CN113300991A - Vehicle-mounted communication equipment and method based on OFDM communication system - Google Patents
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Abstract
The invention provides a vehicle-mounted communication device and a method based on an OFDM communication system, wherein the vehicle-mounted communication device comprises an OFDM communication module and a processing module; the OFDM communication module is connected with an external wireless communication network and used for completing the data receiving and sending of the vehicle-mounted communication equipment based on the OFDM communication technology; the processing module is used for processing data of the vehicle-mounted communication equipment, transmitting the processed data to the OFDM communication module for sending, receiving the data received by the OFDM communication module and processing the received data. The invention is beneficial to improving the reliability of data receiving and transmitting and improving the data transmission performance of the vehicle-mounted communication equipment.
Description
Technical Field
The invention relates to the technical field of vehicle-mounted communication equipment, in particular to vehicle-mounted communication equipment and a method based on an OFDM communication system.
Background
At present, with the development of intelligent automobiles, vehicle-mounted terminals capable of communicating with external devices are arranged in most vehicles. However, since the number of the in-vehicle terminals is large, a large number of terminals are likely to interfere with each other during data transmission and reception, and the data transmission and reception quality is degraded, there is a need for an in-vehicle communication apparatus that improves data transmission performance.
Disclosure of Invention
In view of the above problems, the present invention is directed to an OFDM communication system based vehicle-mounted communication apparatus and method.
OFDM (Orthogonal Frequency Division Multiplexing) is a technique in which a channel is divided into a plurality of Orthogonal sub-channels, a high-speed serial symbol is converted into a parallel low-speed sub-data symbol stream, and the parallel low-speed sub-data symbol stream is modulated onto each sub-channel for transmission, and a receiving end separates Orthogonal signals by using a correlation technique.
The invention provides a vehicle-mounted communication device based on an OFDM communication system, which comprises an OFDM communication module and a processing module; wherein,
the OFDM communication module is connected with an external wireless communication network and used for completing the data receiving and sending of the vehicle-mounted communication equipment based on the OFDM communication technology;
the processing module is used for processing data of the vehicle-mounted communication equipment, transmitting the processed data to the OFDM communication module for sending, receiving the data received by the OFDM communication module and processing the received data.
In one embodiment, the data of the on-board communication device includes vehicle state monitoring data collected by an on-board monitoring device;
the vehicle state monitoring data comprises running speed, engine temperature, GPS positioning, braking condition, images in a carriage and the like;
the processing module is connected with the vehicle-mounted monitoring equipment and used for receiving vehicle state monitoring data collected by the vehicle-mounted monitoring equipment, fusing the vehicle state monitoring data, generating communication data to be sent and transmitting the communication data to the OFDM communication module.
In one embodiment, the OFDM communication module comprises a wireless transceiving submodule, a signal modulation submodule and a signal demodulation submodule; wherein,
the wireless transceiving submodule is respectively connected with the signal modulation submodule and the signal demodulation submodule and is used for transmitting the OFDM signal output by the signal modulation submodule to a wireless communication network through the wireless communication network; and a signal demodulation sub-module for transmitting the OFDM signal received from the wireless communication network;
the signal modulation submodule is used for modulating the data to be transmitted by the processing module into OFDM signals and transmitting the OFDM signals to the wireless transceiving submodule;
the signal demodulation sub-module is used for demodulating the OFDM signals transmitted by the wireless transceiving sub-module into bit data and transmitting the bit data to the processing module.
In one embodiment, the signal modulation submodule comprises a modulation and coding unit, a serial-parallel conversion unit, a pilot frequency insertion unit, an IFFT unit, a parallel-serial conversion unit and a guard interval unit which are connected in sequence; wherein,
the modulation and coding unit is used for coding and modulating the data to be transmitted by the processing module and outputting a modulation signal;
the serial-parallel conversion unit is used for splitting the modulation signal into a preset number of modulation sub-signals;
the pilot insertion unit is used for inserting pilot symbols in the modulation sub-signals;
the IFFT unit is used for performing inverse fast Fourier transform on the modulation subsignals to obtain corresponding time domain subsignals;
a parallel-to-serial conversion subunit, configured to combine the time domain sub-signals into OFDM symbols;
and the guard interval unit is used for adding a cyclic prefix and suffix to the OFDM symbol, acquiring the OFDM signal and transmitting the OFDM signal to the wireless transceiving submodule.
