Positioning signal processing method, device and system, electronic equipment, storage medium and computer program product

Abstract

The embodiment of the invention provides a positioning signal processing method, a positioning signal processing device, a signal processing system, electronic equipment, a storage medium and a computer program product, and the positioning signal processing method comprises the steps: obtaining a positioning signal and a synchronization pulse signal which is obtained based on a positioning initial signal, the positioning signal is obtained based on an envelope initial signal collected from a second target device under the condition that the first target device receives the positioning initial signal; determining a symbol of the positioning signal based on the positioning signal and the synchronization pulse signal; detecting the positioning signal, and determining the amplitude of the positioning signal; the symbol and the amplitude are output, the symbol and the amplitude are used for positioning target equipment, and the target equipment comprises the second target device.

Description

Technical Field

[0001] This application relates to the field of signal processing technology, specifically to a positioning signal processing method, a positioning signal processing device, a signal processing system, an electronic device, a storage medium, and a computer program product. Background Technology

[0002] Three-dimensional cardiac mapping is an electrophysiological technique used for the diagnosis and treatment of arrhythmias. By constructing a three-dimensional model of the heart and mapping electrical activity, it helps to accurately locate the origin or conduction pathway of abnormal heart rhythms. During the construction of the three-dimensional cardiac model, a mapping catheter equipped with a magnetic field / electric field sensor probes the inner wall of the heart chambers point by point to simultaneously acquire the position and electrical signals of each point within the chambers. Through point-by-point probing and coordinate accumulation of the inner wall of the heart chambers, the three-dimensional model is constructed. Therefore, catheter localization is crucial for the construction of the three-dimensional cardiac model. Summary of the Invention

[0003] This application provides a positioning signal processing method, a positioning signal processing device, a signal processing system, an electronic device, a storage medium, and a computer program product.

[0004] In some embodiments, a positioning signal processing method is provided, including: Acquire a positioning signal and a synchronization pulse signal, wherein the synchronization pulse signal is obtained based on a positioning initial signal, and the positioning signal is obtained based on an envelope initial signal collected from a second target device when the first target device receives the positioning initial signal; Based on the positioning signal and the synchronization pulse signal, determine the sign of the positioning signal; The positioning signal is detected to determine its amplitude; The symbol and the amplitude are output, and the symbol and the amplitude are used to locate the target device, which includes the second target device.

[0005] In some embodiments, a positioning signal processing device is also provided, comprising: The acquisition module is used to acquire a positioning signal and a synchronization pulse signal. The synchronization pulse signal is obtained based on a positioning initial signal. The positioning signal is obtained based on an envelope initial signal collected from a second target device when the first target device receives the positioning initial signal. A symbol determination module is used to determine the symbol of the positioning signal based on the positioning signal and the synchronization pulse signal; A positioning signal amplitude determination module is used to detect the positioning signal and determine the amplitude of the positioning signal; An output module is used to output the symbol and the amplitude, which are used to locate the target device. The target device includes at least one second target device, and each signal processing device corresponds to one second target device.

[0006] In some embodiments, a signal processing system is also provided, the signal processing system including at least one signal processing device; each signal processing device includes at least one positioning signal processing device; Each positioning signal processing device is used to acquire a positioning signal and a synchronization pulse signal, wherein the synchronization pulse signal is obtained based on a positioning initial signal, and the positioning signal is obtained based on an envelope initial signal collected from a second target device when the first target device receives the positioning initial signal; Based on the positioning signal and the synchronization pulse signal, determine the sign of the positioning signal; The positioning signal is detected to determine its amplitude; The symbol and amplitude are output, and the symbol and amplitude are used to locate the target device. The target device includes at least one second target device, and each signal processing device corresponds to one second target device.

[0007] In some embodiments, an electronic device is also provided, including: a processor and a memory for storing a computer program, wherein the processor is configured to call and run the computer program stored in the memory to execute the positioning signal processing method provided in any embodiment of this application.

[0008] In some embodiments, a storage medium is also provided for storing a computer program that causes a computer to execute the positioning signal processing method provided in any embodiment of this application.

[0009] In some embodiments, a computer program product is also provided, including a computer program that, when executed by a processor, implements the positioning signal processing method provided in any embodiment of this application.

[0010] This application acquires a positioning signal and a synchronization pulse signal. The synchronization pulse signal is obtained based on the initial positioning signal. The positioning signal is obtained based on the initial envelope signal collected from the second target device when the first target device receives the initial positioning signal. Based on the positioning signal and the synchronization pulse signal, the sign of the positioning signal is determined. The positioning signal is detected to determine its amplitude. Since both the synchronization pulse signal and the positioning signal are obtained based on the initial positioning signal, and the synchronization pulse signal has a rising edge and a falling edge, the synchronization pulse signal can be used as a time reference to determine the feature in the positioning signal that corresponds to the feature in the initial positioning signal. The sign of the positioning signal is then determined through this corresponding feature, which helps improve the accuracy of the sign bit judgment. This, in turn, helps improve the accuracy of determining the positioning of the second target device through amplitude and sign, and ultimately helps improve the positioning accuracy of the target device. Attached Figure Description

[0011] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings: Figure 1 A schematic diagram illustrating the implementation flow of the positioning signal processing method provided in some embodiments of this application; Figure 2 This is a schematic diagram of the generation of synchronization pulse signals provided in some embodiments of this application; Figure 3 This is a schematic diagram of the structure of a positioning signal processing device provided in some embodiments of this application; Figure 4 Schematic diagram of the structure of the signal processing system provided in some embodiments of this application Figure 1 ; Figure 5 Schematic diagram of the structure of the signal processing system provided in some embodiments of this application Figure 2 ; Figure 6 This is a schematic diagram of the structure of an envelope signal processing module provided in some embodiments of this application; Figure 7 This is a schematic diagram of the structure of a multi-channel envelope signal processing module provided in some embodiments of this application; Figure 8 Schematic diagram of the structure of the signal processing system provided in some embodiments of this application Figure 3 ; Figure 9 This is a schematic diagram of the structure of a bioelectric signal processing device provided in some embodiments of this application; Figure 10 This is a schematic diagram of the structure of a signal processing apparatus provided in some embodiments of this application; Figure 11Schematic structural diagrams of electronic devices provided in some embodiments of this application; Figure 12 This is a schematic structural diagram of a chip provided in some embodiments of this application. Detailed Implementation

[0012] The technical solutions of the embodiments of this application will now be described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0013] It should be noted that, in the embodiments of this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, in the embodiments of this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0014] In the description of the embodiments of this application, the term "correspondence" may indicate that there is a direct or indirect correspondence between two things, or that there is an association between two things, or that there is a relationship of instruction and being instructed, configuration and being configured, etc.

[0015] To facilitate understanding of the technical solutions of the embodiments of this application, the relevant technologies of the embodiments of this application are described below. The following relevant technologies are optional solutions and can be combined with the technical solutions of the embodiments of this application in any way, and they all fall within the protection scope of the embodiments of this application.

