CN201788291U - Extremely-low-frequency transmitting and receiving system, extremely-low-frequency transmitter and extremely-low-frequency receiver - Google Patents

Extremely-low-frequency transmitting and receiving system, extremely-low-frequency transmitter and extremely-low-frequency receiver Download PDF

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CN201788291U
CN201788291U CN201020130556XU CN201020130556U CN201788291U CN 201788291 U CN201788291 U CN 201788291U CN 201020130556X U CN201020130556X U CN 201020130556XU CN 201020130556 U CN201020130556 U CN 201020130556U CN 201788291 U CN201788291 U CN 201788291U
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frequency
signal
transmitter
extremely
low
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CN201020130556XU
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刘红旗
徐新智
王淳
胡铁华
郭静波
陈水平
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中机生产力促进中心
清华大学
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Abstract

The utility model discloses an extremely-low-frequency transmitting and receiving system, an extremely-low-frequency transmitter and an extremely-low-frequency receiver, wherein the extremely-low-frequency transmitter includes a battery pack, a transmitting coil, a control switch and a controller. The transmitting coil is connected with the battery pack; the control switch is respectively connected with the transmitting coil and the battery pack; and the controller connected with the control switch controls switching on or switching off of the control switch according to preset fixed frequency so as to generate extremely-low-frequency triangular wave signals with certain fixed frequency as main frequency. By the aid of improvement for the transmitter and the receiver, the transmitter can output the extremely-low-frequency triangular wave signals. In addition, as the receiver adopts novel test statistics and a matching detection and judgment method based on the ratio of estimated signal power to observed signal power, the receiver is capable of reliably detecting extremely-low-frequency weak magnetic field signals which are large in dynamic range and short in continuous time and are nearly submerged by narrow-band noise in real time.

Description

极低频发射接收系统、极低频发射机和极低频接收机 ELF transmitting and receiving system, ELF extremely low frequency receiver and transmitter

技术领域 FIELD

[0001] 本实用新型涉及电子信息技术领域,特别涉及一种极低频发射接收系统、极低频发射机和极低频接收机,更具体地,涉及一种用于管道移动机器人示踪定位的系统及装置。 [0001] The present invention relates to the field of electronic information technology, particularly to a transmitting and receiving system ELF, ELF extremely low frequency receiver and transmitter, and more particularly, to a system for tracing mobile robot positioning duct and device.

[0002] 背景技术 [0002] BACKGROUND OF THE INVENTION

[0003] 极低频信号是指频率在3Hz〜30Hz范围内的信号,由于其对金属、海水、土层等介质具有良好的穿透性而得到了广泛的应用。 [0003] The extreme low frequency signal refers to a signal within a frequency range 3Hz~30Hz, because of its good penetration of the metal, water, soil and other media have been widely used. 例如,近几年来,基于极低频磁场信号的管道移动机器人示踪定位方法就在管道缺陷无损检测等领域得到了广泛的应用。 For example, in recent years, the mobile robot tracer pipe positioning method ELF magnetic signal is obtained based on a wide range of applications in the field of nondestructive testing pipe defect. 目前,基于极低频磁场信号的管道移动机器人示踪定位系统包括信号发射机与信号接收机两部分。 Currently, the mobile robot tracer pipe ELF magnetic positioning system signal based on the signal transmitter and signal receiver comprises two parts. 管道内的机器人不断地以2米/秒〜8米/秒的速度移动,装在机器人上的信号发射机不断地发射23Hz的极低频单频磁场信号。 The robot in the pipe continuously at a speed of 2 m / s ~ 8 m / sec movement signal transmitters mounted on the robot continuously emits extremely low frequency magnetic field frequency of 23Hz mono signal. 该信号可穿透金属管道和土壤层到达地面的接收机。 The signal and metal pipes penetrate the soil layer to the ground receiver. 接收机先对接收到的微弱信号进行选频放大并滤除带外噪声,然后根据放大滤波之后的信号进行检测判决,给出判决结果。 Receiver to receive weak signals were docking selective amplifier and filter out-band noise, and then the decision based on a signal detected after amplifying and filtering, gives the decision result. 如果接收机检测到发射机发出的23Hz极低频单频磁场信号, 则记录当前时间为管道机器人通过其下方的时间,从而实现管道移动机器人的示踪定位。 If the receiver detects 23Hz transmitter emits extremely low frequency magnetic single-frequency signal, the current time is recorded by a robot which time the pipe below, thereby achieving the positioning tracer pipe mobile robot.