In one embodiment, the signal demodulation sub-module comprises a de-guard interval unit, a serial-to-parallel conversion unit, an FFT unit, a channel estimation and equalization unit, a parallel-to-serial conversion unit and a demodulation and decoding unit which are connected in sequence; wherein,
the de-guard interval unit is used for performing de-circulation prefix-suffix processing on the OFDM signals received by the wireless transceiver sub-module to obtain OFDM symbols of the OFDM signals;
the serial-parallel conversion unit is used for splitting the OFDM symbols into subcarrier signals with preset number;
the FFT unit is used for respectively carrying out fast Fourier transform on the subcarrier signals and outputting frequency domain subcarrier signals;
the channel estimation and equalization unit is used for respectively calculating channel information of corresponding subcarriers according to pilot signals carried in the frequency domain sub-signals, carrying out equalization processing on the frequency domain sub-signals according to the channel information and outputting equalized frequency domain sub-signals;
the parallel-serial conversion unit is used for combining the equalized frequency domain sub-signals into a signal to be demodulated;
the demodulation and decoding unit is used for demodulating and decoding the signal to be demodulated, acquiring bit data of the received signal and transmitting the bit data to the processing module.
The invention also provides a vehicle-mounted communication method based on the OFDM communication system, which comprises the following steps:
the processing module processes data of the vehicle-mounted communication equipment and transmits the processed data to the OFDM communication module for sending; the processing module receives the data received by the OFDM communication module and processes the received data;
the OFDM communication module is connected with an external wireless communication network and completes the data receiving and sending of the vehicle-mounted communication equipment based on the OFDM communication technology.
The invention has the beneficial effects that: the invention provides vehicle-mounted communication equipment based on an OFDM communication system, wherein a processing module is arranged in the equipment, so that the processing function of data can be completed, the data to be sent can be generated, the received data can be processed, and different scenes and function requirements can be met; meanwhile, an OFDM communication module is arranged to complete the data receiving and sending task of the vehicle-mounted communication equipment; the data can be received and sent based on the OFDM communication technology, and under the condition of meeting the data transmission requirement of a large number of vehicle-mounted communication devices, the reliability of data receiving and sending is improved, and the data transmission performance of the vehicle-mounted communication devices is improved.
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The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
Fig. 1 is a frame structure diagram of an exemplary embodiment of a vehicle-mounted communication device based on an OFDM communication system according to the present invention;
fig. 2 is a frame structure diagram of the OFDM communication module in the embodiment of fig. 1.
Detailed Description
The invention is further described in connection with the following application scenarios.
Referring to fig. 1, the embodiment of the invention provides a vehicle-mounted communication device based on an OFDM communication system, which includes an OFDM communication module and a processing module; wherein,
the OFDM communication module is connected with an external wireless communication network and used for completing the data receiving and sending of the vehicle-mounted communication equipment based on the OFDM communication technology;
the processing module is used for processing data of the vehicle-mounted communication equipment, transmitting the processed data to the OFDM communication module for sending, receiving the data received by the OFDM communication module and processing the received data.
In the above embodiment, a vehicle-mounted communication device based on an OFDM communication system is provided, where the device is provided with a processing module, and is capable of completing a data processing function, generating data to be transmitted, and processing received data, and is capable of meeting different scenarios and function requirements; meanwhile, an OFDM communication module is arranged to complete the data receiving and sending task of the vehicle-mounted communication equipment; the data can be received and sent based on the OFDM communication technology, and under the condition of meeting the data transmission requirement of a large number of vehicle-mounted communication devices, the reliability of data receiving and sending is improved, and the data transmission performance of the vehicle-mounted communication devices is improved.
