超声波精密定位的一种方法.pdfVIP

电子测量与仪器学报 2007 年增刊 超声波精密定位的一种方法 王 萍1 2 万柏坤2 （1 天津工业大学 计算机技术与自动化学院，天津 300160 ） （2 天津大学 精密仪器与光电子工程学院，天津 300072 ） 摘要：为使超声波测距适应在强干扰工业环境中测量空间距离，采用了互相关原理检测回波信号延迟时间来测量距离的方法。 该方法具有很强的抗噪声干扰的性能。为减少计算量并提高离散化的互相关函数分辨率和精度，采用了三点确定抛物线顶点 的方法，计算出互相关函数最大值的精确位置，从而确定出回波的时间，使得单次测量空间距离的精度可达±0. 12%。提出 并验证了在减小采集密度的情况下在离散化的最大值附近，采用三点确定抛物线顶点的方法计算互相关函数最大值是一种具 有实时性高、抗干扰性能好的复合测量方法。 关键词：超声波测距，互相关检测，抛物线方程 A precision method of ultrasonic distance measurement 1 2 2 Wang Ping Wan Baikun (1 Tianjin Polytechnic University College of Computer and Automation, Tianjin 300160) (2 Tianjin University college of precision instrument and opto-electrons engineering, Tianjin 300372) Abstract: The paper introduces a method of measuring distance by detecting the delay time of echo signal with an application of cross-correlation principle. This method has a very good performance in rejecting noise interference. To decrease the scale of calculation and increase resolution and accuracy of cross-correlation function, we locate the peak point of the parabola using three discrete sample data. Then we calculate the accurate position of maximum point of cross-correlation function, and thus the return time of echo signal is obtained. This method can result in an accuracy of ±0.12%. We show that using three points to locate the peak of parabola to calculate maximum value of cross-correlation function has the following properties: real time measuring and reje ction of noise interference. Keywords: ultrasonic range finder, cross-correlation measurement, parabola equation 在柔性制造系统中，机械手空间位置是一个重 置测量的