CN111610528A - Ultrasonic ranging double-phase measurement method - Google Patents

Ultrasonic ranging double-phase measurement method Download PDF

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CN111610528A
CN111610528A CN202010489261.XA CN202010489261A CN111610528A CN 111610528 A CN111610528 A CN 111610528A CN 202010489261 A CN202010489261 A CN 202010489261A CN 111610528 A CN111610528 A CN 111610528A
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data
value
phase angle
initial phase
signal
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CN111610528B (en
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袁梅
梁向东
汪鹏程
黄洁文
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Guilin University Of Technology At Nanning
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/42—Simultaneous measurement of distance and other co-ordinates

Abstract

The invention discloses a double-phase measuring method of ultrasonic ranging, which utilizes a carrier signal and a modulation signal to obtain a transmitting wave at an ultrasonic transmitting end, so that a reflected wave of an ultrasonic receiving end comprises information of the carrier signal and the modulation signal, the modulation signal is a low-frequency signal generally, the carrier signal is a high-frequency signal, the modulation signal with 1 period can correspond to a plurality of carrier signal periods, the energy loss in the ranging process is small, the reflected wave and the transmitting wave can be ensured to be basically consistent, no distortion occurs, and the ranging distance is further ensured not to be limited; the initial phase angle of the carrier signal in the reflected wave is corrected, and the initial phase angle of the modulation signal in the reflected wave is corrected by means of the corrected initial phase angle of the carrier signal, so that the time error caused by improper selection of the threshold value is greatly reduced, and the ranging accuracy is improved.

Description

Ultrasonic ranging double-phase measurement method
Technical Field
The invention relates to the technical field of distance measurement, in particular to a double-phase measuring method for ultrasonic distance measurement.
Background
Ultrasonic ranging appearance mainly includes ultrasonic wave transmitting terminal and ultrasonic wave receiving terminal, and its working process is: at an ultrasonic transmitting end, a signal source sends a certain number of pulse signals, the pulse signals are transmitted to an ultrasonic transmitting head through a driving circuit, the ultrasonic transmitting head converts the pulse signals into ultrasonic signals and transmits the ultrasonic signals to a measured object, and timing is started when the ultrasonic signals are transmitted; ultrasonic signals are transmitted in the air and return immediately when meeting the object to be detected; the ultrasonic receiving end receives the returned ultrasonic waves, the ultrasonic waves are converted into reflected wave electric signals through the ultrasonic receiving head and then shaped into square waves, and the timing is stopped.
In the prior art, due to the influences of the transmitting head material, the receiving head material, the material of the measured object, the signal strength, the comparison threshold value and other factors, the time difference of the timer has an error with the actual time difference, so that the distance calculated by using the propagation speed of the ultrasonic wave in the air and the timing time difference is inaccurate.
In the existing phase method distance measurement method, a transmitting head continuously transmits sine waves with specified frequency, so that a receiving head continuously receives corresponding sine waves, the distance is calculated by using the phase difference of the sine waves and the corresponding sine waves, but when the transmitting distance and the receiving distance reach one wavelength, the sine waves and the receiving distance tend to coincide, namely, the measured phase difference is zero, so that the method is limited to distance measurement within one wavelength.
Therefore, a method for measuring ultrasonic ranging is to be proposed, which can ensure that the measurement distance is not limited by the wavelength of the transmitted wave, and can also ensure the measurement accuracy.
Disclosure of Invention
The invention provides a double-phase measuring method for ultrasonic ranging, which solves the problems of limited measuring distance and low measuring accuracy in the prior art.
The invention solves the technical problem by the following technical scheme:
a double-phase measuring method of ultrasonic ranging comprises the following steps:
(1) when a transmitting wave is sent out, the timer starts timing, and when a reflecting wave is received, the timer stops timing to obtain the start-stop time difference of the timer;
(2) quantitatively collecting reflected waves, and correcting the initial phase angle of the carrier signal in the reflected waves;
(3) correcting the initial phase angle of the modulation signal in the reflected wave by using the corrected initial phase angle of the carrier signal;
(4) and calculating the distance between the ultrasonic transmitting end and an external measured object by using the start-stop time difference of the timer, the corrected initial phase angle of the modulation signal and the period of the modulation signal in the reflected wave.
