CN104297745A - Distance measurement device, distance measurement method and positioning method based on radio wave wavelength - Google Patents
Distance measurement device, distance measurement method and positioning method based on radio wave wavelength Download PDFInfo
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- CN104297745A CN104297745A CN201410188741.7A CN201410188741A CN104297745A CN 104297745 A CN104297745 A CN 104297745A CN 201410188741 A CN201410188741 A CN 201410188741A CN 104297745 A CN104297745 A CN 104297745A
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
Abstract
The invention relates to a distance measurement device, a distance measurement method and a positioning method based on radio wave wavelength and belongs to the technical field of radio wave positioning. According to the method, electromagnetic waves are sent to a target under measurement; the target under measurement enables the received electromagnetic waves to be subjected to amplitude modulation and then returns the electromagnetic waves to a positioning terminal; and the positioning terminal stops sending electromagnetic waves immediately after receiving the returned electromagnetic waves, receives the electromagnetic waves returned from the target under measurement and utilizes an AD converter to digitize the electromagnetic waves. The wavelength of the electromagnetic wave is only related to frequency, and the wavelength does not change due to interference diffraction. The electromagnetic waves, after being subjected to digitization conversion, can be divided into many tiny square waves with digital coding information; and digit expressed by each square wave is unique, so that digit accuracy can be guaranteed. And finally, the digitized electromagnetic waves serve as the basis of accurately calculating the distance between the positioning terminal and the target under measurement, and accurate positioning can be realized based on the accurate measurement distance. The positioning speed is fast; positioning value is accurate; and external environment interference has little influence on the method.
Description
Technical field
The present invention relates to a kind of distance measuring equipment based on wavelength of radio wave and distance-finding method and localization method, belong to radiowave field of locating technology.
Background technology
Wireless location technology is not strange to most people yet, the navigational system that we are used in daily life, is exactly apply the one of wireless location technology based on radiowave.It appears at eighties of last century, develops very fast, and the fast development especially in mid-term in last century along with computer technology and wireless communication technique, wireless location technology is progressively applied on human lives.
At present, the widely used wireless location technology of people, as radar range finding, satnav etc., generally adopts the mistiming of radio wave transmission-reception as the Main Basis of range finding.Distance measuring method has although it is so dominated a lot of year in radiowave range finding, and in the comparatively maturation of industrial application development, particularly after employing differential technique, the positioning precision of civil navigation satellite GPS can reach 5 meters, military, aviation aspect positioning precision is higher, but electromagnetic wave is as a kind of ripple, there is distinctive general character the same as other ripple, it can interfere, diffraction and by the impact of propagation medium, particularly in the occasion having barrier to exist, because by the effect of interference diffraction, the electromagnetic send-receive time can be subject to larger impact.In addition, electromagnetic wave is the one of light wave, so its speed is the same with the light velocity, its propagation values in a vacuum internationally recognized is c=299792458 meter per second, even if we can send-receive according to radiowave time interocclusal record one comparatively correct time difference det (t), but according to L=c*det (t), the range error obtained still can be very large.
Development in today along with industrial productivity, the raising gradually of automatization level, production scale progressively expand, and the sight line of people also come into gradually by industrial robot, automatic Pilot carrier etc., and people are also improving the requirement of wireless location technology.In industrial automation actual production, carry out controlling accurately in real time to automated production to want, just must have an accurate and stable location to the position of critical movements link in production procedure, traditional ranging localization scheme, far can not meet the needs of modern enterprise automated production.
Summary of the invention
The object of this invention is to provide a kind of distance measuring equipment based on wavelength of radio wave and distance-finding method and localization method, adopt the mistiming of radio wave transmission-reception at present as ranging localization according to the problem causing error large to solve.
