CN204086522U - Based on hyperacoustic vehicle space positioning system - Google Patents
Based on hyperacoustic vehicle space positioning system Download PDFInfo
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- CN204086522U CN204086522U CN201420350183.5U CN201420350183U CN204086522U CN 204086522 U CN204086522 U CN 204086522U CN 201420350183 U CN201420350183 U CN 201420350183U CN 204086522 U CN204086522 U CN 204086522U
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Abstract
The utility model relates to a kind of based on hyperacoustic vehicle space positioning system, and it comprises main control chip, transmitter module, receiver module, control inputs module, serial ports screen display module and power supply; Described main control chip connects described transmitter module, switching processing module and control inputs module respectively by GPIO port, also shows that model calling communicates by serial ports SCI with described serial ports screen display simultaneously; Described main control chip produces ultrasonic signal, is provided with power management module and the timer for timing, and connects described power supply by described power management module.The utility model structural design is simple, reasonable, stable, just can carry out error bridge, effectively can improve the reliability of final locating information, can realize the accurate location of vehicle space to allocation.
Description
Technical field
The utility model relates to vehicle space field of locating technology, particularly relates to a kind of based on hyperacoustic vehicle space positioning system.
Background technology
TOA (Time of Arrive) type location, AP (Access Point) signal location and GPS (Global Position System) location are current main three large indoor positioning technologies in the world.TOA is radio-frequency ranging techniques common at present, and its principle is that in indoor application, serious multipath and non line of sight phenomenon cause range error larger by measuring the distance that the electric signal transmission time obtains between transmit leg and take over party; AP location has been the position of the equipment of all this networks of use under locating this network coverage by wireless signal, and its shortcoming is that positioning precision is poor; GPS location is that adopt the method for space length resection, determine the position of tested point, its shortcoming is that indoor acceptable effect is poor according to the satellite instantaneous position of sky aerial high-speed motion as known known date.In sum, existing locator meams is affected by environment larger, locates unstable and has larger error.Therefore research and utilization ultrasound wave carries out accurate location, local is necessary.The F-Tong in Hong Kong etc. are applied in ultrasound wave Precise Position System on self-control navigation vehicle, carry out navigation research.Chen Yong light etc. have studied the relation of passive TDOA location principle and positioning precision, also has method that bear Chun-shan Mountain etc. utilizes peak count and zero cross point to detect to improve the precision of supersonic sounding to realize accurately locating.
Summary of the invention
The utility model there is certain defect to solve the design of existing vehicle space positioning system structure, affected by environment larger, location is unstable and error is larger, effectively cannot realize the pinpoint problem of vehicle space being proposed to a kind of structural design simple, reasonable, stable, error bridge can carried out just to allocation, effectively can improve the reliability of final locating information, realize pinpoint based on hyperacoustic vehicle space positioning system at local space of vehicle.
The utility model is achieved through the following technical solutions:
Above-mentioned based on hyperacoustic vehicle space positioning system, comprise main control chip, transmitter module, receiver module, switching processing module, control inputs module, serial ports screen display module and power supply; Described main control chip connects described transmitter module, switching processing module and control inputs module respectively by GPIO port, also shows that model calling communicates by serial ports SCI with described serial ports screen display simultaneously; Described main control chip produces ultrasonic signal, is provided with power management module and the timer for timing, and connects described power supply by described power management module; Described transmitter module comprises ultrasound wave transmitter module driving circuit and transmitting probe; Described ultrasound wave transmitter module driving circuit receives the ultrasonic signal that described main control chip produces, more outwards sends ultrasonic signal by described transmitting probe; Described receiver module adopts TL852 chip to form ultrasonic signal testing circuit, to carry out the amplification of signal and to detect.
Described based on hyperacoustic vehicle space positioning system, wherein: what described main control chip adopted is TMS320F28027 chip.
