CN107907877A - A kind of indoor distances alignment system based on Doppler effect - Google Patents
A kind of indoor distances alignment system based on Doppler effect Download PDFInfo
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- CN107907877A CN107907877A CN201711041614.4A CN201711041614A CN107907877A CN 107907877 A CN107907877 A CN 107907877A CN 201711041614 A CN201711041614 A CN 201711041614A CN 107907877 A CN107907877 A CN 107907877A
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- signal
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- doppler effect
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- doppler
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- 230000000694 effects Effects 0.000 title claims abstract description 14
- 238000012545 processing Methods 0.000 claims abstract description 7
- 238000013461 design Methods 0.000 claims description 12
- 238000001914 filtration Methods 0.000 claims description 7
- 230000003321 amplification Effects 0.000 claims description 6
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 6
- 239000013078 crystal Substances 0.000 claims description 4
- 230000008713 feedback mechanism Effects 0.000 claims description 4
- 230000000737 periodic effect Effects 0.000 claims description 2
- 230000011664 signaling Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 101150026476 PAO1 gene Proteins 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/14—Systems for determining distance or velocity not using reflection or reradiation using ultrasonic, sonic, or infrasonic waves
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03G—CONTROL OF AMPLIFICATION
- H03G3/00—Gain control in amplifiers or frequency changers
- H03G3/20—Automatic control
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03L—AUTOMATIC CONTROL, STARTING, SYNCHRONISATION OR STABILISATION OF GENERATORS OF ELECTRONIC OSCILLATIONS OR PULSES
- H03L7/00—Automatic control of frequency or phase; Synchronisation
- H03L7/06—Automatic control of frequency or phase; Synchronisation using a reference signal applied to a frequency- or phase-locked loop
- H03L7/08—Details of the phase-locked loop
- H03L7/085—Details of the phase-locked loop concerning mainly the frequency- or phase-detection arrangement including the filtering or amplification of its output signal
- H03L7/093—Details of the phase-locked loop concerning mainly the frequency- or phase-detection arrangement including the filtering or amplification of its output signal using special filtering or amplification characteristics in the loop
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03L—AUTOMATIC CONTROL, STARTING, SYNCHRONISATION OR STABILISATION OF GENERATORS OF ELECTRONIC OSCILLATIONS OR PULSES
- H03L7/00—Automatic control of frequency or phase; Synchronisation
- H03L7/06—Automatic control of frequency or phase; Synchronisation using a reference signal applied to a frequency- or phase-locked loop
- H03L7/16—Indirect frequency synthesis, i.e. generating a desired one of a number of predetermined frequencies using a frequency- or phase-locked loop
- H03L7/18—Indirect frequency synthesis, i.e. generating a desired one of a number of predetermined frequencies using a frequency- or phase-locked loop using a frequency divider or counter in the loop
- H03L7/1803—Indirect frequency synthesis, i.e. generating a desired one of a number of predetermined frequencies using a frequency- or phase-locked loop using a frequency divider or counter in the loop the counter or frequency divider being connected to a cycle or pulse swallowing circuit
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03L—AUTOMATIC CONTROL, STARTING, SYNCHRONISATION OR STABILISATION OF GENERATORS OF ELECTRONIC OSCILLATIONS OR PULSES
- H03L7/00—Automatic control of frequency or phase; Synchronisation
- H03L7/06—Automatic control of frequency or phase; Synchronisation using a reference signal applied to a frequency- or phase-locked loop
- H03L7/16—Indirect frequency synthesis, i.e. generating a desired one of a number of predetermined frequencies using a frequency- or phase-locked loop
- H03L7/18—Indirect frequency synthesis, i.e. generating a desired one of a number of predetermined frequencies using a frequency- or phase-locked loop using a frequency divider or counter in the loop
- H03L7/181—Indirect frequency synthesis, i.e. generating a desired one of a number of predetermined frequencies using a frequency- or phase-locked loop using a frequency divider or counter in the loop a numerical count result being used for locking the loop, the counter counting during fixed time intervals
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The present invention relates to a kind of indoor distances alignment system based on Doppler effect, including：The generator of movable signal；Signal receiver；Signal processing system, using the pulse signal of FPGA device reception after treatment, passes through Doppler frequency shift related algorithm and calculates the distance between transmitter and receiver.
