CN103592618B - Ultrasonic positioning method and ultrasonic positioning system - Google Patents
Ultrasonic positioning method and ultrasonic positioning system Download PDFInfo
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- CN103592618B CN103592618B CN201210287800.7A CN201210287800A CN103592618B CN 103592618 B CN103592618 B CN 103592618B CN 201210287800 A CN201210287800 A CN 201210287800A CN 103592618 B CN103592618 B CN 103592618B
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 238000005259 measurement Methods 0.000 claims abstract description 21
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- 238000001914 filtration Methods 0.000 claims description 16
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- 239000000284 extract Substances 0.000 claims description 6
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- 230000006872 improvement Effects 0.000 description 10
- 238000002604 ultrasonography Methods 0.000 description 10
- 238000005070 sampling Methods 0.000 description 8
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- 238000005516 engineering process Methods 0.000 description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
- G01S1/74—Details
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Abstract
The invention discloses an ultrasonic positioning method, which comprises the following steps: the ultrasonic transmitting device generates an ultrasonic signal according to a preset device code and a preset time code and transmits the ultrasonic signal; the client acquires ultrasonic signals transmitted by the ultrasonic transmitting device; the client decodes the acquired ultrasonic signals to generate equipment codes and time codes, and sends the equipment codes and the time codes to a server; the server positions the real-time position of the client according to the equipment code; and judging whether the ultrasonic signal is normal or not according to the time code, and forwarding the position information to a client when the ultrasonic signal is judged to be normal. The invention also discloses an ultrasonic positioning system. By adopting the invention, the ultrasonic signals can be accurately acquired by utilizing an instantaneous frequency measurement algorithm, and are converted into frequency domain signals by adopting fast Fourier transform, so that the ultrasonic signals are efficiently restored, equipment codes are extracted, and the accurate positioning of the client position is realized.
Description
Technical field
The present invention relates to positioning of mobile equipment technology, particularly relate to a kind of method for ultrasonic locating and ultrasonic positioning system.
Background technology
Ultrasound wave has the advantages such as directionality is good, energy ezpenditure is little, it is less to decay in transmitting procedure, reflected energy is stronger, it does not affect by light, measured object color etc., under harsh environments, there is certain adaptive faculty, ultrasound wave can be utilized to position, measure, detect a flaw and process process etc.Therefore, a lot of field, all by the combination with ultrasound wave location technology, obtains better field and expands and new product development.
But, in the location of mobile device, current positioning of mobile equipment system all utilizes gps satellite to realize location, although whether on the ground gps satellite positioning system can be used for measuring mobile device a certain region, but its degree of accuracy is lower, generally can only measure mobile device and enter a larger region, cannot judge whether mobile device has entered the less region such as shop, school.
Summary of the invention
Technical matters to be solved by this invention is, a kind of method for ultrasonic locating and ultrasonic positioning system are provided, instantaneous frequency measurement algorithm can be utilized to orient the reference position of ultrasonic signal exactly, timely collection ultrasonic signal, adopt Fast Fourier Transform (FFT) that ultrasonic signal is converted to frequency-region signal, reduce ultrasonic signal efficiently, extraction equipment is encoded, and realizes the accurate location of client location.
In order to solve the problems of the technologies described above, the invention provides a kind of method for ultrasonic locating, comprising: ultrasonic transmission device generates ultrasonic signal according to the device coding preset and time encoding, and sends described ultrasonic signal; Client gathers the ultrasonic signal that ultrasonic transmission device is launched; Client decodes to generate device coding and time encoding to the described ultrasonic signal gathered, and is sent to server; Server searches the positional information of the ultrasonic transmission device corresponding with described device coding to orient the real time position of client according to described device coding; Server, according to described time encoding, judges that whether described ultrasonic signal is normal, when being judged as YES, described positional information is forwarded to client.
As the improvement of such scheme, the step that described ultrasonic transmission device generates ultrasonic signal according to the device coding preset and time encoding comprises: according to the device coding preset and time encoding, by CRC algorithm, calculates CRC code; Described CRC code is converted to ultrasonic signal, and wherein 20kHZ represents that 0,21kHZ represents 1.
As the improvement of such scheme, described server obtains history coding, and calculates the difference that time encoding that described client sends in real time encode with history, and described history is encoded to the time encoding of the last transmission of described client; Judge whether described difference is within the scope of verification, when being judged as YES, ultrasonic signal is normal, and when being judged as NO, ultrasonic signal is abnormal.
As the improvement of such scheme, the step that described client gathers the ultrasonic signal that ultrasonic transmission device is launched comprises: client utilizes instantaneous frequency measurement algorithm to measure the frequency values of described ultrasonic signal in real time; Judge that whether sampled point corresponding to described frequency values is the starting point of ultrasonic signal, when being judged as YES, client gathers described ultrasonic signal.