[0004] 目前现有技术的缺点是:现有的极低频示踪定位系统的发射机主要为正弦波振荡器,其频率稳定性差、波形幅度渐入恒幅。 [0004] It is a disadvantage of the prior art: extremely low frequency transmitter tracer conventional positioning system mainly sinusoidal oscillator difference frequency stability, getting into the constant amplitude waveform amplitude. 并且,目前系统的接收机主要基于接收信号的包络进行检测,其在实际应用中,经常会出现误报与漏报,因此可靠性差且无法满足实时性要求。 Further, the receiver system is mainly based on the current envelope of the received signal is detected, which in practice, often false positives and false negatives, the reliability is poor and can not meet the real-time requirements.

[0005] 实用新型内容 [0005] SUMMARY

[0006] 本实用新型的目的旨在至少解决上述技术缺陷之一,并且能够实现极低频微弱信号的实时准确检测。 [0006] The object of the present invention to solve at least one of the above technical defects, and enables accurate real-time detection of weak extremely low frequency signal.

[0007] 为达到上述目的,本实用新型一方面提出一种极低频发射机,包括:电池组;与所述电池组相连的发射线圈;分别与所述发射线圈和所述电池组相连的控制开关;和与所述控制开关相连接的控制器,所述控制器按照固定频率控制所述控制开关的开启,以产生主频为所述固定频率的极低频三角波磁场信号。 [0007] To achieve the above object, an aspect of the present invention provides a very low frequency transmitter, comprising: a battery pack; a transmitter coil connected to said battery pack; control respectively connected to said transmitting coil and said battery a switch; and a controller connected to the control switch, the controller according to the control opening fixed frequency switch, to generate extremely low frequency magnetic field signal frequency of the triangular wave of said fixed frequency.

[0008] 本实用新型另一方面还提出了一种极低频接收机,包括:用于供电的电池组;用于接收空间磁场信号的第一接收线圈;与所述第一接收线圈相连接的第一放大滤波电路, 用于对所述接收线圈接收的信号进行滤波和放大,得到想要的极低频信号;AD转换器,用于将所述第一放大滤波电路得到的极低频信号转换为数字信号;和与所述AD转换器相连的检测模块,用于以预设定的周期计算所述数字信号的检验统计量,并根据所述检验统计量和持续点数判断是否检测到发射机的信号。 [0008] In another aspect of the present invention further provides a very low frequency receiver, comprising: a battery for supplying power; a first receiving coil for receiving the spatial magnetic field signal; a second receiving coil is connected to a first amplifying and filtering circuit for receiving the coil receives a signal filtering and amplification, to obtain a desired extremely low frequency signal; the AD converter, for converting the first extreme low frequency signal amplifying and filtering circuit is obtained a digital signal; and an AD converter coupled to said detection means for a pre-set period calculating test statistic of the digital signal, and according to the test statistic determined whether continuous dots to the transmitter signal.

[0009] 本实用新型再一方面还提出了一种极低频信号发射接收系统,包括上述的极低频发射机和上述的极低频接收机。 [0009] In another aspect of the present invention further provides an extreme low frequency signal transmitting and receiving system including the above-described transmitter and said ELF ELF receiver. 其中,该系统可用于管道移动机器人的示踪定位。 Wherein the conduit system may be used for positioning the mobile robot tracer.

[0010] 通过本实用新型实施例对发射机和接收机的改进,使得发射机能够输出主频为23Hz的极低频三角波信号,并且由于发射机的主电路为数字电路,因此波形的频率稳定性高、幅值恒定,另外由于接收机采用基于估计信号功率和观测信号功率比的新型检验统计量和配套的检测判决方法,因此本实用新型提出的接收机可对动态范围大、持续时间短、几乎被窄带噪声淹没的极低频微弱磁场信号进行实时可靠的检测。 [0010] By the present invention an improved embodiment of the transmitter and the receiver, so that the output frequency of the transmitter can be extremely low frequency of 23Hz triangular wave signal, and since the main circuit of the transmitter as a digital circuit, the waveform thus frequency stability high, constant amplitude, since the receiver uses the new additional test statistic supporting detection method estimating signal power and signal power based on the observed ratio, and therefore the receiver according to the present invention may be made of a large dynamic range, short duration, narrow band noise almost submerged weak ELF magnetic field signals in real-time reliable detection.

