Acoustic ranging positioning method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides an acoustic ranging positioning method and device, a receiver and a storage medium, and relates to the technical field of distance measurement, and the method comprises the steps: a first acoustic signal and a second acoustic signal are transmitted by a transmitter at the same time, and the frequencies of the first acoustic signal and the second acoustic signal are different; according to the first sound wave signal, the first receiving sound wave signal, the second sound wave signal and the second receiving sound wave signal, obtaining an actual phase difference, and according to the actual phase difference, the frequency of the first sound wave signal and the frequency of the second sound wave signal; a first distance between the rail transit train and the first receiver and a second distance between the rail transit train and the second receiver are obtained, and the position of the rail transit train is determined according to the first distance and the second distance. According to the invention, the dual-frequency sound wave signals are used for distance measurement, the influence of environmental factors on the distance measurement result can be effectively reduced, the accuracy of the distance measurement result is improved, and the positioning precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of distance measurement, and in particular to an acoustic wave ranging and positioning method, device, electronic equipment and storage medium. Background Art

[0002] With the development of science and technology, the need for positioning of rail transit trains is very critical, which is not only related to the safety of rail transit trains, but also directly affects the transportation efficiency and the travel experience of passengers. Accurate positioning technology can ensure that rail transit trains can operate safely and efficiently in complex railway networks, while also providing passengers with punctual and reliable services. Therefore, the development and application of positioning technology for rail transit trains plays a decisive role in improving the service quality of the entire rail transit system.

[0003] In the prior art, rail transit trains are positioned using the Global Positioning System (GPS). In areas where there are obstructions, such as stations and tunnels, the GPS signal may be interrupted, resulting in inaccurate positioning, and the positioning accuracy cannot reach the centimeter level. Summary of the invention

[0004] The object of the present invention is to provide an acoustic ranging positioning method, device, electronic device and storage medium to solve the problem of inaccurate positioning and achieve centimeter-level positioning accuracy.

[0005] In a first aspect, the present invention provides an acoustic ranging positioning method, which is applied to a first receiver, the first receiver is communicatively connected to a second receiver, the first receiver and the second receiver are both communicatively connected to a transmitter, and the transmitter is arranged on a rail transit train, the method comprising:

[0006] Obtaining a first received sound wave signal based on a first sound wave signal transmitted by the transmitter, and obtaining a second received sound wave signal obtained by the second receiver based on the second sound wave signal transmitted by the transmitter; the first sound wave signal and the second sound wave signal are emitted by the transmitter at the same time, and the first sound wave signal and the second sound wave signal have different frequencies;

[0007] Obtaining an actual phase difference according to the first sound wave signal, the first received sound wave signal, the second sound wave signal, and the second received sound wave signal;

[0008] Obtaining a first distance between the rail transit train and the first receiver and a second distance between the rail transit train and the second receiver according to the actual phase difference, the frequency of the first sound wave signal, and the frequency of the second sound wave signal;

[0009] The position of the rail transit train is determined according to the first distance and the second distance.

[0010] In an optional implementation, the frequency of the first sound wave signal and the frequency of the second sound wave signal are determined by the transmitter according to the train formation information of the rail transit train.

[0011] In an optional embodiment, obtaining a first distance between the rail transit train and the first receiver and a second distance between the rail transit train and the second receiver according to the actual phase difference, the frequency of the first sound wave signal, and the frequency of the second sound wave signal includes:

[0012] Obtaining a difference between the first distance and the second distance according to the actual phase difference, the frequency of the first sound wave signal, and the frequency of the second sound wave signal;

[0013] The first distance and the second distance are obtained according to the difference between the first distance and the second distance and the distance between the first receiver and the second receiver.

[0014] In an optional implementation, obtaining a difference between the first distance and the second distance according to the actual phase difference, the frequency of the first sound wave signal, and the frequency of the second sound wave signal includes:

[0015] Obtaining a delay time difference according to the actual phase difference, the frequency of the first sound wave signal, and the frequency of the second sound wave signal; the delay time difference is the difference between the time when the first sound wave signal is transmitted from the transmitter to the first receiver and the time when the second sound wave signal is transmitted from the transmitter to the second receiver;

[0016] The difference between the first distance and the second distance is obtained according to the delay time difference and the sound wave propagation speed.

[0017] In an optional implementation, obtaining an actual phase difference according to the first sound wave signal, the first received sound wave signal, the second sound wave signal, and the second received sound wave signal includes:

[0018] Obtaining a first phase offset according to the first sound wave signal and the first received sound wave signal, and obtaining a second phase offset according to the second sound wave signal and the second received sound wave signal;

[0019] An actual phase difference is obtained according to the first phase offset and the second phase offset.

