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

Abstract

The application relates to a communication waveform ranging method and device based on ultrasonic correction, equipment and medium. The method uses an ultrasonic device and a communication station to measure the distance at the same time when the distance between the two communication stations meets the short-distance ranging range of the ultrasonic device according to an error calibration signal, obtains a sampling error value according to the ultrasonic ranging result and the communication waveform ranging result, corrects the communication waveform ranging result by using the sampling error value after obtaining the communication waveform ranging result of long-distance ranging, and obtains an accurate ranging result. The method can realize high-precision long-distance ranging under a low communication sampling rate.

Description

TECHNICAL FIELD

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

[0002] Generally, ground and air equipment can rely on navigation satellites for positioning, but for underground, navigation signals cannot be covered, so the original navigation technology cannot be used. The primary navigation positioning is ranging, and the ranging based on communication waveform is currently a popular research, which calculates the distance between two points by calculating the time difference of the signal transmission and reception of the two nodes. 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 size of 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 closely related to the bandwidth of the communication waveform, and the bandwidth of the signal also determines the highest sampling rate required.

[0003] However, the sampling rate of the communication radio waveform is limited, and generally the sampling rate of the waveform is a non-ultra-wideband sampling rate. The most commonly used wideband communication has a sampling rate of about 20MHz, which means that the time accuracy is only 50ns, and the corresponding distance error theoretical value is 15m, multiplied by the electromagnetic wave propagation speed. In the existing method, the ranging accuracy is mainly improved by increasing the sampling rate to improve the time resolution, but the higher the sampling rate, the shorter the communication distance under the same transmission power, so if long-distance communication is required, the ultra-high sampling rate solution requires expensive hardware cost and high power consumption, especially in the scene of device portability and energy limitation. It is difficult to achieve. On the other hand, too high sampling rate will also increase the data processing burden, leading to the rise of system complexity and calculation delay, which is not conducive to real-time demand. SUMMARY

[0004] Therefore, it is necessary to provide a communication waveform ranging method based on ultrasonic correction that can improve the long-distance measurement accuracy.

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

[0006] Obtain an error calibration signal;

[0007] According to the error calibration signal, when the distance between the other communication radio and the communication radio satisfies the near-range ranging range of the ultrasonic device, the ultrasonic device and the communication radio 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;

[0008] Acquire a communication waveform ranging result of long-distance ranging, and use the sampling error value to correct the communication waveform ranging result to obtain an accurate ranging result.

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

[0010] In one embodiment, obtaining a sampling error value based on 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 measurements 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 long-distance ranging is performed using a communication waveform, energy far-field assisted ranging based on RSSI is also used.

[0015] In one embodiment, the long-distance ranging range 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 to acquire an error calibration signal;

[0018] a sampling error value calibration module, configured to simultaneously perform ranging using the ultrasonic device and the communication station based on 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 a sampling error value based on 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 includes 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 satisfies the near distance ranging range of the ultrasonic device, the ultrasonic device and the communication station are simultaneously used for ranging, and a 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, the sampling error value is used for correcting the communication waveform ranging result, and a precise ranging result is obtained.

[0024] A computer readable storage medium, which stores a computer program, the computer program is executed by a processor to realize the following steps:

[0025] An error calibration signal is obtained;

[0026] According to the error calibration signal, when the distance between the communication station and another communication station satisfies the near distance ranging range of the ultrasonic device, the ultrasonic device and the communication station are simultaneously used for ranging, and a 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, the sampling error value is used for correcting the communication waveform ranging result, and a precise ranging result is obtained.

[0028] The above-mentioned communication waveform ranging method, device, equipment and medium based on ultrasonic correction, by according to the error calibration signal, when the distance between the communication station and another communication station satisfies the near distance ranging range of the ultrasonic device, the ultrasonic device and the communication station are simultaneously used for ranging, and a 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 distance ranging, the sampling error value is used for correcting the communication waveform ranging result, and a precise ranging result is obtained. The method can realize high-precision long distance ranging under low communication sampling rate. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 It is a schematic diagram of TDMA protocol time mark in one embodiment;

[0030] Figure 2 It is a schematic diagram of propagation delay in one embodiment;

[0031] Figure 3 It is a schematic diagram of sampling error in one embodiment;

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

[0033] Figure 5 It is a flow chart of the communication waveform ranging method based on ultrasonic correction in another embodiment;

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

[0035] Figure 7 Internal structure diagram of a computer device in one embodiment. DETAILED DESCRIPTION

[0036] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application.

