CN102975662A - Ultrasonic wave reversing radar system based on time difference of arrival (TDOA) - Google Patents
Ultrasonic wave reversing radar system based on time difference of arrival (TDOA) Download PDFInfo
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- CN102975662A CN102975662A CN2012104548904A CN201210454890A CN102975662A CN 102975662 A CN102975662 A CN 102975662A CN 2012104548904 A CN2012104548904 A CN 2012104548904A CN 201210454890 A CN201210454890 A CN 201210454890A CN 102975662 A CN102975662 A CN 102975662A
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Abstract
An ultrasonic wave reversing radar system based on time difference of arrival (TDOA) comprises an automobile, a plurality of range-measurement modules arranged on the automobile, a receiving module, a display module and an alarm output module. Each range-measurement module comprises an ultrasonic wave sensor, a radio frequency sensor, a first emission module and a second emission module, wherein each ultrasonic wave sensor is connected with each first emission module, each radio frequency sensor is connected with each second emission module, each receiving module is respectively connected with each first emission module and each second emission module, and the display module and the alarm output module are respectively connected with the receiving module. The ultrasonic wave reversing radar system has the advantages of being strong in anti-interference capacity, high in measurement accuracy and high in safety performance without measurement blind areas.
Description
Technical field
The present invention relates to a kind of Reverse Sensor, be specifically related to a kind of ultrasonic car reversing radar system based on TDOA.
Background technology
Ultrasonic ranging is a kind of non-contact detecting technology, is not subjected to the impact of light, measurand color etc., has certain adaptive capacity under than rugged environment (as containing dust), and therefore, purposes is very extensive, and is widely used in the reversing prompting.The ultrasonic ranging scheme that the Ultrasonic Range Finder for Parking that generally uses in the market adopts is: known transmit power, measure received power at receiving node, and calculate propagation loss and obtain measuring distance.Yet the poor anti jamming capability of this kind Ultrasonic Range Finder for Parking is although the characteristic performance is good in experimental situation, but in actual environment, the conditions such as temperature obstacle and communication mode often all change, so that the disturbing influence that ultrasonic signal is subject to is larger, and the accuracy that impact is measured.
Summary of the invention
The object of the present invention is to provide a kind of ultrasonic car reversing radar system based on TDOA, to solve existing Ultrasonic Range Finder for Parking poor anti jamming capability, technical matters that measurement accuracy is low.
For achieving the above object, the invention provides a kind of ultrasonic car reversing radar system based on TDOA, comprise: automobile and the some range finding modules, receiver module, display module and the alarm output module that are installed on the automobile, the range finding module comprises ultrasonic transduter, radio frequency sensor, the first transmitter module and the second transmitter module, wherein
Ultrasonic transduter is in order to detecting obstacle information, and the information that detects is sent to the first transmitter module;
Radio frequency sensor is in order to detecting obstacle information, and the information that detects is sent to the second transmitter module;
The first transmitter module is connected with receiver module with ultrasonic transduter respectively, is converted into digital signal and is sent to receiver module in order to the information that will receive;
The second transmitter module is connected with receiver module with radio frequency sensor respectively, is converted into digital signal and is sent to receiver module in order to the information that will receive;
Receiver module respectively with the first transmitter module be connected transmitter module and be connected, in order to the digital signal that receives is compared, the time of advent that obtains the signal that the first transmitter module and the second transmitter module launch is poor, and calculates obstacle distance; It further comprises: receiving element, processing unit and output unit, wherein:
Receiving element respectively with the first transmitter module be connected transmitter module and be connected, in order to receive the digital signal that the first transmitter module and the second transmitter module send and to be sent to processing unit;
Processing unit is connected with receiving element, and in order to the digital signal that receives is processed, the time of advent of calculating ultrasonic signal and radiofrequency signal is poor, obtains obstacle distance, and sends information to output unit according to result of calculation;
Output unit is in order to receiving information, and information is sent to display module and alarm output module;
Display module is connected with output unit, in order to receive information, provides visual alerts and shows obstacle distance according to information;
Alarm output module is connected with output unit, in order to receiving information, and according to information output alarm information.
According to the described ultrasonic car reversing radar system based on TDOA of preferred embodiment of the present invention, this first transmitter module comprises a Kalman filter, in order to remove the random noise in the ultrasonic signal, obtains preferably estimated valve.
According to the described ultrasonic car reversing radar system based on TDOA of preferred embodiment of the present invention, this display module and alarm output module are integrated in the receiver module.
According to the described ultrasonic car reversing radar system based on TDOA of preferred embodiment of the present invention, this receiver module adopts the AT89S52 micro controller system.