As the improvement of such scheme, described client comprises the step that the ultrasonic signal gathered decodes to generate device coding and time encoding: the ultrasonic signal of described collection is divided into independently section, and every section is 32ms; By Fast Fourier Transform (FFT), every section of ultrasonic signal is converted to frequency-region signal by time-domain signal, and rejection frequency is the frequency-region signal of below 20kHZ; Described frequency-region signal is divided into independently frame, and every frame comprises 5 subframes; Instantaneous frequency measurement algorithm is utilized to measure the frequency values of the frequency-region signal in described subframe in real time; The frequency values of described subframe is combined as frequency values string successively, and filtering process is carried out to described frequency values string; Described frequency values string after filtering process is converted to string of binary characters, and wherein 0 represents 20kHZ, and 1 represents 21kHZ; Extract the device coding in described string of binary characters and time encoding.
As the improvement of such scheme, described ultrasonic transmission device also comprises before generating the step of ultrasonic signal according to the device coding preset and time encoding: described ultrasonic transmission device presets device coding and time encoding by computing machine.
Correspondingly, present invention also offers a kind of ultrasonic positioning system, comprising: ultrasonic transmission device, for generating according to the device coding preset and time encoding and outwards send ultrasonic signal; Client, for gathering the ultrasonic signal that described ultrasonic transmission device is launched, and decodes to generate device coding and time encoding to the described ultrasonic signal gathered, and is sent to server; Server, device coding for sending according to client searches the positional information of the ultrasonic transmission device corresponding with described device coding to orient the real time position of client, and according to time encoding, judge that whether the ultrasonic signal that described client gathers is normal, described positional information is forwarded to client.
As the improvement of such scheme, described ultrasonic transmission device comprises: coding unit, for generating ultrasonic signal according to the device coding preset and time encoding; The processing unit be connected with described coding unit, for carrying out filtering, amplifying process to described ultrasonic signal; The transmitter unit be connected with described processing unit, for outwards launching the ultrasonic signal after described processing unit processes.
As the improvement of such scheme, described client comprises: collecting unit, for gathering the ultrasonic signal that ultrasonic transmission device is launched; The decoding unit be connected with described collecting unit, for decoding to generate device coding and time encoding to the described ultrasonic signal gathered; The transmitting element be connected with described decoding unit, is sent to server for the device coding that generated by described decoding unit and time encoding.
As the improvement of such scheme, described server comprises: positioning unit, for searching the positional information of the ultrasonic transmission device corresponding with described device coding according to described device coding to orient the real time position of client; Detecting unit, for according to described time encoding, judges that whether described ultrasonic signal is normal; The retransmission unit be connected with described positioning unit and detecting unit, during for detecting that described ultrasonic signal is normal when detecting unit, is forwarded to client by described positional information.
Implement the embodiment of the present invention, there is following beneficial effect:
Client utilizes instantaneous frequency measurement algorithm to orient the reference position of ultrasonic signal exactly, gathers ultrasonic signal in time.Adopt Fast Fourier Transform (FFT), ultrasonic signal is converted to frequency-region signal by time-domain signal, and the frequency-region signal that filtering is unnecessary effectively, restore the ultrasonic signal that ultrasonic transmission device is launched efficiently, quickly and accurately.Simultaneously, ultrasonic signal after reduction is converted to string of binary characters, extract device coding wherein and time encoding, and pass through the positional information of the ultrasonic transmission device described in whois lookup corresponding to device coding, achieve the accurate location of client real time position.
Accompanying drawing explanation
Fig. 1 is the first embodiment process flow diagram of a kind of method for ultrasonic locating of the present invention;
Fig. 2 is the second embodiment process flow diagram of a kind of method for ultrasonic locating of the present invention;
Fig. 3 is the structural representation of a kind of ultrasonic positioning system of the present invention;
Fig. 4 is the structural representation of ultrasonic transmission device in a kind of ultrasonic positioning system of the present invention;
Fig. 5 is the structural representation of client in a kind of ultrasonic positioning system of the present invention;
Fig. 6 is the structural representation of server in a kind of ultrasonic positioning system of the present invention.
Embodiment
For making the object, technical solutions and advantages of the present invention clearly, below in conjunction with accompanying drawing, the present invention is described in further detail.
Fig. 1 is the first embodiment process flow diagram of a kind of method for ultrasonic locating of the present invention, comprising:
S100, ultrasonic transmission device generates ultrasonic signal according to the device coding preset and time encoding, and sends described ultrasonic signal.