The present invention solves the problems of the technologies described above to provide a kind of distance measuring equipment based on wavelength of radio wave, this distance measuring equipment comprises locating terminal and by locating terminal, described locating terminal is provided with radio wave transmission module, radio wave reception module, analog-to-digital conversion module and wave information overall treatment module, describedly be provided with by positioned radio electric wave reception module and radio wave transmission module by locating terminal, the radio wave transmission module of described locating terminal is used for according to the instruction of wave information overall treatment module to by locating terminal emissive source electromagnetic wave, the described electromagnetic wave sent for receiving locating terminal by the radio wave reception module of locating terminal, described be used for returning electric wave by generating after the Amplitude amplification receiving source electric wave and launching given position terminal by the radio transmission module of locating terminal, the electric wave that returns that analog-to-digital conversion module is used for radio wave reception module to receive is converted into by digitally coded Digital Square-Wave and these Digital Square-Waves is sent to wave information overall treatment module, described wave information overall treatment module is used for according to the square wave compute location terminal of digitized processing with by the distance of locating terminal.
The locating terminal that described wave information overall treatment module calculates according to wavelength and be by the distance L between locating terminal:
Wherein L is required distance, λ receives by locating terminal radio wave reception module the wavelength of electric wave, the number of 1/4 wavelength that k records for wave information overall treatment module, the number of being discontented with the coded digital square wave of 1/4 wavelength of n for receiving before sign mutation, m is the figure place of analog-to-digital conversion module resolution.
Described locating terminal stops sending electromagnetic wave after receiving and returning electromagnetic wave immediately, wave information overall treatment module receives the mark identified, and to judge to return electric wave completely received using the electromagnetic wave receiving amplitude sharp-decay as radiowave distal tip signal, and the electromagnetic wave of described amplitude sharp-decay is because energy cannot the electromagnetic wave of supply and amplitude sharp-decay after the transmitter module of radiowave locating terminal stops launching.
The present invention solves the problems of the technologies described above to provide a kind of distance-finding method based on wavelength of radio wave, and this distance-finding method comprises the following steps:
1) set up test point, send the electromagnetic wave of certain frequency in test point to measured target;
2) electromagnetic wave received is back to test point by measured target after amplifying process;
3) electromagnetic wave received is carried out analog to digital conversion by test point, and statistics receives the number of the quantity of 1/4 wavelength and the numerical coding square wave of front discontented 1/4 wavelength received of sign mutation, calculates the distance of test point to measured target according to the information counted on and electromagnetic wavelength.
The distance of described test point and measured target is:
Wherein L is required distance, λ receives by measured target the wavelength of electric wave, k is the number of 1/4 wavelength that test point receives, and the number of being discontented with the numerical coding square wave of 1/4 wavelength of n for receiving before sign mutation, m is the figure place of analog-to-digital conversion module resolution.
Described test point receives the mark identified, and to judge to return electric wave completely received using the electromagnetic wave receiving amplitude sharp-decay as radiowave distal tip signal, and the electromagnetic wave of described amplitude sharp-decay is because energy cannot the electromagnetic wave of supply and amplitude sharp-decay after the transmitter module of test point stops launching.
Present invention also offers a kind of localization method based on wavelength of radio wave, this localization method comprises the following steps:
1) set up a global coordinate system, three coordinate axis under this coordinate system arrange corresponding measuring point respectively;
2) each measuring point sends electromagnetic wave from respective settings frequency to measured target is controlled;
3) measured target is back to corresponding test point after the electromagnetic wave received is amplified process;
4) electromagnetic wave received is carried out analog to digital conversion by each test point, and statistics receives the number of the quantity of 1/4 wavelength and the numerical coding square wave of front discontented 1/4 wavelength received of sign mutation, calculates the distance of each test point to measured target according to the information counted on and electromagnetic wavelength;
5) according to the test point in calculated three coordinate axis and the distance of test target and the coordinate position of three test points self, the coordinate figure of measured target is calculated.
In described step 4, the range formula of test point and measured target is:
Wherein L is required distance, λ receives by measured target the wavelength of electric wave, k is the number of 1/4 wavelength that test point receives, the number of the coded digital square wave of discontented 1/4 wavelength of n for receiving before sign mutation, the figure place of analog-to-digital converter resolution of m for adopting in analog-digital conversion process.