[0011] 本实用新型实施例的极低频发射与接收装置的性能如下: [0011] The performance of the present invention, an embodiment of the ELF transmitting and receiving device is as follows:

[0012] (1)实时性:在采样率fs= 1000Hz,数据长度N = 750,采样周期Ts = 0.75S,在1秒左右就会给出准确的检测判决结果。 [0012] (1) Real-time: sample rate fs = 1000Hz, data length N = 750, the sampling period Ts = 0.75S, will give accurate results in detection decisions about 1 second.

[0013] (2)准确性:在峰值信噪比为PSNR = 3dB,发射机移动速度5m/s,数据N = 750,采样率fs = 1000Hz,判决门限η = 0. 5,持续点数M = 300的条件下,恒虚警概率为Pcfak = 4%,检测概率达Pd = 98% 0 [0013] (2) Accuracy: PSNR as PSNR = 3dB, a transmitter moving speed 5m / s, the data N = 750, the sampling rate fs = 1000Hz, the decision threshold η = 0. 5, points M = Length at 300, the CFAR is Pcfak = 4%, the probability of detection of Pd = 98% 0

[0014] 本实用新型附加的方面和优点将在下面的描述中部分给出,部分将从下面的描述中变得明显,或通过本实用新型的实践了解到。 [0014] Additional aspects of the present invention and advantages will be set forth in part in the description which follows, from the following description in part will become apparent, the present invention, or learned from the practice.

附图说明 BRIEF DESCRIPTION

[0015] 本实用新型上述的和/或附加的方面和优点从下面结合附图对实施例的描述中将变得明显和容易理解,其中: [0015] The present invention described above and / or additional aspects and advantages from the following description of embodiments in conjunction with the accompanying drawings of the embodiments will become apparent and more readily appreciated, wherein:

[0016] 图1为本实用新型实施例的极低频发射机的原理图; [0016] Figure 1 is a schematic diagram of an embodiment of the invention very low frequency transmitter;

[0017] 图2为本实用新型实施例的极低频接收机的原理图; [0017] FIG. 2 is a schematic diagram of an embodiment of the invention, the extremely low frequency receiver;

[0018] 图3为噪声波形与检验统计量的计算结果; [0018] FIG. 3 is a noise waveform with the calculation results of the test statistic;

[0019] 图4为信号叠加噪声后的波形与检验统计量计算结果; [0019] FIG 4 is superimposed on the signal waveform after the noise test statistic calculation result;

[0020] 图5为本实用新型的接收机恒虚警概率与判决参数(门限,持续点数)的关系结果; [0020] FIG. 5 of the present invention results relationship CFAR receiver with decision parameters (threshold for the number of points) of;

[0021] 图6为本实用新型的接收机检测检测概率与判决参数(门限,持续点数)的关系结果。 [0021] FIG. 6 of the present invention and the receiver detects the detection probability decision parameter (threshold for the number of points) of the relational results.

具体实施方式 Detailed ways

[0022] 下面详细描述本实用新型的实施例,所述实施例的示例在附图中示出,其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。 [0022] The following detailed embodiments of the present invention described embodiments, exemplary embodiments of the embodiment shown in the accompanying drawings, wherein same or similar reference numerals designate the same or similar elements having same or functionally similar elements. 下面通过参考附图描述的实施例是示例性的,仅用于解释本实用新型,而不能解释为对本实用新型的限制。 By following with reference to the embodiments described are exemplary only for explaining the present invention, not be construed to limit the utility of this novel pair.

[0023] 目前对于极低频信号的实时准确检测将会遇到以下难点: [0023] For real-time current and accurate detection of extremely low frequency signal will encounter the following difficulties:

[0024] (1)移动机器人中发射机发射的极低频信号功率有限、波形质量不高; ELF signal [0024] (1) a mobile robot transmitter transmit power is limited, the waveform quality is not high;

[0025] (2)因发射机处于移动状态、磁场信号随着接收距离的增加迅速衰减,接收的信号动态范围大; [0025] (2) the transmitter is mobile, the received magnetic field signal with increasing distance decay rapidly, large dynamic range of the received signal;

[0026] (3)接收机可捕捉信号的持续时间随发射机移动的速度增大而变短; [0026] (3) the receiver may capture the duration of the signal transmitter with increased speed of the movement becomes shorter;

[0027] (4)信号的频谱与窄带高斯噪声的频谱所占用的带宽差异甚小。 [0027] (4) the difference in spectral bandwidth of narrow-band Gaussian noise spectrum occupied by the signal is very small.