It should be noted that, unique binary device coding is preset with in ultrasonic transmission device, simultaneously, ultrasonic transmission device can Real-time Collection current time, and be converted to time encoding, meanwhile, using described device coding and time encoding as source information, and coded treatment is carried out to described source information, corresponding ultrasonic signal can be generated.
More preferably, described ultrasonic transmission device presets device coding and time encoding by computing machine.
It should be noted that, the device coding in ultrasonic transmission device is unique, and time encoding is real-time change.It is step-length from increasing sequence that time encoding adopts with 1, each minute from increasing 1, to 1,000 ten thousand time, then time encoding resets to 1, and again circulates.
Preferably, can be expressed as string of binary characters after source information coding, now, when number is 0, then transmission frequency is the ultrasonic signal of 20kHZ; When number is 1, then transmission frequency is the ultrasonic signal of 21kHZ.
S101, client gathers the ultrasonic signal that ultrasonic transmission device is launched.
It should be noted that, the ultrasonic signal that ultrasonic transmission device sends is generated by the device coding preset and time encoding.After ultrasonic transmission device has launched one section of effective ultrasonic signal, stop launching any ultrasonic signal, after one period of set time, launch one section of effective ultrasonic signal again, and repeat above step.Therefore, client gather ultrasonic transmission device launch ultrasonic signal time, need ask once gather can contain at least one section of effective ultrasonic signal.
S102, client decodes to generate device coding and time encoding to the described ultrasonic signal gathered, and is sent to server.
After the ultrasonic signal that client collection ultrasonic transmission device is launched, effective ultrasonic signal is decoded.During decoding, filtering process need be carried out to effective ultrasonic signal, will the target signal filter of ultrasonic wave range do not belonged to, to reduce the interference of surrounding environment, restore the ultrasonic signal that frequency is 20kHZ or 21kHZ.Meanwhile, described ultrasonic signal is converted to string of binary characters, wherein 0 represents 20kHZ, and 1 represents 21kHZ.Correspondingly, device coding and time encoding can be restored from described string of binary characters.
S103, server searches the positional information of the ultrasonic transmission device corresponding with described device coding to orient the real time position of client according to described device coding.
It should be noted that, be pre-stored with device coding information table in server, described device coding information table comprises default device coding and positional information.When server receives the device coding of client transmission, server is according to the device coding of decoding, search device coding information table, find out the default device coding matched with the device coding of decoding, find out positional information to orient the real time position of client simultaneously.
S104, server, according to described time encoding, judges that whether described ultrasonic signal is normal, when being judged as YES, described positional information is forwarded to client.
When server receives the time encoding of client transmission, server is according to time encoding, and judge that whether described ultrasonic signal is normal, when judging that ultrasonic signal is abnormal, then described ultrasonic signal is invalid; When judging that ultrasonic signal is normal, then described positional information is forwarded to client.
Fig. 2 is the second embodiment process flow diagram of a kind of method for ultrasonic locating of the present invention, comprising:
S200, according to the device coding preset and time encoding, by CRC algorithm, calculates CRC code.
It should be noted that, be preset with unique binary device coding in ultrasonic transmission device, meanwhile, ultrasonic transmission device can Real-time Collection current time, and is converted to binary time encoding.And using described device coding and time encoding as source information.Utilizing CRC algorithm, calculate CRC check value, is then scale-of-two CRC code by device coding, time encoding, the split of CRC check value.
More preferably, described ultrasonic transmission device presets device coding and time encoding by computing machine, and user can according to actual conditions, by device coding and the time encoding of computer installation ultrasonic transmission device.
S201, is converted to ultrasonic signal by described CRC code.Wherein 20kHZ represents that 0,21kHZ represents 1.
Scale-of-two CRC code, by 0,1 two numerical code expression, now, carries out coded treatment to described scale-of-two CRC code, when number is 0, is then converted to the ultrasonic signal of 20kHZ; When number is 1, be then converted to the ultrasonic signal of 21kHZ.
S202, sends described ultrasonic signal.
S203, client utilizes instantaneous frequency measurement algorithm to measure the frequency values of described ultrasonic signal in real time.
Utilize instantaneous frequency measurement algorithm can obtain the frequency values of ultrasonic signal at short notice, instantaneous frequency measurement algorithm can comprise: triangular transformation method, Time-frequency Analysis and estimating method of power spectrum.Wherein, triangular transformation method is that described ultrasonic signal is carried out triangular transformation, then uses the data processing methods such as least square method directly to obtain instantaneous frequency and the phase place of described ultrasonic signal.The basic thought of Time-frequency Analysis is by building a function, the information of simultaneously service time and frequency can describe the energy density of described ultrasonic signal, the distribution situation of a certain frequency determined and time range self-energy can be calculated by this function.Estimating method of power spectrum frequency measurement is the frequency that power spectrum by solving described ultrasonic signal determines signal.Correspondingly, client can adopt any one above method to measure the frequency values of described ultrasonic signal in real time.