Described step 5) in the coordinate figure computing formula of measured target be:
Wherein (0,0, c), (a, 0,0) and (0, b, 0) be respectively the coordinate of three test points, L
1, L
2and L
3the distances of three test points to measured target respectively, the coordinate that (x, y, z) is measured target.
Described test point receives the mark identified, and to judge to return electric wave completely received using the electromagnetic wave receiving amplitude sharp-decay as radiowave distal tip signal, and the electromagnetic wave of described amplitude sharp-decay is because energy cannot the electromagnetic wave of supply and amplitude sharp-decay after the transmitter module of test point stops launching.
The invention has the beneficial effects as follows: distance measuring method of the present invention adopts locating terminal to measured target emitting electromagnetic wave, measured target is by restoring to normal position terminal after the electromagnetic wave amplitude modulation that receives, locating terminal stops sending electromagnetic wave after receiving and returning electromagnetic wave immediately, receive the electromagnetic wave returned from measured target, and these electromagnetic waves are utilized the digitizing of analog-to-digital conversion device, electromagnetic wavelength is only relevant with frequency, frequency does not change, wavelength just can not change because of interference diffraction, electromagnetic wave can be divided into the much minimum square wave with digital code information after digitizing conversion, the accuracy of numerical value can be ensured.Final using these digitized electromagnetic waves as accurate Calculation locating terminal to the foundation of the spacing of measured target, accurate location can be realized based on these range findings accurately.And locating speed is fast, locating numerical is accurate, little by external environmental interference.
Accompanying drawing explanation
Fig. 1 is localizing objects coordinate basis figure of the present utility model;
Fig. 2 is the module principle frame diagram of wavelength of radio wave range finding;
Fig. 3 is the schematic diagram calculation of wavelength of radio wave range finding;
Fig. 4 is that radiowave distal tip signal receives recognition principle figure.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is further described.
The embodiment of a kind of distance measuring equipment based on wavelength of radio wave of the present invention.
As shown in Figure 2, distance measuring equipment of the present invention comprises locating terminal 201 and by locating terminal 212, locating terminal 201 is provided with radio transmission module 206, radio reception module 203, analog-to-digital conversion module 202 and wave information overall treatment module, wave information overall treatment module 205 output terminal control linkage radio transmission module 206, an output terminal of radio reception module 203 is connected with the input end of wave information overall treatment module 205 by analog-to-digital conversion module 202, another output terminal is directly connected with wave information overall treatment module 205, be provided with by positioning end radio wave transmission module 211 with by positioning end radio wave reception module 213 in locating terminal 212, the source and electromagnetic wave 208 launched for the radio wave transmission module 206 receiving locating terminal 201 by the radio wave reception module 213 of positioning end 212 is also passed to by the radio wave transmission module 211 of locating terminal 212, the Amplitude amplification of source electric wave 208 generates and returns electric wave 209 by radio wave transmission module 211, then send by by send-receive end 210 radiation of positioning end 212.
The course of work of this distance measuring equipment is as follows, when starting range finding, locating terminal 201 and first carried out initialization by each module in positioning end 212, then the wave information overall treatment module 205 in locating terminal 201 sends instructions to locating terminal radio wave transmission module 206, locating terminal radio wave transmission module 206 starts vibration and generates source and electromagnetic wave 208, and is sent to external radiation by locating terminal send-receive antenna 207.The source electric wave 208 that send-receive end 210 transmits is received by the radio wave reception module of positioning end 212, and be passed to radio wave transmission module 211, the Amplitude amplification of source electric wave 208 generates and returns electric wave 209 by radio wave transmission module 211, then sends by by send-receive end 210 radiation of positioning end 212.Return electric wave 209 to be received through wave transmission-receiving end 207 by the radio wave reception module 203 of locating terminal 201.Radio wave reception module 203 sends instruction to wave information overall treatment module 205 and analog-to-digital conversion module 202 after receiving and returning electric wave 209 simultaneously; Wave information overall treatment module 205 stops radio wave transmission module 206 to by the transmission of locating module 212 source electric wave immediately according to instruction, what radio wave reception module 203 received by analog-to-digital conversion module 202 return electric wave 209 is converted into by digitally coded Digital Square-Wave and these Digital Square-Waves is sent to wave information overall treatment module 205, and wave information overall treatment module 205 starts to process the data sent.After radio wave transmission module 206 stops electromagnetic wave transmission, continuation is propagated to by the send-receive end of localizing objects 212 by the electromagnetic wave sent, and amplitude returns after being exaggerated.When after the completely received process of the electromagnetic wave returned, the distance that electromagnetic wave is passed by is that the locating terminal send-receive end of 2 times is to by the distance between localizing objects send-receive end.
