正弦激励超声扩频测距系统硬件设计
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摘要
在复杂的障碍物环境中,串扰现象是影响超声测距准确性的主要原因之一。另外,随着测量范围的扩大,势必要求超声发射序列长度的加大,从而导致测距分辨能力的降低。因此,加大测量范围与提高测距精度两者之间是相互矛盾的。针对以上问题,本文的研究思路是构造基于正弦信号的扩频编码序列激励超声换能器工作,同时接收端采用相关处理实现测距。根据这一思路,本文做了如下工作。
在基于脉冲形式编码调制的超声测距系统的基础上做了进一步的改进,搭建了基于正弦信号编码调制方式的超声测距硬件系统。该系统性能稳定,功耗适中。为构造基于正弦信号的超声编码扩频序列提供了良好的平台。
对搭建完成的正弦编码超声扩频测距系统中各主要环节的幅频特性进行分析和验证,根据实测数据拟合出了信号在系统中传输的幅频特性。
以硬件平台作为基础,构造了基于正弦信号激励的超声编码扩频序列。采用m序列、Gold码以及混沌序列等随机特性较好序列结合扩频调制方式作为超声测距系统的激励序列,取得较好相关效果,验证了正弦编码扩频方法在抑制串扰课题上的可行性。并在对激励信号编码扩频的基础上实现了离线相关测距方法,在发射序列较长情况下保持较高测距精度,有效缓解了测量范围与测距精度的矛盾。
In a complex environment with obstacles, crosstalk is one of the main reasons that affect the accuracy of an ultrasonic ranging system. Besides, with an increase in the measuring range, the length of ultrasonic emission sequence is normally required to increase, and thus it inevitably leads to the reduction of ultrasonic ranging resolution capacity. Therefore, increasing the measuring range and improving the ranging accuracy are contradicted to each other. To solve this problem, the idea of exciting the ultrasonic transducer with sine coded spread spectrum sequences is proposed in this thesis, and the correlation processing technique at the receiving end is adopted to measure the distance. The main research work of this thesis is summarized as follows.
The hardware of an ultrasonic spread spectrum ranging system excited with sine signals is built on the basis of the previous pulse coded ultrasonic ranging system. The established hardware system has stable performance and moderate power, and it provides a good platform for constructing sine coded spread spectrum sequences.
The amplitude-frequency characteristic of each major part in the ranging system is analyzed and validated first, and then the amplitude-frequency characteristic of the whole ultrasonic ranging system is fitted using the measured distance data.
Sine coded spread spectrum sequences have been constructed. To achieve good correlation results, pseudorandom sequences including m-sequence, Gold code and chaotic sequence combined with spread spectrum modulation are used to excite ultrasonic transducers. The feasibility of the sine coded spread spectrum method for crosstalk inhibition has been verified. Offline correlation method is used to calculate the measured distance. Experiments show that a high ranging accuracy can be obtained when the duration of the ultrasonic exciting sequence is long. It effectively alleviates the contradictions between the measuring range and ranging accuracy.
在基于脉冲形式编码调制的超声测距系统的基础上做了进一步的改进,搭建了基于正弦信号编码调制方式的超声测距硬件系统。该系统性能稳定,功耗适中。为构造基于正弦信号的超声编码扩频序列提供了良好的平台。
对搭建完成的正弦编码超声扩频测距系统中各主要环节的幅频特性进行分析和验证,根据实测数据拟合出了信号在系统中传输的幅频特性。
以硬件平台作为基础,构造了基于正弦信号激励的超声编码扩频序列。采用m序列、Gold码以及混沌序列等随机特性较好序列结合扩频调制方式作为超声测距系统的激励序列,取得较好相关效果,验证了正弦编码扩频方法在抑制串扰课题上的可行性。并在对激励信号编码扩频的基础上实现了离线相关测距方法,在发射序列较长情况下保持较高测距精度,有效缓解了测量范围与测距精度的矛盾。
In a complex environment with obstacles, crosstalk is one of the main reasons that affect the accuracy of an ultrasonic ranging system. Besides, with an increase in the measuring range, the length of ultrasonic emission sequence is normally required to increase, and thus it inevitably leads to the reduction of ultrasonic ranging resolution capacity. Therefore, increasing the measuring range and improving the ranging accuracy are contradicted to each other. To solve this problem, the idea of exciting the ultrasonic transducer with sine coded spread spectrum sequences is proposed in this thesis, and the correlation processing technique at the receiving end is adopted to measure the distance. The main research work of this thesis is summarized as follows.
