CN109254292A

CN109254292A - Sonar distance measuring method and device execute equipment

Info

Publication number: CN109254292A
Application number: CN201710571921.7A
Authority: CN
Inventors: 陈有生; 丁胜东
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2017-07-13
Filing date: 2017-07-13
Publication date: 2019-01-22
Anticipated expiration: 2037-07-13
Also published as: CN109254292B; CN112285718A; CN112285718B

Abstract

This application provides a kind of sonar distance measuring methods, belong to air vehicle technique field, for solving the problems, such as that measurement result accuracy existing for sonar distance measuring method in the prior art is low and stability is poor.It include the echo-signal arranged from front to back according to the sequencing in sampling time in the sequences of echo signals the described method includes: obtaining the sequences of echo signals obtained in sonar ranging process when previous sampling；Echo-signal in the sequences of echo signals is filtered, determines the filtering processing result for working as previous sampling；According to the filtering processing of the echo-signal of continuous N time last samples as a result, output measurement distance, wherein M is the integer more than or equal to 2.Sonar distance measuring method disclosed in the embodiment of the present application determines measurement distance by the echo-signal sampled according to continuous several times, compared with determining measurement distance only in accordance with a sampled signal in the prior art, effectively weaken unitary sampling is influenced by measurement environment, so that the accuracy of measurement result is higher, stability is higher.

Description

Sonar distance measuring method and device execute equipment

Technical field

This application involves air vehicle technique field more particularly to a kind of sonar distance measuring methods and device, execute equipment.

Background technique

Sonar ranging is to encounter testee after propagating in the medium based on sound wave to reflect the characteristic of meeting echo to measure Distance, ranging is widely applied under water for sonar ranging.Sonar ranging specifically include that transmitting sound wave, acquisition echo, According to the output measurement of the echo of acquisition apart from several steps.Wherein, emit sound wave, acquisition echo is usually to pass through hardware device It is realized in conjunction with certain configuration parameter, technology is substantially mature and more stable, therefore, is exported according to the echo of acquisition The specific method for measuring distance becomes the key for promoting ranging accuracy.In the prior art, survey is being exported according to the echo of acquisition Span from when, usually be arranged a threshold voltage, whether door is greater than by the amplitude voltage that hardware comparator compares echo Voltage limit value, the distance for taking the corresponding distance of first echo for being greater than threshold voltage to obtain as measurement.In the prior art Sonar distance measuring method be suitable for simple application or environment, and be directed to some complex environments, such as by sonar sensor Be mounted on unmanned plane, measurement unmanned plane and ground or with the obstacle spacing of surrounding from when, but cannot accurately be surveyed Measure result.Due to the strong electromagnetic that the high-frequency vibration of unmanned plane itself, motor high-speed rotation generate, propeller high-speed cutting The noise jamming that air generates, meanwhile, it will form complicated reflecting surface around unmanned plane, above-mentioned factor will will lead to existing Sonar distance measuring method in technology can not accurately measure the accurate distance between unmanned plane and object under test.

As it can be seen that sonar distance measuring method in the prior art at least exists, measurement result accuracy is low and stability is poor Problem.

Summary of the invention

The embodiment of the present application provides a kind of flight control method, solves existing for sonar distance measuring method in the prior art Measurement result accuracy is low and the poor problem of stability.

In a first aspect, the embodiment of the present application provides a kind of sonar distance measuring method, comprising:

It obtains in sonar ranging process and is wrapped when in the previous sequences of echo signals for sampling and obtaining, the sequences of echo signals Include the echo-signal arranged from front to back according to the sequencing in sampling time；

Echo-signal in the sequences of echo signals is filtered, determines the filtering processing for working as previous sampling As a result；

According to the filtering processing of the echo-signal of continuous N time last samples as a result, output measurement distance, wherein M is big In the integer for being equal to 2.

Second aspect, the embodiment of the present application also provides a kind of sonar range units, comprising:

Sequences of echo signals obtains module, samples obtained echo-signal when previous for obtaining in sonar ranging process Sequence includes the echo-signal arranged from front to back according to the sequencing in sampling time in the sequences of echo signals；

Module is filtered, for obtaining returning in the sequences of echo signals that module obtains to the sequences of echo signals Wave signal is filtered, and determines the filtering processing result for working as previous sampling；

Apart from output module, the filtering processing for the echo-signal according to continuous N time last samples is surveyed as a result, exporting Span is from the integer that, wherein M is more than or equal to 2.

The third aspect the embodiment of the present application also provides a kind of execution equipment, including memory, processor and is stored in On the memory and the computer program that can run on a processor, the execution equipment further include:

Sonar sensor, sonar sensor sound wave for transmitting and receiving；

The processor is realized described in claim 1 to 15 any one claim when executing the computer program Sonar distance measuring method.

In this way, sonar distance measuring method disclosed in the embodiment of the present application, by obtaining in sonar ranging process when previous sampling Obtained sequences of echo signals includes arranging from front to back according to the sequencing in sampling time in the sequences of echo signals Echo-signal then at least one described echo-signal is filtered, and returning according to continuous N time last samples The filtering processing of wave signal is as a result, output measurement distance, solves existing measurement result when sonar ranging in the prior art Accuracy is low and the poor problem of stability.The application determines measurement by the echo-signal sampled according to continuous several times Distance effectively weakens unitary sampling and is measured compared with determining measurement distance only in accordance with a sampled signal in the prior art The influence of environment, so that the accuracy of measurement result is higher, stability is higher.

Detailed description of the invention

Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to institute in the embodiment of the present application description Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the application Example, for those of ordinary skill in the art, without any creative labor, can also be attached according to these Figure obtains other attached drawings.

Fig. 1 is the sonar distance measuring method flow chart of the embodiment of the present application one；

Fig. 2 is the sonar distance measuring method flow chart of the embodiment of the present application two；

Fig. 3 is the echo signal diagram of the sonar distance measuring method sampling of the embodiment of the present application two；

Fig. 4 is the sonar distance measuring method flow chart of the embodiment of the present application three；

Fig. 5 is one of sonar range unit structural schematic diagram of the embodiment of the present application four；

Fig. 6 is the sonar range unit second structural representation of the embodiment of the present application four.

Specific embodiment

Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete Site preparation description, it is clear that described embodiment is some embodiments of the present application, instead of all the embodiments.Based on this Shen Please in embodiment, every other reality obtained by those of ordinary skill in the art without making creative efforts Example is applied, shall fall in the protection scope of this application.

Sonar distance measuring method disclosed in the embodiment of the present application is suitable for the flight equipments such as unmanned plane, aircraft, the application It is referred to as executing equipment in embodiment.This programme is understood for the ease of reader, in following embodiment, to execute equipment as nobody Technical solution is described in detail for machine.

Embodiment one:

As shown in Figure 1, the embodiment of the present application discloses a kind of sonar distance measuring method, comprising: step 100 to step 120.

Step 100, it obtains in sonar ranging process when the previous sequences of echo signals for sampling and obtaining, the echo-signal It include the echo-signal arranged from front to back according to the sequencing in sampling time in sequence.

In sonar ranging process, start sonar sensor emission sound wave first.When sound wave encounters during propagation After object under test, meeting reflected sonic signals become echo-signal.When it is implemented, being connect by AD sampling to sonar sensor The signal that receiving end receives is sampled, the amplitude of available echo-signal.

Carry out sonar ranging during, had first according to the estimate distance or sonar sensor of object under test Measurement range and the aerial spread speed of sound wave are imitated, multiple sampled points are preset, for example, carrying out within each 1 second primary Sampling, then the sampled distance of preset sampled point is then d=v*t/2, wherein v is the aerial spread speed of sound wave, single Position is meter per second, and t is the sampling time, and d is the sampled distance of sampled point, the i.e. sampled distance of echo-signal.

When it is implemented, since there are multiple reflectings surface or sound wave can encounter during propagation for object to be measured Barrier, and multiecho phenomenon can be generated etc., sonar sensor would generally receive multiple echo-signals.That is transmitting one After infrasound, multiple echo-signals may be sampled.

Step 110, the echo-signal in the sequences of echo signals is filtered, is determined when previous sampling Result is filtered.

