CN106643979A - Automatic compensation method and device for guided wave radar level meter measured value - Google Patents
Automatic compensation method and device for guided wave radar level meter measured value Download PDFInfo
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- CN106643979A CN106643979A CN201611205477.9A CN201611205477A CN106643979A CN 106643979 A CN106643979 A CN 106643979A CN 201611205477 A CN201611205477 A CN 201611205477A CN 106643979 A CN106643979 A CN 106643979A
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- Prior art keywords
- guided wave
- material level
- wave radar
- level gauge
- module
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/284—Electromagnetic waves
Abstract
The invention relates to an automatic compensation method and device for a guided wave radar level meter measured value. The method comprises the following steps that the actual distance of a cylinder and a meter head flange is determined, an electromagnetic wave is emitted in the direction facing the cylinder; the electromagnetic wave reflects after making contact with the cylinder and the material level to form an original echo signal; by collecting the original echo signal, the measuring distance of the cylinder and the meter head flange is calculated and the measuring distance of the material level and the meter head flange of the guided wave radar level meter is calculated; the actual distance of the material level and the meter had flange of the guided wave radar level meter after compensation is calculated; the device comprises a signal emitting module emitting an electromagnetic wave, a reflection module, a collecting module collecting the original echo signal and a calculation module calculating the actual distance of the material level and the meter head flange. According to the automatic compensation method and device for the measured value, the material level can be accurately measured in the high pressure and high temperature environment.
Description
Technical field
The present invention relates to guided wave radar material level gauge field, more particularly to a kind of automatic benefit of guided wave radar material level gauge measured value
Compensation method and device.
Background technology
It is that modern industry scene is a kind of common that industrial automation is used for the guided wave radar material level gauge of continuous material level measurement
Instrument, measuring principle is that electromagnetic wave is launched by guided wave bar, runs into portion of energy after measured matter and is reflected back, Jing
Oversampling circuit process, send and is gathered by processor, effective echo is identified finally by intelligence software, so as to calculate instrument apart from thing
The distance of position, then according to the height of tank body is installed, calculate actual material high.
The measuring principle of guided wave radar is exactly the principle of reflection of electromagnetic wave, due to electromagnetic wave different medium, different temperatures,
Spread speed in the case of different pressures is different, and such as spread speed of the electromagnetic wave in ambient air is 300,000 kilometers every
Second, but the spread speed in the steam of HTHP can be reduced substantially, or in CO, HCI, N2Deng in non-air medium
Spread speed also can be reduced substantially.
Generally, it by the speed of electromagnetic wave is 300,000 kilometers of calculating distances per second to be all inside guided wave radar material level gauge
, in this case, if it is not air that scene is high temperature, high pressure or propagation medium, the measurement output of instrument will be forbidden
Really, measure error is caused.By analysis, if not compensated for, instrument measurement thing position out will be lower than actual thing position, and
And the rising with temperature, the increase of pressure, this error can be increasing.
The content of the invention
The technical problem to be solved is that guided wave radar material level gauge easily receives temperature, pressure and propagation medium
Affect and cause measurement result inaccurate, be thus provided that the automatic compensating method and dress of a kind of guided wave radar material level gauge measured value
Put.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of automatic benefit of guided wave radar material level gauge measured value
Compensation method, comprises the following steps：
Step 1：One cylinder is set on the guided wave bar of guided wave radar material level gauge；
Step 2：Determine the actual range of cylinder and guided wave radar material level gauge gauge outfit flange；
Step 3：Launch electromagnetic wave towards cylindrical direction；
Step 4：Electro-magnetic wave contacts cylinder and thing position back reflection, form original echoed signals；
Step 5：The measurement distance of cylinder and guided wave radar material level gauge gauge outfit flange is calculated by gathering original echoed signals
And the measurement distance of calculating thing position and guided wave radar material level gauge gauge outfit flange；
Step 6：According to the actual range, the measurement distance of cylinder and guided wave radar material level gauge gauge outfit flange, thing position with
The measurement distance of guided wave radar material level gauge gauge outfit flange, calculates thing position and guided wave radar material level gauge gauge outfit flange after compensation
Actual range.