[0020] In an optional implementation, obtaining a first phase offset according to the first sound wave signal and the first received sound wave signal, and obtaining a second phase offset according to the second sound wave signal and the second received sound wave signal, includes:

[0021] The first phase offset is obtained according to a multiplication result of the first sound wave signal and the first received sound wave signal, and the second phase offset is obtained according to a multiplication result of the second sound wave signal and the second received sound wave signal.

[0022] In an optional implementation, determining the position of the rail transit train according to the first distance and the second distance includes:

[0023] The position of the rail transit train is determined according to the position of the first receiver, the position of the second receiver, the first distance, and the second distance.

[0024] In a second aspect, the present invention provides an acoustic wave ranging and positioning device, which is applied to a first receiver, the first receiver is communicatively connected to a second receiver, the first receiver and the second receiver are both communicatively connected to a transmitter, and the transmitter is arranged on a rail transit train, and the device comprises:

[0025] an acoustic wave signal receiving module, configured to obtain a first received acoustic wave signal based on a first acoustic wave signal transmitted by the transmitter, and to obtain a second received acoustic wave signal obtained by the second receiver based on the second acoustic wave signal transmitted by the transmitter; the first acoustic wave signal and the second acoustic wave signal are emitted by the transmitter at the same time, and the first acoustic wave signal and the second acoustic wave signal have different frequencies;

[0026] A phase difference obtaining module, used to obtain an actual phase difference according to the first sound wave signal, the first received sound wave signal, the second sound wave signal and the second received sound wave signal;

[0027] a distance obtaining module, configured to obtain a first distance between the rail transit train and the first receiver and a second distance between the rail transit train and the second receiver according to the actual phase difference, the frequency of the first sound wave signal and the frequency of the second sound wave signal;

[0028] A positioning module is used to determine the position of the rail transit train according to the first distance and the second distance.

[0029] In a third aspect, the present invention provides an electronic device, comprising a processor and a memory, wherein the memory stores a computer program that can be executed by the processor, and the computer program executable by the processor is used to implement the acoustic ranging positioning method described in any of the aforementioned embodiments.

[0030] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the acoustic wave ranging and positioning method as described in any one of the aforementioned embodiments is implemented.

[0031] The acoustic ranging positioning method, device, electronic device and storage medium provided by the embodiment of the present invention are applied to a first receiver, the first receiver is communicatively connected with the second receiver, the first receiver and the second receiver are both communicatively connected with a transmitter, and the transmitter is arranged on a rail transit train, the method includes: obtaining a first received acoustic wave signal based on a first acoustic wave signal transmitted by the transmitter, and obtaining a second received acoustic wave signal obtained by the second receiver based on the second acoustic wave signal transmitted by the transmitter; the first acoustic wave signal and the second acoustic wave signal are simultaneously emitted by the transmitter, and the first acoustic wave signal and the second acoustic wave signal have different frequencies, according to the first acoustic wave signal, the first received acoustic wave signal, the second acoustic wave signal and the second received acoustic wave signal, obtaining an actual phase difference, according to the actual phase difference, the frequency of the first acoustic wave signal and the frequency of the second acoustic wave signal, obtaining a first distance between the rail transit train and the first receiver and a second distance between the rail transit train and the second receiver, and determining the position of the rail transit train according to the first distance and the second distance. The present invention can effectively reduce the influence of environmental factors on the ranging results, improve the accuracy of the ranging results, and thus improve the positioning accuracy by adopting a dual-frequency acoustic wave signal for ranging. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 A schematic diagram of an application environment of the acoustic wave ranging and positioning method provided by an embodiment of the present invention is shown;

[0034] Figure 2 A schematic diagram of a flow chart of an acoustic ranging and positioning method provided by an embodiment of the present invention is shown;

[0035] Figure 3 Another schematic diagram of a flow chart of the acoustic ranging and positioning method provided by an embodiment of the present invention is shown;

[0036] Figure 4 Another schematic diagram of a flow chart of the acoustic ranging and positioning method provided by an embodiment of the present invention is shown;

[0037] Figure 5Another application environment schematic diagram of the acoustic ranging and positioning method provided by an embodiment of the present invention is shown;

[0038] Figure 6 A module block diagram of an acoustic wave ranging and positioning device provided by an embodiment of the present invention is shown;

[0039] Figure 7 A block diagram of a receiver provided by an embodiment of the present invention is shown.

