CN102139160A - Network environment-based ultrasonic positioning control system - Google Patents
Network environment-based ultrasonic positioning control system Download PDFInfo
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Abstract
The invention relates to ultrasonic positioning, in particular to multi-target ultrasonic positioning. In order to realize an innovation mode of organically combining a live game and an indoor ultrasonic positioning technology, the invention adopts the technical scheme that a network environment-based ultrasonic positioning control system comprises a reference point, a model tank and a server, wherein an ultrasonic receiving circuit and a radio frequency receiving circuit corresponding to the model tank are arranged in the reference point; the model tank comprises a WiPort connected to a wireless local area network, an ultrasonic transmitting circuit, a radio frequency signal transmitting circuit and a control unit complex programmable logic device (CPLD); and the server is used for processing all related data, the server needs to transmit control commands to the model tank and receive real-time information returned by the model tank, and in the positioning system, the server also needs to process a plurality of ultrasonic ranging values and quickly calculate and display the real-time position of the model tank. The system is mainly applied in ultrasonic positioning.
Description
Technical field
The present invention relates to the ultrasonic wave location, relate in particular to the ultrasonic wave location of a plurality of targets, specifically, relate to the ultrasonic wave positioning control system under the Network Environment.
Background technology
Ultrasonic wave has advantages such as directionality is good, energy consumption is little, decay is less in transmission course, albedo is stronger, and it is not influenced by light, measured object color etc., has certain adaptive capacity under abominable working environment.Can utilize these character of ultrasonic wave to position, measure, detect a flaw and process processing etc.A lot of fields all by with the combining of ultrasonic wave location technology, obtained better field and expanded and new product development.The shortcoming of now common real scale game is:
When the player can not see intuitively in recreation that particular location and state, the especially playground of recreation model is excessive or the influencing of barrier arranged, the player can not carry out correct operation to the recreation model.
Another kind of common game mode is online game, though the player can see the position and the state of recreation model, its shortcoming is:
1, the player lacks actual operation feeling, particularly can't operate personally;
2, online game is random owing to operationlocation, and the very difficult control of the use of computer, therefore, the teenager is indulged, and uncontrollable.
Summary of the invention
For overcoming the deficiencies in the prior art, the positioning control system of the ultrasonic wave under a kind of Network Environment is provided, realize innovation mode with real scale game and the combination of indoor ultrasonic wave location technology.The virtual property of online game originally and the information that lacks the real-time game model orientation of traditional real scale game have been broken through, both optimized traditional real scale game system, also make recreation truer the technical solution used in the present invention more directly perceived be, ultrasonic wave positioning control system under the Network Environment comprises:
Reference point is provided with in the reference point and the corresponding ultrasonic wave receiving circuit of model tank, and less radio-frequency receiving circuit, the CPLD in the reference point are responsible for measuring the ultrasonic ranging value between reference point and model tank, and is returned to server by WiPort and to handle;
The model tank, comprise the WiPort that inserts WLAN, ultrasonic transmit circuit, the radio frequency signal radiating circuit, also comprise control module CPLD, control module CPLD decodes the information that WiPort received, and according to the difference that receives instruction, the emission of the motion of control tank, the emission of control ultrasonic wave and radiofrequency signal;
Server is used to handle all relevant data, and server need send control command to the model tank, and the real time information of reception model tank passback, in navigation system, server needs to handle some ultrasonic ranging values again, calculates the also real time position of display model tank fast.
Described server need send control command to the model tank, server sends the ultrasonic wave positioning instruction for the model tank by the WiPort of WLAN, decode this order of control module CPLD on the model tank produces control signal, the ultrasonic wave of driving control unit CPLD chip internal setting transmits and receives circuit respectively, reference point goes to control the rolling counters forward that programming realizes based on CPLD in the reference point by received RF signal and ultrasonic signal, and by WiPort this count value is returned to server; Counter is used to write down reference point and starts to the time that receives ultrasonic signal first behind received RF signal: the enabling counting device begins counting, counter stopped counting after reference point received ultrasonic wave, the numerical value of counter multiply by the clock cycle of actuation counter counting, can draw the time that counter is counted, be that reference point receives hyperacoustic time from starting to, just receive hyperacoustic time to reference point from model tank emission ultrasonic wave.
The clock frequency of described ultrasonic wave receiving circuit adopts 9600 16 times, and the clock frequency of described ultrasonic wave transtation mission circuit adopts 9600HZ.
After the model tank is received the ultrasonic wave positioning instruction of server transmission, the decoding chip SC2272 that is provided with on the model tank produces the signal of emission Enable Pin/TE of a control universal coding chip SC2262, the less radio-frequency radiating circuit can send two frame irrelevant signals on the time inner model tank that control emission Enable Pin/TE remains valid, before sending the 3rd frame useful signal, the address address signal of storage goes to control the address pin of coding chip SC2262 in the control module CPLD on the model tank, promptly at the emission enable signal
Effectively, the address of coding chip SC2262 is complementary with the address of decoding chip SC2272, the 17th pin of SC2262 is exported modulated serial data signal, this signal carries out the amplitude keying modulation to the radiofrequency emitting module F05P in the less radio-frequency radiating circuit, thus emission 315M radiofrequency signal.
The WiPort of reference point returns count value to server by wireless network, server is by S=v*t, calculate the distance of model tank apart from reference point, according to the distance of model tank apart from reference point, can calculate the position of tank on Synthetic Theatre of War, because tank location, only need know the distance of tank apart from three reference points, so a global variable CNT will be set, record receives hyperacoustic reference point number, whenever reference point receives ultrasonic signal, CNT just adds 1, when global variable CNT equals 3, with regard to closeall reference point, resetting system is waited for location next time.