[0016] In the field of medical devices, signal processing technology is widely used in electrophysiological testing, especially in cardiac electrophysiology. By acquiring electrocardiogram (ECG) signals and localization signals, a three-dimensional model of the patient's heart can be constructed, assisting doctors in making accurate diagnoses and surgical plans. In recent years, as medical electronic devices have become smaller and more portable, higher demands have been placed on the integration and processing efficiency of signal processing systems.

[0017] In related technologies, a separate acquisition method is usually used to acquire electrocardiogram (ECG) signals and positioning signals separately, and then hardware circuits are used for signal processing. ECG signals and positioning signals are signals with different frequencies. That is, this type of scheme uses multiple channels to acquire multiple signals simultaneously in order to achieve the positioning of electrode positions.

[0018] However, this traditional acquisition method suffers from problems such as complex hardware structure, numerous channels, and difficulty in controlling hardware consistency, which easily introduces errors. In particular, when processing signals of different frequencies, the accuracy of amplitude calculation and phase determination is limited, leading to inaccurate electrode positioning and affecting the quality of 3D modeling.

[0019] refer to Figure 1 , Figure 1 This is a schematic diagram illustrating the implementation flow of the positioning signal processing method provided in at least one embodiment of this application. Figure 1 As shown, it includes the following steps: Step 101: Acquire the positioning signal and the synchronization pulse signal. The synchronization pulse signal is obtained based on the initial positioning signal. The positioning signal is obtained based on the initial envelope signal collected from the second target device when the first target device receives the initial positioning signal.

[0020] The positioning signal is an electrical signal obtained by the first target device after receiving the initial positioning signal and processing the initial envelope signal collected from the second target device.

[0021] The synchronization pulse signal is an auxiliary signal generated based on the initial positioning signal, used to provide a time reference for determining the symbol of the positioning signal.

[0022] For example, the first target device is a pair of surface electrodes, the target device is a catheter, and the second target device is any one of at least one electrode included on the catheter. The positioning signal is obtained by the surface electrode pair based on the initial envelope signal collected from the electrodes on the catheter upon receiving the initial positioning signal. The surface electrode pair includes a positive electrode and a negative electrode. The initial positioning signal includes a first sine wave and a second sine wave, which are equal in magnitude and opposite in direction. If the first sine wave is positive and the second sine wave is negative, the first sine wave is transmitted to the positive electrode of the surface electrode pair, and the second sine wave is transmitted to the negative electrode of the surface electrode pair. Since the surface electrodes are attached to the target object, the catheter is located within the target object, and the target object is conductive, a circuit is formed between the surface electrode pairs, allowing signal acquisition from any electrode on the catheter to obtain the positioning signal.

[0023] For example, the second target device is a single electrode. The number of body surface electrode pairs is greater than or equal to 1.

[0024] For example, the target object can be a biomimetic device or a target tissue, etc., without any particular limitation.

[0025] For example, if the sign of the positioning signal is positive, the second target device is closer to the positive electrode in the first target device; if the sign of the positioning signal is negative, the second target device is closer to the negative electrode in the first target device. Thus, the second target device can be located by the sign of the positioning signal, and the target device can be located.

[0026] For example, the initial envelope signal is a signal acquired from any single electrode of the target device.

[0027] For example, the signal processing device acquires the signal at only one of the electrodes of the target device.

[0028] For example, the synchronization pulse signal and the initial positioning signal can be generated by a signal generator, the output of which is electrically connected to the input of a signal processing device and the input of a first target device, respectively. The signal generator is used to acquire signal parameters and generate the initial positioning signal based on the signal parameters; and to generate the synchronization pulse signal based on the initial positioning signal.

[0029] In one possible implementation, the generation location of the synchronization pulse signal is determined based on the peak and / or trough positions of the initial positioning signal.

[0030] For example, the initial positioning signal includes a first sine wave and a second sine wave, which are of equal magnitude and opposite direction. If the sign of the first sine wave is positive and the sign of the second sine wave is negative, the position can be determined based on the peak of the first sine wave or the trough of the second sine wave; if the sign of the first sine wave is negative and the sign of the second sine wave is positive, the position can be determined based on the trough of the first sine wave or the peak of the second sine wave. No particular limitation is made here.

[0031] refer to Figure 2 , Figure 2 This is a schematic diagram illustrating the generation of a synchronization pulse signal according to at least one embodiment of this application. For example, as shown... Figure 2As shown, the initial positioning signal includes sine wave 1 and sine wave 2. The peak position of sine wave 1 corresponds to the trough position of sine wave 2. Sine wave 1 corresponds to the positive electrode, and sine wave 2 corresponds to the negative electrode. Therefore, the peak position of sine wave 1 or the trough position of sine wave 2 can be used as the generation time of the rising edge of the synchronization pulse signal. The pulse width of the synchronization pulse signal can be set according to the actual situation; for example, if the impedance of the target object is capacitive, the phase shift caused by the impedance of the target object is usually less than 45 degrees. 45 degrees is 1 / 8 of 360 degrees. To avoid the sign determination error caused by the phase shift caused by the impedance of the target object, the pulse width can be set to 1 / 8 of the sine wave period. It can be understood that within one period, the time interval between the rising edge and falling edge of the synchronization pulse signal is the pulse width.

[0032] In one possible implementation, the strategy for generating the synchronization pulse signal includes: starting from the Kth period of the generated positioning initial signal, generating the pulse signal based on the peak position and / or trough position of the positioning initial signal, where K is an integer greater than 1.

[0033] In some implementations, a series of initial positioning signals can be generated, typically multiple consecutive cycles. However, considering that the initial cycle of the initial positioning signal may not be entirely reliable due to initiation conditions or non-steady-state effects during signal establishment, pulse signals can be generated starting from the Kth cycle (K>1). In other words, the system allows the first K-1 cycles of initial positioning signals to be used for warm-up or signal modulation initialization, ensuring the stability of subsequent signals. The value of K can be determined based on the specific needs of the experimental or clinical environment and the requirements of signal preprocessing; for example, K may be set to 2 or 3 to avoid missynchronization caused by unstable signal initiation.

[0034] Optionally, after determining that pulse signal generation will begin from the Kth cycle, pulse signals can then be generated based on the peak and / or trough positions of the initial signal. For example, peaks and troughs within each cycle can be identified, and pulse signal generation is triggered when the signal reaches a peak or trough.

[0035] It should be noted that starting from the Kth cycle, a pulse signal is generated based on the peak and / or trough position of the initial positioning signal. This strategy helps to eliminate data interference caused by the instability of the initial cycle signal and is beneficial to the stable processing of subsequent cycle signals.

[0036] In one possible implementation, before acquiring the positioning signal and the synchronization pulse signal, the method further includes: The target envelope signal is obtained by bandpass filtering the target envelope signal using a first bandpass filter; the target envelope signal is the signal obtained after preprocessing the initial envelope signal; the preprocessing includes gain adjustment of the initial envelope signal and sampling of the gain-adjusted initial envelope signal.