S204, judges that whether sampled point corresponding to described frequency values is the starting point of ultrasonic signal.When being judged as YES, client gathers described ultrasonic signal.
It should be noted that, because ultrasonic signal is converted by CRC code, when number is 0, then transmission frequency is the ultrasonic signal of 20kHZ; When number is 1, then transmission frequency is the ultrasonic signal of 21kHZ, and the emission duration of each ultrasonic signal is 8ms.
One section of CRC code can be exchanged into effective ultrasonic signal of a band frequency change, after ultrasonic transmission device has launched one section of effective ultrasonic signal, stop launching any ultrasonic signal, after one period of set time, launch one section of effective ultrasonic signal again, and repeat above step.Therefore, client gather ultrasonic transmission device launch ultrasonic signal time, need ask once gather can contain at least one section of effective ultrasonic signal.
Client utilizes instantaneous frequency measurement algorithm to measure the frequency values of described ultrasonic signal in real time, when the frequency values measuring current sampling point is 20kHZ or 21kHZ, and the frequency values of last sampled point is when being less than 20kHZ, namely represent that current sampling point is the starting point of ultrasound information.Now, client gathers ultrasonic signal by current sampling point, gathers the duration that duration is one section of effective ultrasonic signal.
Such as, the duration of certain effective ultrasonic signal is 768ms, correspondingly, utilizes instantaneous frequency measurement algorithm, when client judges the starting point of ultrasonic signal, by starting point, gathers ultrasonic signal, and collection duration is 768ms.
S205, divides independently section by the ultrasonic signal of described collection, and every section is 32ms.
S206, is converted to frequency-region signal by every section of ultrasonic signal by time-domain signal by Fast Fourier Transform (FFT), and rejection frequency is the frequency-region signal of below 20kHZ.
By the ultrasonic signal time-domain signal that Fast Fourier Transform (FFT) can will collect, calculate the frequency of different sine wave signal in described ultrasonic signal, amplitude and phase place, i.e. frequency-region signal in cumulative mode.
Ultrasonic transmission device transmission frequency is the ultrasonic signal of 20kHZ or 21kHZ, therefore, after Fast Fourier Transform (FFT), the frequency-region signal that Hi-pass filter rejection frequency is below 20kHZ can be utilized, the target signal filter of ultrasonic wave range will do not belonged to, to reduce the interference of surrounding environment.
S207, is divided into independently frame by described frequency-region signal, and every frame comprises 5 subframes.
Preferably, the sampling rate of client is 44.1kHz, and the frame length of every frame is 4ms, now, can calculate every frame about containing 176(sampling rate × frame length) individual sampled point.
Correspondingly, every frame comprises 5 subframes, and the frame length of subframe is 60 sampled points, and it is 30 sampled points that the frame of subframe moves, and now, the index bound of subframe is 1 ~ 60,31 ~ 90,61 ~ 120,91 ~ 150,121 ~ 176.
S208, utilizes instantaneous frequency measurement algorithm to measure the frequency values of the frequency-region signal in described subframe in real time.
S209, is combined as frequency values string successively by the frequency values of described subframe, and carries out filtering process to described frequency values string.
Frame length due to every frame is 4ms, and the emission duration of each ultrasonic signal is 8ms, and the frequency values of continuous print 10 subframes that therefore every two frames are combined into should be consistent.After measuring the frequency values of each subframe, filtering process can be carried out to described frequency values string, get rid of exceptional value.
S210, is converted to string of binary characters by described frequency values string after filtering process.Wherein 0 represents 20kHZ, and 1 represents 21kHZ.
The frequency values of continuous print 10 subframes be combined into due to every two frames is consistent, i.e. continuous print 10 sub-frames share frequency values of being combined into of every two frames, and extract described frequency values, described frequency values is converted to 0 or 1, wherein 0 represents 20kHZ, and 1 represents 21kHZ.
S211, extracts the device coding in described string of binary characters and time encoding.
It should be noted that, every 10 subframes can be exchanged into the number of 0 or 1, and the string of binary characters of decoding should be consistent with CRC code, because CRC code is put together by device coding, time encoding, CRC check value.Therefore, device coding and time encoding can be extracted from described string of binary characters.
S212, described device coding and time encoding are sent to server by client.
S213, server searches the positional information of the ultrasonic transmission device corresponding with described device coding to orient the real time position of client according to described device coding.
