CN113219450B - Ranging positioning method, ranging device and readable storage medium - Google Patents
Ranging positioning method, ranging device and readable storage medium Download PDFInfo
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
- G01S2013/462—Indirect determination of position data using multipath signals
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Abstract
The invention discloses a ranging and positioning method, a ranging device and a readable storage medium, wherein the ranging and positioning method comprises the following steps: acquiring flight time and signal strength of ranging signals corresponding to a plurality of reflectors; determining a separation distance between the ranging device and each of the reflectors according to the flight time; and taking the reflector with the interval distance and the signal strength meeting preset requirements as a positioning target in the reflectors. The invention improves the accuracy of the ranging device for positioning the target and solves the problem that the ranging device is easy to be interfered by environmental factors when positioning the target.
Description
Technical Field
The present invention relates to the field of rangefinder technologies, and in particular, to a ranging positioning method, a ranging apparatus, and a readable storage medium.
Background
In a golf course, people often need to quickly position a flagpole in the golf course in order to perform the next action, but the environment of the golf course is complex, objects such as lawns and trees are present near the flagpole, and the distance measuring instrument in the related art cannot easily distinguish the flagpole from the lawns and trees near the flagpole, so that the distance measuring instrument is inaccurate in positioning the flagpole, and cannot obtain the accurate position of the flagpole.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a ranging and positioning method, which aims to improve the accuracy of a ranging device for positioning a target and solve the problem that the ranging device is easily interfered by environmental factors when positioning the target.
In order to achieve the above object, the present invention provides a ranging positioning method applied to a ranging device, the ranging positioning method comprising the following steps:
acquiring flight time and signal strength of ranging signals corresponding to a plurality of reflectors;
Determining a separation distance between the ranging device and each of the reflectors according to the flight time;
And taking the reflector with the interval distance and the signal strength meeting preset requirements as a positioning target in the reflectors.
Further, the step of obtaining the flight time and the signal intensity of the ranging signals corresponding to the reflectors comprises the following steps:
Receiving a ranging positioning instruction, transmitting a ranging signal according to the instruction, and recording the transmitting time of the ranging signal;
Receiving a reflected ranging signal, and recording the receiving time of the ranging signal reflection and the corresponding signal intensity;
and determining the flight time of the ranging signal according to the transmitting time and the receiving time.
Further, the step of using the reflector, of which the spacing distance and the signal strength meet the preset requirements, as the positioning target includes:
determining an effective signal strength;
And acquiring the interval distance corresponding to the signal intensity, and determining a positioning target according to the interval distance.
Further, the step of determining the effective signal strength comprises:
sorting the spacing distances;
Generating a histogram according to the ordered interval distance and the signal intensity;
determining an effective value corresponding to the signal intensity and a preset judging value according to the histogram;
and determining the effective signal strength according to the effective value and the preset judging value.
Further, before the step of determining the effective value and the preset judgment value corresponding to the signal strength according to the histogram, the method further includes:
Acquiring all peak tip positions in the histogram;
and determining signal intensity and corresponding interval distance corresponding to the peak tip position according to the peak tip position, and executing the step of determining an effective value and a preset judgment value corresponding to the signal intensity according to the histogram.
Further, the step of determining the effective signal strength according to the effective value and the preset judging value includes:
when the effective value of the signal intensity is smaller than or equal to a preset judgment value, reserving the signal intensity as the effective signal intensity;
and deleting the signal intensity when the effective value of the signal intensity is larger than a preset judgment value.
Further, the step of obtaining the interval distance corresponding to the signal intensity and determining the positioning target according to the interval distance includes:
When there is only one valid signal strength, locking the target according to the valid value;
when a plurality of effective signal intensities exist, the reflector with the shortest distance is determined as a positioning target.
Further, after the step of using the reflectors with the spacing distance and the signal strength satisfying the preset requirements as the positioning targets, the method further includes:
displaying distance information contained in the target positioning signal;
sending a vibration instruction, and prompting a user that a target is positioned through motor vibration; and/or
And sending a visual display instruction to prompt a user that the target is positioned through visual display.