According to the described ultrasonic car reversing radar system based on TDOA of preferred embodiment of the present invention, this display module comprises a LED light-emitting diode, in order to show whether obstacle is arranged in the investigative range, if obstacle is arranged in investigative range, the LED light-emitting diode glimmers with certain frequency, and the frequency of flicker determines that with distance the nearlyer frequency of distance is higher.
According to the described ultrasonic car reversing radar system based on TDOA of preferred embodiment of the present invention, this display module comprises 8 charactrons, in order to show obstacle distance.
According to the described ultrasonic car reversing radar system based on TDOA of preferred embodiment of the present invention, this 8 for second in the charactron be the arithmetic point position.
According to the described ultrasonic car reversing radar system based on TDOA of preferred embodiment of the present invention, this alarm output module comprises voice-output unit, in order to exporting the voice suggestion obstacle distance, and the investigative range of voice suggestion is 0 ~ 1.5m, and then tip distance is excessive if surpass the prompting investigative range.
According to the described ultrasonic car reversing radar system based on TDOA of preferred embodiment of the present invention, this alarm output module comprises buzzer siren, in order to output alarm information.
According to the described ultrasonic car reversing radar system based on TDOA of preferred embodiment of the present invention, this ultrasonic transduter adopts SRF08 ultrasonic ranging chip.
TDOA(time difference ofarrival) range finding is the time difference that arrives unknown receiving terminal by calculating two kinds of different wireless signals, and the speed of propagating according to two kinds of signals again calculates the distance of unknown receiving terminal and launch terminal.It is a kind of in the wireless sensor network node distance-finding method, because its range accuracy is high, has obtained more application in the wireless sensor network targeting scheme.The present invention utilizes ultrasonic transduter and radio frequency sensor in conjunction with the TDOA range measurement principle, detects the distance of obstacle, and antijamming capability is strong, measures accurately, and precision reaches 1cm, and can carry out voice broadcast and charactron demonstration.Simultaneously, the present invention adopts a plurality of range finding modules, be disposed on the automobile rear, can detect in automobile dead aft, left back, the right abaft 1.5m scope whether obstacle is arranged, and survey precision is high, can be applied in widely in the automated parking system automobile to the perception of the environment of parking, the sensitivity of sonac testing environment information and the stability of data have been strengthened, this system can improve automobile autonomous driving system to the perception of the environment of parking, increase the backsight ability of automobile, measure quickly and accurately the distance between obstacle and the automobile.In addition, the present invention adopts the method for kalman filtering to remove random noise in the ultrasonic signal, obtains preferably estimated valve, reduces the generation of blind area.Compared with prior art, the present invention has the advantage that antijamming capability is strong, nothing is measured the blind area, survey precision is high, safety performance is high.
Description of drawings
Fig. 1 is the structure principle chart that the present invention produces the ripple ranging system.
The specific embodiment
Below in conjunction with accompanying drawing, specify the present invention.
See also Fig. 1, a kind of ultrasonic car reversing radar system based on TDOA, comprise: automobile 1 and three range finding modules 2, receiver module 3, display module 4 and alarm output module 5 being installed on the automobile 1, range finding module 2 comprises ultrasonic transduter 21, radio frequency sensor 22, the first transmitter module 23 and the second transmitter module 24.
Ultrasonic transduter 21 is in order to detecting obstacle information, and the information that detects is sent to the first transmitter module 23.Radio frequency sensor 22 is in order to detecting obstacle information, and the information that detects is sent to the second transmitter module 24.The first transmitter module 23 and the second transmitter module 24 are converted into digital signal and are sent to receiver module 3 in order to the information that will receive, and the first transmitter module 23 also comprises a Kalman filter, in order to remove the random noise in the ultrasonic signal, obtain preferably estimated valve.Receiver module 3 respectively with the first 23 of moulds of emission be connected transmitter module 24 and be connected, in order to the digital signal that receives is compared, the time of advent that obtains the signal that the first transmitter module 23 and the second transmitter module 24 launch is poor, and calculates obstacle distance, and it further comprises:
Receiving element 31: respectively with the first transmitter module 23 be connected transmitter module 24 and be connected, in order to receive the digital signal that the first transmitter module 23 and the second transmitter module 24 send and to be sent to processing unit 32.
Processing unit 32: be connected with receiving element 31, in order to the digital signal that receives is processed, the time of advent of calculating ultrasonic signal and radiofrequency signal is poor, obtains obstacle distance, and sends information to output unit 33 according to result of calculation.
Output unit 33: in order to receiving information, and information is sent to display module 4 and alarm output module 5.
Display module 4 is connected with output unit 33, in order to receive information, provides visual alerts and shows obstacle distance according to information.Alarm output module 5 is connected with output unit 33, in order to receiving information, and according to information output alarm information.