[0037] The first bandpass filter can extract the frequency component with positioning function, i.e., the positioning signal, from the envelope signal. The frequency of the positioning signal is within a preset range, such as 6KHz-15KHz.

[0038] The target envelope signal is obtained by adjusting the gain and sampling the initial envelope signal. The target envelope signal can simultaneously reflect the changing trends of ECG signals and positioning signals of multiple frequencies. By uniformly preprocessing the target envelope signal, it helps to improve the consistency and accuracy of data acquisition.

[0039] Sampling the initial envelope signal after gain adjustment helps ensure that the signal is not distorted during digitization. By appropriately selecting the sampling rate and quantization precision, key information of the signal can be effectively preserved. For example, an analog-to-digital converter (ADC) can be used to sample the adjusted intermediate envelope signal to convert the analog signal into a digital signal for subsequent digital signal processing and storage.

[0040] Step 102: Determine the sign of the positioning signal based on the positioning signal and the synchronization pulse signal.

[0041] The symbol is used to represent the polarity of the positioning signal, i.e., positive or negative.

[0042] In one possible implementation, determining the sign of the positioning signal based on the positioning signal and the synchronization pulse signal includes: Based on the first voltage value of the positioning signal at a first time and the second voltage value of the positioning signal at a second time, the sign bit of the positioning signal is determined; the first time is the rising edge of the synchronization pulse signal; the second time is the falling edge of the synchronization pulse signal; the first time and the second time belong to the same pulse cycle.

[0043] The synchronization pulse signal has rising and falling edges, providing a time reference. The voltage value of the positioning signal can be sampled at the rising and falling edges of the synchronization pulse signal to determine its sign characteristic. Specifically, when the rising edge of the synchronization pulse signal arrives, the voltage value of the positioning signal is collected to obtain a first voltage value; when the falling edge arrives, the voltage value of the positioning signal is collected again to obtain a second voltage value. Based on these two voltage values, combined with the voltage values ​​of the initial positioning signal at the rising and falling edges of the synchronization pulse signal, the sign bit of the positioning signal is determined, thereby improving the accuracy of determining the sign of the positioning signal.

[0044] In one possible implementation, determining the sign bit of the positioning signal based on a first voltage value of the positioning signal at a first time moment and a second voltage value of the positioning signal at a second time moment includes: The first sign bit of the positioning signal is determined based on the first voltage value and the second voltage value; The second sign bit is determined based on the first voltage value; The sign bit of the positioning signal is determined based on the first sign bit and the second sign bit.

[0045] For example, such as Figure 2 As shown, the sign bit of sine wave 1 is positive, and the sign bit of sine wave 2 is negative. At the rising edge of the synchronization pulse signal, the voltage value of sine wave 1 is greater than 0; the voltage value of sine wave 1 at its rising edge is greater than its voltage value at its falling edge. At the rising edge of the synchronization pulse signal, the voltage value of sine wave 2 is less than 0; the voltage value of sine wave 2 at its rising edge is less than its voltage value at its falling edge.

[0046] Since the positioning signal is obtained based on the initial positioning signal, and the synchronization pulse signal is used to provide a reference for the positioning signal and the initial positioning signal, the first voltage value determined in the positioning signal by the rising edge of the synchronization pulse signal and the second voltage value determined in the positioning signal by the falling edge of the synchronization pulse signal, and the relationship between the magnitude of the first voltage value and the second voltage value, can determine the sine wave corresponding to the positioning signal in the initial positioning signal, thereby initially determining the sign of the positioning signal. For example, the initial positioning signal includes sine wave 1 and sine wave 2, where sine wave 1 is positive and sine wave 2 is negative. The voltage value of sine wave 1 at the rising edge of the sync pulse is greater than its voltage value at the falling edge of the sync pulse; the voltage value of sine wave 2 at the rising edge of the sync pulse is less than its voltage value at the falling edge of the sync pulse. The acquired initial envelope signal is one of sine wave 1 and sine wave 2. The positioning signal is obtained based on the initial envelope signal. Therefore, if the first voltage value of the positioning signal is greater than the second voltage value, it corresponds to the characteristics of sine wave 1, thus determining that the first sign bit of the positioning signal is the same as the sign bit of sine wave 1, and therefore the first sign bit of the positioning signal is positive. If the first voltage value of the positioning signal is less than the second voltage value, it corresponds to the characteristics of sine wave 2, thus determining that the first sign bit of the positioning signal is the same as the sign bit of sine wave 2, and therefore the first sign bit of the positioning signal is negative.

[0047] The instantaneous polarity of the positioning signal at the current moment is determined by using the first voltage value as the sole criterion, i.e., the second sign bit.

[0048] For example, the initial positioning signal includes sine wave 1 and sine wave 2, where sine wave 1 has a positive sign and sine wave 2 has a negative sign. The acquired initial envelope signal is one of sine wave 1 and sine wave 2. If the first voltage value of the positioning signal is greater than 0, it corresponds to the characteristics of sine wave 1, thus determining that the second sign bit of the positioning signal is the same as the sign of sine wave 1, i.e., the second sign bit of the positioning signal is positive. If the first voltage value of the positioning signal is less than 0, it corresponds to the characteristics of sine wave 2, thus determining that the second sign bit of the positioning signal is the same as the sign of sine wave 2, i.e., the second sign bit of the positioning signal is negative.

[0049] Combining the first and second sign bits to determine the final sign of the positioning signal helps avoid misjudgments caused by instantaneous noise or sampling errors, thereby improving the accuracy of positioning signal phase determination.

[0050] In at least one embodiment of this application, determining the first symbol bit of the positioning signal based on the first voltage value and the second voltage value includes: If the first voltage value is greater than the second voltage value, then the first sign bit of the positioning signal is determined to be positive; If the first voltage value is less than or equal to the second voltage value, then the first sign bit of the positioning signal is determined to be negative.

[0051] If the first voltage value is greater than the second voltage value, it indicates that the positioning signal is in the falling period of the sine wave, and the first sign bit is determined to be positive; if the first voltage value is less than the second voltage value, it indicates that the positioning signal is in the rising period of the sine wave, and the first sign bit is determined to be negative.

[0052] like Figure 2 As shown, the sign bit of sine wave 1 is positive, and the voltage value of sine wave 1 at the rising edge is greater than the voltage value of sine wave 2 at the falling edge; the sign bit of sine wave 2 is negative, and the voltage value of sine wave 2 at the rising edge is less than the voltage value of sine wave 2 at the falling edge.

[0053] If the first voltage value of the positioning signal is greater than the second voltage value, then corresponding to the characteristics of sine wave 1, the first sign bit of the positioning signal is determined to be positive. If the first voltage value of the positioning signal is less than the second voltage value, then corresponding to the characteristics of sine wave 2, the first sign bit of the positioning signal is determined to be negative.