Described based on hyperacoustic vehicle space positioning system, wherein: described transmitter module is connected to form by resistance R1 ~ R3, triode P1, transformer T1, ultrasonic transmitter US-Tx, field effect transistor N1 and contact pin P; Described resistance R2 one end is connected with Cut off terminal, and the other end is connected to the base stage of described triode P1; Described Cut off connecting terminals is connected to the GPIO port of described main control chip, suppresses for repercussions; The emitter of described triode P1 connects 5V power supply, the collector of described triode P1 connects No. 2 ports of described contact pin P and the negative pole end of described transformer T1 primary coil respectively by described resistance R1, and the positive terminal of described transformer T1 primary coil connects 5V power supply; Described ultrasonic transmitter US-Tx is connected between the both positive and negative polarity of described transformer T1 secondary coil; The source electrode of described field effect transistor N1 is connected to No. 1 port of described contact pin P, grounded drain, and grid is connected with send ctrl terminal; Described Send ctrl terminal is connected with the ultrasonic pulse signal emission port of described main control chip, and produces the control signal of 40KHZ ultrasonic pulse by the ultrasonic pulse signal emission port input of described main control chip; Described resistance R3 one end ground connection, the other end connects described send ctrl terminal.
Described based on hyperacoustic vehicle space positioning system, wherein: described contact pin P is in short circuit state in normal use procedure; What described triode P1 adopted is PNP type triode.
Described based on hyperacoustic vehicle space positioning system, wherein: described ultrasonic signal testing circuit is connected to form by TL852 chip U2, resistance R1 ~ R3, electric capacity C1 ~ C3 and C7 ~ C9, inductance L 1 and L2, ultrasonic receiver US-Rx; Described TL852 chip U2 comprises REC pin, NC pin, GCA pin, GCB pin, GCC pin, GCD pin, BIAS pin, LC pin, G21N pin, GIOUT pin, GADJ pin, GIIN pin, XIN pin, VCC pin and GND pin; Described REC pin is connected with lead-out terminal SOUT; Described TL852 chip connects+5V power supply by described VCC pin, by described GND pin ground connection, is connected with the GPIO port of described main control chip by described GCA pin, GCB pin, GCC pin and GCD pin; Described resistance R1 one end connects described BIAS pin, other end ground connection; Described resistance R2 one end connects described GADJ pin, and the other end connects described GIIN pin; Described resistance R3 one end connects described XIN pin, and the other end connects described GIIN pin; Described electric capacity C1 one end ground connection, the other end is connected to the tie point of described+5V power supply and VCC pin; Described electric capacity C7 one end is connected to described lead-out terminal SOUT, other end ground connection; Described electric capacity C8 is connected between described G21N pin and GIOUT pin; Described inductance L 1 one end connects described+5V power supply, and the other end connects described LC pin; Described electric capacity C2 is parallel to described inductance L 1 two ends; Described inductance L 2 one end connects described XIN pin, and the other end connects described ultrasonic receiver US-Rx one end by described electric capacity C3, the other end ground connection of described ultrasonic receiver US-Rx; Described electric capacity C9 is parallel to ultrasonic receiver US-Rx two ends.
Described based on hyperacoustic vehicle space positioning system, wherein: described lead-out terminal SOUT is connected with TL852 chip signal output treatment circuit, described TL852 chip signal output treatment circuit is connected to form by operational amplifier A 1 and A2, resistance R4 ~ R6, electric capacity C10, diode D1 and D2; The input end in the same way of described operational amplifier A 1 connects described lead-out terminal SOUT, reverse input end and the output terminal of described operational amplifier A 1 link together, and the output terminal of described operational amplifier A 1 is also connected to the input end in the same way of described operational amplifier A 2 by described resistance R4; The positive pole of described operational amplifier A 1 connects 3.3V power supply, minus earth; Described resistance R5 one end connects the reverse input end of described operational amplifier A 2, and the other end connects 3.3V power supply by described resistance R6; Described electric capacity C10 one end ground connection, the other end is connected to the tie point of described operational amplifier A 1 and 3.3V power supply; The anode tap of described diode D1 is connected to the tie point of described resistance R5 and R6, and the cathode terminal of described diode D1 is connected to the anode tap of described diode D2, the cathode terminal ground connection of described diode D2.
