Communication waveform distance measurement method and device based on ultrasonic correction, equipment and medium

Abstract

The invention relates to a communication waveform distance measurement method and device based on ultrasonic correction, equipment and a medium. According to an error calibration signal, when the distance with another communication radio station meets the short-distance distance measurement range of the ultrasonic equipment, the ultrasonic equipment and the communication radio station are adopted for distance measurement at the same time; a sampling error value is obtained according to the ultrasonic ranging result and the communication waveform ranging result, and after the communication waveform ranging result of long-distance ranging is obtained, the sampling error value is used for correcting the communication waveform ranging result to obtain an accurate ranging result. By adopting the method, high-precision long-distance ranging can be realized at a low communication sampling rate.

Description

Technical Field

[0001] The present application relates to the field of wireless communication technology, and in particular to a communication waveform ranging method, device, equipment and medium based on ultrasonic correction. Background Art

[0002] Generally speaking, equipment on the ground and in the air can rely on navigation satellites for positioning, but for underground, the original navigation technology cannot be used because the navigation signal cannot cover it. The first step in navigation positioning is ranging. Ranging based on communication waveforms is currently a hot research topic. The distance between two points is calculated by calculating the time difference between the two nodes sending and receiving signals. The ranging accuracy of the communication waveform depends on the accuracy of the radio time, and the accuracy of the radio time depends on the sampling rate of the digital-to-analog conversion system. The higher the sampling rate, the more refined the sample points, and the higher the accuracy. The sampling rate is a physical quantity that is closely related to the bandwidth of the communication waveform. The bandwidth of the signal also determines the maximum sampling rate required.

[0003] However, the waveform sampling rate of the communication radio is limited. Generally speaking, the waveform sampling rate is a non-ultra-wideband sampling rate. The most commonly used broadband communication has a sampling rate of about 20MHz, which means that the time accuracy is only 50ns. Multiplied by the propagation speed of electromagnetic waves, the corresponding distance error theoretical value is 15m. In existing methods, improving ranging accuracy mainly depends on increasing the sampling rate to improve time resolution, but the higher the sampling rate, the closer the communication distance will be under the same transmission power. Therefore, if long-distance communication is required, ultra-high sampling rate solutions require expensive hardware costs and high power consumption, especially in scenarios where device portability and energy are limited. It is difficult to achieve. On the other hand, too high a sampling rate will also increase the data processing burden, resulting in increased system complexity and calculation delays, which is not conducive to real-time requirements. Summary of the invention

[0004] Based on this, it is necessary to provide a communication waveform ranging method, device, equipment and medium based on ultrasonic correction that can improve the accuracy of long-distance measurement in order to address the above technical problems.

[0005] A communication waveform ranging method based on ultrasonic correction, the method is implemented in a device provided with a communication station and an ultrasonic device and comprises:

[0006] obtaining an error calibration signal;

[0007] According to the error calibration signal, when the distance between the communication station and another communication station meets the short-range ranging range of the ultrasonic device, the ultrasonic device and the communication station are used to measure the distance at the same time, and the sampling error value is obtained according to the ultrasonic ranging result and the communication waveform ranging result;

[0008] The communication waveform ranging result of the long-distance ranging is obtained, and the communication waveform ranging result is corrected by using the sampling error value to obtain an accurate ranging result.

[0009] In one embodiment, when the communication waveform is used for ranging, the sampling rate is non-ultra-wideband.

[0010] In one embodiment, obtaining the sampling error value according to the ultrasonic ranging result and the communication waveform ranging result includes:

[0011] The difference between the ultrasonic ranging result and the communication waveform ranging result is used as the sampling error value.

[0012] In one embodiment, when calculating the sampling error value, the communication waveform ranging result is an average value of multiple ranging operations using the communication waveform.

[0013] In one embodiment, a ranging method based on TDMA protocol and synchronization technology is adopted when performing communication waveform ranging.

[0014] In one embodiment, when the communication waveform is used for long-distance ranging, energy far-field assisted ranging based on RSSI is also used.

[0015] In one embodiment, the range of long-distance measurement is on the order of hundreds of meters.

[0016] The present application also provides a communication waveform ranging device based on ultrasonic correction, the device comprising:

[0017] An error calibration signal acquisition module, used for acquiring an error calibration signal;

[0018] A sampling error value calibration module is used to use the ultrasonic device and the communication station to perform ranging according to the error calibration signal when the distance between the communication station and another communication station meets the short-range ranging range of the ultrasonic device, and obtain the sampling error value according to the ultrasonic ranging result and the communication waveform ranging result;

[0019] The long-distance ranging module is used to obtain the communication waveform ranging result of the long-distance ranging, and use the sampling error value to correct the communication waveform ranging result to obtain an accurate ranging result.