The passback of the locating information of model tank, adopt time-multiplexed mode, n tank model poll is called a frame on time shaft, the one-time positioning of each tank model is called a time slot, one frame is made of several slots, for preventing to crosstalk with interframe between time slot, between time slot and the time slot slot time is arranged, between frame and the frame frame period is arranged, when a time slot begins, server is waited for the return path signal of reference point then to model tank sending controling instruction, in case receive return path signal, server will be according to the ultrasonic wave positioning principle, calculate the coordinate of this model tank and show the result, finish time slot then, if do not receive return path signal at the appointed time, server will stop time slot by force, wait for an of short duration slot time afterwards, begin next time slot then, when some model tanks intact one time of poll all, one frame end, through beginning next frame after the of short duration frame period, time poll constantly circulation carries out, up to game over.
Obtaining of the locating information of model tank, adopt time-multiplexed mode, at T1 constantly, server sends the hyperacoustic order of model tank 1 emission, this order is sent to model tank 1 and reference point S correlation module by WLAN, make model tank 1 begin to launch ultrasonic wave, reference point S module picks up counting simultaneously, when hyperacoustic Mintrop wave is received by three ultrasonic waves reception heads, timing stops, then according to the transition time detection method, model tank 1 is positioned, as a same reason, at T2, T3, T4 ... Tn constantly, send by server and to make model tank 2 respectively, model tank 3, model tank 4 ... model tank n launches hyperacoustic instruction, finishes the location to n model tank.
The present invention has following technique effect:
1, adopts less radio-frequency and ultrasonic ranging, can accurately locate the model tank reliably;
2, time-multiplexed mode is adopted in the passback of locating information, can position multiple spot;
3, simple in structure being easy to realized.
Description of drawings
The single tank model ultrasonic wave of Fig. 1 positioning control system model.
Fig. 2 startup of server locate mode.
Fig. 3 reference point scheme of installation.
Fig. 4 poly-tanks ultrasonic wave positioning control system block diagram.
Fig. 5 user-interface design.
Fig. 6 MATLAB simulation result.
Position that Fig. 7 software records and physical location contrast.
Fig. 8 TC4011BP pinouts.
Fig. 9 logic chart.
Figure 10 ultrasonic transmit circuit.
Figure 11 ultrasonic wave receiving circuit.
Figure 12 transmitting terminal simulation result.
Figure 13 count value passback simulation result.
The specific embodiment
The invention discloses a kind of ultrasonic wave positioning control system based on WLAN.This system comprises Server Control Center, utilizes moving target, the ultrasonic wave launch point of ultrasonic wave location and is no less than three ultrasonic wave acceptance point.Ultrasonic transmit circuit is installed on the aforesaid moving target, and it constantly launches ultrasonic wave group to the ultrasonic wave location of indoor setting acceptance point, and starts its timekeeping system synchronously by radiofrequency signal.Pass through WLAN, the ultrasonic wave timing result is passed each ultrasonic wave acceptance point back Server Control Center, because the distance of ultrasonic wave launch point and each acceptance point is closely related with hyperacoustic transmission time, after calculating and handle at Server Control Center, obtain the three-dimensional location coordinates information of moving target at last, and the position of moving target is presented on the screen in real time.Native system can be realized multiobject real-time location by time-division multiplex technology.For improving the ultrasonic wave positioning accuracy, native system adopts two measures: first ultrasonic wave receives the selection of reference point locations and has used the conditional number of calculating the correlation matrix of layouting under the various reference point combinations in ill mathematical theory and the ill-condition equation group theory, by the size of control strip number of packages, make range error reach Centimeter Level.It two is for making the processing as the radiofrequency signal of emission that starts synchronously the ultrasonic wave transmitting terminal and ultrasonic wave receiving terminal counter works, adopted elder generation to pre-actuation signal of receiving terminal emission, make its first steady operation, launch the method for formal enabling signal again, make the sending and receiving end accurately synchronous, thereby improved positioning accuracy.
Our experiments show that in greater than 10m * 10m * 10m space, the position error of this method can reach decimeter grade less than 10cm.The present invention shows that by the application in the outdoor scene numbers game it satisfies the requirement to the moving target positioning accuracy fully, and therefore, this navigation system also can be applied to range finding, location and the target monitoring etc. in the other field, is with a wide range of applications.
The navigation system of the digitized real scale game under a kind of network environment, Synthetic Theatre of War are the covered courts of a 20m * 10m * 10m, and its ground is a real scene that is made of sand dune, obstacle, river etc.Wherein reference point is the core component of Synthetic Theatre of War, is mainly used to cooperate the ultrasonic wave location.In reference point, be provided with and the corresponding ultrasonic wave receiving circuit of model tank, less radio-frequency receiving circuit; In addition, CPLD wherein is responsible for measuring the ultrasonic ranging value, and is returned to server by WiPort and to handle.
The model tank is as the main body of whole recreation, and it is inner integrated multiple parts comprise the WiPort that inserts WLAN, infrared shell transceiver circuit, ultrasonic transmit circuit, radio frequency signal radiating circuit.Wherein topmost control module is exactly CPLD, it need be decoded the information that WiPort received, and, control tank motion (advance, retreat, about action such as commentariess on classics), fire shells, control that ultrasonic wave is launched and the emission of 315M radiofrequency signal according to the difference that receives instruction.
