224results about How to "Improve ranging accuracy" patented technology

The invention discloses an automobile auxiliary driving monocular distance measurement method and device based on a lightweight occupation prediction network, and the method comprises the steps: firstly constructing a 3D occupation prediction data set, and then constructing a monocular occupation prediction teacher model based on multi-frame time sequence fusion and time sequence stereo depth estimation, and a lightweight monocular occupation prediction student model based on single-frame input. And training the occupation prediction teacher model to obtain the occupation prediction teacher model with good performance, and evaluating the performance of the teacher model. And performing distillation training of the student model by using the teacher network intermediate layer features and output to obtain a performance-improved lightweight occupation prediction student model, and evaluating the performance of the student model. And finally, performing forward reasoning on the student model, and performing connected domain analysis on an interested instance (such as a vehicle and a pedestrian) from a reasoning result to complete monocular distance measurement. The method provided by the invention overcomes the problem of inaccurate distance measurement caused by unstable detection frame in the traditional monocular distance measurement method, and improves the performance while lightening the model by using the distillation technology.

The invention belongs to the technical field of underwater positioning, and discloses an underwater single-beacon Gaussian Newton positioning method and system under a linear sound profile condition. According to the method, underwater acoustic signal propagation time observation noise is modeled into Gaussian distribution, a maximum likelihood estimation problem is constructed, and then the maximum likelihood estimation problem is converted into a nonlinear least square estimation problem; and solving the gradient of the observed quantity to the position coordinates of the AUV based on a chain rule, iteratively solving a nonlinear least square estimation problem based on a Gauss-Newton method, and obtaining the position coordinates of the AUV after iterative convergence. Compared with other single beacon positioning methods which do not consider sound propagation refraction, the method of the invention can obtain a more accurate position calculation result under a linear sound profile condition, and enhances single beacon positioning, especially the practical application capability of the method in deep sea areas.

The invention relates to the technical field of quantum measurement, and provides a high-precision quantum distance measuring device and method based on a frequency entangled state, and the device comprises an entangled photon source, a polarization beam splitter, a single-mode optical fiber coupler group, an optical fiber circulator, and an optical receiving and transmitting antenna. The entangled photon source comprises a pump light source, a first lens, a nonlinear optical crystal, a temperature control furnace, a temperature control module, a second lens, a dichroscope and a long pass filter; a third port of the polarization beam splitter is connected with a reflector, the reflector is connected with a second single-mode optical fiber coupler, and the second single-mode optical fiber coupler is connected with a second single-photon detector; a second port of the polarization beam splitter is connected with a first single-mode optical fiber coupler, the first single-mode optical fiber coupler is connected with an optical fiber circulator, one end of the optical fiber circulator is connected with an optical transceiving antenna, and the other end of the optical fiber circulator is connected with a first single photon detector; the method has the advantages of wide range and high-precision distance measurement, and can better complete distance measurement.

The invention provides a near-electricity operation risk dynamic identification method fusing fine segmentation and binocular vision. The near-electricity operation risk dynamic identification method comprises the steps that a left view image, shot by a binocular camera, of substation near-electricity operation is acquired; initializing calibration parameters of the segmentation model, the binocular three-dimensional distance measurement model and the binocular camera; identifying and extracting key job elements in the left view image through a segmentation model, wherein a segmentation result comprises each detected instance and a two-dimensional position thereof; for each instance, the three-dimensional position of the instance in the space is predicted through a binocular three-dimensional ranging model, and the three-dimensional coordinates of the instance are obtained; according to the three-dimensional coordinates of each instance, the Euclidean distance between different key operation elements is calculated, and the minimum distance between the key operation elements is obtained; according to the invention, whether there is an operation risk is determined according to the minimum distance between different key operation elements, and the method has high distance measurement precision and real-time performance, and is helpful for improving the safety of near-electricity operation and the risk early warning capability.

The invention relates to an optical imaging system and method of a resonant cavity. The system comprises a light source; the emission modulator is in signal connection with the light source; the emission modulator comprises an entrance pupil lens, an exit pupil lens, an electro-optical crystal and a resonant cavity formed between the entrance pupil lens and the exit pupil lens, and the electro-optical crystal is arranged in the resonant cavity; the receiving demodulator is connected to the front end of the imaging module; the receiving demodulator and the transmitting modulator have the same configuration; the microwave generator is respectively in signal connection with the transmitting modulator and the receiving demodulator; the processing module is in signal connection with the microwave generator; and the processing module is also in signal connection with the imaging module and is used for controlling a frame synchronization signal of the imaging module and enabling the imaging module to receive a demodulation signal in an effective time window of microwave optical modulation. The method is applied to the system. According to the invention, the frequency of the emitted light can be modulated to the GHz level, so that the ToF ranging precision can be accurate to the millimeter level, and the ToF ranging precision can be improved.