[0028] 因此,接收机的接收到的信号通常是动态范围大、持续时间短、被窄带噪声几乎淹没的微弱信号,这将对实时准确检测造成很大的困难。 [0028] Thus, the received signal receiver dynamic range is usually large, short duration, a weak signal is almost submerged narrow band noise, which will accurately detect the real cause great difficulties.

[0029] 为了克服这些困难,本实用新型同时对目前的发射机和接收机均做出改进,使得本实用新型的发射机可以产生高质量的波形,本实用新型的接收机可以实现极低频微弱信号的实时准确检测。 [0029] To overcome these difficulties, the present invention while the transmitter and receiver of the present improvements are made, such that the present invention can produce high-quality waveform transmitter, the receiver of the present invention may be implemented weak ELF Real-time accurate detection signal.

[0030] 另外,还需要说明的是,本实用新型实施例所提出的极低频发射与接收的系统及装置不仅可以应用于管道移动机器人示踪定位方面,还可应用于其他领域中,例如海底隧道的检测、海洋中的极低频磁场通信等。 [0030] Further, also be noted that the system and apparatus for transmitting and receiving ELF present embodiments of the proposed invention can be applied not only to mobile robot tracing conduit positioning, it can also be applied to other fields, for example submarine tunnel detection, ELF magnetic fields in the ocean communication.

[0031] 以下就以具体实施例的方式对本实用新型进行介绍,但是需要说明的是以下实施例仅是本实用新型的优选方式,并不是说仅能通过以下实施例实现本实用新型,因此本领域技术人员对以下实施例做出的等同的修改或变换均应包含在本实用新型的保护范围之内。 [0031] The following specific embodiments in the manner of the present invention are described, it should be noted that the following embodiments are merely preferred embodiments of the present invention, not to say that only achieved by the following embodiments of the present invention, so the present equivalent modifications or converting skilled in the art to make the following embodiments should be included in the embodiment of the present invention within the scope of protection.

[0032] 如图1所示,为本实用新型实施例的极低频发射机的原理图。 [0032] As shown in FIG 1, the new embodiment according to the principles of the present FIG ELF transmitter practical. 该极低频发射机包括电池组100,与电池组100相连的发射线圈200,分别与发射线圈200和电池组100相连的控制开关300,在本实用新型的一个实施例中,控制开关300可为M0SFET管,当然本领域技术人员也可以采用其他开关器件。 The very low frequency transmitter includes a battery pack 100, the transmit coil 100 is connected to the battery pack 200, and the transmitter coil 200 and the battery pack 100 is connected to control switch 300, the present invention in one embodiment, the control switch 300 may be a M0SFET tube, of course, those skilled in the art may also use other switching device. 在本实用新型的另一个实施例中,电池组100可为锂电池组。 In another novel embodiment of the present invention, the battery pack 100 may be a lithium battery. 在本实用新型中,该极低频发射机还包括控制控制开关300的控制器400,控制器400按照固定频率控制控制开关300的开启,以产生主频为固定频率的极低频三角波磁场信号。 In the present invention, the extremely low frequency transmitter further comprises a switch controller 400 control 300, the controller 400 controls the control switch 300 is turned on according to a fixed frequency to produce a frequency of a triangular wave magnetic fields of extremely low frequency signal having a fixed frequency. 在本实用新型的一个实施例中,上述固定频率为23Hz,当然本领域技术人员还可选择其他频率,同样也应包含在本实用新型的保护范围之内。 In one embodiment of the present invention embodiment, the fixed frequency of 23Hz, of course, those skilled in the art may select a different frequency, the same should also be included within the scope of the present invention. 如果控制开关300为M0SFET管, 则控制器400与M0SFET管的栅极相连接。 If the control switch 300 is M0SFET pipe, the controller 400 is connected to the gate M0SFET tube. 在另一个实施例中,控制器400可选择单片机, 当然也可以选择其他控制器件。 Embodiment, the controller 400 can select MCU In another embodiment, of course, other control means may be selected.