It should be noted that, be pre-stored with device coding information table in server, described device coding information table comprises default device coding and positional information.The device coding that server sends according to client, searches device coding information table, finds out the default device coding that the device coding that sends with client matches, finds out positional information to orient the real time position of client simultaneously.
S214, described server obtains history coding, and calculates time encoding that described client sends in real time and the difference that history is encoded.
Described history is encoded to the time encoding of described client last time transmission.
S215, judges whether described difference is within the scope of verification.When being judged as YES, described positional information is forwarded to client.
After server obtains the time encoding of client transmission, whether difference described in real-time judge is within the scope of verification.When judging that described time encoding is not within the scope of verification, ultrasonic signal is abnormal, and server judges that ultrasonic signal is invalid.When judging that described time encoding is within the scope of verification, ultrasonic signal is normal, and described positional information is forwarded to client by server.
It should be noted that, it is step-length from increasing sequence that time encoding adopts with 1, each minute from increasing 1, to 1,000 ten thousand time, then time encoding resets to 1, and again circulates.Preferably, described verification scope is [0,1], and the difference that namely time encoding that sends in real time of described client and history are encoded is more than or equal to 0, and is less than or equal to 1.
Because time encoding adopts binary number representation, if the time encoding (i.e. history coding) that the server last time receives client transmission is 1, the time encoding that active client sends is 10(and the decimal system 2) time, the time encoding that client sends in real time and the difference that history is encoded are 1, difference is within the scope of verification, ultrasonic signal is normal, and described positional information is forwarded to client by server.
Fig. 3 is the structural representation of a kind of ultrasonic positioning system 1 of the present invention, comprising:
Ultrasonic transmission device 2, for generating according to the device coding preset and time encoding and outwards send ultrasonic signal.
It should be noted that, unique binary device coding is preset with in ultrasonic transmission device 2, ultrasonic transmission device 2 can Real-time Collection current time, and be converted to binary time encoding, using described device coding and time encoding as source information, and coded treatment is carried out to described source information, generate corresponding ultrasonic signal.Preferably, can be expressed as string of binary characters after source information coding, now, when number is 0, then transmission frequency is the ultrasonic signal of 20kHZ; When number is 1, then transmission frequency is the ultrasonic signal of 21kHZ.
Client 3, for gathering the ultrasonic signal that described ultrasonic transmission device 2 is launched, and decodes to generate device coding and time encoding to the described ultrasonic signal gathered, and is sent to server.
Preferably, client 3 can be the mobile devices such as mobile phone, panel computer or notebook computer.
Server 4, for the device coding sent according to client 3, search the positional information of the ultrasonic transmission device 2 corresponding with described device coding to orient the real time position of client 3, and according to time encoding, judge that whether the ultrasonic signal that described client 3 gathers is normal, described positional information is forwarded to client 3.
Client 3 is decoded to effective ultrasonic signal, will do not belonged to the target signal filter of ultrasonic wave range, to reduce the interference of surrounding environment, restore the ultrasonic signal that frequency is 20kHZ or 21kHZ after gathering the ultrasonic signal that ultrasonic transmission device 2 launches.Meanwhile, described ultrasonic signal is converted to string of binary characters, wherein 0 represents 20kHZ, and 1 represents 21kHZ.Correspondingly, device coding and time encoding can be restored from described string of binary characters, and be sent to server 4.In addition, be pre-stored with device coding information table in server 4, described device coding information table comprises default device coding and positional information.Server 4, according to the device coding of decoding, is searched device coding information table, is found out the default device coding matched with the device coding of decoding, find out positional information to orient the real time position of client 3 simultaneously.Meanwhile, according to time encoding, server 4 judges that whether ultrasonic signal is abnormal, occurs that abnormal then expression ultrasound wave may be replicated, there is false possibility of registering, if ultrasonic signal is normal, then positional information is forwarded to the location of the real newly client 3 of client 3.
It should be noted that, the quantity of described ultrasonic transmission device 2 can be one or more.Each ultrasonic transmission device 2 is separate, is independent of each other.Wherein, the service range of ultrasonic transmission device 2 is about 10 meters, when user carry client 3 enter the service range of ultrasonic transmission device 2 time, clearly can receive the ultrasonic signal that ultrasonic transmission device 2 is launched.
Preferably, ultrasonic positioning system 1 also comprises, and fills the device coding of 2 and the computing machine of time encoding for arranging the transmitting of described ultrasound wave.
Computing machine is connected with ultrasonic transmission device 2 by USB interface or RS232 interface.User can according to actual conditions, utilize USB interface or RS232 interface to set up connection between computing machine and ultrasonic transmission device 2, and by the device coding of computer installation ultrasonic transmission device 2 and time encoding.