After getting all echo-signals once sampled, it is necessary first to be filtered to the echo-signal of acquisition Processing.When it is implemented, echo-signal to acquisition and when being filtered, if this samples only one echo letter Number, then the echo-signal is directly used for subsequent range measurement.If this samples more than one echo-signal, right It samples obtained all echo-signals and merges processing or multiecho filtering, or carry out combination of echos first, then again Multiecho filtering is carried out for the echo-signal obtained after combination of echos.When it is implemented, the multiecho includes: two Secondary echo, three times echo, four echoes etc..

When carrying out echo wave filtering, can according to once sample obtained echo-signal judge in the echo-signal whether Including multiecho.Preferably, according to the echo-signal continuously sampled at least twice judge in the echo-signal whether Including multiecho signal.

After combination of echos and/or multiecho filtering, the determining effective echo-signal of this sampling will be obtained.Tool When body is implemented, select in effective echo determining from this sampling the maximum several echoes of energy as it is subsequent it is determining measure away from From when use.

Step 120, according to the filtering processing of the echo-signal of continuous N time last samples as a result, output measurement distance.

Wherein, M is the integer more than or equal to 2.

In the embodiment of the present application, the filtering processing of the echo-signal sampled according to nearest, continuous several times is as a result, output Measure distance.

When it is implemented, firstly, determining initial echo according to the filtering processing result of the preceding echo-signal sampled several times. Then, the measurement distance exported is determined further according to when the echo-signal filtering processing result of previous sampling and the initial echo.

When determining initial echo, the maximum echo of energy in the filtering processing result that is sampled according to continuous several times Signal determines initial echo.If in the filtering processing result that continuous several times sample between the maximum echo-signal of energy The difference of sampled distance is less than pre-determined distance value, then energy maximum time in the filtering processing result sampled this several times Sampled distance of the average value of the sampled distance of wave signal as initial echo.If the filtering processing that any primary sampling obtains As a result in the filtering processing result that the maximum echo-signal of middle energy and other secondary measurements obtain the maximum echo-signal of energy it Between distance be greater than or equal to the pre-determined distance value, then delete maximum time of energy in the filtering processing result sampled earliest Wave signal retains the maximum echo-signal of energy in the filtering processing result of subsequent sampling, and continues to sample newest echo Signal, to obtain the maximum echo-signal of energy in filtering processing result, for determining initial echo.

When initial echo determine after, by when previous sampling echo-signal filtering processing result in sampled distance with it is described The nearest echo-signal of initial echo, which is used as, works as previous alternative echo-signal.If described work as previous alternative echo-signal and institute It states difference between the sampled distance of initial echo and is greater than preset value, then it is assumed that when previous measurement is wrong, previous ought directly adopt Measurement distance of the sampled distance of the maximum echo-signal of energy as output in the echo-signal filtering processing result of sample.Such as When the difference between previous alternative echo-signal and the sampled distance of the initial echo is less than or equal to described preset described in fruit Value, then using described when the sampled distance of previous alternative echo-signal is as the measurement distance of output.

Sonar distance measuring method disclosed in the embodiment of the present application, by obtaining in sonar ranging process when previous sampling obtains Sequences of echo signals, include returning of being arranged from front to back according to the sequencing in sampling time in the sequences of echo signals Then wave signal is filtered at least one described echo-signal, and believed according to the echo of continuous N time last samples Number filtering processing as a result, output measurement distance, it is accurate to solve existing measurement result when sonar ranging in the prior art Property the low and poor problem of stability.The application determines measurement distance by the echo-signal sampled according to continuous several times, Compared with determining measurement distance only in accordance with a sampled signal in the prior art, unitary sampling is effectively weakened by measurement environment Influence so that the accuracy of measurement result is higher, stability is higher.

Embodiment two:

As shown in Fig. 2, the embodiment of the present application discloses a kind of sonar distance measuring method, comprising: step 200 to step 230.

Step 200, it obtains in sonar ranging process when the previous sequences of echo signals for sampling and obtaining, the echo-signal It include the echo-signal arranged from front to back according to the sequencing in sampling time in sequence.

There are blind areas for sonar ranging, it is preferred that sampled distance is arranged according to the measurement range of sonar sensor.

For example, the distance range of sonar sensor measurement is between 20cm-800cm, it is meant that the measurement of this sonar sensor Minimum range be 20cm, the distance lower than 20cm is unable to measure, and is blind area；Distance greater than 800cm is also unable to measure, together Sample is blind area.Short-distance blind section is existing the reason is that since control sonar sensor is at the end of vibration emits sound wave, and sonar passes Sensor can not terminate vibration immediately, still have a small amount of repercussions to issue, if vertical when control control sonar sensor stopping transmitting sound wave Start to start AD converter progress echo samples, the sound wave for controlling the transmitting of sonar sensor transmitting terminal at this time can be passed directly to Receiving end, to be collected by AD converter, so that distance can not be measured accurately in blind area.Due to collected blind area Interior sound wave really directly passes to receiving end from transmitting terminal, and transmitting terminal is very small at a distance from receiving end, so sound Sound decaying very little, therefore, the echo amplitude within the scope of blind area is very big, the amplitude of typically greater than normal echo.Blind area Range is generally fixed value, and sonar sensor once manufactures, and characteristic also determines that, the range of blind area is also determining.

When it is implemented, interval preset time starts to acquire echo after stopping the preset time after transmitting sound wave.This Apply in embodiment, the sampled point is the time point of sampled echo signals, and the default sampled point is usually to stop emitting Preset time after sound wave rises, and is spaced the sampling time point of prefixed time interval.The different collected echo letters of preset time point It number is the echo-signal of Acoustic Wave Propagation different distance back reflection, therefore, according to the width of the corresponding echo-signal of different sampled points Value, it can be determined that whether the echo-signal is the echo-signal for encountering barrier or object under test back reflection.

When it is implemented, amplitude thresholds A default first.Then, it is detected first default sampled point behind blind area Each sampled value of echo-signal, judges whether the sampled value is greater than default amplitude thresholds A, if more than the amplitude thresholds A then starts the value of sampled point of the cumulative magnitude greater than A, and until the amplitude of echo-signal is less than amplitude thresholds A, add up knot at this time Beam.The distance between corresponding sampled point and sampled point corresponding when starting cumulative current echo-signal of conduct at the end of cumulative Width.Sampled distance (d=v* of the position of corresponding sampled point by conversion as current echo-signal when starting cumulative T/2, d are sampled distance unit are as follows: rice, v are the aerial spread speed of sound wave, are equal to 340 meter per seconds；T is greater than for echo The sampled point of amplitude thresholds A corresponding time, unit are as follows: second).The accumulated value obtained after adding up to sampled point corresponds to back The energy of wave signal.When it is implemented, each echo-signal obtained includes: the related letter such as amplitude, width, sampled distance Breath.

When it is implemented, once multiple echo-signals may be collected, as shown in Figure 3, wherein can after transmitting sound wave It can include noise echo 310, effective echo-signal 320 and second trip echo 330, echo 340 etc., collected all three times Echo-signal will constitute an echo sequence.Echo-signal in the echo sequence is ascending according to sampled distance What sequence arranged from front to back.

It include effective echo-signal of object to be measured by the echo-signal that sonar sensor receiving end samples, It also include therefore noise and/or multiecho signal are carrying out before calculating, it is necessary first to filter to echo-signal Wave processing.When it is implemented, being filtered to the echo-signal in the sequences of echo signals, determines and work as previous sampling Filtering processing result, comprising: if the number of the echo-signal be one, directly using the echo-signal as filter Processing result；Otherwise, the echo-signal in the sequences of echo signals is filtered, by the echo after filtering processing Signal is as filtering processing result；Wherein, the filtering processing includes: combination of echos and/or multiecho filtering.

If there is no echo-signal in the sequences of echo signals, measuring error is directly exported.

If only one echo-signal in the sequences of echo signals, directly export after the echo-signal is used for Continuous processing needs if including two or more echo-signals in the sequences of echo signals to the sequences of echo signals In all echo-signals be filtered, such as: can only to the echo-signal carry out combination of echos；It can also be only Multiecho filtering is carried out to the echo-signal；Can also first to the echo-signal carry out combination of echos, then to merging at Echo-signal after reason carries out multiecho filtering.In the present embodiment, to carry out combination of echos to the echo-signal, then it is right For echo-signal after merging treatment carries out multiecho filtering, illustrate the detailed process of filtering processing.

