CN113489662A - Method, device, computer equipment and medium for eliminating ultrasonic noise of base station - Google Patents
Method, device, computer equipment and medium for eliminating ultrasonic noise of base station Download PDFInfo
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Abstract
The invention discloses a method, a device, computer equipment and a medium for eliminating ultrasonic noise of a base station, wherein the method for eliminating the ultrasonic noise of the base station comprises the following steps: the method comprises the steps that a transmitting base station processes a chirp signal by adopting a window function, obtains a first spindle-shaped signal corresponding to the chirp signal, and sends the first spindle-shaped signal to a receiving base station; the receiving base station processes the reference signal by adopting the same window function to obtain a second spindle-shaped signal corresponding to the reference signal; acquiring a corresponding cross-correlation amplitude maximum value based on a convolution value formed by the first spindle-shaped signal and the second spindle-shaped signal; and acquiring the arrival time of the signal based on the highest value of the cross-correlation amplitude and the sampling frequency. According to the method, by windowing the chirp signal, the medium-low frequency noise when the ultrasonic signal is transmitted by the acoustic signal base station is greatly reduced on the premise of not changing hardware and not reducing the identification effect of the starting time or the ending time of the signal.
Description
Technical Field
The invention relates to the technical field of indoor positioning, in particular to a method, a device, computer equipment and a medium for eliminating ultrasonic noise of a base station.
Background
The threshold of the human ear is below 20kHz, i.e. a human should not hear signals above 20 kHz. However, due to the limited response performance of the amplifier circuit and the loudspeaker of the base station for signal truncation and acoustic signal transmission, the transmitted acoustic signal is distorted, that is, the input waveform of the acoustic signal is inconsistent with the output waveform of the loudspeaker, the signal spectrum is distorted, and the energy originally concentrated in the designated frequency band is dispersed to other frequencies, so that the sound emitted by the base station generates noise audible to human ears. For example, a chirp signal having a frequency of 20kHz or more is also called a bird sound (chirp) signal, and harsh low-and-medium-frequency noise occurs when sound production starts and ends at indoor positioning, which brings uncomfortable harsh feeling to a user.
When the base station sounds, in addition to the ultrasonic part, there is a "low frequency noise band" that extends almost throughout the entire frequency domain. However, in the application using ultrasonic waves, there is always a requirement for silence, and in order to eliminate such noise, the conventional treatment methods and their drawbacks are listed as follows: 1. the improved amplifier circuit: the circuit is complex, and the cost is increased; 2. selecting a horn with good high-frequency response performance: few products can be selected, and the cost is increased; 3. and (3) reducing the volume: reducing the effective positioning distance; 4. changing the waveform of the sound signal to ensure that the signal intensity does not change suddenly, but adds the process of fading up and down at the head and the tail: the signal changes, the identification difficulty is increased, and the noise elimination effect is not ideal enough.
In ultrasonic indoor positioning applications, it is necessary to accurately determine the arrival time of the chirp signal, i.e. the accurate start or end time of the chirp signal, so that any noise cancellation operation should not have a great influence on signal identification. The conventional method cannot ensure that the effect of accurately identifying the arrival time of the signal is maintained while noise is eliminated.
Disclosure of Invention
Embodiments of the present invention provide a method, an apparatus, a computer device, and a medium for eliminating ultrasonic noise of a base station, so as to solve the problem of maintaining an effect of accurately identifying an arrival time of a signal while ensuring noise elimination.
A method of canceling base station ultrasonic noise, comprising:
the method comprises the steps that a transmitting base station processes a chirp signal by adopting a window function, obtains a first spindle-shaped signal corresponding to the chirp signal, and sends the first spindle-shaped signal to a receiving base station;
the receiving base station processes the reference signal by adopting the same window function to obtain a second spindle-shaped signal corresponding to the reference signal;
based on the formed convolution value of the first spindle-shaped signal and the second spindle-shaped signal, adopting matched filtering to obtain a corresponding cross-correlation result and obtain a cross-correlation amplitude maximum value;
and acquiring the arrival time of the signal based on the highest value of the cross-correlation amplitude and the sampling frequency.
