CN102981159A - Ultrasonic wave range-measurement system based on time difference of arrival (TDOA) - Google Patents
Ultrasonic wave range-measurement system based on time difference of arrival (TDOA) Download PDFInfo
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- CN102981159A CN102981159A CN2012104548923A CN201210454892A CN102981159A CN 102981159 A CN102981159 A CN 102981159A CN 2012104548923 A CN2012104548923 A CN 2012104548923A CN 201210454892 A CN201210454892 A CN 201210454892A CN 102981159 A CN102981159 A CN 102981159A
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Abstract
An ultrasonic wave range-measurement system based on time difference of arrival (TDOA) comprises an ultrasonic wave sensor, a radio frequency sensor, a first emission module, a second emission module, a receiving module, a display module and a speech output module. The ultrasonic wave sensor is connected with the first emission module, the radio frequency sensor is connected with the second emission module, the receiving module is respectively connected with the first emission module and the second emission module, and the display module and the speech output module are respectively connected with the receiving module. The ultrasonic wave range-measurement system has the advantages of being strong in anti-interference capacity and high in measurement accuracy without measuring blind areas.
Description
Technical field
The present invention relates to the ultrasonic ranging field, be specifically related to a kind of ultrasonic ranging system based on TDOA.
Background technology
Ultrasonic ranging is widely used in the range observation of reversing prompting, building ground, industry spot etc.Because ultrasonic ranging is a kind of non-contact detecting technology, is not subjected to the impact of light, measurand color etc., has certain adaptive faculty under than rugged environment (as containing dust), therefore, purposes is very extensive.The ultrasonic ranging scheme that the ultrasonic range finder that generally uses in the market adopts is: known transmit power, measure received power at receiving node, and calculate propagation loss and obtain measuring distance.Yet the poor anti jamming capability of this kind ultrasonic range finder is although the characteristic performance is good in experimental situation, but in actual environment, the conditions such as temperature barrier and communication mode often all change, so that the disturbing effect that ultrasonic signal is subject to is larger, and the accuracy that impact is measured.
Summary of the invention
The object of the present invention is to provide a kind of ultrasonic ranging system based on TDOA, to solve existing ultrasonic range finder poor anti jamming capability, technical matters that measurement accuracy is low.
For achieving the above object, the invention provides a kind of ultrasonic ranging system based on TDOA, comprising: ultrasonic sensor, radio frequency sensor, the first transmitter module, the second transmitter module, receiver module, display module and voice output module, wherein,
Ultrasonic sensor is in order to detecting obstacle information, and the information that detects is sent to the first transmitter module;
Radio frequency sensor is in order to detecting obstacle information, and the information that detects is sent to the second transmitter module;
The first transmitter module is connected with receiver module with ultrasonic sensor respectively, is converted into digital signal and is sent to receiver module in order to the information that will receive;
The second transmitter module is connected with receiver module with radio frequency sensor respectively, is converted into digital signal and is sent to receiver module in order to the information that will receive;
Receiver module respectively with the first transmitter module be connected transmitter module and be connected, in order to the digital signal that receives is compared, the time of arrival that obtains the signal that the first transmitter module and the second transmitter module launch is poor, and calculates obstacle distance; It further comprises: receiving element, processing unit and output unit, wherein:
Receiving element respectively with the first transmitter module be connected transmitter module and be connected, in order to receive the digital signal that the first transmitter module and the second transmitter module send and to be sent to processing unit;
Processing unit is connected with receiving element, and in order to the digital signal that receives is processed, the time of arrival of calculating ultrasonic signal and radiofrequency signal is poor, obtains obstacle distance, and sends information to output unit according to result of calculation;
Output unit is in order to receiving information, and information is sent to display module and voice output module;
Display module is connected with output unit, in order to receive information, provides visual alerts and shows obstacle distance according to information;
The voice output module is connected with output unit, in order to receiving information, and according to information output voice suggestion obstacle distance.
According to the described ultrasonic ranging system based on TDOA of preferred embodiment of the present invention, this first transmitter module comprises a Kalman wave filter, in order to remove the random noise in the ultrasonic signal, obtains preferably estimated value.
According to the described ultrasonic ranging system based on TDOA of preferred embodiment of the present invention, this display module comprises a LED light emitting diode, in order to show whether barrier is arranged in the investigative range, if barrier is arranged in investigative range, the LED light emitting diode glimmers with certain frequency, and the frequency of flicker determines that with distance the nearlyer frequency of distance is higher.
According to the described ultrasonic ranging system based on TDOA of preferred embodiment of the present invention, this display module comprises 8 charactrons, in order to show obstacle distance.
According to the described ultrasonic ranging system based on TDOA of preferred embodiment of the present invention, this 8 for second in the charactron be the radix point position.
According to the described ultrasonic ranging system based on TDOA of preferred embodiment of the present invention, the investigative range of this voice output module prompting is 0 ~ 1.6m, and then tip distance is excessive if surpass the prompting investigative range.
According to the described ultrasonic ranging system based on TDOA of preferred embodiment of the present invention, this receiver module adopts the SPCE061A single-chip microcomputer.