Server end is the control maincenter and the message switching center of whole game system, and nearly all data relevant with game process (as model tank military success, ultrasonic ranging value) all will be handled through server.Server need send control command to the model tank, and receives the real time information of model tank passback, and in navigation system, server needs to handle some ultrasonic ranging values again, calculates and show the real time position of tank fast.
Described CPLD chip comprises that ultrasonic wave transmits and receives circuit, wherein:
Ultrasonic transmit circuit sends the ultrasonic wave positioning instruction for model tank end by server, and model tank end this order generation control signal of decoding drives less radio-frequency radiating circuit and ultrasonic transmit circuit respectively.Receiving terminal goes to control the rolling counters forward that programming realizes based on CPLD by receiving 315M radiofrequency signal and ultrasonic signal, and by WiPort this count value is returned to server.
The counter that ultrasonic wave is accepted in the circuit is used to write down reference point from starting to the time that receives ultrasonic signal first.Start the reference point counter and begin counting, counter stopped counting after reference point received ultrasonic wave.The numerical value of counter multiply by the clock cycle of actuation counter counting, can draw the time that counter is counted, and promptly reference point receives hyperacoustic time from starting to, and just receives hyperacoustic time from model tank emission ultrasonic wave to reference point.The ultrasonic wave of model tank emission simultaneously.Radio-frequency transmissions has adopted elder generation to pre-actuation signal of receiving terminal emission, makes its first steady operation, launches the method for formal enabling signal again, makes the sending and receiving end accurately synchronous, has guaranteed the accuracy of gate time, thereby has improved positioning accuracy.
The clock frequency of described receiving circuit adopts 9600 16 times.
The clock frequency of described transtation mission circuit adopts 9600HZ.
Navigation system in the described outdoor scene numbers game, the less radio-frequency radiating circuit can send two frame irrelevant signals in the time that ultrasonic transmit circuit control emission Enable Pin/TE remains valid, before sending the 3rd frame useful signal, the address signal of realizing with programming goes to control the address pin of coding chip SC2262, promptly at the emission enable signal
Effectively, the address of coding chip SC2262 is complementary with the address of decoding chip SC2272.The 17th pin of SC2262 is exported modulated serial data signal, and this signal carries out the amplitude keying modulation to radiofrequency emitting module F05P, thus emission 315M radiofrequency signal.Because the encoding and decoding of SC2262/2272 need the regular hour, after experiment time-delay 30.07ms, send the ultrasonic_cntrl signal, can position the model tank more accurately.
The WiPort of receiving terminal returns count value to server by wireless network.By S=v*t, be easy to calculate the distance of model tank apart from reference point.According to the distance of model tank, can calculate the position of tank on Synthetic Theatre of War apart from reference point.Because the distance of tank apart from three reference points only need be known in the tank location, so a global variable CNT will be set, record receives hyperacoustic reference point number.Whenever reference point receives ultrasonic signal, CNT just adds 1, and when global variable CNT equaled 3, with regard to closeall reference point, resetting system was waited for location next time.
Choosing of described location reference point, with the C language compilation a simple matrix handling procedure, calculate the conditional number of the correlation matrix of layouting under the various reference points combinations, the maximum of conditional number is 13.22 in the table, is within our the acceptable scope.
Time-multiplexed mode is adopted in the passback of the locating information of 10 tanks, and 10 tank models poll is called a frame on time shaft, and the one-time positioning of each tank model is called a time slot.One frame is made of 10 time slots.For preventing to crosstalk with interframe between time slot, between time slot and the time slot slot time is arranged, between frame and the frame frame period is arranged.When a time slot began, server was waited for the return path signal of reference point then to model tank sending controling instruction.In case receive return path signal, server will calculate the coordinate of this model tank and show the result according to the ultrasonic wave positioning principle, finishes time slot then.If do not receive return path signal at the appointed time, server will stop time slot by force, waits for an of short duration slot time afterwards, begins next time slot then.When 10 model tanks intact one time of poll all, a frame end.Through beginning next frame after the of short duration frame period.Time poll constantly circulation carries out, up to game over.Like this, server just can be monitored all the model tanks in the Synthetic Theatre of War in real time.
Obtaining of the locating information of 10 model tanks adopted time-multiplexed mode.At T1 constantly, server sends the hyperacoustic order of model tank 1 emission, and this order is sent to model tank 1 and reference point S correlation module by WLAN, makes model tank 1 begin to launch ultrasonic wave, and reference point S module picks up counting simultaneously.When hyperacoustic Mintrop wave was received by three ultrasonic waves reception heads, timing stopped, and then according to the transition time detection method, model tank 1 is positioned.As a same reason, at T2, T3, T4 ... T10 is constantly sent by server and to make model tank 2, model tank 3, model tank 4 respectively ... the location to 10 tanks is finished in the hyperacoustic instruction of model tank 10 emissions.
Invented a kind of error analysis method of navigation system, and navigation system has been carried out analyzing accurately.
Further describe the present invention below in conjunction with drawings and Examples.
The present invention sets up the ultrasonic wave positioning control system in radio local network environment.Ultrasonic transmitter is installed in the tank model, and hyperacoustic emission is subjected to the Wireless LAN module signal controlling.At server end, handle and conversion and user interface fusion by the coordinate figure that tank model is constantly changed, form in real time the accurately picture of reflection tank running status, realized that the real-time tracking of multi-model tank is located.Single tank model ultrasonic wave positioning control system model as shown in Figure 1.
In the space, set up on the ad-hoc location 3 acceptance point S1 (x1, y1, z1), S2 (x2, y2, z2), S3 (x3, y3, z3), ultrasonic wave is installed on impact point and acceptance point is is respectively transmitted and received device, utilize the ultrasonic ranging principle measure respectively impact point to each acceptance point apart from l1, l2, l3, the coordinate of hypothesized model tank is (x, y, z), so following equation group can be set up
Claim that formula (1) is the positioning equation group.
