Distance measurement method, system and device, and storage medium
By solving the peak value of the intermediate frequency signal data and determining the cross-noise area width of the triangular wave in the FMCW range measurement technology, conditional judgment is made based on the TOF and FMCW range measurement results, the ranging method is optimized to correct the negative frequency, and the distance measurement value error problem caused by negative frequency in the prior art is solved, and the distance measurement accuracy is improved.
Patent Information
- Application Number
- CN202311864423.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-28
- Publication Date
- 2025-07-01
AI Technical Summary
In the existing FMCW ranging technology, negative frequency leads to errors in the ranging value. The existing correction methods are limited by the ranging environment and equipment, making it difficult to improve the accuracy of the ranging target to be measured.
By solving the peak value of the intermediate frequency signal data of the target to be measured, the width of the triangular wave cross noise area is determined, and the conditions are judged based on the results of TOF ranging and FMCW ranging, and the ranging method is optimized to correct the negative frequency caused by the Doppler effect.
The negative frequency caused by the Doppler effect is effectively corrected, the accuracy of the distance measurement target to be tested is improved, and the limitations of the distance measurement environment and equipment for negative frequency correction are avoided.
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Figure CN120233350A_ABST
Abstract
Description
Technical Field
[0001] This application belongs to the technical field of distance measurement, and particularly relates to a distance measurement method, system, device, and storage medium. Background Art
[0002] With the development of technology, in applications related to the field of distance measurement technology, radar generally operates in the FMCW mode. FMCW ranging (Frequency Modulated Continuous Wave) is a radar technology used to measure the distance of a target. Its principle is to transmit a modulated continuous wave signal at a relatively high carrier frequency. When encountering the target to be measured, the received echo signal is mixed with the currently transmitted high-frequency signal to obtain an intermediate frequency signal. For linear frequency modulation, the frequency of the intermediate frequency signal carries the distance information of the target to be measured, and the distance of the target to be measured is determined by determining the frequency of the intermediate frequency signal.
[0003] In FMCW ranging, negative frequency refers to the situation where the frequency of the received signal is lower than the frequency of the transmitted signal. Negative frequency usually appears when the signal is frequency-shifted by the Doppler effect. Negative frequency will cause incorrect ranging values. In the prior art, the correction of negative frequency is to use light or static spatial points, select a fixed distance to correct the modulation parameters, thereby ensuring the linearity of static ranging. The correction of negative frequency by the prior art has great limitations on the ranging environment or correction equipment, which is not conducive to improving the accuracy of measuring the distance of the target to be measured. Summary of the Invention
[0004] The embodiments of this application provide a distance measurement method, system, device, and storage medium, which are conducive to improving the accuracy of measuring the distance of the target to be measured.
[0005] The first aspect of the embodiments of this application provides a distance measurement method, and the method includes:
[0006] Solve for the peak value of the intermediate frequency signal data of the target to be measured, and determine the width of the triangular wave cross-noise region;
[0007] Determine the first distance value of TOF ranging according to the width of the triangular wave cross-noise region;
[0008] Determine the second distance value of FMCW ranging according to the original sampling data;
[0009] Determine the distance of the target to be measured according to the first distance value and the second distance value.
[0010] The second aspect of the embodiments of this application provides an FMCW ranging system, and the system includes:
[0011] A noise region width determination module, configured to solve the peak value of the intermediate frequency signal data of the target to be measured, and determine the width of the triangular wave cross noise region;
[0012] A first distance value determination module, configured to determine a first distance value for TOF ranging according to the width of the triangular wave cross noise region;
[0013] A second distance value determination module, configured to determine a second distance value for FMCW ranging according to the original sampling data;
[0014] A target distance to be measured determination module, configured to determine the distance of the target to be measured according to the first distance value and the second distance value.
[0015] A third aspect of the embodiments of the present application provides a terminal device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, where when the processor executes the computer program, the multi-sensor time synchronization method based on the time axis described in the first aspect above is implemented.
[0016] A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the ranging method described in the first aspect above is implemented.
[0017] A fifth aspect of the embodiments of the present application provides a computer program product, when the computer program product runs on a terminal device, enabling the terminal device to execute the ranging method described in the first aspect above.
