CN1035082C - Controllable pulse width modulation measuring method and the apparatus thereof - Google Patents
Controllable pulse width modulation measuring method and the apparatus thereof Download PDFInfo
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- CN1035082C CN1035082C CN93103954A CN93103954A CN1035082C CN 1035082 C CN1035082 C CN 1035082C CN 93103954 A CN93103954 A CN 93103954A CN 93103954 A CN93103954 A CN 93103954A CN 1035082 C CN1035082 C CN 1035082C
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Abstract
The present invention provides a measuring method and a device thereof for controllable pulse width modulation, which belongs to the technical field of using pulses to measure motion parameters of a moving target. The method solves the disadvantages existing in the present measuring methods that measuring ranges actually have 'blind regions' and accuracy is not high. In the method of the present invention, a series of pulses with different pulse width (controllable pulse width modulation) are transmitted, then the state parameters of the moving target can be determined by phase comparison between the modulated pulses transmitted and the phases of a received pulse envelop. The device comprises a single-chip processor, function generators (1) and (2), a phase comparator, a hardware decoder, a parameter display device, etc. The method and the device can measure the motion parameters of a moving target at a distance of 1 meter to 1 kilometer.
Description
The controllable pulse width modulation measuring method that the present invention proposes belongs to the kinematic parameter field that utilizes the impulsive measurement moving target.
In practice, especially in the navigation of various delivery vehicles, the kinematic parameter (distance, speed) of moving target measured in real time be very important, therefore relevant measuring method is arisen at the historic moment.It seems that at present relevant prior art in this respect can be divided into two big classes on principle, a class is " an impulsive measurement method " or " time interval measurement method ", and another kind of is " coherent measurement method ".
" impulsive measurement method " is to utilize the pulse of emission fixed width and the motion state parameters of mistiming (Δ t) the derivation moving target of target blip.Development along with production practices, after particularly the intelligentized requirement of measuring system proposes, the system that adopts the method is when low coverage (below the km) is measured, because the function support of internal system time counter is not gone up, the range of application of the method is generally more than 1 km, when measuring media, with the minimizing of measuring distance, the time switch frequency of system increases rapidly when measuring distance is controlled at 0.01 meter less than 1 km and system accuracy with electromagnetic wave.When switching frequency fixedly the time, the range finding relative accuracy of the timing quantization error of system decision descends rapidly.Though the principle and the structure of " impulsive measurement method " are all fairly simple, its close-in measurement function is subjected to the restriction of device condition.
" coherent measurement method " is to utilize " coherence " of ripple by the phase interference striped of transmitted wave and reflection wave the kinematic parameter of moving target to be measured, the method measuring accuracy is very high, but the scope of application of measuring is only in the millimeter magnitude, and real-time is poor, can reach more than the hundreds of rice on principle though utilize the coherent method of lasing light emitter to measure, phase place comparison system at this moment gets complexity in principle and in fact is difficult to realize.
In sum, analyze from principle, because device operating rate, fire pulse width, system to all multifactor influence of the restrictions such as count number of coherent fringe, make the measuring accuracy and the measurement range of " impulsive measurement method " and " coherent measurement method " in fact be restricted Δ t identification and system.
The invention of the open flat 2-45790 of JP-of the special permission of Japan is exactly a coherence stack principle of utilizing ripple, some improvement on light emitting source, have been done, the single vertical semiconductor laser that utilization is modulated by square wave sends laser, this light beam is divided into two bundles, 1/2 all after dates of the delayed above-mentioned modulating frequency of beam of laser combine with another Shu Guang, send then can the gating pulse width laser pulse, reduced the volume of device on the one hand, the coherence that laser is good and make the measurement range of system increase to about 1 meter on the other hand, however this can not fundamentally enlarge measurement range and improve real-time accuracy.
Chinese patent 86101543A utilizes Doppler effect, and its measuring process is: record frequency displacement, obtain speed of related movement, behind known kinematic parameter of controlling oneself, obtain distance parameter, but when system itself is zero with the target relative velocity, measurement will not have frequency displacement, can't confirm target.
From above-mentioned prior art see should be pointed out that especially up to now " impulsive measurement method " still be " coherent measurement method " all be the method for utilizing pulse width fixing, this is the key to the issue place from principle.
The objective of the invention is to propose a kind of method of kinematic parameter of new measurement moving target, this new method can enlarge measurement range and improve measuring accuracy.
The ultimate principle of method of the present invention is to utilize controllable pulse width modulation to measure, just abandoned with the fixing method of traditional pulse width, the new approaches that adopted pulse width variation or controllable pulse width modulation to measure, the inventive method is characterised in that the pulse that utilizes a series of different in width of emission, by the emission modulating pulse, determine the kinematic parameter of moving target with the bit comparison mutually of received pulse envelope.
The measuring method that the present invention proposes is elaborated in conjunction with the accompanying drawings.