Described based on hyperacoustic vehicle space positioning system, wherein: what described serial ports screen display module adopted is enlightening literary composition serial ports screen, described enlightening literary composition serial ports screen is asynchronous, the full duplex serial ports that adopt, serial ports pattern is 8n1, each data transmit 10 positions i.e. 1 start bit, 8 data bit and 1 position of rest.
Described based on hyperacoustic vehicle space positioning system, wherein: described power acquisition 50W three-way switch power supply provides stable 5V-3A power supply; Described serial ports screen display shows that module for power supply demand is 5V-800mA; It is that described main control chip is powered that described switching processing module adopts the three-terminal voltage-stabilizing power supply of AMS1117-3.3V voltage stabilizing chip to be 3.3V by the 5V voltage transitions of Switching Power Supply.
Beneficial effect:
The utility model based on hyperacoustic vehicle space positioning system structure simplicity of design, rationally, it mainly utilizes ultrasonic ranging to realize local space and accurately locates, the display etc. of locating information, compare and traditional utilize the unidirectional range finding of ultrasound wave or barrier judgment, native system adopts multicast pattern to be expanded by " dotted line utilization " to " complanation utilization " by ultrasound wave, increases its range of application; During measurement, the positioning result mistake caused because barrier obstruction causes a certain road dropout can be avoided in multipoint reception location, ensure that the stability of system cloud gray model, multimetering data can carry out error correction to allocation after respective algorithms, substantially increase the reliability of final locating information; Simultaneously, native system expands by increasing acceptance point the floor truck location that orientation range applies to factory or laboratory, break through the route restriction of traditional trajectory Car, dolly scope of activities is extended to the total space, improve the utilization ratio of dolly greatly, also can apply in many real lifes simultaneously; Moreover, native system realizes local space based on ultrasonic ranging and accurately locates, dolly is made to break through the restriction of traditional locator meams to work space, system is by the acceptance point received ultrasonic signal of the fixed position of some, the distance between known point and tested point can be measured exactly according to the mistiming of launching and receiving, utilize location algorithm to obtain the position of tested point, positioning precision can reach centimetre-sized.
Accompanying drawing explanation
Fig. 1 is the structure principle chart of the utility model based on hyperacoustic vehicle space positioning system;
Fig. 2 is the structure principle chart of the utility model based on the ultrasound wave transmitter module of hyperacoustic vehicle space positioning system;
Fig. 3 is the ultrasonic signal testing circuit figure of the utility model based on the ultrasound wave receiver module of hyperacoustic vehicle space positioning system;
Fig. 4 is the TL852 chip signal output treatment circuit figure of the utility model based on hyperacoustic vehicle space positioning system.
Embodiment
As shown in Figure 1, the utility model, based on hyperacoustic vehicle space positioning system, comprises main control chip 1, transmitter module 2, receiver module 3, control inputs module 4, serial ports screen display module 5 and power supply 6.
What this main control chip 1 adopted is TMS320F28027 main control chip, and it connects transmitter module 2 and control inputs module 4 respectively by GPIO port, meanwhile, also connects serial ports screen display module 5 by serial ports SCI; This main control chip 1 is provided with for generation of 40KHz square wave with for the timer of timing and power management module, this power supply 6 is connected with the power management module of main control chip 1, and this receiver module 3 is connected to switching processing module 4 and is connected with main control chip 1 by switching processing module 4.
Wherein, this main control chip 1 mainly shields display module 5 by serial ports SCI with serial ports and communicates, and the baud rate of serial ports SCI and data layout (8n1) and screen is set to unanimously get final product proper communication;
As shown in Figure 2, this transmitter module 2 is mainly used in the sending function realizing ultrasonic pulse signal, it is used for preventing circuit from damaging when testing by resistance R1 ~ R3, triode P1, transformer T1, ultrasonic transmitter US-Tx, field effect transistor N1 and contact pin P(, is short circuit state in normal use procedure) connect to form.Wherein, this resistance R2 one end is connected with Cut off terminal, and the other end is connected to triode P1(PNP type triode) base stage; Cut off terminal connects the GPIO port of main control chip 1, suppresses for repercussions; The emitter of triode P1 connects 5V power supply, and the collector of triode P1 is by resistance R1 No. 2 ports of connecting contact pin P and the negative pole end of transformer T1 primary coil respectively, and the positive terminal of transformer T1 primary coil connects 5V power supply; Ultrasonic transmitter US-Tx is connected between the both positive and negative polarity of transformer T1 secondary coil; The source electrode of field effect transistor N1 is connected to No. 1 port of contact pin P, the grounded drain of field effect transistor N1, and the grid of field effect transistor N1 is connected with send ctrl terminal; Send ctrl terminal is connected with the ultrasonic pulse signal emission port of main control chip 1, is produced the control signal of 40KHZ ultrasonic pulse by the ultrasonic pulse signal emission port input of main control chip 1; Resistance R3 one end ground connection, the other end connects send ctrl terminal.