In one embodiment, the data of the on-board communication device includes vehicle state monitoring data collected by an on-board monitoring device;
the processing module is connected with the vehicle-mounted monitoring equipment and used for receiving vehicle state monitoring data collected by the vehicle-mounted monitoring equipment, fusing the vehicle state monitoring data, generating communication data to be sent and transmitting the communication data to the OFDM communication module.
In one scenario, the vehicle-mounted communication device is used for completing data receiving and sending tasks of the vehicle-mounted monitoring device, the vehicle-mounted communication device is in communication connection with the vehicle-mounted monitoring device, and the vehicle-mounted monitoring device transmits the state monitoring data to the vehicle-mounted communication device after collecting the vehicle state monitoring data. The vehicle-mounted monitoring equipment comprises a sensor for acquiring different monitoring data so as to acquire vehicle state data, wherein the vehicle state monitoring data comprises running speed, engine temperature, GPS positioning, braking condition, images in a carriage and the like according to different application scene requirements; after the processing module receives the different types of vehicle state monitoring data transmitted by the vehicle-mounted monitoring equipment, the processing module performs fusion processing on the received different types of vehicle state monitoring data to generate communication data to be transmitted and transmits the communication data to the OFDM communication module, and the data is transmitted through the OFDM communication module.
Based on the characteristics of the OFDM technology, the OFDM communication module is provided with a functional module specially aiming at data transmission and data reception so as to realize the transceiving function of OFDM signals. In one embodiment, referring to fig. 2, the OFDM communication module includes a wireless transceiver sub-module, a signal modulation sub-module and a signal demodulation sub-module; wherein,
the wireless transceiving submodule is respectively connected with the signal modulation submodule and the signal demodulation submodule and is used for transmitting the OFDM signal output by the signal modulation submodule to a wireless communication network through the wireless communication network; and a signal demodulation sub-module for transmitting the OFDM signal received from the wireless communication network;
the signal modulation submodule is used for modulating the data to be transmitted by the processing module into OFDM signals and transmitting the OFDM signals to the wireless transceiving submodule;
the signal demodulation sub-module is used for demodulating the OFDM signals transmitted by the wireless transceiving sub-module into bit data and transmitting the bit data to the processing module.
The invention discloses a module setting technical scheme aiming at OFDM signal modulation. In one embodiment, the signal modulation submodule comprises a modulation and coding unit, a serial-parallel conversion unit, a pilot frequency insertion unit, an IFFT unit, a parallel-serial conversion unit and a guard interval unit which are connected in sequence; wherein,
the modulation and coding unit is used for coding and modulating the data to be transmitted by the processing module and outputting a modulation signal;
the serial-parallel conversion unit is used for splitting the modulation signal into a preset number of modulation sub-signals;
the pilot insertion unit is used for inserting pilot symbols in the modulation sub-signals;
the IFFT unit is used for performing inverse fast Fourier transform on the modulation subsignals to obtain corresponding time domain subsignals;
a parallel-to-serial conversion subunit, configured to combine the time domain sub-signals into OFDM symbols;
and the guard interval unit is used for adding a cyclic prefix/suffix to the OFDM symbol, acquiring an OFDM signal and transmitting the OFDM signal to the wireless transceiving submodule.
Corresponding to the signal modulation submodule proposed in the above embodiment, the present invention also provides a technical solution of module setting for OFDM signal demodulation. In one embodiment, the signal demodulation sub-module comprises a de-guard interval unit, a serial-to-parallel conversion unit, an FFT unit, a channel estimation and equalization unit, a parallel-to-serial conversion unit, and a demodulation and decoding unit which are connected in sequence; wherein,
the de-guard interval unit is used for performing de-circulation pre/postfix processing on the OFDM signal received by the wireless transceiver module to obtain an OFDM symbol of the OFDM signal;
the serial-parallel conversion unit is used for splitting the OFDM symbols into subcarrier signals with preset number;
the FFT unit is used for respectively carrying out fast Fourier transform on the subcarrier signals and outputting frequency domain subcarrier signals;
the channel estimation and equalization unit respectively calculates to obtain channel information of corresponding subcarriers according to pilot signals carried in the frequency domain sub-signals, performs equalization processing on the frequency domain sub-signals according to the channel information, and outputs equalized frequency domain sub-signals;
the parallel-serial conversion unit is used for combining the equalized frequency domain sub-signals into a signal to be demodulated;
the demodulation and decoding unit is used for demodulating and decoding the signal to be demodulated, acquiring bit data of the received signal and transmitting the bit data to the processing module.