When it is implemented, default amplitude thresholds are rule of thumb set or according to echoes all in the sequences of echo signals The amplitude mean value of signal determines.For example, an amplitude thresholds are rule of thumb set first, if be arranged after this amplitude thresholds, AD sampling module does not sample echo-signal, then illustrates that amplitude thresholds are arranged higher, then suitably reduces the amplitude threshold Value, continues to measure.If be arranged after this amplitude thresholds, AD sampling module samples the lower echo-signal of excessive amplitude, Then illustrate that amplitude thresholds are arranged lower, collects excessive noise signal, it therefore, can be according to the echo-signal sampled Average value improve amplitude thresholds, for example, amplitude thresholds are adjusted to 1.5 times of the average value, with this to noise signal into Row primary filtration, and reduce the quantity of the echo-signal of acquisition, improve filtration efficiency and accuracy.

When it is implemented, if less than 1, then the current measurement of explanation does not have echo-signal number after an echo samples Detect echo-signal, it may be possible to the distance of measurement is too far, or it is too close caused by, then stop subsequent filtering processing and meter The process of distance is calculated, directly output measurement failure.If detecting, echo number is greater than 1, does to the echo detected Step processing.

Step 210, combination of echos is carried out to the echo-signal in the sequences of echo signals.

Combination of echos is carried out to the echo-signal, comprising: according to adjacent echoes signal in the sequences of echo signals Intensity and sampled distance determine whether the adjacent echoes signal is echo-signal to be combined；If it is determined that the echo-signal is Echo-signal to be combined then merges processing to the adjacent echoes signal.Echo-signal in sequences of echo signals be by It is arranged from front to back according to the ascending sequence of sampled distance, the echo signal sample distance being arranged in front is smaller.It is specific real Shi Shi, the intensity by echo-signal include: amplitude or energy.

When it is implemented, described merge processing for the adjacent echoes signal, comprising: believe the adjacent echoes Number energy as the echo-signal after merging of the sum of energy；By the energy of the echo-signal after merging, described return is updated The energy of previous echo-signal in adjacent echoes signal described in wave signal sequence, and deleted from the sequences of echo signals Except the latter echo-signal in the adjacent echoes signal.It is described that the adjacent echoes signal is merged into processing further include: Using the sampled distance difference between the adjacent echoes signal as the width of the echo-signal after merging；After merging The width of echo-signal updates the width of previous echo-signal in adjacent echoes signal described in the sequences of echo signals.

When it is implemented, according in the sequences of echo signals, the intensity and sampled distance of adjacent echoes signal are determined Whether the adjacent echoes signal is echo-signal to be combined, comprising: if the sampled distance difference between adjacent echoes signal Less than pre-determined distance difference, and the intensity of previous echo-signal is less than the intensity of the latter echo-signal, then by the phase Adjacent echo-signal merges processing.By taking the distance for measuring plant as an example, sound wave can initially encounter plant in communication process Leaf, then encounter limb and ground, leaf, limb and the ground of plant all can reflection echo signal, and leaf is first Reflection echo signal and intensity is smaller, the last reflection echo signal of limb and ground and intensity is larger.When it is implemented, first According to the height of plant to be measured, distance threshold is set；Then, all echoes once sampled in obtained echo sequence are believed Number carry out combination of echos.By taking the amplitude by echo-signal indicates the intensity of signal as an example, it is assumed that include in sequences of echo signals 5 echo-signals, from front to back successively are as follows: s₁、s₂、 s₃、s₄And s₅, all echoes sampled in obtained echo sequence are believed Number carry out combination of echos method particularly includes: first determine whether s₁Amplitude whether be less than s₂Amplitude；If it is, further sentencing Disconnected s₁And s₂Sampled distance between difference whether be less than pre-determined distance difference, otherwise, continue to judge s₂Amplitude it is whether small In s₃Amplitude.If s₁And s₂Sampled distance between difference be less than pre-determined distance difference, then to s₁And s₂It merges, Echo-signal s after being merged₁', then, further to the echo-signal s after merging₁' and s₂Amplitude and sampled distance Judged.

To s₁And s₂When merging, by s₁Sampled distance as merge after echo-signal s₁' sampled distance, By s₁And s₂The sum of energy as the echo-signal s after merging₁' energy, by s₁And s₂Between sampled distance difference conduct Echo-signal s after merging₁' width；Pass through the echo-signal s after merging₁' update s₁, and delete s₂, after merging once, Sequences of echo signals will include 4 echo-signals, from front to back successively are as follows: s₁’、s₃、s₄And s₅.Then, using same side Method continues to carry out vertical combination of echos to sequences of echo signals, until all echo-signals all traverse one time.

When it is implemented, the pre-determined distance difference is determined by any one following mode: the pre-determined distance difference It is determined according to object under test height；The pre-determined distance difference is according to the maximum distance between the difference barrier to be measured estimated It determines.For example, can be set pre-determined distance difference in height of the unmanned plane by the barrier of sonar measurement stacking Difference in height between different barriers.

Step 220, to combination of echos, treated that the echo-signal carries out multiecho filtering, is filtered As a result.

Multiecho, such as second trip echo, echo three times, are to encounter object under test after launching due to sound wave to block It is reflected back the wave of sonar receiving end.When being closer, since transmitting wave power is larger, echo does not decline by once turning back It has been subtracted that, carried out second or repeatedly turned back, to repeatedly be received by sonar receiving end, formd multiecho.In nothing In the presence of any interference, there are following relationships, such as d for secondary or multiecho₁For the echo measured, d₂To survey To second trip echo, d₃To measure echo three times, thenBut it due to the complexity of environment, surveys Amount during there are noises, above-mentioned relation may also be met between noise and true echo, therefore, according only to above-mentioned formula without Method accurate judgement echo-signal.

In the embodiment of the present application, multiecho filtering is carried out to the echo, comprising: determine the sequences of echo signals In include multiecho signal probability；According to the determining probability is at least sampled twice in succession, determine that last time obtains Echo-signal in effective echo-signal.When it is implemented, including multiecho in the determination sequences of echo signals The probability of signal, comprising: according to the sampling of the quantity for the echo-signal for including in the sequences of echo signals and each echo-signal Distance determines the probability in the sequences of echo signals including multiecho signal.

According to the sampled distance of the quantity for the echo-signal for including in the sequences of echo signals and each echo-signal, really The probability in the fixed sequences of echo signals including multiecho signal includes following four situation.

The first situation, the number of echo-signal is greater than or equal to three in the sequences of echo signals.

Below for including 3 echo-signals in the sequences of echo signals obtained after combination of echos, it is assumed that 3 echoes Signal is denoted as respectively: s₁、s₂And s₃, the sampled distance of this 3 echo-signals is denoted as d respectively₁、d₂And d₃.Believed according to the echo The quantity for the echo-signal for including in number sequence and the sampled distance of each echo-signal, determine and wrap in the sequences of echo signals Include the probability of multiecho signal, comprising: if in the sequences of echo signals first three echo-signal sampled distance matching the One preset condition, then the probability in the sequences of echo signals comprising multiecho signal, which is arranged, is and the described first default item The corresponding probability value of part, and the sampled distance for initializing effective echo-signal is d₁；Otherwise, the sequences of echo signals is set In comprising multiecho signal probability be 0；Wherein, first preset condition includes following any one:Withd₁For the sampled distance of first echo-signal, d₂It is The sampled distance of two echo-signals, d₃For the sampled distance of third echo-signal.

For example, working as sequences of echo signals first, meet formula between the sampled distance of two, three echo-signalsThen it was initially believed that there are second trip echo signals in this sequences of echo signals, and echo-signal three times, i.e. s₂ It may be second trip echo signal, s₃It may be echo-signal three times.In this case setting there are the probability P of multiecho= 0.34, and the sampled distance for initializing effective echo-signal is d₀=d₁。

For another example if since interference or other reasons are lost, but there are echo-signal and four times three times in second trip echo signal Echo-signal, the sampled distance of echo-signal meets formula at this timeThen it was initially believed that this sequences of echo signals In there are second trip echo signals, and echo-signal three times, i.e. s₂It may be echo-signal three times, s₃It may be four echo letters Number.In this case there are probability P=0.15 of multiecho for setting, and the sampled distance for initializing effective echo-signal is d₀=d₁。

In another example if echo-signal is due to interference or other reasons loss three times, but there are second trip echo signals and four times Echo-signal, the sampled distance of echo-signal meets formula at this timeThen it was initially believed that this sequences of echo signals In there are second trip echo signal and four echo-signals, i.e. s₂It may be second trip echo signal, s₃It may be four echo letters Number.In this case there are probability P=0.15 of multiecho for setting, and the sampled distance for initializing effective echo-signal is d₀=d₁。

When it is implemented, when the sampled distance of echo-signal matches different first preset conditions, in sequences of echo signals Each echo-signal at annoyance level is different in measurement environment, therefore, in echo-signal include the probability of multiecho Also different.The probability is determining according to the disturbance regime implied in corresponding preset condition, the slighter preset condition of disturbance regime The probability of setting is bigger.