[0037] The primary of navigation positioning is ranging, and ranging based on communication waveform is to calculate the distance between two points by calculating the time difference of the signal transmission and reception of two nodes. As shown in Figure 1 , the basic principle of communication waveform ranging based on TDMA protocol: the time position of each radio station transmitted is strictly in accordance with its own clock beat. In order to ensure accuracy, each sampling point is a minimum clock beat, and the CRC calibration correct clock mark point is ensured to ensure that each frame of data can give a CRC calibration correct flag at the fixed mark point.

[0038] When the two radio stations are just next to each other, the positions of the waveforms received by A and B radio stations and the signaling segment CRC flag are correct, and the i-th time of the two radio stations coincides.

[0039] When the two radio stations have a certain distance, the i-th time between A and B radio stations will have a time difference △T due to the propagation delay, and the specific logic is as shown in Figure 2 .

[0040] As shown in Figure 2 , because of the physical distance between A and B sites, there will be a delay (denoted as △T) in the propagation, so after two time slots of communication back and forth, the propagation delay between the two points can be measured as 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 size of 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 closely related to the bandwidth of the communication waveform, and the bandwidth of the signal also determines the required highest sampling rate. Due to the limitation of the sampling rate of the communication radio waveform, generally speaking, the sampling rate of the waveform will not be particularly large, and the most commonly used broadband communication has a sampling rate of about 20MHz, so its time accuracy is only 50ns, multiplied by the speed of electromagnetic wave propagation, the corresponding distance error theoretical value is 15m. The main reason for the accuracy error is the deviation of the sampling position of the receiving end and the transmitting end, and the maximum deviation is the sampling time interval, that is, the reciprocal of the sampling frequency, as shown in Figure 3 .

[0042] To solve the above problems, as shown in Figure 4 , a communication waveform ranging method based on ultrasonic correction is provided, which is implemented in a device provided with a communication radio and an ultrasonic device, and the specific steps include:

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

[0044] Step S110, when the distance between the communication radio and the other communication radio satisfies the near distance ranging range of the ultrasonic device, simultaneously using the ultrasonic device and the communication radio to perform ranging according to the error calibration signal, and obtaining a sampling error value according to the ultrasonic ranging result and the communication waveform ranging result.

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

[0046] In this embodiment, a short distance ranging accurate ultrasonic ranging result is used to correct the communication waveform ranging result in a long distance scene, so that a more accurate long distance ranging method using a communication waveform under a low sampling rate is provided.

[0047] The accuracy of general ultrasonic ranging can reach centimeter level, but the defect of ultrasonic ranging is that it cannot realize long distance ranging, which leads to that in some application scenarios, for example, the commonly used small ultrasonic ranging of car reversing radar is only 1m in action, and cannot meet the ranging and positioning demand of several hundred meters of underground space. The self-organizing network communication does not rely on the ground base station, and can self-organize network communication in underground space, and the communication distance is more than 1km. Based on the MAC layer protocol of TDMA, ranging can be performed based on time difference, but there is a problem of sampling deviation. Therefore, the method in the present application can be applied to vehicles or unmanned aerial vehicles which are equipped with communication radios and ultrasonic devices, so that higher precision long distance measurement is realized by using the originally equipped devices in vehicles and unmanned aerial vehicles, and the cost is effectively reduced.

[0048] In step S100 and step S110, the calibration error is first calibrated in a range close to another communication station, that is, a range in which ultrasonic wave can be accurately measured. The sampling error of the communication waveform ranging result is calibrated by using the advantage of high accuracy of ultrasonic wave short distance measurement, and the obtained sampling error is stored. The ranging result is corrected when long distance communication waveform ranging is performed subsequently, and the accuracy is effectively improved.

