CN104849709A - Method and device for inhibiting background interference in indoor wireless range finding - Google Patents
Method and device for inhibiting background interference in indoor wireless range finding Download PDFInfo
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- CN104849709A CN104849709A CN201510276179.8A CN201510276179A CN104849709A CN 104849709 A CN104849709 A CN 104849709A CN 201510276179 A CN201510276179 A CN 201510276179A CN 104849709 A CN104849709 A CN 104849709A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
Abstract
The invention relates to the technical field of wireless communication and particularly relates to a method and a device for inhibiting background interference in indoor wireless range finding. The method comprises the steps of sequentially accumulating range finding pulses received in a preset time period to obtain a range finding reinforcement signal; and extracting time information from the range finding reinforcement signal and calculating a current distance of a target object according to the time information. According to the method and the device for inhibiting background interference in indoor wireless range finding, inhibition of background interference in indoor wireless range finding signals is enhanced to improve the accuracy of indoor range finding.
Description
Technical field
The present invention relates to wireless communication technique field, the method for Background suppression interference in indoor wireless range finding and device.
Background technology
Indoor wireless location technology is more and more subject to showing great attention to of industry in recent years, its application demand throughout numerous industry field, the indoor navigation of such as public place, indoor emergency rescue etc.
In indoor wireless location technology, important process is the distance between measuring and calculating two nodes, wherein node here generally refers to destination object and base station server, the method measuring this distance is a lot, as the measurement of direction of arrival degree, time of arrival (toa) location technology, signal arrival time difference technology and Received signal strength persond eixis technology etc.In above-mentioned indoor wireless positioning distance measuring method, based on the transmitting-receiving of wireless signal, by the transmitting-receiving angle, two-way time, signal attenuation etc. of monitoring wireless signal, reach the object of range finding.
But in indoor environment or when having shelter, what base station server sent is easily subject to various interference as multipath, scattering and background clutter etc. for the wireless signal of finding range, affect the accuracy of indoor positioning range finding.
Summary of the invention
The method of Background suppression interference in the object of the present invention is to provide indoor wireless to find range and device, by the suppression to background interference in indoor wireless distance measuring signal, to improve the accuracy of indoor range finding.
First aspect, embodiments provide the method for Background suppression interference in the range finding of a kind of indoor wireless, comprise: the distance measuring signal pulse received in preset time range is added up successively, obtain range finding and strengthen signal, be wherein approximately zero in the displacement of described preset time range internal object object; Strengthen extracting time information signal from described range finding, and calculate the current distance of described destination object according to described temporal information.
In conjunction with first aspect, embodiments provide the first possible embodiment of first aspect, wherein, described the distance measuring signal pulse received in preset time range to be added up successively, obtain range finding and strengthen signal, comprising: receive first is met the ranging burst signal of range finding calculating standard as reference signal; From receiving beginning timing described reference signal, and the ranging burst signal received in preset time range being added up for initialize signal successively with described reference signal, obtaining range finding and strengthening signal.
In conjunction with first aspect, embodiments provide the embodiment that the second of first aspect is possible, wherein, described the distance measuring signal pulse received in preset time range to be added up successively, comprise: the described distance measuring signal pulse received in preset time range is added up according to I signal direction and Q signal direction successively, wherein I signal characterizes complex signal real part, and Q signal characterizes complex signal imaginary part.
In conjunction with first aspect, embodiments provide the third possible embodiment of first aspect, wherein, the method also comprises: arrange described preset time range, wherein, with the phase place variation error of the described distance measuring signal pulse received for benchmark is arranged described preset time range.
In conjunction with first aspect, embodiments provide the 4th kind of possible embodiment of first aspect, wherein, describedly strengthen extracting time information signal from described range finding, comprising: time domain data compression is carried out to described range finding reinforcement signal; Extracting time information signal is strengthened from the range finding after described time domain data compression.
In conjunction with first aspect, embodiments provide the 5th kind of possible embodiment of first aspect, wherein, describedly signal is strengthened to described range finding carry out time domain data compression, comprise: described reinforcement signal and the reference pulse preset are carried out time-domain related calculation, to carry out time domain data compression to described reinforcement signal.