The invention discloses an installation and adjustment method and device for a solid-state laser radar, and the method comprises the steps: carrying out the adjustment of a receiving and transmitting module when the distance between the solid-state laser radar and a target plate is short or long, namely, adjusting the position relation of a receiving and transmitting lens relative to a receiving and transmitting chip; therefore, the transceiver chip and the transceiver lens are in an optimal relative position relation for imaging. According to the method provided by the embodiment of the invention, all light spot contours formed by laser emitted by the solid-state laser radar can be adjusted during close-range adjustment, so that the light spot contours are clear, and in addition, since most application scenes of the solid-state laser radar are remote detection, remote adjustment is carried out by the method provided by the embodiment of the invention; therefore, the solid-state laser radar can realize the function of an actual application scene, and the ranging precision of the solid-state laser radar is finally improved.

The invention discloses a vehicle distance measurement and calibration method based on laser radar and binocular vision fusion, relates to the technical field of measurement and calibration, and is used for solving the problem that the precision of a vehicle distance calibration result is reduced when a laser radar used for calibrating a highway vehicle distance snapshot system is under the conditions of rain, snow, wet and slippery or waterlogging road surfaces. Joint modeling is carried out on spatial distribution and echo energy characteristics of laser radar low-height point cloud, a point cloud echo coefficient and a low-height number proportion are introduced, a specular reflection state code is constructed, a self-calibration mechanism is adaptively triggered accordingly, and a specular reflection state is obtained. The discrete characteristic of a laser radar vehicle distance time sequence and the degradation trend of binocular vision parallax connectivity are subjected to quantitative analysis, the dominant source of ranging abnormity is judged through symbolic analysis, and an offset calibration or fusion correction strategy is selected according to the dominant source. Reliability and engineering adaptability of vehicle distance measurement under the wet and slippery road surface condition can be improved under the condition of not depending on an additional sensor.

The invention provides a frequency-modulated continuous wave laser radar chip, and relates to the technical field of laser radars, and the frequency-modulated continuous wave laser radar chip comprises a tunable laser, a transmitting optical phased array, a receiving optical phased array, and a balanced photoelectric detector. The tunable laser is used for outputting detection laser signals and realizing wavelength tuning, the transmitting optical phased array is used for transmitting laser signals outwards, the receiving optical phased array is used for collecting light in an external space into an optical waveguide to serve as signal light, and the balance photoelectric detector is used for receiving local light and the signal light. And the optical signal is converted into an electric signal with distance information and speed information of the object, so that distance measurement is realized. According to the invention, the wavelength tuning of the laser radar chip is controlled more finely through the tunable laser, the wavelength tuning is realized, and the ranging precision of the laser radar is improved; and the tunable laser adopts a multi-path semi-reflective array waveguide, so that the ranging stability of the laser radar chip is improved.

The invention relates to the technical field of frequency modulated continuous wave ranging, in particular to an intermediate frequency signal adaptive filtering method for a frequency modulated continuous wave ranging radar. The method comprises the following steps: acquiring an intermediate frequency signal, and processing the intermediate frequency signal to obtain an optimal filter molecular coefficient; obtaining an optimal filter parameter according to the optimal filter molecular coefficient; and inputting the intermediate frequency signal into the optimal parameter filter for filtering operation to obtain a filtered intermediate frequency signal. According to the adaptive filtering method for the intermediate-frequency signal of the frequency-modulated continuous wave range radar, spurious frequency in the intermediate-frequency signal can be filtered out, the signal-to-noise ratio of the intermediate-frequency signal is improved, the range finding precision of the frequency-modulated continuous wave range radar is improved, the intermediate-frequency signal can be directly subjected to extraction operation after adaptive filtering, and the frequency-modulated continuous wave range radar is more accurate. Operation resources occupied by a post-stage intermediate frequency signal spectrum refinement algorithm can be reduced exponentially, and the ranging speed is improved.