[0018] The beneficial effects of the embodiments of the present application compared with the prior art are as follows: The present application proposes a ranging method. By solving the peak value of the intermediate frequency signal data of the target to be measured, the width of the triangular wave cross noise region is determined. According to the width of the triangular wave cross noise region, TOF ranging is determined. According to the original sampling data, FMCW ranging is determined. Conditional judgment is performed based on the TOF ranging result and the FMCW ranging result. By optimizing the ranging method and improving the algorithm, the negative frequency caused by the Doppler effect is corrected, avoiding the limitations of the ranging environment and equipment on the negative frequency correction, which is beneficial to improving the accuracy of the target distance to be measured. Description of the Drawings
[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.
[0020] Figure 1It is a schematic flowchart of a ranging method provided by an embodiment of the present application;
[0021] Figure 2 It is a schematic diagram of the intermediate frequency signal data collected by ADC provided by an embodiment of the present application;
[0022] Figure 3 It is a schematic diagram of the width of the triangular wave cross noise region provided by an embodiment of the present application;
[0023] Figure 4 It is provided by an embodiment of the present application Figure 1 The specific flowchart of step 200 in
[0024] Figure 5 It is provided by an embodiment of the present application Figure 1 The specific flowchart of step 300 in
[0025] Figure 6 It is a schematic diagram of the frequency of the original sampling data frequency points provided by an embodiment of the present application;
[0026] Figure 7 It is provided by an embodiment of the present application Figure 1 The specific flowchart of step 400 in
[0027] Figure 8 It is a schematic structural diagram of an FMCW ranging system provided by an embodiment of the present application;
[0028] Figure 9 It is a structural diagram of a terminal device provided by an embodiment of the present application. Detailed implementation manners
[0029] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are put forward to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.
[0030] It should be understood that when used in the specification of the present application and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.
[0031] It should also be understood that the term " / and" as used in the specification of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.
[0032] In addition, in the description of the specification and the appended claims of the present application, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be construed as indicating or implying relative importance.
[0033] The reference to "one embodiment" or "some embodiments" etc. described in the specification of the present application means that a specific feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, the statements "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.
[0034] It should be understood that the magnitudes of the sequence numbers of the steps in this embodiment do not mean the sequence of execution. The execution sequence of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
[0035] With the development of technology, in applications related to the field of ranging technology, a radar generally operates in the FMCW mode. FMCW ranging (Frequency Modulated Continuous Wave) is a radar technology for measuring the distance of a target. Its principle is to transmit a modulated continuous wave signal at a relatively high carrier frequency. When encountering the target to be measured, the received echo signal is mixed with the currently transmitted high-frequency signal to obtain an intermediate frequency signal, whose frequency changes according to the triangular wave law over time. For linear frequency modulation, the frequency of the intermediate frequency signal carries the distance information of the target to be measured, and the distance of the target to be measured is determined by determining the frequency of the intermediate frequency signal.
[0036] The negative frequency in FMCW ranging refers to the situation where the frequency of the received signal is lower than the frequency of the transmitted signal. Negative frequencies usually occur when the signal is frequency-shifted by the Doppler effect. In the prior art, the correction of negative frequencies is to use light or static spatial points, select a fixed distance to correct the modulation parameters, so as to ensure the linearity of static ranging. The correction of negative frequencies by the prior art has great limitations on the ranging environment or correction equipment, which is not conducive to improving the accuracy of measuring the distance of the target to be measured.
[0037] The present application proposes a ranging method. By solving the peak value of the intermediate frequency signal data of the target to be ranged, the width of the triangular wave cross-noise region is determined. According to the width of the triangular wave cross-noise region, TOF ranging is determined. According to the original sampling data, FMCW ranging is determined. Conditional judgment is performed based on the TOF ranging result and the FMCW ranging result. By optimizing the ranging method and improving the algorithm, the negative frequency caused by the Doppler effect is corrected, avoiding the limitations of the ranging environment and equipment on the negative frequency correction, which is beneficial to improving the ranging accuracy of the target to be measured.
[0038] To illustrate the technical solution of the present application, the following will be described through specific embodiments.
