CN101865999B - Method for improving detection resolution of induction wireless position - Google Patents

Method for improving detection resolution of induction wireless position Download PDF

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CN101865999B
CN101865999B CN 201010214000 CN201010214000A CN101865999B CN 101865999 B CN101865999 B CN 101865999B CN 201010214000 CN201010214000 CN 201010214000 CN 201010214000 A CN201010214000 A CN 201010214000A CN 101865999 B CN101865999 B CN 101865999B
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apd
coil
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CN101865999A (en
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陈进
陈新
杨志和
陈勇波
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HUNAN QIANMENG INDUSTRIAL INTELLIGENT SYSTEM CO., LTD.
Hunan Institute of Science and Technology
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YUEYANG QIANMENG ELECTRONIC CO Ltd
Hunan Institute of Science and Technology
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Abstract

The invention relates to a method for improving the detection resolution of an induction wireless position. In the method, when the center of an induction antenna case is near the cross point of coding cables, for average position detection APD and high-resolution position detection HRPD, the detection parameters of the same coding cable transmission pair line which corresponds to the same coil pair in the induction antenna case are adopted to solve the problem that main coil detection APD main coil detection and HRPD are not matched and also solve the problem that main coil detection APD and secondary coil detection HRPD are not matched, and thereby, the detection resolution is improved. The invention provides a method adopting the main coil detection APD and secondary coil detection HRPD, a main coil structure and a secondary coil structure of improving the detection resolution and a method of the average position APD of the phase-correction main coil detection of the secondary coil detection. The position structures of the main coil and the secondary coil of the invention enable mutual influence between the main coil and the secondary coil to be reduced to the minimum. The secondary coil structure has better signal to noise ratio when in HRPD detection.

Description

Improve the method for detection resolution of induction wireless position
Technical field
The present invention relates to a kind of method that improves detection resolution of induction wireless position.
Background technology
1. inductive wireless technology brief introduction
Inductive wireless technology is a kind of commercial Application technology of rising in order to realize industrial mobile vehicle robotization, and it comprises that induction wireless data communication and induction wireless position detect two aspects.
In commercial production, many large-scale operation locomotives are arranged according to certain production schedule and technological requirement in many occasions, cooperatively interact, work in an orderly manner.Along with the development of modern industry robotization, people press for and realize the centralized management control of computing machine to the operation locomotive, reach Automation of Manufacturing Process.Realize that computing machine to the centralized management of operation locomotive control, just must solve two basic problems: 1. data communication problem reliably between ground central control room and the mobile vehicle.The wire communication mode exists mobile vehicle traction telecommunication cable inconvenience; And communication is abominable owing to the industry spot environment, bit error rate height, and reliability reduces.2. the position probing problem at mobile vehicle place.To realize computer control to mobile vehicle, must understand the walking position of mobile vehicle at any time.Inductive wireless technology adopts the coding cable (claiming to induce bus again) of a uniqueness, solves two hang-ups that industrial mobile vehicle is realized computing machine centralized management control simultaneously---data communication reliably between central control room and the mobile vehicle; The position probing at mobile vehicle place.Thereby in controlling automatically, the modern industry mobile vehicle obtained using widely.
2. induction wireless position detects
Induction wireless position detects, and is exactly by transmission in inductive coil in the antenna case and the coding cable electromagnetic induction between the line to be detected the x position coordinates at antenna case place, with this position as mobile vehicle.Be characterized in:
1. detected position is continuous, absolute position; The detection resolution height, good reproducibility.
2. non-contact detection, strong interference immunity, the reliability height adapts to abominable industrial environment.
3. detection mode is various, both can also can detect the position of self on mobile vehicle in the position of ground detection mobile vehicle.
4. combine together with the induction wireless data communication.
Induction wireless position detects, and can be divided on ground detection and the car by detection mode and detect dual mode.
The ground detection mode is when office's dispensing device on the machine sends coil transmission carrier wave in the antenna case, carries out position probing by local location, central control room ground detecting device, and detected is the position that sends coil on the locomotive in the antenna case.
Detection mode on the car, be at central control room ground office dispensing device when coding cable sends carrier wave, carry out position probing by local location detecting device on the machine, detection be the position of receiving coil in the antenna case on the locomotive.
On the car compare with the ground detection position and have more advantage in the detection position, and its characteristics are:
1. control system obtains self-position rapidly on the car.The industrial operations locomotive is located automatically, requires locomotive automatically, accurately to stop at the target location.If control system can not obtain self-position rapidly on the car, will influence automatic bearing accuracy.Ground detection position mode, control system is to receive the position data that send on ground on the car, has the time delay of a call duration time.