Fig. 4 is the structural representation of ultrasonic transmission device 2 in a kind of ultrasonic positioning system 1 of the present invention, comprising:
Coding unit 21, for generating ultrasonic signal according to the device coding preset and time encoding.
It should be noted that, be preset with unique binary device coding in coding unit 21, meanwhile, coding unit 21 can Real-time Collection current time, and is converted to binary time encoding, and using described device coding and time encoding as source information.
Preferably, coding unit 21 utilizes CRC algorithm, calculates CRC check value according to device coding and time encoding, is then scale-of-two CRC code by device coding, time encoding, the split of CRC check value.Scale-of-two CRC code is by 0,1 two numerical code expression, and now, described scale-of-two CRC code is converted to ultrasonic signal by coding unit 21, when number is 0, is then converted to the ultrasonic signal of 20kHZ; When number is 1, be then converted to the ultrasonic signal of 21kHZ.
Preferably, single-chip microcomputer is provided with in coding unit 21.
The processing unit 22 be connected with described coding unit 21, for carrying out filtering, amplifying process to described ultrasonic signal.
Preferably, bandpass filter, power amplifier is provided with in described processing unit 22.Ultrasonic signal after encoded unit 21 coding is successively through bandpass filter, power amplifier, wherein, bandpass filter uses RC circuit to do a high pass, four second-order low-pass filter cascades are done again with operation amplifier circuit, to remove the multiple harmonic of ultrasonic signal, reduce the interference of its pulse signals.
The transmitter unit 23 be connected with described processing unit 22, for outwards launching the ultrasonic signal after described processing unit 22 processes.
Preferably, be provided with ultrasound wave emitting head in transmitter unit 23, the ultrasonic signal after described processing unit 22 processes outwards is launched through ultrasound wave emitting head.
Fig. 5 is the structural representation of client 3 in a kind of ultrasonic positioning system 1 of the present invention, comprising:
Collecting unit 31, for gathering the ultrasonic signal that ultrasonic transmission device 2 is launched.
The ultrasonic signal that ultrasonic transmission device 2 sends is generated by the device coding preset and time encoding.After ultrasonic transmission device 2 has launched one section of effective ultrasonic signal, stop launching any ultrasonic signal, after one period of set time, launch one section of effective ultrasonic signal again, and repeat above step.Therefore, when collecting unit 31 gathers the ultrasonic signal that ultrasonic transmission device 2 launches, need to ask once to gather and can contain at least one section of effective ultrasonic signal.
Preferably, collecting unit 31 utilizes instantaneous frequency measurement algorithm can obtain the frequency values of ultrasonic signal at short notice, and instantaneous frequency measurement algorithm can comprise: triangular transformation method, Time-frequency Analysis and estimating method of power spectrum.Wherein, triangular transformation method is that described ultrasonic signal is carried out triangular transformation, then uses the data processing methods such as least square method directly to obtain instantaneous frequency and the phase place of described ultrasonic signal.The basic thought of Time-frequency Analysis is by building a function, the information of simultaneously service time and frequency can describe the energy density of described ultrasonic signal, the distribution situation of a certain frequency determined and time range self-energy can be calculated by this function.Estimating method of power spectrum frequency measurement is the frequency that power spectrum by solving described ultrasonic signal determines signal.Correspondingly, client can adopt any one above method to measure the frequency values of described ultrasonic signal in real time.
Collecting unit 31 utilizes instantaneous frequency measurement algorithm to measure the frequency values of described ultrasonic signal in real time, when the frequency values measuring current sampling point is 20kHZ or 21kHZ, and the frequency values of last sampled point is when being less than 20kHZ, namely represent that current sampling point is the starting point of ultrasound information.Now, collecting unit 31 gathers ultrasonic signal by current sampling point, gathers the duration that duration is one section of effective ultrasonic signal.
The decoding unit 32 be connected with described collecting unit 31, for decoding to generate device coding and time encoding to the described ultrasonic signal gathered.
The ultrasonic signal of described collection is divided independently section by decoding unit 32, and in units of section, the ultrasonic signal time-domain signal collected by collecting unit 31 by Fast Fourier Transform (FFT) is converted to frequency-region signal.Utilize the frequency-region signal that Hi-pass filter rejection frequency is below 20kHZ, will the target signal filter of ultrasonic wave range do not belonged to, to reduce the interference of surrounding environment.Simultaneously, described frequency-region signal is divided into independently frame, and every frame comprises 5 subframes, and utilizes instantaneous frequency measurement algorithm to measure the frequency values of the frequency-region signal in described subframe in real time, the frequency values of described subframe is combined as frequency values string successively, and filtering process is carried out to described frequency values string.Described frequency values string after filtering process is converted to string of binary characters, and wherein 0 represents 20kHZ, and 1 represents 21kHZ, and the device coding extracted in described string of binary characters and time encoding.