[0040] Icon: 100 - first receiver; 200 - second receiver; 300 - transmitter; 400 - rail transit train; 500 - acoustic wave ranging and positioning device; 510 - acoustic wave signal receiving module; 520 - phase difference obtaining module; 530 - distance obtaining module; 540 - positioning module; 600 - electronic device; 610 - memory; 620 - processor; 630 - communication module. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0042] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0044] See also Figure 1 , Figure 1A schematic diagram of an application environment of the acoustic wave ranging positioning method provided by an embodiment of the present invention is shown. The first receiver 100 is connected to the second receiver 200 and the transmitter 300 for communication.

[0045] In some embodiments, the transmitter 300 may be disposed on a rail transit train 400. The transmitter 300 may be a horn of the rail transit train 400, which is not limited here. The transmitter 300 may simultaneously send two sound wave signals of different frequencies to the first receiver 100 and the second receiver 200. The rail transit train 400 may include a subway, a train, a high-speed railway, a freight train, a light rail, etc., which is not limited here.

[0046] In some embodiments, the transmitter 300 may be arranged at the rear of the rail transit train 400; the transmitter 300 may be arranged at the front of the rail transit train 400; the transmitter 300 may also be arranged on each carriage of the rail transit train 400. The position where the transmitter 300 is arranged on the rail transit train 400 and the number of the transmitters 300 may be set according to the actual application.

[0047] The first receiver 100 and the second receiver 200 can both receive the sound wave signal transmitted by the transmitter 300. The first receiver 100 can be connected to the second receiver 200 by wireless communication. The first receiver 100 can also be connected to the second receiver 200 by wired communication.

[0048] In some embodiments, the first receiver 100 may be connected to the second receiver 200 in wired communication via a connecting line such as a coaxial cable or a micro coaxial connector.

[0049] See also Figure 2 , Figure 2 A schematic flow chart of the acoustic ranging positioning method provided by an embodiment of the present invention is shown. The acoustic ranging positioning method can be applied to a first receiver, the first receiver is communicatively connected to a second receiver, the first receiver and the second receiver are both communicatively connected to a transmitter, and the transmitter is arranged on a rail transit train. The first receiver is taken as an example to illustrate the specific flow of this embodiment. Figure 2 The process shown is explained in detail. The acoustic wave ranging and positioning method can specifically include the following steps: Step 110: Obtain a first received acoustic wave signal based on a first acoustic wave signal transmitted by a transmitter, and obtain a second received acoustic wave signal obtained by a second receiver based on a second acoustic wave signal transmitted by the transmitter.

[0050] The first sound wave signal and the second sound wave signal are sent out by the transmitter at the same time, and the first sound wave signal and the second sound wave signal have different frequencies.

[0051] In some embodiments, the frequency of the first sound wave signal and the frequency of the second sound wave are pre-set and stored in the transmitter. The transmitter can simultaneously send out the first sound wave signal and the second sound wave signal with different frequencies.

[0052] The first sound wave signal can be S 1 =A 0 cos(2πf 1 t)+n r (t)

[0053] Among them, A 0 Expressed as the amplitude of the first sound wave signal, f 1 represents the signal of the first sound wave signal, t represents the time when the transmitter transmits the first sound wave signal, and n r (t) is expressed as a noise function.

[0054] The second sound wave signal can be S 2 =A 0 cos(2πf 2 t)+n r (t)

[0055] Among them, A 0 Expressed as the amplitude of the second sound wave signal, f 2 represents the signal of the second sound wave signal, t represents the time when the transmitter transmits the second sound wave signal, n r (t) is expressed as a noise function.

[0056] The first received sound wave signal may be S 11 =A r cos[2π(f 1 +f d1 )(tt d1 )+n r (t)

[0057] Among them, A r Expressed as the amplitude of the first received sound wave signal, f d1 Represented as f 1 The frequency shift due to the Doppler effect, t d1 represents the delay time for the transmitter to send the first sound wave signal to the first receiver, t represents the time when the transmitter sends the first sound wave signal, (tt d1 ) is represented by the time offset of the first received sound wave signal relative to the first sound wave signal.

[0058] The second received sound wave signal may be S 21 =A r cos[2π(f 2 +f d2 )(tt d2 )+nr (t)

[0059] Among them, A r Expressed as the amplitude of the second received sound wave signal, f d2 Represented as f 2 The frequency shift due to the Doppler effect, t d2 represents the delay time for the transmitter to send the second sound wave signal to the second receiver, and t represents the time when the transmitter sends the second sound wave signal. (tt d2 ) is represented by the time offset of the second received sound wave signal relative to the second sound wave signal.