2. it is shared to be convenient to a coding cable.Have on same the track under many locomotive situations, if only adopt a coding cable, ground detection position will adopt the way of frequency division or timesharing that each locomotive position is detected, frequency division causes the circuit complexity, and timesharing causes time delay to increase.How many platform locomotives no matter detection position on the car when the ground carrier generator sends coding cable, have can both a shared coding cable detect the position of self separately, is independent of each other.
3. detection position system on the induction wireless car
1) in the coding cable location transmission to line structure
R, G, G ' three class location transmission are arranged to line on the car in the detection position system coding cable.
(1) the R transmission is to line
Coding cable has 2 pairs of R transmission to line R 0, R 1R 0, R 1In coding cable, do not intersect R 1Transmission intersects in the carrier generator port to line.R 0---reference phase signal is transmitted to line, promptly with R 0Signal is as reference phase signal; R 1---transmit to line R reference time 1Signal all the time with R 0Signal inversion is with this start bit as the serial address data.
(2) the G transmission is to line
Coding cable has n that G is transmitted line G 0, G 1... G iG N-1, all intersecting according to the Gray code rule, the G transmission is r to the spacing of adjacent two intersections of line, r generally gets 10cm in the reality.G 0Intersect G at a distance of 2r 1Intersect G at a distance of 4r iAt a distance of 2(i+1) the r intersection.The size of n depends on the length of detection position.
(3) G 0' transmit line
G in the coding cable 0' transmit line and G 0Transmission is identical to line intersection spacing, but infall and G 0The stagger distance of r is seen Fig. 3.
Each transmission is to stack to line in the actual coding cable.Fig. 1 only draws 3 pairs of G transmission to line G 0, G 1, G 2, and each transmission in the coding cable opened line tiling picture, carry out first principles analysis with this.Agreement: the X signal is meant the signal that main coil was responded in the induction antenna when carrier generator sent carrier wave to the X transmission to line.
2) induction antenna
Constitute by 2 receiving coils in the induction antenna, be called main coil and secondary coil.Major and minor coil all is that width is a W=2r multiturn coiling, mutual spacing r, as shown in Figure 1.
Any transmission can be regarded a rectangle one-turn coil as to the mesh between two intersections of line, when carrier generator sends carrier wave to transmission to line, because electromagnetic induction produces induced signal in the receiving coil.The effect of secondary coil guarantees exactly at carrier generator no matter what position induction antenna is in when sending carrier wave in coding cable, and the signal that two coils receive can not be 0 simultaneously.
3) carrier generator
Ground carrier generator circuit block diagram such as Fig. 2.In the circuit, oscillation source produces required carrier wave, by the AT89C51 control power amplifiers, to each transmission line is sent carrier wave respectively in the different time.With Fig. 1 coding cable is example, at t 0, t 1, t 2, t 3, t 4, t 5Time period is respectively to R 0, R 1, G 2, G 1, G 0, G 0' transmit line transmission carrier signal, stop t sTime, circulation then.Wherein, to R 0, G 0, G 0' transmitting time and stand-by time t sBe T 1, T 1Be about 3-5ms; Other transmitting time is 416us.
4) detection position ultimate principle on the car
APD position probing principle
General position detects and claims APD, is that the induced signal phase computing that detects main coil obtains the APD position, and its resolution is r.
With R 0Signal is as reference phase signal, other signal and R 0Signal compares, and homophase is designated as " 0 ", anti-phase being designated as " 1 "; At t 1Time period, R 1Certain and the R of signal 0Signal inversion is designated as R 1=1, with this " 1 " start bit as serial data; At t 2, t 3, t 4Time period, detecting respectively is G 2, G 1, G 0Signal, in Fig. 1, if the center line of main coil respectively 1., 2., 3., 4. position, then the received signal of main coil such as Fig. 3 are (for outstanding phase relation, the amplitude of signal is drawn as equally size or is 0 among the figure), Here it is scale-of-two absolute phase shift keying (2PSK) modulation signal.To the demodulation of 2PSK modulation signal---use R 1, G 2, G 1, G 0Signal and R 0Signal is phase place relatively, and with R 1=1 as start bit, then obtains one group of Gray code serial data G 2G 1G 0, baud rate is 2400bit/s.If Gray code G 2G 1G 0Corresponding decimal number is g, then obtains APD position formula:
Figure 317811DEST_PATH_IMAGE001
As if r=10cm, 1., 2., 3., be respectively in the position: G among Fig. 1 2G 1G 0=000, g=0, APD=0; G 2G 1G 0=010, g=3, APD=30 cm; G 2G 1G 0=110, g=4, APD=40 cm; In the position 4., G 1Amplitude is 0, G 2G 1G 0=111 or 101, g=5 or 6 is in 5,6 intersections, so be 5 or be 6 all to praise APD=50 cm or 60cm.
5) HRPD position probing principle
High-resolution position detects and claims HRPD, is to detect G 0, G 0' amplitude A (G of signal 0), A(G 0'), carry out computing, just obtain the HRPD position.