The invention provides a pulse laser calibration-based high-precision laser ranging system and method. The system comprises a ranging light path and a calibration light path, in the distance measurement light path, an arbitrary waveform generator performs frequency modulation on a laser signal of a semiconductor laser, the laser signal is divided into two beams through an optical fiber coupler, the two beams are respectively incident to a distance measurement unit and a calibration light path, and the distance measurement unit transmits the laser signal to a target for distance measurement; in the calibration light path, a pulse laser emits frequency calibration laser, the frequency calibration laser is transmitted to a second optical fiber coupler, and the frequency calibration laser is coupled with the laser signal to obtain a frequency mixing light signal; and the processor obtains a distance measurement result based on the distance measurement signal, determines a change curve of the laser signal frequency along with time based on the frequency calibration laser, obtains a non-linear quantity of frequency modulation, and calibrates the distance measurement result based on the non-linear quantity of frequency modulation. The pulse laser is used for calibrating the output frequency of the semiconductor laser, the distance measurement result is corrected, and the distance measurement precision is improved.

The invention provides an electric power system grounding fault line distance measurement method. The method comprises the following steps: predicting a fault distance according to a fault type judged by an oscillograph and fault phase voltage and phase current data; preliminarily determining a faulted line section according to the fault distance, the line section number, the length of each section of line and the total length of the line in the prediction distance step; optimizing the input voltage and current according to the fault type and the specific attribute of the line to obtain the optimized input voltage and current; respectively selecting different line models for modeling according to different line lengths; taking the optimized input voltage and current as the voltage and current of the initial end of the first section of line, and calculating the voltage and current of the initial end of each subsequent section of line according to the impedance under each section of line model; and correcting the predicted fault distance according to the determined fault section and the initial voltage and current of each section of line, and checking whether the fault is an external fault or not according to the corrected fault distance. By adopting the method, the accuracy of power system grounding fault line distance measurement can be improved.

The invention discloses an FMCW laser radar real-time nonlinear correction device and method based on FPGA control, and the method comprises the steps: taking a DFB laser as a light source, driving the DFB laser by an initial driving current signal, generating an optical signal through a modulation end of the DFB laser, and inputting the optical signal into an FMCW delay heterodyne measurement module; the FMCW delay heterodyne measurement module converts the optical signal into an FMCW beat frequency signal and inputs the FMCW beat frequency signal into the FPGA module; the FPGA module generates a triangular wave driving signal from the FMCW beat frequency signal through a secant iterative learning control algorithm; the laser driving module comprises a current stabilization module, the current stabilization module converts a triangular wave driving signal from the FPGA module into a driving current signal, the driving current signal is input into a DFB laser, and the driving current signal is corrected through a laser radar nonlinear correction loop composed of the DFB laser, the FMCW delay heterodyne measurement module, the FPGA module and the current stabilization module. And the non-linear correction of the current signal is completed.

The invention relates to the technical field of construction site alarm, in particular to intelligent construction alarm equipment for a construction site. The supporting rod is fixedly mounted on the top surface of the chassis; the alarm box is fixedly mounted on the supporting rod; the plurality of infrared distance measuring plates are distributed on the side surface of the alarm box in a linear array; the wind cup is arranged at the upper position of the supporting rod; the blowing mechanism is arranged at the top end of the supporting rod; the brushing mechanisms are arranged at the positions, located on the infrared distance measuring plates, of the side face of the alarm box correspondingly. Compared with the prior art, a linkage mechanism of the wind cup and the transmission shaft is arranged, the blades are driven by wind power to rotate in the supporting cylinder to form gas circulation, and the infrared distance measuring plate is blown and cleaned through the blowing head, so that floating dust and dust on the surface of the infrared distance measuring plate can be cleaned in time, and the cleaning state of the infrared distance measuring plate is kept; therefore, the accuracy of distance measurement and the reliability of an alarm system are ensured.

The present invention relates to a fault distance measurement method and system for an LCC-VSC hybrid high-voltage direct current transmission line, and belongs to the technical field of relay protection of electric power systems. The initial fault voltage signal and current signal are obtained at the measuring end; the voltage and current at any point along the line are calculated according to the fault voltage signal and current signal at the measuring end; the voltage forward traveling wave and the voltage reverse traveling wave at any point are calculated according to the above voltage and current; the fifth power of the voltage forward traveling wave mutation amount and the fifth power of the voltage reverse traveling wave mutation amount are calculated respectively; the superposition value of the fifth power of the voltage forward traveling wave change amount and the fifth power of the voltage reverse traveling wave change amount are calculated respectively by sliding integral with a window length of 3, and the two sets of values ​​are multiplied; the above products are integrated in the observation time window respectively; the fault distance is measured according to the polarity of the integral value mutation point in the two observation time windows. The present invention does not need to calibrate the fault traveling wave head, and overcomes the problem of inaccurate distance measurement using head information in the traditional single-ended distance measurement method.

