基于m序列的无串扰超声波测距系统

超声波测距是机器人较为常用的避障方法，但是当多个超声波测距系统同时使用时容易产生串扰的问题。将伪随机码m序列应用在超声波测距系统中，为发射的每一路超声波进行编码，使得发射端所发射的超声波具有可识别性。回波中的编码与本地所发射的超声波编码进行自相关运算，利用m序列良好的自相关特性，判断此回波是有效回波还是干扰回波。系统能有效地识别干扰回波并将其舍弃，从而避免多个超声波测距系统之间发生串扰。实验结果表明，该系统的测距误差小于1.9%。

No crosstalk ultrasonic ranging system based on m sequence

Ultrasonic ranging is robot obstacle avoidance methods, but when mul tiple ultrasonic ranging system used at the same time easy to produce crosstalk problems. Apply pseudo random code m sequence in the ultrasonic ranging system, each for launch ultrasonic encode all the way, make the ultrasonic wave can b e emitted by transmitting terminal identification. The launch of the ultrasoni c echo of coding and local autocorrelation arithmetic coding, using m sequence good autocorrelation characteristic, judge the echo is effective echoes or int erference. System can effectively identify the clutter echo and abandon it, so as to avoid occur crosstalk between multiple ultrasonic ranging system. The ex perimental results show that the system of ranging error is less than 1.9%.