Fig. 4 is according to the drawn HRPD principle schematic of Fig. 1 coding cable structure.With G in induction antenna main coil and the coding cable 0, G 0' transmission opens and be drawn in same plane to line tiling, and a main coil is drawn as two, be illustrated respectively in t 4, t 5Moment main coil induced signal situation.With the main coil center line is mobile vehicle position x, the zone between transmission intersects to line two be called the K zone (the K=I, II, III ...); The main coil center line departs from G 0, G 0' transmission line region distance between center line is respectively d 0, d 1, d 0+ d 1=r.
When the ground carrier generator sent carrier signal to the coding cable transmission to line, transmission was comparatively complicated to the Distribution of Magnetic Field that line produces in the space.For the ease of analyzing, we set up the uniform magnetic field model: apart from z hour, the approximate magnetic line of force of thinking that transmission produces line vertically passes receiving coil and magnetic induction evenly distributes along the x direction of principal axis when between receiving coil and coding cable.
According to the uniform magnetic field model, the induced signal amplitude that main coil produces is directly proportional with main coil actual induction area.If main coil is in position shown in Figure 6, at t 4Time period, carrier generator is to G 0When transmission sends carrier wave to line, G 0The III zone be (W-d to the induction area of main coil 0) * B uses
Figure 716562DEST_PATH_IMAGE002
Expression, this induced signal and R 0The signal homophase, G 0The II zone be d to the induction area of main coil 0* B uses
Figure 21773DEST_PATH_IMAGE003
Expression, this induced signal and R 0Signal inversion is because II, III zone are opposite to the induced signal polarity that main coil produces, so main coil actual induction area=(W-d 0) * B-d 0* B=(W-2d 0) * B=2(r-d 0) * B.The maximum induction area S of main coil Max=W * B=2r * B, corresponding induced signal amplitude peak is A MaxSo, have:
Figure 138764DEST_PATH_IMAGE004
At t 5Time period, carrier generator is to G 0' when transmission sends carrier wave to line, the main coil induced signal is done identical analysis, have:
Figure 289254DEST_PATH_IMAGE005
Order:
Figure 808091DEST_PATH_IMAGE006
Find out from formula (5), (6), as long as at t 4, t 5Time period detects main coil induced signal amplitude A (G 0), A(G 0'), carrying out computing, only just can calculate and the relevant P in main coil x position 0, P 1Thereby, obtain HRPD position: d 0=P 1* r or d 1=P 0* r.
Discuss in two kinds of situation:
(1) main coil is centered close to G 0Left side (Fig. 4 position 1.) between two intersections, the APD position data g that herein detects is an odd number, HRPD=d 1=P 0* r
(2) main coil is centered close to G 0Left side (Fig. 4 position 2.) between ' two are intersected, the APD position data g that herein detects is an even number, HRPD=d 0=P 1* r
Thus, obtain the formula of high-resolution position HRPD and the formula of integrated location ADD:
In Fig. 4, establish r=10cm, the center line of main coil is in the position respectively 1., 2., 3. carries out analytical calculation, can obtain:
The position is 1.: APD=30cm, HRPD=3.75cm, ADD=33.75cm;
The position is 2.: APD=40cm, HRPD=5cm, ADD=45cm;
The position is 3.: APD=50cm, HRPD=10cm, ADD=60cm; Or APD=60cm, HRPD=0cm,
ADD=60cm。
6) position detector circuit and principle of work on the car
The position detecting circuit block diagram is seen Fig. 5 on the car.Major and minor coil-induced signal in the induction antenna is sued for peace through rectification respectively and is obtained 2 frequency multiplication carrier wave 2f carrier waves, because major and minor coil at a distance of r, as long as carrier generator sends carrier signal to arbitrary transmission to line, just has the 2f carrier wave.The 2f carrier wave through overcommutation, filtering, relatively obtain carrier sense signal DCD, when carrier generator begins new round t 0Time period sends the rising edge of generation DCD behind about 2ms, and AT89C51 detects the rising edge of DCD, just begins new one and takes turns address detected.
The 2f carrier wave obtains the 1f carrier wave after through shaping, phase-locked, 2 frequency divisions, when the rising edge of DCD arrives, and locking 1f carrier phase and current R 0The signal phase unanimity.The 1f carrier wave carries out bit comparison mutually as reference phase signal with the main coil received signal, detects phase place comparative result=1 for the first time, expression t 1Time period is as time reference, successively at t 2, t 3, t 4Obtain G in the middle of time period 2, G 1, G 0The Gray code G of signal phase comparative result 2G 1G 0, calculate APD according to formula (1) thus.
The main coil received signal obtains the signal amplitude DC level through overcommutation, low-pass filtering.AT89C51 is at t 4, t 5Time period, from A/D converter, read A(G 0) and A(G 0'), calculate HRPD by formula (5), (6), (7), calculate ADD by formula (8).
