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CN111812579B - Ultra-precise transition time measuring method and system - Google Patents

Ultra-precise transition time measuring method and system Download PDF

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CN111812579B
CN111812579B CN202010907079.1A CN202010907079A CN111812579B CN 111812579 B CN111812579 B CN 111812579B CN 202010907079 A CN202010907079 A CN 202010907079A CN 111812579 B CN111812579 B CN 111812579B
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CN111812579A (en
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王正海
王玉皞
周辉林
高晓晓
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Nanchang University
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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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/08—Systems for determining direction or position line
    • G01S1/20—Systems for determining direction or position line using a comparison of transit time of synchronised signals transmitted from non-directional antennas or antenna systems spaced apart, i.e. path-difference systems
    • G01S1/30—Systems for determining direction or position line using a comparison of transit time of synchronised signals transmitted from non-directional antennas or antenna systems spaced apart, i.e. path-difference systems the synchronised signals being continuous waves or intermittent trains of continuous waves, the intermittency not being for the purpose of determining direction or position line and the transit times being compared by measuring the phase difference
    • G01S1/306—Analogous systems in which frequency-related signals (harmonics) are compared in phase, e.g. DECCA systems
    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/72—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using ultrasonic, sonic or infrasonic waves
    • G01S1/76—Systems for determining direction or position line
    • G01S1/80—Systems for determining direction or position line using a comparison of transit time of synchronised signals transmitted from non-directional transducers or transducer systems spaced apart, i.e. path-difference systems
    • G01S1/807—Systems for determining direction or position line using a comparison of transit time of synchronised signals transmitted from non-directional transducers or transducer systems spaced apart, i.e. path-difference systems the synchronised signals being continuous waves or intermittent trains of continuous waves, the intermittency not being for the purpose of determining direction or position line and the transit times being compared by measuring the phase difference

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Abstract

本发明公开了一种超精密渡越时间测量方法及系统，该方法包括：按照测量规则要求同时生成由多个中心频率合成的参考信号；并行接收由多个中心频率合成的参考信号，解算各个参考信号的相位；将多个参考信号的相位转换为参考信号从发射端到接收端的渡越时间；将测量到的多个参考信号的渡越时间转换为唯一的高精度渡越时间。本发明利用瞬时超宽带射频技术的瞬时超宽带处理能力，按照特定的规则同时生成由多个中心频率合成的参考信号，在空间形成瞬时超宽带参考信号，从而形成超精密渡越时间测量能力，能够超高精度低成本地测量参考信号从发射端到接收端的渡越时间。

Figure 202010907079

The invention discloses an ultra-precise time-of-flight measurement method and system. The method includes: simultaneously generating reference signals synthesized by multiple center frequencies according to the requirements of measurement rules; receiving the reference signals synthesized by multiple center frequencies in parallel, and calculating The phase of each reference signal; convert the phase of multiple reference signals into the transit time of the reference signal from the transmitting end to the receiving end; convert the measured transit time of multiple reference signals into a unique high-precision transit time. The present invention utilizes the instantaneous ultra-wideband processing capability of the instantaneous ultra-wideband radio frequency technology to simultaneously generate a reference signal synthesized by multiple center frequencies according to specific rules, and form an instantaneous ultra-wideband reference signal in space, thereby forming an ultra-precise transit time measurement capability, It can measure the transit time of the reference signal from the transmitting end to the receiving end with ultra-high precision and low cost.

Figure 202010907079

Description

超精密渡越时间测量方法及系统Ultra-precise transit time measurement method and system

技术领域technical field

本发明涉及无线信息系统技术领域，特别是涉及一种超精密渡越时间测量方法及系统。The invention relates to the technical field of wireless information systems, in particular to an ultra-precise transit time measurement method and system.

背景技术Background technique

伴随着信息化技术的不断发展和城市化进程的不断深入，建筑安全、交通安全、环境安全、基础设施安全等已经成为事关经济、民生、国防安全等国家安全的重要支柱，组成了国家安全的重要基础。采用无线信息系统技术和装备对建筑、交通、环境、基础设施等的运行时间、位置、运动速度、加速度、位移和形变等进行检测和监视，是构成建筑、交通、环境、基础设施等安全运行的技术基础。With the continuous development of information technology and the continuous deepening of urbanization, building safety, traffic safety, environmental safety, and infrastructure safety have become important pillars of national security related to the economy, people's livelihood, and national defense security. important basis. Using wireless information system technology and equipment to detect and monitor the running time, position, movement speed, acceleration, displacement and deformation of buildings, traffic, environment, infrastructure, etc. technical basis.

以桥梁安全为例，对桥梁结构进行监测和诊断，并及时进行损伤评估和安全预警已成为桥梁建设的必然要求。桥梁在长期的使用过程中，由于环境侵蚀、材料老化和日益加重的交通量及重车、超重车过桥数量的不断增加，导致桥梁结构损伤和功能退化。从而抵抗自然灾害、甚至正常环境作用的能力下降，极端情况下导致灾难事故发生，造成重大的人员伤亡和财产损失。为了保障桥梁结构在营运期间的承载能力、耐久性和安全性，对已建成和在建大型桥梁结构进行健康监测非常重要。Taking bridge safety as an example, it has become an inevitable requirement for bridge construction to monitor and diagnose bridge structures, and conduct damage assessment and safety early warning in a timely manner. During the long-term use of bridges, due to environmental erosion, material aging and increasing traffic volume and the increasing number of heavy vehicles and overweight vehicles passing the bridge, the bridge structure is damaged and the function is degraded. As a result, the ability to resist natural disasters and even normal environmental effects is reduced. In extreme cases, catastrophic accidents occur, causing heavy casualties and property losses. In order to ensure the bearing capacity, durability and safety of bridge structures during operation, it is very important to monitor the health of large bridge structures that have been built and are under construction.

桥梁结构健康监测包含局部监测和整体监测两类。在局部监测方面，可采用光纤、压电智能材料和传感元件，例如光导纤维、电阻应变丝、疲劳寿命丝、压电材料、碳纤维、半导体材料和形状记忆合金等。它们采用表面附着或埋入的方式感知结构的重要部位和重要构件，获取反映局部结构特性的参数信号。在整体监测上，常用的动态变形监测方法有加速度计方法、摄影测量方法、激光扫描测量方法、地面微波干涉雷达方法、GNSS测量方法、RTS测量方法。加速度计方法通过两次积分加速度获得动态位移，但该方法一直受到质疑，主要是积分过程中产生趋势项，无法测量长周期的准静态位移。摄影测量方法是采集监测目标的影像或视频，通过记录、量测和分析等步骤来获取监测目标的动态位移。三维激光扫描方法是通过高速激光来扫描监测目标，大面积高分辨率快速获取监测目标表面三维坐标数据。摄影和激光扫描测量方法的共同缺点是测程较短，当视距增加时，测量精度迅速降低。随着高采样率GNSS接收机的出现，GNSS接收机在结构健康监测领域得到了应用，然而，GNSS平面和高程测量精度局限在10-20mm范围内，该精度制约GNSS监测技术的发展。Bridge structural health monitoring includes local monitoring and overall monitoring. In terms of local monitoring, optical fibers, piezoelectric smart materials and sensing elements can be used, such as optical fibers, resistance strain wires, fatigue life wires, piezoelectric materials, carbon fibers, semiconductor materials, and shape memory alloys. They sense the important parts and important components of the structure by means of surface attachment or embedding, and obtain parameter signals reflecting the characteristics of the local structure. In terms of overall monitoring, commonly used dynamic deformation monitoring methods include accelerometer method, photogrammetry method, laser scanning measurement method, ground microwave interference radar method, GNSS measurement method, and RTS measurement method. The accelerometer method obtains the dynamic displacement by integrating the acceleration twice, but this method has been questioned, mainly because the trend item is generated during the integration process, and the long-period quasi-static displacement cannot be measured. The photogrammetry method is to collect the image or video of the monitoring target, and obtain the dynamic displacement of the monitoring target through the steps of recording, measurement and analysis. The three-dimensional laser scanning method uses high-speed laser to scan the monitoring target, and quickly obtains the three-dimensional coordinate data of the surface of the monitoring target in a large area and high resolution. The common disadvantage of photography and laser scanning measurement methods is that the measurement range is short, and the measurement accuracy decreases rapidly when the line of sight increases. With the emergence of high-sampling-rate GNSS receivers, GNSS receivers have been applied in the field of structural health monitoring. However, the accuracy of GNSS plane and elevation measurements is limited in the range of 10-20mm, which restricts the development of GNSS monitoring technology.