The hardware of an ultrasonic spread spectrum ranging system excited with sine signals is built on the basis of the previous pulse coded ultrasonic ranging system. The established hardware system has stable performance and moderate power, and it provides a good platform for constructing sine coded spread spectrum sequences.
The amplitude-frequency characteristic of each major part in the ranging system is analyzed and validated first, and then the amplitude-frequency characteristic of the whole ultrasonic ranging system is fitted using the measured distance data.
Sine coded spread spectrum sequences have been constructed. To achieve good correlation results, pseudorandom sequences including m-sequence, Gold code and chaotic sequence combined with spread spectrum modulation are used to excite ultrasonic transducers. The feasibility of the sine coded spread spectrum method for crosstalk inhibition has been verified. Offline correlation method is used to calculate the measured distance. Experiments show that a high ranging accuracy can be obtained when the duration of the ultrasonic exciting sequence is long. It effectively alleviates the contradictions between the measuring range and ranging accuracy.
引文
[1] Benet G, Martínez M, Blanes F, et al. Differentiating walls from corners using the amplitude of ultrasonic echoes. Robotics and autonomous systems. 2005, 50(1): 13~25
[2]刘年庆,周光明,陈宗海.一种基于多超声波信息精确建立环境模型的新方法.机器人. 2005, 27(3): 261~266
[3]童峰,许天增.一种移动机器人超声波导航系统.机器人. 2002, 24(1): 55~57
[4] Pierce G, Griffin D R. Experimental determination of supersonic notes emitted by bats. Journal of Mammalogy. 1938, 19(4): 454~455
[5] Moravec H P. Sensor fusion in certainty grids for mobile robots. AI magazine. 1988, 9(2): 61~74
[6] J?rg K W, Berg M. Sophisticated mobile robot sonar sensing with pseudo-random codes. Robotics and autonomous systems. 1998, 25(3): 241~251
[7] Borenstein J, Koren Y. Error eliminating rapid ultrasonic firing for mobile robot obstacle avoidance. Robotics and Automation, IEEE Transactions on Instrumentation and Measurement, 1995, 11(1): 132~138
[8]郭梯云,邬国杨,李建东.移动通信.西安:西安电子科技大学出版社, 2005. 56~61
[9]应崇福.超声学.北京:科学出版社, 1990. 10~11
[10]林书玉.超声换能器的原理及设计.北京:科学出版社, 2004. 56 ~ 66
[11] SensComp Inc. 600 Series Instrument Transducer. 2004
[12]刘文娟.物理学.北京:经济科学出版社, 2010
[13] Webster D. A pulsed ultrasonic distance measurement system based upon phase digitizing. Instrumentation and Measurement, IEEE Transactions on Instrumentation and Measurement, Instrumentation and Measurement, 1994, 43(4): 578~582
[14] Wu L, Zeng Y, He H. Novel ultrasonic ranging approach based onspreadspectrum modulation. Proceedings of International Conference on Communication Technology, 2006, 1 ~ 4
[15] Meng-Hsiang Y, Huang K, Huang C, et al. A highly accrate ultrasonic measurement system for tremor using binary amplitude-shift-keying and phase-shift method. Biomedical Engineering-Applications. 2003, 15(2): 15~21
[16] Yao W L. A pseudo random (PR) code based ultrasonic navigation system (UNS). Proceedings of IEEE Conference on Robotics, Automation and Mechatronics, 2004, 752 ~ 757
[17] Gonzalez J, Bleakley C. Accuracy of spread spectrum techniques for ultrasonic indoor location. Proceedings of International Conference on Digital Signal Processing, 2007, 284 ~ 287
[18]潘仲明,杨俊,王跃科.超声波扩频测距及其信道自适应均衡技术.国防科技大学学报. 2002, (6): 95~98
[19]隋卫平,潘仲明,王跃科.一种新型的超声换能器驱动与回波检测电路设计.国防科技大学学报. 2004, 26(3): 107~111
[20]程晓畅,王跃科.伪随机码超声扩频测距发射与接收电路设计.声学与电子工程. 2007, (1): 42~45
[21]程晓畅,苏绍景,王跃科等.伪随机码超声扩频测距系统设计与算法.测试技术学报. 2007, 21(1): 79~83
