超声波在移动机器人导航中的应用_嵌入式_Arm_其他

<html xmlns="http://www.w3.org/1999/xhtml"><head><meta charset="utf-8"><meta name="generator" content="pdf2htmlEX"><meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"><link rel="stylesheet" href="https://csdnimg.cn/release/download_crawler_static/css/base.min.css"><link rel="stylesheet" href="https://csdnimg.cn/release/download_crawler_static/css/fancy.min.css"><link rel="stylesheet" href="https://csdnimg.cn/release/download_crawler_static/1633980/raw.css"><script src="https://csdnimg.cn/release/download_crawler_static/js/compatibility.min.js"></script><script src="https://csdnimg.cn/release/download_crawler_static/js/pdf2htmlEX.min.js"></script><script>try{pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({});}catch(e){}</script><title></title></head><body><div id="sidebar" style="display: none"><div id="outline"></div></div><div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://csdnimg.cn/release/download_crawler_static/1633980/bg1.jpg"><div class="c x0 y1 w2 h2"><div class="t m0 x1 h3 y2 ff1 fs0 fc0 sc0 ls0 ws0">技</div><div class="t m0 x1 h3 y3 ff1 fs0 fc0 sc0 ls0 ws0">术</div><div class="t m0 x1 h3 y4 ff1 fs0 fc0 sc0 ls0 ws0">创</div><div class="t m0 x1 h3 y5 ff1 fs0 fc0 sc0 ls0 ws0">新</div><div class="t m0 x2 h4 y6 ff1 fs1 fc0 sc0 ls0 ws0">中<span class="_ _0"> </span>文<span class="_ _0"> </span>核<span class="_ _0"> </span>心<span class="_ _1"> </span>期<span class="_ _0"> </span>刊</div><div class="t m0 x3 h4 y7 ff1 fs1 fc0 sc0 ls0 ws0">《</div><div class="t m0 x4 h4 y6 ff1 fs1 fc0 sc0 ls0 ws0">微<span class="_ _0"> </span>计<span class="_ _0"> </span>算<span class="_ _1"> </span>机<span class="_ _0"> </span>信<span class="_ _0"> </span>息</div><div class="t m0 x5 h4 y7 ff1 fs1 fc0 sc0 ls0 ws0">》</div><div class="t m0 x6 h5 y8 ff2 fs2 fc0 sc0 ls0 ws0">（</div><div class="t m0 x7 h4 y6 ff1 fs1 fc0 sc0 ls0 ws0">嵌<span class="_ _0"> </span>入<span class="_ _0"> </span>式<span class="_ _1"> </span>与</div><div class="t m0 x8 h5 y8 ff2 fs2 fc0 sc0 ls0 ws0">Ｓ<span class="_ _2"></span>Ｏ<span class="_ _3"></span>Ｃ<span class="_ _0"></span>）<span class="_ _3"></span>２<span class="_ _3"></span>０<span class="_ _3"></span>０<span class="_ _3"></span>８</div><div class="t m0 x9 h4 y6 ff1 fs1 fc0 sc0 ls0 ws0">年<span class="_ _0"> </span>第</div><div class="t m0 xa h5 y8 ff2 fs2 fc0 sc0 ls0 ws0">２<span class="_ _3"></span>４</div><div class="t m0 xb h4 y6 ff1 fs1 fc0 sc0 ls0 ws0">卷<span class="_ _0"> </span>第</div><div class="t m0 xc h5 y8 ff2 fs2 fc0 sc0 ls0 ws0">７<span class="_ _3"></span>－</div><div class="t m0 xd h6 y9 ff2 fs3 fc0 sc0 ls0 ws0">２</div><div class="t m0 xe h4 y6 ff1 fs1 fc0 sc0 ls0 ws0">期</div><div class="t m0 xf h6 ya ff2 fs3 fc0 sc0 ls0 ws0">３<span class="_ _3"></span>６<span class="_ _4"></span>０</div><div class="t m0 x10 h4 yb ff1 fs1 fc0 sc0 ls0 ws0">元</div><div class="t m0 x11 h6 ya ff2 fs3 fc0 sc0 ls0 ws0">／</div><div class="t m0 x12 h4 yb ff1 fs1 fc0 sc0 ls0 ws0">年<span class="_ _5"> </span>邮<span class="_ _3"></span>局<span class="_ _2"></span>订<span class="_ _3"></span>阅<span class="_ _2"></span>号</div><div class="t m0 x13 h4 yc ff2 fs1 fc0 sc0 ls0 ws0">：</div><div class="t m0 x14 h6 ya ff2 fs3 fc0 sc0 ls0 ws0">８<span class="_ _4"></span>２<span class="_ _3"></span>－９<span class="_ _4"></span>４<span class="_ _4"></span>６</div><div class="t m0 x15 h4 yd ff1 fs1 fc0 sc0 ls0 ws0">《</div><div class="t m0 x16 h4 ye ff1 fs1 fc0 sc0 ls0 ws0">现<span class="_ _2"></span>场<span class="_ _3"></span>总<span class="_ _2"></span>线<span class="_ _2"></span>技<span class="_ _3"></span>术<span class="_ _2"></span>应<span class="_ _2"></span>用</div><div class="t m0 x17 h6 yf ff2 fs3 fc0 sc0 ls0 ws0">２<span class="_ _4"></span>０<span class="_ _3"></span>０</div><div class="t m0 x18 h4 y10 ff1 fs1 fc0 sc0 ls0 ws0">例</div><div class="t m0 xe h4 y11 ff1 fs1 fc0 sc0 ls0 ws0">》</div><div class="t m0 x19 h7 y12 ff1 fs4 fc0 sc0 ls0 ws0">机<span class="_ _6"> </span>器<span class="_ _6"> </span>人<span class="_ _6"> </span>技<span class="_ _6"> </span>术</div><div class="t m0 x19 h8 y13 ff1 fs5 fc0 sc0 ls0 ws0">超声波<span class="_ _4"></span>在移动<span class="_ _4"></span>机器<span class="_ _4"></span>人导航<span class="_ _4"></span>中的应<span class="_ _4"></span>用</div><div class="t m0 x19 h9 y14 ff2 fs6 fc0 sc0 