CN109490405A - Filtering method, signal processing apparatus and ground marking system based on orthogonal basis function - Google Patents
Filtering method, signal processing apparatus and ground marking system based on orthogonal basis function Download PDFInfo
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- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
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Abstract
The present invention provides a kind of filtering method based on orthogonal basis function, signal processing apparatus and ground marking system.The filtering method, comprising: obtain magnetic signal；Using the warp factor based on orthogonal basis function, the magnetic signal is filtered, obtains the product that filtering post filtering signal is the magnetic signal and the warp factor.Filtering method based on orthogonal basis function, signal processing apparatus and ground marking system provided by the present invention utilize the warp factor based on orthogonal basis function, magnetic signal is filtered, it is higher to obtain filtering post filtering Signal-to-Noise, can be improved the accuracy of leakage field judgement using this filtering signal.
Description
Technical field
The present invention relates to electronic information technical field more particularly to a kind of filtering methods based on orthogonal basis function, signal
Processing unit and ground marking system.
Background technique
In order to ensure the safety and reliability of pipeline transportation environment, detection in leakage field is generallyd use in pipe detection industry
The defects of whether device periodic detection tube wall corrodes.In the operation process of leakage field internal detector, inspection in leakage field is obtained in real time
It is essential for surveying the location information of device.On the one hand when the accidents such as occurs blocking in leakage field internal detector, pass through the leakage field
The location information of internal detector can position it to go forward side by side to rob in time and repair.On the other hand according to the located sites of ground marker
With temporal information, the geographical location for determining pipeline corrosion default can also be assisted.
Ground marker passes through whether the magnetic field size for judging that the magnetic pole of leakage field internal detector generates near ground surface surpasses
Cross the threshold operative of setting.When the magnetic field is more than threshold value, show pipeline of the leakage field internal detector below ground marker
Back warp mistake, to achieve the purpose that position leakage field internal detector in real time.However, traditional ground marker output carries out threshold decision
Magnetic signal noise it is very big, leakage field situation cannot be accurately judged to, so as to cause leakage field position cannot be accurately positioned.
Summary of the invention
Based on this, it is necessary in view of the above technical problems, provide a kind of signal-to-noise ratio the high filtering based on orthogonal basis function
Method, signal processing apparatus and ground marking system.
A kind of filtering method based on orthogonal basis function provided by the invention, comprising:
Obtain magnetic signal；
Using the warp factor based on orthogonal basis function, the magnetic signal is filtered, obtains filtering post filtering signal
For the product of the magnetic signal and the warp factor.
In one embodiment, the expression formula of the warp factor is h (n)=[(nTs/τ)2+1]-4, wherein TsFor sampling
Period,It is characterized time, R0Leakage field internal detector device is moved to the distance nearest away from field detecting device, and v is magnetic field
The movement speed of detector.
In one embodiment, the acquisition methods of the warp factor based on orthogonal basis function include:
Obtain the relational expression square with known variables of the mould of dimensionless magnetic field strength；
The relational expression is orthogonalized processing, is then calculated by normalization and obtains orthogonal basis function；
The orthogonal basis function is subjected to discretization, obtains the warp factor based on orthogonal basis function.
In one embodiment, the orthogonalization process is gram-Schimidt orthogonalization processing.
In one embodiment, described that the orthogonal basis function is subjected to discretization, it obtains described based on orthogonal basis function
Warp factor the step of are as follows:
Product using the ratio and discrete variable of sampling period and characteristic time is the known variables, by the orthogonal basis
The discrete discretization expression formula for turning to discrete variable of function.
In one embodiment, it is described obtain dimensionless magnetic field strength mould square with the relational expression of known variables
Before step, the acquisition methods of the warp factor based on orthogonal basis function further include:
Obtain the most low coverage of the movement speed, magnetic field detector of magnetic field detector in preset coordinates system apart from ground marker
From according to traveling time, position vector of the acquisition magnetic field detector apart from ground marker；
The magnetic dipole moment for obtaining determinand obtains the position vector according to the position vector and dipole model of magnetic
On magnetic induction intensity expression formula；
By nondimensional known variables, the magnetic induction intensity expression formula is subjected to nondimensionalization to obtain dimensionless magnetic
Field intensity.