Second situation, the number of echo-signal is greater than or equal to four in the sequences of echo signals.

Below for including 4 echo-signals in the sequences of echo signals obtained after combination of echos, it is assumed that 4 echoes Signal is denoted as respectively: s₁、s₂、s₃And s₄, the sampled distance of this 4 echo-signals is denoted as d respectively₁、d₂、d₃And d₄.According to described The sampled distance of the quantity for the echo-signal for including in sequences of echo signals and each echo-signal determines the echo-signal sequence In column include multiecho signal probability, comprising: if in the sequences of echo signals first four echo-signal sampled distance The second preset condition is matched, then the probability in the sequences of echo signals comprising multiecho signal, which is arranged, is and described second The corresponding probability value of preset condition, and the sampled distance for initializing effective echo-signal is the echo of first non-noise echo The sampled distance of signal；Otherwise, it is 0 that the probability in the sequences of echo signals comprising multiecho signal, which is arranged,；Wherein, institute Stating the second preset condition includes following any one: Withd₁It is The sampled distance of one echo-signal, d₂For the sampled distance of second echo-signal, d₃For the sampling of third echo-signal Distance, d₄For the sampled distance of the 4th echo-signal.

For example, if be mingled with a noise echo before first effective echo-signal, and second and third, four echoes letters Number sampled distance meet following formulaThen it was initially believed that there are second trip echos in this sequences of echo signals Signal, and echo-signal three times, i.e. s₁For noise echo, s₃It may be second trip echo signal, s₄It may be four echo letters Number.In this case there are probability P=0.25 of multiecho for setting, and the sampled distance for initializing effective echo-signal is d₀=d₂。

For another example if be mingled with a noise echo before second effective echo-signal, and first and third, four echo The sampled distance of signal meets following formulaThen it was initially believed that there are secondary returnings in this sequences of echo signals Wave signal, and echo-signal three times, i.e. s₂For noise echo, s₃It may be second trip echo signal, s₄It may be echo three times Signal.In this case there are probability P=0.25 of multiecho for setting, and initialize the sampled distance of effective echo-signal For d₀=d₁。

In another example if being mingled with a noise echo, and first and second, four echo before third effectively echo-signal The sampled distance of signal meets following formulaThen it was initially believed that there are secondary returnings in this sequences of echo signals Wave signal, and echo-signal three times, i.e. s₃For noise echo, s₂It may be second trip echo signal, s₄It may be echo three times Signal.In this case there are probability P=0.25 of multiecho for setting, and initialize the sampled distance of effective echo-signal For d₀=d₁。

When it is implemented, whether can be judged according to the intensity of echo-signal in the sequences of echo signals comprising noise Echo and which echo-signal are noise echoes.Alternatively, can be according between the sampled distance difference between echo-signal It is no to there is integral multiple relation to determine whether that comprising noise echo and which signal be noise echo, such as: if some is returned The sampled distance of wave signal neither the sampled distance of an any other echo-signal approximate integral multiple, it is also not any The sampled distance of other echo-signals is the approximate integral multiple of the echo-signal, it is determined that the echo-signal is noise echo.It is logical Often, the noise echo is that the intensity of echo-signal is less than the average strength of echo-signal in the sequences of echo signals Echo-signal, the intensity include: amplitude or energy.

The third situation, the number of echo-signal is equal to two in the sequences of echo signals.

Below for including 2 echo-signals in the sequences of echo signals obtained after combination of echos, it is assumed that 2 echoes Signal is denoted as respectively: s₁And s₂, the sampled distance of this 2 echo-signals is denoted as d respectively₁、 d₂.According to the sequences of echo signals In include echo-signal quantity and each echo-signal sampled distance, determine in the sequences of echo signals to include multiple The probability of echo-signal, comprising: if the sampled distance of echo-signal matches third preset condition in the sequences of echo signals, It is probability corresponding with the third preset condition that the probability in the sequences of echo signals comprising multiecho signal, which is then arranged, It is worth, and initializes the sampled distance of effective echo-signal according to the echo-signal in the sequences of echo signals；Otherwise, it is arranged Probability in the sequences of echo signals comprising multiecho signal is 0；Wherein, the third preset condition includes following Meaning one:Withd₁For the sampled distance of first echo-signal, d₂It is second The sampled distance of echo-signal.

The echo-signal according in the sequences of echo signals initializes the sampled distance packet of effective echo-signal It includes: if the sampled distance of each echo-signal meets condition in the sequences of echo signalsThen initialization is effective The sampled distance of echo-signal is d₁；If the sampled distance of each echo-signal meets condition in the sequences of echo signalsThe sampled distance for then initializing effective echo-signal is d₂-d₁。

For example, only including two echo-signals in sequences of echo signals, and the two echo-signals are not that noise returns Wave, if the sampled distance of each echo-signal meets condition in sequences of echo signalsThen it was initially believed that this time There are second trip echo signals in wave signal sequence, and setting includes probability P=0.25 of multiecho signal in this case, and The sampled distance for initializing effective echo-signal is d₀=d₁。

For another example only including two echo-signals in sequences of echo signals, and the two echo-signals are not noises Echo, if the sampled distance of each echo-signal meets condition in sequences of echo signals

Then it was initially believed that there are second trip echos in this sequences of echo signals, setting is wrapped in this case Probability P=0.25 of the signal containing multiecho, and the sampled distance for initializing effective echo-signal is d₀=d₂-d₁.By setting Set this condition, for measurement apart from it is closer when, effective echo can not be sampled since effective echo-signal is located in blind area The case where signal, can also determine the sampled distance of effective echo-signal.

4th kind of situation, the number of echo-signal is equal to one in the sequences of echo signals.

As only one echo-signal d in sequences of echo signals₁When, it was initially believed that being not present in this sequences of echo signals Second trip echo, setting in this case includes probability P=0 of multiecho signal, and initializes the sampling of effective echo-signal Distance is d₀=d₁。

Above four kinds of situations are mutual exclusion condition, will not be existed simultaneously, according to once sampling obtained sequences of echo signals It can obtain a probability value.Then, the sequences of echo signals for the sampled point for measuring, and obtaining again, then according to upper Three kinds of situations are stated to determine when the probability in the previous sequences of echo signals for sampling and obtaining including second trip echo signal, and to each Obtained probability is sampled to be added up, judged.If the probability after adding up is greater than 1 by continuous sampling several times, it is determined that when There are multiechos, directly output d in the sequences of echo signals that previous sampling obtains₀For current time sonar ranging measurement away from From；If wherein having any is once 0 according to the probability that the sequences of echo signals that sampling obtains determines, will continuously sample several times Obtained probability is reset.If can not determine when previous sample includes multiecho, i.e. probability in obtained sequences of echo signals Clearing processing is carried out less than 1 or to probability after cumulative, then selection is when the corresponding filtered echo-signal sequence of previous sampling Maximum several (the 3 such as most) echo-signals of energy are as filtering processing as a result, measuring distance for subsequent calculating in column.

Step 230, according to the filtering processing of the echo-signal of continuous N time last samples as a result, output measurement distance.

Wherein, M is the integer more than or equal to 2.

In the embodiment of the present application, the filtering processing of the echo-signal sampled according to nearest, continuous several times is as a result, output Measure distance.When it is implemented, firstly, determining initial echo according to the filtering processing result of the preceding echo-signal sampled several times. Then, the measurement distance exported is determined further according to when the echo-signal filtering processing result of previous sampling and the initial echo.

When it is implemented, according to the filtering processing of the echo-signal of continuous N time last samples as a result, output measurement distance It include: the maximum preset number echo letter of energy in the echo-signal filtering processing result of current sonar ranging sampling of selection Number, as when previous filtering processing result；If initial echo it has been determined that if according to it is described when previous filtering processing result with The initial echo, output measurement distance；If initial echo does not determine, according to the filtering processing knot of continuous N time last samples The maximum echo-signal of energy in fruit, determines the initial echo, measures distance for subsequent output, wherein the continuous N Work as previous filtering processing result comprising described in the filtering processing result of secondary last samples.