[0033] 本实用新型中的M0SFET管工作于通断状态,相对于输出正弦波波形而言,波形过渡时间极短。 [0033] The present invention M0SFET tube operating in off state, with respect to the output sine wave, the waveform of the transition time is very short. 另外上述发射机的主电路为数字电路,因此波形的频率稳定性高、幅值恒定, 波形的规范性好。 Further the above-described transmitter of the main circuit as a digital circuit, thus high frequency stability waveform, constant amplitude, the waveform of the normative good.

[0034] 如图2所示,为本实用新型实施例的极低频接收机的原理图。 [0034] As shown in FIG 2, a schematic diagram of the invention, an embodiment of the present ELF receiver. 该极低频接收机包括用于供电的电池组510(如锂电池组)、用于接收空间磁场信号的第一接收线圈520、与第一接收线圈520相连接的第一放大滤波电路530,第一放大滤波电路530可用于对第一接收线圈520接收的信号进行滤波和放大,得到想要的极低频信号,例如如果选择23Hz,则第一放大滤波电路520对中心频率为23Hz的信号进行选频放大。 The extremely low frequency receiver 510 includes a battery (e.g., lithium batteries) power supply for receiving a first spatial magnetic field coil 520 receives a signal, a first amplifying and filtering circuit 530 and the first receiving coil 520 connected to the first a filter circuit 530 may be used for amplifying signals received by the first receiving coil 520 and amplified filtered to give the desired extremely low frequency signal, for example, if the selected 23Hz, the first amplifying circuit 520 to filter the center frequency of the selected signal 23Hz frequency amplification.

[0035] 在本实用新型的一个实施例中,该极低频接收机还包括AD转换器,用于将第一放大滤波电路530得到的极低频信号转换为数字信号,该AD转换器可以是单独器件,也可以集成到检测模块540中,在图2中AD转换器集成到检测模块540中。 [0035] In the embodiment of the present invention a, the extremely low frequency receiver further comprises an AD converter for converting a first extreme low frequency signal amplifying and filtering circuit 530 to obtain a digital signal, the AD converter may be a separate devices may also be integrated into the detection module 540, a detection module 540 is integrated into the AD converter 2 in FIG.

[0036] 该极低频接收机还包括检测模块540,用于以预设定的周期计算AD转换器转换的数字信号的检验统计量,并根据检验统计量和持续点数判断是否检测到发射机的信号。 [0036] The extremely low frequency receiver further comprises a detection module 540, a pre-set period calculating test statistic of the AD converter converts the digital signal, and determines whether the detected transmitter according to duration test statistic points signal. 在本实用新型的一个优选实施例中,该检测模块540为具有AD单元的DSP,当然本领域技术人员还可选择其他计算单元,在该实施例中,DSP的软件程序按照极低频单频微弱信号的实时检测方法每隔lms计算一次检验统计量\,然后按照预先设定的判决门限值n与持续点数M进行检测判决,给出判决结果。 In the present invention a preferred embodiment, the detection module 540 with the DSP unit AD, of course, those skilled in the art may select other computing means, in this embodiment, the DSP software program according to weak ELF single frequency real-time detection signal is calculated once every lms test statistic \, then detection decision according to a predefined decision threshold value M n and continuous points, give the verdict.

[0037] 在本实用新型的一个优选实施例中,一个极低频接收机可以同时从两个接收线圈中获取信号,以提高信号检测的可靠性,如图2所示,还可包括第二接收线圈550和第二放大滤波电路560。 [0037], a very low frequency receiver can simultaneously acquire the present invention in a preferred embodiment, the signal from the two receiving coils to improve the reliability of signal detection, as shown in FIG. 2, further comprising a second receiving coil 550 and the second filter amplifying circuit 560.

[0038] 极低频磁场信号接收机对采样信号的实时检测算法如下: [0038] ELF magnetic field detection algorithm for real-time signal receiver signal is sampled as follows:

[0039] 混有噪声的极低频单频正弦信号的观测数据为: [0039] Observation of noise mixed with data ELF single frequency sine signal is:

[0040] x(k) = Asin(ω0+ф)+n(k),k = 0,1,L,N-1,其中,ω。 [0040] x (k) = Asin (ω0 + ф) + n (k), k = 0,1, L, N-1, wherein, ω. = 2πf0/fs,频率f0 为23Hz, fs为信号抽样频率,A为幅值(未知),Φ为相位(未知),n(k)为窄带高斯噪声。 = 2πf0 / fs, frequency f0 of 23Hz, fs is a signal sampling frequency, A is the amplitude (unknown), Φ is the phase of the (unknown), n (k) is a narrow band Gaussian noise.