As shown in Figure 3, this receiver module 3 adopts TL852 chip to form ultrasonic signal testing circuit, carries out the amplification of signal and detects; Wherein, this ultrasonic signal testing circuit is connected to form by TL852 chip U2, resistance R1 ~ R3, electric capacity C1 ~ C3 and C7 ~ C9, inductance L 1 and L2, ultrasonic receiver US-Rx.This TL852 chip U2 comprises REC pin, NC pin, GCA pin, GCB pin, GCC pin, GCD pin, BIAS pin, LC pin, G21N pin, GIOUT pin, GADJ pin, GIIN pin, XIN pin, VCC pin and GND pin; Wherein, this pin REC is connected with lead-out terminal SOUT, this TL852 chip connects+5V power supply by VCC pin, by GND pin ground connection, this GCA pin, GCB pin, GCC pin and GCD pin are all connected with the GPIO port of main control chip 1, timing is started for starting point for the timer of timing with main control chip 1, its gain factor (gain factor is with reference to the gain selection of different time sections in TL852 chip) is increased along with the increase of time, to make up the loss of ultrasound wave energy in communication process before not completing measurement; Resistance R1 one end connects BIAS pin, other end ground connection; Resistance R2 one end connects GADJ pin, and the other end connects GIIN pin; Resistance R3 one end connects XIN pin, and the other end also connects GIIN pin; Electric capacity C1 one end ground connection, the other end is connected to the tie point of+5V power supply and VCC pin; Electric capacity C7 one end is connected to lead-out terminal SOUT, other end ground connection; Electric capacity C8 is connected between G21N pin and GIOUT pin; Inductance L 1 one end connects+5V power supply, and the other end connects LC pin; Electric capacity C2 is parallel to inductance L 1 two ends; Inductance L 2 one end connects XIN pin, and the other end connects ultrasonic receiver US-Rx one end by electric capacity C3, the other end ground connection of ultrasonic receiver US-Rx; Electric capacity C9 is parallel to ultrasonic receiver US-Rx two ends, and wherein, this electric capacity C3 and C9 is used for receiving loop resonance, needs by measuring the ultrasonic receiver US-Rx capacitance that uses and corresponding inductance L 2, transformer secondary output inductance determines.
Wherein, this lead-out terminal SOUT is connected with TL852 chip signal output treatment circuit, and as shown in Figure 4, this TL852 chip signal output treatment circuit is connected to form by operational amplifier A 1 and A2, resistance R4 ~ R6, electric capacity C10, diode D1 and D2.The input end in the same way of this operational amplifier A 1 connects lead-out terminal SOUT, reverse input end and output terminal link together, and output terminal is also connected to the input end in the same way of operational amplifier A 2 by resistance R4, simultaneously, the positive pole of operational amplifier A 1 connects 3.3V power supply, minus earth; The reverse input end of resistance R5 one end concatenation operation amplifier A2, the other end connects 3.3V power supply by resistance R6; Electric capacity C10 one end ground connection, the other end is connected to the tie point of 3.3V power supply and operational amplifier A 1; The anode tap of diode D1 is connected to the tie point of resistance R5 and R6, and the cathode terminal of diode D1 is connected to the anode tap of diode D2, the cathode terminal ground connection of diode D2.
Switching processing module 4 is carried out integration with other modules and is connected, and reduces fly line situation when circuit connects, and reduces line error, increases stability and the security of system.