The invention has the beneficial effects as follows：By the automatic compensation algorithm of guided wave radar material level gauge measured value, in high pressure-temperature
Also thing position can be accurately measured in environment, compared with prior art, its measurement thing position result has the higher degree of accuracy.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, the guided wave bar passes through cylinder, reality of the cylinder apart from guided wave radar material level gauge gauge outfit flange
Distance is 400mm or 500mm, and the drum diameter is 11mm, and length is 200mm, and the guided wave shank diameter is 8mm.
Further, the step 5 includes：Initialization timer module, analog-to-digital conversion module and direct memory access mould
Block, timer module triggering analog-to-digital conversion module carries out analog-to-digital conversion, after analog-to-digital conversion module is converted, direct memory access
Module is transferred to analog-to-digital conversion module transformation result in the array in processor internal random access memory area.
Further, the step 5 includes：For the first time collection original echoed signals, build spurious echo, recognize range model
First interior waveform is enclosed, the fixation reflex signal of cylinder reflection electromagnetic wave formation is obtained, cylinder and guided wave radar thing is calculated
The measurement distance of position meter gauge outfit flange；Second collection original echoed signals, builds spurious echo, recognizes the width in the range of range
The maximum waveform of value, obtains the thing position reflected signal that thing position reflection electromagnetic wave is formed, and calculates thing position and guided wave radar material level gauge
The measurement distance of gauge outfit flange.
Further, the step 6 includes：Under a proportional relationshipI.e.To proceed through compensation
The calculating of the actual range of thing position and guided wave radar material level gauge gauge outfit flange afterwards, S1 is cylinder and guided wave radar material level gauge in formula
The actual range of gauge outfit flange, S2 is the measurement distance of cylinder and guided wave radar material level gauge gauge outfit flange, and L1 is through compensating it
The actual range of thing position and guided wave radar material level gauge gauge outfit flange afterwards, L2 is the survey of thing position and guided wave radar material level gauge gauge outfit flange
Span from.
Further, the compensation method also includes step 7：Repeat step 2-6, is highly continuously measured thing position.
Another kind of technical scheme that the present invention is provided is as follows：A kind of automatic compensation dress of guided wave radar material level gauge measured value
Put, including：Signal emission module, reflecting module, acquisition module and computing module；
The signal emission module is used to launch electromagnetic wave towards thing position direction, and electromagnetic wave is when reflecting module and thing position
Reflected, generated original echoed signals；
The reflecting module is located on the guided wave bar of guided wave radar material level gauge；
The acquisition module is used to gather original echoed signals, and for the first time collection original echoed signals, build spurious echo,
First waveform in the range of identification range, obtains the fixation reflex signal of reflecting module reflection electromagnetic wave formation；Adopt for the second time
Collection original echoed signals, build spurious echo, recognize the waveform of the amplitude maximum in the range of range, obtain thing position reflection electromagnetic wave
The thing position reflected signal of formation；
The computing module is used for according to fixation reflex signal of change reflecting module and guided wave radar material level gauge gauge outfit flange
Measurement distance and the measurement distance of thing position and guided wave radar material level gauge gauge outfit flange is calculated according to thing position reflected signal, combine instead
Penetrate module carries out calculating thing position and guided wave radar thing after compensation with the actual range of guided wave radar material level gauge gauge outfit flange
The actual range of position meter gauge outfit flange.
Further, the reflecting module includes cylinder, and guided wave bar passes through cylinder, the reflecting module and guided wave radar thing
The actual range of position meter gauge outfit flange is 400mm or 500mm, and the drum diameter is 11mm, and length is 200mm, the guided wave
Shank diameter is 8mm.
Further, the acquisition module includes：Initialization timer module, analog-to-digital conversion module and direct memory access
Module, timer module triggering analog-to-digital conversion module carries out analog-to-digital conversion, and after analog-to-digital conversion module is converted, direct internal memory is deposited
Delivery block is transferred to analog-to-digital conversion module transformation result in the array in processor internal random access memory area.
