CN106443682A - Intelligent ranging system and intelligent ranging method based on ultrasonic ranging technology - Google Patents
Intelligent ranging system and intelligent ranging method based on ultrasonic ranging technology Download PDFInfo
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- CN106443682A CN106443682A CN201610818327.9A CN201610818327A CN106443682A CN 106443682 A CN106443682 A CN 106443682A CN 201610818327 A CN201610818327 A CN 201610818327A CN 106443682 A CN106443682 A CN 106443682A
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
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- Radar, Positioning & Navigation (AREA)
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- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention provides an intelligent ranging system and an intelligent ranging method based on ultrasonic ranging technology, wherein the intelligent ranging system and the intelligent ranging method belong to the field of an ultrasonic wave. The system and the method are characterized in that the system comprises an external crystal oscillator which is used for generating a clock frequency of a central processing unit; the external crystal oscillator is connected with the central processing unit that is used for processing data information of the system; and the central processing unit is in signal connection with an ultrasonic wave transmission head for transmitting an ultrasonic wave signal, a debugging interface which is used for connecting with an external debugging machine, a positioning unit for positioning, and an ultrasonic wave receiving processing unit which is used for processing the received ultrasonic wave. The intelligent ranging system and the intelligent ranging method have advantages of high positioning accuracy, long-distance positioning function, three-dimensional positioning function, etc.
Description
Technical field
The present invention relates to art of ultrasound, particularly to a kind of intelligent distance-measuring system based on ultrasonic measuring distance technology and side
Method.
Background technology
Ultrasonic wave positioning is widely incorporated in every field as a kind of conventional localization method, its low cost, positioning
Simply.Ultrasonic positioning system can be used for a range of contactless positioning, and positioning precision is up to 1cm.Biography due to ultrasonic wave
Broadcast affected by environment larger, therefore do not recommend in outdoor application.In actual applications according to environment and its application circuit of specific requirement
Can be suitably modified.For example encoded signal can be added directly in ultrasonic signal, it is right that such system can be directly used for
The identification of elephant.In order to increase receiving sensitivity, can also be using the reflection unit of similar radar antenna.
But for being positioned compared to GPS location due to ultrasonic wave, its accuracy differs farther out, so in some cases,
Ultrasonic wave positioning is simultaneously inapplicable；But likewise, when needing, for some, the destination address positioning non-local address, GPS location is then
Cannot startup act on well, therefore researching and developing a kind of system that can have two kinds of advantages concurrently will have very high practicality.
Content of the invention
In consideration of it, the invention provides a kind of intelligent distance-measuring system and method based on ultrasonic measuring distance technology, the present invention
There is accurate positioning, realize long distance positioning and possess three-dimensional localization function.
The technical solution used in the present invention is as follows：
A kind of intelligent distance-measuring system based on ultrasonic measuring distance technology is it is characterised in that described system includes：For producing central authorities
The external crystal-controlled oscillation of processor clock frequency；Described external crystal-controlled oscillation signal is connected to the central authorities' process for processing system data message
Device；Signal is connected to the ultrasonic wave emitting head of transmitting ultrasonic signal, is used for connecting outside debugging described central processing unit respectively
The debugging interface of machine, the positioning unit for positioning and the ultrasonic wave receiving area for being processed to the ultrasonic wave receiving
Reason unit.
Described ultrasonic wave reception processing unit includes：Receive the ultrasonic wave reception head returning ultrasonic wave；Described ultrasonic wave connects
Receive head signal and be connected to the signal amplifier that the signal receiving is amplified；Described signal amplifier signal be connected to for
The bandpass filter of bandpass filtering；Described bandpass filter signal is connected to the voltage comparator for being compared to voltage；
Described voltage comparator signal is connected to central processing unit.
