CN105467383B - Distance-finding method based on Waveform Matching in a kind of TOF technologies - Google Patents

Distance-finding method based on Waveform Matching in a kind of TOF technologies Download PDF

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CN105467383B
CN105467383B CN201510800869.9A CN201510800869A CN105467383B CN 105467383 B CN105467383 B CN 105467383B CN 201510800869 A CN201510800869 A CN 201510800869A CN 105467383 B CN105467383 B CN 105467383B
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distance
tof
waveform
curve
parameter
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CN105467383A (en
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巴若珉
辛阔
刘涛
余明慧
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Shanghai Jiaotong University
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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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The present invention relates to the distance-finding method based on Waveform Matching in a kind of TOF technologies, comprise the following steps：A, duplicate measurements carried out using TOF technologies, gather multiple TOF periodicities；B, the TOF periodicities gathered are handled, obtain measurement distance, be specially：B1) obtain by abscissa of TOF periodicities, this time measure in gather a certain TOF periodicities number of times for ordinate oscillogram；B2 the curve waveform parameter value and Boolean type parameter value of the oscillogram) are obtained；B3) search for the curve waveform parameter distance corresponding table that prestores, obtain and step B2) in the corresponding Prediction distance of curve waveform parameter value, bring optimal weights into and match, summation is weighted to all Prediction distances and obtains preliminary surveying distance；B4) according to step B2) in Boolean type parameter value to preliminary surveying distance rectify a deviation, obtain final measurement distance.Compared with prior art, the present invention has high precision, saving memory space, the low advantage of data processing complexity.

Description

Distance-finding method based on Waveform Matching in a kind of TOF technologies
Technical field
It is specifically to pass through waveform in TOF technologies in one kind the present invention relates to a kind of method for wireless distance finding field The method of the matching analysis ranging.
Background technology
TOF is the abbreviation of flight time (Time of Flight) technology, and this technology is widely used in ranging field. TOF belongs to Bidirectional distance measurement technology, and the flight time that it is mainly come and gone using signal between two asynchronous receiver-transmitters measures section The distance between point.And the flight time is represented with TOF periodicities；TOF periodicities are transmitted into reception from signal and undergone Chip clock periodicity, also referred to as TOF values.Comprising repeating, TOF values are gathered one-shot measurement process and processing gathered data draws survey From two subprocess of span.The meaning of wherein duplicate measurements is to reduce influence of the random error to measurement.But duplicate measurements Number of times it is directly related with chip power-consumption, and the label chip of receiver system is often battery powered, so pendulous frequency is not Can unrestrictedly it increase.As can be seen here, improving measurement accuracy while power consumption is reduced turns into the target of whole system most critical.Tool For body, i.e., improve precision while pendulous frequency is reduced.And repeat TOF values and gather the precision of this subprocess by chip sheet Body determines that improving system accuracy means that cost is improved.It is different but data processing subprocess has very big optimization space Processing Algorithm influences very big to precision.
Through the retrieval discovery to existing technical literature, Technische Universitaet M ü nchen researcher Alejandro Ramirez are in " Time-of-flight in Wireless Networks as Information Source Show that this process of measurement distance is conducted in-depth research in this paper of for Positioning " to data processing, propose Simple average method, normal distribution processing method, particle cluster algorithm and kalman filter method carry out data processing.And Show that Kalman filtering is optimization process method by comparing.The basic assumption of author is that existence anduniquess is true under determining distance one Determine TOF values, it is due to that error causes why to obtain other TOF values.The meaning of data processing is to exclude error, found unique The TOF values of determination；It is worth cutting edge aligned reference curve by measuring the TOF under different distance again, and benchmark is used as using reference curve Carry out range measurement.This method is the most commonly used, common ranging thinking.But when draw using discrete TOF periodicities as Abscissa, using adopted in duplicate measurements a certain TOF periodicities number of times as the block diagram of ordinate when, it can be found that image is simultaneously It is non-to there is a certain absolute high peak value as normal distribution curve, on the contrary in the presence of two peak values；This explanation is true in TOF rangings There is problem in this conventional thought of fixed unique standard value.And graphic feature and distance have very strong correlation.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of precision is high, saves and deposits Distance-finding method based on Waveform Matching in the low TOF technologies of storage space, data processing complexity.