Further, the computing module includes：Under a proportional relationshipI.e.To proceed through benefit
The calculating of the actual range of thing position and guided wave radar material level gauge gauge outfit flange after repaying, S1 is cylinder and guided wave radar thing position in formula
The actual range of meter gauge outfit flange, S2 is the measurement distance of cylinder and guided wave radar material level gauge gauge outfit flange, and L1 is through compensation
The actual range of thing position and guided wave radar material level gauge gauge outfit flange afterwards, L2 is thing position and guided wave radar material level gauge gauge outfit flange
Measurement distance.
Description of the drawings
Fig. 1 is the schematic flow sheet of a kind of automatic compensating method of guided wave radar material level gauge measured value of the invention and device；
Fig. 2 is the oscillogram of a kind of automatic compensating method of guided wave radar material level gauge measured value of the invention and device；
Fig. 3 is the structural representation of a kind of automatic compensating method of guided wave radar material level gauge measured value of the invention and device；
In accompanying drawing, the list of parts representated by each label is as follows：
1st, gauge outfit, 2, gauge outfit flange, 3, cylinder, 4, guided wave bar, 5, thing position, S1, cylinder are apart from guided wave radar ring flange
Actual range, the distance of S2, the cylinder gone out according to fixation reflex signal of change and guided wave radar material level gauge gauge outfit flange, L1, Jing
The actual range of thing position and guided wave radar material level gauge gauge outfit flange after overcompensation, L2, calculates according to thing position reflected signal
Thing position and the distance of guided wave radar material level gauge gauge outfit flange.
Specific embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, example is served only for explaining the present invention, and
It is non-for limiting the scope of the present invention.
As shown in figure 1, a kind of automatic compensating method of the guided wave radar material level gauge measured value be given for the embodiment of the present invention,
Comprise the following steps：
Step 1：One cylinder is set on the guided wave bar 4 of guided wave radar material level gauge；
Step 2：Determine the actual range of cylinder 3 and guided wave radar material level gauge gauge outfit flange 2；
Step 3：Launch electromagnetic wave towards the direction of cylinder 3；
Step 4：Electro-magnetic wave contacts cylinder 3 and the back reflection of thing position 5, form original echoed signals；
Step 5：By gather original echoed signals calculate the measurement of cylinder 3 and guided wave radar material level gauge gauge outfit flange 2 away from
From and calculate the measurement distance of thing position 5 and guided wave radar material level gauge gauge outfit flange 2；
Step 6：According to measurement distance, the thing position 5 of the actual range, cylinder 3 and guided wave radar material level gauge gauge outfit flange 2
With the measurement distance of guided wave radar material level gauge gauge outfit flange 2, thing position 5 and guided wave radar material level gauge gauge outfit after compensation are calculated
The actual range of flange 2.
Wherein, the guided wave bar 4 passes through cylinder 3, reality of the cylinder 3 apart from guided wave radar material level gauge gauge outfit flange 2
Distance is 400mm or 500mm, a diameter of 11mm of the cylinder 3, and length is 200mm, a diameter of 8mm of the guided wave bar 4.
Wherein, the step 5 includes：Initialization timer module, analog-to-digital conversion module and direct memory access module, it is fixed
When device module triggering analog-to-digital conversion module carry out analog-to-digital conversion, after analog-to-digital conversion module is converted, direct memory access module
Analog-to-digital conversion module transformation result is transferred in the array in processor internal random access memory area.
Wherein, the step 5 includes：For the first time collection original echoed signals, build spurious echo, in the range of identification range
First waveform, obtain the fixation reflex signal of the reflection electromagnetic wave of cylinder 3 formation, calculate cylinder 3 and guided wave radar thing position
The measurement distance of meter gauge outfit flange 2；Second collection original echoed signals, builds spurious echo, recognizes the width in the range of range
The maximum waveform of value, obtains the thing position reflected signal that the reflection electromagnetic wave of thing position 5 is formed, and calculates thing position 5 and guided wave radar thing position
The measurement distance of meter gauge outfit flange 2.