When actual reference point is chosen, because the Z coordinate of the reference point of choosing is all identical, i.e. z1=z2=z3, so equation (1) can be reduced to [7]:
Equation group is carried out modification can be got:
α wherein
21=x
2-x
1, β
21=y
2-y
1, α
31=x
3-x
1, β
31=y
3-y
1,
Finally obtain solution of equations by the Gauss elimination approach.We utilize the VS2005 development platform of Microsoft, use C# language to programme, calculate the coordinate figure of target in this rectangular coordinate system (x, y, z).The target location causes l1, l2, l3 value also in continuous variation in continuous variation, and (x, y z) are also bringing in constant renewal in, thereby have realized the location of target is followed the tracks of to cause coordinate figure.
The positioning starting mode
In order to reach accurate location, the counter and the tank emission ultrasonic wave that require ultrasonic wave to receive reference point start simultaneously.We are as long as server sends startup command to the model tank, begin counting by the model tank by 315MHz radio communication notification reference point, artificially postpone a SRT that records through test then, launch ultrasonic wave again, receive after the order that begins to count to guarantee reference point, ultrasonic wave just sends, and the time started of counter metering just can guarantee to launch synchronously with ultrasonic wave like this, and has guaranteed the accuracy of gate time.
Choosing of location reference point position
The rule that reference point is chosen:
(1) according to the battlefield situation, sets up three-dimensional cartesian coordinate system.
(2) according to the battlefield situation, tentative layout reference point, and guarantee that three point on a straight line (assurance positioning equation group is separated) can not appear in the combination of any three reference points.
(3) make each reference point at ground projection circular " spot " figure, the distribution of reference point can be guaranteed:, can have " spot " figure of at least three reference points to cover in any one position of Synthetic Theatre of War.
(4) conditional number of the correlation matrix A that layouts of any three reference points composition of assurance keeps less (less than 50).
Synthetic Theatre of War is a 20m * 10m * 10m indoor scene, and ground scene arranges and be similar to sand table that the top is equipped with some reference points.In the Synthetic Theatre of War of 20m * 10m * 10m, get the initial point O (0,0,0) of a ground angle as coordinate system, ground two limits are as X-axis and Y-axis, as the Z axle, constitute three-dimensional rectangular coordinate system perpendicular to the one side on ground.Therefore, in this coordinate system, (span z) is model tank coordinate for x, y: 0≤x≤20m, 0≤y≤10m, 0≤z≤10m.
It is the top in house that reference point is installed on the plane of z ≈ 10m.According to the ultrasonic wave positioning principle, the ultrasonic signal that the model tank sends at an arbitrary position, to have at least three not the reference point of conllinear can receive.Through overtesting, select for use as shown in Figure 3 1.～6. as with reference to point, their coordinate is respectively (7,5,10), (2,2,10), (2,8,10), (13,5,10), (18,2,10), (18,8,10) (upper left corner is the origin of coordinates, unit: m).The reference point of laying like this, the ultrasonic signal that the model tank sends at an arbitrary position has at least three reference points to receive.
Ultrasonic transmitter is launched ultrasonic signal straight up with 90 ° angle, and (plane, reference point place) forms the circle that radius is 10m on the roof.Therefore, as long as the circle that the model tank of proof optional position produces on the roof can both comprise the reference point more than three.In the plane of Z=10, be the center of circle with 1.～6. 6 reference points respectively, 10m is that radius is drawn circle, the plane, roof of Z=10 is divided into 13 zones, as shown in Figure 3.When the model tank in the activity of A district, 1., 2., 3. number reference point can perception; When the model tank in the activity of B district, 1., 2., 3., 4. number reference point can perception; When the model tank in the activity of C district, all 6 reference points can perception; When the model tank in the activity of F district, 1., 2., 3., 4., 5. number reference point can perception; When the model tank in the activity of J district, 1., 2., 4. number reference point can perception.According to the symmetry of Synthetic Theatre of War, be easy to prove the model tank when other regional activity, at least also there is the reference point more than three or three can perception.The model tank is in 13 districts when movable, with reference point corresponding relation that can perception shown in table-1.To sum up, when reference point when arranging as Fig. 3, the ultrasonic signal that the model tank sends at an arbitrary position, all have at least three not the reference point of conllinear can receive.
Table 1 tank behaviour area and perception reference point mapping table
According to the situation of layouting herein, with the C language compilation a simple matrix handling procedure, calculate the conditional number of the correlation matrix of layouting under the various reference point combinations, and tabulation-2 (calculated ∞-conditional number in the table respectively, the 1-conditional number, and get higher value), the maximum of conditional number is 13.22 in the table, according to ill mathematical theory and ill-condition equation group theory, range error is within our the acceptable scope with this understanding.