The purpose of the present invention can be achieved through the following technical solutions：
Distance-finding method based on Waveform Matching in a kind of TOF technologies, comprises the following steps：
A, duplicate measurements carried out using TOF technologies, gather multiple TOF periodicities；
B, the TOF periodicities gathered are handled, obtain measurement distance, be specially：
B1) obtain by abscissa of TOF periodicities, this time measure in gather the number of times of a certain TOF periodicities is vertical seat Target oscillogram；
B2 the curve waveform parameter value and Boolean type parameter value of the oscillogram) are obtained；
B3) search for the curve waveform parameter distance corresponding table that prestores, obtain and step B2) in curve waveform parameter It is worth corresponding Prediction distance, being weighted summation to all Prediction distances obtains preliminary surveying distance；
B4) according to step B2) in Boolean type parameter value to preliminary surveying distance rectify a deviation, obtain final measurement away from From.
The step B3) in curve waveform parameter distance corresponding table obtain in the following manner：
1) under different distance using TOF technologies carry out duplicate measurements, draw it is multiple by abscissa of TOF periodicities, one Gathered in secondary measurement a certain TOF periodicities number of times be ordinate oscillogram；
2) according to step 1) the middle oscillogram drawn, the common trait that oscillogram has under different distance is obtained, is made with this For general type waveform；
3) obtained according to the general type waveform and represent each ripple to apart from related wave character, and with respective function The relation of shape feature and distance, the wave character includes curve waveform parameter and boolean's shape parameter；
4) it is curve waveform parameter distance pair by the transformation of curve waveform parameter and distance according to the respective function Answer table and store, while storing the piecewise function frontier distance of boolean's shape parameter.
In the wave character, the relation of curve waveform parameter and distance is represented using matched curve, boolean's shape parameter with The Boolean quantity that the relation of distance only has 0 and 1 using dependent variable is represented.
Different curve waveform parameter, using different matched curves.
The matched curve includes linear fit, cubic spline interpolation, exponential fitting, fitting of a polynomial or logistic fit.
The step 4) in, according to the respective function by the transformation of curve waveform parameter and distance be curve waveform Parameter distance corresponding table is specially：
401) by fitting function discretization, wherein, discrete interval is less than the precision that whole range-measurement system can reach；
402) curve waveform parameter distance corresponding table is obtained.
The step B3) in, to all Prediction distances be weighted summation obtain preliminary surveying distance formula it is as follows：
Wherein, fiRepresent i-th of curve waveform parameter, function Xi() represents to draw prediction by i-th of curve waveform parameter The reference curve of distance, piFor the weight of i-th of curve waveform parameter, d represents preliminary surveying distance, and n represents curve ripple parameter Several numbers.
The weight proportioning used during the weighted sum according to Boolean type parameter value to preliminary surveying distance with rectifying a deviation The combination of Shi Caiyong correction amount is obtained by optimized algorithm.
Compared with prior art, the invention has the advantages that：
1st, the TOF value roadmaps of waveform analysis are totally different from traditional TOF value roadmaps.Traditional roadmap Think why duplicate measurements obtains the presence that different TOF values are due to error at same distance, and the meaning of data processing Justice, which is lain also in, eliminates this error.And waveform analysis is thought by adopting to obtain number of times using TOF periodicities as abscissa, with TOF periodicities Have strong correlation for the block diagram graphic feature and distance of ordinate, obtain measuring by the analysis to graphic feature away from From.Because distance has very strong correlation with figure in TOF rangings, this method is relatively passed under equal hardware, power consumption situation System method precision is higher.
2nd, this method stores the relation of curve waveform parameter and distance using the method for look-up table.First can be by with not Tongfang The reference curve that formula is drawn is expressed in a uniform manner, makes system design more simple.Secondly relatively such as cubic spline interpolation Complicated function expression, such storage mode more saves memory space.And storage is empty needed for each wave character Between be fixed, amount of storage demand is understood when being easy to the chip to design.In the measurements, the time complexity of search is only O finally (logN), calculated compared with function and greatly reduce time complexity.