Wherein, the step 6 includes：Under a proportional relationshipI.e.After to proceed through compensation
The calculating of the actual range of thing position 5 and guided wave radar material level gauge gauge outfit flange 2, S1 is cylinder 3 and guided wave radar material level gauge in formula
The actual range of gauge outfit flange 2, S2 is the measurement distance of cylinder 3 and guided wave radar material level gauge gauge outfit flange 2, and L1 is through compensation
The actual range of thing position 5 and guided wave radar material level gauge gauge outfit flange 2 afterwards, L2 is thing position 5 and guided wave radar material level gauge gauge outfit method
Blue 2 measurement distance.
Wherein, the compensation method also includes step 7：Repeat step 2-6, is highly continuously measured thing position.
The embodiment of the present invention gives a kind of autocompensation installation of guided wave radar material level gauge measured value, including：Signal is sent out
Penetrate module, reflecting module, acquisition module and computing module；
The signal emission module is used to launch electromagnetic wave towards the direction of thing position 5, and electromagnetic wave is through reflecting module and thing position 5
Shi Jinhang reflects, and generates original echoed signals；
The reflecting module is located on the guided wave bar 4 of guided wave radar material level gauge；
The acquisition module is used to gather original echoed signals, for the first time collection original echoed signals, carries out building falseness
Echo, recognizes first waveform in the range of range, obtains the fixation reflex signal of reflecting module reflection electromagnetic wave formation；Second
Secondary collection original echoed signals, build spurious echo, recognize the waveform of the amplitude maximum in the range of range, obtain thing position 5 and reflect
Electromagnetic waveforms into thing position reflected signal；
The computing module is used for according to fixation reflex signal of change reflecting module and guided wave radar material level gauge gauge outfit flange 2
Measurement distance and the measurement distance of thing position 5 and guided wave radar material level gauge gauge outfit flange 2, knot are calculated according to the reflected signal of thing position 5
Close reflecting module carries out calculating thing position 5 and guided wave after compensation with the actual range of guided wave radar material level gauge gauge outfit flange 2
The actual range of radar levelmeter gauge outfit flange 2.
Wherein, the reflecting module includes cylinder 3, and guided wave bar 4 passes through cylinder 3, the reflecting module and guided wave radar thing
It is 400mm or 500mm, a diameter of 11mm of the cylinder 3 that the actual range of gauge outfit flange 2 is counted in position, and length is 200mm, described to lead
The a diameter of 8mm of ripple bar 4.
Wherein, the acquisition module includes：Initialization timer module, analog-to-digital conversion module and direct memory access mould
Block, timer module triggering analog-to-digital conversion module carries out analog-to-digital conversion, and analog-to-digital conversion module is converted, direct memory access mould
Block is transferred to analog-to-digital conversion module transformation result in the array in processor internal random access memory area.
Wherein, the computing module includes：Under a proportional relationshipI.e.To proceed through compensation
The calculating of the actual range of thing position 5 and guided wave radar material level gauge gauge outfit flange 2 afterwards, S1 is cylinder 3 and guided wave radar thing position in formula
The actual range of meter gauge outfit flange 2, S2 is the measurement distance of cylinder 3 and guided wave radar material level gauge gauge outfit flange 2, and L1 is through mending
The actual range of thing position 5 and guided wave radar material level gauge gauge outfit flange 2 after repaying, L2 is thing position 5 and guided wave radar material level gauge gauge outfit
The measurement distance of flange 2.
As shown in Fig. 2 dotted line waveform represents the original echo curve under HTHP in figure, solid line waveform represents its correspondence
Normal temperature and pressure under original echo curve, have under a proportional relationship：I.e.Thus formula calculates benefit
Actual thing position reflective distance L1 after repaying.