This invention discloses an optimization method for a dual-source FSI ranging system based on wavelet synchronous compression transform, mainly addressing the problems of high system complexity and poor performance in existing dual-source FSI ranging systems when separating mixed interference signals. The solution includes: constructing a dual-source FSI ranging optical path to generate mixed interference signals; building a signal processing module based on the wavelet synchronous compression transform algorithm; sending the mixed interference signals to the signal processing module through a data acquisition device in the ranging optical path; using wavelet synchronous compression transform to separate the interference signals generated by the two lasers in the frequency domain; then achieving separation of the individual interference signals by reconstructing the frequency bands of the two interference signals; and finally using the separated two interference signals to calculate the distance and obtain the final ranging result. This invention can guarantee ranging accuracy without increasing the complexity and design cost of the dual-source FSI ranging system.

This invention provides a wireless ranging and clock synchronization method for aviation search and rescue scenarios, relating to the fields of spread spectrum communication and wireless ranging technology. The method includes: determining the relative motion state; performing unilateral bidirectional ranging between two nodes; obtaining clock offset and clock frequency offset estimates using the least squares method; and processing these estimates according to different motion states. When the master node and slave node are in a high-speed radial motion state, the slave node sends a spread spectrum signal to the master node to obtain pseudorange and carrier phase observations. Based on the clock offset estimate, compensation calculations are performed on the pseudorange observations; and based on the clock frequency offset estimate, compensation calculations are performed on the carrier distance increment. Based on the compensated pseudorange observations and the compensated carrier distance increment, carrier smoothing pseudorange recursion is performed to obtain the ranging result. Through this method, the cumulative errors of clock offset and clock frequency offset are suppressed within a unified smoothing framework, effectively improving ranging accuracy under high-speed motion conditions.

The invention belongs to the technical field of intelligent operation inspection of power transmission lines, and more specifically relates to a rapid registration method for extrinsic parameters of an offset camera based on acquisition of a point cloud image. The method comprises the steps that an original image and an offset image shot by the same camera are acquired, tower detection is completed respectively, and a main line tower is marked; using a feature extraction matching method to complete image matching of the two images and calculating an offset; according to the method, registration information between an original image and point clouds collected at the same moment is utilized, and feature matching information between the original image and the deflection image is combined, so that automatic registration between the deflection image and the point clouds collected at the original moment is completed, and further point cloud distance measurement under the offset image is realized. The method can effectively solve the problem of distance measurement errors caused by camera offset in a power transmission scene, and provides solid data support for the safety of a power transmission line.

The invention provides an operation method and system of a wireless positioning anti-error safety helmet, and relates to the technical field of wireless positioning of anti-error safety helmes.Positioning signals are continuously and bidirectionally sent twice between a UWB tag installed in the helmet and a base station, and the distance between the helmet and the base station is calculated by calculating the transmission time of the positioning signals, so that the anti-error safety helmet is obtained. A helmet positioning mathematical model composed of base station coordinates and distances between the base stations and the helmets is constructed, the coordinate positions of the helmets are calculated, and when the number of the base stations connected with the to-be-positioned helmets is less than 3, the helmets with high communication scores at the determined positions are used as temporary base stations to position the to-be-positioned helmets, so that the positioning accuracy of the helmets is improved. When the number of the base stations and the helmets in the helmet communication range is not enough to establish a helmet positioning mathematical model, the helmets update the coordinate positions of the helmets according to the motion data of the helmets, and the coordinate positions are corrected through the distances between the base stations and the helmets.

The application discloses a ranging method and system, wherein the method comprises the following steps: acquiring a ranging image; acquiring a contour in the ranging image, determining a plurality of positioning points according to the contour, and obtaining a positioning point cluster; determining a two-dimensional code in the ranging image according to the positioning point cluster; determining a three-dimensional coordinate of the two-dimensional code in a camera coordinate system according to the two-dimensional code and an internal parameter matrix and a distortion matrix of the camera; converting the three-dimensional coordinate of the two-dimensional code to a world coordinate system, and determining a vertical distance from the two-dimensional code to a plane formed by an xy axis group of an origin of the world coordinate system. The method has the advantages of high ranging accuracy, simple method, fast calculation speed and wide application range. The system has the advantages of low ranging cost, low cost and low technical risk, and can provide accurate ranging with low error.