The various reference points of table 2 make up the conditional number of the correlation matrix of layouting down
The poly-tanks locating and tracking system
Poly-tanks ultrasonic wave positioning control system block diagram as shown in Figure 4, it is a navigation system in radio local network environment.Ultrasonic transmitter is installed in the model tank, and hyperacoustic emission is subjected to the control of Wireless LAN module.Obtaining of the locating information of 10 model tanks adopted time-multiplexed mode.At T1 constantly, server sends the hyperacoustic order of model tank 1 emission, and this order is sent to model tank 1 and reference point S correlation module by WLAN, makes model tank 1 begin to launch ultrasonic wave, and reference point S module picks up counting simultaneously.When hyperacoustic Mintrop wave was received by three ultrasonic waves reception heads, timing stopped, and then according to the transition time detection method, model tank 1 is positioned.Because the radio velocity of wave propagation is very high, is about 3 * 108m/s.And hyperacoustic spread speed is lower, is about 340m/s, so the propagation delay of radio wave can ignore, and the wireless lan signal in the system is as switching signal.As a same reason, at T2, T3, T4 ... T10 constantly, send by server and to make model tank 2, model tank 3, model tank 4 respectively ... the hyperacoustic instruction of model tank 10 emissions, by timing and the computing of reference point S to ultrasonic reception and CPLD, can draw and receive model tank 2, model tank 3, model tank 4 ... time tx1, the tx2 of model tank 10 ultrasonic waves transmitted signals, tx3 (x=2 wherein, 3,4 ... 10).Three of tank temporal informations feed back to server by embedded radio device server wiport then, and server is according to time of feeding back, and hyperacoustic spread speed is calculated the distance A of model tank to three reference point, B, C earlier.The distance A of model tank apart from three reference points, B, C bring in formula (1), (2) and (3), calculate the coordinate of model tank again.Whole process constantly circulation is carried out, and can accomplish real-time location and tracking to 10 tanks.
User-interface design
User interface software as shown in Figure 5, integral body can be divided into tank state area, tank positioning area, network connection state district, control zone and game result than five parts of subregion.The tank state area is used to show the status information of each tank, and 5 tanks are arranged in each state area, and there are the tank of demonstration ammunition, the sign bar of blood volume and the IP address field of this tank in each tank next door.The tank positioning area is used for showing in real time the position of tank at Synthetic Theatre of War, and it is that the ratio of Synthetic Theatre of War is dwindled figure, and 10 tanks divide Lan Hong two teams to stand in the both sides of Synthetic Theatre of War respectively at first.Being presented in the tank positioning area of the information equal proportion that the position of tank feeds back according to the ultrasonic wave positioning control system in the fight process, the player just can grasp the position of tank of oneself control and the position of teammate's tank very easily like this.The network connection state district is used to show the network connection state of 10 tanks, if because of certain reason, and the connection failure of tank network, the network connection state district will show, and the player can understand the network connection situation of tank according to the information in this district.There is monitoring the control zone, stops, and beginning brings back to life four buttons.Control button is used to monitor the tank network connection state, and monitored result will show in the network connection state district.When certain armored clash is died, can utilize and bring back to life button it is brought back to life, stop and beginning the end that button is used to play and the control of beginning.Be the ratio subregion of red blue two teams at last, this district is used for the tank injures and deaths situation of real-time demonstration two teams, and score is 0: 0 during beginning, and in the regular hour, the tank injures and deaths of which team are few, the team that wins exactly of which team.
Error analysis method
From whole system, main error is the ultrasonic ranging part of elementary cell, and the location algorithm of server end is the calculating of space analysis geometry, as long as distance measurement value and coordinate figure are accurate, software calculates just can meet the requirements of precision.
The error of elementary cell ranging unit is mainly from two aspects: ultrasound emission starts the stationary problem of timer time constantly with receiving terminal; The measure error of transition time.Ultrasonicly in the supposing the system begin to launch that to pick up counting with timer be synchronous, but, be not synchronous in practice because the per step operation of hardware all needs the different separately time.Method with experiment records hyperacoustic emission can solve ultrasonic wave x time and receiving terminal startup timer time than radiofrequency signal time-delay 30.1ms stationary problem.The time of this time-delay has given correction in software.
What another caused systematic error is the transition time measure error.The reason that influences the transition time accuracy of detection mainly contain following some:
One, because the influence that ultrasonic wave is absorbed by air thermal convection current disturbance and dust in communication process receives the increase exponentially rule decay of the amplitude of ripple with propagation distance, makes that remote hyperacoustic waveforms amplitude is less.Solution is to adopt time dependent agc circuit or strengthen the ultrasonic wave transmitting power.Hyperacoustic in addition multipath transmisstion is to cause that thereby positional parameter produces measure error and makes the model tank locate inaccurate fundamental cause.
Two, temperature is bigger to the influence of ultrasonic velocity, and obtain satisfied position error needs hyperacoustic speed is revised.Influence at temperature causes ultrasonic velocity can add temperature sensor in system, detected temperatures changes to revise ultrasonic velocity in real time.
Three, quantization error.Sprocket pulse frequency among the design is 38.4KHz, and the cycle is 26.04 μ s, below 25 ℃ the time, the quantization error of range finding is 9.017mm, such error is less to the influence of system, is not major influence factors, wants the frequency that the lower quantization error can improve sprocket pulse.
Four, other error sources have the thermal noise of resistance, electric capacity, and the transition time that circuit delay causes is detected error.These can be demarcated by software and be eliminated.
Calibrate for error
At the measure error of above mentioned transition time, carried out following experiment.
(1) range error experiment:
Location transmitting terminal and receiving terminal are positioned over the test that the position of having measured distance is made 1m, 1.5m, 2m, 2.5m, 3m, 3.5m, 4m respectively, under identical test condition, each fixing distance is recorded multi-group data respectively, calculate the system counts error by formula (4).
Wherein n is the counting return of value; L is a measuring distance; V is the aerial speed of ultrasonic wave, can be by formula v (t) ≈ 331.05+0.6067t-0.0005t
2Calculate.
For reducing the system counts error, the result's that obtains finding range best estimate obtains the arithmetic mean value e of systematic error by formula (5).