Description
Technical field
The present invention relates to indoor positioning correlative technology field, it is specifically a kind of based on Doppler effect it is indoor away from
From alignment system.
Technical background
Outdoor positioning technology positioning accuracy for interior is poor, uses the outdoor positioning skills such as GPS under environment indoors
Often position error is big for art, can not work normally, it is difficult to meets the needs of Indoor Location-aware service.Domestic and international common interior
The research algorithm of location technology is based primarily upon step-out time, arrival time, signal strength, angle of arrival method, a source honeycomb district
Several algorithms such as location technology.But the precision of these types of algorithm is not ideal enough.The present invention devises one kind and uses ultrasonic signal
Doppler effect carry out indoor distances alignment system, reduce to synchronization, the requirement of indoor environment, while improve positioning
Precision.Distance positioning system using Digilent Basys2 Board FPGA plates as processor, available for 5*6m2Small space machine
The scene such as device people or the movement of trolley tracking.
The content of the invention
The object of the present invention is to provide it is a kind of it is highly practical, computational accuracy is high, the indoor distances based on Doppler effect are determined
Position system.The present invention considers signal noise in circuit design and algorithm and disturbs the influence for positioning of adjusting the distance, and selects low noise device
Part, designs low noise circuit, has stronger antijamming capability, and higher computational accuracy.
To achieve the above object, the present invention uses following technical scheme：
A kind of indoor distances alignment system based on Doppler effect, including：
The generator of movable signal, selects the crystal oscillator AOCJY series of having chance with of high-accuracy stable to be used as precise clock source, and leads to
74HC4017 and CD4049 digital devices are crossed to be divided and driven；
Signal receiver, received signal is converted to the computable pulse signal of FPGA device；By feeding back machine
System realizes variable-gain amplification circuit, and the ultrasonic signal of different amplitudes is converted to the signal of fixed amplitude, and designs two-stage filter
Ripple noise reduction, pre-filtering noise reduction and bandpass filtering noise reduction；
Signal processing system, using the pulse signal of FPGA device reception after treatment, it is related to pass through Doppler frequency shift
Algorithm calculates the distance between transmitter and receiver, realizes positioning, and orientation distance calculates as follows：According to Doppler effect, fr
It is to receive signal frequency, ftIt is emission signal frequency, v is signaling rate, vsIt is emission system translational speed, has：Order：Tr=1/fr, Tt=1/ft；Have：Tr=Tt+vs·Tt/v；Order：Δt=Tr-Tt, Δd=vs·Tt；Have：
Δd=ΔtV, wherein：ΔdFor the distance of transmitting terminal and receiving terminal, ΔtIt is poor for phase time, if initial receive-transmit system distance
For 0, then last length is exactly to each periodic distance ΔdIt is accumulative, it is real with reception system that mobile emission system can be obtained
When distance St=∑ Δd。
The present invention is since using above technical scheme, it has the following advantages：
The present invention carries out indoor distances positioning using widely used Doppler frequency shift related algorithm.For mobile
Transmitter, selects the active crystal oscillator device of high-accuracy stable.In the design of signal receiver, realized by feedback mechanism variable
The ultrasonic signal of different amplitudes, is converted to the signal of fixed amplitude by gain amplifying circuit.Two stage filter noise reduction is designed at the same time, it is preceding
Filtering noise reduction and bandpass filtering noise reduction are put, ensure that the reliability for receiving signal.Realized using embedded programming and be based on Doppler
The indoor distances positioning of effect, improves the precision of orientation distance calculating.Test result indicates that the alignment system is in 5*6m2Model
The indoor room steady operation enclosed, cumulative errors are in below 0.2m.
Brief description of the drawings
Fig. 1 is receiving system circuit design drawing, the variable-gain amplification circuit realized by feedback mechanism.
Fig. 2 is signal T in signal processing system programmingrAnd TtTwo cycles calculation flow chart.
Fig. 3 is the overview flow chart that orientation distance is calculated in signal processing system programming.