An apparatus for canceling ultrasonic noise of a base station, comprising:
a first signal sending module, configured to process the chirp signal by using a window function by a transmitting base station, obtain a first spindle-shaped signal corresponding to the chirp signal, and send the first spindle-shaped signal to a receiving base station;
the acquisition second signal module is used for receiving the reference signal processed by the base station by adopting the same window function and acquiring a second spindle-shaped signal corresponding to the reference signal;
the amplitude maximum value obtaining module is used for obtaining a corresponding cross-correlation result and obtaining a cross-correlation amplitude maximum value by adopting matched filtering based on a convolution value formed by the first spindle-shaped signal and the second spindle-shaped signal;
and the acquisition arrival time module is used for acquiring the arrival time of the signal based on the highest value of the cross-correlation amplitude and the sampling frequency.
A computer device comprising a memory, a processor and a computer program stored in said memory and executable on said processor, said processor implementing the above method of canceling base station ultrasonic noise when executing said computer program.
A computer-readable medium, in which a computer program is stored which, when being executed by a processor, carries out the above-mentioned method of canceling ultrasonic noise of a base station.
According to the method, the device, the computer equipment and the medium for eliminating the ultrasonic noise of the base station, the chirp signal is subjected to windowing signal, and the medium and low frequency noise generated when the ultrasonic signal is transmitted by the acoustic signal base station is greatly reduced on the premise that hardware is not changed and the identification effect of the starting time or the ending time of the signal is not reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a schematic diagram of an application environment of a method for eliminating ultrasonic noise of a base station according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating a method for canceling ultrasonic noise in a base station according to an embodiment of the present invention;
fig. 3 is a schematic diagram of rectangular envelope and frequency edge noise of a chirp signal without windowing in a method for canceling base station ultrasonic noise according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a fusiform envelope formed after windowing a chirp signal and no noise existing at a frequency edge in the method for removing ultrasonic noise of a base station according to an embodiment of the present invention;
FIG. 5 is another flow chart of a method for canceling ultrasonic noise in a base station according to an embodiment of the present invention;
FIG. 6 is another flow chart of a method for canceling ultrasonic noise in a base station according to an embodiment of the present invention;
FIG. 7 is another flow chart of a method for canceling ultrasonic noise in a base station according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of an apparatus for removing ultrasonic noise from a base station according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a computer device in an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The method for eliminating the ultrasonic noise of the base station provided by the embodiment of the invention can be applied to the application environment shown in fig. 1, and the method for eliminating the ultrasonic noise of the base station is applied to a system for eliminating the ultrasonic noise of the base station, wherein the system for eliminating the ultrasonic noise of the base station comprises a client and a server, and the client communicates with the server through a network. The client is also called a client, and refers to a program corresponding to the server and providing local services for the client. The client can be installed on computer equipment such as but not limited to various personal computers, notebook computers, smart phones, tablet computers and portable wearable equipment. The server may be implemented as a stand-alone server or as a server cluster consisting of a plurality of servers.
In an embodiment, as shown in fig. 2, a method for eliminating ultrasonic noise of a base station is provided, which is described by taking the server in fig. 1 as an example, and specifically includes the following steps:
and S10, the transmitting base station processes the chirp signal by adopting a window function, acquires a first spindle-shaped signal corresponding to the chirp signal and sends the first spindle-shaped signal to the receiving base station.
The base station in this embodiment is an ultrasonic base station capable of transmitting a specific waveform, which is applied in indoor positioning, and includes a transmitting base station and a receiving base station.
In this embodiment, the first spindle-shaped signal is a spindle-shaped signal formed by windowing the envelope of the chirp signal from the original rectangle as shown in fig. 3. The noise is reduced because the energy leakage at the spectral edges of the chirp signal will disappear as shown in fig. 4.
Specifically, in an indoor positioning system based on ultrasonic waves, a signal transmitting base station (hereinafter, referred to as a base station) is required to transmit an ultrasonic signal of a specific waveform, such as a Linear Frequency Modulation (LFM), also referred to as a chirp signal. The formula is as follows:
t/2 ≦ T ≦ T/2, where y (T) represents the waveform of the signal over time, T represents time, T represents the duration of the signal, f0 represents the start frequency of the chirp signal, and f1 represents the end frequency of the chirp signal.
In the electromagnetic wave signal of the radar, a windowing method can be adopted for the spectrum energy leakage caused by signal truncation.
Specifically, the design of the window function needs to satisfy the following condition:
1. the center frequency (f0+ f1)/2 (hereinafter referred to as the signal center) is larger in amplitude, and smaller in amplitude at the start and end.
2. The signal amplitude descending speed from the signal center to the beginning or the ending cannot be too slow, otherwise, the beginning amplitude is too high, and the effect of eliminating noise cannot be achieved.