In one embodiment, the nondimensional known variables are that the movement speed and the product of time are examined with magnetic field again
Survey the ratio of minimum distance of the device apart from ground marker.
The present invention also provides a kind of signal processing apparatus based on orthogonal basis function, comprising:
Signal receiving module, for receiving magnetic signal；
Matched filtering module is electrically connected with the signal receiving module, and the matched filtering module is based on orthogonal leading
The matched filtering module of basic function filters magnetic signal based on the filtering method of orthogonal basis function using any one of the above
Wave.
The present invention also provides a kind of ground marking system based on orthogonal basis function, the system comprises:
Field detecting device, for acquiring the magnetic signal of three-dimensional space around the determinand；
Signal processing apparatus is electrically connected with the field detecting device, and the signal processing device is set to above-mentioned based on just
Hand over the signal processing apparatus of basic function；
Positioning and communication device, are electrically connected with the signal processing apparatus, are used for the signal processing means processes mistake
Magnetic signal and location information be sent to remote monitoring terminal.
In one embodiment, the positioning and communication device include: locating module and communication module, the locating module
It is electrically connected respectively with the signal processing apparatus with communication module.
In one embodiment, the ground marking system based on orthogonal basis function further includes electric power controller, point
It is not electrically connected with the electromagnetic exploration apparatus, signal processing apparatus, positioning and communication device and display device.
In one embodiment, the ground marking system based on orthogonal basis function further includes leakage field internal detector dress
It sets, is arranged in the determinand, for issuing magnetic signal.
In one embodiment, the ground marking system based on orthogonal basis function further includes display device, and described
Signal processing apparatus electrical connection.
A kind of filtering method based on orthogonal basis function, signal processing apparatus and land mark system provided by the present invention
System, using the warp factor based on orthogonal basis function, is filtered magnetic signal, obtains filtering post filtering Signal-to-Noise more
Height can be improved the accuracy of leakage field judgement using this filtering signal.
Detailed description of the invention
Fig. 1 is the flow chart of the filtering method based on orthogonal basis function of one embodiment；
Fig. 2 is the warp factor based on orthogonal basis function in the filtering method based on orthogonal basis function of one embodiment
The flow chart of acquisition methods；
Fig. 3 is the warp factor based on orthogonal basis function in the filtering method based on orthogonal basis function of another embodiment
Acquisition methods flow chart；
Fig. 4 is the structural block diagram of the ground marking system based on orthogonal basis function of one embodiment；
Fig. 5 is the structural block diagram of the ground marking system based on orthogonal basis function of another embodiment；
Fig. 6 is the application scenario diagram of the ground marking system based on orthogonal basis function of one embodiment；
Fig. 7 be one embodiment the ground marking system based on orthogonal basis function used by three-dimensional orthogonal basic function with
The evolution diagram of dimensionless variable；
Fig. 8 is that field detecting device described in the ground marking system based on orthogonal basis function of one embodiment collects
Magnetic signal；
Fig. 9 is that field detecting device described in the ground marking system based on orthogonal basis function of one embodiment collects
Magnetic signal of the magnetic signal after signal processing means processes.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, right with reference to the accompanying drawings and embodiments
Technical solution of the present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain
Technical solution of the present invention, the technical solution being not intended to limit the present invention.
Referring to Fig. 1, a kind of filtering method based on orthogonal basis function is provided for one embodiment of the invention, it is described to be based on
The filtering method of orthogonal basis function the following steps are included:
S100 obtains magnetic signal；
S200 is filtered the magnetic signal using the warp factor based on orthogonal basis function, obtains filtering post filtering
Signal is the product of the magnetic signal and the warp factor.
Specifically, the magnetic signal is the magnetic signal of detector present position.In one embodiment, detector detection to
When test tube road, the magnetic signal is in the collected all magnetic signals of detector, including detector induction magnetic signal, pipe under test
Magnetic signal and earth magnetic signal of release etc..