The work that the transmitting terminal of navigation system and the hardware components of receiving terminal are primarily finished is ultrasonic ranging.The utilization counter that programming realizes based on CPLD is counted, and can calculate the distance of model tank transmitting terminal and receiving terminal by the counter return of value:
By analytical calculation, the measured value of navigation system and the relative error between the actual value are as shown in Figure 6 during 20 ℃ of MATLAB emulation.Wherein abscissa is represented the distance of actual measurement, and ordinate is represented relative error, and the error of discovery range finding diminishes with the increase of distance.
(2) fixed test:
In experiment place setting space rectangular coordinate system, 3 receiving terminals in the stationary positioned system elementary cell, transmitting terminal is placed on A (2.65 respectively, 0.98,0), B (2.15,0.98,0), C (2.15,1.48,0) and three positions, the transmitting terminal position that experiment records contrasts figure as shown in Figure 7 with actual present position.
Because the plane and the receiving terminal place plan range at transmitting terminal place are fixed, the origin of coordinates is located at plane, transmitting terminal place, so the space coordinates of transmitting terminal changes into plane coordinates, the error that records X-direction through experiment-5cm～+ 5cm within, the error of Y direction-10cm～+ 10cm within, transmitting terminal is a carrier with the model tank of 84cm * 30cm * 25.4cm specification, so this error can satisfy system requirements.
The present invention utilizes GPS basic principle and time-division multiplex technology to realize real-time tracking and location to many model tanks.In design,, proposed the placement strategy of receiving terminal node, made up navigation system elementary cell model by analysis to supersonic sounding principle and moving object three-dimensional localization principle.
Hyperacoustic radiating circuit
Supersonic generator is exactly to be the power conversion of other form ultrasonic energy.What the present invention was used is piezoelectric-type ultrasonic wave producer comparatively commonly used at present.The T40-16 type that ultrasonic oscillator adopts Japanese セ ラ ミ Star Network Co., Ltd. to produce.Its centre frequency is 40KHZ, acoustic pressure＞115dB, and-6dB directive property is 50deg.
The 40KHz ultrasonic transmit circuit is mainly finished vibration and is driven function by four NAND gate circuit TC4011BP, gives off ultrasonic wave by ultrasonic transducer T40-16 and removes to control receiver.TC4011BP adopts 14 pin dual-inline package, its profile and pinouts as shown in Figure 8, it is two input positive logic NAND gate integrated chips, its internal logic as shown in Figure 7.This structure can improve chip input-output characteristic, propagation delay is dropped to minimum.
The employing ultrasonic transmit circuit that TC4011BP constituted as shown in figure 10.Wherein control signal ultrasonic_contrl is from the CPLD chip, and the controlled oscillator that the gate circuit of TC4011BP inside is formed when the ultrasonic_contrl signal sends begins starting of oscillation, regulates R42 and changes frequency of oscillation.T40-16 is a ultrasonic transducer, and its resonant frequency is 40KHz ± 2KHz, and frequency stability is good, need not do any adjustment.The characteristics of this circuit are output driving current big (greater than 15mA), and efficient is high.Circuit voltage 9.6V, operating current are greater than 35mA, and the emission ultrasonic signal is greater than 10m.
The ultrasonic wave receiving circuit
The R40-16 type that ultrasonic transducer in the ultrasonic wave receiving circuit adopts Japanese セ ラ ミ Star Network Co., Ltd. to produce.Corresponding with the emission ultrasonic transducer, its centre frequency is 40KHz, and when acoustic pressure＞115dB ,-6dB directive property is 50deg.After ultrasonic transducer R40-16 frequency-selecting, the interfering signal beyond the 40KHz is decayed, have only resonance to be sent to late-class circuit in the useful signal of 40KHz.
The ultrasonic wave receiving circuit uses CX20106A to receive the typical circuit of handling as ultrasonic wave.CX20106A is used for the 40KHz ultrasonic wave decoding that ultrasonic transducer R40-16 receives is produced a pulse signal.Wherein 8 pin and 4 pin be connected respectively positive source (get+5V) and ground.1 pin and 7 pin are respectively ultrasonic signal input and decoding afterpulse signal output part.7 pin adopt the open collector way of output, and this end is output as high level when not receiving ultrasonic signal, then occurs trailing edge when receiving.Insert a resistance between 5 pin and power supply, in order to the centre frequency f0 of bandpass filter to be set, resistance is big more, and centre frequency is low more.Through test, the centre frequency of receiving terminal was 40KHz when resistance was got 200K, and the 40KHz ultrasonic wave decoding that R40-16 can be received produces the trailing edge pulse.This pulse signal is sent to the control signal of CPLD as counter.Be connected the RC series network between 2 pin and the ground, they are parts of negative-feedback series network, and the numerical value that changes them can change the gain and the frequency characteristic of preamplifier.Increase resistance R 1 or reduce C1 and will make the amount of negative feedback increase, multiplication factor decline, otherwise then multiplication factor increase.But the change of C1 can have influence on frequency characteristic, generally needn't change in actual use.Being connected detection electric capacity between 3 pin and the ground, is the mean value detection when capacitance is big, and moment, corresponding sensitivity was low; Capacitance hour is a peak detection, and moment is corresponding highly sensitive, but the pulse width change of detection output is big, easily causes misoperation, generally gets 3.3 μ F.Connect an integrating capacitor between 6 pin and the ground, standard value is 330pF, and is too big if this electric capacity is obtained, and detection range is shortened.
Hyperacoustic launching simulation
Because it is the signal of 40kHz that CPLD is difficult to produce vibration frequency from system clock 11.05926M accurately through frequency division, so what hyperacoustic emission was taked is to produce a starting impulse by CPLD, start the circuit that is used to launch ultrasonic signal on the wiring board, thereby produce the ultrasonic wave of 40KHz.