Further, in the step (2), the specific step of correcting the initial phase angle of the carrier signal in the reflected wave is:
21) after the timer stops timing, acquiring data of modulation signals in 256 reflected waves, storing the data into an array, and extracting 1 data from the 256 data in the array every 8 data in sequence to obtain 8 groups of data;
22) the following steps are performed for each set of data:
221) performing synchronous detection on the first group of data to obtain 1 sine distribution value and 1 cosine distribution value, and performing modulo operation by using the sine distribution value and the cosine distribution value to obtain a module value;
222) when the first data in the first group of data is less than 0, the module value is reserved, and the step 221) is executed for the next group of data until 8 groups of data are circularly completed, otherwise, the module value is inverted to obtain a new module value, and the step 221) is executed for the next group of data until 8 groups of data are circularly completed;
223) calculating the initial phase angle of the carrier signal after correction in the reflected wave by using the module value and the new module value obtained in the step 222);
224) according to the execution result of step 222), the modulus value or the new modulus value of the first set of data is used as the initial phase angle of the initial modulation signal.
Further, in step 221), when i is equal to 0, synchronous detection is performed on 32 data of the first group of data, specifically:
Figure BDA0002520282690000021
Figure BDA0002520282690000022
wherein, K1Is a sinusoidal distribution value, K2The cosine distribution value is h, the upper limit of the summation formula is h, the lower limit of the summation formula is l, D (h) is the h-th data in the first group of data, D (h +16) is the h + 16-th data in the first group of data, D (15-h) is the 15-h data in the first group of data, and D (31-h) is the 31-h data in the first group of data;
according to the formula
Figure BDA0002520282690000023
The modulus value z (0) is calculated.
Further, in the step (3), the step of correcting the initial phase angle of the modulation signal in the reflected wave comprises:
31) constructing a correction function formula by using an initial phase angle of an initial modulation signal in a reflected wave and an initial phase angle of a corrected carrier signal, and constructing a process function formula by using the correction function formula;
32) and finding out the minimum value of the process function formula, wherein the correction function formula value corresponding to the minimum value is the initial phase angle of the modulated signal after correction in the reflected wave.
Further, in step 31), note is made
Figure BDA0002520282690000031
The correction function is as
Figure BDA0002520282690000032
The process function is given by g (k) ═ e (k) — θ1(0)|,k＝(0,1,2)，θ1(0) For the initial phase angle, theta, of the modulated signal2The initial phase angle of the carrier signal after correction.
Further, in step 32), the values of the process function g (k) include g (0), g (1), and g (2); the values of the correction function e (k) include e (0), e (1) and e (2); the correction function formula value corresponding to the process function formula value g (0) is e (0); the correction function formula value corresponding to the process function formula value g (1) is e (1); the correction function formula value corresponding to the process function formula value g (2) is e (2); g (k) the value of the correction function corresponding to the minimum value is the initial phase angle of the modulated signal after correction in the reflected wave, and is recorded as theta1。
Further, in the step (4), the start-stop time difference of the timer is recorded as t, and the initial phase angle of the modified modulation signal is theta1The period of the modulated signal in the reflected wave is denoted as TtThe distance between the ultrasonic wave transmitting end and the external object to be measured
Figure BDA0002520282690000033
Where v is the propagation velocity of the ultrasonic wave in air.
Compared with the prior art, the method has the following characteristics:
the method comprises the steps that a transmitting wave is obtained at an ultrasonic transmitting end by utilizing a carrier signal and a modulation signal, so that the reflected wave of an ultrasonic receiving end comprises information of the carrier signal and the modulation signal, the modulation signal is a low-frequency signal generally, the carrier signal is a high-frequency signal, and the modulation signal with 1 period can correspond to a plurality of carrier signal periods, so that the energy loss in the distance measuring process is small, the reflected wave and the transmitting wave can be guaranteed to be basically consistent, no distortion occurs, and the measuring distance is further guaranteed not to be limited; and correcting the initial phase angle of the carrier signal in the reflected wave, and correcting the initial phase angle of the modulation signal in the reflected wave by means of the corrected initial phase angle of the carrier signal, so that the time error caused by improper selection of the threshold value is greatly reduced, and the ranging accuracy is improved.
Detailed Description
The present invention will be further described with reference to the following examples, but the present invention is not limited to these examples.