Described positioning unit includes：Barometer, temperature sensor, microprocessor and GPS positioning unit；Described barometer and
Signal is connected to microprocessor to temperature sensor respectively；Described barometer, for obtaining barometric information information；Described TEMP
Device, for obtaining temperature data information；Described microprocessor signal is connected to the GPS positioning unit for GPS location, for docking
The data message receiving is processed, and the result after processing is sent to central processing unit.
Described central processing unit includes：Threshold value selection unit, transmitted wave signal generating unit, received wave detection unit data are melted
Close unit；Described transmitted wave signal generating unit, for applying square-wave voltage on ultrasonic wave emitting head, and then generates transmitted wave
Launched by ultrasonic wave emitting head；Described threshold value chooses unit, for carrying out threshold value selection for different measurement situations,
The precision of lift system；Described received wave detection unit, for carrying out detection to received wave；Described data fusion unit, is used for
Data fusion is carried out to the data message receiving, draws final range measurement.
Described data fusion unit includes：Height calculation unit, metrics calculation unit and coordinate generating unit；Described distance
Computing unit is used for the data message according to transmitted wave and received wave, enters row distance and calculates；Described height calculation unit, for root
Calculate the elevation information of destination address according to thermometer and barometrical data message.
A kind of method of the intelligent distance-measuring system based on ultrasonic measuring distance technology it is characterised in that methods described include with
Lower step：
Step 1：System initialization, selected threshold, central processing unit applies rectangle according to the threshold value in constituency in ultrasonic wave emitting head
Pulse voltage, ultrasonic wave emitting head sends transmitted wave；
Step 2：Ultrasonic wave receives that head is amplified to the ultrasonic wave receiving, bandpass filtering and detection send to central authorities after processing
Processor；After central processing unit receives received wave, enter row distance and calculate, draw apart from result of calculation.
Step 3：Central processing unit obtains temperature data information and air pressure data message from positioning unit, is believed according to data
Breath carries out high computational, draws the result of high computational；
Step 4：Central processing unit obtains GPS location result from positioning unit；
Step 5：Central processing unit according to height results, GPS location result and carries out data fusion apart from result of calculation, draws
Whole result.
Described height calculation unit comprises the following steps to the computational methods of height：
Step 1：Central processing unit sends reset command；
Step 2：Send temperature ADC order, after time delay 10ms, send and read temperature ADC order, obtain temperature value W1；
Step 3：Send air pressure ADC order, after time delay 10ms, send and read air pressure ADC order, obtain atmospheric pressure value W2；Then count
Calculate the atmospheric pressure value after compensating；
Step 4：According to the atmospheric pressure value after compensating, carry out high computational according to equation below：
;
Wherein,=288.15K, beLimit value at a temperature of under respective heights；, it is hanging down of temperature
Straight rate of change；
, it isCorresponding height；, it isAir pressure lower limit under respective heights；, it is gas constant；, it is that sea level gravity accelerates
Degree.
The method that described central processing unit carries out data fusion comprises the following steps：
Step 1：Draw the longitude and latitude of destination address according to GPS location result and range information；
Step 2：Draw the height of destination address according to height calculation results.
Using above technical scheme, present invention produces following beneficial effect：
1st, structure is simple, low cost：The range positioning system structure based on ultrasonic wave of the present invention is simple, positioning, ultrasonic wave list
Unit can independently manufacture, and is that industrialized production manufacture is provided convenience the cost of the system that greatly reduces.
2nd, accuracy is high：The present invention, when accepting ultrasonic wave, is exaggerated to ultrasonic wave and bandpass filtering, eliminates portion
Divide noise signal it is ensured that the degree of accuracy of receipt signal, improve the accuracy of system.
3rd, long distance positioning：The alignment system of the present invention is drawn by the distance of ultrasonic measurement destination address and source address
The longitude and latitude of destination address is it is achieved that the function of long distance positioning destination address.