In order to achieve the above object, the present invention further provides a ranging apparatus, which includes a memory, a processor, and a ranging positioning program stored on the memory and executable on the processor, wherein the ranging positioning program when executed by the processor implements the steps of any one of the ranging positioning methods described above.
In order to achieve the above object, the present invention also provides a readable storage medium having a ranging positioning program stored thereon, which when executed by a processor, implements the steps of any of the ranging positioning methods described above.
In the technical scheme of the invention, the flight time and the signal intensity of the ranging signals corresponding to a plurality of reflectors are obtained; determining a separation distance between the ranging device and each of the reflectors according to the flight time; and taking the reflector with the interval distance and the signal strength meeting preset requirements as a positioning target in the reflectors. Therefore, the distance between the distance measuring device and the reflector and the reflected signal intensity can be obtained by sending the distance measuring signal, the histogram is generated by the distance between the distance measuring device and the reflector, the interference of environmental factors and other factors is eliminated by analyzing the histogram, the effective signal intensity is obtained, the distance corresponding to the signal intensity is compared, the reflector corresponding to the shortest distance is used as a positioning target, the distance measuring and positioning are completed, the accuracy of the positioning target of the distance measuring device is improved, and the problem that the distance measuring device is easily interfered by the environmental factors when the target is positioned is solved.
Drawings
FIG. 1 is a schematic diagram of a device architecture of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart of a ranging and positioning method according to a first embodiment of the present invention;
fig. 3 is a detailed flowchart of step S100 in the second embodiment of the ranging and positioning method according to the present invention;
fig. 4 is a detailed flowchart of step S300 in the third embodiment of the ranging positioning method according to the present invention;
fig. 5 is a detailed flowchart of step S310 in the fourth embodiment of the ranging positioning method according to the present invention;
FIG. 6 is a flowchart of a fifth embodiment of a ranging and positioning method according to the present invention;
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The main technical scheme of the invention is as follows:
acquiring flight time and signal strength of ranging signals corresponding to a plurality of reflectors;
Determining a separation distance between the ranging device and each of the reflectors according to the flight time;
And taking the reflector with the interval distance and the signal strength meeting preset requirements as a positioning target in the reflectors.
In the related art, when the range finder is used for positioning the flagpole, the emitted signal may be reflected back to the range finder after encountering other reflectors, or intense sunlight irradiation also can cause interference to the positioning of the flagpole by the range finder, so that the range finder can identify other objects as the flagpole or can not position the flagpole, and the accuracy of positioning the flagpole is low.
In the technical scheme of the invention, the flight time and the signal intensity of the ranging signals corresponding to a plurality of reflectors are obtained; determining a separation distance between the ranging device and each of the reflectors according to the flight time; and taking the reflector with the interval distance and the signal strength meeting preset requirements as a positioning target in the reflectors. Therefore, the distance between the distance measuring device and the reflector and the reflected signal intensity can be obtained by sending the distance measuring signal, the histogram is generated by the distance between the distance measuring device and the reflector, the interference of environmental factors and other factors is eliminated by analyzing the histogram, the effective signal intensity is obtained, the distance corresponding to the signal intensity is compared, the reflector corresponding to the shortest distance is used as a positioning target, the distance measuring and positioning are completed, the accuracy of the positioning target of the distance measuring device is improved, and the problem that the distance measuring device is easily interfered by the environmental factors when the target is positioned is solved.
As shown in fig. 1, fig. 1 is a schematic diagram of a hardware operating environment of a terminal according to an embodiment of the present invention.
As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a touch screen and/or keys, etc. and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., memory (non-volatilememory), such as disk storage, memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the structure of the terminal shown in fig. 1 is not limiting of the terminal and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a ranging positioning program may be included in a memory 1005, which is a type of computer storage medium.
In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a background server and performing data communication with the background server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to call a ranging positioning program stored in the memory 1005 and perform the following operations:
acquiring flight time and signal strength of ranging signals corresponding to a plurality of reflectors;
Determining a separation distance between the ranging device and each of the reflectors according to the flight time;
And taking the reflector with the interval distance and the signal strength meeting preset requirements as a positioning target in the reflectors.