[0039] Referring to Figure 1 , a schematic flowchart of a ranging method is shown. As Figure 1 shown, the ranging method may include the following steps:
[0040] Step 100, solve the peak value of the intermediate frequency signal data of the target to be ranged, and determine the width of the triangular wave cross-noise region.
[0041] The principle of FMCW ranging is to transmit a modulated continuous wave signal at a relatively high carrier frequency. When encountering the target to be ranged, the received echo signal is mixed with the currently transmitted high-frequency signal to obtain an intermediate frequency signal. The frequency of the intermediate frequency signal carries the distance information of the target to be measured. By determining the frequency of the intermediate frequency signal, the distance of the target to be measured is determined. In the embodiment of the present application, solving the peak value of the intermediate frequency signal data of the target to be ranged is to solve the frequency of the intermediate frequency signal of the target to be ranged, so as to determine the distance of the target to be ranged.
[0042] Referring to Figure 2 , a schematic diagram of the intermediate frequency signal data collected by an ADC is shown. As Figure 2 shown, in the embodiment of the present application, the intermediate frequency signal data collected by the ADC is in the state of a triangular wave. The triangular wave is in a continuous and dense signal wave for most of the time, and the triangular wave in the framed part is significantly different from the signal waves in other regions. This part of the signal wave is the triangular wave difference part, that is, the triangular wave cross-noise region. In the present application, the time interval of the triangular wave cross-noise region is used to determine the width of the triangular wave cross-noise region. As Figure 3 shown, a schematic diagram of the width of the triangular wave cross-noise region is shown. After magnifying the triangular wave cross-noise region, according to the subscript interval value of the noise region data points 1264 - 1217 = 47, the width of the triangular wave cross-noise region is determined.
[0043] Step 200, determine the first distance value of TOF ranging according to the width of the triangular wave cross-noise region.
[0044] In the embodiment of the present application, the width of the triangular wave cross-noise region in the intermediate frequency signal is determined through step 100. According to the width of the triangular wave cross-noise region, the first distance value of TOF ranging is determined, where TOF ranging refers to a technology for measuring the distance of an object, which calculates the distance by using the transmission time of light. TOF ranging usually uses a lidar or an LED emitter to emit a light beam, and then the reflected light is received by a receiver, and the transmission time of the light is measured to calculate the distance. In a possible embodiment of the present application, according to the transmitted continuous wave radar, when the radar returns after contacting the target to be ranged, the first distance value is determined according to the flight time of the radar transmission and return.
[0045] Specifically, referring to Figure 4 , a specific flow diagram of step 200 of the embodiment of the present application is shown. As Figure 4 shown, determining the first distance value of TOF ranging according to the width of the triangular wave cross-noise region includes:
[0046] S201, calculating the cross-interval time length according to the sampling rate of the intermediate frequency signal data.
[0047] In the embodiment of the present application, in step S100, the width of the triangular wave cross-noise region is determined. The cross-interval time length calculated by the ADC sampling rate is the width of the triangular wave cross-noise region multiplied by the sampling rate. For example, in step 100, the width of the triangular wave cross-noise region is obtained as 47, and the ADC sampling rate is 4 ns, then the cross-interval time length is 47 * 4 ns = 188 ns.
[0048] S202, calculating the first distance value of TOF ranging according to the cross-interval time length.
[0049] In the embodiment of the present application, in step S201, the cross-interval time length is determined. According to the cross-interval time length and the speed of light, the first distance value of TOF ranging is calculated through formula (1).
[0050] 2*R = CT (1)
[0051] Wherein, R is the first distance value of TOF ranging, C is the speed of light in a light wave, and T is the cross-interval time length.
[0052] For example, according to the cross-interval time length of 188 ns and the speed of light of 0.3 m / ns calculated in step S201, 2*R = 0.3 × 188 = 56.4 m, and R = 28.2 m.
[0053] Step 300, determining the second distance value of FMCW ranging according to the original sampling data.
[0054] Fast Fourier Transform (FFT) is a method for converting a time-domain signal into a frequency-domain signal. In radar measurement, by performing FFT processing on the received signal, the spectral information of the signal can be obtained, and thus the velocity information of the target can be analyzed. In the embodiments of the present application, since the frequency point frequency of the intermediate-frequency signal carries distance information, the frequency point frequency of the original sampling data is determined by performing Fourier transform on the original sampling data of the ADC, and then the distance information of the target to be measured is calculated based on the frequency point frequency of the original sampling data.