The radiowave digitizing that the analog-to-digital conversion module 202 of locating terminal 201 will receive, then reaches wave information overall treatment module 205.Wave information overall treatment module 205 is by detecting analog-to-digital conversion module 202 the first sign bit output pin level change (being characterized as the change between " 0 " and " 1 ") and the appearance (being characterized as other numerical coding position except first place is entirely " 1 ") of other numerical coding position peak value except first place except, (the first sign bit often changes once representative and receives 2 1/4 wavelength can to determine to receive the number k of electric wave 1/4 wavelength, in the indeclinable situation of electric wave end sign bit, if occur, peak value need record 1 1/4 wavelength again); The end coded message that electric wave transmits is identified by the sudden change detecting analog-to-digital conversion module 202 output digit signals.
Current modulus conversion chip can be divided into 4,6,8,10,14,16,18,24 etc. by resolution, and wherein the modulus conversion chip sampling rate of performance brilliance can up to more than 50GS/s, and buffering in built-in Large Copacity sheet.High resolution figure place can ensure that analog to digital converter is to Longitudinal precision after simulating signal conversion, and then can realize the discretize of height; High sampling rate can ensure effective utilization of vertical resolution, namely can ensure that whole numerical codings that the analog to digital converter of certain resolution can represent can find unique sampled point corresponding with it on transverse axis; In large built-in, buffering, can ensure that analog to digital converter carries out complete to simulating signal and changes accurately.
With 24 high resolving power high sampling rate modulus conversion chips for embodiment.Choose the sample frequency of 3MHz, its wavelength is 100m (be 30 ten thousand thousand meter per seconds in velocity of wave).For the modulus conversion chip of 24, get its first place as sign bit for the electromagnetic reception condition of aid identification, then 1/4 wavelength can be divided into 223 Digital Square-Waves 301 by it, the width that each Digital Square-Wave is corresponding is λ/225, i.e. 0.00000298m, locating terminal 201 send-receive end 204 is 0.00000149m, i.e. 1.49um to the range accuracy of measured target 212 send-receive end 201.In the present invention based on the calculating of wavelength of radio wave range finding as shown in Figure 3, wave information overall treatment module 205 changes (being characterized as the change between " 0 " and " 1 ") by detection analog-to-digital conversion module 202 the first sign bit output pin level and the appearance of other numerical coding position peak value can determine the number of typing 1/4 wavelength except first place, if after typing k 1/4 wavelength, wave information overall treatment module 205 detects that the numerical information that analog-to-digital conversion module 202 exports is undergone mutation, and have n part coded digital square wave by the acquisition of electric wave end coded message at sign mutation point with between kth time typing 1/4 wavelength, then recording distance is:
Wherein L is required distance, λ receives by locating terminal radio wave reception module the wavelength of electric wave, the number of 1/4 wavelength that k records for wave information overall treatment module, the number of being discontented with the coded digital square wave of 1/4 wavelength of n for receiving before sign mutation.
In the ideal situation, after the transmitter module of radiowave locating terminal 201 stops transmitting, occur to no longer include electromagnetic wave after the electromagnetic wave sent, and in fact, after radiowave stops transmission, a part cannot the electromagnetic wave 403 of supply and amplitude sharp-decay still can send because of energy, then return after measured target 212 processes, as shown in Figure 4, the electric wave 403 of sharp-decay is there is after the end 402 of radiowave 401, after electric wave end, the amplitude of electric wave decays to A2 by original A1, and wavelength and frequency remain unchanged.