In one embodiment, the channel estimation and equalization unit respectively calculates channel information of corresponding subcarriers according to pilot signals carried in frequency domain sub-signals, performs equalization processing on the frequency domain sub-signals according to the channel information, and outputs equalized frequency domain sub-signals, and specifically includes:
obtaining a frequency offset estimate, wherein
In the formula,
which represents an estimate of the frequency offset,
which indicates the length of the cyclic prefix and,
indicating a cycle frequency of 0 and a delay of
Of the cyclic correlation function, arg [ ]]The function of the argument is represented,
indicating a cycle frequency of a and a delay of
A represents a cyclic frequency of the OFDM signal,
representing a delay estimate;
calculating a channel coefficient matrix from the obtained frequency offset estimate, wherein
Wherein
Representing a channel coefficient matrix, D representing a reference matrix, wherein
Dq＝FΛqFHQ is 0,1,2, …, Q, F denotes a fourier transform matrix, ΛqRepresenting a diagonal matrix, Λq＝diag{B0,q,B1,q,…,BN-1,q}，Bn,qDenotes a basis function, N is 0,1, …, N-1, N denotes the length of the frequency domain sub-signal, Q denotes a set basis function size,
representing an excess matrix, wherein
ΩqRepresents a diagonal matrix, wherein
Y represents a frequency domain signal matrix;
representing the estimated value of the original signal, and obtaining a frequency domain channel matrix H, wherein
Representing the q column element in the channel coefficient matrix;
acquiring an interference channel matrix H' ═ H-diag (H) according to the frequency domain channel matrix H, and diag (H) represents a diagonal element matrix of the matrix H;
the frequency domain signal matrix Y is equalized by adopting the frequency domain channel matrix H to obtain equalized data
And calculating a subcarrier interference signal matrix
Subtracting the subcarrier interference signal matrix from the frequency domain signal matrix to obtain an equalized frequency domain signal matrix Y' ═ Y-YG；
Equalizing the equalized frequency domain signal matrix Y 'again to obtain an equalized frequency domain signal estimation X' ═ diag (H)-1Y′；
And outputs the equalized frequency domain signal post estimation to the parallel-serial conversion unit.
In the foregoing embodiment, a technical solution for equalization processing of a frequency domain sub-signal obtained after FFT processing is provided, which can effectively improve effects of channel estimation and channel equalization in a demodulation process. The quality of OFDM signal demodulation is improved.
Based on the vehicle-mounted communication equipment based on the OFDM communication system provided in the embodiment, the invention further provides a communication method applied to the vehicle-mounted communication equipment.
A vehicle-mounted communication method based on an OFDM communication system comprises the following steps:
the processing module processes data of the vehicle-mounted communication equipment and transmits the processed data to the OFDM communication module for sending; receiving the data received by the OFDM communication module and processing the received data;
the OFDM communication module is connected with an external wireless communication network and completes the data receiving and sending of the vehicle-mounted communication equipment based on the OFDM communication technology.
In one embodiment, the data of the on-board communication device includes vehicle state monitoring data collected by an on-board monitoring device;
the vehicle state monitoring data comprises running speed, engine temperature, GPS positioning, braking condition, images in a carriage and the like;
the method further comprises the following steps:
the processing module is connected with the vehicle-mounted monitoring equipment and used for receiving vehicle state monitoring data acquired by the vehicle-mounted monitoring equipment;
the processing module performs fusion processing on the vehicle state monitoring data to generate communication data to be sent and transmits the communication data to the OFDM communication module.