[0055] Specifically, referring to Figure 5 , the specific process schematic diagram of step 300 in the embodiments of the present application is shown. As Figure 5 shown, determining the second distance value of FMCW ranging according to the original sampling data includes:
[0056] S301, performing Fourier transform on the original sampling data to determine the frequency point frequency of the original sampling data.
[0057] In the embodiments of the present application, the frequency information of the intermediate-frequency signal can be effectively extracted through Fourier transform to determine the frequency point frequency of the ADC sampling data. As Figure 6 shown, the original time-domain signal is converted into a frequency-domain signal by performing Fourier transform on the original sampling data, and the frequency point frequency of the original sampling data can be determined by obtaining the peak value of the frequency point frequency in the frequency-domain signal. As shown in the boxed position in the figure, it is the peak region of the frequency point frequency in the frequency-domain signal, the highest point is the peak point, and the frequency corresponding to the peak point is determined as the frequency point frequency of the original sampling data.
[0058] S302, determining the second distance value of the FMCW ranging according to the frequency point frequency, the preset modulation period, the light wave velocity, the sampling rate, and the preset modulation bandwidth.
[0059] Linear modulation is a modulation technique for converting a digital signal into an analog signal. It transmits the digital signal by changing the amplitude, frequency, or phase of the carrier signal. The modulation period is also the time interval of a periodic change formed after the signal is modulated in digital communication. The length of the modulation period is related to the frequency of the signal and is usually used to describe the periodic characteristics of the modulation signal, that is, Figure 1 is linearly expressed to form a periodic triangular wave, and each period is a modulation period. The modulation bandwidth refers to the frequency band width occupied during the signal modulation process. In wireless communication, the modulation bandwidth determines the transmission rate and quality of the signal. The wider the modulation bandwidth, the higher the transmission rate, but more spectrum resources will be occupied.
[0060] The second distance value of the FMCW ranging is calculated and determined according to formula (2).
[0061]
[0062] Among them, R is the second distance value of FMCW ranging, C is the light wave velocity, T is the preset modulation period, f R is the frequency point frequency, α is the sampling rate, and B is the preset modulation bandwidth.
[0063] Refer to Figure 6 , a schematic diagram of the frequency point frequency of the original sampling data is shown. Specifically, determining the second distance value of the FMCW ranging according to the frequency point frequency, the preset modulation period, the light wave velocity, the sampling rate, and the preset modulation bandwidth includes:
[0064] S1: Calculate the product of the light wave velocity and the modulation period to generate a first product result.
[0065] For example, Figure 6 the modulation period T of the intermediate frequency signal is 10×10 -6 s, then the first product result = C*T = 3.0×10 8 ×10×10 -6 = 3.0×10 3 .
[0066] S2: Calculate the product of the first product result and the frequency point frequency to generate a second product result.
[0067] For example, Figure 6 the frequency point frequency f R is 80MHZ, then the second product result = the first product result × f R = 3.0×10 3 ×80MHZ = 2.4×10 5 .
[0068] S3: Multiply the sampling rate by the modulation bandwidth to obtain a third product result.
[0069] For example, Figure 6 the modulation bandwidth B of the intermediate frequency signal is 2.0×10 9 , the sampling rate α is 4ns, according to the calculation results of S1 and S2, the third product result = 4*B = 4×2.0×10 9 = 8×10 9 .
[0070] Divide the second product result by the third product result to generate the second distance value.
[0071] For example, substituting the results of S1 - S3 into formula 2 to calculate, the second distance value R = 30m is obtained.
[0072] Step 400: Determine the distance to the target to be measured according to the first distance value and the second distance value.