Summary of the invention
The objective of the invention is to be improved and innovate, provide a kind of induction wireless position to detect the method that improves resolution at the shortcoming that exists in the background technology and problem.Patent of the present invention is invented on utility model patent " detection system on the induction wireless position car " basis that the inventor has obtained, and be the method that proposes at detection position on the car, but first method is equally applicable to the ground detection position.
Technical scheme of the present invention is a kind of method that improves detection resolution of induction wireless position, it is exactly to the electromagnetic induction between the line by transmission in inductive coil in the antenna case and the coding cable that described induction wireless position detects, detect the X position coordinates at antenna case place, with this position as mobile vehicle; Described position probing is divided into general position and detects APD and high-resolution position detection HRPD; Described coding cable is provided with R, G, G ' three class location transmission to line; Characteristics of the present invention are:
(1) near the point of crossing of induction antenna case center at coding cable the time, detect the parameter that same coil detects line corresponding same coding cable transmission in APD and the high-resolution position detection HRPD employing induction antenna case for general position, solve main coil and detect the problem that does not match between detection of APD main coil and the HRPD, also solve main coil and detected the problem that does not match between APD and the secondary coil detection HRPD, thereby improved detection resolution.
(2) propose a kind of employing main coil and detect APD, secondary coil detects the method for HRPD.
1. a kind of major and minor loop construction that improves detection resolution has been proposed;
2. the method for the general position APD that a kind of phase place correction main coil that is detected by secondary coil detects has been proposed.
Advantage of the present invention and beneficial effect:
1. the positional structure of major and minor coil makes influencing each other between them be reduced to minimum.Moreover secondary coil is about 0 in most time received signal amplitudes, let alone main coil is influenced.When having guaranteed that still position signal generator transmits line transmission carrier wave arbitrarily in coding cable, major and minor coil received signal amplitude can not be 0 simultaneously.
2. secondary coil structure has signal to noise ratio (S/N ratio) preferably when HRPD detects.One, secondary coil has good inhibition effect for interference noise pockety up and down, and mobile vehicle is side-to-side movement, thus there is not left and right sides interference noise pockety, so antijamming capability strengthens; Its two, when detecting precision positions HRPD, i.e. position signal generator G in coding cable 0Or G 0' transmission is to line transmission carrier wave, the maximum reception amplitude of secondary coil is that the maximum reception amplitude of main coil is moved 2 times, signal to noise ratio (S/N ratio) strengthens greatly.Therefore improved the HRPD detection resolution.
3. near the point of crossing of induction antenna case center at coding cable the time, detect the parameter that same coil detects line corresponding same coding cable transmission in APD and the high-resolution position detection HRPD employing induction antenna case for general position, solve main coil and detect the problem that does not match between detection of APD main coil and the HRPD, also solve main coil and detected the problem that does not match between APD and the secondary coil detection HRPD, thereby improved detection resolution.
Description of drawings
Fig. 1 is coding cable structure and detection principle schematic.
Fig. 2 is the carrier generator circuit block diagram.
Fig. 3 serves as theme and encloses the acknowledge(ment) signal synoptic diagram.
Fig. 4 detects principle schematic for high-resolution position.
Fig. 5 is a detector circuit block diagram in position on the car.
Fig. 6 is the cable cross chart.
Fig. 7 is major and minor loop construction synoptic diagram.
Fig. 8 serves as theme and encloses the G of Z II, secondary coil induction 0And G 0' signal phase and relative amplitude concern synoptic diagram.
Fig. 9 serves as theme and encloses the G of Z II induction 0And G 0' the relation curve synoptic diagram of signal phase and relative amplitude.
The G of Figure 10 secondary coil induction 0And G 0' the relation curve synoptic diagram of signal phase and relative amplitude.
Embodiment
By shown in Fig. 1 to 10, the key that induction wireless of the present invention detection position technology improves detection resolution is the resolution that improves when crossing the point of crossing.The present invention proposes the resolution of two kinds of methods raisings when crossing the point of crossing.Can think that also second method has contained first method.
First method: when adopting conventional main coil to detect APD and HRPD, proposed a kind of method, solved the problem that does not match between APD and the HRPD, thereby improved detection resolution.
Second method: propose to adopt main coil to detect APD, secondary coil detects the method for HRPD, designed a kind of major and minor loop construction that improves detection resolution, solve the problem that does not match between APD and the HRPD, and solved the problem that does not match between main coil detection APD and the secondary coil detection HRPD, thereby improve detection resolution.
1. when adopting main coil to detect APD and HRPD, solve the method for the problem that do not match between APD and the HRPD,
1) reason and the phenomenon of problem generation
Be whole even number place, G in the coding cable at APD n(n=1,2 ... 9) and G 0' intersect simultaneously.G nMake APD and detect G 0' make HRPD and detect.Since each transmission in the coding cable between the line influence each other and to the inconsistency of each transmission, so when the main coil center line is positioned at these point of crossing, G is worked as in appearance sometimes to the line influence 0' amplitude A (G 0') reach minimum position, be not G nThe position that phase place changes.