ls0 ws0">Ｔｈ<span class="_ _0"></span>ｅ<span class="_ _7"> </span>Ａｐ<span class="_ _0"></span>ｐ<span class="_ _2"></span>ｌｉｃ<span class="_ _2"></span>ａ<span class="_ _2"></span>ｔ<span class="_ _3"></span>ｉｏ<span class="_ _0"></span>ｎ<span class="_ _7"> </span>ｏ<span class="_ _0"></span>ｆ<span class="_ _8"> </span>Ｕ<span class="_ _3"></span>ｌｔ<span class="_ _3"></span>ｒ<span class="_ _3"></span>ａ<span class="_ _0"></span>ｓ<span class="_ _0"></span>ｏ<span class="_ _2"></span>ｎ<span class="_ _0"></span>ｉｃ<span class="_ _9"> </span>ｉｎ<span class="_ _7"> </span>ｔ<span class="_ _3"></span>ｈ<span class="_ _0"></span>ｅ<span class="_ _7"> </span>Ｎ<span class="_ _3"></span>ａ<span class="_ _0"></span>ｖ<span class="_ _3"></span>ｉｇ<span class="_ _0"></span>ａ<span class="_ _0"></span>ｔ<span class="_ _4"></span>ｉｏ<span class="_ _0"></span>ｎ<span class="_ _7"> </span>ｏ<span class="_ _0"></span>ｆ<span class="_ _8"> </span>Ｍ<span class="_ _3"></span>ｏ<span class="_ _0"></span>ｂ<span class="_ _0"></span>ｉｌｅ<span class="_ _7"> </span>Ｒｏ<span class="_ _2"></span>ｂ<span class="_ _0"></span>ｏ<span class="_ _0"></span>ｔ</div><div class="t m0 x1a ha y15 ff2 fs7 fc0 sc0 ls0 ws0">（</div><div class="t m0 x1b hb y16 ff1 fs8 fc0 sc0 ls0 ws0">齐<span class="_ _3"></span>齐<span class="_ _3"></span>哈<span class="_ _3"></span>尔<span class="_ _2"></span>大<span class="_ _4"></span>学</div><div class="t m0 x1c ha y15 ff2 fs7 fc0 sc0 ls0 ws0">）</div><div class="t m0 x8 hc y17 ff1 fs9 fc0 sc0 ls0 ws0">罗<span class="_ _a"> </span>磊<span class="_ _a"> </span>戴<span class="_ _0"></span>学<span class="_ _2"></span>丰<span class="_ _a"> </span>刘<span class="_ _0"></span>树<span class="_ _0"></span>东</div><div class="t m0 x1d h6 y18 ff2 fs3 fc0 sc0 ls0 ws0">Ｌ<span class="_ _b"></span>ＵＯ<span class="_ _8"> </span>Ｌ<span class="_ _b"></span>ｅ<span class="_ _2"></span>ｉ<span class="_ _c"> </span>ＤＡ<span class="_ _b"></span>Ｉ<span class="_ _5"> </span>Ｘ<span class="_ _b"></span>ｕ<span class="_ _4"></span>ｅ<span class="_ _2"></span>－ｆ<span class="_ _d"></span>ｅ<span class="_ _2"></span>ｎ<span class="_ _4"></span>ｇ<span class="_ _e"> </span>Ｌ<span class="_ _b"></span>Ｉ<span class="_ _b"></span>Ｕ<span class="_ _f"> </span>Ｓ<span class="_ _2"></span>ｈ<span class="_ _4"></span>ｕ<span class="_ _3"></span>－ｄ<span class="_ _4"></span>ｏ<span class="_ _4"></span>ｎ<span class="_ _3"></span>ｇ</div><div class="t m0 x19 h4 y19 ff1 fs1 fc0 sc0 ls0 ws0">摘<span class="_ _3"></span>要</div><div class="t m0 x1e h6 y1a ff2 fs3 fc0 sc0 ls0 ws0">：</div><div class="t m0 x1f h4 y19 ff1 fs1 fc0 sc0 ls0 ws0">采<span class="_ _0"></span>用<span class="_ _2"></span>新<span class="_ _0"> </span>型<span class="_ _0"> </span>的<span class="_ _0"></span>超<span class="_ _2"></span>声<span class="_ _0"> </span>波<span class="_ _0"> </span>传<span class="_ _0"></span>感<span class="_ _0"></span>器</div><div class="t m1 x20 h6 y1a ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x21 h4 y19 ff1 fs1 fc0 sc0 ls0 ws0">设<span class="_ _0"></span>计<span class="_ _0"></span>并<span class="_ _2"></span>开<span class="_ _0"> </span>发<span class="_ _0"> </span>基<span class="_ _0"> </span>于</div><div class="t m1 x22 h6 y1a ff2 fs3 fc0 sc0 ls0 ws0">Ａ<span class="_ _b"></span>ＲＭ<span class="_ _10"></span>９</div><div class="t m0 x23 h4 y19 ff1 fs1 fc0 sc0 ls0 ws0">与<span class="_ _0"> </span>嵌<span class="_ _0"> </span>入<span class="_ _0"> </span>式</div><div class="t m1 x24 h6 y1a ff2 fs3 fc0 sc0 ls0 ws0">ｌｉｎｕｘ</div><div class="t m0 x25 h4 y19 ff1 fs1 fc0 sc0 ls0 ws0">为<span class="_ _0"> </span>平<span class="_ _0"> </span>台<span class="_ _0"> </span>的<span class="_ _0"> </span>轮<span class="_ _0"> </span>式<span class="_ _0"> </span>移<span class="_ _0"> </span>动<span class="_ _0"> </span>机<span class="_ _0"> </span>器<span class="_ _0"> </span>人<span class="_ _0"> </span>平<span class="_ _0"> </span>台<span class="_ _0"> </span>的<span class="_ _0"> </span>下<span class="_ _0"> </span>的<span class="_ _0"> </span>未<span class="_ _0"> </span>知<span class="_ _0"> </span>环<span class="_ _0"> </span>境<span class="_ _0"> </span>的<span class="_ _0"> </span>避</div><div class="t m0 x19 h4 y1b ff1 fs1 fc0 sc0 ls0 ws0">障<span class="_ _0"></span>导<span class="_ _0"></span>航<span class="_ _2"></span>系<span class="_ _0"> </span>统</div><div class="t m0 x26 h4 y1c ff1 fs1 fc0 sc0 ls0 ws0">。