Second aspect, the embodiment of the present invention additionally provides the device of Background suppression interference in the range finding of a kind of indoor wireless, comprise: pulse accumulation module, for the distance measuring signal received in preset time range pulse is added up successively, obtain range finding and strengthen signal, be wherein approximately zero in the displacement of described preset time range internal object object; Time extraction module, for strengthening extracting time information in signal from described range finding, and calculates the current distance of described destination object according to described temporal information.
In conjunction with second aspect, embodiments provide the first possible embodiment of second aspect, wherein, described pulse accumulation module comprises: reference signal determining unit, for receive first being met the ranging burst signal of range finding calculating standard as reference signal; Timing unit, for from receiving beginning timing described reference signal; Summing elements, for being added up successively for initialize signal with described reference signal by the ranging burst received in preset time range signal, obtaining range finding and strengthening signal.
In conjunction with second aspect, embodiments provide the embodiment that the second of second aspect is possible, wherein, described summing elements, for the described distance measuring signal pulse received in preset time range is added up according to I signal direction and Q signal direction successively, wherein I signal characterizes complex signal real part, and Q signal characterizes complex signal imaginary part.
In conjunction with second aspect, embodiments provide the third possible embodiment of second aspect, wherein, described time extraction module, comprising: time domain data compression unit, carries out time domain data compression for strengthening signal to described range finding; Temporal information extraction unit, for strengthening extracting time information in signal from the range finding after described time domain data compression.
The method of Background suppression interference in the indoor wireless range finding of the embodiment of the present invention and device, distance measuring signal pulse in preset time range is added up, owing to can be approximately zero in the displacement of preset time range internal object object, signal adds up does not affect the result of range finding; In cumulative process, the amplitude of distance measuring signal pulse is enhanced, simultaneously due to the randomness of the background interference such as noise in distance measuring signal pulse, in cumulative process, cancel out each other between undesired signal, background noise is effectively suppressed, thus reduces background interference to the impact of range measurement, and then improve the accuracy of indoor range finding.
For making above-mentioned purpose of the present invention, feature and advantage become apparent, preferred embodiment cited below particularly, and coordinate appended accompanying drawing, be described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, be briefly described to the accompanying drawing used required in embodiment below, be to be understood that, the following drawings illustrate only some embodiment of the present invention, therefore the restriction to scope should be counted as, for those of ordinary skill in the art, under the prerequisite not paying creative work, other relevant accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 shows a kind of process flow diagram of the method for Background suppression interference in indoor wireless range finding in the embodiment of the present invention;
Fig. 2 shows the another kind of process flow diagram of the method for Background suppression interference in indoor wireless range finding in the embodiment of the present invention;
Fig. 3 shows the schematic diagram of distance measuring signal pulse in the embodiment of the present invention;
Fig. 4 shows the effect schematic diagram of distance measuring signal pulse accumulation in the embodiment of the present invention;
Fig. 5 shows the effect schematic diagram of distance measuring signal pulse coherence accumulation in the embodiment of the present invention;
Fig. 6 shows a kind of structural representation of the device of Background suppression interference in indoor wireless range finding in the embodiment of the present invention;
Fig. 7 shows the another kind of structural representation of the device of Background suppression interference in indoor wireless range finding in the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.The assembly of the embodiment of the present invention describing and illustrate in usual accompanying drawing herein can be arranged with various different configuration and design.Therefore, below to the detailed description of the embodiments of the invention provided in the accompanying drawings and the claimed scope of the present invention of not intended to be limiting, but selected embodiment of the present invention is only represented.Based on embodiments of the invention, the every other embodiment that those skilled in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.
In indoor range finding, due to the existence of the background interference such as multipath, scattering and background clutter, the orientation distance that foundation distance measuring signal is obtained is inaccurate, in order to improve the accuracy of indoor range finding, provide the method for Background suppression interference in the range finding of a kind of indoor wireless in the embodiment of the present invention, by strengthening distance measuring signal energy in this method, offsetting and weakening background interference energy, thus reduce background interference to the impact of distance measuring signal, and then make the result of range finding more accurate.