When the antenna case moved toward big address from little address every 2mm, the phenomenon of its generation was:
Normal data: 1.796,1.798,1.800,1.802,1.804,1.806,1.808
Detect data: 1.796,1.798,1.800, 1.798,1.796, 1.806,1.808
Detecting data is 1.800 places, A (G 0') minimum is about 0, APD=170, HRPD=10, APD+HRPD=180; The antenna case continues from then on to move 2mm toward big address direction, and next detects data and should be the 1.802nd, at this moment A (G 0') not minimum, but still have APD=170, HRPD=9.8, mistake appears in APD+HRPD=179.8; Have only when the antenna case moves to 1.806 meters, APD=180, HRPD=0.6, APD+HRPD=180.6 just begins correct.This problem makes and reduces widely for the infall resolution of whole even number at APD.
2) solve the method for the problem that do not match between APD and the HRPD
Owing to the reason that has problems is G nWith G 0' inconsistent causing, the principle of dealing with problems adopts same standard exactly, and promptly APD also uses G 0' phase place make standard.Its method is exactly at G 0' in the scope of the pact ± 20mm of point of crossing place, use G 0' phase place replace G nPhase place, after testing APD is revised.
(1) detects G 0' phase place.Detecting G 0' amplitude A (G 0') time detect G simultaneously 0' phase place, thus
Obtain G 0' the Gray code G of phase place 0'.
(2) judge whether at G 0' in the scope of the pact ± 20mm of point of crossing place.According to A(G 0), A(G 0') meter
Calculate P 1Thereby, calculate d 0=P 1If * r is d 0≤ 20, then after testing APD is revised, otherwise do not revise.
(3) APD even numberization.If the APD that detects is an odd number, APD=APD+1; APD is an even number, remains unchanged.
(4) judge it is G 1Intersect, or G n(n=2,3 ...) intersect.
After the APD even numberization,, be exactly G if APD/2 is an odd number 1Intersect.If APD/2 is an even number, be exactly G nIntersect.As Fig. 6.
(5) use G 0' phase place replace G nPhase place, after testing APD is revised.
1. G 1Intersect and make following processing: G 0'=0, HAPD=APD-1, G 0'=1, HAPD=APD;
2. G nIntersect and make following processing: G 0'=1, HAPD=APD-1, G 0'=0, HAPD=APD.
HAPD is through the APD position of revising, and no longer has the problem that does not match between the HRPD.
2. adopt main coil to detect the method that the APD secondary coil detects HRPD
1) proposition of problem
The main coil center line is aimed at G 0Or G 0' infall, in theory should A(G 0)=0 or A(G 0')=0.For example the main coil center line is aimed at G 0, A(G 0)=0 should have according to formula (5), (6): P 0=0, d 1=P 0* r=0, P 1=1, d 0=P 1* r=r.But the RHVC on industry spot electrical equipment, the especially mobile vehicle can produce strong and identical or close with carrier frequency harmonic wave, and this co-channel interference noise is scurried into, and makes A(G 0) ≠ 0.A(G 0) ≠ 0, promptly the detection position data do not return 0 in the point of crossing.62.19,62.192,62.194,62.196 for example one of physical record section is detected data and is:, 62.198,62.202, 62.204, resolution is reduced.
The designed major and minor coil (coil 1,2) of utility model patent " detection system on the induction wireless position car " has certain anti-interference capability, but has such two problems:
1. for interference noise pockety up and down, it is bad to suppress effect, and the Mo Diandao of industry spot mobile vehicle very strong interference source often, it is bad therefore to suppress this interference noise effect.
2. exist between the major and minor coil to influence each other, also can make A(G 0) ≠ 0 or A(G 0') ≠ 0.
Therefore, propose to adopt main coil to detect APD, secondary coil detects the method for HRPD, designed a kind of major and minor loop construction that improves detection resolution, solve the problem that does not match between APD and the HRPD, and solved the problem that does not match between main coil detection APD and the secondary coil detection HRPD, thereby improve detection resolution.
2) futuramic major and minor loop construction
Designed major and minor loop construction synoptic diagram as shown in Figure 7.
Major and minor coil is made and is described as follows:
1. main coil takes to intersect coiling, and Z I, Z II, three parts of Z III are arranged, and the Z I, that Z III coiling direction is identical is opposite with Z II coiling direction, and the area sum of Z I, Z III equals the area of Z II.
2. secondary coil takes to intersect coiling, F I, two parts of F II are arranged, and F I coiling direction is identical with Z II coiling direction, and F II coiling direction is opposite with Z II coiling direction, and the area of F I equals the area of F II.