In design, increased radio frequency transceiving module for this navigation system.Allow server send the ultrasonic wave positioning instruction only for model tank end, model tank end this order generation control signal of decoding drives less radio-frequency radiating circuit and ultrasonic transmit circuit respectively.Receiving terminal goes to control the rolling counters forward that programming realizes based on CPLD by receiving 315M radiofrequency signal and ultrasonic signal, and by WiPort this count value is returned to server.Wherein the 315M radiofrequency signal plays the effect of time reference in whole navigation system.
At first, after the model tank is received the ultrasonic wave positioning instruction of server transmission, produce the signal of emission Enable Pin/TE of a control universal coding chip SC2262.Transmitting terminal simulation result such as Figure 12.According to the superregenrative reception principle of less radio-frequency receiving terminal and the function of codec chip, the less radio-frequency radiating circuit can send two frame irrelevant signals in the time that control emission Enable Pin/TE remains valid, before sending the 3rd frame useful signal, the address signal of realizing with programming goes to control the address pin of coding chip SC2262, promptly at the emission enable signal
Effectively, the address of coding chip SC2262 is complementary with the address of decoding chip SC2272.The 17th pin of SC2262 is exported modulated serial data signal, and this signal carries out the amplitude keying modulation to radiofrequency emitting module F05P, thus emission 315M radiofrequency signal.Because the encoding and decoding of SC2262/2272 need the regular hour, after experiment time-delay 30.07ms, send the ultrasonic_cntrl signal, can position the model tank more accurately.
Ultrasonic reception emulation
After reference point on the ceiling is received the radiofrequency signal of 315M by Receiver Module J04V, it is sent to decoding chip SC2272, the high impulse of the data pin that the SC2272 decoding produces is as the enabling signal of counter, and the 40KHz ultrasonic signal that the ultrasonic wave receiving transducer is received passes through the reset signal of the low pulse of decoding chip CX20106A decoding generation as counter.
Counter is used to write down reference point from starting to the time that receives ultrasonic signal first.Start the reference point counter and begin counting, counter stopped counting after reference point received ultrasonic wave.The numerical value of counter multiply by the clock cycle of actuation counter counting, can draw the time that counter is counted, and promptly reference point receives hyperacoustic time from starting to, and just receives hyperacoustic time from model tank emission ultrasonic wave to reference point.The design's experimental situation is the space of a 3m*4m*3m, and used counter maximum can be counted 26.66ms, if do not receive ultrasonic wave within 26.66ms, counter is just done and overflowed processing, promptly the 11st of counter the to be 1, back ten be 0.The count value that returns among the design has three kinds of situations: count value, counter overflow value, 0 value (in this case counter do not begin but received ultrasonic signal) of model tank in orientation range.
The WiPort of receiving terminal returns count value to server by wireless network.By S=v*t, be easy to calculate the distance of model tank apart from reference point.According to the distance of model tank, can calculate the position of tank on Synthetic Theatre of War apart from reference point.Because the distance of tank apart from three reference points only need be known in the tank location, so a global variable CNT will be set, record receives hyperacoustic reference point number.Whenever reference point receives ultrasonic signal, CNT just adds 1, and when global variable CNT equaled 3, with regard to closeall reference point, resetting system was waited for location next time.The calculation procedure simulation result of ultrasonic transmission time as shown in figure 13.
The design of communicating by letter between software and the tank
What the procotol between user software and the tank adopted is the TCP/IP host-host protocol.In the TCP/IP network application, the main pattern of two process interphase interactions of communication is Client (client/server), and promptly the client files a request to server, after server receives request, provides corresponding service.What Client was taked in operating process is the mode of active request.At first server side will start earlier, and provides corresponding service according to request:
(1) open a communication port and inform local host, it is willing to be intended to receive client requests on a certain address and the port.
(2) wait for that client requests arrives this port.
(3) receive the duplicate services request, handle this request and send answer signal.Receive concurrent service request, activate a new process (or thread) and handle this client requests.New process (or thread) is handled this client requests, does not need other request made to reply.After service is finished, close this new process and client's communication link, and stop.
(4) returned for second step, wait for another client requests.
(5) closing server.
Customer kept man of a noblewoman will open a communication port earlier, and is connected to the particular port of server place main frame.Send out service request messages to server then, wait for and receive and reply; Continue to file a request.Last-minute plea finishes back communication close passage and stops.
What the programming of the ICP/IP protocol of customer end/server mode was adopted is the WinSocket technology.Come the concrete programming of introducing ICP/IP protocol from server end and client two aspects respectively below.
At server end, at first call the socket that Socket () sets up a server end, call Bind () method binding port address (as: 10001), call Listen () method then and begin to monitor designated port.When listening to the active connection request of client, call the socket that Accept () method receives client.Next, can receive the data that client is sent, also can send data to client with Send () method with Receive () method.Call Close () method at last and close the socket of this server end, disconnect connection, sign off.
In client, at first call the socket that Socket () sets up a client, can call Connect () method with that and send initiatively connection request to server end.After connect setting up, the same with server end, can call Send () and Receive () method transmits and receive data.At last, call Close () method and close client socket, disconnect connection, sign off.