[0054] The method of comparing the first voltage value and the second voltage value realizes the sign bit determination based on waveform characteristics, which can help suppress misjudgment caused by noise interference and signal distortion, thereby improving the accuracy of the sign bit determination of the positioning signal.

[0055] In one possible implementation, determining the second sign bit based on the first voltage value includes: If the first voltage value is greater than or equal to the first value, then the second sign bit of the positioning signal is positive; If the first voltage value is less than the first value, then the second sign bit of the positioning signal is negative.

[0056] Optionally, the first value can be set according to the requirements, such as 0, 0.03, 0.05, and 0.06, etc., without any special limitation.

[0057] like Figure 2 As shown, the sign bit of sine wave 1 is positive, and the sign bit of sine wave 2 is negative. At the rising edge of the synchronization pulse signal, the voltage value of sine wave 1 is greater than 0, and the voltage value of sine wave 2 is less than 0.

[0058] When the first voltage value is greater than or equal to the first value, then corresponding to the characteristics of sine wave 1, the second sign bit of the positioning signal is determined to be positive. When the first voltage value is less than the first value, then corresponding to the characteristics of sine wave 2, the second sign bit of the positioning signal is determined to be negative.

[0059] For example, the first value can be 0, or it can be 0.01, 0.05, 0.07, etc., without any special limitation here.

[0060] The method of comparing the first voltage value with a preset first value enables rapid determination of the second symbol bit of the positioning signal, which helps reduce the complexity of hardware implementation. It can also adapt to positioning signals of different amplitudes by flexibly adjusting the first value, which is beneficial to improving the accuracy and flexibility of symbol recognition.

[0061] In one possible implementation, determining the sign bit of the positioning signal based on the first sign bit and the second sign bit includes: If the first symbol bit and the second symbol bit are the same, then the symbol bit of the positioning signal is determined to be the first symbol bit; If the first symbol bit and the second symbol bit are different, then the previously determined symbol bit is used as the symbol bit of the positioning signal.

[0062] When two independent decision results are consistent, directly using either decision as the final sign bit helps avoid redundant calculations and improves processing efficiency.

[0063] When two judgment results are inconsistent, introducing historical information as a reference can maintain the stable operation of the system when there is an inconsistency between the first and second sign bits. This helps to avoid sign bit misjudgment and maintain the continuity and stability of the sign bits.

[0064] Step 103: Detect the positioning signal and determine the amplitude of the positioning signal.

[0065] The amplitude of the positioning signal can be determined by peak detection and peak-to-peak value calculation.

[0066] Peak-to-peak value refers to the sum of the maximum positive amplitude and the maximum negative amplitude of a signal within the same period, and is used to measure the overall amplitude of the signal.

[0067] In one possible implementation, detecting the positioning signal and determining the amplitude of the positioning signal includes: Peak detection is performed on the positioning signal to obtain the peak-to-peak value of the positioning signal; The amplitude of the positioning signal is determined based on the peak-to-peak value.

[0068] In at least one embodiment, peak detection is performed on the positioning signal to obtain the peak-to-peak value of the positioning signal, including: Peak detection is performed on the positioning signal to obtain multiple peak values; Determine the positive maximum value and the negative minimum value among the multiple peak values; The peak-to-peak value is determined based on the positive maximum value and the negative minimum value.

[0069] Peak detection yields multiple peak values. These peak values ​​are then compared step-by-step to obtain the maximum positive value and the minimum negative value, which serve as the basis for further peak-to-peak value calculations. The maximum positive value represents the largest voltage value in the signal waveform, and the minimum negative value represents the smallest voltage value. The sum of the absolute values ​​of the maximum and minimum negative values ​​is the peak-to-peak value.

[0070] The positioning signal is extracted from the target envelope signal, which is obtained by adjusting the gain and sampling the initial envelope signal. Therefore, when determining the amplitude of the positioning signal, it is also necessary to combine the gain value, the range of the analog-to-digital converter (ADC), and the reference voltage of the ADC. The ADC is used to sample the initial envelope signal after gain adjustment.

[0071] In one possible implementation, determining the amplitude of the positioning signal based on the peak-to-peak value includes: The gain value of the gain adjustment, the range of the analog-to-digital converter, and the reference voltage of the analog-to-digital converter are obtained. The analog-to-digital converter is used to sample the initial envelope signal after gain adjustment. The amplitude of the positioning signal is obtained based on the gain value, the peak-to-peak value, the range, and the reference voltage.

[0072] Optionally, when determining the amplitude value of the electro-positioning signal based on the peak-to-peak value of the positioning signal, the reference voltage and range of the analog-to-digital converter (ADC) can be obtained first. The ADC, as the core component in the signal chain, is responsible for converting analog signals into digital signals. The reference voltage is a reference voltage set in the ADC, against which all input voltages are quantized. The range indicates the voltage range that the ADC can represent, and is usually related to the number of bits in the ADC. The number of bits determines the smallest voltage change that the ADC can distinguish. For example, a 12-bit ADC has a range of 4096 (i.e.,...). It can distinguish 4096 different voltage levels.

[0073] Optionally, the amplitude of the electrical positioning signal can be determined based on the reference voltage and range of the analog-to-digital converter, the peak-to-peak value of the positioning signal, and the known hardware gain. The gain value for gain adjustment refers to the gain of components such as preamplifiers that the signal may pass through during transmission from the target device to the ADC; the hardware gain directly affects the signal strength.

[0074] It should be noted that by integrating the reference voltage and range information of the analog-to-digital converter (ADC) with the known gain value, and combining this with the peak-to-peak value of the positioning signal to calculate the amplitude of the electro-positioning signal, this process essentially provides a signal quantization method. This quantization method converts the peak-to-peak value of the positioning signal into physically meaningful signal amplitude data. Furthermore, the ADC's reference voltage, range, and gain value are all related to the positioning signal processing; therefore, incorporating these factors as reference elements into the amplitude calculation of the electro-positioning signal helps obtain more accurate amplitude data that better reflects the actual situation.

[0075] In at least one embodiment, the amplitude of the positioning signal is obtained based on the gain value, the peak-to-peak value, the range, and the reference voltage, including: Based on the reference voltage and the peak-to-peak value, a first value is obtained; based on the range and the gain value, a second value is obtained; based on the first value and the second value, the amplitude of the positioning signal is obtained.

[0076] For example, the first value can be obtained by calculating the product of the reference voltage of the analog-to-digital converter and the peak-to-peak value of the positioning signal. Here, the reference voltage (which can be denoted as...) The peak-to-peak value (PVV) is the voltage reference used by the analog-to-digital converter (ADC) during signal quantization. The PVV value, determined in previous signal processing steps, represents the sum of the absolute values ​​of the signal's maximum and minimum amplitudes. Multiplying these two values ​​converts the PVV to a voltage-dependent order of magnitude, providing a preliminary quantization basis for subsequent amplitude calculations. For example, if... If the voltage is 3.3V and the peak-to-peak value of the target signal is 1000 units, then the first value = 3.3V * 1000 = 3300V units.