[0060] It can be understood that the transmitter sends the first sound wave signal and the second sound wave signal at the same time, therefore, the time when the transmitter sends the second sound wave signal is the same as the time when the transmitter sends the first sound wave signal, and the first sound wave signal and the second sound wave signal are signals with different frequencies and the same amplitude, therefore, the amplitude of the first received sound wave signal is also the same as the amplitude of the second received sound wave signal.

[0061] Step 120: Obtain an actual phase difference according to the first sound wave signal, the first received sound wave signal, the second sound wave signal, and the second received sound wave signal.

[0062] Step 130: Obtain a first distance between the rail transit train and the first receiver and a second distance between the rail transit train and the second receiver according to the actual phase difference, the frequency of the first sound wave signal, and the frequency of the second sound wave signal.

[0063] like Figure 1 As shown, L1 is a first distance between the rail transit train 400 and the first receiver 100 , and L2 is a second distance between the rail transit train 400 and the second receiver 200 .

[0064] It should be noted that if the transmitter 300 is set at the front of the rail transit train 400, L1 is the first distance between the front of the rail transit train 400 and the first receiver 100, and L2 is the second distance between the front of the rail transit train 400 and the second receiver 200; if the transmitter 300 is set at the rear of the rail transit train 400, L1 is the first distance between the rear of the rail transit train 400 and the first receiver 100, and L2 is the second distance between the rear of the rail transit train 400 and the second receiver 200.

[0065] Step 140: Determine the position of the rail transit train according to the first distance and the second distance.

[0066] The acoustic ranging and positioning method provided by the embodiment of the present invention obtains a first received acoustic wave signal based on a first acoustic wave signal emitted by a transmitter, and obtains a second received acoustic wave signal obtained by a second receiver based on the second acoustic wave signal emitted by the transmitter, wherein the first acoustic wave signal and the second acoustic wave signal are emitted simultaneously by the transmitter, and the frequencies of the first acoustic wave signal and the second acoustic wave signal are different, and an actual phase difference is obtained according to the first acoustic wave signal, the first received acoustic wave signal, the second acoustic wave signal, and the second received acoustic wave signal, and a first distance between a rail transit train and the first receiver and a second distance between a rail transit train and the second receiver are obtained according to the actual phase difference, the frequency of the first acoustic wave signal, and the frequency of the second acoustic wave signal, and the position of the rail transit train is determined according to the first distance and the second distance. By using a dual-frequency acoustic wave signal for ranging, the influence of environmental factors on the ranging results can be effectively reduced, the accuracy of the ranging results can be improved, and thus the positioning accuracy can be improved.

[0067] In order to improve the positioning accuracy, the frequency of the first sound wave signal and the frequency of the second sound wave signal can be determined according to the train formation information of the rail transit train.

[0068] In some embodiments, the transmitter pre-sets and stores a correspondence between the train formation information and the frequency of the first sound wave signal and the frequency of the second sound wave signal. The transmitter can obtain the train formation information of the rail transit train, and according to the correspondence and the train formation information of the rail transit train, the frequency of the first sound wave signal and the frequency of the second sound wave signal can be determined.

[0069] Among them, the train formation information may include the number of carriages, the length of each carriage, the cargo load-bearing capacity and the number of passengers (the number of passengers that each carriage or the entire rail transit train can accommodate).

[0070] As an implementation method, if the train marshaling information includes the number of carriages, the length of each carriage, the cargo load-bearing capacity and the number of passengers, the frequency corresponding to the number of carriages is determined as the frequency of the first sound wave signal and the frequency of the second sound wave signal.

[0071] For example, the corresponding relationship between the marshaling information and the frequency of the first sound wave signal and the frequency of the second sound wave signal is shown in Table 1. If the marshaling information of the rail transit train is the number of carriages 1, then f 11 Determine the frequency of the first sound wave signal and set f 21 The frequency of the second sound wave signal is determined.

[0072] Table 1

[0073] Group information The frequency of the first sound wave signal The frequency of the second sound wave signal Number of carriages: 1 <![CDATA[f 11 ]]> <![CDATA[f 21 ]]> Number of carriages: 2 <![CDATA[f 12 ]]> <![CDATA[f 22 ]]> Length of each carriage1 <![CDATA[f 13 ]]> <![CDATA[f 13 ]]>

[0074] In some embodiments, a correspondence between the total length range and the frequency is pre-set and stored in the transmitter. If the train formation information includes the number of carriages and the length of each carriage, the target total length of the rail transit train is calculated based on the number of carriages and the length of each carriage, and the frequency of the first sound wave signal and the frequency of the second sound wave signal are determined based on the target total length and the correspondence.