Specifically, magnetic signal is filtered, filtered magnetic signal expression formula are as follows:
Wherein, s (n) is magnetic signal, and h (n) is that warp factor, y (n) based on orthogonal basis function are filtered magnetic letter
Number, n is the discretization factor.
Filtering method provided by the present invention based on orthogonal basis function, using the warp factor based on orthogonal basis function,
Magnetic signal is filtered, acquisition filtering post filtering Signal-to-Noise is higher, can be improved leakage field using this filtering signal and judges
Accuracy.
Referring to Fig. 2, in one embodiment, the acquisition methods of the warp factor based on orthogonal basis function include:
Step S210 obtains the relational expression square with known variables of the mould of dimensionless magnetic field strength.
Specifically, construct a kind of filtering method based on orthogonal basis function, first acquisition dimensionless magnetic field strength with it is unknown
The relational expression of variable.Then square of mould is solved to dimensionless magnetic field strength.
The relational expression is orthogonalized processing by step S220, is then calculated by normalization and is obtained orthogonal basis function.
Specifically, the relational expression is decomposed according to orthogonal coordinates.Then it is normalized, to obtain orthogonal basis
Function.The relational expression can be seen as being made of three fundamental equations:
Wherein, u is known variables.
The characteristics of characterizing signal, gram-Schmidt is being carried out just to it in order to better use above three equation
Equation after processing is taken normalization to calculate by friendshipization processing, shown in following formula:
This formula is referred to as orthogonal basis function.It develops as shown in Figure 7.
The orthogonal basis function is carried out discretization by step S230, obtains the warp factor based on orthogonal basis function.
Specifically, it is continuous function containing known variables orthogonal basis function, the discrete discretization that turns to of this continuous function is become
The discretization expression formula of amount.By Fourier transform, the warp factor of the matched filtering algorithm is obtained.By using orthogonal basis
Function carries out sliding-model control and then obtains the warp factor of matched filtering algorithm, and magnetic signal is made to pass through the volume of matched filtering algorithm
Signal-to-noise ratio improves after product factor treatment.
In one embodiment, described orthogonal to turn to gram-Schimidt orthogonalization.
In one embodiment, the step S230 are as follows:
Product using the ratio and discrete variable of sampling period and characteristic time is the known variables, by the orthogonal basis
The discrete discretization expression formula for turning to discrete variable of function.
Specifically, using u=nTs/ τ carries out discretization to orthogonal basis function, then does matched filtering algorithm and obtains convolution
The expression formula of factor h (n) is as follows:
H (n)=[(nTs/τ)2+1]-4,
Wherein, TsFor the sampling period,It is characterized time, R0Leakage field internal detector device is moved to away from detection of magnetic field
The nearest distance of device, v are the movement speed of magnetic field detector.
Referring to Fig. 3, in one embodiment, the mould for obtaining dimensionless magnetic field strength square with known variables
Before the step of relational expression, the acquisition methods of the warp factor based on orthogonal basis function further include:
S201 obtains movement speed, the leakage field internal detector device distance of leakage field internal detector device in preset coordinates system
The minimum distance of field detecting device obtains position of the leakage field internal detector device apart from field detecting device according to traveling time
Set vector.
Specifically, it is determined that coordinate system, position vector of the leakage field internal detector device apart from field detecting device is indicated
Are as follows:
Wherein, v is the movement speed of magnetic field detector, and t is the traveling time of magnetic field detector, R0Leakage field internal detector dress
It sets and is moved to the distance nearest away from field detecting device.
S202 obtains the magnetic dipole moment of determinand, according to the position vector and dipole model of magnetic, obtains the position
Magnetic induction intensity expression formula on vector.
Specifically, the magnetic induction intensity expression formula of the magnetic dipole are as follows:
Wherein,For magnetic dipole moment,It is distance of the leakage field internal detector device apart from ground marker.
