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Filtering method and device in sonar ranging process, and execution equipment

A sonar and repeated execution technology, applied in the field of drones, can solve the problem that the filtering method cannot effectively filter noise echoes

Active Publication Date: 2021-04-06
GUANGZHOU XAIRCRAFT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present application provides a filtering method in the process of sonar ranging, which solves the problem that the filtering method in the prior art cannot effectively filter complex noise echoes

Method used

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  • Filtering method and device in sonar ranging process, and execution equipment
  • Filtering method and device in sonar ranging process, and execution equipment
  • Filtering method and device in sonar ranging process, and execution equipment

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Embodiment 1

[0027] Such as figure 1 As shown, the embodiment of the present application discloses a filtering method in the process of sonar ranging, including: step 100 to step 130 .

[0028] Step 100, acquiring an echo signal sequence.

[0029] The echo signal sequence includes at least two echo signals arranged from front to back according to the order of sampling time, the echo signals are obtained by reflection from the object to be measured, and the amplitude of the echo signals is greater than the preset amplitude value threshold.

[0030] In the process of sonar ranging, each time the sonar sensor is controlled to emit sound waves through the transmitting end, the sonar sensor is further controlled to receive sound waves through the receiving end, and then the AD sampling module samples the received sound waves. During specific implementation, a plurality of sampling points are usually preset, and the sampling points correspond to different sampling times, and at the same time, ...

Embodiment 2

[0042] In this embodiment, taking the distance measurement between a drone and a plant (such as a tree) as an example, the specific scheme of the filtering method in the process of sonar ranging is described in detail. Such as figure 2 As shown, the embodiment of the present application discloses a filtering method in the process of sonar ranging, including: step 200 to step 260 .

[0043] Step 200, acquiring an echo signal sequence composed of all echo signals reflected by the object to be measured.

[0044] The echo signal sequence includes at least two echo signals arranged from front to back according to the order of sampling time, and the amplitude of the echo signals is greater than a preset amplitude threshold.

[0045] In the process of measuring the distance from the UAV to the tree through sonar, the sonar sensor is first controlled to emit sound waves through the transmitting end, and then the sonar sensor is controlled to receive sound waves through the receiving...

Embodiment 3

[0076] Correspondingly, see image 3 , the present application also discloses a filtering device in the process of sonar ranging, including:

[0077] The echo signal sequence acquisition module 300 is configured to acquire an echo signal sequence composed of echo signals reflected by the object to be measured, and the echo signal sequence includes at least two echoes arranged from front to back in the order of sampling time signal, and the amplitude of the echo signal is greater than a preset amplitude threshold;

[0078] A current echo signal determination module 310, configured to determine the current echo signal in the echo signal sequence acquired by the echo signal sequence acquisition module 300;

[0079] The echo signal determination module 320 to be combined is used to determine whether the next echo signal adjacent to the current echo signal in the echo signal sequence is to be combined according to the intensity and sampling distance of adjacent echo signals echo ...

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Abstract

The application provides a filtering method in the process of sonar ranging, which belongs to the technical field of unmanned aerial vehicles, and is used to solve the problem that the filtering method in the prior art cannot effectively filter complex noise echoes. The method includes: obtaining an echo signal sequence composed of echo signals reflected by the object to be measured, determining the current echo signal in the echo signal sequence; Whether an echo signal is an echo signal to be combined; if it is determined that the next echo signal is an echo signal to be combined, the echo signal to be combined is combined with the current echo signal. The method disclosed in the embodiment of the present application can effectively detect the echo signals reflected by different reflective surfaces of the object to be measured by judging the echo signals according to the intensity and sampling distance of adjacent echo signals, and further determine the echo signals reflected by the same object. Waves play a role in filtering complex noise echoes.

Description

technical field [0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to a filtering method and device in the process of sonar ranging, and execution equipment. Background technique [0002] Sonar ranging is based on the characteristics that sound waves will reflect and echo when encountering the measured object after propagating in the medium to measure distance. Sonar ranging has been widely used in underwater ranging. Sonar distance measurement mainly includes several steps: transmitting sound waves, collecting echoes, filtering echoes, and outputting distance measurement according to the echo signals obtained after filtering. Among them, the emission of sound waves and the collection of echo signals are usually realized through hardware equipment combined with certain configuration parameters, and the technology is basically mature and relatively stable. In different application scenarios, for example, when the drone us...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S7/52G01S15/08
CPCG01S7/52003G01S15/08
Inventor 陈有生丁胜东
Owner GUANGZHOU XAIRCRAFT TECH CO LTD