3. major and minor loop construction is pressed Fig. 7 (b) and is placed, in main coil, add sinusoidal ac, adjust the position of major and minor coil, make secondary coil received signal amplitude minimum, fix the position of major and minor coil then, influencing each other between the major and minor like this coil is reduced to minimum.
The advantage of novel major and minor loop construction:
When having guaranteed still that 1. position signal generator transmits line transmission carrier wave arbitrarily in coding cable, major and minor coil received signal amplitude can not be 0 simultaneously.
2. the positional structure of major and minor coil makes influencing each other between them be reduced to minimum.Moreover secondary coil is about 0 in most time received signal amplitudes, let alone main coil is influenced.
3. secondary coil structure has signal to noise ratio (S/N ratio) preferably when HRPD detects.One, secondary coil has good inhibition effect for interference noise pockety up and down, and mobile vehicle is side-to-side movement, thus there is not left and right sides interference noise pockety, so antijamming capability strengthens; Its two, when detecting precision positions HRPD, i.e. position signal generator G in coding cable 0Or G 0' transmission is to line transmission carrier wave, the maximum reception amplitude of secondary coil is that the maximum reception amplitude of main coil is moved 2 times, signal to noise ratio (S/N ratio) strengthens greatly.Therefore improved the HRPD detection resolution.
3) phase place between the major and minor coil and amplitude relation
Adopt main coil to detect APD, secondary coil detects HRPD, must understand: ground location signal generator G in coding cable 0Or G 0' transmit line transmission carrier wave, when detecting precision positions HRPD, phase place and amplitude relation between main coil induced signal and the secondary coil induced signal.
For the ease of analyzing, make following regulation:
1. G 0Or G 0' transmission to the magnetic direction of mesh between the 1st intersection of line be+, between the 2nd intersection the magnetic direction of mesh be-, owing to G 0Or G 0' transmission all is apart from intersecting once, so G every r to line 0Or G 0' transmission magnetic direction that line is produced+,-alternately.
2. with main coil Z II at magnetic direction be+intersection between the mesh induced signal for+, obviously, main coil Z II at magnetic direction be-intersection between the mesh induced signal for-, but main coil Z I at magnetic direction be-intersection between the mesh induced signal be+.So indicate main coil Z II for+, main coil Z I is-, so obtain: coil with intersect between mesh symbol when identical, induced signal is+, coil with intersect between during the mesh opposite in sign, induced signal is-.
3. during the coiling secondary coil, make F I coiling direction identical with Z II coiling direction, F II coiling direction is opposite with Z II coiling direction, secondary coil F I at magnetic direction is+,-intersection between the mesh induced signal for+,-, secondary coil F II at magnetic direction be+,-intersection between the mesh induced signal be-,+.
4. following said G 0Or G 0' signal, all be meant ground location signal generator G in coding cable 0Or G 0' signal that transmission detects when line is sent carrier wave, in order to distinguish, add the signal that Z, F represent that respectively major and minor coil detects, for example Z G 0Or ZG 0' expression main coil detection G 0Or G 0' phase place of signal, Z A (G 0) or ZA (G 0') expression main coil detection G 0Or G 0' amplitude of signal; FG 0Or FG 0' vice coil detection G 0Or G 0' phase place of signal, F A (G 0) or FA (G 0') vice coil detection G 0Or G 0' amplitude of signal.
According to the uniform magnetic field model, the induced signal amplitude that coil produces is directly proportional with coil actual induction area.Because main coil Z II, secondary coil width all be all greater than the width of transmission to line, so the induced signal amplitude that coil produces only is directly proportional with actual induction length on coding cable.
Fig. 8 has provided according to the uniform magnetic field model, main coil Z II, the secondary coil G that diverse location is responded in a moving period 0And G 0' relation of signal phase and relative amplitude.For each position of coil, be induction G above 0Signal, be below the induction G 0' signal; * the signal of 1 vice coil F I induction, the signal of * 2 vice coil F II induction, the summation of the signal of * 3 vice coil F I and the induction of F II.
Table 1 has provided the data of main coil Z II, secondary coil diverse location institute's induced signal phase and relative amplitude in one-period.
Fig. 9 provides main coil Z II G that diverse location is responded in one-period 0And G 0' curve of signal phase and relative amplitude;
Figure 10 provides main coil secondary coil G that diverse location is responded in one-period 0And G 0' curve of signal phase and relative amplitude.
The G of table 1 main coil Z II, secondary coil induction 0And G 0' signal phase and relative amplitude data
Figure 747546DEST_PATH_IMAGE008
Above-mentioned analysis obtains as drawing a conclusion:
1. phase relation: ZG 0=FG 0' anti-, ZG 0'=FG 0
2. amplitude relation: 2ZA (G 0)=FA (G 0'), 2ZA (G 0')=FA (G 0).