[0075] For example, the corresponding relationship between the total length and frequency is shown in Table 2. Assuming that there are 8 carriages and the length of each carriage is 25.5 meters, the target total length of the rail transit train is 204. 15 The frequency of the first sound wave signal is f 25 The frequency of the second sound wave signal is determined.

[0076] Table 2

[0077] Total length range The frequency of the first sound wave signal The frequency of the second sound wave signal (160-200] <![CDATA[f 14 ]]> <![CDATA[f 24 ]]> (200-240] <![CDATA[f 15 ]]> <![CDATA[f 25 ]]>

[0078] It is understandable that the number of train sections and the length of each section can affect the propagation distance and time of the sound wave signal. Selecting a suitable frequency can better adapt to rail transit trains with different numbers of sections and different lengths, thereby improving positioning accuracy. The cargo load and the number of passengers of the rail transit train will affect the rigidity and vibration characteristics of the rail transit train, and thus affect the propagation of the sound wave. Selecting a suitable frequency can reduce these effects, improve the stability of the signal, and thus improve positioning accuracy. In some embodiments, such as Figure 3 As shown, step 120 specifically further includes the following steps:

[0079] Step 121: Obtain a first phase offset according to the first sound wave signal and the first received sound wave signal, and obtain a second phase offset according to the second sound wave signal and the second received sound wave signal.

[0080] In some embodiments, the first phase offset is obtained according to a multiplication result of the first sound wave signal and the first received sound wave signal, and the second phase offset is obtained according to a multiplication result of the second sound wave signal and the second received sound wave signal.

[0081] As an implementation mode, the multiplication result of the first sound wave signal and the first received sound wave signal is calculated by a product-sum-difference formula, and the multiplication result is low-pass filtered, and the noise in the multiplication result is removed to obtain the first phase offset. The multiplication result of the second sound wave signal and the second received sound wave signal is calculated by a product-sum-difference formula, and the multiplication result is low-pass filtered, and the noise in the multiplication result is removed to obtain the second phase offset.

[0082] Multiply the first sound wave signal by the first received sound wave signal:

[0083] S 1×S 11 =[A 0 cos(2πf 1 t)+n r (t)]×{A r cos[2π(f 1 +f d1 )(tt d1 )+n r (t)]

[0084] The result of multiplying the first sound wave signal by the first received sound wave signal is low-pass filtered to obtain:

[0085]

[0086] Among them, S 1 Represented as the first sound wave signal, S 11 Represented as the first received sound wave signal, A 0 Expressed as the amplitude of the first sound wave signal, f 1 represents the signal of the first sound wave signal, t represents the time when the transmitter transmits the first sound wave signal, and n r (t) is expressed as a noise function, A r Expressed as the amplitude of the first received sound wave signal, f d1 Represented as f 1 The frequency shift due to the Doppler effect, t d1 represents the delay time for the transmitter to send the first sound wave signal to the first receiver, t represents the time when the transmitter sends the first sound wave signal, A m Indicated as A 0 ×A r , It is represented as the first phase offset.

[0087] Multiply the second sound wave signal by the second received sound wave signal:

[0088] S 2 ×S 21 =[A 0 cos(2πf 2 t)+n r (t)]×{A r cos[2π(f 2 +f d2 )(tt d2 )+n r (t)}

[0089] The result of multiplying the second sound wave signal by the second received sound wave signal is low-pass filtered to obtain:

[0090]

[0091] Among them, S 2 Represented as the second sound wave signal, S 21 Represented as the second received sound wave signal, A 0 Expressed as the amplitude of the second sound wave signal, f 2 represents the signal of the second sound wave signal, t represents the time when the transmitter transmits the second sound wave signal, n r (t) is expressed as a noise function, A r Expressed as the amplitude of the second received sound wave signal, f d2 Represented as f 2 The frequency shift due to the Doppler effect, t d2 represents the delay time for the transmitter to send the second sound wave signal to the second receiver, t represents the time for the transmitter to send the second sound wave signal, A m Indicated as A 0 ×A r , Expressed as the second phase offset.

[0092] Step 122: Obtain an actual phase difference according to the first phase offset and the second phase offset.