[0073] In the embodiments of the present application, the distance to the target to be measured needs to be determined by judging the modulation period image of the original data and then corresponding to the judgment conditions to output the calculated distance to the target to be measured. From the above derivation according to step S300, it can be seen that the frequency of the intermediate frequency signal is only related to the frequency point frequency f R is related, and the relative distance R to be determined is linearly proportional to f R Therefore, as long as the frequency point frequency of the intermediate frequency signal is obtained, the relative distance R can be determined. This situation only applies to the case where the target to be measured and the FMCW radar are in a stationary state with a relative speed v R of 0. In actual situations, we need to consider the case of relative speed. Because there is a relative speed, the distance R will change with time. According to the variables in formula (2), when the relative speed v R > 0, R continuously increases, so f R also continuously increases; when the relative speed v R < 0, R continuously decreases, so f R also continuously decreases. And due to the Doppler effect, when there is a relative speed, a speed v is added to the relevant parameters that affect the frequency point frequency R > 0, the transmitted electromagnetic wave is stretched, so the received signal frequency decreases instead. When v R < 0, the transmitted electromagnetic wave is stretched, so the received signal frequency increases instead. Therefore, in the present application, before determining the distance to the target to be measured, considering the relative speed, the modulation period image of the original data is judged.
[0074] Specifically, referring to Figure 7 , a specific process schematic diagram of step 400 in the embodiments of the present application is shown. As Figure 7 shown, the determining the distance to the target to be measured according to the first distance value and the second distance value includes:
[0075] S401: Judge whether the upper edge and the lower edge of the modulation period in the original sampling data are equal.
[0076] In the embodiments of the present application, it is judged according to the upper edge and the lower edge of the modulation period of the original sampling data. If the judgment result is equal, the relative speed is zero. If not, there is a relative speed, and the relative speed includes positive speed and negative speed.
[0077] In S402, if the upper edge is equal to the lower edge, the speed is zero, output the second distance value and determine whether the difference between the second distance value and the first distance value is less than the system error distance threshold. If the difference between the second distance value and the first distance value is less than the system error distance threshold, use the second distance value as the distance of the target to be measured. If the difference between the second distance value and the first distance value is greater than the system error distance threshold, use half of the absolute value of the difference between the upper edge and the lower edge as the distance frequency.
[0078] In the embodiment of the present application, if the upper edge is equal to the lower edge, it indicates that the relative speed between the radar and the object to be measured is 0. Then output the second distance value FMCW_D and determine whether the difference between the second distance value FMCW_D and the first distance value TOF_D is less than the preset system error distance threshold D_ERR, and make a judgment according to the following conditions.
[0079] Abs(FMCW_D - TOF_D) < D_ERR
[0080] In a possible embodiment, if the difference between the second distance value and the first distance value is less than the system error distance threshold, use the second distance value as the distance of the target to be measured.
[0081] In another possible embodiment, if the difference between the second distance value and the first distance value is greater than the system error distance threshold, use half of the absolute value of the difference between the upper edge PDG_FREQ and the lower edge NDG_FREQ as the distance frequency D_FREQ according to formula (3).
[0082]
[0083] Specifically, Abs(FMCW d - TOF D ) > D ERR , it is considered a negative frequency. If PDG_FREQ > NDG_FREQ, then the distance frequency D_FREQ = (PDG_FREQ - NDG_FREQ) / 2. If PDG_FREQ < NDG_FREQ, then the distance frequency D_FREQ = (NDG_FREQ - PDG_FREQ) / 2.
[0084] In S403, if the upper edge is not equal to the lower edge, use half of the sum of the upper edge and the lower edge as the distance frequency;
[0085] In the embodiment of the present application, if the upper edge is not equal to the lower edge, use half of the sum of the upper edge PDG_FREQ and the lower edge NDG_FREQ as the distance frequency D_FREQ according to formula (4).
[0086]
[0087] S404. Generate the distance of the target to be measured according to the distance frequency.
[0088] Judge and generate the corresponding distance frequency according to the above steps, and generate the distance of the target to be measured according to the distance frequency.
[0089] In the prior art, the correction of negative frequency uses light or static space points, selects a fixed distance to correct the modulation parameters, so as to ensure the linearity of static ranging. The correction of negative frequency by the prior art has great limitations on the ranging environment or correction equipment, which is not conducive to improving the accuracy of ranging of the target to be measured. In contrast to the traditional scheme, the present application corrects negative frequency by using light or static space points, selects a fixed distance to correct the modulation parameters, makes a conditional judgment according to the first distance value and the second distance value, and corrects the negative frequency caused by the Doppler effect through the optimization of the ranging method and the improvement of the algorithm, which is beneficial to improving the accuracy of ranging of the target to be measured.