When determining initial echo, the maximum echo of energy in the filtering processing result that is sampled according to continuous several times Signal determines initial echo.

When it is implemented, according to the maximum echo-signal of energy in the filtering processing result of continuous N time last samples, really The fixed initial echo, comprising: if double sampling obtains before and after in the filtering processing result of the continuous N time last samples Sampled distance difference between the maximum echo-signal of energy is less than or equal to the second pre-determined distance threshold value, then by the continuous N Sampled distance of the average value of the sampled distance of the maximum echo-signal of energy as initial echo in secondary filtering processing result； Otherwise, the maximum echo-signal of energy in primary filtering processing result earliest is deleted, an echo signal sample is re-started, The maximum echo-signal of energy in filtering processing result to update continuous N time sampling.

In the present embodiment by taking M is equal to 2 as an example, the technical solution for determining initial echo is further illustrated.

Before the start of the measurement, initialization initial echo first is sky, empties alternative echo queue, and by alternative echo Queuing data number is reset, and then starts to sample echo-signal.Output when previous sampling filtering processing result it Afterwards, in the previous sampled result the maximum echo-signal of energy be sequentially put into the alternative echo queue and then judge standby It selects whether echo queuing data number has reached 2 times, i.e., whether has stored 2 alternative echoes in alternative echo queue Signal.If it is not, then alternative echo queuing data number adds 1, continuation samples next time.If having been deposited in alternative echo queue 2 alternative echo-signals have been stored up, s is followed successively by_aAnd s_b, sampled distance is respectively d_aAnd d_b, then judge in alternative echo queue Alternative echo-signal s_aAnd s_bBetween sampled distance difference d_a-d_bWhether the second pre-determined distance threshold value is less than or equal to, if Then by s_aAnd s_bSampled distance average value (i.e. (d_a+d_b)/2) sampled distance as initial echo.If alternative echo letter Number s_aAnd s_bBetween sampled distance difference d_a-d_bWhether be greater than the second pre-determined distance threshold value, then delete sample at first it is standby Select echo-signal s_a, alternative echo queuing data number subtracts 1, and continuation samples next time.

When it is implemented, if the sampling for two echo-signals that front and back double sampling obtains in alternative echo queue away from Deviation value is greater than the second pre-determined distance threshold value, then will sample obtained alternative echo-signal earliest and delete, and continue sampling one newly Alternative echo-signal, to keep recording the maximum echo-signal of energy that last samples obtain in alternative echo queue always.

After each sampling output filtering processing result, the echo-signal of current sonar ranging sampling is selected first The maximum preset number of energy (such as 3) echo-signal in result is filtered, as when previous filtering processing result.Then, Initial echo is judged whether it has been determined that if initial echo does not determine, in conjunction with when previous filtering processing result and former Secondary filtering processing result determines initial echo；If initial echo it has been determined that if according to described work as previous filtering processing result With the initial echo, output measurement distance.

Work as previous filtering processing result and the initial echo according to described, output measurement distance includes: described current In secondary filtering processing result, select sampled distance and the nearest echo-signal of the initial echo as when previous alternative echo Signal；If described when the difference of the sampled distance of previous alternative echo-signal and the initial echo is less than or equal to first in advance If distance threshold, then using described when the sampled distance of previous alternative echo-signal is as the measurement distance of output；Otherwise, will work as Measurement distance of the sampled distance of the maximum echo-signal of energy as output in previous filtering processing result.

When it is implemented, maximum with 3 energy that will be selected in the echo-signal filtering processing result for working as previous sampling Echo-signal is s₅、s₆And s₇For, it is first determined the maximum echo-signal of energy and the sampled distance with the initial echo Nearest echo-signal.

If the maximum echo-signal of energy is s₅, nearest echo-signal is with the sampled distance of the initial echo s₆, then by s₆As when previous alternative echo-signal.If described work as previous alternative echo-signal s₆With the initial echo Difference between sampled distance is greater than preset value, then it is assumed that when previous measurement is wrong, will directly work as the echo-signal of previous sampling The maximum echo-signal s of energy in result is filtered₅Sampled distance as output measurement distance.If described when previous Alternative echo-signal s₆Difference between the sampled distance of the initial echo is less than or equal to preset value, then works as by described in Previous alternative echo-signal s₆Sampled distance as output measurement distance.

If the maximum echo-signal of energy is s₅, the nearest echo-signal with the sampled distance of the initial echo For s₅, then by s₅Sampled distance as output measurement distance.

So far, a sonar ranging has been completed.

When it is implemented, need to constantly update the reference calculated as measurement distance to improve the accuracy of ranging, That is the sampled distance of initial echo, therefore, using the sampled distance when previous alternative echo-signal as the measurement of output After distance, further includes: pass through the sampling for updating the initial echo when the sampled distance of previous alternative echo-signal Distance.By constantly update the sampled distance of newest measurement as judge when measuring next time sampled result whether accurately according to According to, it can be always using nearest measurement result as judgment basis, the positional jitter of sonar sensor when can be to sonar ranging It carries out fault-tolerant, further increases ranging accuracy.

Sonar distance measuring method disclosed in the embodiment of the present application, by obtaining in sonar ranging process when previous sampling obtains Sequences of echo signals, include returning of being arranged from front to back according to the sequencing in sampling time in the sequences of echo signals Then wave signal carries out combination of echos and multiecho filtration treatment to the echo-signal in the sequences of echo signals, And according to the filtering processing of the echo-signal of continuous N time last samples as a result, output measurement distance, solves in the prior art Sonar ranging when existing measurement result accuracy is low and the poor problem of stability.The application passes through according to continuous several times It samples obtained echo-signal and determines measurement distance, measure with being determined in the prior art only in accordance with a sampled signal apart from phase Than effectively weaken unitary sampling is influenced by measurement environment, so that the accuracy of measurement result is higher, stability is higher. Combination of echos is carried out by the echo-signal obtained to sampling, there are multiple reflectings surface for object under test when improving sonar ranging When distance measuring method robustness.Multiecho filtering is carried out by the echo-signal obtained to sampling, can accurately determine one Secondary echo-signal further promotes the accuracy of measurement result only using an echo as the reference for calculating distance.

Initial echo is determined by the echo-signal obtained in conjunction with continuous sampling several times, then again obtains present sample Echo-signal with initial echo carry out sampled distance compared with, it is possible to prevente effectively from unitary sampling results abnormity is to distance measurement result Influence, further promoted measurement distance accuracy rate and stability.

Embodiment three:

Based on embodiment one and embodiment two, as shown in figure 4, the embodiment of the present application discloses a kind of sonar distance measuring method, It include: step 400 to step 460.

Step 400, it obtains in sonar ranging process when the previous sequences of echo signals for sampling and obtaining, the echo-signal It include the echo-signal arranged from front to back according to the sequencing in sampling time in sequence.

It obtains in sonar ranging process and is wrapped when in the previous sequences of echo signals for sampling and obtaining, the sequences of echo signals The specific embodiment of the echo-signal arranged from front to back according to the sequencing in sampling time is included referring to embodiment two, this Place repeats no more.

Step 410, combination of echos is carried out to the echo-signal in the sequences of echo signals.

The specific embodiment of combination of echos is carried out referring to embodiment to the echo-signal in the sequences of echo signals Two, details are not described herein again.

Step 420, to combination of echos, treated that the echo-signal carries out multiecho filtering, is filtered As a result.

To combination of echos, treated that the echo-signal carries out multiecho filtering, obtains the tool of filtering processing result Body embodiment is referring to embodiment two, and details are not described herein again.

Step 430, according to the filtering processing of the echo-signal of continuous N time last samples as a result, output measurement distance.

According to the filtering processing of the echo-signal of continuous N time last samples as a result, the specific embodiment party of output measurement distance Formula is referring to embodiment two, and details are not described herein again.

After initial echo determines, in subsequent each sampling process, for when previous filtering processing is as a result, such as Currently the sampled distance difference of alternative echo-signal and the initial echo is less than or equal to the first pre-determined distance threshold value to fruit, then Using the sampled distance when previous alternative echo-signal as the measurement distance of output, later, need further to it is preceding several times Measurement result carries out tracking judgement, avoids continuing to measure on the basis of the measurement result of mistake.