In one embodiment, the OFDM communication module comprises a wireless transceiving submodule, a signal modulation submodule and a signal demodulation submodule;
the method further comprises the following steps:
the wireless receiving and transmitting submodule is respectively connected with the signal modulation submodule and the signal demodulation submodule and transmits the OFDM signal output by the signal modulation submodule to a wireless communication network through the wireless communication network; and transmitting the OFDM signal received from the wireless communication network to the signal demodulation sub-module;
the signal modulation submodule modulates the data to be transmitted by the processing module into an OFDM signal and transmits the OFDM signal to the wireless transceiving submodule;
the signal demodulation sub-module demodulates the OFDM signals transmitted by the wireless transceiving sub-module into bit data and transmits the bit data to the processing module.
In one embodiment, the signal modulation submodule comprises a modulation and coding unit, a serial-parallel conversion unit, a pilot frequency insertion unit, an IFFT unit, a parallel-serial conversion unit and a guard interval unit which are connected in sequence;
the method further comprises the following steps:
the modulation and coding unit is used for coding and modulating the data to be transmitted by the processing module and outputting a modulation signal;
the serial-parallel conversion unit splits the modulation signal into a preset number of modulation sub-signals;
the pilot insertion unit inserts pilot symbols in the modulated sub-signals;
the IFFT unit carries out inverse fast Fourier transform on the modulation subsignals to obtain corresponding time domain subsignals;
the parallel-serial conversion subunit combines the time domain sub-signals into OFDM symbols;
and the guard interval unit adds a cyclic prefix and suffix to the OFDM symbol, acquires an OFDM signal and transmits the OFDM signal to the wireless transceiving submodule.
In one embodiment, the signal demodulation sub-module comprises a de-guard interval unit, a serial-to-parallel conversion unit, an FFT unit, a channel estimation and equalization unit, a parallel-to-serial conversion unit, and a demodulation and decoding unit which are connected in sequence;
the method further comprises the following steps:
the method comprises the following steps that a guard interval removing unit carries out circulation removal prefix-suffix removal processing on OFDM signals received by a wireless receiving and transmitting sub-module to obtain OFDM symbols of the OFDM signals;
the serial-parallel conversion unit splits the OFDM symbols into subcarrier signals with preset number;
the FFT unit respectively carries out fast Fourier transform on the subcarrier signals and outputs frequency domain subcarrier signals;
the channel estimation and equalization unit respectively calculates to obtain channel information of corresponding subcarriers according to pilot signals carried in the frequency domain sub-signals, performs equalization processing on the frequency domain sub-signals according to the channel information, and outputs equalized frequency domain sub-signals;
the parallel-serial conversion unit combines the equalized frequency domain sub-signals into a signal to be demodulated;
the demodulation and decoding unit demodulates and decodes the signal to be demodulated, acquires the bit data of the received signal and transmits the bit data to the processing module.
It should be noted that, the proposed vehicle-mounted communication method based on the OFDM communication system further includes implementation of functions corresponding to embodiments of each functional module or functional unit in the vehicle-mounted communication device, and a description of the present application is not repeated here.
It should be noted that, functional units/modules in the embodiments of the present invention may be integrated into one processing unit/module, or each unit/module may exist alone physically, or two or more units/modules are integrated into one unit/module. The integrated units/modules may be implemented in the form of hardware, or may be implemented in the form of software functional units/modules.
From the above description of embodiments, it is clear for a person skilled in the art that the embodiments described herein can be implemented in hardware, software, firmware, middleware, code or any appropriate combination thereof. For a hardware implementation, a processor may be implemented in one or more of the following units: an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a processor, a controller, a microcontroller, a microprocessor, other electronic units designed to perform the functions described herein, or a combination thereof. For a software implementation, some or all of the procedures of an embodiment may be performed by a computer program instructing associated hardware. In practice, the program may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. Computer-readable media can include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be analyzed by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (6)
1. The vehicle-mounted communication equipment based on the OFDM communication system is characterized by comprising an OFDM communication module and a processing module; wherein,
the OFDM communication module is connected with an external wireless communication network and used for completing the data receiving and sending of the vehicle-mounted communication equipment based on the OFDM communication technology;
the processing module is used for processing data of the vehicle-mounted communication equipment, transmitting the processed data to the OFDM communication module for sending, receiving the data received by the OFDM communication module and processing the received data.