A double-phase measuring method of ultrasonic ranging comprises the following steps:
(1) at an ultrasonic transmitting end, a carrier signal and a modulation signal are modulated to form a transmitting wave, the transmitting wave is converted into ultrasonic waves by an ultrasonic transmitting head and then is transmitted to an external object to be measured, and a timer starts to time; at an ultrasonic receiving end, an ultrasonic receiving head converts ultrasonic waves reflected by an external measured object into reflected waves, and a timer stops timing;
(2) quantitatively collecting reflected waves, and correcting the initial phase angle of the carrier signal in the reflected waves;
(3) correcting the initial phase angle of the modulation signal in the reflected wave by using the corrected initial phase angle of the carrier signal;
(4) and calculating the distance between the ultrasonic transmitting end and an external measured object by using the start-stop time difference of the timer, the corrected initial phase angle of the modulation signal and the period of the modulation signal in the reflected wave.
In the step (1), the ultrasonic transmitting end modulates the carrier signal and the modulation signal to obtain a modulated signal, namely a transmitting wave, then converts the transmitting wave into ultrasonic waves through the ultrasonic transmitting head and transmits the ultrasonic waves to a measured object, and a timer starts timing when the transmitting wave starts to transmit; the ultrasonic wave is transmitted in the air and returns to the receiving end of the ultrasonic wave after encountering the object to be detected; the ultrasonic receiving end converts the returned ultrasonic waves into reflected waves, performs shaping processing, and stops timing by the timer. And subtracting the starting and stopping time of the timer from the stopping time of the timer to obtain the starting and stopping time difference of the timer. In actual ranging, the threshold range for determining whether a reflected wave is received is not properly selected, which causes an error in the start-stop time difference of the timer, and further affects the ranging accuracy.
In the present invention, the function expression of the transmitted wave is
Figure BDA0002520282690000041
Wherein, the bandwidth of the carrier signal is 40 +/-1.5 KHz, and the frequency f of the carrier signalz40KHz, carrier signal period of
Figure BDA0002520282690000042
Carrier signal angular frequency omega 2 pi × 40KHz 80 pi K rad/s, modulation signal frequency ft1.25KHz, modulation signal period
Figure BDA0002520282690000043
The modulation signal angular frequency Ω is 2 pi × 1.25.25 KHz is 2.5 pi K rad/s the present invention develops an analysis with a signal range of 1.6ms duration in the subsequent analysis steps.
In the reflected wave, 1.6ms corresponds to 2 cycles of modulation signal, the modulation signal is embodied as envelope in the reflected wave, it is envelope initial phase angle, i.e. modulation signal initial phase angle, but the modulation signal frequency is 1.25KHz, and the carrier signal frequency is 40KHz, i.e. the modulation signal wavelength is 32 times of that of the carrier signal, and 1 modulation signal cycle contains 32 carrier signal cycles, therefore, the time error generated by 1 ° of error when calculating the distance by using the modulation signal initial phase angle will be 32 times of that generated by 1 ° of error when calculating the distance by using the carrier signal initial phase angle, i.e. the high frequency signal phase method has higher accuracy than the low frequency signal, but the low frequency signal has a long period, and its measuring range is wider than the high frequency signal, therefore it is necessary to correct the modulation signal initial phase angle by means of the corrected carrier signal initial phase angle, the accurate initial phase angle of the modulation signal is finally obtained, so that the accuracy of distance measurement is improved, and the measured distance is not limited by the wavelength.
In the step (2), the specific step of correcting the initial phase angle of the carrier signal in the reflected wave is as follows:
21) after the timer stops timing, A/D collects the data of the modulation signals in 256 reflected waves and stores the data into an array, and extracts 1 data from 256 data in the array every 8 data in sequence to obtain 8 groups of data;
22) the following steps are performed for each set of data:
221) performing synchronous detection on the first group of data to obtain 1 sine distribution value and 1 cosine distribution value, and performing modulo operation by using the sine distribution value and the cosine distribution value to obtain a module value;
222) when the first data in the first group of data is less than 0, the module value is reserved, and the step 221) is executed for the next group of data until 8 groups of data are circularly completed, otherwise, the module value is inverted to obtain a new module value, and the step 221) is executed for the next group of data until 8 groups of data are circularly completed;
223) calculating the initial phase angle of the carrier signal after correction in the reflected wave by using the module value and the new module value obtained in the step 222);
224) according to the execution result of step 222), the modulus value or the new modulus value of the first set of data is used as the initial phase angle of the initial modulation signal.
In step 21), since each set of data extracted every 8 data among the 256 pieces of data actually shows an envelope of a modulation signal, 8 sets are synchronously detected to obtain a corrected initial phase angle of a carrier signal and an initial phase angle of a modulation signal. The array is denoted by b (n), n is (0,1,2.. 255), and each set of data in b (n) is denoted by d (m) b (8m + i), m is (0,1,2.. 31), and i is (0,1,2.. 7).