The transmitting element 34 be connected with described decoding unit 32, is sent to server 4 for the device coding that generated by described decoding unit 32 and time encoding.
Fig. 6 is the structural representation of server 4 in a kind of ultrasonic positioning system 1 of the present invention, comprising:
Positioning unit 41, for searching the positional information of the ultrasonic transmission device 2 corresponding with described device coding to orient the real time position of client 3 according to described device coding.
Store device coding information table in positioning unit 41, described device coding information table comprises default device coding and positional information.Positioning unit 41 is searched device coding information table, is found out the default device coding matched with the device coding of decoding, find out positional information to orient the real time position of client 3 simultaneously after receiving the device coding of client 3 transmission.
Detecting unit 42, for according to described time encoding, judges that whether described ultrasonic signal is normal.
It should be noted that, when detecting unit 42 judges that described time encoding is not within the scope of verification, ultrasonic signal is abnormal, and server judges that ultrasonic signal is invalid.When judging that described time encoding is within the scope of verification, ultrasonic signal is normal.
It should be noted that, it is step-length from increasing sequence that time encoding adopts with 1, each minute from increasing 1, to 1,000 ten thousand time, then time encoding resets to 1, and again circulates.Preferably, described verification scope is [0,1], i.e. the difference that the time encoding of described client 3 transmission in real time and history are encoded is more than or equal to 0, and is less than or equal to 1.
Because time encoding adopts binary number representation, if detecting unit 42 judges that the time encoding that active client 3 sends in real time is within the scope of verification with the last difference receiving the time encoding (namely history is encoded) that client 3 sends, then ultrasonic signal is normal.
The retransmission unit 43 be connected with described positioning unit 41 and detecting unit 42, for when detecting unit 42 detects that described ultrasonic signal is normal, is forwarded to client 3 by described positional information.
As from the foregoing, the coding unit 21 on ultrasonic transmission device 2 utilizes CRC algorithm, generates CRC code, and be converted to the ultrasonic signal of response according to the device coding preset and time encoding.Processing unit 22 carries out filtering to described ultrasonic signal, amplifies process, remove the multiple harmonic of ultrasonic signal, reduce the interference of its pulse signals, and outwards launch the ultrasonic signal after described processing unit 22 processes by the ultrasound wave emitting head on transmitter unit 23.Collecting unit 31 in client 3 utilizes instantaneous frequency measurement algorithm to judge the reference position of ultrasonic signal exactly, gathers ultrasonic signal in time.Coding unit 32 adopts Fast Fourier Transform (FFT), and ultrasonic signal is converted to frequency-region signal by time-domain signal, and the frequency-region signal that filtering is unnecessary effectively, restore the ultrasonic signal that ultrasonic transmission device 2 is launched efficiently, quickly and accurately.Meanwhile, the ultrasonic signal after reduction is converted to string of binary characters, extracts and the device coding sent wherein and time are encoding to server 4.The positional information of the ultrasonic transmission device corresponding to described device coding is searched by server 4, and judge that whether ultrasonic signal is abnormal, when server 4 judges that ultrasonic signal is normal, positional information is forwarded to client 3 to realize the accurate location of client 3 real time position.
The above is the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications are also considered as protection scope of the present invention.
Claims (8)
1. a method for ultrasonic locating, is characterized in that, comprising:
Ultrasonic transmission device generates ultrasonic signal according to the device coding preset and time encoding, and sends described ultrasonic signal;
Client gathers the ultrasonic signal that ultrasonic transmission device is launched;
Client decodes to generate device coding and time encoding to the described ultrasonic signal gathered, and is sent to server;
Server searches the positional information of the ultrasonic transmission device corresponding with described device coding to orient the real time position of client according to described device coding;
Server, according to described time encoding, judges that whether described ultrasonic signal is normal, when being judged as YES, described positional information is forwarded to client;
The step that described client gathers the ultrasonic signal that ultrasonic transmission device is launched comprises:
Client utilizes instantaneous frequency measurement algorithm to measure the frequency values of described ultrasonic signal in real time;
Judge that whether sampled point corresponding to described frequency values is the starting point of ultrasonic signal, when being judged as YES, client gathers described ultrasonic signal.
2. method for ultrasonic locating as claimed in claim 1, is characterized in that, the step that described ultrasonic transmission device generates ultrasonic signal according to the device coding preset and time encoding comprises:
According to the device coding preset and time encoding, by CRC algorithm, calculate CRC code;
Described CRC code is converted to ultrasonic signal, and wherein 20kHZ represents that 0,21kHZ represents 1.