Be described in detail below with reference to the method for accompanying drawing to Background suppression interference in the indoor wireless range finding of the embodiment of the present invention.
As shown in Figure 1, in the indoor wireless range finding of the embodiment of the present invention, the main processing steps of method of Background suppression interference comprises:
Step S11: the distance measuring signal pulse received in preset time range added up successively, obtains range finding and strengthens signal.
Zero is approximately in the displacement of above-mentioned preset time range internal object object, the cumulative actual result not affecting range finding of the distance measuring signal pulse of this time range internal object object, such as the translational speed of 3 metre per second (m/s)s, the displacement of 3 milliseconds of time internal object objects is less than 1 centimeter, for the positioning precision of 80-150 centimetre, negligible.
In the embodiment of the present invention, for ensureing that, in cumulative process, the displacement less stationary of destination object, also needs to arrange preset time range.In specific implementation process, the method arranging above-mentioned preset time range comprises: with the phase place variation error of the distance measuring signal pulse received for benchmark arranges preset time range, such as can be less than pi/4 according to the phase error of the ranging burst signal received in actual applications is principle, arrange above-mentioned preset time range, wherein pi is circular constant.
Actual above-mentioned preset time range is set time, can according to the foundation of the number of the distance measuring signal pulse received as timing, such as, as shown in Figure 3, when the transmission cycle of wireless distance finding pulse is u microsecond, the number that can arrange distance measuring signal pulse to be added up is 3000/u, is designated as N here.For u=4 microsecond, then the number N=750 of distance measuring signal pulse to be added up is individual.
In the time range of N number of distance measuring signal pulse, can be less stationary state depending on measured target, the target range that namely this N number of distance measuring signal pulse characterizes all can be considered unified measurement parameter, therefore can carry out comprehensive, fusion treatment.
In above-mentioned steps, distance measuring signal pulse in this time range is added up successively, the amplitude of distance measuring signal pulse can be made thus to be enhanced, and background noise is weakened due to the randomness of distribution in cumulative process, thus realizes the effective suppression to background interference.
Step S12: strengthen extracting time information signal from range finding, and calculate the current distance of destination object according to temporal information.
In the present invention, because distance measuring signal pulse is enhanced, background interference is inhibited, and decreases the impact of background interference on range measurement, therefore makes the range finding calculated apart from more accurate.
Provide the preferred implementation of Background suppression interference method in the range finding of a kind of indoor wireless in the embodiment of the present invention, as shown in Figure 2, main processing steps comprises:
Step S21: receive first is met the ranging burst signal of range finding calculating standard as reference signal.
In indoor range finding, base station server receives the ranging burst signal being used for finding range to destination object, and the ranging burst signal first that receives being met range finding calculating standard is as reference signal, wherein meet range finding calculating standard and can have multiple setting, such as, can according to the amplitude of the distance measuring signal pulse received, phase error and the number determination reference signal receiving stable ranging burst signal continuously.
Step S22: from receiving beginning timing reference signal, and be that initialize signal adds up successively with reference signal by the ranging burst signal received in preset time range, obtains range finding and strengthens signal.
In view of the periodicity that ranging burst signal sends, in this step, can consider that the number according to the distance measuring signal pulse received carries out timing.
Such as, be as the criterion with reference signal, using follow-up N number of signal as pending signal.
As shown in Figure 4, when carrying out cumulative to the distance measuring signal pulse of preset time range, take reference signal as benchmark, follow-up N number of distance measuring signal pulse is added in reference pulse signal successively.
Especially, when the number of the actual distance measuring signal pulse received is less than N, then add up to the whole distance measuring signal pulses received, if the number of the distance measuring signal pulse received actual is greater than N, then only cumulative top n distance measuring signal pulse.
In actual range finding, background interference likely makes the phase place of distance measuring signal pulse, one in amplitude or two contents change, if be only the change in amplitude, little to the Influence on test result of range finding, when the phase place of ranging burst signal produce comparatively big error time, the result of range finding can be affected largely, simultaneously due to the randomness of background noise PHASE DISTRIBUTION, therefore, the present invention adopts plural accumulate mode to add up to ranging burst signal, thus ranging burst signal is enhanced in amplitude amplitude, background noise is offset and is weakened, thus play the effect of Background suppression interference.