Further, display module 4 comprises LED light-emitting diode and 8 charactrons, the LED light-emitting diode is in order to show whether obstacle is arranged in the investigative range, if obstacle is arranged in investigative range, the LED light-emitting diode glimmers with certain frequency, and the frequency of flicker determines that with distance the nearlyer frequency of distance is higher.8 figure place codes are effective in showing obstacle distance, and second is the arithmetic point position in the charactron, the last position of arithmetic point, behind the arithmetic point 6.Alarm output module 5 comprises voice-output unit and buzzer siren, and voice-output unit is in order to exporting the voice suggestion obstacle distance, and the investigative range of voice suggestion is 0 ~ 1.5m, and then tip distance is excessive if surpass the prompting investigative range.Buzzer siren is in order to output alarm information after detecting obstacle.
Further, display module 4 and alarm output module 5 are integrated in the receiver module 3, and receiver module 3 adopts the AT89S52 micro controller system.Ultrasonic transduter 21 adopts SRF08 ultrasonic ranging chip.
More than adopt three range finding modules 2 to be installed in automobile 1 rear, still, need to prove that the present invention does not limit the concrete quantity of range finding module 2, specifically select as required the quantity of range finding module 2 in the practical application, can also can be less than three more than three.More than adopt just example of three range finding modules 2, be not intended to limit the present invention.
Ultrasonic car reversing radar system start based on the TDOA of the present invention rear automatic operation that powers on, switch range finding key also can be set, automatic operation begins range finding after pressing the range finding key, when in 0 ~ 1.6m scope forwardly obstacle being arranged, can report the distance of obstacle, and more rise is close to more for LED LED flash, flicker frequency, and distance is presented on 8 charactrons.When occurring measuring overtime or external interrupt, system can interrupt processing automatically, and restarts measurement.
The present invention utilizes ultrasonic transduter and radio frequency sensor in conjunction with the TDOA range measurement principle, detects the distance of obstacle, and antijamming capability is strong, measures accurately, and precision reaches 1cm, and can carry out voice broadcast and charactron demonstration.Simultaneously, the present invention adopts three range finding modules, be disposed on the automobile rear, can detect in automobile dead aft, left back, the right abaft 1.5m scope whether obstacle is arranged, and survey precision is high, can be applied in widely in the automated parking system automobile to the perception of the environment of parking, the sensitivity of sonac testing environment information and the stability of data have been strengthened, this system can improve automobile autonomous driving system to the perception of the environment of parking, increase the backsight ability of automobile, measure quickly and accurately the distance between obstacle and the automobile.In addition, the present invention adopts the method for kalman filtering to remove random noise in the ultrasonic signal, obtains preferably estimated valve, reduces the generation of blind area.Compared with prior art, the present invention has the advantage that antijamming capability is strong, nothing is measured the blind area, survey precision is high, safety performance is high.
The above, it only is better embodiment of the present invention, be not that the present invention is done any pro forma restriction, any content that does not break away from technical solution of the present invention, according to any simple modification, equivalent variations and the modification that technical spirit of the present invention is done above embodiment, all belong to the scope of technical solution of the present invention.
Claims (10)
1. ultrasonic car reversing radar system based on TDOA, it is characterized in that, comprise: automobile and the some range finding modules, receiver module, display module and the alarm output module that are installed on the described automobile, described range finding module comprises ultrasonic transduter, radio frequency sensor, the first transmitter module and the second transmitter module, wherein
Described ultrasonic transduter is in order to detecting obstacle information, and the information that detects is sent to described the first transmitter module;
Described radio frequency sensor is in order to detecting obstacle information, and the information that detects is sent to described the second transmitter module;
Described the first transmitter module is connected with receiver module with described ultrasonic transduter respectively, is converted into digital signal and is sent to described receiver module in order to the information that will receive;
Described the second transmitter module is connected with receiver module with described radio frequency sensor respectively, is converted into digital signal and is sent to described receiver module in order to the information that will receive;
Described receiver module respectively with described the first transmitter module be connected transmitter module and be connected, in order to the digital signal that receives is compared, the time of advent that obtains the signal that described the first transmitter module and the second transmitter module launch is poor, and calculates obstacle distance; It further comprises: receiving element, processing unit and output unit, wherein:
Described receiving element respectively with described the first transmitter module be connected transmitter module and be connected, in order to receive the digital signal that described the first transmitter module and the second transmitter module send and to be sent to described processing unit;
Described processing unit is connected with described receiving element, and in order to the digital signal that receives is processed, the time of advent of calculating ultrasonic signal and radiofrequency signal is poor, obtains obstacle distance, and sends information to described output unit according to result of calculation;
Described output unit is in order to receiving information, and information is sent to display module and alarm output module;
Described display module is connected with described output unit, in order to receive information, provides visual alerts and shows obstacle distance according to information;
Described alarm output module is connected with described output unit, in order to receiving information, and according to information output alarm information.
