2, the code disc is convenient to mark and simple to decode, and the operation speed is improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a single code channel absolute coding method employed in the present invention;
FIG. 2 is a schematic diagram of a single track absolute code disc according to the present invention;
FIG. 3 is a schematic diagram of partial encoding of a code wheel according to an embodiment 1 of the encoding method of the present invention;
fig. 4 is a schematic diagram of partial encoding of a code disc in embodiment 2 of the encoding method of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
The embodiment of the invention provides a single code channel absolute coding and decoding method with an error detection and correction function, which has the basic ideas that the error detection and correction characteristics of cyclic codes in linear block codes are utilized, the mode of single code channel absolute code division region coding is combined, the code disc coding with the error detection and correction function is generated, and the angle position information is output by a corresponding decoding method.
Firstly, generating a code group to be coded based on a coding mode of a cyclic code in a linear block code; then, generating a single code channel absolute code disc code from the code division areas of the cyclic code group to be coded, wherein each code area is divided by a zone bit code; finally, the codes in the code region generate code region numbers through an error-catching decoding algorithm and carry out corresponding error correction and detection.
Coding method
The coding concept provided by the invention is shown in fig. 1, namely firstly, the number of code disc bits, the code length, the number of partitions and the requirement of error correction and detection capability are determined; secondly, generating an information bit matrix I, and converting the information bit matrix I into an information bit polynomial m (x) form so as to facilitate polynomial operation; then, determining a generator polynomial g (x) according to the code length and the information bit number; then, the residual formula r (x) is obtained through polynomial division after 0 is supplemented, the residual formula r (x) and the information bit polynomial m (x) are combined to obtain a cyclic code set with error correction and detection capability, and the cyclic code set is stored; finally, by means of direct construction or indirect construction, the cyclic code groups are arranged in the code division areas, and the generated code disc with error detection and correction functions is shown in fig. 2, and the bar codes with different widths are marked in each code element in the enlarged partial schematic diagram.
Embodiment one:
the coding method provided by the invention is adopted, and the coding process comprises the following steps:
step 1, determining the number N of code disc bits, the code length N, the number N/N of partitions and the error correction and detection capability requirement t. The minimum code distance of the coded cyclic code group is greater than or equal to 2t+1, thereby determining the information bit number k, and the supervision bit number r=n-k, wherein 2 k ≥N/n；
Step 2, generating an information bit matrix I, wherein I is a two-dimensional matrix of N/N rows and k columns as shown in the formula (1), and converting each row vector of the I matrix into a form m of an information bit polynomial 1 (x)、m 2 (x)、m 3 (x)……m N/n (x) A. The invention relates to a method for producing a fibre-reinforced plastic composite In general, the information bit matrix I is a binary code converted from the code region number;
step 3, determining a generator polynomial g (x) based on the coding principle of the cyclic code according to the coding code length and the information bit number, wherein g (x) is the polynomial x n An n-k degree polynomial of +1, g (x) can be calculated by a computer;
step 4, using x n - k M (x), i.e. adding (n-k) 0 s after the information code. Dividing x by g (x) n-k m (x) to obtain a quotient Q (x) and a remainder r (x) as shown in formula (2)
Step 5, combining the residual formula r (x) and the information bit polynomial m (x) to obtain a cyclic code group with error correction and detection capability, wherein the coded code group is shown as a formula (3)
A i (x)＝x n-k m i (x)+r i (x) (3)
Step 6, storing the coded cyclic code groups to generate a coding matrix C, wherein C is a two-dimensional matrix of N/N rows and N columns, as shown in a formula (4), and n=k+r;
step 7, as shown in fig. 3, the code division areas of the coding matrix C are coded into the code disc by adopting a direct construction method, and each code area is a row of code groups of the coding matrix C. The code consists of '0' and '1' code elements with different black code widths, the code areas are separated by zone bit code '2' code elements, and finally a single code channel absolute code disc with error detection and correction functions is generated, wherein the number of code disc bits is N+N/N, and the total number of the code areas is N/N.
Example 2:
by adopting the coding method provided by the invention, because the length of the sensor may not be determined in the practical application situation, a solution when the sensor length is insufficient and an optimization method when the sensor length is sufficient are provided, and the coding process provided by the embodiment is different from that of the embodiment 1 in that:
step 7, as shown in fig. 4, adopting an indirect construction method, utilizing the cycle characteristic of the cyclic code to arrange the disordered coding matrix C according to the cycle characteristic, and finding out the cycle existing in the coding matrix;
step 8, combining p code groups in each cycle into corresponding displacement continuous code groups by utilizing the cycle characteristic of the cycle code, wherein the code group number is n+p-1;
and 9, coding the combined displacement continuous code group code division areas into code discs, wherein each code area is one row of code groups of the coding matrix C. The code consists of '0' and '1' code elements with different black code widths, the code areas are separated by zone bit code '2' code elements, and finally a single code channel absolute code disc with error detection and correction functions is generated, wherein the number of code disc bits is N+N/N, and the total number of the code areas is N/N.
Decoding method
The invention provides an error-catching decoding idea, firstly, data processing is carried out on collected data of a sensor to obtain code group data; secondly, error code judgment is carried out according to a residual formula r' (x) obtained by polynomial division, so that error detection is realized; then determining an error pattern E (x) of the error code condition by a table look-up method; and finally, subtracting E (x) from the acquisition code group B (x) to obtain an error-corrected code group, thereby realizing error correction.