Further, the processor 1001 may call a ranging positioning program stored in the memory 1005, and further perform the following operations:
Receiving a ranging positioning instruction, transmitting a ranging signal according to the instruction, and recording the transmitting time of the ranging signal;
Receiving a reflected ranging signal, and recording the receiving time of the ranging signal reflection and the corresponding signal intensity;
and determining the flight time of the ranging signal according to the transmitting time and the receiving time.
Further, the processor 1001 may call the ranging positioning program stored in the memory 1005, and further perform the following operations:
determining an effective signal strength;
And acquiring the interval distance corresponding to the signal intensity, and determining a positioning target according to the interval distance.
Further, the processor 1001 may call a ranging positioning program stored in the memory 1005, and further perform the following operations:
sorting the spacing distances;
Generating a histogram according to the ordered interval distance and the signal intensity;
determining an effective value corresponding to the signal intensity and a preset judging value according to the histogram;
and determining the effective signal strength according to the effective value and the preset judging value.
Further, the processor 1001 may call a ranging positioning program stored in the memory 1005, and further perform the following operations:
Acquiring all peak tip positions in the histogram;
and determining signal intensity and corresponding interval distance corresponding to the peak tip position according to the peak tip position, and executing the step of determining an effective value and a preset judgment value corresponding to the signal intensity according to the histogram.
Further, the processor 1001 may call a ranging positioning program stored in the memory 1005, and further perform the following operations:
when the effective value of the signal intensity is smaller than or equal to a preset judgment value, reserving the signal intensity as the effective signal intensity;
and deleting the signal intensity when the effective value of the signal intensity is larger than a preset judgment value.
Further, the processor 1001 may call a ranging positioning program stored in the memory 1005, and further perform the following operations:
When there is only one valid signal strength, locking the target according to the valid value;
when a plurality of effective signal intensities exist, the reflector with the shortest distance is determined as a positioning target.
Further, the processor 1001 may call a ranging positioning program stored in the memory 1005, and further perform the following operations:
displaying distance information contained in the target positioning signal;
sending a vibration instruction, and prompting a user that a target is positioned through motor vibration; and/or
And sending a visual display instruction to prompt a user that the target is positioned through visual display.
As shown in fig. 2, the ranging positioning method according to the first embodiment of the present invention includes the following steps:
step S100, obtaining the flight time and the signal intensity of the ranging signals corresponding to the reflectors;
In this embodiment, after the ranging device receives the ranging positioning instruction, the transmitting module controls the transmitting driver, where the transmitting driver transmits a plurality of pulse signals according to a certain pulse width and frequency in a measurement period, and at the same time, the transmitting module transmits a start signal to the time measuring module, the time measuring module records the time when the start signal is received, the amplitude of the signal transmitted by the transmitting driver is far smaller than the signal transmitted by the transmitting driver due to the transmission in air and the diffuse reflection effect of the reflector, the signal strength of the signal is recorded when the receiving driver receives the transmitted signal, and at the same time, the end signal is transmitted to the time measuring module, and the time measuring module obtains the flight time of the ranging signal corresponding to the reflector according to the time difference between the receiving start signal and the receiving end signal, and stores the signal strength corresponding to the flight time in an associated manner.
Step S200, determining the interval distance between the distance measuring device and each reflector according to the flight time;
In this embodiment, according to the start signal and the end signal received by the time measurement module of the ranging device, the time of flight of the ranging signal emitted by the ranging device in the air is measured by emitting laser light, and the propagation speed of the light in the air is known, i.e. v= 299792458m/s, so according to the formula The distance between the distance measuring device and each reflector may be determined from the laser time of flight, where R (i) is the laser time of flight.
And step S300, taking the reflector with the interval distance and the signal strength meeting the preset requirements as a positioning target in the reflectors.