[0093] In some implementations, the difference between the first phase offset and the second phase offset is calculated to obtain the actual phase difference. For example, the first phase offset is The second phase offset is The actual phase difference is

[0094] In some embodiments, Figure 4 As shown, step 130 specifically further includes the following steps:

[0095] Step 131: Obtain a difference between the first distance and the second distance according to the actual phase difference, the frequency of the first sound wave signal, and the frequency of the second sound wave signal.

[0096] In some embodiments, a delay time difference is obtained based on the actual phase difference, the frequency of the first sound wave signal, and the frequency of the second sound wave signal. The delay time difference is the difference between the time when the first sound wave signal is transmitted from the transmitter to the first receiver and the time when the second sound wave signal is transmitted from the transmitter to the second receiver. Based on the delay time difference and the sound wave propagation speed, the difference between the first distance and the second distance is obtained.

[0097] In some implementations, the delay time difference may be calculated according to the following formula:

[0098]

[0099] Among them, t d Expressed as the delay time difference, Expressed as the actual phase difference, F 1 Expressed as the frequency of the first sound wave signal, f 2 Expressed as the frequency of the second sound wave signal.

[0100] In some implementations, the difference between the first distance and the second distance may be obtained according to the following formula:

[0101] R=t d ×C=L1-L2

[0102] Where R represents the difference between the first distance and the second distance, t d It is expressed as the delay time difference, C is expressed as the speed of sound wave propagation, L1 is the first distance, and L2 is the second distance.

[0103] Step 132: Obtain the first distance and the second distance respectively according to the difference between the first distance and the second distance and the distance between the first receiver and the second receiver.

[0104] In some embodiments, according to the difference between the first distance and the second distance R=L1-L2, and the distance between the first receiver and the second receiver L=L1+L2, it can be known that

[0105] It should be noted that the transmitter sends a signal to the first receiver and the second receiver, and the difference between the first distance and the second distance is calculated based on the signal received by the first receiver and the signal received by the second receiver. At this time, the position of the transmitter is equivalent to the position of the rail transit train, and the transmitter is equivalent to a point between the first receiver and the second receiver. The length of the rail transit train can be ignored. Therefore, the distance between the first receiver and the second receiver is L1+L2 (the sum of the distance between the transmitter and the first receiver and the distance between the transmitter and the second receiver).

[0106] In some embodiments, the position of the rail transit train is determined based on the position of the first receiver, the position of the second receiver, the first distance, and the second distance.

[0107] For example, Figure 5 As shown, the transmitter is set at the front of the rail transit train, the position of the first receiver is A, the position of the second receiver is B, the first distance is L1, and the second distance is L2. The front of the rail transit train is located at a position A-L1 away from the first receiver, and the front of the rail transit train is located at a position B-L2 away from the second receiver.

[0108] In some embodiments, if the transmitter is set at the rear of a rail transit train, the position of the rear of the rail transit train can be determined based on the first distance (the distance between the rear of the rail transit train and the first transmitter) and the second distance (the distance between the rear of the rail transit train and the second transmitter), and the position of the front of the rail transit train can be determined based on the length of the rail transit train, and the position of the entrance and exit of each car can be determined based on the length of each car and the position of the entrance and exit of each car in the car.

[0109] In some embodiments, if the transmitter is set at the front of a rail transit train, the position of the front of the rail transit train can be determined based on the first distance (the distance between the front of the rail transit train and the first transmitter) and the second distance (the distance between the front of the rail transit train and the second transmitter), and then the position of the front of the rail transit train can be determined based on the length of the rail transit train, and the position of the entrance and exit of each car can be determined based on the length of each car and the position of the entrance and exit of each car in the car.

[0110] For example, Figure 5 As shown, according to the first distance L1 (the distance between the front of the rail transit train and the first transmitter) and the second distance L2 (the distance between the front of the rail transit train and the second transmitter), the position of the front of the rail transit train is X. According to the length D of the rail transit train, the position of the front of the rail transit train can be determined to be XD. The length of each carriage is d1, and the entrance e of carriage E is in the middle position of carriage E. Then the position of the entrance and exit of the vehicle is X-1.5d1.

[0111] It is understandable that when the rail transit train is a freight train, the entrance and exit of each car needs to be aligned with each unloading / loading position. Therefore, through the above-mentioned acoustic ranging positioning method, the accuracy of positioning each car of the rail transit train can be improved, thereby improving the efficiency of unloading / loading.