The foregoing is only presently preferred embodiments of the present invention, not to limit the present invention, all spirit in the present invention and
Within principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (10)
1. a kind of automatic compensating method of guided wave radar material level gauge measured value, it is characterised in that comprise the following steps：
Step 1：One cylinder is set on the guided wave bar of guided wave radar material level gauge；
Step 2：Determine the actual range of cylinder and guided wave radar material level gauge gauge outfit flange；
Step 3：Launch electromagnetic wave towards cylindrical direction；
Step 4：Electro-magnetic wave contacts cylinder and thing position back reflection, form original echoed signals；
Step 5：By gather original echoed signals calculate cylinder and guided wave radar material level gauge gauge outfit flange measurement distance and
Calculate the measurement distance of thing position and guided wave radar material level gauge gauge outfit flange；
Step 6：According to the actual range, the measurement distance of cylinder and guided wave radar material level gauge gauge outfit flange, thing position and guided wave
The measurement distance of radar levelmeter gauge outfit flange, calculates the reality of thing position and guided wave radar material level gauge gauge outfit flange after compensation
Border distance.
2. a kind of automatic compensating method of guided wave radar material level gauge measured value according to claim 1, it is characterised in that institute
Guided wave bar is stated through cylinder, the cylinder is 400mm or 500mm apart from the actual range of guided wave radar material level gauge gauge outfit flange,
The drum diameter is 11mm, and length is 200mm, and the guided wave shank diameter is 8mm.
3. a kind of automatic compensating method of guided wave radar material level gauge measured value according to claim 1, it is characterised in that institute
Stating step 5 includes：Initialization timer module, analog-to-digital conversion module and direct memory access module, timer module trigger mode
Number modular converter carries out analog-to-digital conversion to original echoed signals, after analog-to-digital conversion module is converted, direct memory access module
Analog-to-digital conversion module transformation result is transferred in the array in processor internal random access memory area.
4. a kind of automatic compensating method of guided wave radar material level gauge measured value according to claim 1, it is characterised in that institute
Stating step 5 includes：For the first time collection original echoed signals, build spurious echo, recognize first waveform in the range of range, obtain
To the fixation reflex signal that cylinder reflection electromagnetic wave is formed, calculate the measurement of cylinder and guided wave radar material level gauge gauge outfit flange away from
From；Second collection original echoed signals, builds spurious echo, recognizes the waveform of the amplitude maximum in the range of range, obtains thing
The thing position reflected signal that position reflection electromagnetic wave is formed, calculates the measurement distance of thing position and guided wave radar material level gauge gauge outfit flange.
5. a kind of automatic compensating method of the guided wave radar material level gauge measured value according to claim 1 or 3, its feature exists
In the step 6 includes：Under a proportional relationshipI.e.Thing position and guided wave after to proceed through compensation
The calculating of the actual range of radar levelmeter gauge outfit flange, S1 is the reality of cylinder and guided wave radar material level gauge gauge outfit flange in formula
Distance, S2 is the measurement distance of cylinder and guided wave radar material level gauge gauge outfit flange, and L1 is thing position and guided wave thunder after compensation
Up to the actual range of level meter gauge outfit flange, L2 is the measurement distance of thing position and guided wave radar material level gauge gauge outfit flange.
6. the automatic compensating method of a kind of guided wave radar material level gauge measured value according to any one of claim 1-3, it is special
Levy and be, the compensation method also includes step 7：Repeat step 2-6, is highly continuously measured thing position.
7. a kind of autocompensation installation of guided wave radar material level gauge measured value, it is characterised in that include：It is signal emission module, anti-
Penetrate module, acquisition module and computing module；
The signal emission module is used to launch electromagnetic wave towards thing position direction, and electromagnetic wave is carried out when reflecting module and thing position
Reflection, generates original echoed signals；
The reflecting module is located on the guided wave bar of guided wave radar material level gauge；
The acquisition module is used to gather original echoed signals, for the first time collection original echoed signals, builds spurious echo, identification
First waveform in range ability, obtains the fixation reflex signal of reflecting module reflection electromagnetic wave formation；Gather for second former
Beginning echo-signal, builds spurious echo, recognizes the waveform of the amplitude maximum in the range of range, obtains thing position reflection electromagnetic wave and is formed
Thing position reflected signal；
The computing module is used for the survey according to fixation reflex signal of change reflecting module and guided wave radar material level gauge gauge outfit flange
Span from the measurement distance that thing position and guided wave radar material level gauge gauge outfit flange are calculated according to thing position reflected signal, with reference to reflection mould
Block carries out calculating thing position and guided wave radar material level gauge after compensation with the actual range of guided wave radar material level gauge gauge outfit flange
The actual range of gauge outfit flange.