Claims (7)
1. the ultrasonic positioning system under the Network Environment is characterized in that, comprising:
Reference point is provided with in the reference point and the corresponding ultrasonic wave receiving circuit of model tank, and less radio-frequency receiving circuit, the CPLD in the reference point are responsible for measuring the ultrasonic ranging value between reference point and model tank, and is returned to server by WiPort and to handle;
The model tank, comprise the WiPort that inserts WLAN, ultrasonic transmit circuit, the radio frequency signal radiating circuit, also comprise control module CPLD, control module CPLD decodes the information that WiPort received, and according to the difference that receives instruction, the emission of the motion of control tank, the emission of control ultrasonic wave and radiofrequency signal;
Server is used to handle all relevant data, and server need send control command to the model tank, and the real time information of reception model tank passback, in navigation system, server needs to handle some ultrasonic ranging values again, calculates the also real time position of display model tank fast.
2. the ultrasonic positioning system under a kind of Network Environment according to claim 1, it is characterized in that, described server need send control command to the model tank, server sends the ultrasonic wave positioning instruction for the model tank by the WiPort of WLAN, decode this order of control module CPLD on the model tank produces control signal, the ultrasonic wave of driving control unit CPLD chip internal setting transmits and receives circuit respectively, reference point goes to control the rolling counters forward that programming realizes based on CPLD in the reference point by received RF signal and ultrasonic signal, and by WiPort this count value is returned to server; Counter is used to write down reference point and starts to the time that receives ultrasonic signal first behind received RF signal: the enabling counting device begins counting, counter stopped counting after reference point received ultrasonic wave, the numerical value of counter multiply by the clock cycle of actuation counter counting, can draw the time that counter is counted, be that reference point receives hyperacoustic time from starting to, just receive hyperacoustic time to reference point from model tank emission ultrasonic wave.
3. the ultrasonic positioning system under a kind of Network Environment according to claim 1 is characterized in that, the clock frequency of described ultrasonic wave receiving circuit adopts 9600 16 times, and the clock frequency of described ultrasonic wave transtation mission circuit adopts 9600HZ.
4. the ultrasonic positioning system under a kind of Network Environment according to claim 1, it is characterized in that, after the model tank is received the ultrasonic wave positioning instruction of server transmission, the decoding chip SC2272 that is provided with on the model tank produces the signal of emission Enable Pin/TE of a control universal coding chip SC2262, the less radio-frequency radiating circuit can send two frame irrelevant signals on the time inner model tank that control emission Enable Pin/TE remains valid, before sending the 3rd frame useful signal, the address address signal of storage goes to control the address pin of coding chip SC2262 in the control module CPLD on the model tank, promptly at the emission enable signal
Effectively, the address of coding chip SC2262 is complementary with the address of decoding chip SC2272, the 17th pin of SC2262 is exported modulated serial data signal, this signal carries out the amplitude keying modulation to the radiofrequency emitting module F05P in the less radio-frequency radiating circuit, thus emission 315M radiofrequency signal.
5. the ultrasonic positioning system under a kind of Network Environment according to claim 1, it is characterized in that, the WiPort of reference point returns count value to server by wireless network, server is by S=v*t, calculate the distance of model tank apart from reference point, according to the distance of model tank apart from reference point, can calculate the position of tank on Synthetic Theatre of War, because tank location, only need know the distance of tank apart from three reference points, so a global variable CNT will be set, record receives hyperacoustic reference point number, whenever reference point receives ultrasonic signal, CNT just adds 1, when global variable CNT equals 3, with regard to closeall reference point, resetting system is waited for location next time.
6. the ultrasonic positioning system under a kind of Network Environment according to claim 1, it is characterized in that, the passback of the locating information of model tank, adopt time-multiplexed mode, n tank model poll is called a frame on time shaft, the one-time positioning of each tank model is called a time slot, one frame is made of several slots, for preventing to crosstalk with interframe between time slot, between time slot and the time slot slot time is arranged, between frame and the frame frame period is arranged, when a time slot begins, server is to model tank sending controling instruction, wait for the return path signal of reference point then, in case receive return path signal, server will be according to the ultrasonic wave positioning principle, calculate the coordinate of this model tank and show the result, finish time slot then, if do not receive return path signal at the appointed time, server will stop time slot by force, wait for an of short duration slot time afterwards, begin next time slot then, when some model tanks intact one time of poll all, one frame end, through beginning next frame after the of short duration frame period, time poll constantly circulation carries out, up to game over.
7. the ultrasonic positioning system under a kind of Network Environment according to claim 1, it is characterized in that, obtaining of the locating information of model tank, adopt time-multiplexed mode, at T1 constantly, server sends the hyperacoustic order of model tank 1 emission, this order is sent to model tank 1 and reference point S correlation module by WLAN, make model tank 1 begin to launch ultrasonic wave, reference point S module picks up counting simultaneously, and when hyperacoustic Mintrop wave was received by three ultrasonic waves reception heads, timing stopped, then according to the transition time detection method, model tank 1 is positioned, as a same reason, at T2, T3, T4 ... Tn constantly, send by server and to make model tank 2 respectively, model tank 3, model tank 4 ... model tank n launches hyperacoustic instruction, finishes the location to n model tank.
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| CN106918354A (en) * | 2015-12-28 | 2017-07-04 | 上海新微技术研发中心有限公司 | Sensing system and applicable sensing information determination method |
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| CN108400828B (en) * | 2017-02-08 | 2020-07-31 | 宏达国际电子股份有限公司 | Communication system and synchronization method |
| CN111756468A (en) * | 2017-02-08 | 2020-10-09 | 宏达国际电子股份有限公司 | Communication system and synchronization method |
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| CN107064876A (en) * | 2017-06-20 | 2017-08-18 | 哈尔滨工业大学 | Indoor locating system and localization method based on radio sensing network and ultrasonic wave |
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