In step 221), when i is equal to 0, synchronous detection is performed on 32 data of the first group of data, specifically, the following procedure is performed:
Figure BDA0002520282690000061
according to the symmetry of sinusoidal functions, i.e.
Figure BDA0002520282690000062
By analogy, then K1The expression can be expressed as
Figure BDA0002520282690000063
K1I.e. a sinusoidal distribution value, for the same reason, K2The expression can be expressed as
Figure BDA0002520282690000064
K2Namely the cosine distribution value, h is the upper limit of the summation formula, l is the lower limit of the summation formula, D (h) is the h-th data in the first group of data, D (h +16) is the h + 16-th data in the first group of data, D (15-h) is the 15-h data in the first group of data, and D (31-h) is the 31-h data in the first group of data; formula of calculation based on modulus
Figure BDA0002520282690000065
Z (0) is calculated. Wherein, K1And K2Is a process variable, for each i there are 1K each1And 1K2Corresponding to it.
In step 222), when D (0) < 0, the module value is reserved z (0), i + +, and step 221) is executed until 8 groups of data are cycled, otherwise, a new module value-z (0) is taken, i + +, and step 221) is executed until 8 groups of data are cycled.
In step 223), calculating the initial carrier phase angle theta after correction in the reflected wave by using each module value and the new module value in step 222)2，
Figure BDA0002520282690000066
In step 224), in each i-cycle,
Figure BDA0002520282690000067
can be adjusted to theta1(0) Or the 8 theta1(i) The average value of (a) is used as the initial modulation signal initial phase angle. Sorting the 8 z (i) values, and selecting the theta corresponding to the maximum z (i)1(i) The ranging error is the smallest and the ranging is the most accurate as the initial phase angle of the initial modulation signal, and z (i) is the largest when i is 0, therefore, the invention uses theta1(0) As the initial phase angle of the initial modulation signal.
In the step (3), the step of correcting the initial phase angle of the modulation signal in the reflected wave comprises:
31) constructing a correction function formula by using an initial phase angle of an initial modulation signal in a reflected wave and an initial phase angle of a corrected carrier signal, and constructing a process function formula by using the correction function formula;
32) and finding out the minimum value of the process function formula, wherein the correction function formula value corresponding to the minimum value is the initial phase angle of the modulated signal after correction in the reflected wave.
In step 31), note
Figure BDA0002520282690000071
The correction function is as
Figure BDA0002520282690000072
The process function is given by g (k) ═ e (k) — θ1(0) And | k ═ 0,1,2. A represents the trigger point on the number one carrier wave, and the initial phase angle theta of the carrier wave signal after correction2It is used to calculate a more specific location of the trigger point on that carrier. k is 0,1 or 2, so that A, A +1 and A-1 are combined
Figure BDA0002520282690000073
Calibrating to make the initial phase angle theta of the modified modulation signal1Is more accurate.
In step 32), the values of the process function g (k) include g (0), g (1), and g (2); the values of the correction function e (k) include e (0), e (1) and e (2); correction function corresponding to process function formula value g (0)The value of formula is e (0); the correction function formula value corresponding to the process function formula value g (1) is e (1); the correction function formula value corresponding to the process function formula value g (2) is e (2); g (k) the value of the correction function corresponding to the minimum value is the initial phase angle of the modulated signal after correction in the reflected wave, and is recorded as theta1，θ1Is one of e (0), e (1) and e (2). That is, when g (0) ≦ g (1), g (0) and g (2) are compared, and when g (0) ≦ g (2), e (0) corresponding to g (0) is used as the initial phase angle θ of the modulated signal after correction in the reflected wave1(ii) a When g (0) > g (1), comparing g (1) with g (2), if g (1) ≦ g (2), then e (1) corresponding to g (1) is used as initial phase angle theta of the modified modulation signal in the reflected wave1Otherwise, e (2) corresponding to g (2) is used as the initial phase angle theta of the modified modulation signal in the reflected wave1。
In the step (4), the start-stop time difference of the timer is recorded as t, and the initial phase angle of the modified modulation signal is theta1The period of the modulated signal in the reflected wave is denoted as TtThe distance between the ultrasonic wave transmitting end and the external object to be measured
Figure BDA0002520282690000081
Where v is the propagation velocity of the ultrasonic wave in air.