发明内容Contents of the invention

针对上述问题，本发明的一个目的在于提出一种超精密渡越时间测量方法，以解决现有技术测量精度低的问题。In view of the above problems, an object of the present invention is to propose an ultra-precise time-of-flight measurement method to solve the problem of low measurement accuracy in the prior art.

一种超精密渡越时间测量方法，包括：An ultra-precise time-of-flight measurement method comprising:

按照测量规则要求同时生成由多个中心频率合成的参考信号；Simultaneously generate reference signals synthesized by multiple center frequencies according to the requirements of the measurement rules;

并行接收由多个中心频率合成的参考信号，解算各个参考信号的相位；Receive reference signals synthesized by multiple center frequencies in parallel, and calculate the phase of each reference signal;

将多个参考信号的相位转换为参考信号从发射端到接收端的渡越时间；Converting the phases of multiple reference signals into transit times of the reference signals from the transmitter to the receiver;

将测量到的多个参考信号的渡越时间转换为唯一的高精度渡越时间。Converts the measured transit times of multiple reference signals into a unique high-precision transit time.

根据本发明提供的超精密渡越时间测量方法，利用瞬时超宽带射频技术的瞬时超宽带处理能力，按照特定的规则同时生成由多个中心频率合成的参考信号，合成瞬时超宽带参考信号，从而形成超精密渡越时间测量能力，能够超高精度低成本地测量参考信号从发射端到接收端的渡越时间，并基于此时间信息，可以进一步计算得出收发端所依附载体的运动速度、加速度、位移、位置和形变，可广泛应用于对建筑、交通、环境、基础设施等的运行时间、位置、运动速度、加速度、位移和形变等进行超高精度检测和监视。本发明的时间测量精度可以达到皮秒量级，对应的位移测量精度可以达到亚毫米级，具有广阔的军事和民用应用前景。According to the ultra-precise time-of-flight measurement method provided by the present invention, the instantaneous ultra-wideband processing capability of the instantaneous ultra-wideband radio frequency technology is utilized to simultaneously generate reference signals synthesized by multiple center frequencies according to specific rules, and synthesize instantaneous ultra-wideband reference signals, thereby Form the ultra-precise transit time measurement capability, which can measure the transit time of the reference signal from the transmitter to the receiver with ultra-high precision and low cost, and based on this time information, the motion speed and acceleration of the carrier attached to the transceiver can be further calculated , displacement, position and deformation, and can be widely used in ultra-high-precision detection and monitoring of running time, position, motion speed, acceleration, displacement and deformation of buildings, transportation, environment, infrastructure, etc. The time measurement precision of the present invention can reach the picosecond level, and the corresponding displacement measurement precision can reach the submillimeter level, and has broad military and civilian application prospects.

另外，根据本发明上述的超精密渡越时间测量方法，还可以具有如下附加的技术特征：In addition, according to the above-mentioned ultra-precise transit time measurement method of the present invention, it can also have the following additional technical features:

进一步地，所述测量规则中，参考信号中心频率满足式（1）和（2）：Further, in the measurement rules, the center frequency of the reference signal satisfies formulas (1) and (2):

Figure 949471DEST_PATH_IMAGE001
（1）
Figure 949471DEST_PATH_IMAGE001
(1)

Figure 189959DEST_PATH_IMAGE002
（2）
Figure 189959DEST_PATH_IMAGE002
(2)

其中，N表示参考信号的数量；

Figure 734073DEST_PATH_IMAGE003
表示求最小公倍数的运算；
Figure 85420DEST_PATH_IMAGE004
表示第n个参考信号中心频率，
Figure 703483DEST_PATH_IMAGE005
；
Figure 941304DEST_PATH_IMAGE006
表示第
Figure 644818DEST_PATH_IMAGE007
个参考信号中心频率，
Figure 658911DEST_PATH_IMAGE008
；
Figure 334742DEST_PATH_IMAGE009
表示取集合中的任意元素，
Figure 713771DEST_PATH_IMAGE010
和
Figure 232477DEST_PATH_IMAGE011
表示任意参考信号的中心频率；
Figure 925627DEST_PATH_IMAGE012
表示无模糊时间测量范围；
Figure 846178DEST_PATH_IMAGE013
表示采样率；
Figure 333791DEST_PATH_IMAGE014
和
Figure 575679DEST_PATH_IMAGE015
表示整数。Wherein, N represents the number of reference signals;
Figure 734073DEST_PATH_IMAGE003
Indicates the operation of finding the least common multiple;
Figure 85420DEST_PATH_IMAGE004
Indicates the center frequency of the nth reference signal,
Figure 703483DEST_PATH_IMAGE005
;
Figure 941304DEST_PATH_IMAGE006
Indicates the first
Figure 644818DEST_PATH_IMAGE007
a reference signal center frequency,
Figure 658911DEST_PATH_IMAGE008
;
Figure 334742DEST_PATH_IMAGE009
means to take any element in the set,
Figure 713771DEST_PATH_IMAGE010
and
Figure 232477DEST_PATH_IMAGE011
Indicates the center frequency of any reference signal;
Figure 925627DEST_PATH_IMAGE012
Indicates the unambiguous time measurement range;
Figure 846178DEST_PATH_IMAGE013
Indicates the sampling rate;
Figure 333791DEST_PATH_IMAGE014
and
Figure 575679DEST_PATH_IMAGE015
Represents an integer.

进一步地，合成的参考信号为：Further, the synthesized reference signal is:

Figure 72520DEST_PATH_IMAGE016
Figure 72520DEST_PATH_IMAGE016

其中，

Figure 519681DEST_PATH_IMAGE017
表示以自然常数e为底的指数函数；
Figure 568409DEST_PATH_IMAGE018
表示第n个参考信号的中心频率，
Figure 671494DEST_PATH_IMAGE019
；j表示复数符号；
Figure 565501DEST_PATH_IMAGE020
表示第n个参考信号上调制的随机数据；t表示时间。in,
Figure 519681DEST_PATH_IMAGE017
Represents an exponential function with the natural constant e as the base;
Figure 568409DEST_PATH_IMAGE018
Indicates the center frequency of the nth reference signal,
Figure 671494DEST_PATH_IMAGE019
; j represents a plural symbol;
Figure 565501DEST_PATH_IMAGE020
Indicates random data modulated on the nth reference signal; t indicates time.

进一步地，并行接收由多个中心频率合成的参考信号，解算各个参考信号的相位的步骤具体包括：Further, the step of receiving reference signals synthesized by multiple center frequencies in parallel, and calculating the phase of each reference signal specifically includes:

将接收到的参考信号经过模数变换；converting the received reference signal through analog-to-digital conversion;

对模数变换后的参考信号进行傅里叶变换；performing Fourier transform on the reference signal after analog-to-digital conversion;

确定各个参考信号的中心频率对应的傅里叶变换后的频域索引；determining a frequency domain index after Fourier transform corresponding to the center frequency of each reference signal;

读取频域索引对应的傅里叶变换复数数值，并将复数数值代入反正切算法，求取各个参考信号的相位。Read the Fourier transform complex value corresponding to the frequency domain index, and substitute the complex value into the arctangent algorithm to obtain the phase of each reference signal.

进一步地，确定各个参考信号的中心频率对应的傅里叶变换后的频域索引的步骤具体包括：Further, the step of determining the frequency domain index after Fourier transform corresponding to the center frequency of each reference signal specifically includes:

首先，对各个参考信号中心频率，从k=0开始，每次步进为1，分别往正无穷大和负无穷大搜索，直至找到第一个满足式（3）的整数k为止：First, for the center frequency of each reference signal, start from k = 0, each step is 1, and search towards positive infinity and negative infinity respectively until the first integer k that satisfies the formula (3) is found:

Figure 336011DEST_PATH_IMAGE021
（3）
Figure 336011DEST_PATH_IMAGE021
(3)

然后，采用式（4）计算各个参考信号中心频率在傅里叶变换后的频域索引

Figure 227743DEST_PATH_IMAGE022
：Then, use formula (4) to calculate the frequency domain index of the center frequency of each reference signal after Fourier transform
Figure 227743DEST_PATH_IMAGE022
:

Figure 942758DEST_PATH_IMAGE023
（4）
Figure 942758DEST_PATH_IMAGE023
(4)

其中，K表示傅里叶变换的长度，

Figure 515822DEST_PATH_IMAGE024
表示取下整运算。Among them, K represents the length of Fourier transform,
Figure 515822DEST_PATH_IMAGE024
Indicates the subtraction operation.