In this embodiment, the time of flight and the signal intensity of the signal can be obtained according to the start signal and the end signal received by the time measurement module of the ranging device, the distance between the ranging device and the reflector can be calculated according to the time of flight, the signal intensity corresponding to the same reflector and the corresponding distance are stored in association, the distances are ordered according to the order from small to large, the histogram is drawn according to the ordered distances and the signal intensity corresponding to the distances, because the ranging signal is transmitted in air and the reflector diffusely reflects, the received signal comprises the return signal of the ranging device transmitting signal, the ambient interference signal and the pcb hardware interference signal, when the graph in the histogram has no peak tip, i.e. no correct signal, when there are one or more peak tips in the graph, the signal intensity corresponding to the peak tip and the corresponding distance are obtained, a triangular filter is obtained according to the peak tip amplitude being high, the length being 8, the rectangular filter of the rectangular coordinate system is translated to the rectangular position of the triangular filter, so that the rectangular position of the rectangular filter coincides with the rectangular position of the rectangular filter, and the rectangular position of the rectangular filter can be used in the straight line of the rectangular position of the rectangular filterRepresentation, according to the formulaCalculating to obtain the area V (li) enclosed by the graph and the x axis in the triangular filter, calculating to obtain a preset judgment value T (li) according to the peak tip amplitude, namely determining the area of the triangular filter through the peak tip amplitude, and multiplying the area by the preset value to obtain the preset judgment value T (li), namely obtaining the preset judgment value T (li) through a formulaObtaining the preset judging value T (li), wherein the preset judging value T (li) changes according to the change of peak tip amplitude, comparing the area V (li) with the preset judging value T (li), obtaining effective signal intensity according to a comparison result, finding the shortest interval distance among interval distances corresponding to the effective signal intensity, taking a reflector corresponding to the interval distance as a positioning target, displaying the distance between a distance measuring device and the positioning target in a display screen of the distance measuring device, and prompting a user that positioning is completed through a visual vibration ring and motor vibration.
In summary, in this embodiment, the flight time and the signal strength of the ranging signals corresponding to the reflectors are obtained; determining a separation distance between the ranging device and each of the reflectors according to the flight time; and taking the reflector with the interval distance and the signal strength meeting preset requirements as a positioning target in the reflectors. Therefore, the distance between the distance measuring device and the reflector and the reflected signal intensity can be obtained by sending the distance measuring signal, the histogram is generated by the distance between the distance measuring device and the reflector, the interference of environmental factors and other factors is eliminated by analyzing the histogram, the effective signal intensity is obtained, the distance corresponding to the signal intensity is compared, the reflector corresponding to the shortest distance is used as a positioning target, the distance measuring and positioning are completed, the accuracy of the positioning target of the distance measuring device is improved, and the problem that the distance measuring device is easily interfered by the environmental factors when the target is positioned is solved.
As shown in fig. 3, in a second embodiment of the ranging positioning method according to the present invention proposed based on the first embodiment, the step S100 includes:
Step S110, a ranging positioning instruction is received, a ranging signal is transmitted according to the specification, and the transmitting time of the ranging signal is recorded;
step S120, receiving the reflected ranging signal and recording the receiving time of the ranging signal reflection and the corresponding signal intensity;
Step S130, determining the flight time of the ranging signal according to the transmitting time and the receiving time.
In this embodiment, the ranging device uses pulse ranging, when the ranging device receives a ranging positioning instruction, the data processing control module of the ranging device controls the transmitting drive to transmit ranging signals with fixed pulse width and frequency in a measurement period through the laser transmitting module, meanwhile, the laser transmitting module transmits a start signal to the time measuring module, the time measuring module records the time of receiving the start signal, the ranging signals transmitted by the transmitting drive are transmitted in the air, after encountering a reflector, part of signals are transmitted back to the receiving drive of the ranging device together with other interference signals through diffuse reflection, the receiving drive records the signal intensity of the signals after receiving the signals, and simultaneously transmits an end signal to the time measuring module, and the time measuring module can determine the flight time of the ranging signals according to the recorded time of receiving the start signal and the time of receiving the end signal and according to the time difference of receiving the two signals.
As shown in fig. 4, in a third embodiment of the ranging positioning method according to the present invention proposed based on the first embodiment, the step S300 includes:
step S310, determining effective signal strength;
Step S320, obtaining the interval distance corresponding to the signal intensity, and determining the positioning target according to the interval distance.