Using above technical scheme, present invention produces following beneficial effect：
1st, accurate positioning：For the positioning of height in the positioning of the present invention, employ compensation correction algorithm, simultaneously for ultrasonic wave
In measurement distance, employ various wave filters and amplifier ensures the complete of signal and serviceability, greatly improve the standard of system
Really property.
2nd, possesses long distance positioning function：The alignment system of the present invention can position the coordinate of distant object point, for
The coordinate address of oneself draws accurate target longitude and latitude it is ensured that position is accurate.
3rd, possesses three-dimensional localization function：The present invention is in addition to can positioning longitude and latitude moreover it is possible to position the height of objective
Degree, draw elevation information so that positioning result in further detail, effect is more preferable.
4th, applicability is wide：The present invention can carry out threshold value selection, for different situations, selects different threshold values can enter
Row lift system positioning and the accuracy of measurement.
Brief description
Fig. 1 is that a kind of system architecture of intelligent distance-measuring system and method based on ultrasonic measuring distance technology of the present invention is illustrated
Figure.
Specific embodiment
All features disclosed in this specification, or disclosed all methods or during step, except mutually exclusive
Feature and/or step beyond, all can combine by any way.
This specification（Including any accessory claim, summary）Disclosed in any feature, unless specifically stated otherwise,
Replaced by other alternative features equivalent or that there is similar purpose.I.e., unless specifically stated otherwise, each feature is a series of
One of equivalent or similar characteristics example.
A kind of intelligent distance-measuring system based on ultrasonic measuring distance technology is provided, system architecture is such as in the embodiment of the present invention 1
Shown in Fig. 1：
A kind of intelligent distance-measuring system based on ultrasonic measuring distance technology is it is characterised in that described system includes：For producing central authorities
The external crystal-controlled oscillation of processor clock frequency；Described external crystal-controlled oscillation signal is connected to the central authorities' process for processing system data message
Device；Signal is connected to the ultrasonic wave emitting head of transmitting ultrasonic signal, is used for connecting outside debugging described central processing unit respectively
The debugging interface of machine, the positioning unit for positioning and the ultrasonic wave receiving area for being processed to the ultrasonic wave receiving
Reason unit.
Described ultrasonic wave reception processing unit includes：Receive the ultrasonic wave reception head returning ultrasonic wave；Described ultrasonic wave connects
Receive head signal and be connected to the signal amplifier that the signal receiving is amplified；Described signal amplifier signal be connected to for
The bandpass filter of bandpass filtering；Described bandpass filter signal is connected to the voltage comparator for being compared to voltage；
Described voltage comparator signal is connected to central processing unit.
Described positioning unit includes：Barometer, temperature sensor, microprocessor and GPS positioning unit；Described barometer and
Signal is connected to microprocessor to temperature sensor respectively；Described barometer, for obtaining barometric information information；Described TEMP
Device, for obtaining temperature data information；Described microprocessor signal is connected to the GPS positioning unit for GPS location, for docking
The data message receiving is processed, and the result after processing is sent to central processing unit.
Described central processing unit includes：Threshold value selection unit, transmitted wave signal generating unit, received wave detection unit data are melted
Close unit；Described transmitted wave signal generating unit, for applying square-wave voltage on ultrasonic wave emitting head, and then generates transmitted wave
Launched by ultrasonic wave emitting head；Described threshold value chooses unit, for carrying out threshold value selection for different measurement situations,
The precision of lift system；Described received wave detection unit, for carrying out detection to received wave；Described data fusion unit, is used for
Data fusion is carried out to the data message receiving, draws final range measurement.
Described data fusion unit includes：Height calculation unit, metrics calculation unit and coordinate generating unit；Described distance
Computing unit is used for the data message according to transmitted wave and received wave, enters row distance and calculates；Described height calculation unit, for root
Calculate the elevation information of destination address according to thermometer and barometrical data message.