Examples:
the process for realizing error capturing and decoding by adopting the error capturing and decoding method provided by the invention comprises the following steps:
step 1, according to the data collected by the sensor, setting a brightness threshold L, wherein the pixel value with the brightness amplitude greater than or equal to L is changed into 1, namely a bright signal, the pixel value with the brightness amplitude smaller than L is changed into 0, namely a dark signal, and binarizing the brightness amplitude signal of the pixel, as shown in a formula (5)
Step 2, setting a width threshold W according to the black code width of the code element 1 、W 2 ，W 1 ＞W 2 The width of the dark space is larger than W 1 The area of (2) is identified as area code "2", and the width of the dark area is W 1 And W is 2 The inter-defined area is identified as "0", and the width of the dark space is smaller than W 2 The area of (1) is identified as '1', the binary data obtained in the step 1 is converted into coded data, namely, the acquisition code group B (x) is shown as the formula (6)
Step 3, dividing the acquisition code group B (x) by the generator polynomial g (x) during encoding to obtain a residual formula r' (x), as shown in a formula (7)
If the residual formula r' (x) is 0, the code group acquired by the sensor is free of error codes;
step 4, if the error code exists, error reporting after error detection is carried out;
step 5, solving the error pattern E (x) in each case when 1,2, … … and t bit are error codes. And the corresponding remainder R (x), and storing;
step 6, finding out the residual formula R (x) which is the same as the residual formula R' (x) by using a table look-up method, wherein the error pattern E (x) corresponding to the R (x) reflects the error code condition corresponding to the acquisition code group B (x);
step 7, subtracting E (x) from B (x) to obtain a result which is the code group A (x) with corrected error code, as shown in formula (8)
A(x)＝B(x)-E(x) (8)
The invention adds the coding process of the cyclic code on the basis of the absolute coding method of the single code channel, thereby leading the code to have the capability of correcting and detecting errors and solving the common error code problem of the code disc in practical application; by means of the coding mode of the single code channel absolute type code division region, the installation requirement on hardware is reduced, the production cost is reduced, and the operation efficiency of a decoding algorithm is improved.
In view of the foregoing, the present invention is not limited to the above embodiments, but is intended to cover modifications, substitutions, improvements, etc. made under the spirit and principles of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements is inherent to. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. In addition, the parts of the above technical solutions provided in the embodiments of the present application, which are consistent with the implementation principles of the corresponding technical solutions in the prior art, are not described in detail, so that redundant descriptions are avoided.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (3)
1. A single code channel absolute coding and decoding method with error detection and correction function is characterized in that firstly, code groups to be coded are generated based on the coding mode of cyclic codes in linear block codes; then, generating a single code channel absolute code disc code from a code division area of a cyclic code group to be coded, wherein the code division area adopts a direct construction or indirect construction method, and the code division is carried out through a zone bit code; finally, the codes in the code region generate code region numbers through an error-catching decoding algorithm and carry out corresponding error correction and detection;
the method for generating the code group to be coded by adopting the coding mode based on the cyclic code in the linear block code specifically comprises the following steps:
step 11, determining an information bit number k according to a code disc number N, a code length N, a partition number and an error correction and detection requirement t, and determining an information bit polynomial m (x) needing cyclic code coding according to the information bit number k, namely a decoded code region numbering polynomial, wherein x is a symbol position mark in a polynomial expression mode;
step 12, selecting a generator polynomial g (x) according to the set code length and information bit number, i.e. from (x n Selecting one (n-k) degree polynomial from factors of +1) as g (x);
step 13, adding (n-k) 0 s after the information bit polynomial m (x), and reserving positions for supervision codes;
step 14, dividing x by g (x) n-k m (x) to obtain the remainder r (x), and obtaining the supervisory code, adding it to the signalObtaining a cyclic code polynomial with error correction and detection capability after the rest polynomial;
15, coding code region number polynomials of each code region;
step 16, converting the code group into code disc codes by adopting a direct construction method or an indirect construction method;
the method of direct construction is to use the coding matrix as the codes of each code region, and to add a bit region bit code between each code region to construct the code disc code directly.
2. The method of claim 1 wherein the indirect construction method is characterized by constructing cyclic codes in one cycle as displacement continuous codes by utilizing the cyclic characteristics of the cyclic codes, then taking the constructed displacement continuous codes as codes of each code region, and adding a bit region bit code between each code region to generate code disc codes.
3. The method of claim 1, wherein the code in the code region generates the code region number by an error-trapping decoding algorithm and performing the corresponding error correction and detection comprises the steps of:
step 31, setting a brightness threshold according to data acquired by a sensor, and converting a brightness amplitude signal into a binary signal, namely a bright-dark signal;
step 32, setting a width threshold according to the black code width of the code element, and converting the image data acquired by the sensor into encoded data, namely acquiring a code group B (x);
step 33, obtaining an error pattern corresponding to each error code group, and a specific residual equation obtained by dividing each error code group by a generator polynomial g (x), wherein each correctable error pattern and the specific residual equation of the error code group are required to have a one-to-one correspondence, so as to obtain a unique error pattern comparison table;
step 34, dividing the generator polynomial g (x) during encoding by the acquisition code group B (x) to obtain a residual formula r' (x); finding an error pattern E (x) corresponding to the residual formula r' (x) by a table look-up method;
step 35, judging the error code condition of the acquisition code group B (x) according to the E (x), and carrying out error detection and error reporting; subtracting B (x) from E (x) to obtain a code group after error correction, and completing error correction;
and 36, extracting code area offset numbers from the code disc codes after error correction, and outputting position information.
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