The invention discloses an underwater laser ranging device and ranging system, the underwater laser ranging device comprises a laser, a reflective platform, a driving device, a visual sensor device and a plurality of first reflectors; wherein the driving device is used to drive the reflective platform to rotate around the central axis of the reflective platform; the side of the reflective platform is a reflective surface, the laser is used to project the laser onto the reflective surface along the incident direction of the reflective surface, the outgoing direction of the reflective surface is opposite to the incident direction of each first reflector, and the outgoing direction of each first reflector is used to face the target mesh; the visual sensor device is used to face the target mesh and collect the image projected by the laser onto the target mesh. The underwater laser ranging device disclosed by the invention can solve the technical problem that the existing point laser beam ranging method has extremely low ranging accuracy when used for flexible meshes.

The invention relates to the technical field of radars, and discloses an FMCW laser radar ranging method, device and equipment and a storage medium, and the method comprises the steps: receiving an echo signal reflected by a target object; performing frequency mixing on the echo signal and the local oscillator signal to obtain a frequency mixing signal; generating a target reference signal based on the mixing signal and the initial control signal; performing phase-locked amplification on the frequency mixing signal based on the target reference signal to generate a detection amplitude, and determining the distance between the target object and the laser radar and the position of the target object based on the detection amplitude; and generating a PID control signal as a new initial control signal based on the position of the target object, and returning to the step of receiving the echo signal obtained by reflecting the laser signal emitted to the target object. By dynamically generating the target reference signal, the adaptive capacity to targets with different distances is improved, high-precision distance measurement in a complex detection environment is realized through phase-locked amplification, and meanwhile, the flexibility and dynamic adaptability of the laser radar are enhanced through dynamic distance measurement.

The present invention provides a laser triangulation ranging sensor with an annular reflection structure, which performs 360° annular reflection on the laser spot on the surface of the measured target through an annular reflector, and forms an image on the image plane of the camera after passing through the lens, and forms a circular ring. The diameter of the imaging circular ring corresponds to the measured distance of the target, thereby realizing laser ranging. When the laser directivity changes, the position of the imaging circular ring also changes accordingly, but the diameter of the imaging circular ring does not change, thereby completely overcoming the influence of the change in laser directivity in principle. This method can not only completely solve the problem of laser directivity, but also significantly improve the ranging accuracy. The ranging sensor can adopt a general industrial-grade lens and camera, which is low-cost and easy to implement. The overall structure of the sensor is axisymmetric, and has wider practicality and versatility.

The invention relates to the technical field of binocular stereoscopic vision, and discloses a binocular ranging system calibration method and system based on an electronic map. Selecting a first target reference object, adjusting the observation angle of the binocular distance measurement system, and obtaining a plurality of groups of images of the first target reference object at preset positions in the image; calculating a correction parameter of the binocular distance measurement system based on the plurality of groups of images of the first target reference object; selecting a plurality of second target reference objects on the electronic map according to predetermined constraints, acquiring a plurality of groups of images of the second target reference objects, and calculating a parallax value of the binocular ranging system by combining the distance from the second target reference objects on the electronic map to the binocular ranging system and the correction parameters; the calibration value of the distance measurement parameter of the binocular distance measurement system is obtained according to the parallax value, calibration of the binocular distance measurement system is completed, the calibration of the binocular distance measurement system is achieved by selecting the second target reference object on the electronic map, and the applicability of the binocular distance measurement system is improved.

The present invention proposes a frequency modulated continuous wave laser radar chip, which relates to the field of laser radar technology. The frequency modulated continuous wave laser radar chip includes: a tunable laser, a transmitting optical phased array, a receiving optical phased array and a balanced photodetector; the tunable laser is used to output a detection laser signal and realize wavelength tuning, the transmitting optical phased array is used to transmit laser signals outward, the receiving optical phased array is used to collect light from the outer space into an optical waveguide as signal light, and the balanced photodetector is used to receive local light and signal light, and convert the optical signal into an electrical signal with distance information and speed information of the object to realize ranging. The present invention uses a tunable laser to achieve more precise control of the wavelength tuning of the laser radar chip, realize wavelength tunability, and improve the ranging accuracy of the laser radar; the tunable laser uses a multi-path semi-reflective array waveguide to improve the stability of the laser radar chip ranging.