进一步地，将多个参考信号的相位转换为参考信号从发射端到接收端的渡越时间的步骤中，采用下式将各个参考信号的相位转换为参考信号从发射端到接收端的渡越时间：Further, in the step of converting the phases of the multiple reference signals into the transit time of the reference signals from the transmitting end to the receiving end, the following formula is used to convert the phases of each reference signal into the transit time of the reference signals from the transmitting end to the receiving end:

Figure 937576DEST_PATH_IMAGE025
Figure 937576DEST_PATH_IMAGE025

其中，

Figure 35763DEST_PATH_IMAGE026
表示第n个参考信号从发射端到接收端的渡越时间；
Figure 910178DEST_PATH_IMAGE027
表示第n个参考信号的相位；
Figure 145988DEST_PATH_IMAGE028
表示第n个参考信号的中心频率；
Figure 422248DEST_PATH_IMAGE029
是第n个参考信号的载波模糊数；
Figure 859046DEST_PATH_IMAGE030
表示取下整运算。in,
Figure 35763DEST_PATH_IMAGE026
Indicates the transit time of the nth reference signal from the transmitter to the receiver;
Figure 910178DEST_PATH_IMAGE027
Indicates the phase of the nth reference signal;
Figure 145988DEST_PATH_IMAGE028
Indicates the center frequency of the nth reference signal;
Figure 422248DEST_PATH_IMAGE029
is the carrier ambiguity number of the nth reference signal;
Figure 859046DEST_PATH_IMAGE030
Indicates the subtraction operation.

进一步地，将测量到的多个参考信号的渡越时间转换为唯一的高精度渡越时间的步骤中，遍历式（6）中所有可能的

Figure 548653DEST_PATH_IMAGE031
的组合；Furthermore, in the step of converting the measured transit times of multiple reference signals into a unique high-precision transit time, all possible
Figure 548653DEST_PATH_IMAGE031
The combination;

Figure 729099DEST_PATH_IMAGE032
（6）
Figure 729099DEST_PATH_IMAGE032
(6)

找到满足式（5）的

Figure 187762DEST_PATH_IMAGE033
的组合；Find the satisfying formula (5)
Figure 187762DEST_PATH_IMAGE033
The combination;

Figure 795461DEST_PATH_IMAGE034
（5）
Figure 795461DEST_PATH_IMAGE034
(5)

然后，将满足公式（1）即

Figure 208250DEST_PATH_IMAGE035
的
Figure 192386DEST_PATH_IMAGE036
的组合带入到上式中，计算得到
Figure 505556DEST_PATH_IMAGE037
；Then, will satisfy formula (1) namely
Figure 208250DEST_PATH_IMAGE035
of
Figure 192386DEST_PATH_IMAGE036
The combination of is brought into the above formula, and the calculation is obtained
Figure 505556DEST_PATH_IMAGE037
;

最后，计算

Figure 284156DEST_PATH_IMAGE038
，得到唯一的高精度渡越时间；Finally, calculate
Figure 284156DEST_PATH_IMAGE038
, to obtain the only high-precision transit time;

其中，

Figure 948355DEST_PATH_IMAGE039
表示预设的最大时间测量误差，
Figure 267341DEST_PATH_IMAGE040
表示求绝对值运算，
Figure 310384DEST_PATH_IMAGE041
表示取下整运算。in,
Figure 948355DEST_PATH_IMAGE039
Indicates the preset maximum time measurement error,
Figure 267341DEST_PATH_IMAGE040
Indicates the absolute value operation,
Figure 310384DEST_PATH_IMAGE041
Indicates the subtraction operation.

本发明的另一个目的在于提出一种超精密渡越时间测量系统，以解决现有技术测量精度低的问题。Another object of the present invention is to propose an ultra-precise transit time measurement system to solve the problem of low measurement accuracy in the prior art.

一种超精密渡越时间测量系统，包括：An ultra-precise time-of-flight measurement system comprising:

测量参考信号生成模块，用于按照测量规则要求同时生成由多个中心频率合成的参考信号；A measurement reference signal generating module, configured to simultaneously generate a reference signal synthesized by multiple center frequencies according to the requirements of the measurement rules;

渡越相位测量模块，用于并行接收由多个中心频率合成的参考信号，解算各个参考信号的相位；The transition phase measurement module is used to receive reference signals synthesized by multiple center frequencies in parallel, and solve the phase of each reference signal;

渡越时间测量模块，用于将多个参考信号的相位转换为参考信号从发射端到接收端的渡越时间；a time-of-flight measurement module, configured to convert the phases of multiple reference signals into the time-of-flight of the reference signals from the transmitting end to the receiving end;

渡越时间解模糊模块，用于将测量到的多个参考信号的渡越时间转换为唯一的高精度渡越时间。The time-of-flight defuzzification module is used to convert the measured time-of-flight of multiple reference signals into a unique high-precision time-of-flight.

根据本发明提供的超精密渡越时间测量系统，利用瞬时超宽带射频技术的瞬时超宽带处理能力，按照特定的规则同时生成由多个中心频率合成射参考信号，合成瞬时超宽带参考信号，从而形成超精密渡越时间测量能力，能够超高精度低成本地测量参考信号从发射端到接收端的渡越时间，并基于此时间信息，可以进一步计算得出收发端所依附载体的运动速度、加速度、位移、位置和形变，可广泛应用于对建筑、交通、环境、基础设施等的运行时间、位置、运动速度、加速度、位移和形变等进行超高精度检测和监视。本发明的时间测量精度可以达到皮秒量级，对应的位移测量精度可以达到亚毫米级，具有广阔的军事和民用应用前景。According to the ultra-precise time-of-flight measurement system provided by the present invention, the instantaneous ultra-wideband processing capability of the instantaneous ultra-wideband radio frequency technology is used to simultaneously generate radio reference signals synthesized by multiple center frequencies according to specific rules, and the instantaneous ultra-wideband reference signals are synthesized, thereby Form the ultra-precise transit time measurement capability, which can measure the transit time of the reference signal from the transmitter to the receiver with ultra-high precision and low cost, and based on this time information, the motion speed and acceleration of the carrier attached to the transceiver can be further calculated , displacement, position and deformation, and can be widely used in ultra-high-precision detection and monitoring of running time, position, motion speed, acceleration, displacement and deformation of buildings, transportation, environment, infrastructure, etc. The time measurement precision of the present invention can reach the picosecond level, and the corresponding displacement measurement precision can reach the submillimeter level, and has broad military and civilian application prospects.

另外，根据本发明上述的超精密渡越时间测量系统，还可以具有如下附加的技术特征：In addition, according to the above-mentioned ultra-precise transit time measurement system of the present invention, it can also have the following additional technical features:

进一步地，所述测量规则中，参考信号中心频率满足下式：Further, in the measurement rule, the center frequency of the reference signal satisfies the following formula:

Figure 384519DEST_PATH_IMAGE042
Figure 384519DEST_PATH_IMAGE042

Figure 411381DEST_PATH_IMAGE043
Figure 411381DEST_PATH_IMAGE043

其中，N表示参考信号的数量；

Figure 268478DEST_PATH_IMAGE044
表示求最小公倍数的运算；
Figure 54775DEST_PATH_IMAGE045
表示第n个参考信号中心频率，
Figure 440757DEST_PATH_IMAGE046
；
Figure 813970DEST_PATH_IMAGE047
表示第
Figure 412441DEST_PATH_IMAGE048
个参考信号中心频率，
Figure 492393DEST_PATH_IMAGE049
；
Figure 642752DEST_PATH_IMAGE050
表示取集合中的任意元素，
Figure 378626DEST_PATH_IMAGE051
和
Figure 171002DEST_PATH_IMAGE052
表示任意参考信号的中心频率；
Figure 308722DEST_PATH_IMAGE053
表示无模糊时间测量范围；
Figure 567665DEST_PATH_IMAGE054
表示采样率；
Figure 151356DEST_PATH_IMAGE055
和
Figure 153947DEST_PATH_IMAGE056
表示整数。Wherein, N represents the number of reference signals;
Figure 268478DEST_PATH_IMAGE044
Indicates the operation of finding the least common multiple;
Figure 54775DEST_PATH_IMAGE045
Indicates the center frequency of the nth reference signal,
Figure 440757DEST_PATH_IMAGE046
;
Figure 813970DEST_PATH_IMAGE047
Indicates the first
Figure 412441DEST_PATH_IMAGE048
a reference signal center frequency,
Figure 492393DEST_PATH_IMAGE049
;
Figure 642752DEST_PATH_IMAGE050
means to take any element in the set,
Figure 378626DEST_PATH_IMAGE051
and
Figure 171002DEST_PATH_IMAGE052
Indicates the center frequency of any reference signal;
Figure 308722DEST_PATH_IMAGE053
Indicates the unambiguous time measurement range;
Figure 567665DEST_PATH_IMAGE054
Indicates the sampling rate;
Figure 151356DEST_PATH_IMAGE055
and
Figure 153947DEST_PATH_IMAGE056
Represents an integer.