According to the described ultrasonic ranging system based on TDOA of preferred embodiment of the present invention, this ultrasonic sensor adopts SRF08 ultrasonic ranging chip.
TDOA(time difference ofarrival) range finding is the mistiming that arrives unknown receiving terminal by calculating two kinds of different wireless signals, and the speed of propagating according to two kinds of signals again calculates the distance of unknown receiving terminal and launch terminal.It is a kind of in the wireless sensor network node distance-finding method, because its distance accuracy is high, has obtained more application in the wireless sensor network targeting scheme.The present invention utilizes ultrasonic sensor and radio frequency sensor in conjunction with the TDOA range measurement principle, detects the distance of the place ahead barrier, and antijamming capability is strong, measures accurately, and precision reaches 1cm, and can carry out voice broadcast and charactron demonstration.In addition, the present invention adopts the method for kalman filtering to remove random noise in the ultrasonic signal, obtains preferably estimated value, reduces the generation of blind area.Therefore, compared with prior art, the present invention has the advantage that antijamming capability is strong, nothing is measured the blind area, measuring accuracy is high.
Description of drawings
Fig. 1 is the structure principle chart that the present invention produces the ripple range measurement system.
Embodiment
Below in conjunction with accompanying drawing, specify the present invention.
See also Fig. 1, a kind of ultrasonic ranging system based on TDOA comprises: ultrasonic sensor 1, radio frequency sensor 2, the first transmitter module 3, the second transmitter module 4, receiver module 5, display module 6 and voice output module 7.
Ultrasonic sensor 1 is in order to detecting obstacle information, and the information that detects is sent to the first transmitter module 3.Radio frequency sensor 2 is in order to detecting obstacle information, and the information that detects is sent to the second transmitter module 4.The first transmitter module 3 and the second transmitter module 4 are converted into digital signal and are sent to receiver module 5 in order to the information that will receive, and the first transmitter module 3 also comprises a Kalman wave filter, in order to remove the random noise in the ultrasonic signal, obtain preferably estimated value.Receiver module 5 respectively with the first 3 of moulds of emission be connected transmitter module 4 and be connected, in order to the digital signal that receives is compared, the time of arrival that obtains the signal that the first transmitter module 3 and the second transmitter module 4 launch is poor, and calculates obstacle distance, and it further comprises:
Receiving element 51: respectively with the first transmitter module 3 be connected transmitter module 4 and be connected, in order to receive the digital signal that the first transmitter module 3 and the second transmitter module 4 send and to be sent to processing unit 52.
Processing unit 52: be connected with receiving element 51, in order to the digital signal that receives is processed, the time of arrival of calculating ultrasonic signal and radiofrequency signal is poor, obtains obstacle distance, and sends information to output unit 53 according to result of calculation.
Output unit 53: in order to receiving information, and information is sent to display module 6 and voice output module 7.
Display module 6 is connected with output unit 53, in order to receive information, provides visual alerts and shows obstacle distance according to information.Voice output module 7 is connected with output unit 53, in order to receiving information, and according to information output voice suggestion obstacle distance.
Further, display module 6 comprises LED light emitting diode and 8 charactrons, the LED light emitting diode is in order to show whether barrier is arranged in the investigative range, if barrier is arranged in investigative range, the LED light emitting diode glimmers with certain frequency, and the frequency of flicker determines that with distance the nearlyer frequency of distance is higher.8 figure place codes are effective in showing obstacle distance, and second is the radix point position in the charactron, the last position of radix point, behind the radix point 6.The investigative range of voice output module 7 promptings is 0 ~ 1.6m, and then tip distance is excessive if surpass the prompting investigative range.
Further, receiver module 5 adopts the SPCE061A single-chip microcomputer; Ultrasonic sensor 1 adopts SRF08 ultrasonic ranging chip.
Ultrasonic ranging system start based on the TDOA of the present invention rear automatic operation that powers on, switch range finding key also can be set, automatic operation begins range finding after pressing the range finding key, when in 0 ~ 1.6m scope forwardly barrier being arranged, can report the distance of barrier, and more rise is close to more for LED LED flash, flicker frequency, and distance is presented on 8 charactrons.When occurring measuring overtime or external interrupt, system can interrupt processing automatically, and restarts measurement.
The present invention utilizes ultrasonic sensor and radio frequency sensor in conjunction with the TDOA range measurement principle, detects the distance of the place ahead barrier, and antijamming capability is strong, measures accurately, and precision reaches 1cm, and can carry out voice broadcast and charactron demonstration.In addition, the present invention adopts the method for kalman filtering to remove random noise in the ultrasonic signal, obtains preferably estimated value, reduces the generation of blind area.Therefore, compared with prior art, the present invention have antijamming capability strong, without measure the blind area, measuring accuracy is high and simple to operate, the cost performance advantages of higher can be widely used in the range observation of reversing prompting, building ground, industry spot etc.
The above, it only is better embodiment of the present invention, be not that the present invention is done any pro forma restriction, any content that does not break away from technical solution of the present invention, according to any simple modification, equivalent variations and the modification that technical spirit of the present invention is done above embodiment, all belong to the scope of technical solution of the present invention.