[22] Meng Q H, Yao F J, Wu Y. Review of crosstalk elimination methods for ultrasonic range systems in mobile robots. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, 1164 ~ 1169
[23] Meng Q H, Liang Q, Li J G. Frequency-hopping Pseudo-random pulse width modulation to eliminate crosstalk of sonar sensors in mobile robots. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, 2465 ~ 2470
[24]梁琼.用于消除超声串扰的编码与调制方法研究, [硕士学位论文],天津:天津大学, 2007
[25]姚凤娟.基于混沌脉冲序列宽度调制的超声串扰抑制方法研究, [硕士学位论文],天津:天津大学, 2007
[26] Shoval S, Borenstein J. Using coded signals to benefit from ultrasonic sensor crosstalk in mobile robot obstacle avoidance. Proceedings of the IEEE International Conference on Robotics and Automation, 2001, 3: 287 ~ 2884
[27] J?rg K W, Berg M. Mobile robot sonar sensing with pseudo-random codes. Proceedings of the IEEE International Conference on Robotics and Automation, 1998, 2807 ~ 2812
[28] J?rg K W, Berg M. First results in eliminating crosstalk and noise by applying pseudo-random sequences to mobile robot sonar sensing. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. Osaka Japan, 1996, 1: 292 ~ 297
[29] J?rg K W, Berg M, Muller M. Towards sophisticated mobile robot sonar sensing using pseudo-random sequences. Proceedings of the Euromicro Workshop on Advanced Mobile Robots, 1997, 120 ~ 125
[30] Urena J, Mazo M, Garci'a J J, et al. Correlation detector based on a FPGA for ultrasonic sensors. Microprocessors and Microsystems. 1999, 23(1): 25~33
[31] Hernández A, Urena J, Hernanz D, et al. Real-time implementation of an efficient Golay correlator (EGC) applied to ultrasonic sensorial systems. Microprocessors and Microsystems. 2003, 27(8): 397~402
[32] Hernández A, Urena J, Garcia J J, et al. Ultrasonic ranging sensor using simultaneous emissions from different transducers. Ultrasonics, Ferroelectrics and Frequency Control, IEEE Transactions on Instrumentation and Measurement, Instrumentation and Measurement, 2004, 51(12): 1660~1670
[33] Ding Z, Payne P. A new Golay code system for ultrasonic pulse echo measurements. Measurement Science and Technology. 1990, 1: 158~159
[34] Nakahira K, Kodama T, Morita S, et al. Distance measurement by an ultrasonic system based on a digital polarity correlator. Instrumentation and Measurement, IEEE Transactions on Instrumentation and Measurement, 2001, 50(6): 1748~1752
[35] Tsuji R, Kodama T, Furuhashi T, et al. Code set design for digital polarity correlators in a multiple user sonar ranging system. SICE Annual Conference, 2003, 1344 ~ 1348
[36] Villadangos J M, Urena J, Mazo M, et al. Iimprovement of ultrasonic beacon-based local position system using multi-access techniques. Proceedings of the IEEE International Workshop on Intelligent Signal Processing, 2005, 352 ~ 357
[37] Bingham B, Blair B,Mindell D. On the design of direct sequence spread-spectrum signaling for range estimation. Oceans 2007 MTS/IEEE Conference, 2007, 1 ~ 9
[38]杜艳生.应用伪随机码的超声波测距系统, [硕士学位论文],太原:太原理工大学, 2004
[39]杨斌虎.伪随机序列相关的超声波测距系统研究, [硕士学位论文],太原:太原理工大学, 2004
[40]孟庆浩,兰少莹,姚振静等.基于混沌脉冲位置调制的实时超声测距系统串扰抑制.电子学报. 2008, 36(11): 2268~2272
[41] Meng Q H, Lan S Y, Yao Z J, et al. Real-Time Noncrosstalk Sonar System by Short Optimized Pulse-Position Modulation Sequences. Instrumentation and Measurement, IEEE Transactions on Instrumentation and Measurement, 2009, 58(10): 3442~3449
[42] Meng Q H, Yao Z J, Peng H Y. Improvement of energy efficiency via spectrum optimization of excitation sequence for multichannel simultaneously triggered airborne sonar system. Review of Scientific Instruments. 2009, 80(12): 124903~124903-7
[43]曾一凡,李晖.扩频通信原理.北京:机械工业出版社, 2005