[0049] In the embodiment, the sampling rate is not ultra-wideband when the communication waveform is used for ranging. That is, the accuracy is not improved by increasing the sampling rate, but the long distance measurement in the scenario of non-ultra-wideband sampling rate is performed.

[0050] In the embodiment, the sampling error value is obtained according to the ultrasonic ranging result and the communication waveform ranging result, including that the difference between the ultrasonic ranging result and the communication waveform ranging result is taken as the sampling error value.

[0051] Specifically, the communication waveform ranging result is an average value obtained by performing ranging multiple times by using the communication waveform.

[0052] In the embodiment, the ranging method based on TDMA protocol and synchronization technology is used when the communication waveform ranging is performed.

[0053] In step S120, when the long distance ranging is performed, the ranging result is corrected by using the sampling error value to obtain an accurate ranging result.

[0054] In the embodiment, when the communication waveform is used for long distance ranging, the energy far field assisted ranging based on RSSI is also used. After the auxiliary function based on RSSI is superimposed, the strength RSSI value of the communication received signal changes dramatically with the antenna placement position and attitude and distance in the electromagnetic near field (equivalent to short distance), and therefore it is generally difficult to use the near field as a capability ranging dimension. When the communication far field is reached, the RSSI change tends to be stable, and therefore it can be used as an auxiliary measurement dimension for long distance ranging to avoid large deviation of the communication waveform ranging. On this basis, the result of the energy far field assisted ranging based on RSSI is corrected by using the sampling error value, and the accuracy of the long distance measurement is further improved.

[0055] Specifically, the range of the long distance ranging is hundreds of meters.

[0056] In the embodiment, when the close-range distance measurement is performed, and the energy of the ultrasonic wave satisfies the condition of the direct distance measurement, the ultrasonic wave distance measurement is directly used, so that the device implementing the method can have high-precision distance measurement in close range and long range, without high hardware cost and high power consumption, without increasing the complexity of the distance measurement, and can meet the real-time requirement of the distance measurement.

[0057] In the embodiment, when the method is applied to each unmanned aerial vehicle node in the unmanned aerial vehicle cluster, when the unmanned aerial vehicle nodes in communication are close to each other, the ultrasonic positioning is directly used, and when the unmanned aerial vehicle nodes in communication are far away from each other, the long-range distance measurement method is used for distance measurement, so that the high-precision distance measurement in close range is solved, the high-precision distance measurement in long range is solved, and the unmanned aerial vehicle does not need to be additionally provided with hardware.

[0058] As shown in Figure 5 , it is a flow step schematic diagram of the entire communication waveform distance measurement method based on ultrasonic correction.

[0059] In the communication waveform distance measurement method based on ultrasonic correction, when the distance between the communication stations satisfies the close-range distance measurement range of the ultrasonic device, the ultrasonic device and the communication station are simultaneously used for distance measurement according to the error calibration signal, the sampling error value is obtained according to the ultrasonic distance measurement result and the communication waveform distance measurement result, the communication waveform distance measurement result is corrected by using the sampling error value after the communication waveform distance measurement result of the long-range distance measurement is obtained, and the accurate distance measurement result is obtained. The method can realize high-precision long-range distance measurement at a low communication sampling rate. The long-range communication waveform distance measurement technology based on ultrasonic correction proposed by the method uses the advantage of ultrasonic distance measurement for correction, solves the problem that the ultrasonic wave cannot be used for long-range distance measurement, and uses the communication waveform itself as the signal for distance measurement, without relying on navigation, so that the distance measurement demand of the underground space is perfectly solved, and distance data basis is provided for indoor navigation based on multi-point distance measurement.

[0060] It should be understood that, although Figure 4 the steps in the flowchart are shown in a certain order following the arrows, the steps are not necessarily executed in the order following the arrows. Unless otherwise specified herein, the execution of the steps is not strictly limited in order, and the steps can be executed in other orders. Moreover, Figure 4 at least part of the steps in may include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of the sub-steps or stages is not necessarily sequential, but can be executed in rotation or alternation with at least part of other steps or sub-steps or stages of other steps.