[0041] 为实现对极低频单频正弦信号的检测,构造检验统计量λ,具体步骤为: [0041] In order to achieve the detection, the configuration of the test statistic [lambda], the specific steps ELF single frequency sine signal is:

[0042] 步骤1,计算N点观测信号χ (k) (k = 0,1,. . .,N-1)的功率Px。 [0042] Step 1 calculates the N-point observation signal χ (k) (k = 0,1 ,..., N-1) power Px.

[0043] 步骤2,估计极低频单频正弦信号的幅值i,其中, [0043] Step 2, the amplitude of the estimated ELF single frequency sinusoidal signal i, wherein

Figure CN201788291UD00061

[0047] 步骤3,估计信号的功率,其中,D A2 [0047] Step 3, the estimated power signal, wherein, D A2

[0048] 步骤4,计算检测判决的检验统计量λ,其中,;i = i。 [0048] Step 4, the test statistic calculation detection judgment [lambda], wherein,; i = i.

[0049] 步骤5,将检验统计量λ与设定的判决门限值η比较,并检查持续点数Μ。 [0049] Step 5, the test statistic with the set λ η threshold comparison decision, and continuous check points Μ. 如果检验统计量λ大于判决门限η的点数大于等于Μ,则判断有信号存在;反之,如果检验统计量λ大于判决门限η的连续点数小于Μ,则判断无信号存在。 If the test statistic points greater than a decision threshold η λ is greater than or equal [mu], it is determined that a signal is present; otherwise, if the test statistic consecutive points greater than a decision threshold η λ is less than the [mu], it is determined that no signal is present.

[0050] 步骤6,以图形显示检验统计量和判决结果。 [0050] Step 6, to display the test statistic and the verdict graphically.

[0051] 本实用新型实施例的极低频接收机采用基于估计信号功率和观测信号功率比的新型检验统计量和配套的检测判决方法,可对动态范围大、持续时间短、几乎被窄带噪声淹没的极低频微弱磁场信号实现实时可靠检测。 [0051] Example embodiment of the present invention ELF receiver using the new test statistic supporting Detection Method estimating signal power and power ratio based on the observed signal, may be large dynamic range, short duration, a narrowband noise almost flooded the weak ELF magnetic field signals in real time reliable detection.

[0052] 另外,本实用新型还提出了一种极低频信号发射接收系统,包括上述的极低频发射机和上述的极低频接收机,该系统可以用于管道移动机器人的示踪定位。 [0052] Further, the present invention further provides an extreme low frequency signal transmitting and receiving system including the above-described transmitter and said ELF extremely low frequency receiver, the positioning system can be used to trace the pipe mobile robot.

[0053] 以下就以具体实验模拟的方式对本实用新型的有益效果进行验证。 [0053] In the particular experiment to simulate a way to verify the advantageous effects of the present invention. 如图3所示, 为噪声波形与检验统计量的计算结果。 As shown in FIG. 3, to calculate the amount of noise waveform and statistical test results. 图3(a)为噪声的信号波形,图3(b)为采用本实用新型的极低频微弱信号实时检测算法对此噪声波形的检验统计量λ的计算结果。 FIG. 3 (a) is a waveform of the noise signal, FIG. 3 (b) is employed for this noise test statistic calculation result of the waveform λ present invention real-time detection algorithm weak ELF signals. 图4为信号叠加噪声后的波形与检验统计量计算结果。 FIG 4 is a waveform of the test statistic calculation result signal superimposed noise. 图4(a)为发射机产生的极低频信号波形, 图4(b)为图4(a)中的波形叠加图3(a)的噪声后的波形,图4(c)为采用本实用新型的极低频微弱信号实时检测算法对信号加噪声情况的检验统计量λ的计算结果。 ELF signal waveform generated by the transmitter of FIG. 4 (a), FIG. 4 (b) is a waveform of the noise in FIG. 4 (a) is superimposed in the waveform of FIG. 3 (a), and FIG. 4 (c) employing the present invention the results of new very low frequency weak signal detection algorithm in real-time statistics on the signal-plus-noise test case of λ.