[0077] Alternatively, a second value can be obtained by multiplying the range of the analog-to-digital converter (ADC) by a known gain value. The range is closely related to the ADC's resolution (typically expressed as the number of bits N), while the gain value is a possible amplification or attenuation factor in the signal chain, affecting the intensity change of the signal as it travels from the source to the ADC. Calculating the product of these two values ​​allows for an assessment of the theoretically maximum representable voltage value of the signal after passing through the entire system. For example, if the ADC's range is 4096 and the hardware gain G is 2.0, then the second value = range * hardware gain = 4096 * 2.0 = 8192 units.

[0078] In some embodiments, the amplitude of the positioning signal can be calculated using a first formula, as follows: The first formula is: ,in, Peak-to-peak value The given value represents the gain value for gain adjustment, and U is the input voltage of the analog-to-digital converter, which could be, for example, 2.5V. The analog-to-digital converter (ADC) is characterized as an M+1-bit ADC. For example, the ADC can be a 24-bit ADC. It can store the calculated amplitude value in the memory of the programmable logic unit and provide the registers to external devices for access via network transmission.

[0079] By analyzing the peak-to-peak value of the positioning signal, combined with the characteristic parameters of the ADC and the gain value of the hardware, the amplitude of the positioning signal at a certain moment can be calculated, which helps to provide reliable data support for the positioning of the target device and electrophysiological analysis.

[0080] It should also be noted that the above scheme provides a process for calculating the amplitude of the positioning signal. A first value is calculated based on the reference voltage of the analog-to-digital converter and the peak-to-peak value of the electrical positioning signal, which helps map the peak-to-peak value of the electrical positioning signal to the actual voltage range. Meanwhile, considering the influence of the analog-to-digital converter's range and the hardware gain value on the signal processing, calculating a second value can help improve the accuracy of the positioning signal amplitude calculation.

[0081] Step 104: Output the symbol and the amplitude, which are used to locate the target device, which includes the second target device.

[0082] In some implementations, the target device may be a conduit, and the second target device may be an electrode disposed on the conduit. The target device includes multiple electrodes, and the positions of the multiple electrodes can be determined by positioning signals, thereby reflecting the relative position information of the target device in space.

[0083] After calculating the sign and amplitude of the positioning signal, these two key parameters are sent to external control equipment or positioning software platform via a network transmission unit. This data can be used to construct a spatial coordinate model of the target device, which helps to further achieve high-precision three-dimensional positioning.

[0084] refer to Figure 3 , Figure 3 This is a schematic diagram of the structure of the positioning signal processing device provided in at least one embodiment of this application, such as... Figure 3 As shown, the positioning signal processing device includes: The acquisition module is used to acquire a positioning signal and a synchronization pulse signal. The synchronization pulse signal is obtained based on a positioning initial signal. The positioning signal is obtained based on an envelope initial signal collected from a second target device when the first target device receives the positioning initial signal. A symbol determination module is used to determine the symbol of the positioning signal based on the positioning signal and the synchronization pulse signal; A positioning signal amplitude determination module is used to detect the positioning signal and determine the amplitude of the positioning signal; The output module outputs the symbol and the amplitude, which are used to locate the target device, including the second target device.

[0085] For example, different positioning signal processing modules can be used to process positioning signals of the same frequency or different frequencies.

[0086] Those skilled in the art should understand that Figure 3 The functions of each unit in the positioning signal processing device shown can be understood by referring to the relevant description of the aforementioned method. Figure 3 The functions of each unit in the positioning signal processing device shown can be implemented by a program running on a processor or by specific logic circuits.

[0087] refer to Figure 4 , Figure 4 Schematic diagram of the structure of the signal processing system provided in some embodiments of this application Figure 1 The signal processing system includes at least one signal processing device provided in some embodiments of this application; each of the signal processing devices includes at least one positioning signal processing device; Each of the positioning signal processing devices is configured to acquire a positioning signal and a synchronization pulse signal, the synchronization pulse signal being obtained based on a positioning initial signal, the positioning signal being obtained based on an envelope initial signal acquired from a second target device when the first target device receives the positioning initial signal; determine the sign of the positioning signal based on the positioning signal and the synchronization pulse signal; detect the positioning signal to determine the amplitude of the positioning signal; and output the sign and the amplitude, the sign and the amplitude being used to locate a target device, the target device including at least one second target device, each of the signal processing devices corresponding to one second target device.

[0088] In one possible implementation, the signal processing system further includes a signal generating device; the signal generating device is used to receive signal parameters and generate a positioning initial signal based on the signal parameters; and to generate the synchronization pulse signal based on the positioning initial signal.

[0089] refer to Figure 5 , Figure 5 Schematic diagram of the structure of the signal processing system provided in some embodiments of this application Figure 2 ,like Figure 5As shown, the signal processing system further includes an analog-to-digital converter and at least one envelope signal processing module, each envelope signal processing module corresponding to one of the signal processing devices; each positioning signal processing device includes a first bandpass filter circuit; Each of the envelope signal processing modules is used to acquire an initial envelope signal from the corresponding second target device; Each of the envelope signal processing modules is further configured to process the initial envelope signal to obtain an intermediate envelope signal, and to transmit the intermediate envelope signal to the analog-to-digital converter. The analog-to-digital converter is used to acquire the intermediate envelope signal to obtain the target envelope signal, and transmit the target envelope signal to the first bandpass filter circuit. Each of the first bandpass filter circuits is used to filter the target envelope signal to obtain the positioning signal.

[0090] In at least one embodiment of this application, the analog-to-digital converter can not only perform analog-to-digital conversion, but also generate a high-quality target envelope signal by sampling the intermediate envelope signal, thereby providing a reliable data foundation for subsequent envelope signal analysis.

[0091] By appropriately selecting the sampling rate and quantization precision, key information of the signal can be effectively preserved. For example, an analog-to-digital converter (ADC) can be used to sample the adjusted intermediate envelope signal to convert the analog signal into a digital signal, facilitating subsequent digital signal processing and storage.

[0092] In at least one embodiment of this application, the envelope signal processing module is used to process the acquired initial envelope signal, which is an analog signal. The analog-to-digital converter is responsible for converting the processed analog signal into a digital signal and sending the converted target envelope signal to the first bandpass filter circuit of the signal processing device for further processing.

[0093] In at least one embodiment of this application, the initial envelope signal refers to the raw, unprocessed signal. The initial envelope signal may contain various frequency components, including bioelectrical signals (such as electrocardiogram signals) and location signals.

[0094] In at least one embodiment of this application, the envelope signal processing module is used to uniformly process the initial envelope signal, which helps to maintain the accuracy and consistency of the bioelectric signals and positioning signals output by multiple envelope signal processing modules.

[0095] In at least one embodiment of this application, the first bandpass filter circuit is a module that further filters the digital signal output by the analog-to-digital converter. The first bandpass filter circuit can extract the required positioning signal.