</div><div class="t m0 x27 h4 y1b ff1 fs1 fc0 sc0 ls0 ws0">本<span class="_ _0"></span>文<span class="_ _0"></span>重<span class="_ _2"></span>点<span class="_ _0"> </span>介<span class="_ _0"> </span>绍<span class="_ _0"> </span>该<span class="_ _0"> </span>超<span class="_ _0"> </span>声<span class="_ _0"> </span>波<span class="_ _0"> </span>传<span class="_ _0"> </span>感<span class="_ _0"> </span>器<span class="_ _0"> </span>的<span class="_ _0"> </span>实<span class="_ _0"> </span>现<span class="_ _0"> </span>原<span class="_ _0"> </span>理<span class="_ _0"> </span>以<span class="_ _0"> </span>及<span class="_ _0"> </span>在<span class="_ _0"> </span>机<span class="_ _0"> </span>器<span class="_ _0"> </span>人<span class="_ _0"> </span>平<span class="_ _0"> </span>台<span class="_ _0"> </span>中<span class="_ _0"> </span>的<span class="_ _0"> </span>整<span class="_ _0"> </span>个<span class="_ _0"> </span>软<span class="_ _0"> </span>件<span class="_ _0"> </span>实<span class="_ _0"> </span>现<span class="_ _0"> </span>流<span class="_ _0"> </span>程<span class="_ _0"> </span>以<span class="_ _0"> </span>及<span class="_ _0"> </span>控<span class="_ _0"> </span>制<span class="_ _0"> </span>机<span class="_ _0"> </span>器<span class="_ _0"> </span>人<span class="_ _0"> </span>行<span class="_ _0"> </span>走<span class="_ _0"> </span>的</div><div class="t m0 x19 h4 y1d ff1 fs1 fc0 sc0 ls0 ws0">实<span class="_ _0"></span>现<span class="_ _0"></span>方<span class="_ _2"></span>法</div><div class="t m0 x28 h4 y1e ff1 fs1 fc0 sc0 ls0 ws0">。</div><div class="t m0 x19 h4 y1f ff1 fs1 fc0 sc0 ls0 ws0">关<span class="_ _3"></span>键<span class="_ _2"></span>词</div><div class="t m0 x29 h6 y20 ff2 fs3 fc0 sc0 ls0 ws0">：</div><div class="t m0 x2a h4 y1f ff1 fs1 fc0 sc0 ls0 ws0">机<span class="_ _3"></span>器<span class="_ _2"></span>人</div><div class="t m0 x2b h6 y20 ff2 fs3 fc0 sc0 ls0 ws0">；<span class="_ _5"> </span>ＡＲ<span class="_ _3"></span>Ｍ<span class="_ _3"></span>９；</div><div class="t m0 x2c h4 y1f ff1 fs1 fc0 sc0 ls0 ws0">超<span class="_ _3"></span>声<span class="_ _2"></span>波</div><div class="t m0 x2d h6 y20 ff2 fs3 fc0 sc0 ls0 ws0">；</div><div class="t m0 x2e h4 y1f ff1 fs1 fc0 sc0 ls0 ws0">导<span class="_ _3"></span>航</div><div class="t m0 x2f h6 y20 ff2 fs3 fc0 sc0 ls0 ws0">；</div><div class="t m0 x30 h4 y1f ff1 fs1 fc0 sc0 ls0 ws0">避<span class="_ _3"></span>障</div><div class="t m0 x19 h4 y21 ff1 fs1 fc0 sc0 ls0 ws0">中<span class="_ _3"></span>图<span class="_ _2"></span>分<span class="_ _3"></span>类<span class="_ _2"></span>号</div><div class="t m0 x10 h6 y22 ff2 fs3 fc0 sc0 ls0 ws0">：<span class="_ _5"> </span>Ｔ<span class="_ _3"></span>Ｐ<span class="_ _3"></span>２７４</div><div class="t m0 x31 h4 y23 ff1 fs1 fc0 sc0 ls0 ws0">文<span class="_ _3"></span>献<span class="_ _2"></span>标<span class="_ _3"></span>识<span class="_ _2"></span>码</div><div class="t m0 x32 h6 y22 ff2 fs3 fc0 sc0 ls0 ws0">：<span class="_ _5"> </span>Ａ</div><div class="t m0 x19 h6 y24 ff2 fs3 fc0 sc0 ls0 ws0">Ａｂ<span class="_ _4"></span>ｓｔ<span class="_ _4"></span>ｒ<span class="_ _0"></span>ａ<span class="_ _4"></span>ｃｔ<span class="_ _3"></span>：</div><div class="t m1 x28 h6 y24 ff2 fs3 fc0 sc0 ls0 ws0">Ｕ<span class="_ _b"></span>ｓｅｄ<span class="_ _8"> </span>ａ<span class="_ _9"> </span>ｎ<span class="_ _d"></span>ｅｗ<span class="_ _5"> </span>ｔｙ<span class="_ _b"></span>ｐｅ<span class="_ _11"> </span>ｏ<span class="_ _b"></span>ｆ<span class="_ _f"> </span>ｕｌｔｒａｓｏ<span class="_ _b"></span>ｎｉｃ<span class="_ _8"> </span>ｓｅｎｓｏ<span class="_ _b"></span>ｒｓ<span class="_ _3"></span>，<span class="_ _11"> </span>ｂａｓｅｄ<span class="_ _8"> </span>ｏ<span class="_ _b"></span>ｎ<span class="_ _11"> </span>Ａ<span class="_ _b"></span>ＲＭ<span class="_ _10"></span>９<span class="_ _11"> </span>ａｎｄ<span class="_ _8"> </span>ｅｍ<span class="_ _b"></span>ｂｅｄｄｅｄ<span class="_ _8"> </span>ｌｉｎｕｘ<span class="_ _f"> </span>ｓｙ<span class="_ _b"></span>ｓｔｅｍ，<span class="_ _11"> </span>ｄｅｓｉｇ<span class="_ _b"></span>ｎｅｄ<span class="_ _8"> </span>ａｎｄ<span class="_ _11"> </span>ｄｅｖ<span class="_ _b"></span>ｅｌｏ<span class="_ _b"></span>ｐｅｄ<span class="_ _8"> </span>ｔｈｅ<span class="_ _8"> </span>ｓｙ<span class="_ _d"></span>ｓｔｅｍ<span class="_ _f"> </span>ｏ<span class="_ _b"></span>ｆ</div><div class="t m1 x19 h6 y25 ff2 fs3 fc0 sc0 ls0 ws0">ｕｎｋｎｏ<span class="_ _b"></span>ｗ<span class="_ _10"></span>ｎ<span class="_ _8"> </span>ｅｎｖ<span class="_ _b"></span>ｉｒｏ<span class="_ _b"></span>ｎｍ<span class="_ _b"></span>ｅｎｔ<span class="_ _8"> </span>ｏ<span class="_ _b"></span>ｂｓｔａｃｌｅ<span class="_ _8"> </span>ａｖ<span class="_ _d"></span>ｏ<span class="_ _b"></span>ｉｄａｎｃｅ<span class="_ _8"> </span>ａｎｄ<span class="_ _11"> </span>ｎａｖ<span class="_ _b"></span>ｉｇ<span class="_ _b"></span>ａｔｉｏ<span class="_ _b"></span>ｎ<span class="_ _8"> </span>ｆ<span class="_ _d"></span>ｏ<span class="_ _b"></span>ｒ<span class="_ _11"> </span>ｗ<span class="_ _10"></span>ｈｅｅｌｅｄ<span class="_ _8"> </span>ｍ<span class="_ _b"></span>ｏ<span class="_ _b"></span>ｂｉｌｅ<span class="_ _8"> </span>ｒｏ<span class="_ _d"></span>ｂｏ<span class="_ _b"></span>ｔ<span class="_ _3"></span>．<span class="_ _12"> </span>Ｔ<span class="_ _b"></span>ｈｉｓ<span class="_ _8"> </span>ｐａｐｅｒ<span class="_ _11"> </span>ｆ<span class="_ _b"></span>ｏ<span class="_ _b"></span>ｃｕｓｅｓ<span class="_ _8"> </span>ｏ<span class="_ _d"></span>ｎ<span class="_ _8"> </span>ｔｈｅ<span class="_ _11"> </span>ｕｌｔｒａｓｏ<span class="_ _b"></span>ｎｉｃ<span class="_ _8"> </span>ｓｅｎｓｏ<span class="_ _b"></span>ｒ<span class="_ _11"> </span>ｐｒｉｎｃｉ<span class="_ _d"></span>－</div><div class="t m1 x19 h6 y26 ff2 fs3 fc0 sc0 ls0 ws0">ｐｌｅ<span class="_ _4"></span>，<span class="_ _11"> </span>ｔｈｅ<span class="_ _8"> </span>ｒｅａｌｉｚ<span class="_ _b"></span>ａｔｉｏ<span class="_ _b"></span>ｎ<span class="_ _8"> </span>ｏ<span class="_ _b"></span>ｆ<span class="_ _f"> </span>ｔｈｅ<span class="_ _8"> </span>ｅｎｔｉｒｅ<span class="_ _8"> </span>ｓｏ<span class="_ _b"></span>ｆ<span class="_ _d"></span>ｔｗ<span class="_ _10"></span>ａｒｅ<span class="_ _8"> </span>ｆ<span class="_ _b"></span>ｌｏ<span class="_ _b"></span>ｗ<span class="_ _5"> </span>ａｎｄ<span class="_ _8"> </span>ｔｈｅ<span class="_ _11"> </span>ｒｏ<span class="_ _b"></span>ｂｏ<span class="_ _b"></span>ｔ<span class="_ _8"> </span>ｗ<span class="_ _10"></span>ａｌｋ<span class="_ _8"> </span>ｃｏ<span class="_ _b"></span>ｎｔｒｏ<span class="_ _b"></span>ｌ<span class="_ _3"></span>．</div><div class="t m0 x19 h6 y27 ff2 fs3 fc0 sc0 ls0 ws0">Ｋ<span class="_ _4"></span>ｅｙ<span class="_ _5"> </span>ｗｏｒ<span class="_ _2"></span>ｄ<span class="_ _4"></span>ｓ：<span class="_ _f"> </span>Ｒ<span class="_ _4"></span>ｏｂ<span class="_ _4"></span>ｏｔ<span class="_ _3"></span>；<span class="_ _f"> </span>ＡＲＭ<span class="_ _3"></span>９；<span class="_ _f"> </span>Ｕｌｔ<span class="_ _4"></span>ｒ<span class="_ _2"></span>ａ<span class="_ _3"></span>ｓｏｎ<span class="_ _4"></span>ｉｃ；<span class="_ _f"> </span>Ｎａ<span class="_ _4"></span>ｖｉｇａ<span class="_ _4"></span>ｔ<span class="_ _3"></span>ｉｏｎ<span class="_ _4"></span>；<span class="_ _f"> </span>Ｏ<span class="_ _4"></span>ｂ<span class="_ _4"></span>ｓｔ<span class="_ _3"></span>ａ<span class="_ _3"></span>ｃｌｅ<span class="_ _5"> </span>ａ<span class="_ _4"></span>ｖｏｉｄ<span class="_ _4"></span>ａ<span class="_ _3"></span>ｎ<span class="_ _3"></span>ｃｅ</div><div class="t m0 x19 h4 y28 ff1 fs1 fc0 sc0 ls0 ws0">文<span class="_ _3"></span>章<span class="_ _2"></span>编<span class="_ _3"></span>号</div><div class="t m0 x33 h6 y29 ff2 fs3 fc0 sc0 ls0 ws0">：<span class="_ _4"></span>１００８－<span class="_ _6"> </span>０５７０（２００８）０７－</div><div class="t m0 x13 ha y2a ff2 fs7 fc0 sc0 ls0 ws0">２</div><div class="t m0 x14 h6 y29 ff2 fs3 fc0 sc0 ls0 ws0">－<span class="_ _13"> </span>０２５４－<span class="_ _13"> </span>０３</div><div class="t m0 x34 hd y2b ff2 fsa fc0 sc0 ls0 ws0">１</div><div class="t m0 x35 he y2c ff1 fsb fc0 sc0 ls0 ws0">引<span class="_ _0"></span>言</div><div class="t m0 x1e h4 y2d ff1 fs1 fc0 sc0 ls0 ws0">在<span class="_ _2"></span>项<span class="_ _3"></span>目<span class="_ _2"></span>开<span class="_ _2"></span>发<span class="_ _2"></span>中<span class="_ _2"></span>采<span class="_ _2"></span>用<span class="_ _3"></span>从<span class="_ _2"></span>英<span class="_ _2"></span>国<span class="_ _2"></span>进<span class="_ _2"></span>口<span class="_ _2"></span>的</div><div class="t m0 x36 h6 y2e ff2 fs3 fc0 sc0 ls0 ws0">Ｓ<span class="_ _b"></span>ＲＦ０５</div><div class="t m0 x37 h4 y2d ff1 fs1 fc0 sc0 ls0 ws0">超<span class="_ _2"></span>声<span class="_ _2"></span>波<span class="_ _2"></span>传<span class="_ _2"></span>感<span class="_ _2"></span>器</div><div class="t m0 x38 h6 y2e ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x39 h4 y2d ff1 fs1 fc0 sc0 ls0 ws0">它</div><div class="t m0 x19 h4 y2f ff1 fs1 fc0 sc0 ls0 ws0">的<span class="_ _2"></span>回<span class="_ _2"></span>波<span class="_ _2"></span>反<span class="_ _2"></span>馈<span class="_ _0"></span>与<span class="_ _2"></span>测<span class="_ _2"></span>距<span class="_ _2"></span>方<span class="_ _0"></span>式<span class="_ _2"></span>与<span class="_ _2"></span>通<span class="_ _0"></span>常<span class="_ _2"></span>使<span class="_ _2"></span>用<span class="_ _2"></span>的<span class="_ _0"></span>超<span class="_ _2"></span>声<span class="_ _2"></span>波<span class="_ _0"></span>传<span class="_ _2"></span>感<span class="_ _2"></span>器<span class="_ _0"></span>相<span class="_ _2"></span>比<span class="_ _2"></span>较<span class="_ _2"></span>特</div><div class="t m0 x19 h4 y30 ff1 fs1 fc0 sc0 ls0 ws0">别</div><div class="t m0 x3a h6 y31 ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x3b h4 y32 ff1 fs1 fc0 sc0 ls0 ws0">在</div><div class="t m0 x3c h6 y31 ff2 fs3 fc0 sc0 ls0 ws0">Ａ<span class="_ _b"></span>ＲＭ</div><div class="t m0 x3d h4 y32 ff1 fs1 fc0 sc0 ls0 ws0">中<span class="_ _2"></span>实<span class="_ _2"></span>现<span class="_ _2"></span>也<span class="_ _0"></span>稍<span class="_ _2"></span>有<span class="_ _2"></span>难<span class="_ _0"></span>度</div><div class="t m0 x3e h6 y31 ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x2e h4 y32 ff1 fs1 fc0 sc0 ls0 ws0">但<span class="_ _2"></span>该<span class="_ _0"></span>传<span class="_ _2"></span>感<span class="_ _2"></span>器<span class="_ _2"></span>精<span class="_ _0"></span>度<span class="_ _2"></span>很<span class="_ _2"></span>高<span class="_ _0"></span>可<span class="_ _2"></span>达<span class="_ _2"></span>到</div><div class="t m0 x19 h6 y33 ff2 fs3 fc0 sc0 ls0 ws0">１ｃｍ<span class="_ _b"></span>，</div><div class="t m0 x3f h4 y34 ff1 fs1 fc0 sc0 ls0 ws0">因<span class="_ _2"></span>此<span class="_ _2"></span>用<span class="_ _3"></span>该<span class="_ _2"></span>传<span class="_ _2"></span>感<span class="_ _2"></span>器<span class="_ _2"></span>去<span class="_ _2"></span>掉<span class="_ _2"></span>了<span class="_ _3"></span>用<span class="_ _2"></span>于<span class="_ _2"></span>近<span class="_ _2"></span>距<span class="_ _2"></span>离<span class="_ _2"></span>测<span class="_ _2"></span>距<span class="_ _0"></span>的<span class="_ _2"></span>红<span class="_ _2"></span>外<span class="_ _2"></span>测<span class="_ _2"></span>距<span class="_ _2"></span>模<span class="_ _2"></span>块</div><div class="t m0 x19 h4 y35 ff1 fs1 fc0 sc0 ls0 ws0">节<span class="_ _2"></span>约<span class="_ _3"></span>了<span class="_ _2"></span>硬<span class="_ _3"></span>件<span class="_ _2"></span>资<span class="_ _2"></span>源</div><div class="t m0 x40 h4 y36 ff1 fs1 fc0 sc0 ls0 ws0">。</div><div class="t m0 x1e h4 y37 ff1 fs1 fc0 sc0 ls0 ws0">该<span class="_ _3"></span>机<span class="_ _2"></span>器<span class="_ _2"></span>人<span class="_ _3"></span>的<span class="_ _2"></span>最<span class="_ _3"></span>小<span class="_ _2"></span>系<span class="_ _3"></span>统<span class="_ _2"></span>为</div><div class="t m0 x41 h6 y38 ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x42 h4 y37 ff1 fs1 fc0 sc0 ls0 ws0">触<span class="_ _2"></span>摸<span class="_ _3"></span>屏<span class="_ _2"></span>模<span class="_ _3"></span>块</div><div class="t m0 x43 h6 y38 ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x32 h4 y37 ff1 fs1 fc0 sc0 ls0 ws0">超<span class="_ _3"></span>声<span class="_ _2"></span>波<span class="_ _2"></span>模<span class="_ _3"></span>块</div><div class="t m0 x44 h6 y38 ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x45 h4 y37 ff1 fs1 fc0 sc0 ls0 ws0">摄<span class="_ _2"></span>像<span class="_ _2"></span>头<span class="_ _2"></span>图</div><div class="t m0 x19 h4 y39 ff1 fs1 fc0 sc0 ls0 ws0">像<span class="_ _2"></span>采<span class="_ _3"></span>集<span class="_ _2"></span>模<span class="_ _2"></span>块</div><div class="t m0 x46 h6 y3a ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x26 h4 y39 ff1 fs1 fc0 sc0 ls0 ws0">直<span class="_ _2"></span>流<span class="_ _2"></span>电<span class="_ _3"></span>机<span