Step 440, judgement is described when whether previous alternative echo-signal is described when energy in previous filtering processing result Maximum echo-signal, if so, thening follow the steps 450；Otherwise, step 460 is executed.

The sampled distance using described when previous alternative echo-signal is as after the measurement of output distance, further includes: If described when previous alternative echo-signal is non-described when the maximum echo-signal of energy in previous filtering processing result, by institute It states when alternative echo queue is preset in the maximum echo-signal addition of energy in previous filtering processing result, for according to described standby The maximum echo-signal of energy in continuous N time filtering processing result is selected in echo queue to redefine initial echo；Otherwise, clearly Sky presets alternative echo queue.

When it is implemented, if when previous alternative echo-signal is only with the initial echo apart from nearest echo Signal, rather than the maximum echo-signal of energy, then it is assumed that the echo-signal of present sample may be inaccurate, needs to pass through company The continuous maximum echo-signal of obtained energy measured several times, corrects the initial echo currently assert.

When it is implemented, alternative echo queue can be preset, and the obtained maximum echo of energy will be measured every time Signal is stored in the alternative echo queue.Every time after one measurement distance of output, it will judge that working as previous alternative echo is It is no to sample the obtained maximum echo-signal of energy for this, if so, confirmation present sample is accurate, empty alternative echo team Column；If fruit is not, confirm present sample inaccuracy, further according to stored in the alternative echo queue it is continuous several times The maximum echo-signal of the energy of measurement redefines initial echo.

Step 450, it empties and presets alternative echo queue.

The alternative echo-signal preset and stored in alternative echo queue is emptied, this measurement is terminated.

Step 460, believed according to the maximum echo of energy in continuous N in the alternative echo queue time filtering processing result Number redefine initial echo.

The specific method of initial echo is redefined referring to opening according to the echo-signal stored in the alternative echo queue The echo-signal sampled several times before when beginning ranging determines the specific method of initial echo, and details are not described herein again.

Terminate this measurement.

Sonar distance measuring method disclosed in the embodiment of the present application, it is right by constantly monitoring the measurement result for sampling obtain every time It is tracked in the situation that the measurement distance of output is not the sampled distance of ceiling capacity echo-signal, timely correction measurement misses Difference further improves the accuracy of measurement result.

Example IV:

Correspondingly, disclosed herein as well is a kind of sonar range units referring to Fig. 5, comprising:

Sequences of echo signals obtains module 500, samples obtained echo letter when previous for obtaining in sonar ranging process Number sequence includes the echo-signal arranged from front to back according to the sequencing in sampling time in the sequences of echo signals；

Module 510 is filtered, for obtaining the sequences of echo signals that module 500 obtains to the sequences of echo signals In echo-signal be filtered, determine work as previous sampling filtering processing result；

Apart from output module 520, for the filtering processing according to the echo-signals of continuous N time last samples as a result, output Measure distance, wherein M is the integer more than or equal to 2.

Optionally, as shown in fig. 6, described include: apart from output module 520

When previous filtering processing result obtains selecting unit 5201, for selecting the echo of current sonar ranging sampling The maximum preset number echo-signal of energy in result is filtered in signal, as when previous filtering processing result；

Apart from output unit 5202, for if initial echo it has been determined that if according to described work as previous filtering processing result With the initial echo, output measurement distance；

Initial echo determination unit 5203, if not determined for initial echo, according to the filter of continuous N time last samples The maximum echo-signal of energy in wave processing result, determines the initial echo, measures distance for subsequent output, wherein institute It states in the filtering processing result of continuous N time last samples comprising described when previous filtering processing result.

Optionally, described to be further used for apart from output unit 5202:

In previous filtering processing result, sampled distance and the nearest echo-signal of the initial echo are selected described As when previous alternative echo-signal；

If described when the difference of the sampled distance of previous alternative echo-signal and the initial echo is less than or equal to first Pre-determined distance threshold value, then using described when the sampled distance of previous alternative echo-signal is as the measurement distance of output；Otherwise, will When the sampled distance of the maximum echo-signal of energy in previous filtering processing result is as the measurement distance exported.

Optionally, described to be also used to apart from output unit 5202:

Pass through the sampled distance that the initial echo is updated when the sampled distance of previous alternative echo-signal.

Optionally, described to be also used to apart from output unit 5202:

If described when previous alternative echo-signal is non-described when the maximum echo letter of energy in previous filtering processing result Number, then by described, alternative echo queue is preset in the maximum echo-signal addition of energy in the previous filtering processing result, for root Initial echo is redefined according to the maximum echo-signal of energy in continuous N in the alternative echo queue time filtering processing result； Otherwise, it empties and presets alternative echo queue.

By constantly monitoring the measurement result for sampling obtain every time, the measurement distance for output is not that ceiling capacity returns The situation of the sampled distance of wave signal is tracked, and timely correction measurement error further improves the accurate of measurement result Property.

Optionally, the initial echo determination unit 5203 is further used for:

If energy maximum time that front and back double sampling obtains in the filtering processing result of the continuous N time last samples Sampled distance difference between wave signal is less than or equal to the second pre-determined distance threshold value, then by the continuous N time filtering processing knot Sampled distance of the average value of the sampled distance of the maximum echo-signal of energy as initial echo in fruit；

Otherwise, the maximum echo-signal of energy in primary filtering processing result earliest is deleted, an echo letter is re-started Number sampling, the maximum echo-signal of energy in the filtering processing result to update continuous N time sampling.

Optionally, the filtering processing module 510 is further used for:

If the number of the echo-signal is one, directly using the echo-signal as filtering processing result；It is no Then, the echo-signal in the sequences of echo signals is filtered, using the echo-signal after filtering processing as filtering Processing result；

Wherein, the filtering processing includes: combination of echos and/or multiecho filtering.

Optionally, as shown in figure 5, the filtering processing module 510 further comprises:

Combination of echos unit 5101, for carrying out combination of echos to the echo-signal；

The combination of echos unit 5101 is further used for:

According to the intensity and sampled distance of adjacent echoes signal in the sequences of echo signals, the adjacent echoes are determined Whether signal is echo-signal to be combined；

If it is determined that the echo-signal is echo-signal to be combined, then processing is merged to the adjacent echoes signal；

Wherein, the intensity of the echo-signal is amplitude or energy.

Optionally, the intensity and sampled distance according to adjacent echoes signal in the sequences of echo signals, determines institute State whether adjacent echoes signal is echo-signal to be combined, comprising:

If the sampled distance difference between adjacent echoes signal is less than pre-determined distance difference, and previous echo is believed Number intensity be less than the latter echo-signal intensity, then the adjacent echoes signal is merged into processing.

When it is implemented, described merge processing for the adjacent echoes signal, comprising:

Energy of the sum of the energy by the adjacent echoes signal as the echo-signal after merging；

By the energy of the echo-signal after merging, update in adjacent echoes signal described in the sequences of echo signals The energy of previous echo-signal, and from deleting the latter echo in the adjacent echoes signal in the sequences of echo signals Signal.

Multiecho filter element 5102, for carrying out multiecho filtering to the echo；

The multiecho filter element is further used for:

Determine the probability in the sequences of echo signals comprising multiecho signal；

According to the determining probability is at least sampled twice in succession, having in the echo-signal of last time acquisition is determined Imitate echo-signal.

It optionally, include the probability of multiecho signal in the determination sequences of echo signals, comprising:

According to the sampled distance of the quantity for the echo-signal for including in the sequences of echo signals and each echo-signal, really It include the probability of multiecho signal in the fixed sequences of echo signals.

When it is implemented, if the number of echo-signal is greater than or equal to three in the sequences of echo signals, the basis The sampled distance of the quantity for the echo-signal for including in the sequences of echo signals and each echo-signal determines the echo letter Include the probability of multiecho signal in number sequence, comprising: if in the sequences of echo signals first three echo-signal sampling Distance matching the first preset condition, then be arranged in the sequences of echo signals comprising multiecho signal probability be with it is described The corresponding probability value of first preset condition, and the sampled distance for initializing effective echo-signal is d₁；Otherwise, setting is described returns Probability in wave signal sequence comprising multiecho signal is 0；

Wherein, first preset condition includes following any one:Withd₁For the sampled distance of first echo-signal, d₂For the sampled distance of second echo-signal, d₃It is The sampled distance of three echo-signals.