In the embodiment of the present invention, the method of the multiple ranging burst signals received being carried out plural number cumulative is: the described distance measuring signal pulse received in preset time range added up according to I signal direction and Q signal direction successively, wherein I signal characterizes complex signal real part, Q signal characterizes complex signal imaginary part, ranging burst signal can be made thus to cancel out each other in the deviation of phase place, amplitude amplitude is enhanced, thus plays the effect of Background suppression interference.
Step S23: signal is strengthened to range finding and carries out time domain data compression.
In order to improve positioning precision, in the present embodiment, signal is strengthened to range finding and carry out time domain data compression, wherein the method for time domain data compression can be: carry out time-domain related calculation by strengthening signal with the reference pulse preset, and to carry out time domain data compression to reinforcement signal, the result of related progressive as shown in Figure 5.
Step S24: strengthen extracting time information signal from the range finding after time domain data compression.
By carrying out the compression in time domain to reinforcement signal in the present invention, the precision of range finding can be improved, such as, be 2 microseconds for the time domain width of original pulse, before not doing compression process, its time extraction accuracy is 2 microseconds, the range accuracy of its correspondence is 600 meters, after compression, time extraction accuracy became for 10 nanoseconds, and the range accuracy of its correspondence is 3 meters.
The method of Background suppression interference in corresponding above-mentioned indoor wireless range finding, the embodiment of the present invention additionally provides the device of Background suppression interference in the range finding of a kind of indoor wireless, as shown in Figure 6, comprise: pulse accumulation module 31, for the distance measuring signal received in preset time range pulse is added up successively, obtain range finding and strengthen signal, be wherein approximately zero in the displacement of preset time range internal object object; Time extraction module 32, for strengthening extracting time information in signal from range finding, and calculates the current distance of destination object according to temporal information.
In the embodiment of the present invention, by adding up to distance measuring signal pulse, ranging burst signal is enhanced on amplitude direction, and background interference obtains effective weakening, thus reduces the impact of background interference on distance measuring signal, makes the result of range finding more accurate.
In above-mentioned distance measuring signal pulse accumulation process, setting reference signal, and be that benchmark adds up to the follow-up multiple distance measuring signal pulses received continuously with reference signal, in order to realize this accumulation method, reference signal determining unit, timing unit and summing elements are set in pulse accumulation module 31, wherein, reference signal determining unit is for meeting the ranging burst signal of range finding calculating standard as reference signal using receive first; Timing unit, for from receiving beginning timing reference signal; Summing elements, for being that initialize signal adds up successively with reference signal by the ranging burst received in preset time range signal, obtaining range finding and strengthening signal.
In order in cumulative process, the amplitude of distance measuring signal pulse is enhanced, background interference is inhibited, the method that plural number is cumulative is have employed in the embodiment of the present invention, particularly, the described distance measuring signal pulse received in preset time range adds up according to I signal direction and Q signal direction by summing elements successively, and wherein I signal characterizes complex signal real part, and Q signal characterizes complex signal imaginary part.
In the embodiment of the present invention, signal is strengthened to the above-mentioned cumulative range finding obtained and carry out split-second precision extraction, in order to improve the precision of range finding, the method of time domain data compression is have employed in the embodiment of the present invention, particularly, time extraction module 32 comprises: time domain data compression unit and time information extraction unit, and wherein time domain data compression unit is used for carrying out time domain data compression to range finding reinforcement signal; Temporal information extraction unit, for strengthening extracting time information in signal from the range finding after time domain data compression.
The device that the embodiment of the present invention provides, its technique effect realizing principle and generation is identical with preceding method embodiment, is concise and to the point description, and the not mentioned part of device embodiment part can with reference to corresponding contents in preceding method embodiment.
Above embodiment is by adding up the distance measuring signal pulse of preset time range, the amplitude of distance measuring signal pulse is enhanced, background interference due to distribution randomness weakened in cumulative process, thus the effective suppression realized background interference, thus reduce background interference to the impact of range measurement, and then improve the accuracy of range measurement.