[0090] See Figure 8 , which shows a schematic structural diagram of an FMCW ranging system provided by an embodiment of the present application. For the convenience of description, only the parts related to the embodiment of the present application are shown.
[0091] The FMCW ranging system 400 may specifically include the following modules:
[0092] Noise region width determination module 410, configured to solve the peak value of the intermediate frequency signal data of the target to be ranged, and determine the width of the triangular wave cross noise region;
[0093] First distance value determination module 420, configured to determine the first distance value of TOF ranging according to the width of the triangular wave cross noise region;
[0094] Second distance value determination module 430, configured to determine the second distance value of FMCW ranging according to the original sampling data;
[0095] Target distance determination module 440, configured to determine the distance of the target to be ranged according to the first distance value and the second distance value.
[0096] In the embodiment of the present application, the first distance value determination module 420 may include the following sub-modules:
[0097] Cross-region time length calculation module, configured to calculate the cross-region time length according to the sampling rate of the intermediate frequency signal data;
[0098] The first distance value determination module for TOF ranging is configured to calculate the first distance value for TOF ranging according to the cross - interval time length.
[0099] In an embodiment of the present application, the second distance value determination module 430 may include the following sub - modules:
[0100] The frequency point frequency determination module is configured to perform Fourier transform on the original sampled data to determine the frequency point frequency of the original sampled data.
[0101] The second distance value determination module for FMCW ranging is configured to determine the second distance value for FMCW ranging according to the frequency point frequency, a preset modulation period, the light wave velocity, the sampling rate, and a preset modulation bandwidth.
[0102] The second distance value determination module for FMCW ranging is specifically configured to:
[0103] Calculate the product of the light wave velocity and the modulation period to generate a first product result;
[0104] Calculate the product of the first product result and the frequency point frequency to generate a second product result;
[0105] Multiply the sampling rate and the modulation bandwidth to obtain a third product result;
[0106] Divide the second product result by the third product result to generate the second distance value.
[0107] In an embodiment of the present application, the measured target distance determination module 440 may include the following sub - modules:
[0108] The judgment module is configured to judge whether the upper edge and the lower edge of the modulation period in the original sampled data are equal.
[0109] The upper - edge - and - lower - edge - equal module is configured to, if the upper edge and the lower edge are equal, the speed is zero, output the second distance value and judge whether the difference between the second distance value and the first distance value is less than the system error distance threshold. If the difference between the second distance value and the first distance value is less than the system error distance threshold, use the second distance value as the distance of the measured target. If the difference between the second distance value and the first distance value is greater than the system error distance threshold, use half of the absolute value of the difference between the upper edge and the lower edge as the distance frequency.
[0110] The upper - edge - and - lower - edge - not - equal module is configured to, if the upper edge and the lower edge are not equal, use half of the sum of the upper edge and the lower edge as the distance frequency.
[0111] A distance generation module for the target to be measured is configured to generate the distance of the target to be measured according to the distance frequency.
[0112] The FMCW ranging system provided by the embodiments of the present application can be applied to the foregoing method embodiments. For details, refer to the descriptions of the foregoing method embodiments, which will not be repeated here.
[0113] Figure 9 It is a schematic structural diagram of a terminal device provided by an embodiment of the present application. As Figure 9 shown, the terminal device 700 of this embodiment includes: at least one processor 710 ( Figure 9 only one is shown in the figure), a memory 720, and a computer program 721 stored in the memory 720 and executable on the at least one processor 710. When the processor 710 executes the computer program 721, the steps in the foregoing method embodiment of a ranging method are implemented.
[0114] The terminal device 700 may be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The terminal device may include, but is not limited to, a processor 710 and a memory 720. Those skilled in the art can understand that Figure 9 this is only an example of the terminal device 700, and does not constitute a limitation on the terminal device 700. It may include more or fewer components than those shown in the figure, or combine some components, or different components. For example, it may also include input / output devices, network access devices, etc.
[0115] The so-called processor 710 may be a central processing unit (CPU), and the processor 710 may also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.