class="_ _2"></span>闭<span class="_ _2"></span>环<span class="_ _2"></span>控<span class="_ _2"></span>制<span class="_ _2"></span>系<span class="_ _2"></span>统</div><div class="t m0 x47 h6 y3a ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x48 h4 y39 ff1 fs1 fc0 sc0 ls0 ws0">在<span class="_ _2"></span>整<span class="_ _3"></span>个<span class="_ _2"></span>系<span class="_ _2"></span>统<span class="_ _2"></span>中<span class="_ _2"></span>测<span class="_ _2"></span>距<span class="_ _2"></span>是<span class="_ _3"></span>最<span class="_ _2"></span>总</div><div class="t m0 x19 h4 y3b ff1 fs1 fc0 sc0 ls0 ws0">要<span class="_ _2"></span>的<span class="_ _3"></span>一<span class="_ _2"></span>环</div><div class="t m0 x49 h6 y3c ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x28 h4 y3b ff1 fs1 fc0 sc0 ls0 ws0">它<span class="_ _2"></span>直<span class="_ _3"></span>接<span class="_ _2"></span>影<span class="_ _2"></span>响<span class="_ _2"></span>电<span class="_ _2"></span>机<span class="_ _2"></span>运<span class="_ _2"></span>行<span class="_ _2"></span>距<span class="_ _3"></span>离<span class="_ _2"></span>的<span class="_ _2"></span>精<span class="_ _2"></span>度</div><div class="t m0 x4a h6 y3c ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x4b h4 y3b ff1 fs1 fc0 sc0 ls0 ws0">在<span class="_ _2"></span>有<span class="_ _2"></span>效<span class="_ _2"></span>范<span class="_ _3"></span>围<span class="_ _2"></span>内<span class="_ _2"></span>的<span class="_ _2"></span>图</div><div class="t m0 x19 h4 y3d ff1 fs1 fc0 sc0 ls0 ws0">像<span class="_ _2"></span>采<span class="_ _3"></span>集<span class="_ _2"></span>控<span class="_ _3"></span>制</div><div class="t m0 x46 h4 y3e ff1 fs1 fc0 sc0 ls0 ws0">。</div><div class="t m0 x4c h4 y3d ff1 fs1 fc0 sc0 ls0 ws0">整<span class="_ _2"></span>个<span class="_ _3"></span>系<span class="_ _2"></span>统<span class="_ _3"></span>都<span class="_ _2"></span>是<span class="_ _2"></span>在</div><div class="t m0 x4d h6 y3f ff2 fs3 fc0 sc0 ls0 ws0">Ａ<span class="_ _b"></span>ＲＭ<span class="_ _10"></span>９</div><div class="t m0 x4e h4 y3d ff1 fs1 fc0 sc0 ls0 ws0">与</div><div class="t m0 x4f h6 y3f ff2 fs3 fc0 sc0 ls0 ws0">ｌｉｎｕｘ</div><div class="t m0 x50 h4 y3d ff1 fs1 fc0 sc0 ls0 ws0">平<span class="_ _2"></span>台<span class="_ _3"></span>中<span class="_ _2"></span>完<span class="_ _3"></span>成</div><div class="t m0 x51 h6 y3f ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x52 h4 y3d ff1 fs1 fc0 sc0 ls0 ws0">每<span class="_ _2"></span>个</div><div class="t m0 x19 h4 y40 ff1 fs1 fc0 sc0 ls0 ws0">模<span class="_ _3"></span>块<span class="_ _2"></span>都<span class="_ _2"></span>是<span class="_ _3"></span>用<span class="_ _2"></span>设<span class="_ _3"></span>备<span class="_ _2"></span>驱<span class="_ _3"></span>动<span class="_ _2"></span>的<span class="_ _2"></span>方<span class="_ _3"></span>式<span class="_ _2"></span>实<span class="_ _3"></span>现<span class="_ _2"></span>使<span class="_ _2"></span>得<span class="_ _3"></span>模<span class="_ _2"></span>块<span class="_ _2"></span>的<span class="_ _3"></span>控<span class="_ _2"></span>制<span class="_ _3"></span>更<span class="_ _2"></span>加<span class="_ _2"></span>方<span class="_ _3"></span>便</div><div class="t m0 x53 h4 y41 ff1 fs1 fc0 sc0 ls0 ws0">。</div><div class="t m0 x34 hd y42 ff2 fsa fc0 sc0 ls0 ws0">２<span class="_ _a"> </span>ＳＲ<span class="_ _4"></span>Ｆ<span class="_ _2"></span>０５</div><div class="t m0 x54 he y43 ff1 fsb fc0 sc0 ls0 ws0">超<span class="_ _0"></span>声<span class="_ _2"></span>波<span class="_ _0"></span>测<span class="_ _0"></span>距<span class="_ _0"></span>方<span class="_ _0"></span>法</div><div class="t m0 x1e h4 y44 ff1 fs1 fc0 sc0 ls0 ws0">提<span class="_ _4"></span>供<span class="_ _4"></span>一<span class="_ _3"></span>个</div><div class="t m0 x4c h6 y45 ff2 fs3 fc0 sc0 ls0 ws0">１０ｕｓ</div><div class="t m0 x55 h4 y44 ff1 fs1 fc0 sc0 ls0 ws0">的<span class="_ _4"></span>脉<span class="_ _3"></span>冲<span class="_ _3"></span>触<span class="_ _3"></span>发<span class="_ _3"></span>超<span class="_ _3"></span>声<span class="_ _4"></span>波<span class="_ _3"></span>传<span class="_ _3"></span>感<span class="_ _3"></span>器</div><div class="t m0 x56 h6 y45 ff2 fs3 fc0 sc0 ls0 ws0">，<span class="_ _b"></span>Ｓ<span class="_ _d"></span>ＲＦ０５</div><div