[0096] refer to Figure 6 , Figure 6 This is a schematic diagram of the envelope signal processing module provided in at least one embodiment of this application. Figure 6 As shown, the envelope signal processing module includes at least one of the following: The first low-pass filter circuit is used to perform low-pass filtering on the initial envelope signal to filter out power frequency noise caused by the external environment. An amplifier circuit is used to remove the DC component from the initial envelope signal and amplify the initial envelope signal after removing the DC component. A gain adjustment circuit is used to adjust the gain of the initial envelope signal; The second low-pass filter circuit is used to perform low-pass filtering on the initial envelope signal to remove high-frequency components above a preset frequency in the envelope signal. A differential output circuit is used to convert the initial envelope signal into a differential signal.

[0097] In at least one embodiment of this application, the amplifier circuit can isolate the DC bias component in the input signal and retain only the AC component.

[0098] The amplifier circuit is used to pre-amplify the initial envelope signal to increase the signal amplitude to a level suitable for subsequent processing.

[0099] In at least one embodiment of this application, the gain adjustment circuit is used to adjust the gain of the initial envelope signal. A digital potentiometer can be used as a feedback element to compensate for inconsistencies between components. This helps to ensure the consistency and accuracy of signals from each envelope signal processing module, and helps to ensure that the signal is not distorted during the digitization process, thereby helping to improve the consistency and accuracy of subsequent data acquisition.

[0100] In at least one embodiment of this application, the envelope signal processing module obtains a theoretical gain value for gain adjustment, rather than an actual value. Due to differences in hardware characteristics, the actual gain value of gain adjustment may differ from the theoretical value. In this case, the gain of the envelope signal processing module can be adjusted using a digital potentiometer in the envelope signal processing module to achieve the theoretical gain. The hardware gain of the envelope signal processing module can be stored in the memory of the programmable logic unit and provided to external devices for access via network transmission.

[0101] In at least one embodiment of this application, the first low-pass filter is a passive device with insufficient filtering attenuation depth, and high-frequency noise still exists after subsequent amplification. The second low-pass filter circuit can further suppress high-frequency noise, especially those high-frequency components that may affect the accuracy of the signal. The maximum frequency of the positioning signal can be considered, and the preset frequency can be set as the maximum frequency of the positioning signal to ensure that only useful signal components are retained.

[0102] In at least one embodiment of this application, the differential output circuit can convert the initial envelope signal into a differential signal form. Compared with single-ended signals, differential signals have stronger anti-common-mode interference capabilities and can significantly improve the stability and accuracy of signal transmission.

[0103] In at least one embodiment of this application, the initial envelope signal can be processed sequentially using a first low-pass filter circuit, an amplifier circuit, a gain adjustment circuit, a second low-pass filter circuit, and a differential circuit to obtain the target envelope signal.

[0104] In at least one embodiment of this application, multiple envelope signal processing modules are used to process multiple input signals in parallel, that is, multiple initial envelope signals can be processed in parallel. For example, in a three-dimensional cardiac electrophysiological mapping system, the initial envelope signals of multiple electrodes on a catheter can be acquired simultaneously and processed in parallel, which helps to improve the efficiency of data processing.

[0105] In at least one embodiment of this application, reference is made to Figure 7 , Figure 7 This is a schematic diagram of the structure of a multi-channel envelope signal processing module provided in at least one embodiment of this application. Figure 7 As shown, the multi-channel envelope signal processing module includes: multiple multi-channel envelope signal processing sub-modules; each multi-channel envelope signal processing sub-module includes N envelope signal processing modules. The N envelope signal processing modules can share a single signal processing chip; the value of N is related to the performance of the signal processing chip used.

[0106] refer to Figure 8 , Figure 8 This application provides a schematic diagram of the structure of a signal processing system according to at least one embodiment. Figure 3 ,like Figure 8 As shown, the signal processing system further includes: a digital isolator; the digital isolator is connected between the analog-to-digital converter and at least one of the signal processing devices; the digital isolator is used for signal isolation.

[0107] In at least one embodiment of this application, a digital isolator can electrically isolate the digital signal output by an analog-to-digital converter (ADC) from subsequent signal processing devices, helping to prevent interference, noise, or high-voltage pulses from affecting the signal processing. The isolation mechanism of the digital isolator can effectively protect sensitive circuits in the signal processing device, while also improving the system's anti-interference capability and stability.

[0108] In at least one embodiment of this application, the input of the digital isolator is a differential signal. If the signal processing system includes a digital isolator, a differential output circuit is provided in the envelope signal processing device to convert the initial envelope signal into a differential signal.

[0109] In at least one embodiment of this application, the signal processing device further includes a bioelectric signal processing device; the bioelectric signal processing device is used to extract the bioelectric signal from the target envelope signal and determine the amplitude of the bioelectric signal.

[0110] In at least one embodiment of this application, the bioelectric signal processing device is a functional module in the signal processing device. The bioelectric signal processing device can further extract bioelectric signals (such as electrocardiogram signals, nerve signals, etc.) from the target envelope signal and calculate the amplitude of the bioelectric signal.

[0111] For example, since at least one electrode on the catheter receives an electrocardiogram (ECG) signal, the initial envelope signal obtained by acquiring signals from the electrode includes the ECG signal.

[0112] In at least one embodiment of this application, the target envelope signal refers to the signal obtained by processing the initial envelope signal through low-pass filtering, amplification, gain adjustment, and sampling.

[0113] In at least one embodiment of this application, the amplitude of the bioelectric signal can be calculated based on the peak-to-peak method, i.e., the sum of the absolute values ​​of the positive maximum and negative minimum values. This is then combined with the gain value of the gain adjustment, the range of the analog-to-digital converter, and the reference voltage of the analog-to-digital converter to calculate the amplitude of the bioelectric signal.

[0114] refer to Figure 9 , Figure 9 This is a schematic diagram of the bioelectric signal processing device provided in the embodiments of this application, as shown below. Figure 9 As shown, the bioelectric signal processing device includes: The second bandpass filter circuit is used to filter the target envelope signal to obtain the bioelectric signal; The computation module is used to obtain the frequency information of the bioelectric signal by performing a fast Fourier transform on the bioelectric signal; and to obtain the actual mains frequency based on the preset frequency and the frequency information. A notch filter is used to remove the power frequency signal and its higher harmonics from the bioelectric signal; the parameters of the notch filter are determined based on the actual mains frequency. A biosignal amplitude determination module is used to perform peak detection on the bioelectric signal to obtain the peak-to-peak value of the bioelectric signal; and to determine the amplitude of the bioelectric signal based on the peak-to-peak value of the bioelectric signal.

[0115] In at least one embodiment of this application, the computing module extracts the actual mains frequency information from the acquired bioelectric signals by performing a Fast Fourier Transform (FFT) operation on the bioelectric signals. Since the mains frequencies vary in different regions (e.g., 50Hz or 60Hz) and may fluctuate, the computing module can accurately detect the actual mains frequency by performing the FFT operation.