8. a kind of autocompensation installation of guided wave radar material level gauge measured value according to claim 7, it is characterised in that institute
Reflecting module is stated including cylinder, guided wave bar passes through the reality of cylinder, the reflecting module and guided wave radar material level gauge gauge outfit flange
Distance is 400mm or 500mm, and the drum diameter is 11mm, and length is 200mm, and the guided wave shank diameter is 8mm.
9. a kind of autocompensation installation of guided wave radar material level gauge measured value according to claim 7, it is characterised in that institute
Acquisition module is stated including timer module, analog-to-digital conversion module and direct memory access module, timer module triggering modulus turns
Mold changing block carries out analog-to-digital conversion, and after analog-to-digital conversion module is converted, direct memory access module changes analog-to-digital conversion module
As a result in being transferred to the array in processor internal random access memory area.
10. the autocompensation installation of a kind of guided wave radar material level gauge measured value according to claim 7, it is characterised in that
The computing module includes：Under a proportional relationshipI.e.Thing position and guided wave after to proceed through compensation
The calculating of the actual range of radar levelmeter gauge outfit flange, S1 is the reality of cylinder and guided wave radar material level gauge gauge outfit flange in formula
Distance, S2 is the measurement distance of cylinder and guided wave radar material level gauge gauge outfit flange, and L1 is thing position and guided wave thunder after compensation
Up to the actual range of level meter gauge outfit flange, L2 is the measurement distance of thing position and guided wave radar material level gauge gauge outfit flange.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611205477.9A CN106643979A (en) | 2016-12-23 | 2016-12-23 | Automatic compensation method and device for guided wave radar level meter measured value |
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| CN201611205477.9A CN106643979A (en) | 2016-12-23 | 2016-12-23 | Automatic compensation method and device for guided wave radar level meter measured value |
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ID=58828135
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| CN201611205477.9A Pending CN106643979A (en) | 2016-12-23 | 2016-12-23 | Automatic compensation method and device for guided wave radar level meter measured value |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110346016A (en) * | 2019-08-14 | 2019-10-18 | 中广核研究院有限公司北京分公司 | Anti-radiation guide wave radar liquid level gauge |
| CN112525295A (en) * | 2020-11-03 | 2021-03-19 | 福建福清核电有限公司 | Stable temperature compensation measurement method for guided wave radar liquid level meter |
| CN113108867A (en) * | 2021-04-20 | 2021-07-13 | 中国科学院空天信息创新研究院 | Data processing method for sectional coaxial guided wave radar liquid level meter |
| CN113155240A (en) * | 2020-12-31 | 2021-07-23 | 重庆川仪自动化股份有限公司 | Full-automatic control method for radar level meter calibration device |
| CN113227828A (en) * | 2018-12-26 | 2021-08-06 | 韩商未来股份有限公司 | Nonlinear distance error correction method for three-dimensional distance measurement camera using pulse phase shift |
| CN113296066A (en) * | 2021-04-27 | 2021-08-24 | 北京锐达仪表有限公司 | Echo correction method, device, readable storage medium, electronic device and system |
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| CN112525295A (en) * | 2020-11-03 | 2021-03-19 | 福建福清核电有限公司 | Stable temperature compensation measurement method for guided wave radar liquid level meter |
| CN113155240A (en) * | 2020-12-31 | 2021-07-23 | 重庆川仪自动化股份有限公司 | Full-automatic control method for radar level meter calibration device |
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| CN113108867B (en) * | 2021-04-20 | 2022-05-24 | 中国科学院空天信息创新研究院 | Data processing method for sectional coaxial guided wave radar liquid level meter |
| CN113296066A (en) * | 2021-04-27 | 2021-08-24 | 北京锐达仪表有限公司 | Echo correction method, device, readable storage medium, electronic device and system |
| CN113296066B (en) * | 2021-04-27 | 2023-06-23 | 北京锐达仪表有限公司 | Echo correction method, device, readable storage medium, electronic equipment and system |
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Application publication date: 20170510 |
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