进一步地，合成的参考信号为：Further, the synthesized reference signal is:

Figure 146173DEST_PATH_IMAGE057
Figure 146173DEST_PATH_IMAGE057

其中，

Figure 169493DEST_PATH_IMAGE058
表示以自然常数e为底的指数函数；
Figure 879960DEST_PATH_IMAGE059
表示第n个参考信号的中心频率，
Figure 748559DEST_PATH_IMAGE060
；j表示复数符号；
Figure 595292DEST_PATH_IMAGE061
表示第n个参考信号上调制的随机数据；t表示时间。in,
Figure 169493DEST_PATH_IMAGE058
Represents an exponential function with the natural constant e as the base;
Figure 879960DEST_PATH_IMAGE059
Indicates the center frequency of the nth reference signal,
Figure 748559DEST_PATH_IMAGE060
; j represents a plural symbol;
Figure 595292DEST_PATH_IMAGE061
Indicates random data modulated on the nth reference signal; t indicates time.

进一步地，渡越相位测量模块具体用于：Further, the transit phase measurement module is specifically used for:

将接收到的参考信号经过模数变换；converting the received reference signal through analog-to-digital conversion;

对模数变换后的参考信号进行傅里叶变换；performing Fourier transform on the reference signal after analog-to-digital conversion;

确定各个参考信号的中心频率对应的傅里叶变换后的频域索引；determining a frequency domain index after Fourier transform corresponding to the center frequency of each reference signal;

读取频域索引对应的傅里叶变换复数数值，并将复数数值代入反正切算法，求取各个参考信号的相位。Read the Fourier transform complex value corresponding to the frequency domain index, and substitute the complex value into the arctangent algorithm to obtain the phase of each reference signal.

进一步地，渡越相位测量模块具体用于：Further, the transit phase measurement module is specifically used for:

首先，对各个参考信号中心频率，从k=0开始，每次步进为1，分别往正无穷大和负无穷大搜索，直至找到第一个满足下式的整数k为止：First, for the center frequency of each reference signal, start from k = 0, each step is 1, and search towards positive infinity and negative infinity respectively until the first integer k satisfying the following formula is found:

Figure 523934DEST_PATH_IMAGE062
Figure 523934DEST_PATH_IMAGE062

然后，采用下式计算各个参考信号中心频率在傅里叶变换后的频域索引

Figure 721697DEST_PATH_IMAGE063
：Then, use the following formula to calculate the frequency domain index of each reference signal center frequency after Fourier transform
Figure 721697DEST_PATH_IMAGE063
:

Figure 886663DEST_PATH_IMAGE064
Figure 886663DEST_PATH_IMAGE064

其中，K表示傅里叶变换的长度，

Figure 853482DEST_PATH_IMAGE065
表示取下整运算。Among them, K represents the length of Fourier transform,
Figure 853482DEST_PATH_IMAGE065
Indicates the subtraction operation.

进一步地，渡越时间测量模块具体用于采用下式将各个参考信号的相位转换为参考信号从发射端到接收端的渡越时间：Further, the transit time measurement module is specifically used to convert the phase of each reference signal into the transit time of the reference signal from the transmitting end to the receiving end by using the following formula:

Figure 218604DEST_PATH_IMAGE066
Figure 218604DEST_PATH_IMAGE066

其中，

Figure 700401DEST_PATH_IMAGE067
表示第n个参考信号从发射端到接收端的渡越时间；
Figure 176382DEST_PATH_IMAGE068
表示第n个参考信号的相位；
Figure 997707DEST_PATH_IMAGE069
表示第n个参考信号的中心频率；
Figure 35195DEST_PATH_IMAGE070
是第n个参考信号的载波模糊数；
Figure 941972DEST_PATH_IMAGE071
表示取下整运算。in,
Figure 700401DEST_PATH_IMAGE067
Indicates the transit time of the nth reference signal from the transmitter to the receiver;
Figure 176382DEST_PATH_IMAGE068
Indicates the phase of the nth reference signal;
Figure 997707DEST_PATH_IMAGE069
Indicates the center frequency of the nth reference signal;
Figure 35195DEST_PATH_IMAGE070
is the carrier ambiguity number of the nth reference signal;
Figure 941972DEST_PATH_IMAGE071
Indicates the subtraction operation.

进一步地，渡越时间解模糊模块具体用于：Further, the time-of-flight defuzzification module is specifically used for:

遍历下式中所有可能的

Figure 628168DEST_PATH_IMAGE072
的组合；Iterate over all possible
Figure 628168DEST_PATH_IMAGE072
The combination;

Figure 897475DEST_PATH_IMAGE073
Figure 897475DEST_PATH_IMAGE073

找到满足下式的

Figure 604400DEST_PATH_IMAGE074
的组合；find the following
Figure 604400DEST_PATH_IMAGE074
The combination;

Figure 857527DEST_PATH_IMAGE075
Figure 857527DEST_PATH_IMAGE075

然后，将满足公式（1）即

Figure 550676DEST_PATH_IMAGE076
的
Figure 704184DEST_PATH_IMAGE077
的组合带入到上式中，计算得到
Figure 457376DEST_PATH_IMAGE078
；Then, will satisfy formula (1) namely
Figure 550676DEST_PATH_IMAGE076
of
Figure 704184DEST_PATH_IMAGE077
The combination of is brought into the above formula, and the calculation is obtained
Figure 457376DEST_PATH_IMAGE078
;

最后，计算

Figure 463378DEST_PATH_IMAGE079
，得到唯一的高精度渡越时间；Finally, calculate
Figure 463378DEST_PATH_IMAGE079
, to obtain the only high-precision transit time;

其中，

Figure 694639DEST_PATH_IMAGE080
表示预设的最大时间测量误差，
Figure 469697DEST_PATH_IMAGE081
表示求绝对值运算，
Figure 924950DEST_PATH_IMAGE082
表示取下整运算。in,
Figure 694639DEST_PATH_IMAGE080
Indicates the preset maximum time measurement error,
Figure 469697DEST_PATH_IMAGE081
Indicates the absolute value operation,
Figure 924950DEST_PATH_IMAGE082
Indicates the subtraction operation.

附图说明Description of drawings

本发明实施例的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：The above and/or additional aspects and advantages of the embodiments of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, wherein:

图1是本发明第一实施例提供的超精密渡越时间测量方法的流程示意图。Fig. 1 is a schematic flowchart of the ultra-precise time-of-flight measurement method provided by the first embodiment of the present invention.

具体实施方式Detailed ways

为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

以4us的无模糊时间测量范围

Figure 293614DEST_PATH_IMAGE083
；0.01ns的最大允许时间测量误差
Figure 453200DEST_PATH_IMAGE084
；采样率为
Figure 53071DEST_PATH_IMAGE085
；N=3个参考信号，参考信号的中心频率分别为
Figure 882486DEST_PATH_IMAGE086
、
Figure 128660DEST_PATH_IMAGE087
、
Figure 967303DEST_PATH_IMAGE088
；傅里叶变换长度K=8192为例，结合图1，本发明第一实施例提供的超精密渡越时间测量方法，包括步骤S1~S4：Measure range with 4us unambiguous time
Figure 293614DEST_PATH_IMAGE083
;0.01ns maximum allowable time measurement error
Figure 453200DEST_PATH_IMAGE084
; sampling rate
Figure 53071DEST_PATH_IMAGE085
; N = 3 reference signals, the center frequencies of the reference signals are respectively
Figure 882486DEST_PATH_IMAGE086
,
Figure 128660DEST_PATH_IMAGE087
,
Figure 967303DEST_PATH_IMAGE088
; Fourier transform length K =8192 is an example, in conjunction with Fig. 1, the ultra-precise time-of-flight measurement method provided by the first embodiment of the present invention includes steps S1 ~ S4:

S1，按照超精密测量规则要求同时生成3个中心频率合成的参考信号，并发射出去。S1, in accordance with the requirements of the ultra-precision measurement rules, simultaneously generate three reference signals synthesized at the center frequency and transmit them.

其中，按照满足精度要求的规则，生成3个用于发射的参考信号。Among them, according to the rules that meet the accuracy requirements, three reference signals for transmission are generated.

所述满足精度要求的规则，规定了N=3个参考信号中心频率的集合，参考信号中心频率的满足式（7）：The rule for meeting the accuracy requirements stipulates a set of N = 3 reference signal center frequencies, and the reference signal center frequency satisfies formula (7):

Figure 451374DEST_PATH_IMAGE089
（7）
Figure 451374DEST_PATH_IMAGE089
(7)

式（7）中，

Figure 717270DEST_PATH_IMAGE090
都是整数。In formula (7),
Figure 717270DEST_PATH_IMAGE090
are all integers.