[0020] A computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0021] obtaining an error calibration signal;

[0022] According to the error calibration signal, when the distance between the communication station and another communication station meets the short-range ranging range of the ultrasonic device, the ultrasonic device and the communication station are used to measure the distance at the same time, and the sampling error value is obtained according to the ultrasonic ranging result and the communication waveform ranging result;

[0023] The communication waveform ranging result of the long-distance ranging is obtained, and the communication waveform ranging result is corrected by using the sampling error value to obtain an accurate ranging result.

[0024] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps:

[0025] obtaining an error calibration signal;

[0026] According to the error calibration signal, when the distance between the communication station and another communication station meets the short-range ranging range of the ultrasonic device, the ultrasonic device and the communication station are used to measure the distance at the same time, and the sampling error value is obtained according to the ultrasonic ranging result and the communication waveform ranging result;

[0027] The communication waveform ranging result of the long-distance ranging is obtained, and the communication waveform ranging result is corrected by using the sampling error value to obtain an accurate ranging result.

[0028] The communication waveform ranging method, device, equipment and medium based on ultrasonic correction use an ultrasonic device and a communication station to perform ranging when the distance to another communication station meets the short-range ranging range of the ultrasonic device according to the error calibration signal, obtain a sampling error value according to the ultrasonic ranging result and the communication waveform ranging result, and after obtaining the communication waveform ranging result of the long-range ranging, use the sampling error value to correct the communication waveform ranging result to obtain an accurate ranging result. This method can achieve high-precision long-range ranging at a low communication sampling rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of TDMA protocol time marking in one embodiment;

[0030] Figure 2 A schematic diagram of propagation delay in one embodiment;

[0031] Figure 3 A schematic diagram of sampling error in one embodiment;

[0032] Figure 4 It is a flowchart of a communication waveform ranging method based on ultrasonic correction in one embodiment;

[0033] Figure 5 A flowchart of a communication waveform ranging method based on ultrasonic correction in another embodiment;

[0034] Figure 6 is a structural block diagram of a communication waveform ranging device based on ultrasonic correction in one embodiment;

[0035] Figure 7 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0037] The first step in navigation and positioning is distance measurement, and distance measurement based on communication waveforms is to calculate the distance between two points by calculating the time difference between the two nodes sending and receiving signals. Figure 1 As shown in the figure, the basic principle of communication waveform ranging based on TDMA protocol is: the time position sent by each radio station is strictly in accordance with its own clock beat. To ensure accuracy, each sampling point is a minimum clock beat, and the correct CRC calibration of the physical layer signaling segment is used as the clock mark point to ensure that each frame of data can give a correct CRC calibration mark at a fixed mark point.

[0038] When two radio stations are just next to each other, the correct position of the CRC mark of the waveform and signaling segment received by radio stations A and B is their own i-th point, and the i-th moments of the two radio stations coincide.

[0039] When there is a certain distance between two radio stations, there will be a time difference of △T between the two radio stations A and B at the i-th moment due to the propagation delay. The specific logic is as follows: Figure 2 shown.

[0040] like Figure 2 As shown, due to the physical distance between locations A and B, there will inevitably be a propagation delay (denoted as △T). Then, after two time slots of back-and-forth communication, the propagation delay between the two points can be measured to be 2△T, and the distance can be obtained as: L = 2C × △T.

[0041] In summary, the ranging accuracy depends on the accuracy of the radio time, and the accuracy of the radio time depends on the sampling rate of the digital-to-analog conversion system. The higher the sampling rate, the more refined the sample points are, and the higher the accuracy. The sampling rate is a physical quantity closely related to the bandwidth of the communication waveform. The bandwidth of the signal also determines the maximum sampling rate required. Due to the limitations of the waveform sampling rate of the communication radio, generally speaking, the waveform sampling rate will not be particularly large. The most commonly used broadband communication has a sampling rate of about 20MHz, so its time accuracy is only 50ns. Multiplied by the propagation speed of electromagnetic waves, the corresponding distance error theoretical value is 15m. The main reason for the accuracy error is the deviation between the sampling positions of the receiving end and the transmitting end. The maximum deviation is the sampling time interval, which is the inverse of the sampling frequency, such as Figure 3 shown.

[0042] In view of the above problems, in this application, Figure 4 As shown, a communication waveform ranging method based on ultrasonic correction is provided. The method is implemented in a device provided with a communication radio station and an ultrasonic device, and the specific steps include:

[0043] Step S100, obtaining an error calibration signal.

[0044] Step S110, according to the error calibration signal, when the distance between the other communication station meets the short-range ranging range of the ultrasonic device, the ultrasonic device and the communication station are used to measure the distance at the same time, and the sampling error value is obtained according to the ultrasonic ranging result and the communication waveform ranging result.

[0045] Step S120, obtaining the communication waveform ranging result of the long-distance ranging, and correcting the communication waveform ranging result using the sampling error value to obtain an accurate ranging result.