Adopt secondary coil to detect HRPD, obtain F A (G 0), FA (G 0').With FA (G 0), FA (G 0') replacement ZA (G 0'), ZA (G 0) revise formula (5), (6) obtain formula (9), (10).
Figure 701726DEST_PATH_IMAGE009
P according to formula (9), (10) calculating 0, P 1, calculate HRPD, like this, just improved detection resolution.
4) solve main coil and detected the problem that does not match between APD and the secondary coil detection HRPD
Main coil detects APD, and secondary coil detects HRPD, according to theoretical analysis, should be to detect G at secondary coil 0' amplitude FA (G 0') reach minimum position, be that main coil detects G 0Phase place ZG 0G is in like manner detected at secondary coil in the position that changes 0Amplitude FA (G 0) reach minimum position, be that main coil detects G n(n=1,2 ...) phase place ZG nThe position that changes.Since each transmission in the coding cable between the line influence each other and to the inconsistency of each transmission, so at some G to the line influence 0Or G 0' infall, FA (G 0') reach minimum position, be not ZG 0The position that changes; FA (G 0) reach minimum position, neither be ZG nThe position that changes, thereby cause when adopting main coil to detect APD and HRPD, do not match similar problem between APD and the HRPD, influence resolution.
Owing to the reason that has problems is that main coil detects the APD secondary coil and detects HRPD, main and sub-coil detects inconsistent causing, the principle of dealing with problems adopts same standard exactly, and promptly APD also makes standard with the phase place that secondary coil detects.Its method is exactly at G 0, G 0' in the scope of the pact ± 20mm of point of crossing place, the phase place replacement G that detects with secondary coil n(n=0,1,2 ...) phase place, APD after testing revises to main coil.
(1) main coil detects and finishes APD.
(2) as position signal generator G in coding cable 0When transmission sent carrier wave to line, secondary coil detected and obtains FA (G 0), FG 0, as position signal generator G in coding cable 0' when transmission sent carrier wave to line, secondary coil detected and obtains FA (G 0'), FG 0'.
(3) calculate P according to formula (9), (10) 0, P 1, calculate HRPD.
(4) judge whether at G 0In the scope of the pact ± 20mm of place, point of crossing, d 1=P 0If * r is d 1≤ 20, be illustrated in G 0In the scope of point of crossing place ± 20mm, then after testing APD is revised, otherwise do not revise.The method of revising is the phase place FG that detects with secondary coil 0' the phase place ZG that detects of anti-replacement main coil 0, recomputate APD.
(5) judge whether at G 0' in the scope of the pact ± 20mm of point of crossing place, d 0=P 1If * r is d 0≤ 20, be illustrated in G 0' in the scope of point of crossing place ± 20mm, then after testing APD is revised, otherwise do not revise.The method of revising is the phase place FG that detects with secondary coil 0Replace the phase place ZG that main coil detects 0', according to adopting main coil to detect the step that does not match the method for problem between APD and HRPD solution APD and the HRPD, use ZG then 0' phase place replace ZG nPhase place, after testing APD is revised.
Usefulness of the present invention:
Induction wireless position detects the method that improves resolution and has been applied to detection system on the induction wireless position car, and through repeatedly experimental verification, position probing resolution is significantly improved.
Experimental technique: connect three sections 102.4 meters coding cables, promptly the detection position scope is 307.2 meters.Adopt 120 meters stube cables that coding cable is connected to the ground carrier generator.Slowly drag coding cable process under the fixing induction antenna case, keep the about 150mm of distance between induction antenna case and the coding cable.Adopt the position data record of computing machine, once just write down data whenever position data changes to detecting.
Detection system is equipped with toggle switch on the induction wireless position car, by toggle switch detection method is controlled, and when adopting original detection method 0 position to occur not returning, adopts the method that improves resolution, resolution be improved significantly.
Embodiment of the present invention only is the description that preferred implementation of the present invention is carried out; be not that design of the present invention and scope are limited; under the prerequisite that does not break away from design philosophy of the present invention; engineering technical personnel make technical scheme of the present invention in this area various modification and improvement; all should fall into protection scope of the present invention; the technology contents that the present invention asks for protection all is documented in claims.