[0112] In order to execute the corresponding steps in the above embodiments and various possible methods, a method for implementing an acoustic wave ranging and positioning device is given below. Figure 6 , FIG. is a functional module diagram of an acoustic ranging positioning device provided by an embodiment of the present invention. It should be noted that the basic principle and technical effects of the acoustic ranging positioning device provided by this embodiment are the same as those of the above-mentioned embodiments. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above-mentioned embodiments. The acoustic ranging positioning device 500 includes: an acoustic signal receiving module 510, a phase difference obtaining module 520, a distance obtaining module 530 and a positioning module 540, wherein:

[0113] The sound wave signal receiving module 510 is used to obtain a first received sound wave signal based on a first sound wave signal transmitted by a transmitter, and to obtain a second received sound wave signal obtained by a second receiver based on a second sound wave signal transmitted by the transmitter; the first sound wave signal and the second sound wave signal are emitted by the transmitter at the same time, and the frequencies of the first sound wave signal and the second sound wave signal are different.

[0114] The phase difference obtaining module 520 is used to obtain an actual phase difference according to the first sound wave signal, the first received sound wave signal, the second sound wave signal and the second received sound wave signal.

[0115] The distance obtaining module 530 is used to obtain a first distance between the rail transit train and the first receiver and a second distance between the rail transit train and the second receiver according to the actual phase difference, the frequency of the first sound wave signal and the frequency of the second sound wave signal.

[0116] The positioning module 540 is used to determine the position of the rail transit train according to the first distance and the second distance.

[0117] Furthermore, the distance acquisition module 530 is also used to obtain the difference between the first distance and the second distance according to the actual phase difference, the frequency of the first sound wave signal and the frequency of the second sound wave signal; and obtain the first distance and the second distance respectively according to the difference between the first distance and the second distance and the distance between the first receiver and the second receiver.

[0118] Furthermore, the distance acquisition module 530 is also used to obtain a delay time difference based on the actual phase difference, the frequency of the first sound wave signal, and the frequency of the second sound wave signal; the delay time difference is the difference between the time when the first sound wave signal is transmitted from the transmitter to the first receiver and the time when the second sound wave signal is transmitted from the transmitter to the second receiver; and the difference between the first distance and the second distance is obtained based on the delay time difference and the sound wave propagation speed.

[0119] Furthermore, the phase difference obtaining module 520 is specifically used to obtain a first phase offset according to the first sound wave signal and the first received sound wave signal, and to obtain a second phase offset according to the second sound wave signal and the second received sound wave signal; and to obtain an actual phase difference according to the first phase offset and the second phase offset.

[0120] Furthermore, the phase difference obtaining module 520 is further specifically configured to obtain a first phase offset according to a multiplication result of the first sound wave signal and the first received sound wave signal, and obtain a second phase offset according to a multiplication result of the second sound wave signal and the second received sound wave signal.

[0121] Furthermore, the positioning module 540 is specifically used to determine the position of the rail transit train according to the position of the first receiver, the position of the second receiver, the first distance and the second distance.

[0122] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0123] In several embodiments provided by the present invention, the coupling between modules may be electrical, mechanical or other forms of coupling.

[0124] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of software functional modules.

[0125] Please refer to Figure 7 , is a block diagram of an electronic device 600 provided in an embodiment of the present invention. The electronic device 600 includes a memory 610, a processor 620, and a communication module 630. The memory 610, the processor 620, and the communication module 630 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0126] The electronic device 600 may be a receiver. The memory 610 is used to store programs or data. The memory 610 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc.

[0127] The processor 620 is used to read / write data or programs stored in the memory and execute corresponding functions. For example, when the computer program stored in the memory 610 is executed by the processor 620, the acoustic ranging positioning method disclosed in the above embodiments can be implemented.

[0128] The communication module 630 is used to establish a communication connection between the electronic device 600 and the transmitter or others through a wired communication method or a wireless communication method, and is used to send and receive data through a network.

[0129] It should be understood that Figure 7 The structure shown is only a schematic diagram of the structure of the electronic device. The receiver may also include a Figure 7 More or fewer components may be shown. Figure 7 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0130] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored. When the computer program can be executed by a processor, the acoustic wave ranging positioning method described in the above method embodiment is implemented.

[0131] The computer-readable storage medium may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium has storage space for program codes that execute any of the method steps in the above method. These program codes can be read from or written to one or more computer program products. The program code can be compressed, for example, in an appropriate form.