[0054] 可见,图3中噪声的检验统计量λ的计算结果明显偏小,而图4中信号的检验统计量λ的计算结果偏大且持续时间很长。 [0054] visible, the test statistic calculation result in FIG. 3 λ of noise is significantly smaller, the test statistic of the signal in FIG. 4 λ is too large and the calculation result of a long duration. 图3和图4说明即使在信号的包络完全被噪声淹没的情况下,本实用新型提出的信号实时检测系统仍可以非常可靠地区分信号与噪声。 Figures 3 and 4 shows that even in the case where the envelope signal is completely submerged in the noise, the present invention proposes a signal real-time detection systems are still very reliably distinguish between signal and noise. 图5是本实用新型的接收机恒虚警概率与判决参数(门限,持续点数)的关系结果,图6是本实用新型的接收机检测检测概率与判决参数(门限,持续点数)的关系结果。 FIG 5 is the present invention a receiver CFAR and decision parameters (threshold for the number of points) of the relational results, FIG. 6 is a present invention receiver detects the detection probability and decision parameters (threshold for the number of points) of the relational results .

[0055] 通过本实用新型实施例对发射机和接收机的改进,使得发射机能够输出主频为23Hz的极低频三角波信号,并且由于发射机的主电路为数字电路,因此波形的频率稳定性高、幅值恒定,另外由于接收机采用基于估计信号功率和观测信号功率比的新型检验统计量和配套的检测判决方法,因此本实用新型提出的接收机可对动态范围大、持续时间短、几乎被窄带噪声淹没的极低频微弱磁场信号进行实时可靠的检测。 [0055] By the present invention an improved embodiment of the transmitter and the receiver, so that the output frequency of the transmitter can be extremely low frequency of 23Hz triangular wave signal, and since the main circuit of the transmitter as a digital circuit, the waveform thus frequency stability high, constant amplitude, since the receiver uses the new additional test statistic supporting detection method estimating signal power and signal power based on the observed ratio, and therefore the receiver according to the present invention may be made of a large dynamic range, short duration, narrow band noise almost submerged weak ELF magnetic field signals in real-time reliable detection.

[0056] 本实用新型实施例的极低频发射与接收装置的性能如下: [0056] The performance of the present invention ELF embodiment of transmitting and receiving device is as follows:

[0057] (1)实时性:在采样率仁=1000Hz,数据长度N = 750,采样周期1; = 0. 75s,在1 秒左右就会给出准确的检测判决结果。 [0057] (1) Real-time: sample rate Ren = 1000Hz, data length N = 750, the sampling period 1; = 0. 75s, will give accurate results in detection decisions about 1 second.

[0058] (2)准确性:在峰值信噪比为PSNR = 3dB,发射机移动速度5m/s,数据N = 750, 采样率fs = 1000Hz,判决门限n = 0. 5,持续点数M = 300的条件下,恒虚警概率为PCFAK =4%,检测概率达PD = 98%。 [0058] (2) Accuracy: PSNR as PSNR = 3dB, a transmitter moving speed 5m / s, the data N = 750, the sampling rate fs = 1000Hz, the decision threshold n = 0. 5, points M = Length at 300, the CFAR is PCFAK = 4%, probability of detection PD = 98%.

[0059] 尽管已经示出和描述了本实用新型的实施例,对于本领域的普通技术人员而言, 可以理解在不脱离本实用新型的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型,本实用新型的范围由所附权利要求及其等同限定。 [0059] While there have been shown and described an embodiment of the present invention, those of ordinary skill in the art, can be appreciated that many of these embodiments without departing from the principles of the present invention and spirit of the variations, modifications, alternatives, and modifications, the scope of the present invention by the appended claims and their equivalents.