The embodiment of a kind of distance-finding method based on wavelength of radio wave of the present invention.
1. set up test point, send the electromagnetic wave of certain frequency in test point to measured target, the wave frequency that in the present embodiment, we select is the sample frequency of 3MHz, and its wavelength is 100m (be 30 ten thousand thousand meter per seconds in velocity of wave).
2. test target receives electromagnetic wave and be back to test point after amplifying process, the electromagnetic wave received is become Digital Square-Wave by analog to digital conversion by test point, and statistics receives the number of the quantity of 1/4 wavelength and the numerical coding square wave of front discontented 1/4 wavelength received of sign mutation, calculates the distance of test point to measured target according to the information counted on and electromagnetic wavelength.
Wherein L is required distance, λ receives by locating terminal radio wave reception module the wavelength of electric wave, the number of 1/4 wavelength that k records for wave information overall treatment module, the number of being discontented with the coded digital square wave of 1/4 wavelength of n for receiving before sign mutation.
The embodiment of a kind of localization method based on wavelength of radio wave of the present invention.
First set up a global coordinate system, as shown in Figure 1, three coordinate axis under this coordinate system arrange corresponding measuring point respectively, each measuring point is respectively arranged with corresponding send-receive end.If three measuring point coordinates be respectively 101 (0,0, c), 102 (a, 0,0), 103 (0, b, 0), these three measuring points are respectively L to the distance of measured target
1, L
2and L
3,
Then the method for above-described embodiment is utilized to obtain the distance L of each measuring point and north side target respectively
1, L
2and L
3, detailed process has been described in detail in the above-described embodiments, is not repeating to repeat here.
Measured target 104 coordinate is (x, y, z), then by pictorial relationships, can obtain following matrix:
By required L
1, L
2and L
3bring above-mentioned formula into, measured target 104 (x, y, z) coordinate figure just can uniquely be determined, and (result of calculation of this matrix is two groups of solutions, and the plane symmetry that these two groups of solutions form about three measuring points, the actual positional relationship according to measured point and test point gives up that group solution falling not meet reality).
From the geometric meaning of figure element position relationship, be equivalent to found tripod in the plane in the present invention to the coordinate basis of measured point, three point coordinate are determined, plane is determined, three pole length are determined, measured point is determined relative to the position of plane, and measured point target is determined and unique.As shown in Figure 1, as long as the distance of measured point to three locating terminal send-receive ends accurately can be recorded, just by calculating by the co-ordinate position information of anchor point, realize location.
Claims (10)
1. the distance measuring equipment based on wavelength of radio wave, it is characterized in that, this distance measuring equipment comprises locating terminal and by locating terminal, described locating terminal is provided with radio wave transmission module, radio wave reception module, analog-to-digital conversion module and wave information overall treatment module, describedly be provided with by positioned radio electric wave reception module and radio wave transmission module by locating terminal, the radio wave transmission module of described locating terminal is used for according to the instruction of wave information overall treatment module to by locating terminal emissive source electromagnetic wave, the described electromagnetic wave sent for receiving locating terminal by the radio wave reception module of locating terminal, described be used for returning electric wave by generating after the Amplitude amplification receiving source electric wave and launching given position terminal by the radio transmission module of locating terminal, the electric wave that returns that analog-to-digital conversion module is used for radio wave reception module to receive is converted into by digitally coded Digital Square-Wave and these Digital Square-Waves is sent to wave information overall treatment module, described wave information overall treatment module is used for according to the square wave compute location terminal of digitized processing with by the distance of locating terminal.
2. the distance measuring equipment based on wavelength of radio wave according to claim 1, is characterized in that, the locating terminal that described wave information overall treatment module calculates according to wavelength and be by the distance L between locating terminal:
Wherein L is required distance, λ receives by locating terminal radio wave reception module the wavelength of electric wave, the number of 1/4 wavelength that k records for wave information overall treatment module, the number of being discontented with the coded digital square wave of 1/4 wavelength of n for receiving before sign mutation, m is the figure place of analog-to-digital conversion module resolution.