3. The signal amplitude descending speed from the signal center to the starting or ending cannot be too fast, otherwise, the signal change is too large, the strength is greatly weakened, and the receiving end is difficult to identify the starting time and the ending time of the signal.
4. And universal window functions which are proved to have better energy leakage inhibition effects are adopted, such as Hann windows, Hamming windows, Chebyshev windows, Blackman windows and the like.
After the window function is selected, both the transmitting base station and the receiving base station are processed by the same window function.
Preferably, the window function is a window function capable of suppressing energy leakage, and is used for smoothing the signal at the signal cut-off position, so as to reduce the medium-low frequency noise when the chirp signal transmits the ultrasonic signal from the transmitting base station. This embodiment is illustrated with a Blackman window as an example. The Blackman window formula is as follows:
wherein, when N is an even number,
. When the number N is an odd number,
。
and S20, the receiving base station processes the reference signal by adopting the same window function to obtain a second spindle-shaped signal corresponding to the reference signal.
The second spindle-shaped signal is a spindle-shaped signal obtained by processing the reference signal by the same window function as that of the transmitting base station.
And the receiving end uses the waveform corresponding to the first spindle-shaped signal as a reference signal to carry out matched filtering.
Specifically, in order to ensure that the accuracy of the calculated arrival time is not lost after the signal is changed, the received signal is identified according to the windowed signal characteristics, that is, the reference signal is processed by the same window function. For example, in radar signal processing, matched filtering is typically employed to identify signal arrival times, i.e., the arrival times are found using cross-correlation of the received signal with a reference signal.
And S30, acquiring a corresponding cross-correlation result and acquiring a highest value of cross-correlation amplitude by adopting matched filtering based on a convolution value formed by the first spindle-shaped signal and the second spindle-shaped signal.
Wherein the meaning of the cross-correlation of the two functions is: infinite integrals for complex conjugate and inverse translation of the two functions, respectively, and multiplying them, or: the first function is complex conjugated in sequence and translated to infinite integral which is multiplied by the second function. It can be shown that the two definitions are fully equivalent (can be derived from each other). Physically, the result of the cross-correlation operation reflects a measure of similarity between the two signals.
The maximum value of the cross-correlation amplitude is also the maximum value of the amplitude in the image corresponding to the cross-correlation.
And S40, acquiring the arrival time of the signal based on the maximum value of the cross-correlation amplitude and the sampling frequency.
Specifically, the position of the highest peak of the cross-correlation is the relative time from the start of the current sampling to the reception of the signal head, i.e. the signal arrival time.
Preferably, in S40, the obtaining of the signal arrival time based on the highest value of the cross-correlation amplitude and the sampling frequency specifically includes the following steps:
and S41, substituting the highest peak position p of the cross-correlation amplitude and the sampling frequency fs into a formula t = p/fs to obtain the signal arrival time t.
The embodiment provides a method for eliminating ultrasonic noise of a base station, and by windowing a chirp signal, the method can greatly reduce noise and simultaneously ensure accurate identification of the arrival time of the signal from a transmitting base station to a receiving base station.
In another embodiment provided by the present invention, as shown in fig. 5, in step S10, that is, the transmitting base station processes the chirp signal by using a window function, and acquires a first spindle-shaped signal corresponding to the chirp signal, specifically including the following steps:
s11, acquiring chirp signals y (N) of N sampling points.
S12, acquiring a window function w (N), wherein N is more than or equal to 0 and less than or equal to N.
S13, acquiring a first spindle-shaped signal based on the chirp signal y (n) and a window function w (n), wherein the formula is as follows:
。
in particular, a similar treatment may be employed in ultrasound applications.
In another embodiment provided by the present invention, as shown in fig. 6, in step S30, that is, based on the formed convolution value of the first spindle-shaped signal and the second spindle-shaped signal, the method for obtaining the corresponding cross-correlation result by using matched filtering specifically includes the following steps:
s311, a first spindle signal sig (n) and a second spindle signal ref (n) are obtained.
S312, acquiring a cross-correlation result corresponding to the first spindle-shaped signal sig (n) and the second spindle-shaped signal ref (n), wherein the formula is as follows:
where k =1 … n, (sig × ref) represents the convolution value, resulting in a cross-correlation result r (n).
In another embodiment provided by the present invention, as shown in fig. 7, in step S30, that is, obtaining the highest value of the cross-correlation amplitude, the method specifically includes the following steps:
s321, obtaining a cross-correlation amplitude schematic diagram corresponding to the cross-correlation result.