A kind of method of the intelligent distance-measuring system based on ultrasonic measuring distance technology is provided in the embodiment of the present invention 2,
A kind of method of the intelligent distance-measuring system based on ultrasonic measuring distance technology is it is characterised in that methods described includes following step
Suddenly：
Step 1：System initialization, selected threshold, central processing unit applies rectangle according to the threshold value in constituency in ultrasonic wave emitting head
Pulse voltage, ultrasonic wave emitting head sends transmitted wave；
Step 2：Ultrasonic wave receives that head is amplified to the ultrasonic wave receiving, bandpass filtering and detection send to central authorities after processing
Processor；After central processing unit receives received wave, enter row distance and calculate, draw apart from result of calculation.
Step 3：Central processing unit obtains temperature data information and air pressure data message from positioning unit, is believed according to data
Breath carries out high computational, draws the result of high computational；
Step 4：Central processing unit obtains GPS location result from positioning unit；
Step 5：Central processing unit according to height results, GPS location result and carries out data fusion apart from result of calculation, draws
Whole result.
Described height calculation unit comprises the following steps to the computational methods of height：
Step 1：Central processing unit sends reset command；
Step 2：Send temperature ADC order, after time delay 10ms, send and read temperature ADC order, obtain temperature value W1；
Step 3：Send air pressure ADC order, after time delay 10ms, send and read air pressure ADC order, obtain atmospheric pressure value W2；Then count
Calculate the atmospheric pressure value after compensating；
Step 4：According to the atmospheric pressure value after compensating, carry out high computational according to equation below：
;
Wherein,=288.15K, beLimit value at a temperature of under respective heights；, it is hanging down of temperature
Straight rate of change；
, it isCorresponding height；, it isAir pressure lower limit under respective heights；, it is gas constant；, it is that sea level gravity accelerates
Degree.
The method that described central processing unit carries out data fusion comprises the following steps：
Step 1：Draw the longitude and latitude of destination address according to GPS location result and range information；
Step 2：Draw the height of destination address according to height calculation results.
A kind of intelligent distance-measuring system and method based on ultrasonic measuring distance technology, system is provided in the embodiment of the present invention 3
Structure is as shown in Figure 1：
A kind of intelligent distance-measuring system based on ultrasonic measuring distance technology is it is characterised in that described system includes：For producing central authorities
The external crystal-controlled oscillation of processor clock frequency；Described external crystal-controlled oscillation signal is connected to the central authorities' process for processing system data message
Device；Signal is connected to the ultrasonic wave emitting head of transmitting ultrasonic signal, is used for connecting outside debugging described central processing unit respectively
The debugging interface of machine, the positioning unit for positioning and the ultrasonic wave receiving area for being processed to the ultrasonic wave receiving
Reason unit.
Described ultrasonic wave reception processing unit includes：Receive the ultrasonic wave reception head returning ultrasonic wave；Described ultrasonic wave connects
Receive head signal and be connected to the signal amplifier that the signal receiving is amplified；Described signal amplifier signal be connected to for
The bandpass filter of bandpass filtering；Described bandpass filter signal is connected to the voltage comparator for being compared to voltage；
Described voltage comparator signal is connected to central processing unit.
Described positioning unit includes：Barometer, temperature sensor, microprocessor and GPS positioning unit；Described barometer and
Signal is connected to microprocessor to temperature sensor respectively；Described barometer, for obtaining barometric information information；Described TEMP
Device, for obtaining temperature data information；Described microprocessor signal is connected to the GPS positioning unit for GPS location, for docking
The data message receiving is processed, and the result after processing is sent to central processing unit.
Described central processing unit includes：Threshold value selection unit, transmitted wave signal generating unit, received wave detection unit data are melted
Close unit；Described transmitted wave signal generating unit, for applying square-wave voltage on ultrasonic wave emitting head, and then generates transmitted wave
Launched by ultrasonic wave emitting head；Described threshold value chooses unit, for carrying out threshold value selection for different measurement situations,
The precision of lift system；Described received wave detection unit, for carrying out detection to received wave；Described data fusion unit, is used for
Data fusion is carried out to the data message receiving, draws final range measurement.