[0046] In this embodiment, a method is proposed to use the accurate ultrasonic ranging results of short-distance ranging to correct the ranging results using communication waveforms in long-distance scenarios, so that a more accurate long-distance ranging method can be used using communication waveforms at a low sampling rate.

[0047] The accuracy of general ultrasonic ranging can reach the centimeter level, but the defect of ultrasonic ranging is that it cannot achieve long-distance ranging. This leads to that in some application scenarios, for example, the miniaturized ultrasonic ranging commonly used in car reversing radar only has a function of 1 meter, which cannot meet the ranging and positioning needs of hundreds of meters in underground space. Self-organizing network communication does not rely on ground base stations, and can self-organize networking in underground space, with a communication distance of more than 1km. The MAC layer protocol based on TDMA can measure distance based on time difference, but there is a problem of sampling deviation. Therefore, the method in this application can be applied to vehicles or drones equipped with both communication radios and ultrasonic waves, so as to use the equipment originally carried in vehicles and drones for more accurate long-distance measurements, effectively reducing costs.

[0048] In step S100 and step S110, the error is first calibrated in a range relatively close to another communication station, that is, in a range where accurate ranging can be performed using ultrasound. The advantage of high accuracy in short-range ranging using ultrasound is used to calibrate the sampling error of the communication waveform ranging result, and the obtained sampling error is stored. When performing subsequent long-distance communication waveform ranging, the ranging result is corrected to effectively improve the accuracy.

[0049] In this embodiment, when the communication waveform is used for ranging, the sampling rate is non-ultra-wideband. That is to say, this application does not improve the accuracy by increasing the sampling rate, but is aimed at long-distance measurement in the scenario of non-ultra-wideband sampling rate.

[0050] In this embodiment, obtaining the sampling error value according to the ultrasonic ranging result and the communication waveform ranging result includes: taking the difference between the ultrasonic ranging result and the communication waveform ranging result as the sampling error value.

[0051] Specifically, the communication waveform ranging result is an average value after multiple rangings are performed using the communication waveform.

[0052] In this embodiment, a ranging method based on TDMA protocol and synchronization technology is adopted when performing communication waveform ranging.

[0053] In step S120 , when performing long-distance distance measurement, the distance measurement result is corrected using the sampling error value to obtain an accurate distance measurement result.

[0054] In this embodiment, when the communication waveform is used for long-distance ranging, energy far-field auxiliary ranging based on RSSI is also used. After superimposing the auxiliary function based on RSSI, the RSSI value of the intensity of the communication received signal changes dramatically with the antenna placement position, posture and distance in the electromagnetic near field (equivalently understood as close distance), so it is generally difficult to use it as a consideration dimension for capability ranging in the near field, and in the communication far field, RSSI changes tend to be stable, so it can be used as an auxiliary measurement dimension for long-distance ranging to avoid huge deviations in the ranging of the communication waveform. On this basis, the sampling error value is used to correct the results of the energy far-field auxiliary ranging based on RSSI, further improving the accuracy of long-distance measurement.

[0055] Specifically, the range of long-distance measurement is at the level of hundreds of meters.

[0056] In this embodiment, when performing close-range ranging, if the energy of the ultrasonic wave meets the conditions for direct ranging, ultrasonic ranging can be directly used. In this way, the device that can implement this method can have high-precision ranging for both close and long distances, and does not require expensive hardware costs and high power consumption, nor does it increase the complexity of ranging, and can meet the real-time requirements of ranging.

[0057] In this embodiment, when the method is applied to each drone node in a drone cluster, when the drone cluster conducts collaborative communication, when the communicating drone nodes are relatively close, ultrasonic positioning can be directly used, and when the communicating drone nodes are relatively far away, the above-mentioned long-distance ranging method can be used for ranging. This solves the problems of high-precision ranging in the near distance and high-precision ranging at a longer distance, without adding additional hardware to the drone.

[0058] like Figure 5 As shown, it is a schematic diagram of the process steps of the entire communication waveform ranging method based on ultrasonic correction.

[0059] In the above-mentioned communication waveform ranging method based on ultrasonic correction, by using the error calibration signal, when the distance between the communication station and another communication station meets the short-range ranging range of the ultrasonic device, the ultrasonic device and the communication station are used for ranging at the same time, and the sampling error value is obtained according to the ultrasonic ranging result and the communication waveform ranging result. After obtaining the communication waveform ranging result of the long-range ranging, the communication waveform ranging result is corrected by using the sampling error value to obtain an accurate ranging result. This method can achieve high-precision long-distance ranging at a low communication sampling rate. The long-distance communication waveform ranging technology based on ultrasonic correction proposed in this method uses the advantages of ultrasonic ranging to make corrections, and at the same time solves the problem that ultrasonic cannot measure long distances. The signal used for ranging is the communication waveform itself, without relying on navigation, which can perfectly solve the ranging needs of underground space and provide a distance data basis for indoor navigation based on multi-point ranging.