See Fig. 7, the device 100 of Background suppression interference during the embodiment of the present invention also provides a kind of indoor wireless to find range, comprising: processor 40, storer 41, bus 42 and communication interface 43, described processor 40, communication interface 43 are connected by bus 42 with storer 41; The executable module of processor 40 for storing in execute store 41, such as computer program.
Wherein, storer 41 may comprise high-speed random access memory (RAM, RandomAccess Memory), still may comprise non-labile storer (non-volatile memory), such as at least one magnetic disk memory.Realize the communication connection between this system network element and at least one other network element by least one communication interface 43 (can be wired or wireless), can internet be used, wide area network, local network, Metropolitan Area Network (MAN) etc.
Bus 42 can be isa bus, pci bus or eisa bus etc.Described bus can be divided into address bus, data bus, control bus etc.For ease of representing, only representing with a four-headed arrow in Fig. 4, but not representing the bus only having a bus or a type.
Wherein, storer 41 is for storage program, and described processor 40, after receiving execution instruction, performs described program, the method performed by device of the stream procedure definition that aforementioned embodiment of the present invention any embodiment discloses can be applied in processor 40, or is realized by processor 40.
Processor 40 may be a kind of integrated circuit (IC) chip, has the processing power of signal.In implementation procedure, each step of said method can be completed by the instruction of the integrated logic circuit of the hardware in processor 40 or software form.Above-mentioned processor 40 can be general processor, comprises central processing unit (Central Processing Unit is called for short CPU), network processing unit (Network Processor is called for short NP) etc.; Can also be digital signal processor (DSP), special IC (ASIC), ready-made programmable gate array (FPGA) or other programmable logic device (PLD), discrete gate or transistor logic, discrete hardware components.Can realize or perform disclosed each method, step and the logic diagram in the embodiment of the present invention.The processor etc. of general processor can be microprocessor or this processor also can be any routine.Step in conjunction with the method disclosed in the embodiment of the present invention directly can be presented as that hardware decoding processor is complete, or combines complete by the hardware in decoding processor and software module.Software module can be positioned at random access memory, flash memory, ROM (read-only memory), in the storage medium of this area maturations such as programmable read only memory or electrically erasable programmable storer, register.This storage medium is positioned at storer 41, and processor 40 reads the information in storer 41, completes the step of said method in conjunction with its hardware.
Process flow diagram in accompanying drawing and block diagram show system according to multiple embodiment of the present invention, the architectural framework in the cards of method and computer program product, function and operation.In this, each square frame in process flow diagram or block diagram can represent a part for module, program segment or a code, and a part for described module, program segment or code comprises one or more executable instruction for realizing the logic function specified.Also it should be noted that at some as in the realization of replacing, the function marked in square frame also can be different from occurring in sequence of marking in accompanying drawing.Such as, in fact two continuous print square frames can perform substantially concurrently, and they also can perform by contrary order sometimes, and this determines according to involved function.Also it should be noted that, the combination of the square frame in each square frame in block diagram and/or process flow diagram and block diagram and/or process flow diagram, can realize by the special hardware based system of the function put rules into practice or action, or can realize with the combination of specialized hardware and computer instruction.
The embodiment of the present invention additionally provides the method for Background suppression interference in indoor wireless range finding, the computer program of interface control display packing, comprise the computer-readable recording medium storing program code, the instruction that described program code comprises can be used for performing the method described in previous methods embodiment, specific implementation see embodiment of the method, can not repeat them here.
Those skilled in the art can be well understood to, and for convenience and simplicity of description, the specific works process of the system of foregoing description, device and unit, with reference to the corresponding process in preceding method embodiment, can not repeat them here.
In several embodiments that the application provides, should be understood that disclosed system, apparatus and method can realize by another way.Device embodiment described above is only schematic, such as, the division of described unit, be only a kind of logic function to divide, actual can have other dividing mode when realizing, again such as, multiple unit or assembly can in conjunction with or another system can be integrated into, or some features can be ignored, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some communication interfaces, and the indirect coupling of device or unit or communication connection can be electrical, machinery or other form.