7 7

Claims (9)

1. 一种极低频发射机,其特征在于,包括:电池组;与所述电池组相连的发射线圈;分别与所述发射线圈和所述电池组相连的控制开关;和与所述控制开关相连接的控制器,所述控制器按照预设固定频率控制所述控制开关的开启,以产生主频为所述固定频率的极低频三角波磁场信号。 A very low frequency transmitter, characterized by comprising: a battery pack; a transmitter coil connected to said battery pack; control switches respectively connected to said transmit coil and said battery; and a control switch with the the controller is connected to the controller according to a preset fixed frequency of the control switch is turned on, to generate extremely low frequency magnetic field signal of the triangular wave frequency of said fixed frequency.
2.如权利要求1所述的极低频发射机,其特征在于,所述固定频率为23Hz。 2. The very low frequency transmitter according to claim 1, characterized in that the fixed frequency is 23Hz.
3.如权利要求1所述的极低频发射机,其特征在于,所述控制器为单片机。 ELF transmitter according to claim 1, wherein said controller is a microcontroller.
4.如权利要求1或3所述的极低频发射机,其特征在于,所述控制开关为MOSFET管,所述MOSFET管的栅极与所述控制器相连接。 4. A very low frequency transmitter of claim 1 or claim 3, characterized in that the control switch is a MOSFET transistor, the gate and the controller is connected to the MOSFET.
5. 一种极低频接收机,其特征在于,包括:用于供电的电池组;用于接收空间磁场信号的第一接收线圈;与所述第一接收线圈相连接的第一放大滤波电路,用于对所述接收线圈接收的信号进行滤波和放大,得到想要的极低频信号;AD转换器,用于将所述第一放大滤波电路得到的极低频信号转换为数字信号;和与所述AD转换器相连的检测模块,用于以预设定的周期计算所述数字信号的检验统计量,并根据所述检验统计量和持续点数判断是否检测到发射机的信号。 A very low frequency receiver, comprising: a battery pack for power supply; coil receiving space for receiving a first magnetic field signal; a first amplifying circuit and the first filter connected to the receiving coil, the receiving coil for receiving a signal filtering and amplification, to obtain a desired extremely low frequency signal; the AD converter for converting very low frequency signals of the first amplifying and filtering circuit to a digital signal obtained; and with the said detection module coupled to the AD converter, for the test statistic to a pre-set period calculation of the digital signal, and the signal duration statistics and determines whether the detected number of points in accordance with the test transmitter.
6.如权利要求5所述的极低频接收机,其特征在于,还包括第二接收线圈和第二放大滤波电路,所述检测模块同时从所述第一放大滤波电路和第二放大滤波电路获取信号,并进行检测。 6. ELF receiver according to claim 5, characterized in that, further comprising a second coil and a second receiving filter amplifying circuit, the detection module simultaneously from said first filter circuit and the second amplifying circuit amplifying filter acquire signal, and detected.
7.如权利要求5或6所述的极低频接收机,其特征在于,所述第一放大滤波电路和第二放大滤波电路对中心频率为23Hz的信号进行选频放大。 7. ELF receiver of claim 5 or claim 6, wherein said first filter circuit and the second amplifying circuit for amplifying filter center frequency selective amplifier to the 23Hz signal.
8.如权利要求5或6所述的极低频接收机,其特征在于,所述检测模块为DSP。 ELF receiver of claim 5 or according to claim 6, wherein the detection module to the DSP.
9. 一种极低频信号发射接收系统,其特征在于,包括权利要求1-4任一项所述的极低频发射机和权利要求5-8任一项所述的极低频接收机。 A signal transmitting and receiving ELF system comprising a transmitter and ELF claimed in any one of claims 1-4 in claim ELF receiver of any of claims 5-8.
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101799556A (en) * 2010-03-11 2010-08-11 清华大学;中机生产力促进中心 Extremely low frequency transmitting and receiving system and device
CN105580284A (en) * 2013-09-25 2016-05-11 高通股份有限公司 Contactless data communication using in-plane magnetic fields, and related systems and methods

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101799556A (en) * 2010-03-11 2010-08-11 清华大学;中机生产力促进中心 Extremely low frequency transmitting and receiving system and device
CN101799556B (en) 2010-03-11 2012-08-22 中机生产力促进中心 Extremely low frequency transmitting and receiving system and device
CN105580284A (en) * 2013-09-25 2016-05-11 高通股份有限公司 Contactless data communication using in-plane magnetic fields, and related systems and methods
US9882609B2 (en) 2013-09-25 2018-01-30 Qualcomm Incorporated Contactless data communication using in-plane magnetic fields, and related systems and methods
CN105580284B (en) * 2013-09-25 2018-08-14 高通股份有限公司 Use the non-contact data communication of in-plane magnetic field and relevant system and method

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