具体合成的参考信号为：The specific synthesized reference signal is:

Figure 919581DEST_PATH_IMAGE091
Figure 919581DEST_PATH_IMAGE091

Figure 296336DEST_PATH_IMAGE092
表示以自然常数e为底的指数函数；
Figure 670467DEST_PATH_IMAGE093
表示第n个参考信号的中心频率，
Figure 841685DEST_PATH_IMAGE094
；j表示复数符号；t表示时间。
Figure 296336DEST_PATH_IMAGE092
Represents an exponential function with the natural constant e as the base;
Figure 670467DEST_PATH_IMAGE093
Indicates the center frequency of the nth reference signal,
Figure 841685DEST_PATH_IMAGE094
; j represents a plural symbol; t represents time.

S2，并行接收3个中心频率合成的参考信号，解算各个参考信号的相位。S2. Receive three reference signals synthesized by the center frequency in parallel, and calculate the phase of each reference signal.

其中，步骤S2具体包括：Wherein, step S2 specifically includes:

首先，将接收到的参考信号经过模数变换；接着，对模数变换后的参考信号进行傅里叶变换；然后，确定各个参考信号的中心频率对应的傅里叶变换后的频域索引；最后，读取频域索引对应的傅里叶变换复数数值，并将复数数值代入反正切算法，求取各个参考信号的相位。First, the received reference signal is subjected to analog-to-digital conversion; then, Fourier transform is performed on the reference signal after analog-to-digital conversion; then, the frequency domain index after Fourier transformation corresponding to the center frequency of each reference signal is determined; Finally, the complex value of the Fourier transform corresponding to the frequency domain index is read, and the complex value is substituted into the arctangent algorithm to obtain the phase of each reference signal.

在确定各个参考信号中心频率在傅里叶变换后的频域索引步骤中，首先，对各个参考信号中心频率，从k=0开始，每次步进为1，分别往正无穷大和负无穷大搜索，直至找到第一个满足公式（8）的整数k为止，得到：In the step of determining the frequency domain index after the Fourier transform of each reference signal center frequency, first, for each reference signal center frequency, starting from k = 0, each step is 1, and searching towards positive infinity and negative infinity respectively , until the first integer k satisfying formula (8) is found, we get:

Figure 531292DEST_PATH_IMAGE095
（8）
Figure 531292DEST_PATH_IMAGE095
(8)

然后，计算三个参考信号中心频率在傅里叶变换后的频域索引

Figure 508476DEST_PATH_IMAGE096
：Then, calculate the frequency domain index of the center frequency of the three reference signals after Fourier transform
Figure 508476DEST_PATH_IMAGE096
:

Figure 842505DEST_PATH_IMAGE097
Figure 842505DEST_PATH_IMAGE097

S3，将3个参考信号的相位转换为参考信号从发射端到接收端的渡越时间。S3, converting the phases of the three reference signals into transit times of the reference signals from the transmitting end to the receiving end.

其中，具体采用下式将各个参考信号的相位转换为参考信号从发射端到接收端的渡越时间：Among them, the following formula is used to convert the phase of each reference signal into the transit time of the reference signal from the transmitting end to the receiving end:

Figure 574838DEST_PATH_IMAGE098
Figure 574838DEST_PATH_IMAGE098

Figure 627107DEST_PATH_IMAGE099
表示第n个参考信号从发射端到接收端的渡越时间；
Figure 204719DEST_PATH_IMAGE100
表示第n个参考信号的相位；
Figure 658834DEST_PATH_IMAGE101
表示第n个参考信号的中心频率；
Figure 63533DEST_PATH_IMAGE102
是第n个参考信号的载波模糊数；
Figure 603099DEST_PATH_IMAGE103
表示取下整运算。
Figure 627107DEST_PATH_IMAGE099
Indicates the transit time of the nth reference signal from the transmitter to the receiver;
Figure 204719DEST_PATH_IMAGE100
Indicates the phase of the nth reference signal;
Figure 658834DEST_PATH_IMAGE101
Indicates the center frequency of the nth reference signal;
Figure 63533DEST_PATH_IMAGE102
is the carrier ambiguity number of the nth reference signal;
Figure 603099DEST_PATH_IMAGE103
Indicates the subtraction operation.

S4，渡越时间解模糊模块，所述渡越时间解模糊模块，将测量到的3个参考信号渡越时间转换为唯一的高精度渡越时间。S4, a transit time defuzzification module, the transit time defuzzification module converts the measured transit times of the three reference signals into a unique high-precision transit time.

其中，通过遍历搜索公式(10)中所有可能的

Figure 922085DEST_PATH_IMAGE104
的组合，找到满足公式(9)的
Figure 355340DEST_PATH_IMAGE105
的组合；然后，将满足公式(7)的
Figure 304841DEST_PATH_IMAGE106
的组合带入到公式(9)，计算得到
Figure 190758DEST_PATH_IMAGE107
；最后，计算
Figure 251118DEST_PATH_IMAGE108
，得到唯一的高精度渡越时间。Among them, by traversing all possible
Figure 922085DEST_PATH_IMAGE104
Combinations, find the satisfying formula (9)
Figure 355340DEST_PATH_IMAGE105
combination; then, will satisfy the formula (7)
Figure 304841DEST_PATH_IMAGE106
The combination of is brought into the formula (9), and the calculation is obtained
Figure 190758DEST_PATH_IMAGE107
; Finally, compute
Figure 251118DEST_PATH_IMAGE108
, to obtain the only high-precision transit time.

Figure 538880DEST_PATH_IMAGE109
（9）
Figure 538880DEST_PATH_IMAGE109
(9)

Figure 659282DEST_PATH_IMAGE110
（10）
Figure 659282DEST_PATH_IMAGE110
(10)

Figure 796609DEST_PATH_IMAGE111
表示预设的最大时间测量误差，
Figure 660660DEST_PATH_IMAGE112
表示求绝对值运算，
Figure 475032DEST_PATH_IMAGE113
表示取下整运算。
Figure 796609DEST_PATH_IMAGE111
Indicates the preset maximum time measurement error,
Figure 660660DEST_PATH_IMAGE112
Indicates the absolute value operation,
Figure 475032DEST_PATH_IMAGE113
Indicates the subtraction operation.

根据本实施例提供的超精密渡越时间测量方法，利用瞬时超宽带射频技术的瞬时超宽带处理能力，按照特定的规则同时生成由多个中心频率合成的参考信号，合成瞬时超宽带参考信号，从而形成超精密渡越时间测量能力，能够超高精度低成本地测量参考信号从发射端到接收端的渡越时间，并基于此时间信息，可以进一步计算得出收发端所依附载体的运动速度、加速度、位移、位置和形变，可广泛应用于对建筑、交通、环境、基础设施等的运行时间、位置、运动速度、加速度、位移和形变等进行超高精度检测和监视。本发明的时间测量精度可以达到皮秒量级，对应的位移测量精度可以达到亚毫米级，具有广阔的军事和民用应用前景。According to the ultra-precise time-of-flight measurement method provided in this embodiment, the instantaneous ultra-wideband processing capability of the instantaneous ultra-wideband radio frequency technology is utilized to simultaneously generate reference signals synthesized by multiple center frequencies according to specific rules, and synthesize instantaneous ultra-wideband reference signals. Thus forming the ultra-precise transit time measurement capability, which can measure the transit time of the reference signal from the transmitting end to the receiving end with ultra-high precision and low cost, and based on this time information, the moving speed of the carrier attached to the receiving end can be further calculated, Acceleration, displacement, position and deformation can be widely used in ultra-high-precision detection and monitoring of running time, position, movement speed, acceleration, displacement and deformation of buildings, transportation, environment, infrastructure, etc. The time measurement precision of the present invention can reach the picosecond level, and the corresponding displacement measurement precision can reach the submillimeter level, and has broad military and civilian application prospects.

基于同一发明构思，本发明第二实施例提供一种超精密渡越时间测量系统，包括：Based on the same inventive concept, the second embodiment of the present invention provides an ultra-precise time-of-flight measurement system, including:

测量参考信号生成模块，用于按照测量规则要求同时生成由多个中心频率合成的参考信号；A measurement reference signal generating module, configured to simultaneously generate a reference signal synthesized by multiple center frequencies according to the requirements of the measurement rules;

渡越相位测量模块，用于并行接收由多个中心频率合成的参考信号，解算各个参考信号的相位；The transition phase measurement module is used to receive reference signals synthesized by multiple center frequencies in parallel, and solve the phase of each reference signal;

渡越时间测量模块，用于将多个参考信号的相位转换为参考信号从发射端到接收端的渡越时间；a time-of-flight measurement module, configured to convert the phases of multiple reference signals into the time-of-flight of the reference signals from the transmitting end to the receiving end;

渡越时间解模糊模块，用于将测量到的多个参考信号的渡越时间转换为唯一的高精度渡越时间。The time-of-flight defuzzification module is used to convert the measured time-of-flight of multiple reference signals into a unique high-precision time-of-flight.