The described parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed in multiple network element.Some or all of unit wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, also can be that the independent physics of unit exists, also can two or more unit in a unit integrated.
If described function using the form of SFU software functional unit realize and as independently production marketing or use time, can be stored in a computer read/write memory medium.Based on such understanding, the part of the part that technical scheme of the present invention contributes to prior art in essence in other words or this technical scheme can embody with the form of software product, this computer software product is stored in a storage medium, comprising some instructions in order to make a computer equipment (can be personal computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the present invention.And aforesaid storage medium comprises: USB flash disk, portable hard drive, ROM (read-only memory) (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. various can be program code stored medium.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with the protection domain of claim.
Claims (10)
1. the method for Background suppression interference in indoor wireless range finding, is characterized in that, comprising:
The distance measuring signal pulse received in preset time range is added up successively, obtains range finding and strengthen signal, be wherein approximately zero in the displacement of described preset time range internal object object;
Strengthen extracting time information signal from described range finding, and calculate the current distance of described destination object according to described temporal information.
2. method according to claim 1, is characterized in that, describedly the distance measuring signal pulse received in preset time range is added up successively, obtains range finding and strengthens signal, comprising:
Receive first is met the ranging burst signal of range finding calculating standard as reference signal;
From receiving beginning timing described reference signal, and the ranging burst signal received in preset time range being added up for initialize signal successively with described reference signal, obtaining range finding and strengthening signal.
3. method according to claim 2, is characterized in that, describedly the distance measuring signal pulse received in preset time range is added up successively, comprising:
The described distance measuring signal pulse received in preset time range added up according to I signal direction and Q signal direction successively, wherein I signal characterizes complex signal real part, and Q signal characterizes complex signal imaginary part.
4. method according to claim 1, is characterized in that, the method also comprises: arrange described preset time range, wherein, with the phase place variation error of the described distance measuring signal pulse received for benchmark is arranged described preset time range.
5. method according to claim 1, is characterized in that, describedly strengthens extracting time information signal from described range finding, comprising:
Signal is strengthened to described range finding and carries out time domain data compression;
Extracting time information signal is strengthened from the range finding after described time domain data compression.
6. method according to claim 5, is characterized in that, describedly strengthens signal to described range finding and carries out time domain data compression, comprising:
Described reinforcement signal and the reference pulse preset are carried out time-domain related calculation, to carry out time domain data compression to described reinforcement signal.
7. the device of Background suppression interference in indoor wireless range finding, is characterized in that, comprising:
Pulse accumulation module, for the distance measuring signal received in preset time range pulse being added up successively, obtaining range finding and strengthening signal, being wherein approximately zero in the displacement of described preset time range internal object object;
Time extraction module, for strengthening extracting time information in signal from described range finding, and calculates the current distance of described destination object according to described temporal information.
8. device according to claim 7, is characterized in that, described pulse accumulation module comprises:
Reference signal determining unit, for meeting the ranging burst signal of range finding calculating standard as reference signal using receive first;
Timing unit, for from receiving beginning timing described reference signal;
Summing elements, for being added up successively for initialize signal with described reference signal by the ranging burst received in preset time range signal, obtaining range finding and strengthening signal.
9. device according to claim 8, it is characterized in that, described summing elements, for the described distance measuring signal pulse received in preset time range is added up according to I signal direction and Q signal direction successively, wherein I signal characterizes complex signal real part, and Q signal characterizes complex signal imaginary part.
10. device according to claim 7, is characterized in that, described time extraction module, comprising:
Time domain data compression unit, carries out time domain data compression for strengthening signal to described range finding;
Temporal information extraction unit, for strengthening extracting time information in signal from the range finding after described time domain data compression.
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| CN113791436A (en) * | 2021-08-11 | 2021-12-14 | 北京自动化控制设备研究所 | Dynamic loop tracking method and device suitable for rotary cannonball |
| CN113791436B (en) * | 2021-08-11 | 2024-04-02 | 北京自动化控制设备研究所 | Dynamic loop tracking method and device suitable for rotary shell |
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