3rd, in the method for pattern analysis, distance is drawn by multiple figure parameters, and each figure parameter is using different Fit approach, in this way can be more accurate and stable measurement distance.Traditional metering system distance is only Dependent on TOF values, when environment changes, considerable influence can may be produced to this variable；And it is jointly true by multiple waveform parameters institute The method of set a distance is smaller by such environmental effects, and effect is more stablized.
4th,, can be optimal to this using genetic algorithm or annealing algorithm when weight correction combination is more in the present invention Change problem is solved, and can be asked for optimum combination using the method for computer traversal when combining less, can particularly be adopted With first global a wide range of traversal, the method for then carrying out local small range traversal can effectively improve the essence of weight and correction amount Degree.
Brief description of the drawings
Fig. 1 is schematic flow sheet of the invention；
Waveform master drawing in Fig. 2 embodiments.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention Premised on implemented, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to Following embodiments.
As shown in figure 1, the distance-finding method based on Waveform Matching in the TOF technologies that the present embodiment is provided, passes through following steps Realize：
The first step, obtains the general type of waveform.Duplicate measurements is carried out using TOF technologies under different distance, drawn many It is individual gathered by abscissa of TOF periodicities, in one-shot measurement the number of times of a certain TOF periodicities is the oscillogram of ordinate, root According to the oscillogram of drafting, the common trait that oscillogram has under different distance is obtained, in this, as general type waveform.
As shown in Fig. 2 waveform has following general type：From left to right, waveform undergoes one to waveform since low first Or two peaks are right；A significant low ebb is then subjected to, minimum point is reached；It is then high again, undergo one or two peak, ripple Shape terminates.
Second step, finds out the wave character with distance dependent, and carries out mathematical expression, and wave character here includes curve Waveform parameter and boolean's shape parameter.The mathematical expression of wave character is required under the basic assumption of waveform general type accurately Ground describes each feature, and its accurate implication can be described for that can be described by mathematical linguistics by computer language This problem, in the absence of the ambiguity or incomputability of description.
In this basic assumption, the conceptual description at minimum point and peak is particularly important, is the base that other wave characters are defined Plinth.The definition at peak is higher than the TOF values at left and right consecutive number strong point for TOF values at certain data point, and this point is called peak.Minimum point it is general Read and be described as after one or two peak is undergone and undergo again between one or two peak TOF values minimum in the notable low ebb in position Point.Based on the two concept definitions, I then defines series of concepts.Part before experience minimum point is the first rank Section；Part after experience minimum point is second stage.Main peak, for TOF values highest one in selected several peaks.Leading peak, For first peak in selected several peaks；Postpeak, for last in selected several peaks.By above-mentioned concept definition, find 11 to apart from related wave character, as shown in table 1.
The wave character of table 1 defines table
Concept Conceptual description
First stage main peak peak value The TOF values at highest peak in the first stage
First stage peak position The position at highest peak in the first stage
Second stage main peak peak value TOF values at second stage highest peak
Second stage peak position Position at second stage highest peak
Lowest point The position of minimum point
Initial sharp degree From first point to the slope of first stage leading peak line
Terminate steep From second stage postpeak to the slope of last point line
Whether the first stage is bimodal Whether there are two peaks inside first stage
Whether second stage is bimodal Whether there are two peaks inside second stage
First stage area The totalling of first stage all TOF values
Second stage area The totalling of all TOF values of second stage
3rd step, determines the relation of each wave character and distance.Sought according to the relation of each wave character and distance Look for optimal mathematical expression.Wave character and distance generally there are the relation of linearly or nonlinearly feature, some of which waveform The mathematic(al) representation of feature is integer or Real-valued, can attempt to look for the matched curve with distance, such as linear fit, three Secondary spline interpolation, exponential fitting, fitting of a polynomial, logistic fit etc..Also some wave characters are Boolean quantities, only exist be with No two kinds of values.It is now by the way of Function Fitting and unreasonable.The physical meaning of these wave characters is in a certain distance In the range of the probability that occurs being be higher than other distances, so these wave characters and the function of distance should be expressed as dependent variable only There is 0 and 1 Boolean quantity.
In the present embodiment, the first main peak peak value, the first peak position, the second peak position are by the way of linear fit； Second main peak peak value, end steep are fitted using cubic polynomial；Lowest point, the second peak area are using three samples Bar interpolation fitting；Initial sharp degree, the first peak area use exponential fitting form.And whether a peak is bimodal to be with two peaks It is no to ask for frontier distance for the two bimodal Boolean variables.