本实施例中，所述测量规则中，参考信号中心频率满足下式：In this embodiment, in the measurement rule, the center frequency of the reference signal satisfies the following formula:

Figure 156549DEST_PATH_IMAGE114
Figure 156549DEST_PATH_IMAGE114

Figure 892424DEST_PATH_IMAGE115
Figure 892424DEST_PATH_IMAGE115

其中，N表示参考信号的数量；

Figure 684800DEST_PATH_IMAGE116
表示求最小公倍数的运算；
Figure 556941DEST_PATH_IMAGE045
表示第n个参考信号中心频率，
Figure 143780DEST_PATH_IMAGE117
；
Figure 366951DEST_PATH_IMAGE118
表示第
Figure 369542DEST_PATH_IMAGE119
个参考信号中心频率，
Figure 987867DEST_PATH_IMAGE120
；
Figure 620974DEST_PATH_IMAGE121
表示取集合中的任意元素，
Figure 190496DEST_PATH_IMAGE122
和
Figure 200040DEST_PATH_IMAGE052
表示任意参考信号的中心频率；
Figure 109090DEST_PATH_IMAGE123
表示无模糊时间测量范围；
Figure 37732DEST_PATH_IMAGE124
表示采样率；
Figure 235495DEST_PATH_IMAGE125
和
Figure 642205DEST_PATH_IMAGE015
表示整数。Wherein, N represents the number of reference signals;
Figure 684800DEST_PATH_IMAGE116
Indicates the operation of finding the least common multiple;
Figure 556941DEST_PATH_IMAGE045
Indicates the center frequency of the nth reference signal,
Figure 143780DEST_PATH_IMAGE117
;
Figure 366951DEST_PATH_IMAGE118
Indicates the first
Figure 369542DEST_PATH_IMAGE119
a reference signal center frequency,
Figure 987867DEST_PATH_IMAGE120
;
Figure 620974DEST_PATH_IMAGE121
means to take any element in the set,
Figure 190496DEST_PATH_IMAGE122
and
Figure 200040DEST_PATH_IMAGE052
Indicates the center frequency of any reference signal;
Figure 109090DEST_PATH_IMAGE123
Indicates the unambiguous time measurement range;
Figure 37732DEST_PATH_IMAGE124
Indicates the sampling rate;
Figure 235495DEST_PATH_IMAGE125
and
Figure 642205DEST_PATH_IMAGE015
Represents an integer.

本实施例中，合成的参考信号为：In this embodiment, the synthesized reference signal is:

Figure 405762DEST_PATH_IMAGE126
Figure 405762DEST_PATH_IMAGE126

其中，

Figure 380671DEST_PATH_IMAGE127
表示以自然常数e为底的指数函数；
Figure 706478DEST_PATH_IMAGE059
表示第n个参考信号的中心频率，
Figure 57825DEST_PATH_IMAGE128
；j表示复数符号；
Figure 3784DEST_PATH_IMAGE129
表示第n个参考信号上调制的随机数据；t表示时间。in,
Figure 380671DEST_PATH_IMAGE127
Represents an exponential function with the natural constant e as the base;
Figure 706478DEST_PATH_IMAGE059
Indicates the center frequency of the nth reference signal,
Figure 57825DEST_PATH_IMAGE128
; j represents a plural symbol;
Figure 3784DEST_PATH_IMAGE129
Indicates random data modulated on the nth reference signal; t indicates time.

本实施例中，渡越相位测量模块具体用于：In this embodiment, the transit phase measurement module is specifically used for:

将接收到的参考信号经过模数变换；converting the received reference signal through analog-to-digital conversion;

对模数变换后的参考信号进行傅里叶变换；performing Fourier transform on the reference signal after analog-to-digital conversion;

确定各个参考信号的中心频率对应的傅里叶变换后的频域索引；determining a frequency domain index after Fourier transform corresponding to the center frequency of each reference signal;

读取频域索引对应的傅里叶变换复数数值，并将复数数值代入反正切算法，求取各个参考信号的相位。Read the Fourier transform complex value corresponding to the frequency domain index, and substitute the complex value into the arctangent algorithm to obtain the phase of each reference signal.

本实施例中，渡越相位测量模块具体用于：In this embodiment, the transit phase measurement module is specifically used for:

首先，对各个参考信号中心频率，从k=0开始，每次步进为1，分别往正无穷大和负无穷大搜索，直至找到第一个满足下式的整数k为止：First, for the center frequency of each reference signal, start from k = 0, each step is 1, and search towards positive infinity and negative infinity respectively until the first integer k satisfying the following formula is found:

Figure 149594DEST_PATH_IMAGE130
Figure 149594DEST_PATH_IMAGE130

然后，采用下式计算各个参考信号中心频率在傅里叶变换后的频域索引

Figure 853108DEST_PATH_IMAGE131
：Then, use the following formula to calculate the frequency domain index of each reference signal center frequency after Fourier transform
Figure 853108DEST_PATH_IMAGE131
:

Figure 867201DEST_PATH_IMAGE132
Figure 867201DEST_PATH_IMAGE132

其中，K表示傅里叶变换的长度，

Figure 808612DEST_PATH_IMAGE071
表示取下整运算。Among them, K represents the length of Fourier transform,
Figure 808612DEST_PATH_IMAGE071
Indicates the subtraction operation.

本实施例中，渡越时间测量模块具体用于采用下式将各个参考信号的相位转换为参考信号从发射端到接收端的渡越时间：In this embodiment, the transit time measurement module is specifically used to convert the phase of each reference signal into the transit time of the reference signal from the transmitting end to the receiving end by using the following formula:

Figure 249957DEST_PATH_IMAGE133
Figure 249957DEST_PATH_IMAGE133

其中，

Figure 378450DEST_PATH_IMAGE134
表示第n个参考信号从发射端到接收端的渡越时间；
Figure 697699DEST_PATH_IMAGE135
表示第n个参考信号的相位；
Figure 290354DEST_PATH_IMAGE136
表示第n个参考信号的中心频率；
Figure 777967DEST_PATH_IMAGE029
是第n个参考信号的载波模糊数；
Figure 783969DEST_PATH_IMAGE071
表示取下整运算。in,
Figure 378450DEST_PATH_IMAGE134
Indicates the transit time of the nth reference signal from the transmitter to the receiver;
Figure 697699DEST_PATH_IMAGE135
Indicates the phase of the nth reference signal;
Figure 290354DEST_PATH_IMAGE136
Indicates the center frequency of the nth reference signal;
Figure 777967DEST_PATH_IMAGE029
is the carrier ambiguity number of the nth reference signal;
Figure 783969DEST_PATH_IMAGE071
Indicates the subtraction operation.

本实施例中，渡越时间解模糊模块具体用于：In this embodiment, the transit time defuzzification module is specifically used for:

遍历下式中所有可能的

Figure 15230DEST_PATH_IMAGE137
的组合；Iterate over all possible
Figure 15230DEST_PATH_IMAGE137
The combination;

Figure 462392DEST_PATH_IMAGE138
Figure 462392DEST_PATH_IMAGE138

找到满足下式的

Figure 511120DEST_PATH_IMAGE139
的组合；find the following
Figure 511120DEST_PATH_IMAGE139
The combination;

Figure 879784DEST_PATH_IMAGE140
Figure 879784DEST_PATH_IMAGE140

然后，将满足公式（1）即

Figure 39370DEST_PATH_IMAGE141
的
Figure 278722DEST_PATH_IMAGE142
的组合带入到上式中，计算得到
Figure 996885DEST_PATH_IMAGE143
；Then, will satisfy formula (1) namely
Figure 39370DEST_PATH_IMAGE141
of
Figure 278722DEST_PATH_IMAGE142
The combination of is brought into the above formula, and the calculation is obtained
Figure 996885DEST_PATH_IMAGE143
;

最后，计算

Figure 852846DEST_PATH_IMAGE079
，得到唯一的高精度渡越时间；Finally, calculate
Figure 852846DEST_PATH_IMAGE079
, to obtain the only high-precision transit time;

其中，

Figure 222647DEST_PATH_IMAGE144
表示预设的最大时间测量误差，
Figure 972298DEST_PATH_IMAGE145
表示求绝对值运算，
Figure 972615DEST_PATH_IMAGE146
表示取下整运算。in,
Figure 222647DEST_PATH_IMAGE144
Indicates the preset maximum time measurement error,
Figure 972298DEST_PATH_IMAGE145
Indicates the absolute value operation,
Figure 972615DEST_PATH_IMAGE146
Indicates the subtraction operation.