Claims (7)

1. A double-phase measuring method of ultrasonic ranging is characterized by comprising the following steps:
(1) when a transmitting wave is sent out, the timer starts timing, and when a reflecting wave is received, the timer stops timing to obtain the start-stop time difference of the timer;
(2) quantitatively collecting reflected waves, and correcting the initial phase angle of the carrier signal in the reflected waves;
(3) correcting the initial phase angle of the modulation signal in the reflected wave by using the corrected initial phase angle of the carrier signal;
(4) and calculating the distance between the ultrasonic transmitting end and an external measured object by using the start-stop time difference of the timer, the corrected initial phase angle of the modulation signal and the period of the modulation signal in the reflected wave.
2. The ultrasonic ranging two-phase measuring method as claimed in claim 1, wherein:
in the step (2), the specific step of correcting the initial phase angle of the carrier signal in the reflected wave is as follows:
21) after the timer stops timing, acquiring data of modulation signals in 256 reflected waves, storing the data into an array, and extracting 1 data from the 256 data in the array every 8 data in sequence to obtain 8 groups of data;
22) the following steps are performed for each set of data:
221) performing synchronous detection on the first group of data to obtain 1 sine distribution value and 1 cosine distribution value, and performing modulo operation by using the sine distribution value and the cosine distribution value to obtain a module value;
222) when the first data in the first group of data is less than 0, the module value is reserved, and the step 221) is executed for the next group of data until 8 groups of data are circularly completed, otherwise, the module value is inverted to obtain a new module value, and the step 221) is executed for the next group of data until 8 groups of data are circularly completed;
223) calculating the initial phase angle of the carrier signal after correction in the reflected wave by using the module value and the new module value obtained in the step 222);
224) according to the execution result of step 222), the modulus value or the new modulus value of the first set of data is used as the initial phase angle of the initial modulation signal.
3. The ultrasonic ranging two-phase measuring method as claimed in claim 2, wherein:
in step 221), when i is equal to 0, synchronous detection is performed on 32 data of the first group of data, specifically:
Figure FDA0002520282680000021
Figure FDA0002520282680000022
wherein, K1Is a sinusoidal distribution value, K2Is the cosine distribution value, h is the upper limit of the summation formula, l is the lower limit of the summation formulaD (h) is the h data in the first group of data, D (h +16) is the h +16 data in the first group of data, D (15-h) is the 15-h data in the first group of data, and D (31-h) is the 31-h data in the first group of data;
according to the formula
Figure FDA0002520282680000023
The modulus value z (0) is calculated.
4. The ultrasonic ranging two-phase measuring method as claimed in claim 3, wherein:
in the step (3), the step of correcting the initial phase angle of the modulation signal in the reflected wave comprises:
31) constructing a correction function formula by using an initial phase angle of an initial modulation signal in a reflected wave and an initial phase angle of a corrected carrier signal, and constructing a process function formula by using the correction function formula;
32) and finding out the minimum value of the process function formula, wherein the correction function formula value corresponding to the minimum value is the initial phase angle of the modulated signal after correction in the reflected wave.
5. The ultrasonic ranging two-phase measuring method as claimed in claim 4, wherein:
in step 31), note
Figure FDA0002520282680000031
The correction function is as
Figure FDA0002520282680000032
The process function is given by g (k) ═ e (k) — θ1(0)|,k＝(0,1,2)，θ1(0) For the initial phase angle, theta, of the modulated signal2The initial phase angle of the carrier signal after correction.
6. The ultrasonic ranging two-phase measuring method as claimed in claim 5, wherein:
in step 32), the value of the process function g (k) includes g (k)0) G (1) and g (2); the values of the correction function e (k) include e (0), e (1) and e (2); the correction function formula value corresponding to the process function formula value g (0) is e (0); the correction function formula value corresponding to the process function formula value g (1) is e (1); the correction function formula value corresponding to the process function formula value g (2) is e (2); g (k) the value of the correction function corresponding to the minimum value is the initial phase angle of the modulated signal after correction in the reflected wave, and is recorded as theta1。
7. The ultrasonic ranging two-phase measuring method as claimed in claim 6, wherein:
in the step (4), the start-stop time difference of the timer is recorded as t, and the initial phase angle of the modified modulation signal is theta1The period of the modulated signal in the reflected wave is denoted as TtThe distance between the ultrasonic wave transmitting end and the external object to be measured
Figure FDA0002520282680000041
Where v is the propagation velocity of the ultrasonic wave in air.
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