What serial ports screen display module 6 adopted is enlightening literary composition serial ports screen (7.0 cun, 800*480 graphic dot matrix K600+ kernel 65K look DGUS shields), this enlightening literary composition serial ports screen is asynchronous, the full duplex serial ports (UART) that adopt, serial ports pattern is 8n1, namely each data transmit 10 positions: 1 start bit, 8 data bit (status in front transmission, LSB), 1 position of rest.
Power supply 7 provides power supply to whole system, and it adopts 50W three-way switch power supply (5V3A-12V1A-24V1A) to provide stable 5V-3A power supply, wherein, and serial ports screen display module 6 power demands 5V-800mA is larger to current requirements; It is that main control chip 1 is powered that switching processing module 4 adopts the three-terminal voltage-stabilizing power supply of AMS1117-3.3V voltage stabilizing chip to be 3.3V by the 5V voltage transitions of Switching Power Supply.
The utility model structural design is simple, reasonable, stable, just can carry out error bridge, effectively can improve the reliability of final locating information, realize the accurate location of vehicle space to allocation.
Claims (8)
1. based on a hyperacoustic vehicle space positioning system, it is characterized in that: described vehicle space positioning system comprises main control chip, transmitter module, receiver module, control inputs module, serial ports screen display module and power supply;
Described main control chip connects described transmitter module and control inputs module respectively by GPIO port, also shows that model calling communicates by serial ports SCI with described serial ports screen display simultaneously;
Described main control chip produces ultrasonic signal, is provided with power management module and the timer for timing, and connects described power supply by described power management module;
Described transmitter module comprises ultrasound wave transmitter module driving circuit and transmitting probe; Described ultrasound wave transmitter module driving circuit receives the ultrasonic signal that described main control chip produces, more outwards sends ultrasonic signal by described transmitting probe; Described receiver module adopts TL852 chip to form ultrasonic signal testing circuit, to carry out the amplification of signal and to detect.
2. as claimed in claim 1 based on hyperacoustic vehicle space positioning system, it is characterized in that: what described main control chip adopted is TMS320F28027 chip.
3. as claimed in claim 1 based on hyperacoustic vehicle space positioning system, it is characterized in that: described transmitter module is connected to form by resistance R1 ~ R3, triode P1, transformer T1, ultrasonic transmitter US-Tx, field effect transistor N1 and contact pin P;
Described resistance R2 one end is connected with Cut off terminal, and the other end is connected to the base stage of described triode P1; Described Cut off connecting terminals is connected to the GPIO port of described main control chip, suppresses for repercussions; The emitter of described triode P1 connects 5V power supply, the collector of described triode P1 connects No. 2 ports of described contact pin P and the negative pole end of described transformer T1 primary coil respectively by described resistance R1, and the positive terminal of described transformer T1 primary coil connects 5V power supply; Described ultrasonic transmitter US-Tx is connected between the both positive and negative polarity of described transformer T1 secondary coil; The source electrode of described field effect transistor N1 is connected to No. 1 port of described contact pin P, grounded drain, and grid is connected with send ctrl terminal; Described Send ctrl terminal is connected with the ultrasonic pulse signal emission port of described main control chip, and produces the control signal of 40KHZ ultrasonic pulse by the ultrasonic pulse signal emission port input of described main control chip; Described resistance R3 one end ground connection, the other end connects described send ctrl terminal.
4. as claimed in claim 3 based on hyperacoustic vehicle space positioning system, it is characterized in that: described contact pin P is in short circuit state in normal use procedure; What described triode P1 adopted is PNP type triode.