根据本实施例提供的超精密渡越时间测量系统，利用瞬时超宽带射频技术的瞬时超宽带处理能力，按照特定的规则同时生成由多个中心频率合成的参考信号，合成瞬时超宽带参考信号，从而形成超精密渡越时间测量能力，能够超高精度低成本地测量参考信号从发射端到接收端的渡越时间，并基于此时间信息，可以进一步计算得出收发端所依附载体的运动速度、加速度、位移、位置和形变，可广泛应用于对建筑、交通、环境、基础设施等的运行时间、位置、运动速度、加速度、位移和形变等进行超高精度检测和监视。本发明的时间测量精度可以达到皮秒量级，对应的位移测量精度可以达到亚毫米级，具有广阔的军事和民用应用前景。According to the ultra-precise time-of-flight measurement system provided in this embodiment, the instantaneous ultra-wideband processing capability of the instantaneous ultra-wideband radio frequency technology is used to simultaneously generate reference signals synthesized by multiple center frequencies according to specific rules, and the instantaneous ultra-wideband reference signals are synthesized. Thus forming the ultra-precise transit time measurement capability, which can measure the transit time of the reference signal from the transmitting end to the receiving end with ultra-high precision and low cost, and based on this time information, the moving speed of the carrier attached to the receiving end can be further calculated, Acceleration, displacement, position and deformation can be widely used in ultra-high-precision detection and monitoring of running time, position, movement speed, acceleration, displacement and deformation of buildings, transportation, environment, infrastructure, etc. The time measurement precision of the present invention can reach the picosecond level, and the corresponding displacement measurement precision can reach the submillimeter level, and has broad military and civilian application prospects.

在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

尽管已经示出和描述了本发明的实施例，本领域的普通技术人员可以理解：在不脱离本发明的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and modifications can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the invention is defined by the claims and their equivalents.

Claims (10)