Described data fusion unit includes：Height calculation unit, metrics calculation unit and coordinate generating unit；Described distance
Computing unit is used for the data message according to transmitted wave and received wave, enters row distance and calculates；Described height calculation unit, for root
Calculate the elevation information of destination address according to thermometer and barometrical data message.
A kind of method of the intelligent distance-measuring system based on ultrasonic measuring distance technology it is characterised in that methods described include with
Lower step：
Step 1：System initialization, selected threshold, central processing unit applies rectangle according to the threshold value in constituency in ultrasonic wave emitting head
Pulse voltage, ultrasonic wave emitting head sends transmitted wave；
Step 2：Ultrasonic wave receives that head is amplified to the ultrasonic wave receiving, bandpass filtering and detection send to central authorities after processing
Processor；After central processing unit receives received wave, enter row distance and calculate, draw apart from result of calculation.
Step 3：Central processing unit obtains temperature data information and air pressure data message from positioning unit, is believed according to data
Breath carries out high computational, draws the result of high computational；
Step 4：Central processing unit obtains GPS location result from positioning unit；
Step 5：Central processing unit according to height results, GPS location result and carries out data fusion apart from result of calculation, draws
Whole result.
Described height calculation unit comprises the following steps to the computational methods of height：
Step 1：Central processing unit sends reset command；
Step 2：Send temperature ADC order, after time delay 10ms, send and read temperature ADC order, obtain temperature value W1；
Step 3：Send air pressure ADC order, after time delay 10ms, send and read air pressure ADC order, obtain atmospheric pressure value W2；Then count
Calculate the atmospheric pressure value after compensating；
Step 4：According to the atmospheric pressure value after compensating, carry out high computational according to equation below：
;
Wherein,=288.15K, beLimit value at a temperature of under respective heights；, it is hanging down of temperature
Straight rate of change；
, it isCorresponding height；, it isAir pressure lower limit under respective heights；, it is gas constant；, it is that sea level gravity accelerates
Degree.
The method that described central processing unit carries out data fusion comprises the following steps：
Step 1：Draw the longitude and latitude of destination address according to GPS location result and range information；
Step 2：Draw the height of destination address according to height calculation results.
The invention is not limited in aforesaid specific embodiment.The present invention expands to and any discloses in this manual
New feature or any new combination, and the arbitrary new method of disclosure or the step of process or any new combination.
Claims (8)
1. a kind of intelligent distance-measuring system based on ultrasonic measuring distance technology is it is characterised in that described system includes：In producing
The external crystal-controlled oscillation of central processor clock frequency；Described external crystal-controlled oscillation signal is connected to the centre for processing system data message
Reason device；Signal is connected to the ultrasonic wave emitting head of transmitting ultrasonic signal, is used for connecting outside tune described central processing unit respectively
The debugging interface of test-run a machine, the positioning unit for positioning and the ultrasonic wave for being processed to the ultrasonic wave receiving receive
Processing unit.
2. the intelligent distance-measuring system based on ultrasonic measuring distance technology as claimed in claim 1 is it is characterised in that described ultrasonic wave
Reception processing unit includes：Receive the ultrasonic wave reception head returning ultrasonic wave；Described ultrasonic wave receives head signal and is connected to docking
The signal amplifier that the signal receiving is amplified；Described signal amplifier signal is connected to the bandpass filtering for bandpass filtering
Device；Described bandpass filter signal is connected to the voltage comparator for being compared to voltage；Described voltage comparator signal
It is connected to central processing unit.