4th step, the storage of wave character and distance relation function, due to the functional relation conduct of wave character and distance Normative reference will be used in ranging, so to be stored in the chips.Conventional TOF rangings are often that linear function is closed System, so direct storage function relation in chip, directly bringing TOF values into function draws distance value in ranging application.But Under this method, different ripple features use different fit correlations, if storage function relation needs more than ever before deposit Store up space；Particularly cubic spline functions need very many parameters, it is necessary to great memory space.And in ranging In, because some fitting functions refer to logarithm, polynomial function, bring wave character into and ask for the Algorithms T-cbmplexity of distance very It is high.So having abandoned storage fitting function under this methodology, the method stored waveform feature of look-up table and the relation of distance are used instead. Wave character need not use this method, the frontier distance of direct memory segment function for the functional relation of Boolean quantity.
In this method, according to respective function by the transformation of curve waveform parameter and distance be curve waveform parameter distance Corresponding table is simultaneously stored, while storing the piecewise function frontier distance of boolean's shape parameter.According to respective function by curve waveform parameter Transformation with distance is that curve waveform parameter distance corresponding table is specially：
1) by fitting function discretization, wherein, discrete interval is less than the precision that whole range-measurement system can reach.For example it is whole The precision that system can reach is 1m, then discrete interval should be less than 0.1m, and the loss of significance so caused by discrete interval will not Any negative effect can be produced to the precision of whole system.
2) curve waveform parameter distance corresponding table is obtained.
5th step, it is determined that correction amount of the weight with when Boolean type parameter of each curve waveform parameter.
Each curve waveform feature is different from the degree of correlation of distance, therefore assigns each curve waveform parameter with weight, power Weight and for 1, preliminary surveying distance is drawn by below equation：
Wherein, fiRepresent i-th of curve waveform parameter, function Xi() represents to draw prediction by i-th of curve waveform parameter The reference curve of distance, piFor the weight of i-th of curve waveform parameter, d represents preliminary surveying distance, and n represents curve ripple parameter Several numbers.
And boolean's shape parameter be can not be by Boolean come direct Prediction distance, therefore be modified using correction amount mode. Suitably rectified a deviation when the preliminary surveying distance drawn is not inconsistent with Boolean type parameter value, and the size of correction amount is equally needed Consider.So in order to determine the weight of each waveform parameter and the correction amount of Boolean type waveform parameter, it is necessary to be sought by experiment The weight correction amount of optimization is looked for combine.If number of combinations can not more to be traveled through with computer, using genetic algorithm or it can move back Fiery algorithm is solved to this optimization problem.If scope compared with I calculate, can using computer traversal method come Ask for optimum combination.Particularly can be using first global a wide range of traversal, the method for then carrying out local small range traversal, to carry The precision of high weight and correction amount.
In the present embodiment, according to traversal method mentioned hereinbefore, realized by computer programming.All power of traversal Weight and correction distance combination, the minimum combination of error identifying；The precision of weight and correction distance is improved again, it is attached in optimum combination It is near to carry out small range traversal, so as to finally draw optimal weight proportioning.
6th step, the measurement of row distance can be entered after the completion of above-mentioned preparation process, is concretely comprised the following steps：
A, duplicate measurements carried out using TOF technologies, gather multiple TOF periodicities；
B, the TOF periodicities gathered are handled, obtain measurement distance, be specially：
B1) obtain by abscissa of TOF periodicities, this time measure in gather the number of times of a certain TOF periodicities is vertical seat Target oscillogram；
B2 the curve waveform parameter value and Boolean type parameter value of the oscillogram) are obtained；
B3) search for the curve waveform parameter distance corresponding table that prestores, obtain and step B2) in curve waveform parameter It is worth corresponding Prediction distance, brings optimal weights proportioning into, summation is weighted to all Prediction distances and obtains preliminary surveying distance；
B4) according to step B2) in Boolean type parameter value to preliminary surveying distance rectify a deviation, obtain final measurement away from From.
In current embodiment, the measurement error scope that can be reached using traditional data processing method is 5-6m；And Under equal power consumption and hardware, the data processing method error range of waveform parameter drops to 2-3m.It can be seen that in TOF rangings, Particularly distance with the situation of TOF graphic parameter strong correlations, waveform analysis can reach more preferable ranging effect.