[0060] It should be understood that although Figure 4 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 4 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0061] In one embodiment, Figure 6 As shown, a communication waveform ranging device based on ultrasonic correction is provided, comprising: an error calibration signal acquisition module 200, a sampling error value calibration module 210 and a long-distance ranging module 220, wherein:

[0062] An error calibration signal acquisition module 200 is used to acquire an error calibration signal;

[0063] The sampling error value calibration module 210 is used to use the ultrasonic device and the communication station to perform ranging according to the error calibration signal when the distance between the communication station and the other communication station meets the short-range ranging range of the ultrasonic device, and obtain the sampling error value according to the ultrasonic ranging result and the communication waveform ranging result;

[0064] The long-distance ranging module 220 is used to obtain the communication waveform ranging result of the long-distance ranging, and use the sampling error value to correct the communication waveform ranging result to obtain an accurate ranging result.

[0065] For the specific limitations of the communication waveform ranging device based on ultrasonic correction, please refer to the limitations of the communication waveform ranging method based on ultrasonic correction in the above text, which will not be repeated here. Each module in the above-mentioned communication waveform ranging device based on ultrasonic correction can be implemented in whole or in part through software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0066] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 7 As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a communication waveform ranging method based on ultrasonic correction is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0067] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0068] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0069] obtaining an error calibration signal;

[0070] According to the error calibration signal, when the distance between the communication station and another communication station meets the short-range ranging range of the ultrasonic device, the ultrasonic device and the communication station are used to measure the distance at the same time, and the sampling error value is obtained according to the ultrasonic ranging result and the communication waveform ranging result;

[0071] The communication waveform ranging result of the long-distance ranging is obtained, and the communication waveform ranging result is corrected by using the sampling error value to obtain an accurate ranging result.

[0072] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0073] obtaining an error calibration signal;

[0074] According to the error calibration signal, when the distance between the communication station and another communication station meets the short-range ranging range of the ultrasonic device, the ultrasonic device and the communication station are used to measure the distance at the same time, and the sampling error value is obtained according to the ultrasonic ranging result and the communication waveform ranging result;

[0075] The communication waveform ranging result of the long-distance ranging is obtained, and the communication waveform ranging result is corrected by using the sampling error value to obtain an accurate ranging result.

[0076] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0077] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0078] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A communication waveform ranging method based on ultrasonic correction, characterized in that: The method is implemented in a device provided with a communication station and an ultrasonic device and comprises: obtaining an error calibration signal; According to the error calibration signal, when the distance between the communication station and another communication station meets the short-range ranging range of the ultrasonic device, the ultrasonic device and the communication station are used to measure the distance at the same time, and the sampling error value is obtained according to the ultrasonic ranging result and the communication waveform ranging result; The communication waveform ranging result of the long-distance ranging is obtained, and the communication waveform ranging result is corrected by using the sampling error value to obtain an accurate ranging result.

2. The communication waveform ranging method according to claim 1, characterized in that: When the communication waveform is used for ranging, the sampling rate is not ultra-wideband.

3. The communication waveform ranging method according to claim 2, characterized in that: The method of obtaining a sampling error value according to the ultrasonic ranging result and the communication waveform ranging result includes: The difference between the ultrasonic ranging result and the communication waveform ranging result is used as the sampling error value.

4. The communication waveform ranging method according to claim 3, characterized in that: When calculating the sampling error value, the communication waveform ranging result is an average value after multiple ranging operations are performed using the communication waveform.

5. The communication waveform ranging method according to any one of claims 1 to 4, characterized in that: When performing communication waveform ranging, a ranging method based on TDMA protocol and synchronization technology is used.

6. The communication waveform ranging method according to claim 5, characterized in that: When using the communication waveform for long-distance ranging, RSSI-based energy far-field assisted ranging is also used.

7. The communication waveform ranging method according to claim 6, characterized in that: The range of long-distance measurement is at the level of hundreds of meters.

8. A communication waveform ranging device based on ultrasonic correction, characterized in that: The device comprises: An error calibration signal acquisition module, used for acquiring an error calibration signal; A sampling error value calibration module is used to use the ultrasonic device and the communication station to perform ranging according to the error calibration signal when the distance between the communication station and another communication station meets the short-range ranging range of the ultrasonic device, and obtain the sampling error value according to the ultrasonic ranging result and the communication waveform ranging result; The long-distance ranging module is used to obtain the communication waveform ranging result of the long-distance ranging, and use the sampling error value to correct the communication waveform ranging result to obtain an accurate ranging result.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

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 steps of the method according to any one of claims 1 to 7 are implemented.

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