3. the intelligent distance-measuring system based on ultrasonic measuring distance technology as claimed in claim 2 is it is characterised in that described positioning list
Unit includes：Barometer, temperature sensor, microprocessor and GPS positioning unit；Described barometer and temperature sensor signal respectively
It is connected to microprocessor；Described barometer, for obtaining barometric information information；Described temperature sensor, for obtaining temperature number
It is believed that breath；Described microprocessor signal is connected to the GPS positioning unit for GPS location, for entering to the data message receiving
Row is processed, and the result after processing is sent to central processing unit.
4. the intelligent distance-measuring system based on ultrasonic measuring distance technology as claimed in claim 3 is it is characterised in that described centre
Reason device includes：Threshold value chooses unit, transmitted wave signal generating unit, received wave detection unit data integrated unit；Described transmitted wave
Signal generating unit, for applying square-wave voltage on ultrasonic wave emitting head, and then generates transmitted wave by ultrasonic wave emitting head
Launch；Described threshold value chooses unit, for carrying out threshold value selection, the precision of lift system for different measurement situations；
Described received wave detection unit, for carrying out detection to received wave；Described data fusion unit, for the data letter receiving
Breath carries out data fusion, draws final range measurement.
5. the intelligent distance-measuring system based on ultrasonic measuring distance technology as claimed in claim 4 is it is characterised in that described data is melted
Close unit to include：Height calculation unit, metrics calculation unit and coordinate generating unit；Described metrics calculation unit is used for basis and sends out
Ejected wave and the data message of received wave, enter row distance and calculate；Described height calculation unit, for according to thermometer and barometrical
Data message calculates the elevation information of destination address.
6. a kind of method based on the intelligent distance-measuring system based on ultrasonic measuring distance technology described in one of claim 1 to 5, its
It is characterised by, the method comprising the steps of：
Step 1：System initialization, selected threshold, central processing unit applies rectangle according to the threshold value in constituency in ultrasonic wave emitting head
Pulse voltage, ultrasonic wave emitting head sends transmitted wave；
Step 2：Ultrasonic wave receives that head is amplified to the ultrasonic wave receiving, bandpass filtering and detection send to central authorities after processing
Processor；After central processing unit receives received wave, enter row distance and calculate, draw apart from result of calculation；
Step 3：Central processing unit obtains temperature data information and air pressure data message from positioning unit, is entered according to data message
Line height calculates, and draws the result of high computational；
Step 4：Central processing unit obtains GPS location result from positioning unit；
Step 5：Central processing unit according to height results, GPS location result and carries out data fusion apart from result of calculation, draws
Whole result.
7. the intelligent distance-measuring system and method based on ultrasonic measuring distance technology as claimed in claim 6 is it is characterised in that described
Height calculation unit comprises the following steps to the computational methods of height：
Step 1：Central processing unit sends reset command；
Step 2：Send temperature ADC order, after time delay 10ms, send and read temperature ADC order, obtain temperature value W1；
Step 3：Send air pressure ADC order, after time delay 10ms, send and read air pressure ADC order, obtain atmospheric pressure value W2；Then count
Calculate the atmospheric pressure value after compensating；
Step 4：According to the atmospheric pressure value after compensating, carry out high computational according to equation below：
;
Wherein,=288.15K, beLimit value at a temperature of under respective heights；, it is the vertical change of temperature
Rate；
, it isCorresponding height；, it isAir pressure lower limit under respective heights；, it is gas constant；, it is that sea level gravity accelerates
Degree.
8. the method for the intelligent distance-measuring system based on ultrasonic measuring distance technology as claimed in claim 6 is it is characterised in that described
The method that central processing unit carries out data fusion comprises the following steps：
Step 1：Draw the longitude and latitude of destination address according to GPS location result and range information；
Step 2：Draw the height of destination address according to height calculation results.
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Cited By (1)
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| CN107728151A (en) * | 2017-09-29 | 2018-02-23 | 上海展扬通信技术有限公司 | Method, apparatus, computer equipment and the computer-readable recording medium of ranging |
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Application publication date: 20170222 |