Claims (8)
1. the ultrasonic ranging system based on TDOA is characterized in that, comprising: ultrasonic sensor, radio frequency sensor, the first transmitter module, the second transmitter module, receiver module, display module and voice output module, wherein,
Described ultrasonic sensor is in order to detecting obstacle information, and the information that detects is sent to described the first transmitter module;
Described radio frequency sensor is in order to detecting obstacle information, and the information that detects is sent to described the second transmitter module;
Described the first transmitter module is connected with receiver module with described ultrasonic sensor respectively, is converted into digital signal and is sent to described receiver module in order to the information that will receive;
Described the second transmitter module is connected with receiver module with described radio frequency sensor respectively, is converted into digital signal and is sent to described receiver module in order to the information that will receive;
Described receiver module respectively with described the first transmitter module be connected transmitter module and be connected, in order to the digital signal that receives is compared, the time of arrival that obtains the signal that described the first transmitter module and the second transmitter module launch is poor, and calculates obstacle distance; It further comprises: receiving element, processing unit and output unit, wherein:
Described receiving element respectively with described the first transmitter module be connected transmitter module and be connected, in order to receive the digital signal that described the first transmitter module and the second transmitter module send and to be sent to described processing unit;
Described processing unit is connected with described receiving element, and in order to the digital signal that receives is processed, the time of arrival of calculating ultrasonic signal and radiofrequency signal is poor, obtains obstacle distance, and sends information to described output unit according to result of calculation;
Described output unit is in order to receiving information, and information is sent to display module and voice output module;
Described display module is connected with described output unit, in order to receive information, provides visual alerts and shows obstacle distance according to information;
Described voice output module is connected with described output unit, in order to receiving information, and according to information output voice suggestion obstacle distance.
2. the ultrasonic ranging system based on TDOA as claimed in claim 1 is characterized in that, described the first transmitter module comprises a Kalman wave filter, in order to remove the random noise in the ultrasonic signal, obtains preferably estimated value.
3. the ultrasonic ranging system based on TDOA as claimed in claim 1, it is characterized in that, described display module comprises a LED light emitting diode, in order to show whether barrier is arranged in the investigative range, if barrier is arranged in investigative range, described LED light emitting diode glimmers with certain frequency, and the frequency of flicker determines that with distance the nearlyer frequency of distance is higher.
4. the ultrasonic ranging system based on TDOA as claimed in claim 1 is characterized in that, described display module comprises 8 charactrons, in order to show obstacle distance.
5. the ultrasonic ranging system based on TDOA as claimed in claim 4 is characterized in that, described 8 is that second is the radix point position in the charactron.
6. the ultrasonic ranging system based on TDOA as claimed in claim 1 is characterized in that, the investigative range of described voice output module prompting is 0 ~ 1.6m, and then tip distance is excessive if surpass the prompting investigative range.
7. the ultrasonic ranging system based on TDOA as claimed in claim 1 is characterized in that, described receiver module adopts the SPCE061A single-chip microcomputer.
8. the ultrasonic ranging system based on TDOA as claimed in claim 1 is characterized in that, described ultrasonic sensor adopts SRF08 ultrasonic ranging chip.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113311387A (en) * | 2021-05-30 | 2021-08-27 | 重庆长安新能源汽车科技有限公司 | Vehicle position positioning method and device |
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| CN201285609Y (en) * | 2008-09-16 | 2009-08-05 | 鲁东大学 | Electronic training apparatus for automobile pile backing and garage shifting |
| CN102116859A (en) * | 2009-12-31 | 2011-07-06 | 青岛海尔软件有限公司 | Indoor positioning perception system |
| CN201909849U (en) * | 2010-12-14 | 2011-07-27 | 浙江师范大学 | Intelligent reverse ranging system |
| US20110254674A1 (en) * | 2010-04-20 | 2011-10-20 | Whetron Electronics Co., Ltd | Hostless automobile reverse radar warning system |
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- 2012-11-13 CN CN2012104548923A patent/CN102981159A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1841086A (en) * | 2005-03-29 | 2006-10-04 | 松下电器产业株式会社 | Positioning system and method for reducing ultrasonic signal conflict |
| CN201285609Y (en) * | 2008-09-16 | 2009-08-05 | 鲁东大学 | Electronic training apparatus for automobile pile backing and garage shifting |
| CN102116859A (en) * | 2009-12-31 | 2011-07-06 | 青岛海尔软件有限公司 | Indoor positioning perception system |
| US20110254674A1 (en) * | 2010-04-20 | 2011-10-20 | Whetron Electronics Co., Ltd | Hostless automobile reverse radar warning system |
| CN201909849U (en) * | 2010-12-14 | 2011-07-27 | 浙江师范大学 | Intelligent reverse ranging system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113311387A (en) * | 2021-05-30 | 2021-08-27 | 重庆长安新能源汽车科技有限公司 | Vehicle position positioning method and device |
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Application publication date: 20130320 |