The magnetic induction intensity expression formula is carried out nondimensionalization by nondimensional known variables to obtain nothing by S203
Dimension magnetic field strength.
The nondimensional known variables are that the movement speed and the product of time are examined with magnetic field again in one embodiment
Survey the ratio of minimum distance of the device apart from ground marker.
Specifically, the nondimensional known variables are as follows:It can also be carried out by other variations immeasurable
Guiding principle.Acquisition dimensionless magnetic field strength is dimensionless variable u relational expression are as follows:
Wherein, mx、myAnd mzThe three-dimensional component of magnetic dipole moment, R0Leakage field internal detector device is moved to be filled away from detection of magnetic field
Set nearest distance, μ0=4 π × 10-7H/m。
One embodiment of the invention also provides a kind of signal processing apparatus based on orthogonal basis function, comprising:
Signal receiving module, for receiving magnetic signal；
Matched filtering module is electrically connected with the signal receiving module, and the matched filtering module is based on orthogonal leading
The matched filtering module of basic function filters magnetic signal based on the filtering method of orthogonal basis function using any one of the above
Wave.
Referring to Fig. 4, a kind of ground marking system based on orthogonal basis function also provided for one embodiment of the invention
10, comprising: field detecting device 100, signal processing apparatus 200, positioning and communication device 300.The field detecting device 100
For acquiring the magnetic signal of three-dimensional space around the determinand.The signal processing apparatus 200 and the field detecting device
100 electrical connections, using the acquisition methods of magnetic signal above-mentioned, for carrying out the magnetic signal based on orthogonal leading basic function
Matched filtering mode signal processing.The positioning and communication device 300 are electrically connected with the signal processing apparatus 200, are used
In the processed magnetic signal of the signal processing apparatus 200 and location information are sent to remote monitoring terminal.
In one embodiment, the field detecting device 100 is three number of axle word magnetometers, three number of axle word magnetometer
It is connect by SPI communication interface with the signal processing apparatus 200.Three number of axle word magnetometer acquires three, space in real time and hangs down
Histogram to magnetic signal data, be sent to the signal processing apparatus 200.The field detecting device 100 can also be conductor wire
Other magnetic-field-measuring devices such as circle.
The signal processing apparatus 200 embeds the matched filtering algorithm based on orthogonal leading basic function.It is described based on orthogonal
The matched filtering algorithm of leading basic function is the mathematical model using the leading basic function of orthogonalization as echo signal, to three axis sky
Between magnetic field composite signal carry out autocorrelation matching filtering, thus eliminate ambient noise interference, effectively extract be submerged in noise
Echo signal.
In one embodiment, the positioning and communication device 300 include: locating module 410 and communication module 420, institute
Locating module 410 and communication module 420 is stated to be electrically connected with the signal processing apparatus 200 respectively.
The communication module can be GPRS communication module, wifi communication module or other wireless transport modules.And positioning mould
Block 410 can be GPS module or Beidou positioning module.The GPS module or Beidou positioning module described in antenna acquisition by being based on
GPS geographical location information where the ground marking system 10 of orthogonal basis function.GPRS communication module is remote by data by antenna
Journey is sent to control room.
Specifically, the GPS module or Beidou positioning module pass through the antenna reception ground based on orthogonal basis function
Longitude, dimension and altitude information where face tagging system 10.In one embodiment, the GPRS communication module uses
GPRS communication chip connects network with antenna by SIM cards of mobile phones, by the ground marking system 10 based on orthogonal basis function
It acquires and the system info Remote handled is sent to control room.
In one embodiment, the ground marking system 10 based on orthogonal basis function further include display device 400 with
The signal processing apparatus 200 is electrically connected.The display device 400 includes display screen, battery indicator and alarm device, described aobvious
Display screen, battery indicator and alarm device are electrically connected with the signal processing apparatus 200 respectively.The display screen can be color liquid crystal
Display screen.The alarm device can be buzzer.The chromatic liquid crystal screen is electrically connected with the signal processing apparatus 200, is used
In the system information for showing described device to user.In the presence of the magnetic signal of the signal processing apparatus 200 detection, the bee
The device that rings generates audible alarm.Ground marking system 10 described in the battery indicator real-time display based on orthogonal basis function it is surplus
Remaining electricity.