1.一种超精密渡越时间测量方法，其特征在于，包括：1. An ultra-precise time-of-flight measurement method, characterized in that, comprising: 按照测量规则要求同时生成由多个中心频率合成的参考信号；Simultaneously generate reference signals synthesized by multiple center frequencies according to the requirements of the measurement rules; 并行接收由多个中心频率合成的参考信号，解算各个参考信号的相位；Receive reference signals synthesized by multiple center frequencies in parallel, and calculate the phase of each reference signal; 将多个参考信号的相位转换为参考信号从发射端到接收端的渡越时间；Converting the phases of multiple reference signals into transit times of the reference signals from the transmitter to the receiver; 将测量到的多个参考信号的渡越时间转换为唯一的高精度渡越时间；Convert the measured time-of-flight of multiple reference signals into a unique high-precision time-of-flight; 所述测量规则中，参考信号中心频率满足下式：In the measurement rule, the center frequency of the reference signal satisfies the following formula:
Figure FDA0004039391610000011
Figure FDA0004039391610000011
Figure FDA0004039391610000012
Figure FDA0004039391610000012
 其中，N表示参考信号的数量；lcm(·)表示求最小公倍数的运算；fn表示第n个参考信号中心频率，n＝1，2，…，N；fn′表示第n′个参考信号中心频率，n′＝1，2，…，N；
Figure FDA0004039391610000013
表示取集合中的任意元素，
Figure FDA0004039391610000014
和
Figure FDA0004039391610000015
表示任意参考信号的中心频率；fs表示采样率；k和k′表示整数；Among them, N represents the number of reference signals; lcm( ) represents the operation of finding the least common multiple; f n represents the center frequency of the nth reference signal, n=1, 2, ..., N; f n' represents the n'th reference signal Signal center frequency, n'=1, 2,..., N;
Figure FDA0004039391610000013
means to take any element in the set,
Figure FDA0004039391610000014
and
Figure FDA0004039391610000015
Represents the center frequency of any reference signal; f s represents the sampling rate; k and k' represent integers; 并行接收由多个中心频率合成的参考信号，解算各个参考信号的相位的步骤具体包括：The reference signals synthesized by multiple center frequencies are received in parallel, and the steps of calculating the phase of each reference signal specifically include: 将接收到的参考信号经过模数变换；converting the received reference signal through analog-to-digital conversion; 对模数变换后的参考信号进行傅里叶变换；performing Fourier transform on the reference signal after analog-to-digital conversion; 确定各个参考信号的中心频率对应的傅里叶变换后的频域索引；determining a frequency domain index after Fourier transform corresponding to the center frequency of each reference signal; 读取频域索引对应的傅里叶变换复数数值，并将复数数值代入反正切算法，求取各个参考信号的相位。Read the Fourier transform complex value corresponding to the frequency domain index, and substitute the complex value into the arctangent algorithm to obtain the phase of each reference signal. 2.根据权利要求1所述的超精密渡越时间测量方法，其特征在于，合成的参考信号为：2. The ultra-precise time-of-flight measurement method according to claim 1, wherein the synthetic reference signal is:
Figure FDA0004039391610000021
Figure FDA0004039391610000021
 其中，exp(·)表示以自然常数e为底的指数函数；fn表示第n个参考信号的中心频率，n＝1，2，…，N；j表示复数符号；An表示第n个参考信号上调制的随机数据；t表示时间。Among them, exp( ) represents an exponential function with the natural constant e as the base; f n represents the center frequency of the nth reference signal, n=1, 2, ..., N; j represents a complex number symbol; A n represents the nth Random data modulated on the reference signal; t represents time. 3.根据权利要求2所述的超精密渡越时间测量方法，其特征在于，确定各个参考信号的中心频率对应的傅里叶变换后的频域索引的步骤具体包括：3. The ultra-precise time-of-flight measurement method according to claim 2, wherein the step of determining the frequency-domain index after the Fourier transform corresponding to the center frequency of each reference signal specifically comprises: 首先，对各个参考信号中心频率，从k＝0开始，每次步进为1，分别往正无穷大和负无穷大搜索，直至找到第一个满足下式的整数k为止：First, for the center frequency of each reference signal, starting from k=0, each step is 1, and searching towards positive infinity and negative infinity respectively until the first integer k satisfying the following formula is found:
Figure FDA0004039391610000031
Figure FDA0004039391610000031
 然后，采用下式计算各个参考信号中心频率在傅里叶变换后的频域索引fn：Then, use the following formula to calculate the frequency domain index f n of each reference signal center frequency after Fourier transform:
Figure FDA0004039391610000032
Figure FDA0004039391610000032
 其中，K表示傅里叶变换的长度，
Figure FDA0004039391610000033
表示取下整运算。Among them, K represents the length of the Fourier transform,
Figure FDA0004039391610000033
Indicates the subtraction operation. 4.根据权利要求3所述的超精密渡越时间测量方法，其特征在于，将多个参考信号的相位转换为参考信号从发射端到接收端的渡越时间的步骤中，采用下式将各个参考信号的相位转换为参考信号从发射端到接收端的渡越时间：4. the ultra-precise transit time measurement method according to claim 3, is characterized in that, in the step that the phase conversion of a plurality of reference signals is converted into the transit time of reference signal from transmitting end to receiving end, adopt following formula to be each The phase of the reference signal is converted to the transit time of the reference signal from the transmitter to the receiver:
Figure FDA0004039391610000034
Figure FDA0004039391610000034
 其中，τn表示第n个参考信号从发射端到接收端的渡越时间；θn表示第n个参考信号的相位；fn表示第n个参考信号的中心频率；in＝1，2…，
Figure FDA0004039391610000035
是第n个参考信号的载波模糊数；
Figure FDA0004039391610000036
表示取下整运算。Among them, τ n represents the transit time of the nth reference signal from the transmitter to the receiver; θ n represents the phase of the nth reference signal; f n represents the center frequency of the nth reference signal; i n = 1, 2... ,
Figure FDA0004039391610000035
is the carrier ambiguity number of the nth reference signal;
Figure FDA0004039391610000036
Indicates the subtraction operation. 5.根据权利要求4所述的超精密渡越时间测量方法，其特征在于，将测量到的多个参考信号的渡越时间转换为唯一的高精度渡越时间的步骤中，遍历下式中所有可能的i1，…，in…，iN的组合；5. The ultra-precise time-of-flight measurement method according to claim 4, characterized in that, in the step of converting the time-of-flight of a plurality of reference signals measured into a unique high-precision time-of-flight, traverse the following formula All possible combinations of i 1 , ..., i n ..., i N ;
Figure FDA0004039391610000041
Figure FDA0004039391610000041
 找到满足下式的il，…，in，…，iN的组合；Find the combination of i l , ..., i n , ..., i N satisfying the following formula;
Figure FDA0004039391610000042
Figure FDA0004039391610000042
 然后，将满足公式
Figure FDA0004039391610000043
的i1，…，in，…，iN的组合带入到Then, the formula will be satisfied
Figure FDA0004039391610000043
The combination of i 1 ,…,i n ,…,i N is brought into 上式中，计算得到τ1，…，τn，…，τN；In the above formula, τ 1 ,...,τ n ,...,τ N are calculated; 最后，计算
Figure FDA0004039391610000044
得到唯一的高精度渡越时间；Finally, calculate
Figure FDA0004039391610000044
Get the only high-precision transit time; 其中，Δr表示预设的最大时间测量误差，|·|表示求绝对值运算，
Figure FDA0004039391610000051
表示取下整运算。Among them, Δr represents the preset maximum time measurement error, |·| represents the absolute value operation,
Figure FDA0004039391610000051
Indicates the subtraction operation. 6.一种超精密渡越时间测量系统，其特征在于，包括：6. An ultra-precise time-of-flight measurement system, characterized in that it comprises: 测量参考信号生成模块，用于按照测量规则要求同时生成由多个中心频率合成的参考信号；A measurement reference signal generating module, configured to simultaneously generate a reference signal synthesized by multiple center frequencies according to the requirements of the measurement rules; 渡越相位测量模块，用于并行接收由多个中心频率合成的参考信号，解算各个参考信号的相位；The transition phase measurement module is used to receive reference signals synthesized by multiple center frequencies in parallel, and solve the phase of each reference signal; 渡越时间测量模块，用于将多个参考信号的相位转换为参考信号从发射端到接收端的渡越时间；a time-of-flight measurement module, configured to convert the phases of multiple reference signals into the time-of-flight of the reference signals from the transmitting end to the receiving end; 渡越时间解模糊模块，用于将测量到的多个参考信号的渡越时间转换为唯一的高精度渡越时间；A time-of-flight defuzzification module for converting the measured time-of-flight of multiple reference signals into a unique high-precision time-of-flight; 所述测量规则中，参考信号中心频率满足下式：In the measurement rule, the center frequency of the reference signal satisfies the following formula:
Figure FDA0004039391610000052
Figure FDA0004039391610000052
Figure FDA0004039391610000053
Figure FDA0004039391610000053
 其中，N表示参考信号的数量；lcm(·)表示求最小公倍数的运算；fn表示第n个参考信号中心频率，n＝1，2，…，N；fn′表示第n′个参考信号中心频率，n′＝1，2，…，N；
Figure FDA0004039391610000061
表示取集合中的任意元素，
Figure FDA0004039391610000062
和
Figure FDA0004039391610000063
表示任意参考信号的中心频率；fs表示采样率；k和k′表示整数；Among them, N represents the number of reference signals; lcm( ) represents the operation of finding the least common multiple; f n represents the center frequency of the nth reference signal, n=1, 2, ..., N; f n' represents the n'th reference signal Signal center frequency, n'=1, 2,..., N;
Figure FDA0004039391610000061
means to take any element in the set,
Figure FDA0004039391610000062
and
Figure FDA0004039391610000063
Represents the center frequency of any reference signal; f s represents the sampling rate; k and k' represent integers; 渡越相位测量模块具体用于：The transit phase measurement module is used specifically for: 将接收到的参考信号经过模数变换；converting the received reference signal through analog-to-digital conversion; 对模数变换后的参考信号进行傅里叶变换；performing Fourier transform on the reference signal after analog-to-digital conversion; 确定各个参考信号的中心频率对应的傅里叶变换后的频域索引；determining a frequency domain index after Fourier transform corresponding to the center frequency of each reference signal; 读取频域索引对应的傅里叶变换复数数值，并将复数数值代入反正切算法，求取各个参考信号的相位。Read the Fourier transform complex value corresponding to the frequency domain index, and substitute the complex value into the arctangent algorithm to obtain the phase of each reference signal. 7.根据权利要求6所述的超精密渡越时间测量系统，其特征在于，合成的参考信号为：7. The ultra-precise time-of-flight measurement system according to claim 6, wherein the synthetic reference signal is:
Figure FDA0004039391610000064
Figure FDA0004039391610000064
 其中，exp(·)表示以自然常数e为底的指数函数；fn表示第n个参考信号的中心频率，n＝1，2，…，N；j表示复数符号；An表示第n个参考信号上调制的随机数据；t表示时间。Among them, exp( ) represents an exponential function with the natural constant e as the base; f n represents the center frequency of the nth reference signal, n=1, 2, ..., N; j represents a complex number symbol; A n represents the nth Random data modulated on the reference signal; t represents time. 8.根据权利要求7所述的超精密渡越时间测量系统，其特征在于，渡越相位测量模块具体用于：8. The ultra-precise time-of-flight measurement system according to claim 7, wherein the phase-of-flight measurement module is specifically used for: 首先，对各个参考信号中心频率，从k＝0开始，每次步进为1，分别往正无穷大和负无穷大搜索，直至找到第一个满足下式的整数k为止：First, for the center frequency of each reference signal, starting from k=0, each step is 1, and searching towards positive infinity and negative infinity respectively until the first integer k satisfying the following formula is found:
Figure FDA0004039391610000071
Figure FDA0004039391610000071
 然后，采用下式计算各个参考信号中心频率在傅里叶变换后的频域索引fn：Then, use the following formula to calculate the frequency domain index f n of each reference signal center frequency after Fourier transform:
Figure FDA0004039391610000072
Figure FDA0004039391610000072
 其中，K表示傅里叶变换的长度，
Figure FDA0004039391610000073
表示取下整运算。Among them, K represents the length of the Fourier transform,
Figure FDA0004039391610000073
Indicates the subtraction operation. 9.根据权利要求8所述的超精密渡越时间测量系统，其特征在于，渡越时间测量模块具体用于采用下式将各个参考信号的相位转换为参考信号从发射端到接收端的渡越时间：9. The ultra-precise time-of-flight measurement system according to claim 8, wherein the time-of-flight measurement module is specifically used to convert the phase of each reference signal into the transition of the reference signal from the transmitting end to the receiving end using the following formula time:
Figure FDA0004039391610000074
Figure FDA0004039391610000074
 其中，τn表示第n个参考信号从发射端到接收端的渡越时间；θn表示第n个参考信号的相位；fn表示第n个参考信号的中心频率；in＝1，2…，
Figure FDA0004039391610000075
是第n个参考信号的载波模糊数；
Figure FDA0004039391610000076
表示取下整运算。Among them, τ n represents the transit time of the nth reference signal from the transmitter to the receiver; θ n represents the phase of the nth reference signal; f n represents the center frequency of the nth reference signal; i n = 1, 2... ,
Figure FDA0004039391610000075
is the carrier ambiguity number of the nth reference signal;
Figure FDA0004039391610000076
Indicates the subtraction operation. 10.根据权利要求9所述的超精密渡越时间测量系统，其特征在于，渡越时间解模糊模块具体用于：10. The ultra-precise time-of-flight measurement system according to claim 9, wherein the time-of-flight defuzzification module is specifically used for: 遍历下式中所有可能的i1，…，in，…，iN的组合；Traverse all possible combinations of i 1 ,...,i n ,...,i N in the following formula;
Figure FDA0004039391610000081
Figure FDA0004039391610000081
 找到满足下式的i1，…，in，…，iN的组合；Find the combination of i 1 ,...,i n ,...,i N satisfying the following formula;
Figure FDA0004039391610000082
Figure FDA0004039391610000082
 然后，将满足公式
Figure FDA0004039391610000083
的i1，…，in…，iN的组合带入到Then, the formula will be satisfied
Figure FDA0004039391610000083
The combination of i 1 ,..., i n ..., i N is brought into 上式中，计算得到τ1，…，τn，…，τN；In the above formula, τ 1 ,...,τ n ,...,τ N are calculated; 最后，计算
Figure FDA0004039391610000084
得到唯一的高精度渡越时间；Finally, calculate
Figure FDA0004039391610000084
Get the only high-precision transit time; 其中，Δτ表示预设的最大时间测量误差，|·|表示求绝对值运算，
Figure FDA0004039391610000085
表示取下整运算。Among them, Δτ represents the preset maximum time measurement error, |·| represents the absolute value operation,
Figure FDA0004039391610000085
Indicates the subtraction operation.
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