[0132] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of the code, and a module, a program segment or a part of the code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0133] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0134] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for acoustic ranging and positioning, characterized in that: Applied to a first receiver, the first receiver is communicatively connected to a second receiver, the first receiver and the second receiver are both communicatively connected to a transmitter, and the transmitter is arranged on a rail transit train, the method comprises: Obtaining a first received sound wave signal based on a first sound wave signal transmitted by the transmitter, and obtaining a second received sound wave signal obtained by the second receiver based on the second sound wave signal transmitted by the transmitter; the first sound wave signal and the second sound wave signal are emitted by the transmitter at the same time, and the first sound wave signal and the second sound wave signal have different frequencies; Obtaining an actual phase difference according to the first sound wave signal, the first received sound wave signal, the second sound wave signal, and the second received sound wave signal; Obtaining a first distance between the rail transit train and the first receiver and a second distance between the rail transit train and the second receiver according to the actual phase difference, the frequency of the first sound wave signal, and the frequency of the second sound wave signal; The position of the rail transit train is determined according to the first distance and the second distance.

2. The method according to claim 1, characterized in that The frequency of the first sound wave signal and the frequency of the second sound wave signal are determined by the transmitter according to the train formation information of the rail transit train.

3. The method according to claim 1, characterized in that: The obtaining, according to the actual phase difference, the frequency of the first sound wave signal, and the frequency of the second sound wave signal, a first distance between the rail transit train and the first receiver and a second distance between the rail transit train and the second receiver, comprises: Obtaining a difference between the first distance and the second distance according to the actual phase difference, the frequency of the first sound wave signal, and the frequency of the second sound wave signal; The first distance and the second distance are obtained according to the difference between the first distance and the second distance and the distance between the first receiver and the second receiver.

4. The method according to claim 3, characterized in that: The obtaining a difference between the first distance and the second distance according to the actual phase difference, the frequency of the first sound wave signal, and the frequency of the second sound wave signal includes: Obtaining a delay time difference according to the actual phase difference, the frequency of the first sound wave signal, and the frequency of the second sound wave signal; the delay time difference is the difference between the time when the first sound wave signal is transmitted from the transmitter to the first receiver and the time when the second sound wave signal is transmitted from the transmitter to the second receiver; The difference between the first distance and the second distance is obtained according to the delay time difference and the sound wave propagation speed.

5. The method according to claim 1, characterized in that Obtaining an actual phase difference according to the first sound wave signal, the first received sound wave signal, the second sound wave signal, and the second received sound wave signal, comprising: Obtaining a first phase offset according to the first sound wave signal and the first received sound wave signal, and obtaining a second phase offset according to the second sound wave signal and the second received sound wave signal; An actual phase difference is obtained according to the first phase offset and the second phase offset.

6. The method according to claim 5, characterized in that The step of obtaining a first phase offset according to the first sound wave signal and the first received sound wave signal, and obtaining a second phase offset according to the second sound wave signal and the second received sound wave signal, comprises: The first phase offset is obtained according to a multiplication result of the first sound wave signal and the first received sound wave signal, and the second phase offset is obtained according to a multiplication result of the second sound wave signal and the second received sound wave signal.

7. The method according to claim 1, characterized in that The determining the position of the rail transit train according to the first distance and the second distance includes: The position of the rail transit train is determined according to the position of the first receiver, the position of the second receiver, the first distance, and the second distance.

8. An acoustic wave ranging and positioning device, characterized in that: Applied to a first receiver, the first receiver is communicatively connected to a second receiver, the first receiver and the second receiver are both communicatively connected to a transmitter, the transmitter is arranged on a rail transit train, and the device comprises: an acoustic wave signal receiving module, configured to obtain a first received acoustic wave signal based on a first acoustic wave signal transmitted by the transmitter, and to obtain a second received acoustic wave signal obtained by the second receiver based on the second acoustic wave signal transmitted by the transmitter; the first acoustic wave signal and the second acoustic wave signal are emitted by the transmitter at the same time, and the first acoustic wave signal and the second acoustic wave signal have different frequencies; A phase difference obtaining module, used to obtain an actual phase difference according to the first sound wave signal, the first received sound wave signal, the second sound wave signal and the second received sound wave signal; a distance obtaining module, configured to obtain a first distance between the rail transit train and the first receiver and a second distance between the rail transit train and the second receiver according to the actual phase difference, the frequency of the first sound wave signal and the frequency of the second sound wave signal; A positioning module is used to determine the position of the rail transit train according to the first distance and the second distance.

9. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores a computer program that can be executed by the processor, and the computer program executable by the processor is used to implement the acoustic wave ranging positioning method described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the acoustic wave ranging and positioning method according to any one of claims 1 to 7 is implemented.

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