Claims (8)

1. the distance-finding method based on Waveform Matching in a kind of TOF technologies, it is characterised in that comprise the following steps：
A, duplicate measurements carried out using TOF technologies, gather multiple TOF periodicities；
B, the TOF periodicities gathered are handled, obtain measurement distance, be specially：
B1) obtain by abscissa of TOF periodicities, this time measure in gather the number of times of a certain TOF periodicities is ordinate Oscillogram；
B2 the curve waveform parameter value and Boolean type parameter value of the oscillogram) are obtained；
B3) search for the curve waveform parameter distance corresponding table that prestores, obtain and step B2) in curve waveform parameter value pair All Prediction distances are weighted summation and obtain preliminary surveying distance by the Prediction distance answered；
B4) according to step B2) in Boolean type parameter value to preliminary surveying distance rectify a deviation, obtain final measurement distance.
2. the distance-finding method based on Waveform Matching in TOF technologies according to claim 1, it is characterised in that the step B3 the curve waveform parameter distance corresponding table in) is obtained in the following manner：
1) duplicate measurements is carried out using TOF technologies under different distance, drafting is multiple to be surveyed using TOF periodicities as abscissa, once Gathered in amount a certain TOF periodicities number of times be ordinate oscillogram；
2) according to step 1) the middle oscillogram drawn, the common trait that oscillogram has under different distance is obtained, in this, as one As form waveform；
3) obtained according to the general type waveform and represent that each waveform is special to apart from related wave character, and with respective function The relation with distance is levied, the wave character includes curve waveform parameter and boolean's shape parameter；
4) it is curve waveform parameter distance corresponding table by the transformation of curve waveform parameter and distance according to the respective function And store, while storing the piecewise function frontier distance of boolean's shape parameter.
3. the distance-finding method based on Waveform Matching in TOF technologies according to claim 2, it is characterised in that the waveform In feature, the relation of curve waveform parameter and distance is represented using matched curve, the relation of boolean's shape parameter and distance use because The Boolean quantity that variable only has 0 and 1 is represented.
4. the distance-finding method based on Waveform Matching in TOF technologies according to claim 3, it is characterised in that different songs Line waveform parameter, using different matched curves.
5. the distance-finding method based on Waveform Matching in the TOF technologies according to claim 3 or 4, it is characterised in that the plan Closing curve includes linear fit, cubic spline interpolation, exponential fitting, fitting of a polynomial or logistic fit.
6. the distance-finding method based on Waveform Matching in TOF technologies according to claim 3, it is characterised in that the step 4) in, the transformation of curve waveform parameter and distance is had for curve waveform parameter distance corresponding table according to the respective function Body is：
401) by respective function discretization, wherein, discrete interval is less than the precision that whole range-measurement system can reach；
402) curve waveform parameter distance corresponding table is obtained.
7. the distance-finding method based on Waveform Matching in TOF technologies according to claim 1, it is characterised in that the step B3 in), to all Prediction distances be weighted summation obtain preliminary surveying distance formula it is as follows：
<mrow> <mi>d</mi> <mo>=</mo> <munderover> <mo>&amp;Sigma;</mo> <mrow> <mi>i</mi> <mo>=</mo> <mn>1</mn> </mrow> <mi>n</mi> </munderover> <msub> <mi>X</mi> <mi>i</mi> </msub> <mrow> <mo>(</mo> <msub> <mi>f</mi> <mi>i</mi> </msub> <mo>)</mo> </mrow> <mo>*</mo> <msub> <mi>p</mi> <mi>i</mi> </msub> </mrow>
Wherein, fiRepresent i-th of curve waveform parameter, function Xi() represents to draw Prediction distance by i-th of curve waveform parameter Reference curve, piFor the weight of i-th of curve waveform parameter, d represents preliminary surveying distance, and n represents curve waveform parameter Number.
8. the distance-finding method based on Waveform Matching in TOF technologies according to claim 1, it is characterised in that the weighting The correction amount used when the weight proportioning used during summation according to Boolean type parameter value to preliminary surveying distance with rectifying a deviation Combination is obtained by optimized algorithm.
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