5. as claimed in claim 1 based on hyperacoustic vehicle space positioning system, it is characterized in that: described ultrasonic signal testing circuit is connected to form by TL852 chip U2, resistance R1 ~ R3, electric capacity C1 ~ C3 and C7 ~ C9, inductance L 1 and L2, ultrasonic receiver US-Rx;
Described TL852 chip U2 comprises REC pin, NC pin, GCA pin, GCB pin, GCC pin, GCD pin, BIAS pin, LC pin, G21N pin, GIOUT pin, GADJ pin, GIIN pin, XIN pin, VCC pin and GND pin; Described REC pin is connected with lead-out terminal SOUT; Described TL852 chip connects+5V power supply by described VCC pin, by described GND pin ground connection, is connected with the GPIO port of described main control chip by described GCA pin, GCB pin, GCC pin and GCD pin; Described resistance R1 one end connects described BIAS pin, other end ground connection; Described resistance R2 one end connects described GADJ pin, and the other end connects described GIIN pin; Described resistance R3 one end connects described XIN pin, and the other end connects described GIIN pin; Described electric capacity C1 one end ground connection, the other end is connected to the tie point of described+5V power supply and VCC pin; Described electric capacity C7 one end is connected to described lead-out terminal SOUT, other end ground connection; Described electric capacity C8 is connected between described G21N pin and GIOUT pin; Described inductance L 1 one end connects described+5V power supply, and the other end connects described LC pin; Described electric capacity C2 is parallel to described inductance L 1 two ends; Described inductance L 2 one end connects described XIN pin, and the other end connects described ultrasonic receiver US-Rx one end by described electric capacity C3, the other end ground connection of described ultrasonic receiver US-Rx; Described electric capacity C9 is parallel to ultrasonic receiver US-Rx two ends.
6. as claimed in claim 5 based on hyperacoustic vehicle space positioning system, it is characterized in that: described lead-out terminal SOUT is connected with TL852 chip signal output treatment circuit, described TL852 chip signal output treatment circuit is connected to form by operational amplifier A 1 and A2, resistance R4 ~ R6, electric capacity C10, diode D1 and D2;
The input end in the same way of described operational amplifier A 1 connects described lead-out terminal SOUT, reverse input end and the output terminal of described operational amplifier A 1 link together, and the output terminal of described operational amplifier A 1 is also connected to the input end in the same way of described operational amplifier A 2 by described resistance R4; The positive pole of described operational amplifier A 1 connects 3.3V power supply, minus earth; Described resistance R5 one end connects the reverse input end of described operational amplifier A 2, and the other end connects 3.3V power supply by described resistance R6; Described electric capacity C10 one end ground connection, the other end is connected to the tie point of described operational amplifier A 1 and 3.3V power supply; The anode tap of described diode D1 is connected to the tie point of described resistance R5 and R6, and the cathode terminal of described diode D1 is connected to the anode tap of described diode D2, the cathode terminal ground connection of described diode D2.
7. as claimed in claim 1 based on hyperacoustic vehicle space positioning system, it is characterized in that: what described serial ports screen display module adopted is enlightening literary composition serial ports screen, described enlightening literary composition serial ports screen is asynchronous, the full duplex serial ports that adopt, serial ports pattern is 8n1, each data transmit 10 positions i.e. 1 start bit, 8 data bit and 1 position of rest.
8. as claimed in claim 1 based on hyperacoustic vehicle space positioning system, it is characterized in that: described power acquisition 50W three-way switch power supply provides stable 5V-3A power supply;
Described serial ports screen display shows that module for power supply demand is 5V-800mA;
It is that described main control chip is powered that described switching processing module adopts the three-terminal voltage-stabilizing power supply of AMS1117-3.3V voltage stabilizing chip to be 3.3V by the 5V voltage transitions of Switching Power Supply.
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| CN201420350183.5U CN204086522U (en) | 2014-06-29 | 2014-06-29 | Based on hyperacoustic vehicle space positioning system |
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| CN201420350183.5U CN204086522U (en) | 2014-06-29 | 2014-06-29 | Based on hyperacoustic vehicle space positioning system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107037291A (en) * | 2017-05-05 | 2017-08-11 | 华北电力大学（保定） | A kind of system and method for being used to detecting and positioning 20kHz square-wave signals |
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2014
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107037291A (en) * | 2017-05-05 | 2017-08-11 | 华北电力大学（保定） | A kind of system and method for being used to detecting and positioning 20kHz square-wave signals |
| CN107037291B (en) * | 2017-05-05 | 2024-03-19 | 华北电力大学（保定） | System and method for detecting and positioning 20kHz square wave signal |
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