S322, marking the position p of the highest peak as the highest value of the cross-correlation amplitude based on the cross-correlation amplitude schematic diagram.
The estimation of the time of arrival of the reference signal requires the use of the windowed chirp signal, i.e. the signal obtained by the formula of step S13
Rather than that of
Therefore, the noise can be eliminated, and the accuracy of the arrival time estimation can be ensured.
The embodiment provides a method for eliminating ultrasonic noise of a base station, and by windowing a chirp signal, the method can greatly reduce noise and simultaneously ensure accurate identification of the arrival time of the signal from a transmitting base station to a receiving base station.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
In one embodiment, an apparatus for eliminating ultrasonic noise of a base station is provided, and the apparatus for eliminating ultrasonic noise of a base station corresponds to the method for eliminating ultrasonic noise of a base station in the above embodiments one to one. As shown in fig. 8, the apparatus for eliminating ultrasonic noise of a base station includes a module 10 for transmitting a first signal, a module 20 for acquiring a second signal, a module 30 for acquiring a maximum amplitude value, and a module 40 for acquiring an arrival time. The functional modules are explained in detail as follows:
and a first signal sending module 10, configured to process the chirp signal by using a window function by the transmitting base station, obtain a first spindle-shaped signal corresponding to the chirp signal, and send the first spindle-shaped signal to the receiving base station.
And a second signal obtaining module 20, configured to process the reference signal by using the same window function in the receiving base station, and obtain a second spindle-shaped signal corresponding to the reference signal.
And an amplitude peak obtaining module 30, configured to obtain a corresponding cross-correlation result and obtain a cross-correlation amplitude peak by using matched filtering based on a convolution value formed by the first spindle-shaped signal and the second spindle-shaped signal.
And an obtaining time-of-arrival module 40, configured to obtain a signal time-of-arrival based on the highest value of the cross-correlation amplitude and the sampling frequency.
Preferably, the first signal sending module 10 comprises:
the acquiring chirp signal submodule 11 is configured to acquire a chirp signal y (N) of N sampling points.
And the obtaining window function submodule 12 is used for obtaining a window function w (N), wherein N is more than or equal to 0 and less than or equal to N.
The spindle signal acquiring submodule 13 is configured to acquire a first spindle signal based on the chirp signal y (n) and the window function w (n), where the formula is as follows:
。
preferably, the module for obtaining the maximum amplitude value comprises:
the acquire spindle signal submodule is configured to acquire a first spindle signal sig (n) and a second spindle signal ref (n).
The obtain cross-correlation result submodule is configured to obtain a cross-correlation result corresponding to the first spindle-shaped signal sig (n) and the second spindle-shaped signal ref (n), where the formula is as follows:
where k =1 … n, (sig × ref) represents the convolution value, resulting in a cross-correlation result r (n).
Preferably, the module for obtaining the maximum amplitude value comprises:
and the amplitude schematic obtaining sub-module is used for obtaining a cross-correlation amplitude schematic corresponding to the cross-correlation result.
And the marking amplitude maximum value submodule is used for marking the maximum peak position p as the maximum value of the cross-correlation amplitude based on the cross-correlation amplitude schematic diagram.
Preferably, the time of arrival module comprises:
and a signal arrival time submodule is used for substituting the highest peak position p of the cross-correlation amplitude and the sampling frequency fs into a formula t = p/fs to acquire the signal arrival time t.
For specific limitations of the device for eliminating the ultrasonic noise of the base station, reference may be made to the above limitations of the method for eliminating the ultrasonic noise of the base station, and further description thereof is omitted here. All or part of each module in the device for eliminating the ultrasonic noise of the base station can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 9. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile medium, an internal memory. The non-volatile medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile media. The database of the computer device is used for data related to a method for eliminating ultrasonic noise of a base station. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of canceling ultrasonic noise of a base station.
In one embodiment, a computer device is provided, which includes a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the method for eliminating ultrasonic noise of a base station according to the above embodiments, such as S10 to S40 shown in fig. 2. Alternatively, the processor, when executing the computer program, implements the functions of the modules/units of the apparatus for canceling base station ultrasonic noise in the above-described embodiments, such as the functions of the modules 10 to 40 shown in fig. 8. To avoid repetition, further description is omitted here.