3. method for ultrasonic locating as claimed in claim 1, is characterized in that, described server, according to described time encoding, judges that the whether normal step of ultrasonic signal comprises:
Described server obtains history coding, and calculates the difference that time encoding that described client sends in real time encode with history, and described history is encoded to the time encoding of the last transmission of described client;
Judge whether described difference is within the scope of verification, when being judged as YES, ultrasonic signal is normal, and when being judged as NO, ultrasonic signal is abnormal.
4. method for ultrasonic locating as claimed in claim 1, is characterized in that, described client comprises the step that the ultrasonic signal gathered decodes to generate device coding and time encoding:
The ultrasonic signal of described collection is divided into independently section, and every section is 32ms;
By Fast Fourier Transform (FFT), every section of ultrasonic signal is converted to frequency-region signal by time-domain signal, and rejection frequency is the frequency-region signal of below 20kHZ;
Described frequency-region signal is divided into independently frame, and every frame comprises 5 subframes;
Instantaneous frequency measurement algorithm is utilized to measure the frequency values of the frequency-region signal in described subframe in real time;
The frequency values of described subframe is combined as frequency values string successively, and filtering process is carried out to described frequency values string;
Described frequency values string after filtering process is converted to string of binary characters, and wherein 0 represents 20kHZ, and 1 represents 21kHZ;
Extract the device coding in described string of binary characters and time encoding.
5. method for ultrasonic locating as claimed in claim 1, is characterized in that, described ultrasonic transmission device also comprises before generating the step of ultrasonic signal according to the device coding preset and time encoding:
Described ultrasonic transmission device presets device coding and time encoding by computing machine.
6. a ultrasonic positioning system, is characterized in that, comprising:
Ultrasonic transmission device, for generating according to the device coding preset and time encoding and outwards send ultrasonic signal;
Client, for gathering the ultrasonic signal that described ultrasonic transmission device is launched, and decodes to generate device coding and time encoding to the described ultrasonic signal gathered, and is sent to server;
Server, device coding for sending according to client searches the positional information of the ultrasonic transmission device corresponding with described device coding to orient the real time position of client, and according to time encoding, judge that whether the ultrasonic signal that described client gathers is normal, described positional information is forwarded to client;
Described client comprises:
Collecting unit, for gathering the ultrasonic signal that ultrasonic transmission device is launched, described collecting unit utilizes instantaneous frequency measurement algorithm to measure the frequency values of described ultrasonic signal in real time, judge that whether sampled point corresponding to described frequency values is the starting point of ultrasonic signal, when being judged as YES, gather described ultrasonic signal;
The decoding unit be connected with described collecting unit, for decoding to generate device coding and time encoding to the described ultrasonic signal gathered;
The transmitting element be connected with described decoding unit, is sent to server for the device coding that generated by described decoding unit and time encoding.
7. ultrasonic positioning system as claimed in claim 6, it is characterized in that, described ultrasonic transmission device comprises:
Coding unit, for generating ultrasonic signal according to the device coding preset and time encoding;
The processing unit be connected with described coding unit, for carrying out filtering, amplifying process to described ultrasonic signal;
The transmitter unit be connected with described processing unit, for outwards launching the ultrasonic signal after described processing unit processes.
8. ultrasonic positioning system as claimed in claim 6, it is characterized in that, described server comprises:
Positioning unit, for searching the positional information of the ultrasonic transmission device corresponding with described device coding to orient the real time position of client according to described device coding;
Detecting unit, for according to described time encoding, judges that whether described ultrasonic signal is normal;
The retransmission unit be connected with described positioning unit and detecting unit, during for detecting that described ultrasonic signal is normal when detecting unit, is forwarded to client by described positional information.
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| CN104360238A (en) * | 2014-11-20 | 2015-02-18 | 国家电网公司 | Lightning stroke detection method of electric transmission line |
| WO2016176854A1 (en) * | 2015-05-07 | 2016-11-10 | SZ DJI Technology Co., Ltd. | System and method for detecting an object |
| CN106292718A (en) * | 2016-09-08 | 2017-01-04 | 南京阿凡达机器人科技有限公司 | A kind of method and system realizing robot autonomous charging based on ultrasonic intensity |
| CN112396404A (en) * | 2020-11-27 | 2021-02-23 | 广州光点信息科技有限公司 | Data center system |
| CN113687362B (en) * | 2021-10-27 | 2022-06-14 | 广东奥迪威传感科技股份有限公司 | Anti-signal interference distance detection method and device |
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