[44] Jiang Y. On Ulam-von Neumann transformations. Communications in mathematical physics. 1995, 172(3): 449~459
[45] Kohda T, Tsuneda A. Statistics of chaotic binary sequences. Information Theory, IEEE Transactions on Instrumentation and Measurement, 1997, 43(1): 104~112
[46] AD9850 datasheet, http://www.analog.com, 2010
[47] LT1253 datasheet, http://www.linear.com.cn, 2010
[48] PA02, http://www.alldatasheet.com, 2010
[49] Ranging Transformer, http://www.senscomp.com, 2010
[50]邹必昌,陈义厚.铁芯变压器的频响特性研究.湖北农学院学报. 2004, 24(3): 228~230
[51]林圃.无串扰超声测距系统硬件电路设计与建模, [硕士学位论文],天津:天津大学, 2008
[52]彭涵阳.无串扰超声测距系统的激励方法及基于FPGA的设计与实现, [硕士学位论文],天津:天津大学, 2010
[53]李根旺.无串扰超声测距系统硬件设计与激励方法, [硕士学位论文],天津:天津大学, 2009
[54]谢沅清,邓钢.通信电子电路.北京:电子工业出版社, 2005
[2]刘年庆,周光明,陈宗海.一种基于多超声波信息精确建立环境模型的新方法.机器人. 2005, 27(3): 261~266
[3]童峰,许天增.一种移动机器人超声波导航系统.机器人. 2002, 24(1): 55~57
[4] Pierce G, Griffin D R. Experimental determination of supersonic notes emitted by bats. Journal of Mammalogy. 1938, 19(4): 454~455
[5] Moravec H P. Sensor fusion in certainty grids for mobile robots. AI magazine. 1988, 9(2): 61~74
[6] J?rg K W, Berg M. Sophisticated mobile robot sonar sensing with pseudo-random codes. Robotics and autonomous systems. 1998, 25(3): 241~251
[7] Borenstein J, Koren Y. Error eliminating rapid ultrasonic firing for mobile robot obstacle avoidance. Robotics and Automation, IEEE Transactions on Instrumentation and Measurement, 1995, 11(1): 132~138
[8]郭梯云,邬国杨,李建东.移动通信.西安:西安电子科技大学出版社, 2005. 56~61
[9]应崇福.超声学.北京:科学出版社, 1990. 10~11
[10]林书玉.超声换能器的原理及设计.北京:科学出版社, 2004. 56 ~ 66
[11] SensComp Inc. 600 Series Instrument Transducer. 2004
[12]刘文娟.物理学.北京:经济科学出版社, 2010
[13] Webster D. A pulsed ultrasonic distance measurement system based upon phase digitizing. Instrumentation and Measurement, IEEE Transactions on Instrumentation and Measurement, Instrumentation and Measurement, 1994, 43(4): 578~582
[14] Wu L, Zeng Y, He H. Novel ultrasonic ranging approach based onspreadspectrum modulation. Proceedings of International Conference on Communication Technology, 2006, 1 ~ 4
[15] Meng-Hsiang Y, Huang K, Huang C, et al. A highly accrate ultrasonic measurement system for tremor using binary amplitude-shift-keying and phase-shift method. Biomedical Engineering-Applications. 2003, 15(2): 15~21
[16] Yao W L. A pseudo random (PR) code based ultrasonic navigation system (UNS). Proceedings of IEEE Conference on Robotics, Automation and Mechatronics, 2004, 752 ~ 757
[17] Gonzalez J, Bleakley C. Accuracy of spread spectrum techniques for ultrasonic indoor location. Proceedings of International Conference on Digital Signal Processing, 2007, 284 ~ 287
[18]潘仲明,杨俊,王跃科.超声波扩频测距及其信道自适应均衡技术.国防科技大学学报. 2002, (6): 95~98
[19]隋卫平,潘仲明,王跃科.一种新型的超声换能器驱动与回波检测电路设计.国防科技大学学报. 2004, 26(3): 107~111
[20]程晓畅,王跃科.伪随机码超声扩频测距发射与接收电路设计.声学与电子工程. 2007, (1): 42~45
[21]程晓畅,苏绍景,王跃科等.伪随机码超声扩频测距系统设计与算法.测试技术学报. 2007, 21(1): 79~83
[22] Meng Q H, Yao F J, Wu Y. Review of crosstalk elimination methods for ultrasonic range systems in mobile robots. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, 1164 ~ 1169
[23] Meng Q H, Liang Q, Li J G. Frequency-hopping Pseudo-random pulse width modulation to eliminate crosstalk of sonar sensors in mobile robots. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, 2465 ~ 2470
[24]梁琼.用于消除超声串扰的编码与调制方法研究, [硕士学位论文],天津:天津大学, 2007
[25]姚凤娟.基于混沌脉冲序列宽度调制的超声串扰抑制方法研究, [硕士学位论文],天津:天津大学, 2007
[26] Shoval S, Borenstein J. Using coded signals to benefit from ultrasonic sensor crosstalk in mobile robot obstacle avoidance. Proceedings of the IEEE International Conference on Robotics and Automation, 2001, 3: 287 ~ 2884