The oscillogram of Fig. 1 function (1);
The modulated waveform figure that Fig. 2 the present invention adopts;
Fig. 3 oscillogram that transmits and receives of the present invention;
Fig. 4 implements the schematic representation of apparatus of method of the present invention;
The principle of measuring method of the present invention is as follows, in the pulse of different time emission different in width, as shown in Figure 1, with following equation expression:Wherein, K=1,2,3 ...,
W
jBe the stepping variable, j=1,2,3 ...,
Span 0≤t of t≤2n π/Wj, n=1,2,3 ..., corresponding to different stepping variable Wj, the image of function (1) as shown in Figure 1, λ whereinjBe stepping variable WjCorresponding wavelength.
Another function U
o(t)=A
Cos(W
oT+ 0) ... function (2) W
o＞＞W
Jmax, wherein A is an amplitude, W
oBe angular frequency,
oBe initial phase angle.
When function (2) is subjected to the positive half cycle modulation of function (1), pulse image is as shown in Figure 2 just arranged, this pulse is a transponder pulse.
Emission pulse signal as shown in Figure 2 during device work, this pulse signal and measurement target effect reflect, the phase place that compares the negative half period of reflected impulse signal envelope and function (1), if the situation shown in the appearance figure a is a transponder pulse is 180 ° with the phase differential that connects, can determine that just distance is λ to target between the signal location to sending
j* 1/4.In measuring process, to a certain moving target, if when transponder pulse and received pulse phase differential are not 180 °, device can be launched j as required and catches pulsewidth and determine, and repeats several times, give in will installing after determining to finish put and W
jCorresponding each λ
j* 1/4 value accesses and is used for determining measuring distance; Way is, because the corresponding different target range interval of different phase differential, its condition is to have 2 times of measuring exomonental wavelength greater than target range at least; Need the pulse of emission different wave length in the measuring process, its frequency number j should suppose that j is 2, has λ more than or equal to 2
1, λ
2Two pulsed frequencies, and λ
1＞λ
2At first system's emission wavelength is λ
1The repetition arteries and veins in, after entering system, the signal behind the target reflection carries out bit comparison mutually with transmitting, an amount x who represents between target distance regions of living in has been arranged after the AD conversion, promptly the purpose of emission is slightly to divide between whole measurement zone in fact for the first time, the figure place of dividing equals the figure place of AD conversion, for example use 8 AD, will be divided into 2 between whole measurement zone
8Part, and the residing interval number of definite target is x, is λ by system's emission wavelength then
2Repetition pulse, and (λ
1/ AD significance bit)＜λ
2,, obtain fine division amount y to carrying out fine division between whole measurement zone.Because corresponding unique division amount x, the fine division interval of y representative has a lot of, in order to determine the target location uniquely, can do following processing, the level of launching back phase comparator output for the first time or is for the second time done translation handle, make AD conversion for the first time have following the relation between the number of significant digit of AD exchange for the second time together: to be prime number or relatively prime at least.Utilize " Chinese remainder theorem " in the number theory can be earlier with W
jRelevant distance deposits in the system, and can access easily for measuring and just use.
When j is enough big, can be used for the measurement of fixed target.During device work, the switching frequency of its modulation control function (1) is 10
6The Hz magnitude, in 1000 meters under the same measuring accuracy, the system works frequency of this method is far below the fixed pulse mensuration.
The schematic representation of apparatus that can implement this measuring method as shown in Figure 4.
The scale of Single Chip Microcomputer (SCM) system should be determined according to the requirement of different system, Single Chip Microcomputer (SCM) system control function (1) generator and function (2) generator, after function (2) is subjected to function (1) modulation, send the measurement pulse by function (2) generator, reaching the signal that the moving target back reflection returns is received by receiving trap, and function (1) signal together is input to phase comparator to compare phase differential, and comparative result is sent back to Single Chip Microcomputer (SCM) system handle, show its result afterwards by the hardware code translator and on the parameter display device.Servo control mechanism can obtain moving output command, and power supply DC is used for power supply.
Each concrete model that partly adopts of this device is:
Single Chip Microcomputer (SCM) system: 8751, system modulation frequency 0.75MHz, 12MHz,
Function (1) generator: NE564,
Function (2) generator: semiconductor or solid state laser,
Phase comparator: MC12040,
Receiving device: photoelectric commutator,
Hardware code translator: 74LS47 * n,
Parameter display device: charactron etc.
Enforcement this method may further comprise the steps:
A. with W
jThe variable sign indicating number is input to function (1) generator.Different W
jVariable is represented the square-wave pulse of different frequency, and its impulse source is a multivibrator, is responsible for opening or closing the passage that outputs to function 1 generator of multivibrator at next group gate circuit of control of single-chip microcomputer.Provide from zero phase to emitter (function (2) generator) by function (1) generator and to begin to change complete square wave modulation arteries and veins) in (for example 0.75MHz), provide function (1) reference pulse to phase comparator simultaneously.By function (2) generator modulating pulse is launched to target.