Fig. 4 is experimental results error figure.
Embodiment
Below by specific embodiments and the drawings, the present invention is further illustrated.This example is only limitted to the explanation present invention
A kind of implementation, do not represent the limitation to coverage of the present invention.
A kind of indoor distances Location System Design based on Doppler effect of the present invention, concrete implementation process description is such as
Under：
The first step, the circuit design of emission system.Selection high-accuracy stable have source crystal oscillator AOCJY series as it is accurate when
Zhong Yuan, the signal that clock source produces are divided and driven by 74HC4017 devices and CD4049 digital devices, finally will letter
Number being transferred to antenna realizes emission system circuit.
Second step, receiving system circuit design.Variable-gain amplification circuit is realized by feedback mechanism, is realized different
The ultrasonic signal of amplitude is converted to the signal of fixed amplitude.The core devices of variable-gain amplification circuit are variable gain amplifiers
AD604, has ultralow input noise and two independent gain channels.
Signal selects less resistance R1, variable-gain amplification circuit has preferably output herein by entering at Fin
Effect.In addition, accessing the passive bandwidth-limited circuit of Order RC by AD604 pins PAO1, pre-filtering noise reduction is realized.
Signal after the control of AD604 pin OUT2 output gains.The ungrounded terminal voltages of resistance R3 are V=Fin*G=A*cos
(ω t), G are to automatically control gain, A amplitudes.V carries out a square processing by the four-quadrant multiplier of AD835, AD835 ports 5
Voltage is-(V)2/ 2. so, and the voltage that AD711 input ports 3 input is-(A)2/ 2, by AD711 control rings R8, C11 and
The feedback voltage V GN1 of AD604 changes gain so that VSET=- (A)2/ 2, it can be realized by controlling VSET to obtain the size of A
Output signal of the varying input signal to fixed amplitude.
In addition, 2 rank band-pass filter clutters of 3 grades of series connection of design, effectively suppress noise.Pass through bandpass filter
Afterwards, allow signal to pass through zero cross detection circuit, the ripple of sin forms is converted into the tractable impulse waves of FPGN.
3rd step, signal processing system programming.Signal handler is opened by ISE Design Suite14.7
Send out platform and hardware design programming is carried out to Digilent Basys2 Board FPGA plates, which is realized based on VHDL language,
Acquisition pulse signal is handled, and range information is obtained by computing based on Doppler effect.
The implementation procedure of algorithm is further described below according to the calculation flow chart of signal period calculation flow chart and algorithm.
Δ is calculated in order to reduce signal periodtThe error brought, a Δ is calculated when signal adds up 100 cyclest, it is carried out at the same time one
The calculating of secondary signal distance.The cycle time of current input pulse calculates as follows：FPGA detects the rising edge of input pulse signal
Counted, after counting 100 times, be multiplied by FPGA system clock operation number with system clock frequency 100MHz, you can
Obtain the cycle time of current input pulse, i.e. TrAnd TtValue.And then 100 cycle phase potential differences can be obtained.May finally
Obtain the displacement distance in 100 cycles.
4th step, the statistics and analysis of experimental data.Experimentation：Transmitter is gradually distance from reception with the speed of 1m/s
Device, until the distance of 5m.Transmitter, which often moves 20cm, to be done and once records, the distance that record FPGA is shown.Finally, by display away from
Error analysis is carried out from actual range.By experimental error figure, transmitter often moves 20cm, and actual error ±
Within 1cm.In 5*6m2Space in, measurement error is no more than 0.2m, and effectively moving object can be positioned in real time.According to
Doppler analysis moving object speed is faster, and positioning accuracy is higher.