Referring to Fig. 5, in one embodiment, the ground marking system 10 based on orthogonal basis function further includes power supply
Managing device 500, respectively with the electromagnetic exploration apparatus 100, signal processing apparatus 200, positioning and communication device 300 and display
Device 400 is electrically connected.Specifically, the electric power controller 500 is the ground marking system 10 based on orthogonal basis function
Three kinds of operating voltages, respectively 5V, 3.3V and 1.8V are provided by three ports simultaneously, other can also be used according to the actual situation
Specific voltage value.The electric power controller 500 be the electromagnetic exploration apparatus 100, signal processing apparatus 200, positioning and
Communication device 300 and display device 400 provide operating voltage.Wherein, electromagnetic exploration apparatus 100 needs 3.3V voltage, display device
400 need 5V voltage, and positioning and communication device 300 need 3.3V voltage, and the core chips of signal processing apparatus 200 is respectively necessary for 3.3V
With 1.8V voltage and port needs 5V voltage.
In one embodiment, the ground marking system based on orthogonal basis function further includes remote monitoring terminal 600,
With the positioning and 300 communication connection of communication device.
In one embodiment, the ground marking system 10 based on orthogonal basis function further includes leakage field internal detector dress
Set 700.The leakage field internal detector device 700 is arranged in the determinand, for discharging magnetic signal.Detection in the leakage field
Device device 700 includes a field generator for magnetic, and the field generator for magnetic can be a magnet.In one embodiment,
The leakage field internal detector device 700 can be flowed with the liquid in the determinand.In one embodiment, inspection in the leakage field
It surveys and detects robot in device device 700 or leakage field.Detection robot has described in driving device driving in the leakage field
Detection robot moves in pipe under test in leakage field.
Fig. 6 provides described one concrete application scene of ground marking system based on orthogonal basis function.The electromagnetic surveying
Minimum distance of the device 100 apart from leakage field internal detector device 700 is 8m.The movement speed of the electromagnetic exploration apparatus 100 is
5m/s.Fig. 7 provides three-dimensional orthogonal basic function used by the ground marking system based on orthogonal basis function and becomes with dimensionless
The evolution diagram of amount.Fig. 8 provides field detecting device described in the ground marking system 10 based on orthogonal basis function and collects
Magnetic signal.The signal-to-noise ratio of received magnetic signal is -10.2273dB at this time, and the magnetic signal noise is very high.Fig. 9 provides described
The collected magnetic signal of field detecting device described in ground marking system 10 based on orthogonal basis function passes through signal processing device
Filtering signal of setting that treated.Real-time matching filtering namely is carried out to received magnetic signal shown in Fig. 7, obtains that treated
Data normalization waveform diagram.At this point, the signal-to-noise ratio of matched filtering treated filtering signal is 7.95dB.Therefore, based on orthogonal
In the leading matched oil-gas pipeline leakage field of basic function inspection Robot labelling apparatus can in real time, effectively improve reception signal
Signal-to-noise ratio.According to actual needs, minimum distance and movement speed can also use other numerical value in this application scene.
In several embodiments provided by the present invention, it should be understood that disclosed relevant apparatus and method, Ke Yitong
Other modes are crossed to realize.For example, Installation practice described above is only illustrative, for example, the module or unit
Division, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or group
Part can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown
Or the mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, described program can be stored in a computer-readable storage medium
In, in the embodiment of the present invention, described program be can be stored in the storage medium of computer system, and by the computer system
In at least one processor execute, to realize including process such as the embodiment of above-mentioned each method.Wherein, the storage medium
It can be magnetic disk, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random
Access Memory, RAM) etc..
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (13)
1. a kind of filtering method based on orthogonal basis function characterized by comprising
Obtain magnetic signal；
Using the warp factor based on orthogonal basis function, the magnetic signal is filtered, obtaining filtering post filtering signal is institute
State the product of magnetic signal Yu the warp factor.