In another embodiment, if the number of echo-signal is greater than or equal to four in the sequences of echo signals, institute State the sampled distance of the quantity and each echo-signal according to the echo-signal for including in the sequences of echo signals, determine described in It include the probability of multiecho signal in sequences of echo signals, comprising:

If the sampled distance of first four echo-signal matches the second preset condition in the sequences of echo signals, it is arranged Probability in the sequences of echo signals comprising multiecho signal is probability value corresponding with second preset condition, and The sampled distance of effective echo-signal is initialized as the sampled distance of the echo-signal of first non-noise echo；Otherwise, it is arranged Probability in the sequences of echo signals comprising multiecho signal is 0；

Wherein, second preset condition includes following any one:Withd₁For the sampled distance of first echo-signal, d₂For the sampled distance of second echo-signal, d₃It is The sampled distance of three echo-signals, d₄For the sampled distance of the 4th echo-signal.

In another embodiment, if the number of echo-signal is described according to institute equal to two in the sequences of echo signals The quantity for the echo-signal for including in sequences of echo signals and the sampled distance of each echo-signal are stated, determines the echo-signal The probability for including the steps that multiecho signal in sequence includes:

If the sampled distance of echo-signal matches third preset condition in the sequences of echo signals, setting is described to be returned Probability in wave signal sequence comprising multiecho signal is probability value corresponding with the third preset condition, and according to institute State the sampled distance that the echo-signal in sequences of echo signals initializes effective echo-signal；Otherwise, the echo-signal is set Probability in sequence comprising multiecho signal is 0；

Wherein, the third preset condition includes following any one:With d₁For the sampled distance of first echo-signal, d₂For the sampled distance of second echo-signal；

The echo-signal according in the sequences of echo signals initializes the sampled distance packet of effective echo-signal It includes:

If the sampled distance of each echo-signal meets condition in the sequences of echo signalsThen initialize The sampled distance of effective echo-signal is d₁；

If the sampled distance of each echo-signal meets condition in the sequences of echo signalsThen just The sampled distance of the effective echo-signal of beginningization is d₂-d₁。

When it is implemented, the echo is arranged when the number of echo-signal in the sequences of echo signals is equal to one Probability in signal sequence comprising multiecho signal is 0, and using the echo-signal in the sequences of echo signals as effectively Echo-signal.

Sonar range unit disclosed in the embodiment of the present application, by obtaining in sonar ranging process when previous sampling obtains Sequences of echo signals, include returning of being arranged from front to back according to the sequencing in sampling time in the sequences of echo signals Then wave signal carries out combination of echos and multiecho filtration treatment to the echo-signal in the sequences of echo signals, And according to the filtering processing of the echo-signal of continuous N time last samples as a result, output measurement distance, solves in the prior art Sonar ranging when existing measurement result accuracy is low and the poor problem of stability.The application passes through according to continuous several times It samples obtained echo-signal and determines measurement distance, measure with being determined in the prior art only in accordance with a sampled signal apart from phase Than effectively weaken unitary sampling is influenced by measurement environment, so that the accuracy of measurement result is higher, stability is higher. Combination of echos is carried out by the echo-signal obtained to sampling, there are multiple reflectings surface for object under test when improving sonar ranging When distance measuring method robustness.Multiecho filtering is carried out by the echo-signal obtained to sampling, can accurately determine one Secondary echo-signal further promotes the accuracy of measurement result only using an echo as the reference for calculating distance.

The Installation practice of the application is corresponding with method, in Installation practice the specific implementation of each module referring to Method is embodiment, and details are not described herein again.

Correspondingly, the execution equipment is provided with sonar sensor disclosed herein as well is a kind of execution equipment；It is described Sonar sensor sound wave for transmitting and receiving；The execution equipment is additionally provided with central processing unit and memory, the storage Program of the device for sonar distance measuring method described in storage implementation example one to embodiment three, the central processing unit includes preceding speed Each module and unit described in example IV, for executing the program stored in memory, to execute embodiment one to embodiment Each step of sonar distance measuring method described in three.The execution equipment can be unmanned plane or aircraft.

Those of ordinary skill in the art may be aware that described in conjunction with the examples disclosed in the embodiments of the present disclosure Unit and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions It is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Professional technique Personnel can use different methods to achieve the described function each specific application, but this realization should not be recognized For beyond scope of the present application.

One with ordinary skill in the art would appreciate that in embodiment provided herein, it is described to be used as separation unit The unit of explanation may or may not be physically separated, it can and it is in one place, or can also be distributed Onto multiple network units.In addition, each functional unit in each embodiment of the application can integrate in a processing unit In, it is also possible to each unit and physically exists alone, can also be integrated in one unit with two or more units.

It, can if the function is realized in the form of SFU software functional unit and when sold or used as an independent product To be stored in a computer readable storage medium.Based on this understanding, the technical solution of the application can be with software The form of product embodies, which is stored in a storage medium, including some instructions use so that One computer equipment (can be personal computer, server or the network equipment etc.) executes each embodiment institute of the application State all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, ROM, RAM, magnetic disk or light The various media that can store program code such as disk.

The above, the only specific embodiment of the application, but the protection scope of the application is not limited thereto, and is appointed What those familiar with the art within the technical scope of the present application, expects changing without creative work Or replacement, should all it cover within the scope of protection of this application.Therefore, the protection scope of the application should be with the guarantor of claim It protects subject to range.

Claims

1. a kind of sonar distance measuring method characterized by comprising

Obtain in sonar ranging process and sample obtained sequences of echo signals when previous, include in the sequences of echo signals according to The echo-signal that the sequencing in sampling time arranges from front to back；

Echo-signal in the sequences of echo signals is filtered, determines the filtering processing result for working as previous sampling；

According to the filtering processing of the echo-signal of continuous N time last samples as a result, output measurement distance, wherein M be more than or equal to 2 integer.

2. the method according to claim 1, wherein the echo-signal according to continuous N time last samples Filtering processing as a result, output measurement apart from the step of, comprising:

The maximum preset number echo-signal of energy in the echo-signal filtering processing result of current sonar ranging sampling of selection, As when previous filtering processing result；

If initial echo it has been determined that if according to described work as previous filtering processing result and the initial echo, output measure away from From；

If initial echo does not determine, according to the maximum echo-signal of energy in the filtering processing result of continuous N time last samples, It determines the initial echo, measures distance for subsequent output, wherein the filtering processing result of the continuous N time last samples In comprising described work as previous filtering processing result.

3. according to the method described in claim 2, it is characterized in that, it is described according to when previous filtering processing result and described Initial echo, output measurement apart from the step of, comprising:

Described in the previous filtering processing result, the echo-signal that selects sampled distance nearest with the initial echo is as working as Previous alternative echo-signal；

If described preset when the difference of the sampled distance of previous alternative echo-signal and the initial echo is less than or equal to first Distance threshold, then using described when the sampled distance of previous alternative echo-signal is as the measurement distance of output；Otherwise, will work as previous Measurement distance of the sampled distance of the maximum echo-signal of energy in result as output is filtered.

4. according to the method described in claim 3, it is characterized in that, the sampling by described when previous alternative echo-signal away from After the step of with a distance from the measurement as output, further includes:

5. according to the method described in claim 4, it is characterized in that, the sampling by described when previous alternative echo-signal away from After the step of with a distance from the measurement as output, further includes:

If described when previous alternative echo-signal is non-described as the maximum echo-signal of energy in previous filtering processing result, general Alternative echo queue is preset in the maximum echo-signal addition of the energy in the previous filtering processing result, is used for according to described standby The maximum echo-signal of energy in continuous N time filtering processing result is selected in echo queue to redefine initial echo；Otherwise, it empties Preset alternative echo queue.

6. according to the method described in claim 2, it is characterized in that, according in the filtering processing result of continuous N time last samples The maximum echo-signal of energy, the step of determining the initial echo, comprising:

If the maximum echo-signal of energy that front and back double sampling obtains in the filtering processing result of the continuous N time last samples Between sampled distance difference be less than or equal to the second pre-determined distance threshold value, then by energy in the continuous N time filtering processing result Measure sampled distance of the average value as initial echo of the sampled distance of maximum echo-signal；

Otherwise, the maximum echo-signal of energy in primary filtering processing result earliest is deleted, an echo-signal is re-started and adopts Sample, to update the maximum echo-signal of energy in the filtering processing result that continuous N time samples.