In this embodiment, since the ranging signal is lost during the transmission process, and when other light rays in the environment irradiate the reflector and other objects, an interference signal is generated and some of the interference signal is transmitted to the ranging device, at this time, the received signal received by the receiving driver interferes with the ranging positioning of the ranging device, so that the positioning accuracy of the ranging device is reduced; when the distance between the positioning target and the ranging device is longer, the more the signal sent by the ranging device is consumed in the propagation process, so that the lower the returned effective signal strength is, the lower the positioning accuracy of the ranging device is; the stronger the ambient light, the greater the interference with the propagation of the signal from the distance measuring device in air. Therefore, the ranging device needs to screen the information of the returned signal after the ranging device receives the returned signal by the receiving driver; drawing a histogram with x axis as interval distance and y axis as signal intensity according to the interval distance and the signal intensity, obtaining a set of peak tips in the histogram, screening the peak tips in the set by using a triangular filter to obtain effective signal intensity, obtaining interval distance corresponding to the signal intensity, comparing the interval distance, and taking a reflector corresponding to the shortest interval distance in the interval distance as a positioning target. Therefore, the received signals are screened for the signal intensity, interference of other factors on ranging and positioning is eliminated, and then the positioning target is determined according to the interval distance, so that the accuracy of positioning and ranging of the ranging device is improved.
As shown in fig. 5, in a fourth embodiment of the ranging positioning method according to the present invention proposed based on the above third embodiment, the step S310 includes:
Step S311, sorting the interval distances;
step S312, generating a histogram according to the ordered interval distance and the signal intensity;
Step S313, determining an effective value corresponding to the signal intensity and a preset judgment value according to the histogram;
Step S314, determining the effective signal strength according to the effective value and the preset determination value.
In this embodiment, the distance measuring device calculates the distance between the distance measuring device and each reflector according to the time of flight of the distance measuring signal, and orders the distance from small to large, so as to draw a histogram of x as the distance and y as the signal intensity, the distance measuring device transmits the distance measuring signal with a certain pulse width and frequency, but the distance measuring signal is consumed when transmitted in air, the roughness of the surface of the reflector is different, the diffuse reflection is caused, and the light reflected when the ambient light irradiates the reflector and other objects may affect the positioning of the reflector by the distance measuring device, because of the interference, there may be a plurality of local maxima, i.e. peak tips, in the graph presented in the histogram, when there are a plurality of peak tips, the peak tips are used as a set, the triangular filter is used to determine whether the signal intensity corresponding to the peak tip is effective signal intensity in sequence, the determination uses the peak tip amplitude as the height of the triangular filter, takes 8 units as length, translates to the position of the triangular filter, so that the position of the triangular filter coincides with the position of the right angle of the triangular filter, and the right angle of the origin of the triangular filter may be used as the straight line of the origin of the triangular filterRepresentation according to the formula/>The area of a graph formed by a ranging signal in the triangular filter and a graph formed by surrounding coordinate axes can be calculated, and according to V (li), when the signal intensity is smaller than or equal to the value of the corresponding triangular filter hypotenuse ordinate, namely, when the interference signals around the signal intensity corresponding to the peak tip are less, the values of the signal intensities are summed; when the signal intensity is larger than the value of the corresponding triangle filter hypotenuse ordinate, summing the values of the triangle filter hypotenuse ordinate, finally adding the summation results of the two parts to obtain the area of a graph formed by the ranging signals in the triangle filter and the graph surrounded by the coordinate axes, comparing the area with a preset judgment value, namely the triangle filter area multiplied by a specific coefficient, and when the area is larger than the preset judgment value, the signal intensity corresponding to the peak point is invalid signal intensity; and when the area is smaller than or equal to the preset judgment value, the signal intensity corresponding to the peak tip is effective signal intensity. Therefore, through the histogram analysis of the signal intensity and the interval distance corresponding to the signal received by the distance measuring device, the interference of environmental factors on the distance measuring and positioning is eliminated, and the accuracy of the distance measuring and positioning is improved.
As shown in fig. 6, according to a fifth embodiment of the ranging positioning method according to the present invention proposed by the fourth embodiment, before step S313, the method further includes:
step S315, all peak tip positions in the histogram are obtained;
Step S316, determining signal intensity and corresponding interval distance corresponding to the peak tip position according to the peak tip position, and executing the step of determining an effective value and a preset judgment value corresponding to the signal intensity according to the histogram.