2. the ultrasonic car reversing radar system based on TDOA as claimed in claim 1 is characterized in that, described the first transmitter module comprises a Kalman filter, in order to remove the random noise in the ultrasonic signal, obtains preferably estimated valve.
3. the ultrasonic car reversing radar system based on TDOA as claimed in claim 1 is characterized in that, described display module and alarm output module are integrated in the described receiver module.
4. the ultrasonic car reversing radar system based on TDOA as claimed in claim 3 is characterized in that, described receiver module adopts the AT89S52 micro controller system.
5. the ultrasonic car reversing radar system based on TDOA as claimed in claim 1, it is characterized in that, described display module comprises a LED light-emitting diode, in order to show whether obstacle is arranged in the investigative range, if obstacle is arranged in investigative range, described LED light-emitting diode glimmers with certain frequency, and the frequency of flicker determines that with distance the nearlyer frequency of distance is higher.
6. the ultrasonic car reversing radar system based on TDOA as claimed in claim 1 is characterized in that, described display module comprises 8 charactrons, in order to show obstacle distance.
7. the ultrasonic car reversing radar system based on TDOA as claimed in claim 6 is characterized in that, described 8 is that second is the arithmetic point position in the charactron.
8. the ultrasonic car reversing radar system based on TDOA as claimed in claim 1, it is characterized in that, described alarm output module comprises voice-output unit, in order to export the voice suggestion obstacle distance, and the investigative range of voice suggestion is 0 ~ 1.5m, and then tip distance is excessive if surpass the prompting investigative range.
9. the ultrasonic car reversing radar system based on TDOA as claimed in claim 1 is characterized in that, described alarm output module comprises buzzer siren, in order to output alarm information.
10. the ultrasonic car reversing radar system based on TDOA as claimed in claim 1 is characterized in that, described ultrasonic transduter adopts SRF08 ultrasonic ranging chip.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012104548904A CN102975662A (en) | 2012-11-13 | 2012-11-13 | Ultrasonic wave reversing radar system based on time difference of arrival (TDOA) |
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| CN2012104548904A CN102975662A (en) | 2012-11-13 | 2012-11-13 | Ultrasonic wave reversing radar system based on time difference of arrival (TDOA) |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106054197A (en) * | 2016-05-14 | 2016-10-26 | 北京电子科技职业学院 | Automobile reversing distance measuring instrument |
| CN107982825A (en) * | 2017-11-23 | 2018-05-04 | 成都汉度科技有限公司 | Tele-control system based on 4G communication apparatus |
| WO2020142946A1 (en) * | 2019-01-09 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Repeater and ranging system |
| CN111797741A (en) * | 2020-06-24 | 2020-10-20 | 中国第一汽车股份有限公司 | Vehicle detection method, device, vehicle and storage medium |
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| CN201909849U (en) * | 2010-12-14 | 2011-07-27 | 浙江师范大学 | Intelligent reverse ranging system |
| US20110254674A1 (en) * | 2010-04-20 | 2011-10-20 | Whetron Electronics Co., Ltd | Hostless automobile reverse radar warning system |
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Patent Citations (5)
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| CN1841086A (en) * | 2005-03-29 | 2006-10-04 | 松下电器产业株式会社 | Positioning system and method for reducing ultrasonic signal conflict |
| CN201285609Y (en) * | 2008-09-16 | 2009-08-05 | 鲁东大学 | Electronic training apparatus for automobile pile backing and garage shifting |
| CN102116859A (en) * | 2009-12-31 | 2011-07-06 | 青岛海尔软件有限公司 | Indoor positioning perception system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106054197A (en) * | 2016-05-14 | 2016-10-26 | 北京电子科技职业学院 | Automobile reversing distance measuring instrument |
| CN107982825A (en) * | 2017-11-23 | 2018-05-04 | 成都汉度科技有限公司 | Tele-control system based on 4G communication apparatus |
| WO2020142946A1 (en) * | 2019-01-09 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Repeater and ranging system |
| CN111742450A (en) * | 2019-01-09 | 2020-10-02 | 深圳市大疆创新科技有限公司 | Repeater and ranging system |
| CN111742450B (en) * | 2019-01-09 | 2022-03-01 | 深圳市大疆创新科技有限公司 | Repeater and ranging system |
| CN111797741A (en) * | 2020-06-24 | 2020-10-20 | 中国第一汽车股份有限公司 | Vehicle detection method, device, vehicle and storage medium |
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Application publication date: 20130320 |