7. the method according to claim 1, wherein the echo-signal in the sequences of echo signals into The step of row filtering processing, the determining filtering processing result for working as previous sampling, comprising:

If the number of the echo-signal is one, directly using the echo-signal as filtering processing result；Otherwise, to institute The echo-signal stated in sequences of echo signals is filtered, and is tied the echo-signal after filtering processing as filtering processing Fruit；

8. the method according to the description of claim 7 is characterized in that the step of carrying out combination of echos to the echo-signal, packet It includes:

According to the intensity and sampled distance of adjacent echoes signal in the sequences of echo signals, determine that the adjacent echoes signal is No is echo-signal to be combined；

Wherein, the intensity of the echo-signal is amplitude or energy.

9. according to the method described in claim 8, it is characterized in that, described believe according to adjacent echoes in the sequences of echo signals Number intensity and sampled distance, the step of whether the adjacent echoes signal is echo-signal to be combined determined, comprising:

If the sampled distance difference between adjacent echoes signal is less than pre-determined distance difference, and previous echo-signal is strong Degree is less than the intensity of the latter echo-signal, then the adjacent echoes signal is merged processing.

10. according to the method described in claim 8, it is characterized in that, described merge processing for the adjacent echoes signal The step of, comprising:

By the energy of the echo-signal after merging, update previous in adjacent echoes signal described in the sequences of echo signals The energy of echo-signal, and from deleting the latter echo-signal in the adjacent echoes signal in the sequences of echo signals.

11. the method according to the description of claim 7 is characterized in that the step of carrying out multiecho filtering to the echo, packet It includes:

According to the determining probability is at least sampled twice in succession, effective echo in the echo-signal of last time acquisition is determined Signal.

12. according to the method for claim 11, which is characterized in that comprising multiple in the determination sequences of echo signals The step of probability of echo-signal, comprising:

According to the sampled distance of the quantity for the echo-signal for including in the sequences of echo signals and each echo-signal, determine described in It include the probability of multiecho signal in sequences of echo signals.

13. according to the method for claim 12, which is characterized in that if in the sequences of echo signals echo-signal number It is described according to the quantity for the echo-signal for including in the sequences of echo signals and adopting for each echo-signal more than or equal to three Sample distance determines the probability for including the steps that multiecho signal in the sequences of echo signals, comprising:

If the sampled distance of first three echo-signal matches the first preset condition in the sequences of echo signals, setting is described to be returned Probability in wave signal sequence comprising multiecho signal is probability value corresponding with first preset condition, and initialization has The sampled distance for imitating echo-signal is d₁；Otherwise, the probability in the sequences of echo signals comprising multiecho signal, which is arranged, is 0；

Wherein, first preset condition includes following any one:With d₁For the sampled distance of first echo-signal, d₂For the sampled distance of second echo-signal, d₃For third echo-signal Sampled distance.

14. according to the method for claim 12, which is characterized in that if in the sequences of echo signals echo-signal number It is described according to the quantity for the echo-signal for including in the sequences of echo signals and adopting for each echo-signal more than or equal to four Sample distance determines the probability for including the steps that multiecho signal in the sequences of echo signals, comprising:

If the sampled distance of first four echo-signal matches the second preset condition in the sequences of echo signals, setting is described to be returned Probability in wave signal sequence comprising multiecho signal is probability value corresponding with second preset condition, and initialization has The sampled distance of echo-signal is imitated as the sampled distance of the echo-signal of first non-noise echo；Otherwise, the echo is set Probability in signal sequence comprising multiecho signal is 0；

Wherein, second preset condition includes following any one:With d₁For the sampled distance of first echo-signal, d₂For the sampled distance of second echo-signal, d₃For third echo-signal Sampled distance, d₄For the sampled distance of the 4th echo-signal.

15. according to the method for claim 12, which is characterized in that if in the sequences of echo signals echo-signal number Equal to two, the sampling of the quantity and each echo-signal according to the echo-signal for including in the sequences of echo signals away from From determining the probability for including the steps that multiecho signal in the sequences of echo signals, comprising:

If the sampled distance of echo-signal matches third preset condition in the sequences of echo signals, the echo-signal is set Probability in sequence comprising multiecho signal is probability value corresponding with the third preset condition, and is believed according to the echo Echo-signal in number sequence initializes the sampled distance of effective echo-signal；Otherwise, it is arranged in the sequences of echo signals and wraps The probability of the signal containing multiecho is 0；

Wherein, the third preset condition includes following any one:Withd₁It is The sampled distance of one echo-signal, d₂For the sampled distance of second echo-signal；

The sampled distance that the echo-signal according in the sequences of echo signals initializes effective echo-signal includes:

If the sampled distance of each echo-signal meets condition in the sequences of echo signalsThen initialization is effectively returned The sampled distance of wave signal is d₁；

If the sampled distance of each echo-signal meets condition in the sequences of echo signalsThen initialize The sampled distance of effective echo-signal is d₂-d₁。

16. a kind of sonar range unit characterized by comprising

Sequences of echo signals obtains module, samples obtained sequences of echo signals when previous for obtaining in sonar ranging process, It include the echo-signal arranged from front to back according to the sequencing in sampling time in the sequences of echo signals；

Module is filtered, for obtaining the echo-signal in the sequences of echo signals that module obtains to the sequences of echo signals It is filtered, determines the filtering processing result for working as previous sampling；

Apart from output module, for according to the filtering processing of the echo-signals of continuous N time last samples as a result, output measurement away from From, wherein M is the integer more than or equal to 2.

17. device according to claim 16, which is characterized in that described to include: apart from output module

When previous filtering processing result obtains selecting unit, at the echo-signal filtering for selecting current sonar ranging sampling The maximum preset number echo-signal of energy in result is managed, as when previous filtering processing result；

Apart from output unit, for if initial echo it has been determined that if according to described when previous filtering processing result and described first Beginning echo, output measurement distance；

Initial echo determination unit, if not determined for initial echo, according to the filtering processing result of continuous N time last samples The middle maximum echo-signal of energy, determines the initial echo, measures distance for subsequent output, wherein the continuous N time is most Work as previous filtering processing result comprising described in the filtering processing result newly sampled.

18. device according to claim 17, which is characterized in that described to be further used for apart from output unit:

19. device according to claim 18, which is characterized in that described to be also used to apart from output unit:

20. device according to claim 19, which is characterized in that described to be also used to apart from output unit:

21. device according to claim 17, which is characterized in that the initial echo determination unit is further used for:

22. device according to claim 16, which is characterized in that the filtering processing module is further used for:

23. device according to claim 22, which is characterized in that the filtering processing module further comprises:

Combination of echos unit, for carrying out combination of echos to the echo-signal；

The combination of echos unit is further used for:

Wherein, the intensity of the echo-signal is amplitude or energy.

24. device according to claim 23, which is characterized in that described according to adjacent echoes in the sequences of echo signals The intensity and sampled distance of signal determine whether the adjacent echoes signal is echo-signal to be combined, comprising:

25. device according to claim 23, which is characterized in that described that the adjacent echoes signal is merged place Reason, comprising:

26. device according to claim 22, which is characterized in that the filtering processing module further comprises:

Multiecho filter element, for carrying out multiecho filtering to the echo；

The multiecho filter element is further used for:

27. device according to claim 26, which is characterized in that comprising multiple in the determination sequences of echo signals The probability of echo-signal, comprising:

28. device according to claim 27, which is characterized in that if in the sequences of echo signals echo-signal number It is described according to the quantity for the echo-signal for including in the sequences of echo signals and adopting for each echo-signal more than or equal to three Sample distance determines the probability in the sequences of echo signals including multiecho signal, comprising:

29. device according to claim 27, which is characterized in that if in the sequences of echo signals echo-signal number It is described according to the quantity for the echo-signal for including in the sequences of echo signals and adopting for each echo-signal more than or equal to four Sample distance determines the probability in the sequences of echo signals including multiecho signal, comprising:

30. device according to claim 27, which is characterized in that if in the sequences of echo signals echo-signal number Equal to two, the sampling of the quantity and each echo-signal according to the echo-signal for including in the sequences of echo signals away from From determining that the probability for including the steps that multiecho signal in the sequences of echo signals includes:

31. a kind of execution equipment, including memory, processor and it is stored on the memory and can runs on a processor Computer program, which is characterized in that further include:

Sonar sensor, sonar sensor sound wave for transmitting and receiving；

The processor realizes sonar described in claim 1 to 15 any one claim when executing the computer program Distance measuring method.