[0116] In at least one embodiment of this application, the notch filter is configured to dynamically adjust its parameters based on the mains frequency obtained from a fast Fourier transform calculation, to ensure effective removal of the mains frequency and its higher harmonics. For example, if the actual mains frequency is 51Hz, the notch filter will suppress 51Hz and its multiples (such as 102Hz, 153Hz, etc.).

[0117] In at least one embodiment of this application, the biosignal amplitude determination module is responsible for performing peak detection on the bioelectric signal after filtering and power frequency interference removal; and calculating the peak-to-peak value of the bioelectric signal detected by the biosignal amplitude determination module accordingly; and determining the amplitude of the bioelectric signal based on the peak-to-peak value of the bioelectric signal.

[0118] In at least one embodiment of this application, the envelope signal is obtained after preprocessing, wherein the preprocessing involves gain adjustment of the initial envelope signal; sampling of the gain-adjusted initial envelope signal; and the biosignal amplitude determination module can accurately calculate the actual amplitude of the bioelectric signal based on the signal characteristics after gain adjustment. Specifically, the biosignal amplitude determination module reads the gain value used during gain adjustment and, in conjunction with the peak-to-peak value, the range of the analog-to-digital converter, and the reference voltage of the analog-to-digital converter, calculates the amplitude of the bioelectric signal.

[0119] refer to Figure 10 , Figure 10 This is a schematic diagram of the signal processing device provided in the embodiments of this application, such as... Figure 10 As shown, in this embodiment, the signal processing device includes: a bioelectric signal processing device and multiple positioning signal processing devices; wherein, the functions of the bioelectric signal processing device and the multiple positioning signal processing devices can be understood with reference to the description of the foregoing embodiments, and will not be repeated here.

[0120] Figure 11 This is a schematic structural diagram of an electronic device provided in an embodiment of this application. Figure 11 The electronic device shown includes a first processor 1110, which can call and run computer programs from memory to implement the positioning signal processing method provided in the embodiments of this application.

[0121] Optionally, such as Figure 11 As shown, the electronic device may further include a first memory 1120. The first processor 1110 can call and run computer programs from the first memory 1120 to implement the signal processing method provided in the embodiments of this application.

[0122] The first memory 1120 can be a separate device independent of the first processor 1110, or it can be integrated into the first processor 1110.

[0123] Optionally, such as Figure 11 As shown, the electronic device may also include a transceiver 1130, and the first processor 1110 can control the transceiver 1130 to communicate with other devices. Specifically, it can send information or data to other devices or receive information or data sent by other devices.

[0124] The transceiver 1130 may include a transmitter and a receiver. The transceiver 1130 may further include an antenna, and the number of antennas may be one or more.

[0125] Specifically, the electronic device may be a signal processing device in the embodiments of this application, and the electronic device may implement the corresponding processes implemented by the signal processing device in the various methods of the embodiments of this application. For the sake of brevity, it will not be described in detail here.

[0126] For example, embodiments of this application also provide a computer program product, including a computer program that can be executed by a first processor 1110 of an electronic device to perform the steps described in any of the foregoing methods.

[0127] Figure 12 This is a schematic structural diagram of the chip according to an embodiment of this application. Figure 12 The chip shown includes a second processor 1210, which can call and run computer programs from memory to implement the methods in at least one embodiment of this application.

[0128] Optionally, such as Figure 12 As shown, the chip may further include a second memory 1220. The second processor 1210 can retrieve and run computer programs from the second memory 1220 to implement the methods in at least one embodiment of this application.

[0129] The second memory 1220 can be a separate device independent of the second processor 1210, or it can be integrated into the second processor 1210.

[0130] Optionally, the chip may also include an input interface 1230. The second processor 1210 can control the input interface 1230 to communicate with other devices or chips; specifically, it can acquire information or data sent by other devices or chips.

[0131] Optionally, the chip may also include an output interface 1240. The second processor 1210 can control the output interface 1240 to communicate with other devices or chips, specifically, it can output information or data to other devices or chips.

[0132] The chip can be applied to the electronic device in at least one embodiment of this application, and the chip can implement the corresponding processes implemented by the electronic device in the various methods of the embodiments of this application. For the sake of brevity, it will not be described in detail here.

[0133] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0134] It should be understood that the processor in the embodiments of this application may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method embodiments can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor described above may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in at least one embodiment of this application. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software units in the decoding processor. The software units may reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0135] It is understood that the memory in at least one embodiment of this application may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory may be random access memory (RAM), which serves as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0136] It should be understood that the above-described memory is exemplary and not a limiting description. For example, the memory in at least one embodiment of this application may also be static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DR RAM), etc. That is to say, the memory in at least one embodiment of this application is intended to include, but is not limited to, these and any other suitable types of memory.

[0137] This application also provides a storage medium for storing a computer program. This storage medium can be applied to the electronic device 1000 in at least one embodiment of this application, and the computer program causes the computer to execute the corresponding processes implemented by the electronic device 1000 in the various methods of this application embodiment; for brevity, these will not be elaborated further here.

[0138] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0139] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0140] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0141] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0142] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0143] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or electronic device 1000, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0144] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A positioning signal processing method, characterized in that, The method includes: Acquire a positioning signal and a synchronization pulse signal, wherein the synchronization pulse signal is obtained based on a positioning initial signal, and the positioning signal is obtained based on an envelope initial signal collected from the second target device when the first target device receives the positioning initial signal; Based on the positioning signal and the synchronization pulse signal, determine the sign of the positioning signal; The positioning signal is detected to determine its amplitude; The symbol and the amplitude are output, and the symbol and the amplitude are used to locate the target device, which includes the second target device.

2. The method according to claim 1, characterized in that, Before acquiring the positioning signal and synchronization pulse signal, the method further includes: The target envelope signal is obtained by bandpass filtering the target envelope signal using a first bandpass filter; the target envelope signal is the signal obtained after preprocessing the initial envelope signal; the preprocessing includes gain adjustment of the initial envelope signal and sampling of the gain-adjusted initial envelope signal.

3. The method according to claim 1, characterized in that, Detecting the positioning signal and determining its amplitude includes: Peak detection is performed on the positioning signal to obtain the peak-to-peak value of the positioning signal; The amplitude of the positioning signal is determined based on the peak-to-peak value.

4. The method according to claim 3, characterized in that, Peak detection is performed on the positioning signal to obtain the peak-to-peak value of the positioning signal, including: Peak detection is performed on the positioning signal to obtain multiple peak values; Determine the positive maximum value and the negative minimum value among the multiple peak values; The peak-to-peak value is determined based on the positive maximum value and the negative minimum value.

5. The method according to claim 3, characterized in that, Determining the amplitude of the positioning signal based on the peak-to-peak value includes: The gain value of the gain adjustment, the range of the analog-to-digital converter, and the reference voltage of the analog-to-digital converter are obtained. The analog-to-digital converter is used to sample the initial envelope signal after gain adjustment. The amplitude of the positioning signal is obtained based on the gain value, the peak-to-peak value, the range, and the reference voltage.