[0116] In some embodiments, the memory 720 may be an internal storage unit of the terminal device 700, such as the hard disk or memory of the terminal device 700. In other embodiments, the memory 720 may also be an external storage device of the terminal device 700, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the terminal device 700. Further, the memory 720 may also include both the internal storage unit of the terminal device 700 and an external storage device. The memory 720 is used to store an operating system, application programs, a Boot Loader, data, and other programs, such as the program code of the computer program, etc. The memory 720 may also be used to temporarily store data that has been output or is to be output.
[0117] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above-mentioned functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of the present application. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.
[0118] In the above embodiments, the descriptions of the various embodiments have their own emphases. For parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.
[0119] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in the present application can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. A professional technician can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.
[0120] In the embodiments provided in the present application, it should be understood that the disclosed device / terminal device and method can be implemented in other ways. For example, the device / terminal device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections between each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical or other forms.
[0121] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0122] In addition, in each embodiment of the present application, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.
[0123] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above method embodiments of the present application, it can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device that can carry the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.
[0124] The implementation of all or part of the processes in the method of the above embodiments in this application can also be completed by a computer program product. When the computer program product runs on a terminal device, the terminal device can execute the steps in the above method embodiments.
[0125] The above embodiments are only used to illustrate the technical solutions of this application, rather than to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included in the protection scope of this application.
Claims
1. A ranging method, characterized in that, Including: Solving the peak value of the intermediate frequency signal data of the target to be distance-measured, and determining the width of the triangular wave cross-noise region; Determining a first distance value for TOF ranging according to the width of the triangular wave cross-noise region; Determining a second distance value for FMCW ranging according to the original sampling data; Determining the distance of the target to be distance-measured according to the first distance value and the second distance value.
2. The ranging method according to claim 1, wherein The determining the first distance value for TOF ranging according to the width of the triangular wave cross-noise region includes: Calculating the cross-interval time length according to the sampling rate of the intermediate frequency signal data; Calculating the first distance value for TOF ranging according to the cross-interval time length.
3. The ranging method according to claim 1, wherein The determining the second distance value for FMCW ranging according to the original sampling data includes: Performing Fourier transform on the original sampling data to determine the frequency of the frequency points of the original sampling data; Determining the second distance value for FMCW ranging according to the frequency of the frequency points, a preset modulation period, the speed of light, the sampling rate, and a preset modulation bandwidth.
4. The ranging method according to claim 3, wherein, The determining the second distance value for FMCW ranging according to the frequency of the frequency points, a preset modulation period, the speed of light, the sampling rate, and a preset modulation bandwidth includes: Calculating the product of the speed of light and the modulation period to generate a first product result; Calculating the product of the first product result and the frequency of the frequency points to generate a second product result; Multiplying the sampling rate by the modulation bandwidth to obtain a third product result; Dividing the second product result by the third product result to generate the second distance value.
5. The ranging method according to claim 1, characterized in that The determining the distance of the target to be distance-measured according to the first distance value and the second distance value includes: Judging whether the upper edge and the lower edge of the modulation period in the original sampling data are equal; If the upper edge and the lower edge are equal, the speed is zero, outputting the second distance value and judging whether the difference between the second distance value and the first distance value is less than the system error distance threshold. If the difference between the second distance value and the first distance value is less than the system error distance threshold, taking the second distance value as the distance of the target to be measured.
6. The ranging method according to claim 5, wherein, The method further includes: If the upper edge and the lower edge are not equal, taking half of the sum of the upper edge and the lower edge as the distance frequency; Generating the distance of the target to be measured according to the distance frequency.
7. The ranging method according to claim 5, wherein The method further includes: If the difference between the second distance value and the first distance value is greater than the system error distance threshold, taking half of the absolute value of the difference between the upper edge and the lower edge as the distance frequency; Generating the distance of the target to be measured according to the distance frequency.
8. An FMCW ranging system, characterized in that, Including: A noise region width determination module, configured to solve the peak value of the intermediate frequency signal data of the target to be distance-measured and determine the width of the triangular wave cross-noise region; A first distance value determination module, configured to determine a first distance value for TOF ranging according to the width of the triangular wave cross-noise region; A second distance value determination module, configured to determine a second distance value for FMCW ranging according to the original sampling data; A target to be measured distance determination module, configured to determine the distance of the target to be distance-measured according to the first distance value and the second distance value.
9. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.
10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.