2. filtering method as described in claim 1, which is characterized in that the expression formula of the warp factor is h (n)=[(nTs/
τ)2+1]-4, wherein TsFor the sampling period,It is characterized time, R0Leakage field internal detector device is moved to away from detection of magnetic field
The nearest distance of device, v are the movement speed of magnetic field detector.
3. filtering method as described in claim 1, which is characterized in that the acquisition of the warp factor based on orthogonal basis function
Method includes:
Obtain the relational expression square with known variables of the mould of dimensionless magnetic field strength；
The relational expression is orthogonalized processing, is then calculated by normalization and obtains orthogonal basis function；
The orthogonal basis function is subjected to discretization, obtains the warp factor based on orthogonal basis function.
4. filtering method as claimed in claim 3, which is characterized in that the orthogonalization process is that gram-Schmidt is orthogonal
Change processing.
5. filtering method as claimed in claim 3, which is characterized in that it is described that the orthogonal basis function is subjected to discretization, it obtains
The step of obtaining the warp factor based on orthogonal basis function are as follows:
Product using the ratio and discrete variable of sampling period and characteristic time is the known variables, by the orthogonal basis function
The discrete discretization expression formula for turning to discrete variable.
6. filtering method as claimed in claim 3, which is characterized in that in square of the mould for obtaining dimensionless magnetic field strength
Before the step of the relational expressions of known variables, the acquisition methods of the warp factor based on orthogonal basis function further include:
The minimum distance of the movement speed, magnetic field detector of magnetic field detector in preset coordinates system apart from ground marker is obtained,
According to traveling time, position vector of the magnetic field detector apart from ground marker is obtained；
The magnetic dipole moment for obtaining determinand obtains on the position vector according to the position vector and dipole model of magnetic
Magnetic induction intensity expression formula；
By nondimensional known variables, it is strong to obtain dimensionless magnetic field that the magnetic induction intensity expression formula is subjected to nondimensionalization
Degree.
7. filtering method as claimed in claim 6, which is characterized in that the nondimensional known variables are the movement speed
With the ratio of the product of the time minimum distance with magnetic field detector apart from ground marker again.
8. a kind of signal processing apparatus based on orthogonal basis function characterized by comprising
Signal receiving module, for receiving magnetic signal；
Matched filtering module is electrically connected with the signal receiving module, and the matched filtering module is based on orthogonal leading base letter
Several matched filtering modules is filtered magnetic signal using the described in any item filtering methods of claim 1-7.
9. a kind of ground marking system based on orthogonal basis function, which is characterized in that the system comprises:
Field detecting device, for acquiring the magnetic signal of three-dimensional space around the determinand；
Signal processing apparatus is electrically connected with the field detecting device, and the signal processing device is set to base as claimed in claim 7
In the signal processing apparatus of orthogonal basis function；
Positioning and communication device, are electrically connected, the magnetic for crossing the signal processing means processes with the signal processing apparatus
Signal and location information are sent to remote monitoring terminal.
10. ground marking system as claimed in claim 9, which is characterized in that it is described positioning and communication device include: positioning mould
Block and communication module, the locating module and communication module are electrically connected with the signal processing apparatus respectively.
11. ground marking system as claimed in claim 9, which is characterized in that the ground marking system further includes power supply pipe
Device is managed, is electrically connected respectively with the electromagnetic exploration apparatus, signal processing apparatus, positioning and communication device and display device.
12. ground marking system as claimed in claim 9, which is characterized in that the ground marking system further includes in leakage field
Detector means are arranged in the determinand, for issuing magnetic signal.
13. ground marking system as claimed in claim 9, which is characterized in that the ground marking system further includes display dress
It sets, is electrically connected with the signal processing apparatus.
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| PCT/CN2017/114488 WO2019047399A1 (en) | 2017-09-11 | 2017-12-04 | Filtering method based on orthogonal basis function, signal processing apparatus, and ground labelling system |
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