class="t m0 x57 h4 y44 ff1 fs1 fc0 sc0 ls0 ws0">会<span class="_ _4"></span>发<span class="_ _3"></span>出</div><div class="t m0 x53 h6 y45 ff2 fs3 fc0 sc0 ls0 ws0">８</div><div class="t m0 x39 h4 y44 ff1 fs1 fc0 sc0 ls0 ws0">个</div><div class="t m0 x19 h4 y46 ff1 fs1 fc0 sc0 ls0 ws0">周<span class="_ _4"></span>期<span class="_ _3"></span>的<span class="_ _3"></span>频<span class="_ _3"></span>率<span class="_ _4"></span>为</div><div class="t m0 x4c h6 y47 ff2 fs3 fc0 sc0 ls0 ws0">４０ｋｈｚ</div><div class="t m0 x58 h4 y46 ff1 fs1 fc0 sc0 ls0 ws0">的<span class="_ _4"></span>超<span class="_ _3"></span>频<span class="_ _3"></span>脉<span class="_ _3"></span>冲</div><div class="t m0 x59 h6 y47 ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x2d h4 y46 ff1 fs1 fc0 sc0 ls0 ws0">此<span class="_ _3"></span>时<span class="_ _3"></span>在</div><div class="t m0 x5a h6 y47 ff2 fs3 fc0 sc0 ls0 ws0">ｅｃｈｏ</div><div class="t m0 x5b h4 y46 ff1 fs1 fc0 sc0 ls0 ws0">也<span class="_ _3"></span>是<span class="_ _3"></span>就<span class="_ _3"></span>回<span class="_ _3"></span>波<span class="_ _2"></span>口<span class="_ _4"></span>上<span class="_ _3"></span>的</div><div class="t m0 x19 h4 y48 ff1 fs1 fc0 sc0 ls0 ws0">电<span class="_ _4"></span>平<span class="_ _3"></span>变<span class="_ _4"></span>为<span class="_ _4"></span>高</div><div class="t m0 x5c h6 y49 ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x46 h4 y48 ff1 fs1 fc0 sc0 ls0 ws0">此<span class="_ _4"></span>时<span class="_ _4"></span>定<span class="_ _3"></span>时<span class="_ _4"></span>器<span class="_ _3"></span>开<span class="_ _4"></span>始<span class="_ _4"></span>计<span class="_ _3"></span>时</div><div class="t m0 x3e h6 y49 ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x5d h4 y48 ff1 fs1 fc0 sc0 ls0 ws0">等<span class="_ _4"></span>到</div><div class="t m0 x5e h6 y49 ff2 fs3 fc0 sc0 ls0 ws0">ｅｃｈｏ</div><div class="t m0 x5f h4 y48 ff1 fs1 fc0 sc0 ls0 ws0">变<span class="_ _4"></span>为<span class="_ _3"></span>低<span class="_ _3"></span>电<span class="_ _3"></span>平<span class="_ _3"></span>证<span class="_ _3"></span>明<span class="_ _4"></span>有<span class="_ _3"></span>障</div><div class="t m0 x19 h4 y4a ff1 fs1 fc0 sc0 ls0 ws0">碍<span class="_ _4"></span>物<span class="_ _3"></span>此<span class="_ _3"></span>时<span class="_ _3"></span>停<span class="_ _3"></span>止<span class="_ _4"></span>计<span class="_ _3"></span>时</div><div class="t m0 x60 h6 y4b ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x61 h4 y4a ff1 fs1 fc0 sc0 ls0 ws0">高<span class="_ _4"></span>脉<span class="_ _3"></span>冲<span class="_ _3"></span>的<span class="_ _2"></span>宽<span class="_ _4"></span>度<span class="_ _3"></span>有<span class="_ _3"></span>测<span class="_ _2"></span>距<span class="_ _4"></span>的<span class="_ _3"></span>距<span class="_ _2"></span>离<span class="_ _4"></span>成<span class="_ _2"></span>正<span class="_ _4"></span>比</div><div class="t m0 x62 h6 y4b ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x63 h4 y4a ff1 fs1 fc0 sc0 ls0 ws0">该<span class="_ _3"></span>超<span class="_ _3"></span>声<span class="_ _3"></span>波</div><div class="t m0 x19 h4 y4c ff1 fs1 fc0 sc0 ls0 ws0">的<span class="_ _4"></span>有<span class="_ _2"></span>效<span class="_ _4"></span>测<span class="_ _3"></span>距<span class="_ _2"></span>范<span class="_ _4"></span>围<span class="_ _3"></span>为</div><div class="t m0 x64 h6 y4d ff2 fs3 fc0 sc0 ls0 ws0">１ｃｍ<span class="_ _b"></span>￣<span class="_ _b"></span>４ｍ<span class="_ _10"></span>，</div><div class="t m0 x65 h4 y4c ff1 fs1 fc0 sc0 ls0 ws0">因<span class="_ _3"></span>此<span class="_ _3"></span>如<span class="_ _3"></span>果<span class="_ _3"></span>没<span class="_ _2"></span>有<span class="_ _4"></span>障<span class="_ _3"></span>碍<span class="_ _3"></span>物<span class="_ _2"></span>或<span class="_ _3"></span>障<span class="_ _4"></span>碍<span class="_ _2"></span>物<span class="_ _4"></span>大<span class="_ _2"></span>于</div><div class="t m0 x19 h6 y4e ff2 fs3 fc0 sc0 ls0 ws0">４ｍ<span class="_ _10"></span>，<span class="_ _d"></span>ｅｃｈｏ</div><div class="t m0 x66 h4 y4f ff1 fs1 fc0 sc0 ls0 ws0">依<span class="_ _4"></span>然<span class="_ _3"></span>会<span class="_ _3"></span>变<span class="_ _3"></span>为<span class="_ _3"></span>低<span class="_ _3"></span>电<span