In this embodiment, when one or more peaks are in the histogram drawn according to the ordered interval distance and the signal intensity corresponding to the interval distance, the peak is a local maximum value of a graph in the histogram, the peak is a signal that is received by the ranging device at the corresponding interval time and is stronger than other times, and the signal may be a ranging signal reflected by a positioned object sent by the ranging device, so that information positions of all peaks in the histogram are obtained, where the information positions include the interval distance corresponding to the peak and the corresponding signal intensity, and according to the position information, a triangular filter with peak amplitude as high and length as 8 is set to determine whether the signal intensity corresponding to the peak is a valid value. Therefore, the triangular filter is arranged to filter the histogram drawn according to the received signals, so that interference signals are eliminated, and the accuracy of ranging and positioning is improved.
Based on the sixth embodiment of the ranging positioning method according to the present invention set forth in the fourth embodiment, in this embodiment, the step S314 includes:
when the effective value of the signal intensity is smaller than or equal to a preset judgment value, reserving the signal intensity as the effective signal intensity;
and deleting the signal intensity when the effective value of the signal intensity is larger than a preset judgment value.
In this embodiment, according to the ordered interval distance and the possible peak tip, that is, the local maximum value, in the histogram drawn by the corresponding signal intensity, when one or more peak tips exist, setting the peak tip amplitude to be high, and determining whether the signal intensity corresponding to the peak tip is effective by a triangular filter with a length of 8, to obtain an effective value corresponding to the signal intensity, that is, an area V (li) of a graph formed by a ranging signal in the triangular filter and a graph surrounded by a coordinate axis, and when the signal intensity is smaller than or equal to the value of the hypotenuse ordinate of the corresponding triangular filter, summing the values of the signal intensities; when the signal intensity is larger than the value of the corresponding triangle filter hypotenuse ordinate, summing the values of the triangle filter hypotenuse ordinate, finally adding the sum results of the two parts to obtain the area V (li), calculating the preset judgment value T (li) according to the area multiplied by a specific coefficient of the triangle filter, and when the area V (li) is smaller than or equal to the preset judgment value T (li), the signal intensity corresponding to the peak point is effective signal intensity, and reserving the signal intensity and the corresponding interval distance; when the area V (li) is greater than the preset judging value T (li), the signal intensity corresponding to the peak tip is invalid, and the signal intensity and the corresponding interval distance are deleted. Therefore, by comparing the area V (li) of the graph formed by the ranging signals in the triangular filter and the graph formed by the surrounding coordinate axes with the preset judgment value T (li), interference signals are eliminated, and the accuracy of ranging and positioning is improved.
Based on the seventh embodiment of the ranging positioning method according to the present invention set forth in the third embodiment, in this embodiment, the step S320 includes:
When there is only one valid signal strength, locking the target according to the valid value;
when a plurality of effective signal intensities exist, the reflector with the shortest distance is determined as a positioning target.
In this embodiment, by analyzing the histogram drawn according to the interval distance and the corresponding signal intensity, valid signal intensities in the signal intensities corresponding to all peak-to-peak values can be screened, and when only one valid signal intensity exists, the reflector corresponding to the signal intensity is the positioning target; when a plurality of effective signal intensities exist, the interval distance corresponding to the signal intensities is required to be obtained, the interval distances corresponding to all the signal intensities are compared, and the reflector with the smallest value is found out from the interval distances, namely the reflector corresponding to the signal intensity is the nearest reflector to the distance measuring device, and the reflector is the positioning target for the distance measuring and positioning.
Based on the eighth embodiment of the ranging positioning method according to the present invention set forth in the first embodiment, in this embodiment, after the step S300, the method further includes:
displaying distance information contained in the target positioning signal;
sending a vibration instruction, and prompting a user that a target is positioned through motor vibration; and/or
And sending a visual display instruction to prompt a user that the target is positioned through visual display.
In this embodiment, after the reflector meeting the preset requirements according to the spacing distance and the signal strength is used as the positioning target, a vibration instruction may be sent to vibrate a motor in the ranging device to prompt a user that the ranging device has completed the task of positioning the target, or a visual display instruction may be sent to visually prompt the user that the ranging device has completed the task of positioning the target through intense visual display at a display screen of the ranging device. Therefore, the user can be quickly prompted to finish positioning through motor vibration and visual prompt, and corresponding distance information is displayed, so that the user can conveniently perform the next action.