[0061] In one embodiment, as shown in Figure 6 An ultrasonic wave correction-based communication waveform ranging device 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] The error calibration signal acquisition module 200 is configured to acquire an error calibration signal.

[0063] The sampling error value calibration module 210 is configured to, when the distance between the communication station and another communication station satisfies the near-distance ranging range of the ultrasonic wave device, simultaneously perform ranging by using the ultrasonic wave device and the communication station according to the error calibration signal, and obtain a sampling error value according to the ultrasonic wave ranging result and the communication waveform ranging result.

[0064] The long-distance ranging module 220 is configured to acquire a communication waveform ranging result of long-distance ranging, correct the communication waveform ranging result by using the sampling error value, and obtain an accurate ranging result.

[0065] For specific limitations of the ultrasonic wave correction-based communication waveform ranging device, refer to the limitations of the ultrasonic wave correction-based communication waveform ranging method described above, which will not be repeated here. The modules in the above ultrasonic wave correction-based communication waveform ranging device can be realized by software, hardware, and combinations thereof, in whole or in part. The above modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the above modules.

[0066] In one embodiment, a computer device is provided, which can be a terminal, and the internal structure diagram thereof can be as shown in Figure 7 The computer device comprises a processor, a memory, a network interface, a display screen, and an input device connected through a system bus. The processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises 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 operating system and the computer program in the non-volatile storage medium to run. The network interface of the computer device is configured to communicate with external terminals through network connection. The computer program is executed by the processor to implement an ultrasonic wave correction-based communication waveform ranging method. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or can be a key, trackball, or touchpad arranged on the shell of the computer device, or can be an external keyboard, touchpad, or mouse, etc.

[0067] Those skilled in the art can understand that,Figure 7 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can 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, comprising a memory and a processor, the memory storing a computer program, and the processor implementing the following steps when executing the computer program:

[0069] an error calibration signal is obtained;

[0070] According to the error calibration signal, when the distance between the other communication station satisfies the near distance ranging range of the ultrasonic device, the ultrasonic device and the communication station are used for ranging at the same time, and a 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 far 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, which stores a computer program, and the computer program is executed by a processor to implement the following steps:

[0073] an error calibration signal is obtained;

[0074] According to the error calibration signal, when the distance between the other communication station satisfies the near distance ranging range of the ultrasonic device, the ultrasonic device and the communication station are used for ranging at the same time, and a 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 far 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. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, storage, databases, or other media in the embodiments provided by the present 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 but not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), 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), etc.

[0077] The technical features of the above embodiments can be combined in any way. In order to make the description simple, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the present application.

[0078] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, some modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of the patent of the present application should be subject to the appended 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 includes: Obtaining an error calibration signal; 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, the ultrasonic device and the communication station are used to measure the distance at the same time, and a sampling error value is obtained according to the ultrasonic ranging result and the communication waveform ranging result; Acquire a communication waveform ranging result of long-distance ranging, and use the sampling error value to correct the communication waveform ranging result to obtain an accurate ranging result.

2. The communication waveform ranging method according to claim 1, wherein: When using the communication waveform for ranging, the sampling rate is not ultra-wideband.

3. The communication waveform ranging method according to claim 2, wherein: The sampling error value is obtained according to the ultrasonic ranging result and the communication waveform ranging result, including: 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, wherein: When calculating the sampling error value, the communication waveform ranging result is an average value of multiple ranging measurements 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 adopted.

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

7. The communication waveform ranging method according to claim 6, wherein: The range of long-distance measurement is at the level of 100 meters.

8. A communication waveform ranging device based on ultrasonic correction, characterized in that: The device comprises: An error calibration signal acquisition module, used to acquire an error calibration signal; a sampling error value calibration module, configured to simultaneously perform ranging using the ultrasonic device and the communication station based on 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 a sampling error value based on 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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