[27] J?rg K W, Berg M. Mobile robot sonar sensing with pseudo-random codes. Proceedings of the IEEE International Conference on Robotics and Automation, 1998, 2807 ~ 2812
[28] J?rg K W, Berg M. First results in eliminating crosstalk and noise by applying pseudo-random sequences to mobile robot sonar sensing. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems. Osaka Japan, 1996, 1: 292 ~ 297
[29] J?rg K W, Berg M, Muller M. Towards sophisticated mobile robot sonar sensing using pseudo-random sequences. Proceedings of the Euromicro Workshop on Advanced Mobile Robots, 1997, 120 ~ 125
[30] Urena J, Mazo M, Garci'a J J, et al. Correlation detector based on a FPGA for ultrasonic sensors. Microprocessors and Microsystems. 1999, 23(1): 25~33
[31] Hernández A, Urena J, Hernanz D, et al. Real-time implementation of an efficient Golay correlator (EGC) applied to ultrasonic sensorial systems. Microprocessors and Microsystems. 2003, 27(8): 397~402
[32] Hernández A, Urena J, Garcia J J, et al. Ultrasonic ranging sensor using simultaneous emissions from different transducers. Ultrasonics, Ferroelectrics and Frequency Control, IEEE Transactions on Instrumentation and Measurement, Instrumentation and Measurement, 2004, 51(12): 1660~1670
[33] Ding Z, Payne P. A new Golay code system for ultrasonic pulse echo measurements. Measurement Science and Technology. 1990, 1: 158~159
[34] Nakahira K, Kodama T, Morita S, et al. Distance measurement by an ultrasonic system based on a digital polarity correlator. Instrumentation and Measurement, IEEE Transactions on Instrumentation and Measurement, 2001, 50(6): 1748~1752
[35] Tsuji R, Kodama T, Furuhashi T, et al. Code set design for digital polarity correlators in a multiple user sonar ranging system. SICE Annual Conference, 2003, 1344 ~ 1348
[36] Villadangos J M, Urena J, Mazo M, et al. Iimprovement of ultrasonic beacon-based local position system using multi-access techniques. Proceedings of the IEEE International Workshop on Intelligent Signal Processing, 2005, 352 ~ 357
[37] Bingham B, Blair B,Mindell D. On the design of direct sequence spread-spectrum signaling for range estimation. Oceans 2007 MTS/IEEE Conference, 2007, 1 ~ 9
[38]杜艳生.应用伪随机码的超声波测距系统, [硕士学位论文],太原:太原理工大学, 2004
[39]杨斌虎.伪随机序列相关的超声波测距系统研究, [硕士学位论文],太原:太原理工大学, 2004
[40]孟庆浩,兰少莹,姚振静等.基于混沌脉冲位置调制的实时超声测距系统串扰抑制.电子学报. 2008, 36(11): 2268~2272
[41] Meng Q H, Lan S Y, Yao Z J, et al. Real-Time Noncrosstalk Sonar System by Short Optimized Pulse-Position Modulation Sequences. Instrumentation and Measurement, IEEE Transactions on Instrumentation and Measurement, 2009, 58(10): 3442~3449
[42] Meng Q H, Yao Z J, Peng H Y. Improvement of energy efficiency via spectrum optimization of excitation sequence for multichannel simultaneously triggered airborne sonar system. Review of Scientific Instruments. 2009, 80(12): 124903~124903-7
[43]曾一凡,李晖.扩频通信原理.北京:机械工业出版社, 2005
[44] Jiang Y. On Ulam-von Neumann transformations. Communications in mathematical physics. 1995, 172(3): 449~459
[45] Kohda T, Tsuneda A. Statistics of chaotic binary sequences. Information Theory, IEEE Transactions on Instrumentation and Measurement, 1997, 43(1): 104~112
[46] AD9850 datasheet, http://www.analog.com, 2010
[47] LT1253 datasheet, http://www.linear.com.cn, 2010
[48] PA02, http://www.alldatasheet.com, 2010
[49] Ranging Transformer, http://www.senscomp.com, 2010
[50]邹必昌,陈义厚.铁芯变压器的频响特性研究.湖北农学院学报. 2004, 24(3): 228~230
[51]林圃.无串扰超声测距系统硬件电路设计与建模, [硕士学位论文],天津:天津大学, 2008
[52]彭涵阳.无串扰超声测距系统的激励方法及基于FPGA的设计与实现, [硕士学位论文],天津:天津大学, 2010
[53]李根旺.无串扰超声测距系统硬件设计与激励方法, [硕士学位论文],天津:天津大学, 2009
[54]谢沅清,邓钢.通信电子电路.北京:电子工业出版社, 2005