In one embodiment, a computer readable medium is provided, on which a computer program is stored, and the computer program is executed by a processor to implement the method for eliminating ultrasonic noise of a base station according to the above embodiments, such as S10 to S40 shown in fig. 2. Alternatively, the computer program is executed by a processor to implement the functions of each module/unit in the device for eliminating ultrasonic noise of the base station in the above device embodiment, for example, the functions of the modules 10 to 40 shown in fig. 8. To avoid repetition, further description is omitted here.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer readable medium, and can include the processes of the embodiments of the methods described above when the computer program is executed. Any reference to memory, storage, database, or other medium used in the embodiments of the present application may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A method for canceling ultrasonic noise in a base station, comprising:
the method comprises the steps that a transmitting base station processes a chirp signal by adopting a window function, obtains a first spindle-shaped signal corresponding to the chirp signal, and sends the first spindle-shaped signal to a receiving base station;
the receiving base station processes the reference signal by adopting the same window function to obtain a second spindle-shaped signal corresponding to the reference signal;
based on the formed convolution value of the first spindle-shaped signal and the second spindle-shaped signal, adopting matched filtering to obtain a corresponding cross-correlation result and obtain a cross-correlation amplitude maximum value;
and acquiring the arrival time of the signal based on the maximum value of the cross-correlation amplitude and the sampling frequency.
2. The method for eliminating ultrasonic noise of a base station according to claim 1, wherein the transmitting base station processes a chirp signal by using a window function to obtain a first spindle-shaped signal corresponding to the chirp signal, comprising:
acquiring chirp signals y (N) of N sampling points;
acquiring a window function w (N), wherein N is more than or equal to 0 and less than or equal to N;
obtaining the first spindle-shaped signal based on the chirp signal y (n) and the window function w (n), wherein the formula is as follows:
。
3. the method of claim 1, wherein the obtaining the corresponding cross-correlation result by using matched filtering based on the formed convolution value of the first spindle-shaped signal and the second spindle-shaped signal comprises:
acquiring the first spindle signal sig (n) and the second spindle signal ref (n);
acquiring a cross-correlation result corresponding to the first spindle-shaped signal sig (n) and the second spindle-shaped signal ref (n), wherein the formula is as follows:
where k =1 … n, (sig × ref) represents the convolution value, resulting in a cross-correlation result r (n).
4. The method of eliminating ultrasonic noise of a base station of claim 1, wherein said obtaining the highest value of the cross-correlation amplitude comprises:
acquiring a cross-correlation amplitude schematic diagram corresponding to the cross-correlation result;
based on the cross-correlation amplitude diagram, marking the peak position p as the maximum value of the cross-correlation amplitude.
5. The method of eliminating ultrasonic noise of a base station according to claim 4, wherein said obtaining a signal arrival time based on the highest value of the cross-correlation amplitude and the sampling frequency comprises:
and substituting the maximum peak position p of the cross-correlation amplitude and the sampling frequency fs into a formula t = p/fs to obtain the signal arrival time t.
6. The method of claim 1, wherein the window function is a window function capable of suppressing energy leakage, and is used to smooth the signal at the signal cut-off, so as to reduce the low and medium frequency noise when the chirp signal transmits the ultrasonic signal from the transmitting base station.
7. An apparatus for eliminating ultrasonic noise of a base station, comprising:
a first signal sending module, configured to process a chirp signal by a transmitting base station using a window function, obtain a first spindle-shaped signal corresponding to the chirp signal, and send the first spindle-shaped signal to a receiving base station;
a second signal obtaining module, configured to process, by the receiving base station, the reference signal by using the same window function, and obtain a second spindle-shaped signal corresponding to the reference signal;
an amplitude peak obtaining module, configured to obtain a corresponding cross-correlation result and a cross-correlation amplitude peak by using matched filtering based on a convolution value formed by the first spindle-shaped signal and the second spindle-shaped signal;
and the acquisition time-of-arrival module is used for acquiring the time of arrival of the signal based on the maximum value of the cross-correlation amplitude and the sampling frequency.
8. The apparatus for canceling ultrasonic noise of a base station according to claim 7, wherein the first signal transmitting module comprises:
the acquisition chirp signal submodule is used for acquiring chirp signals y (N) of N sampling points;
the window function obtaining submodule is used for obtaining a window function w (N), and N is more than or equal to 0 and less than or equal to N;
a spindle signal obtaining submodule, configured to obtain the first spindle-shaped signal based on the chirp signal y (n) and the window function w (n), where the formula is as follows:
。
9. a computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements the method of canceling ultrasonic noise of a base station according to any one of claims 1 to 6.
10. A computer-readable medium, in which a computer program is stored, which, when being executed by a processor, carries out the method for canceling ultrasonic noise of a base station according to any one of claims 1 to 6.
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