Confirm when B. phase comparator PD output meets interrupt condition (measurement is finished).Phase comparator output be the phase differential of the modulation envelope pulse of target echo with reference pulse, send into the unit sheet be transformed into the digital signal of representing phase differential through AD after.After first group of phase data arranged, the multivibrator under the Single-chip Controlling sent another group and measures pulse (for example 12MHz) and repeat above process, after system obtains second group of phase place digital quantity, produces look-at-me, and promptly this point measurement is finished.After this, single-chip microcomputer is jumped into data processor, at first the inherent delay adding of system is proofreaied and correct amount of phase difference, obtains real phase differential digital quantity.System utilizes first group of amount of phase difference space of adjusting the distance slightly to divide, and carefully divides with second group of amount of phase difference space of adjusting the distance, and then two groups of amount of phase difference is accessed in memory space, is distance parameter.
C. confirm to finish, will show that sign indicating number writes the hardware code translator, gives an order to servo control mechanism simultaneously.System exports distance parameter from single-chip microcomputer, keep the demonstration of parameter display device behind the hardware code translator, and when the value of distance parameter amount made that servo control mechanism is necessary to move, single-chip microcomputer promptly sent the action life to servo control mechanism.
D. get back to the A step.System restarts next round and measures.
E. kinematic parameter is shown sign indicating number input hardware code translator.After the next round measurement was finished, system obtained new distance measurements, and the timer in the single-chip microcomputer has also provided the time interval between the secondary measurement, and then can obtain a new parameter is speed, exports to the hardware code translator.
F. to pattern generator input data (screen display is provided).System utilizes system coordinates and coordinates of targets and speed parameter, to pattern generator input data, provides dynamic demonstration.
G. get back to A or D step.System gets back to A and is the measurement to a fresh target, gets back to D and is the dynamic tracking measurement to former measurement target.
Method of the present invention and device thereof compared with prior art have following advantage:
1 points out such as table 1, and the system of method of the present invention and device thereof supports the time switch frequency Far below fixed width impulsive measurement method; In 100 meters, use fixed width impulsive measurement method switch Frequency palpus 3000MHz, and need only 0.75MHz with this law.
The measurement category of 2 methods of the present invention under existing domestics condition be 1 meter to 1 km, In fact filled up " blind area " of " impulsive measurement method " and " coherent measurement method ";
3 methods of the present invention and measurement device precision thereof are unique definite by the precision of position phase comparator, There is not the error of quantification, so the certainty of measurement height;
The device that 4 methods of the present invention adopt is relatively simple, and cost is low;
5 easy and computer networkings realize the automation processing.
Table 10.01 meter of system accuracy, electromagnetic wave is done media.
Claims (2)
1. pulse measuring method of measuring the motion state parameters of moving target, this measuring method is to realize by the difference between transponder pulse and the received pulse, it is characterized in that, adopt a kind of mensuration of controllable pulse width modulation, promptly launch the pulse of a series of different in width, by the emission modulating pulse, determine the motion state parameters of moving target with the bit comparison mutually of received pulse envelope.
2. controllable pulse width modulation measuring method according to claim 1 is characterized in that, the modulating pulse of a series of different in width of emission is that the positive half cycle modulated function (2) by function (1) is produced, and these two functions are respectively:
U
o(t)=Acos (W
oT+ 0) ... function (2)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN93103954A CN1035082C (en) | 1993-04-07 | 1993-04-07 | Controllable pulse width modulation measuring method and the apparatus thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN93103954A CN1035082C (en) | 1993-04-07 | 1993-04-07 | Controllable pulse width modulation measuring method and the apparatus thereof |
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| Publication Number | Publication Date |
|---|---|
| CN1093468A CN1093468A (en) | 1994-10-12 |
| CN1035082C true CN1035082C (en) | 1997-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN93103954A Expired - Fee Related CN1035082C (en) | 1993-04-07 | 1993-04-07 | Controllable pulse width modulation measuring method and the apparatus thereof |
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| KR101473870B1 (en) | 2009-06-19 | 2014-12-18 | 삼성전자 주식회사 | Cleaning apparatus |
| CN103948353B (en) * | 2009-06-19 | 2016-07-06 | 三星电子株式会社 | Docking station for robot cleaner and the method to robot cleaner transmitting docking targeting signal |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN86101543A (en) * | 1986-08-11 | 1988-03-02 | 复旦大学 | A kind of microwave monitoring radar for motive target that utilizes Doppler effect |
-
1993
- 1993-04-07 CN CN93103954A patent/CN1035082C/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN86101543A (en) * | 1986-08-11 | 1988-03-02 | 复旦大学 | A kind of microwave monitoring radar for motive target that utilizes Doppler effect |
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|---|---|
| CN1093468A (en) | 1994-10-12 |
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