Claims (1)

1. method that improves detection resolution of induction wireless position, it is exactly to the electromagnetic induction between the line by transmission in inductive coil in the antenna case and the coding cable that described induction wireless position detects, by detecting the position coordinates that induced signal in the inductive coil obtains antenna case place, with this position as mobile vehicle; Described position probing is divided into general position and detects---and the detection data are APD, and high-resolution position detects---and the detection data are HRPD; Described coding cable is provided with R, G, G ' three class location transmission to line, the method is characterized in that:
(1) adopts main coil to carry out that general position detects and high-resolution position detects, near the point of crossing of antenna case center at coding cable the time, adopt the G of detection 0' the phase data PG of signal 0' remove to revise APD, solved that the employing main coil carries out that general position detects and high-resolution position when detecting, the problem that APD and HRPD do not match, thereby raising detection resolution:
1) in detecting the HRPD process, detects G 0' the amplitude A G of signal 0' time detect G 0' signal phase, obtain phase data PG 0';
2) according to the HRPD that detects, judge that whether antenna case center is at G 0' in the scope of the pact ± 20mm of point of crossing place, if in scope, then after testing APD is revised, otherwise do not revise, carry out following step when needing correction;
3) APD even numberization: if the APD that detects is an odd number, APD=APD+1; If the APD that detects is an even number, remain unchanged;
4) judge it is G 1Intersect, or G jIntersect, j=2,3 ..., n-1: after the APD even numberization,, be exactly G if APD/2 is odd number 1Intersect; If APD/2 is an even number, be exactly G jIntersect;
5) use PG 0' replacement G 1Or G jThe phase data of signal, after testing APD is revised:
1. if G 1Intersect and make following processing: PG 0'=0, HAPD=APD-1, PG 0'=1, HAPD=APD;
2. if G jIntersect and make following processing: PG 0'=1, HAPD=APD-1, PG 0'=0, HAPD=APD;
Wherein, HAPD is through the APD position of revising, and no longer has the problem that does not match between the HRPD;
(2) adopt main coil to carry out general position and detect, secondary coil carries out high-resolution position and detects, and has solved main coil and has carried out general position and detect with secondary coil and carry out the high-resolution position problem that APD and FHRPD do not match when detecting:
1) adopt a kind of major and minor loop construction that improves detection resolution:
1. main coil takes to intersect coiling, and ZI, Z II, three parts of Z III are arranged, and Z I, Z III coiling direction are identical, and opposite with Z II coiling direction, the area sum of Z I, Z III equals the area of Z II;
2. secondary coil takes to intersect coiling, F I, two parts of F II are arranged, and F I coiling direction is identical with Z II coiling direction, and F II coiling direction is opposite with Z II coiling direction, and the area of F I equals the area of F II;
3. major and minor coil position is determined: add sinusoidal ac in main coil, adjust the position of major and minor coil, make secondary coil received signal amplitude minimum, fix the position of major and minor coil then, influencing each other between the major and minor like this coil is reduced to minimum;
2) obtain the G that main coil is responded to 0, G 0' G of signal and secondary coil induction 0, G 0' relation of signal amplitude: 2AG 0=FAG 0', 2AG 0'=FAG 0Adopt secondary coil to carry out high-resolution position and detect, detect the FAG of secondary coil induction 0, FAG 0', use F AG 0, FAG 0' replace respectively and adopt main coil to carry out calculating when high-resolution position detects P 0, P 1AG in the formula 0', AG 0, obtain following formula:
Figure 2010102140003100001DEST_PATH_IMAGE001
Again from FP 0, FP 1Calculate secondary coil and carry out the detection data FHRPD that high-resolution position detects, r is the spacing of G transmission to adjacent two intersections of line in its formula, d 0, d 1Be respectively antenna case misalignment G 0, G 0' transmission is to the distance of line region center line;
Obtain major and minor coil-induced G 0, G 0' the phase data relation of signal: PG 0=FPG 0' anti-, PG 0'=FPG 0The APD that the phase data correction main coil that adopts secondary coil to detect then detects has solved main coil and has carried out general position and detect with secondary coil and carry out high-resolution position when detecting, the problem that APD and FHRPD do not match:
1. judge that whether antenna case center is at G 0In the scope of the pact ± 20mm of point of crossing place, if in scope, then after testing APD is revised, otherwise do not revise, the method for correction is the phase data FPG with the secondary coil detection 0' the phase data PG that detects of anti-replacement main coil 0After, recomputate APD;
2. judge that whether antenna case center is at G 0' in the scope of the pact ± 20mm of point of crossing place, as if in scope, then after testing APD is revised, otherwise do not revise; The method of revising is the phase data FPG that detects with secondary coil 0Replace the phase data PG that main coil detects 0', follow these steps to then after testing APD is revised:
A, APD even numberization: if the APD that detects is an odd number, APD=APD+1; If the APD that detects is an even number, remain unchanged;
B, judgement are G 1Intersect, or G jIntersect, j=2,3 ..., after the n-1:APD even numberization,, be exactly G if APD/2 is an odd number 1Intersect; If APD/2 is an even number, be exactly G jIntersect;
C, use PG 0' replacement G 1Or G jThe phase data of signal, after testing APD is revised:
G 1Intersect and make following processing: PG 0'=0, HAPD=APD-1, PG 0'=1, HAPD=APD;
G jIntersect and make following processing: PG 0'=1, HAPD=APD-1, PG 0'=0, HAPD=APD;
HAPD is through the APD position of revising, and no longer has the problem that does not match between the FHRPD.
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