3. the distance measuring equipment based on wavelength of radio wave according to claim 2, it is characterized in that, described locating terminal stops sending electromagnetic wave after receiving and returning electromagnetic wave immediately, wave information overall treatment module receives the mark identified, and to judge to return electric wave completely received using the electromagnetic wave receiving amplitude sharp-decay as radiowave distal tip signal, and the electromagnetic wave of described amplitude sharp-decay is because energy cannot the electromagnetic wave of supply and amplitude sharp-decay after the transmitter module of radiowave locating terminal stops launching.
4. based on a distance-finding method for wavelength of radio wave, it is characterized in that, this distance-finding method comprises the following steps:
1) set up test point, send the electromagnetic wave of certain frequency in test point to measured target;
2) electromagnetic wave received is back to test point by measured target after amplifying process;
3) electromagnetic wave received is carried out analog to digital conversion by test point, and statistics receives the number of the quantity of 1/4 wavelength and the numerical coding square wave of front discontented 1/4 wavelength received of sign mutation, calculates the distance of test point to measured target according to the information counted on and electromagnetic wavelength.
5. the distance-finding method based on wavelength of radio wave according to claim 4, is characterized in that, the distance of described test point and measured target is:
Wherein L is required distance, λ receives by measured target the wavelength of electric wave, k is the number of 1/4 wavelength that test point receives, and the number of being discontented with the numerical coding square wave of 1/4 wavelength of n for receiving before sign mutation, m is the figure place of analog-to-digital conversion module resolution.
6. the distance-finding method based on wavelength of radio wave according to claim 5, it is characterized in that, described test point receives the mark identified, and to judge to return electric wave completely received using the electromagnetic wave receiving amplitude sharp-decay as radiowave distal tip signal, and the electromagnetic wave of described amplitude sharp-decay is because energy cannot the electromagnetic wave of supply and amplitude sharp-decay after the transmitter module of test point stops launching.
7. based on a localization method for wavelength of radio wave, it is characterized in that, this localization method comprises the following steps:
1) set up a global coordinate system, three coordinate axis under this coordinate system arrange corresponding measuring point respectively;
2) each measuring point sends electromagnetic wave from respective settings frequency to measured target is controlled;
3) measured target is back to corresponding test point after the electromagnetic wave received is amplified process;
4) electromagnetic wave received is carried out analog to digital conversion by each test point, and statistics receives the number of the quantity of 1/4 wavelength and the numerical coding square wave of front discontented 1/4 wavelength received of sign mutation, calculates the distance of each test point to measured target according to the information counted on and electromagnetic wavelength;
5) according to the test point in calculated three coordinate axis and the distance of test target and the coordinate position of three test points self, the coordinate figure of measured target is calculated.
8. the localization method based on wavelength of radio wave according to claim 7, is characterized in that, in described step 4, the range formula of test point and measured target is:
Wherein L is required distance, λ receives by measured target the wavelength of electric wave, k is the number of 1/4 wavelength that test point receives, the number of the coded digital square wave of discontented 1/4 wavelength of n for receiving before sign mutation, the figure place of analog-to-digital converter resolution of m for adopting in analog-digital conversion process.
9. the localization method based on wavelength of radio wave according to claim 8, is characterized in that, described step 5) in the coordinate figure computing formula of measured target be:
Wherein (0,0, c), (a, 0,0) and (0, b, 0) be respectively the coordinate of three test points, L
1, L
2and L
3the distances of three test points to measured target respectively, the coordinate that (x, y, z) is measured target.
10. the localization method based on wavelength of radio wave according to claim 8, it is characterized in that, described test point receives the mark identified, and to judge to return electric wave completely received using the electromagnetic wave receiving amplitude sharp-decay as radiowave distal tip signal, and the electromagnetic wave of described amplitude sharp-decay is because energy cannot the electromagnetic wave of supply and amplitude sharp-decay after the transmitter module of test point stops launching.
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| CN114114158A (en) * | 2022-01-27 | 2022-03-01 | 山东理工大学 | Distance measuring device and distance measuring method based on radio wave wavelength |
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| CN104297745B (en) | 2017-06-16 |
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