6. The method according to claim 5, characterized in that, Based on the gain value, the peak-to-peak value, the range, and the reference voltage, the amplitude of the positioning signal is obtained, including: Based on the reference voltage and the peak-to-peak value, a first value is obtained; Based on the range and the gain value, a second value is obtained; The amplitude of the positioning signal is obtained based on the first and second values.

7. The method according to any one of claims 1 to 6, characterized in that, Based on the positioning signal and the synchronization pulse signal, the sign of the positioning signal is determined, including: Based on the first voltage value of the positioning signal at a first time and the second voltage value of the positioning signal at a second time, the sign bit of the positioning signal is determined; the first time is the rising edge of the synchronization pulse signal; the second time is the falling edge of the synchronization pulse signal; the first time and the second time belong to the same pulse cycle.

8. The method according to claim 7, characterized in that, Based on the first voltage value of the positioning signal at a first time moment and the second voltage value of the positioning signal at a second time moment, the sign bit of the positioning signal is determined, including: The first sign bit of the positioning signal is determined based on the first voltage value and the second voltage value; The second sign bit is determined based on the first voltage value; The sign bit of the positioning signal is determined based on the first sign bit and the second sign bit.

9. The method according to claim 8, characterized in that, Determining the first symbol bit of the positioning signal based on the first voltage value and the second voltage value includes: If the first voltage value is greater than the second voltage value, then the first sign bit of the positioning signal is determined to be positive; If the first voltage value is less than or equal to the second voltage value, then the first sign bit of the positioning signal is determined to be negative.

10. The method according to claim 8, characterized in that, Determining the second sign bit based on the first voltage value includes: If the first voltage value is greater than or equal to the first value, then the second sign bit of the positioning signal is positive; If the first voltage value is less than the first value, then the second sign bit of the positioning signal is negative.

11. The method according to any one of claims 8 to 10, characterized in that, Determining the sign bit of the positioning signal based on the first sign bit and the second sign bit includes: If the first symbol bit and the second symbol bit are the same, then the symbol bit of the positioning signal is determined to be the first symbol bit; If the first symbol bit and the second symbol bit are different, then the previously determined symbol bit is used as the symbol bit of the positioning signal.

12. The method according to claim 1, characterized in that, The generation position of the synchronization pulse signal is determined based on the peak position and / or trough position of the initial positioning signal.

13. The method according to claim 12, characterized in that, The strategy for generating the synchronization pulse signal includes: starting from the Kth period of the generated initial positioning signal, generating the pulse signal based on the peak position and / or trough position of the initial positioning signal, where K is an integer greater than 1.

14. A signal processing system, characterized in that, The signal processing system includes at least one signal processing device; each of the signal processing devices includes at least one positioning signal processing device. Each of the aforementioned positioning signal processing devices is configured to acquire a positioning signal and a synchronization pulse signal, wherein the synchronization pulse signal is obtained based on a positioning initial signal, and the positioning signal is obtained based on an envelope initial signal acquired from a second target device when the first target device receives the positioning initial signal. Based on the positioning signal and the synchronization pulse signal, determine the sign of the positioning signal; The positioning signal is detected to determine its amplitude; The symbol and amplitude are output, and the symbol and amplitude are used to locate the target device, the target device including at least one second target device, and each signal processing device corresponds to one second target device.

15. The signal processing system according to claim 14, further comprising: An analog-to-digital converter and at least one envelope signal processing module, each of the envelope signal processing modules corresponding to one of the signal processing devices; Each of the positioning signal processing devices includes a first bandpass filter circuit; Each of the envelope signal processing modules is used to acquire an initial envelope signal from the corresponding second target device; Each of the envelope signal processing modules is further configured to process the initial envelope signal to obtain an intermediate envelope signal, and to transmit the intermediate envelope signal to the analog-to-digital converter. The analog-to-digital converter is used to acquire the intermediate envelope signal to obtain the target envelope signal, and transmit the target envelope signal to the first bandpass filter circuit. Each of the first bandpass filter circuits is used to filter the target envelope signal to obtain the positioning signal.

16. The signal processing system according to claim 15, characterized in that, Each of the envelope signal processing modules includes at least one of the following: The first low-pass filter circuit is used to perform low-pass filtering on the initial envelope signal to filter out power frequency noise caused by the external environment. An amplifier circuit is used to remove the DC component from the initial envelope signal and amplify the initial envelope signal after removing the DC component. A gain adjustment circuit is used to adjust the gain of the initial envelope signal; The second low-pass filter circuit is used to perform low-pass filtering on the initial envelope signal to remove high-frequency components above a preset frequency in the envelope signal. A differential output circuit is used to convert the initial envelope signal into a differential signal.

17. The signal processing system according to claim 15 or 16, characterized in that, The signal processing system further includes: a digital isolator; the digital isolator is connected between the analog-to-digital converter and at least one of the signal processing devices; The digital isolator is used for signal isolation.

18. The signal processing system according to claim 15, characterized in that, Each of the signal processing devices further includes: a bioelectric signal processing device; the bioelectric signal processing device includes: The second bandpass filter circuit is used to filter the target envelope signal to obtain the bioelectric signal; The computation module is used to obtain the frequency information of the bioelectric signal by performing a fast Fourier transform on the bioelectric signal; and to obtain the actual mains frequency based on the preset frequency and the frequency information. A notch filter is used to remove the power frequency signal and the higher harmonics of the power frequency signal from the bioelectric signal; the parameters of the notch filter are determined based on the actual mains frequency. A biosignal amplitude determination module is used to perform peak detection on the bioelectric signal to obtain the peak-to-peak value of the bioelectric signal; and to determine the amplitude of the bioelectric signal based on the peak-to-peak value of the bioelectric signal.

19. A positioning signal processing device, characterized in that, include: The acquisition module is used to acquire a positioning signal and a synchronization pulse signal. The synchronization pulse signal is obtained based on a positioning initial signal. The positioning signal is obtained based on an envelope initial signal collected from a second target device when the first target device receives the positioning initial signal. A symbol determination module is used to determine the symbol of the positioning signal based on the positioning signal and the synchronization pulse signal; A positioning signal amplitude determination module is used to detect the positioning signal and determine the amplitude of the positioning signal; An output module is used to output the symbol and the amplitude, which are used to locate the target device. The target device includes at least one second target device, and each signal processing device corresponds to one second target device.

20. An electronic device, characterized in that, include: A processor and a memory, the memory for storing a computer program, the processor for calling and running the computer program stored in the memory to perform the positioning signal processing method as described in any one of claims 1 to 13.

21. A storage medium, characterized in that, Used to store a computer program that causes a computer to perform the positioning signal processing method as described in any one of claims 1 to 13.

22. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the positioning signal processing method as described in any one of claims 1 to 13.

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