Claims (1)
1. a kind of indoor distances alignment system based on Doppler effect, including：
The generator of movable signal, selects the crystal oscillator AOCJY series of having chance with of high-accuracy stable to be used as precise clock source, and passes through
74HC4017 and CD4049 digital devices are divided and driven；
Signal receiver, received signal is converted to the computable pulse signal of FPGA device；It is real by feedback mechanism
The ultrasonic signal of different amplitudes, is converted to the signal of fixed amplitude by existing variable-gain amplification circuit, and designs two stage filter drop
Make an uproar, pre-filtering noise reduction and bandpass filtering noise reduction；
Signal processing system, using the pulse signal of FPGA device reception after treatment, passes through Doppler frequency shift related algorithm
The distance between transmitter and receiver are calculated, realizes positioning, orientation distance calculates as follows：According to Doppler effect, frIt is to connect
Receive signal frequency, ftIt is emission signal frequency, v is signaling rate, vsIt is emission system translational speed, has：Order：Tr=1/fr, Tt=1/ft；Have：Tr=Tt+vs·Tt/v；Order：Δt=Tr-Tt, Δd=vs·Tt；Have：
Δd=ΔtV, wherein：ΔdFor the distance of transmitting terminal and receiving terminal, ΔtIt is poor for phase time, if initial receive-transmit system distance
For 0, then last length is exactly to each periodic distance ΔdIt is accumulative, it is real with reception system that mobile emission system can be obtained
When distance St=∑ Δd。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711041614.4A CN107907877A (en) | 2017-10-31 | 2017-10-31 | A kind of indoor distances alignment system based on Doppler effect |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711041614.4A CN107907877A (en) | 2017-10-31 | 2017-10-31 | A kind of indoor distances alignment system based on Doppler effect |
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| Publication Number | Publication Date |
|---|---|
| CN107907877A true CN107907877A (en) | 2018-04-13 |
Family
ID=61843011
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6078790A (en) * | 1996-04-25 | 2000-06-20 | Samsung Electronics Co., Ltd. | Radio frequency generator for a radio communication system |
| CN101261318A (en) * | 2008-04-03 | 2008-09-10 | 北京航空航天大学 | High dynamic state spread-spectrum precise distance measurement receiving machine |
| CN101488802A (en) * | 2009-02-25 | 2009-07-22 | 清华大学 | Receiving and sending synchronization method used for wireless channel absolute time delay test |
| CN102868435A (en) * | 2012-09-06 | 2013-01-09 | 中国铁路通信信号股份有限公司 | Self-adaptive array antenna system capable of compensating Doppler effect |
| CN103257338A (en) * | 2013-04-23 | 2013-08-21 | 中国科学技术大学 | Indoor positioning method and system |
| CN111183741B (en) * | 2012-09-06 | 2015-02-18 | 西安电子工程研究所 | Broadband radar target simulation method and system |
| CN106199582A (en) * | 2016-06-23 | 2016-12-07 | 长沙学院 | The method being applied to the two-frequency CW radar human body locating and tracking of indoor |
| CN106970405A (en) * | 2017-05-05 | 2017-07-21 | 南京理工大学 | A kind of high speed and precision meridian tyre method and alignment system |
-
2017
- 2017-10-31 CN CN201711041614.4A patent/CN107907877A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6078790A (en) * | 1996-04-25 | 2000-06-20 | Samsung Electronics Co., Ltd. | Radio frequency generator for a radio communication system |
| CN101261318A (en) * | 2008-04-03 | 2008-09-10 | 北京航空航天大学 | High dynamic state spread-spectrum precise distance measurement receiving machine |
| CN101488802A (en) * | 2009-02-25 | 2009-07-22 | 清华大学 | Receiving and sending synchronization method used for wireless channel absolute time delay test |
| CN102868435A (en) * | 2012-09-06 | 2013-01-09 | 中国铁路通信信号股份有限公司 | Self-adaptive array antenna system capable of compensating Doppler effect |
| CN111183741B (en) * | 2012-09-06 | 2015-02-18 | 西安电子工程研究所 | Broadband radar target simulation method and system |
| CN103257338A (en) * | 2013-04-23 | 2013-08-21 | 中国科学技术大学 | Indoor positioning method and system |
| CN106199582A (en) * | 2016-06-23 | 2016-12-07 | 长沙学院 | The method being applied to the two-frequency CW radar human body locating and tracking of indoor |
| CN106970405A (en) * | 2017-05-05 | 2017-07-21 | 南京理工大学 | A kind of high speed and precision meridian tyre method and alignment system |
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Application publication date: 20180413 |
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