2. The vehicle-mounted communication device based on the OFDM communication system as claimed in claim 1, wherein the data of the vehicle-mounted communication device comprises vehicle state monitoring data collected by a vehicle-mounted monitoring device;
the vehicle state monitoring data comprises running speed, engine temperature, GPS positioning, braking condition and images in a carriage;
the processing module is connected with the vehicle-mounted monitoring equipment and used for receiving vehicle state monitoring data collected by the vehicle-mounted monitoring equipment, fusing the vehicle state monitoring data, generating communication data to be sent and transmitting the communication data to the OFDM communication module.
3. The vehicle-mounted communication equipment based on the OFDM communication system as claimed in claim 2, wherein the OFDM communication module comprises a wireless transceiving sub-module, a signal modulation sub-module and a signal demodulation sub-module; wherein,
the wireless transceiving submodule is respectively connected with the signal modulation submodule and the signal demodulation submodule and is used for transmitting the OFDM signal output by the signal modulation submodule to a wireless communication network through the wireless communication network; and a signal demodulation sub-module for transmitting the OFDM signal received from the wireless communication network;
the signal modulation submodule is used for modulating the data to be transmitted by the processing module into OFDM signals and transmitting the OFDM signals to the wireless transceiving submodule;
the signal demodulation sub-module is used for demodulating the OFDM signals transmitted by the wireless transceiving sub-module into bit data and transmitting the bit data to the processing module.
4. The on-vehicle communication equipment based on the OFDM communication system as claimed in claim 3, wherein the signal modulation submodule comprises a modulation and coding unit, a serial-to-parallel conversion unit, a pilot insertion unit, an IFFT unit, a parallel-to-serial conversion unit and a guard interval unit which are connected in sequence; wherein,
the modulation and coding unit is used for coding and modulating the data to be transmitted by the processing module and outputting a modulation signal;
the serial-parallel conversion unit is used for splitting the modulation signal into a preset number of modulation sub-signals;
the pilot insertion unit is used for inserting pilot symbols in the modulation sub-signals;
the IFFT unit is used for performing inverse fast Fourier transform on the modulation subsignals to obtain corresponding time domain subsignals;
the parallel-serial conversion subunit is used for merging the time domain subsignals into OFDM symbols;
and the guard interval unit is used for adding a cyclic prefix and suffix to the OFDM symbol, acquiring the OFDM signal and transmitting the OFDM signal to the wireless transceiving submodule.
5. The on-vehicle communication equipment of the OFDM-based communication system as claimed in claim 4, wherein the signal demodulation sub-module comprises a de-guard interval unit, a serial-to-parallel conversion unit, an FFT unit, a channel estimation and equalization unit, a parallel-to-serial conversion unit and a demodulation and decoding unit, which are connected in sequence; wherein,
the de-guard interval unit is used for performing de-circulation prefix-suffix processing on the OFDM signals received by the wireless transceiver sub-module to obtain OFDM symbols of the OFDM signals;
the serial-parallel conversion unit is used for splitting the OFDM symbols into subcarrier signals with preset number;
the FFT unit is used for respectively carrying out fast Fourier transform on the subcarrier signals and outputting frequency domain subcarrier signals;
the channel estimation and equalization unit is used for respectively calculating channel information of corresponding subcarriers according to pilot signals carried in the frequency domain sub-signals, carrying out equalization processing on the frequency domain sub-signals according to the channel information and outputting equalized frequency domain sub-signals;
the parallel-serial conversion unit is used for combining the equalized frequency domain sub-signals into a signal to be demodulated;
the demodulation and decoding unit is used for demodulating and decoding the signal to be demodulated, acquiring bit data of the received signal and transmitting the bit data to the processing module.
6. A vehicle-mounted communication method based on an OFDM communication system is characterized by comprising the following steps:
the processing module processes data of the vehicle-mounted communication equipment and transmits the processed data to the OFDM communication module for sending; the processing module receives the data received by the OFDM communication module and processes the received data;
the OFDM communication module is connected with an external wireless communication network and completes the data receiving and sending of the vehicle-mounted communication equipment based on the OFDM communication technology.
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