The invention provides a binocular ranging temperature compensation method based on fusion of a rank image and a YCbCr image. The binocular ranging temperature compensation method comprises the following steps: calibrating and correcting an acquired binocular visible light image and an infrared image; converting the corrected visible light image into a rank image; a YCbCr image is obtained; according to the rank image and the YCbCr image, performing image matching by using a difference function fused by a local feature difference value and a color difference value to obtain a disparity map; obtaining the three-dimensional position of each point by using a triangulation method according to the obtained disparity map and calibration parameters of the camera; identifying the target terminal according to the corrected infrared image to obtain a position area of the target terminal, and extracting temperature information in the identified position area of the target terminal to obtain a measured temperature value of the target terminal; and obtaining a distance value of the target terminal in the infrared image, and compensating the measurement temperature of the target terminal by using the distance value. The accurate distance value of the cable terminal can be obtained, and the interference of distance factors on the temperature value measured by the infrared camera is eliminated.

The utility model proposes a laser receiving circuit and a laser radar, the laser receiving circuit comprises an avalanche photodiode, a bias voltage generation circuit, an amplification circuit and a compensation circuit, the avalanche photodiode is driven by a negative bias voltage to carry out photoelectric conversion on a received laser pulse and generate an avalanche current, and the avalanche current is transmitted to the amplification circuit. When interference of ambient light or strong reflected light emitted by the laser emission circuit is received, the compensation circuit generates compensation current opposite to avalanche current based on voltage echo signals output by the amplification circuit, input signals of the amplification circuit are reduced, saturation of the amplification circuit is avoided, the dynamic range of the amplification circuit is enlarged, and the receiving sensitivity of the amplification circuit is improved. And the ranging accuracy and the environmental adaptability of the laser radar are improved.

A steel rope deformation monitoring device comprises a steel strand or a steel cable, a hollow cylindrical cover shell and a distance measuring device, the cover shell comprises an outer shell located on the left side and an inner shell located on the right side, the inner shell and the outer shell can be mutually staggered left and right, one part of the distance measuring device used for measuring the mutual dislocation degree of the inner shell and the outer shell is installed in the outer shell, and the other part of the distance measuring device is installed in the inner shell. The steel strand or the steel cable is sleeved with the outer shell and the inner shell, and the outer shell and the inner shell are fixedly connected with the steel strand or the steel cable. According to the structure, the distance measuring device is arranged in the inner shell and the outer shell which can be staggered mutually, so that the measuring accuracy is improved, and the distance measuring instrument is prevented from being damaged. The structure is convenient to install and is not limited by a steel cable / steel strand structure.

The invention relates to a compact near-infrared depth camera and a depth estimation method thereof, and belongs to the technical field of optical devices, the compact near-infrared depth camera comprises a lens and an image sensor, the lens comprises a diaphragm layer, a filtering layer and a metasurface layer; the diaphragm layer is composed of a light-proof film; the filtering layer is used for filtering; the metasurface layer is composed of a micro-nano structure array, and the phase change range of the metasurface layer is 0-2 pi. The size and the cost of the optical system are reduced, and the ranging precision is improved.

The present application is applicable to the field of distance measurement technology, and provides a laser radar distance measurement method, device, electronic device and storage medium, including: transmitting M laser pulses to a target object, M being a natural number greater than 0; receiving M echoes formed by the target object reflecting the M laser pulses; generating M electrical signals according to the M echoes; generating M×N amplified signals according to the M electrical signals; the M×N amplified signals are generated by each of the N amplifying subcircuits amplifying the M electrical signals respectively; the amplification coefficients of the N amplifying subcircuits are different, N being a natural number greater than 1; determining the distance of the target object according to the M×N amplified signals. The present application can increase the system's distance measurement range and the ability to measure objects with different reflectivity.

The present invention discloses a vehicle ranging method, device, vehicle-mounted terminal, vehicle and medium, wherein the vehicle includes at least one UWB communication module, and the method includes: controlling the UWB communication module to send a first ranging frame, and controlling the UWB communication module to receive a second ranging frame and a data frame sent by a mobile terminal, wherein the first time of sending the first ranging frame is earlier than the second time of sending the second ranging frame, and the third time of sending the data frame is later than the second time, and the clock compensation value of the UWB communication module is determined according to the first time, the second time, the third time, the fourth time of receiving the second ranging frame, and the fifth time of receiving the data frame, and the ranging information of the UWB communication module is determined according to the clock compensation value, the first time, the second time, the fourth time, and the sixth time of the mobile terminal receiving the first ranging frame. On the basis of not increasing the hardware cost, the synchronization of data is effectively guaranteed, the error caused by the clock non-synchronization between the UWB communication module and the mobile terminal is reduced, and the ranging accuracy is improved.