In order to achieve the above object, the present invention further provides a ranging apparatus, which includes a memory, a processor, and a ranging positioning program stored on the memory and executable on the processor, wherein the ranging positioning program when executed by the processor implements the steps of any one of the ranging positioning methods described above.
In order to achieve the above object, the present invention also provides a readable storage medium having a ranging positioning program stored thereon, which when executed by a processor, implements the steps of any of the ranging positioning methods described above.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) as described above, comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (8)
1. A ranging positioning method, characterized in that the ranging positioning method comprises the following steps:
acquiring flight time and signal strength of ranging signals corresponding to a plurality of reflectors;
Determining a separation distance between the ranging device and each of the reflectors according to the flight time;
sorting the spacing distances;
Generating a histogram according to the ordered interval distance and the signal intensity;
determining an effective value corresponding to the signal intensity and a preset judging value according to the histogram;
determining effective signal strength according to the effective value and the preset judging value;
acquiring a spacing distance corresponding to the signal intensity, and determining a positioning target according to the spacing distance;
the step of determining the effective value and the preset judgment value corresponding to the signal strength according to the histogram comprises the following steps:
Taking peak tip amplitude values in the histogram as high and taking 8 unit lengths as long to construct a triangular filter, translating an origin to a right angle position of the triangular filter to enable the origin to coincide with the right angle position, wherein a straight line where a hypotenuse of the triangular filter is located is expressed as ；
According to the formulaCalculating to obtain the area/>, surrounded by the graph and the x axis, of the triangular filter；
By the formulaObtaining a preset judgment value/>；
The step of determining the effective signal strength according to the effective value and the preset judging value includes:
Comparing the size of the area And the preset judgment value/>And obtaining effective signal intensity according to the comparison result.
2. The ranging positioning method according to claim 1, wherein the step of obtaining the time of flight and signal strength of the ranging signals corresponding to the plurality of reflectors comprises:
Receiving a ranging positioning instruction, transmitting a ranging signal according to the instruction, and recording the transmitting time of the ranging signal;
Receiving a reflected ranging signal, and recording the receiving time of the ranging signal reflection and the corresponding signal intensity;
and determining the flight time of the ranging signal according to the transmitting time and the receiving time.
3. The ranging positioning method according to claim 1, wherein before the step of determining the effective value and the preset judgment value corresponding to the signal strength according to the histogram, the method further comprises:
Acquiring all peak tip positions in the histogram;
and determining signal intensity and corresponding interval distance corresponding to the peak tip position according to the peak tip position, and executing the step of determining an effective value and a preset judgment value corresponding to the signal intensity according to the histogram.
4. The ranging positioning method according to claim 1, wherein the step of determining the effective signal strength according to the effective value and the preset judgment value comprises:
when the effective value of the signal intensity is smaller than or equal to a preset judgment value, reserving the signal intensity as the effective signal intensity;
and deleting the signal intensity when the effective value of the signal intensity is larger than a preset judgment value.
5. The ranging and positioning method according to claim 1, wherein the step of obtaining a separation distance corresponding to the signal strength and determining a positioning target according to the separation distance comprises:
When there is only one valid signal strength, locking the target according to the valid value;
when a plurality of effective signal intensities exist, the reflector with the shortest distance is determined as a positioning target.
6. The ranging positioning method according to claim 1, wherein after determining the positioning target, further comprising:
Displaying distance information contained in the target positioning signal;
sending a vibration instruction, and prompting a user that a target is positioned through motor vibration; and/or
And sending a visual display instruction to prompt a user that the target is positioned through visual display.
7. A ranging apparatus comprising a memory, a processor and a ranging positioning program stored on the memory and executable on the processor, the ranging positioning program when executed by the processor implementing the steps of the ranging positioning method according to any of claims 1 to 6.
8. A readable storage medium, wherein a ranging positioning program is stored on the readable storage medium, which when executed by a processor, implements the steps of the ranging positioning method according to any of claims 1 to 6.
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