class="_ _4"></span>平<span class="_ _3"></span>此<span class="_ _3"></span>时<span class="_ _3"></span>定<span class="_ _3"></span>时<span class="_ _4"></span>器<span class="_ _3"></span>的<span class="_ _3"></span>时<span class="_ _3"></span>间<span class="_ _4"></span>为</div><div class="t m0 x67 h6 y4e ff2 fs3 fc0 sc0 ls0 ws0">３０ｍ<span class="_ _b"></span>ｓ<span class="_ _b"></span>，</div><div class="t m0 x63 h4 y4f ff1 fs1 fc0 sc0 ls0 ws0">因<span class="_ _4"></span>此<span class="_ _3"></span>在<span class="_ _3"></span>测</div><div class="t m0 x19 h4 y50 ff1 fs1 fc0 sc0 ls0 ws0">距<span class="_ _4"></span>时<span class="_ _3"></span>定<span class="_ _4"></span>时<span class="_ _4"></span>器<span class="_ _3"></span>的<span class="_ _4"></span>周<span class="_ _4"></span>期<span class="_ _3"></span>应<span class="_ _4"></span>大<span class="_ _3"></span>于</div><div class="t m0 x2c h6 y51 ff2 fs3 fc0 sc0 ls0 ws0">３０ｍ<span class="_ _b"></span>ｓ</div><div class="t m0 x68 h4 y52 ff1 fs1 fc0 sc0 ls0 ws0">这<span class="_ _4"></span>样<span class="_ _3"></span>才<span class="_ _4"></span>能<span class="_ _4"></span>有<span class="_ _3"></span>效<span class="_ _4"></span>测<span class="_ _3"></span>距</div><div class="t m0 x69 h4 y53 ff1 fs1 fc0 sc0 ls0 ws0">。</div><div class="t m0 x1e h4 y54 ff1 fs1 fc0 sc0 ls0 ws0">原<span class="_ _3"></span>理<span class="_ _2"></span>如<span class="_ _2"></span>图</div><div class="t m0 x6a h6 y55 ff2 fs3 fc0 sc0 ls0 ws0">１</div><div class="t m0 x40 h4 y54 ff1 fs1 fc0 sc0 ls0 ws0">所<span class="_ _2"></span>示</div><div class="t m0 x6b h4 y56 ff1 fs1 fc0 sc0 ls0 ws0">。</div><div class="t m0 x6c hd y57 ff2 fsa fc0 sc0 ls0 ws0">３</div><div class="t m0 x6d he y58 ff1 fsb fc0 sc0 ls0 ws0">超<span class="_ _0"></span>声<span class="_ _2"></span>波<span class="_ _0"></span>测<span class="_ _0"></span>距<span class="_ _0"></span>软<span class="_ _0"></span>件<span class="_ _0"></span>实<span class="_ _0"></span>现</div><div class="t m0 x6e h4 y2d ff1 fs1 fc0 sc0 ls0 ws0">如<span class="_ _3"></span>图</div><div class="t m0 x6f h6 y2e ff2 fs3 fc0 sc0 ls0 ws0">２</div><div class="t m0 x70 h4 y2d ff1 fs1 fc0 sc0 ls0 ws0">为<span class="_ _2"></span>超<span class="_ _3"></span>声<span class="_ _2"></span>波<span class="_ _3"></span>测<span class="_ _2"></span>距<span class="_ _3"></span>的<span class="_ _2"></span>流<span class="_ _2"></span>程<span class="_ _3"></span>图</div><div class="t m0 x6e h6 y59 ff2 fs3 fc0 sc0 ls0 ws0">３．１</div><div class="t m0 x71 h4 y5a ff1 fs1 fc0 sc0 ls0 ws0">回<span class="_ _3"></span>波<span class="_ _2"></span>检<span class="_ _2"></span>测<span class="_ _3"></span>的<span class="_ _2"></span>采<span class="_ _3"></span>集<span class="_ _2"></span>方<span class="_ _3"></span>法</div><div class="t m0 x6e h4 y5b ff1 fs1 fc0 sc0 ls0 ws0">超<span class="_ _2"></span>声<span class="_ _2"></span>波<span class="_ _2"></span>的<span class="_ _2"></span>回<span class="_ _2"></span>波<span class="_ _2"></span>的<span class="_ _2"></span>检<span class="_ _2"></span>测<span class="_ _0"></span>是<span class="_ _2"></span>个<span class="_ _2"></span>难<span class="_ _2"></span>点</div><div class="t m0 x72 h6 y5c ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x73 h4 y5b ff1 fs1 fc0 sc0 ls0 ws0">因<span class="_ _2"></span>为<span class="_ _2"></span>在</div><div class="t m0 x74 h6 y5c ff2 fs3 fc0 sc0 ls0 ws0">Ａ<span class="_ _b"></span>ＲＭ</div><div class="t m0 xb h4 y5b ff1 fs1 fc0 sc0 ls0 ws0">中<span class="_ _2"></span>一<span class="_ _2"></span>个<span class="_ _2"></span>端<span class="_ _0"></span>口</div><div class="t m0 x75 h4 y5d ff1 fs1 fc0 sc0 ls0 ws0">设<span class="_ _2"></span>置<span class="_ _3"></span>中<span class="_ _2"></span>断<span class="_ _3"></span>只<span class="_ _2"></span>能<span class="_ _2"></span>设<span class="_ _3"></span>置<span class="_ _2"></span>一<span class="_ _3"></span>种<span class="_ _2"></span>触<span class="_ _3"></span>发<span class="_ _2"></span>方<span class="_ _2"></span>式</div><div class="t m0 x76 h6 y5e ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x16 h4 y5d ff1 fs1 fc0 sc0 ls0 ws0">如<span class="_ _3"></span>果<span class="_ _2"></span>设<span class="_ _2"></span>为<span class="_ _3"></span>上<span class="_ _2"></span>升<span class="_ _3"></span>沿<span class="_ _2"></span>触<span class="_ _2"></span>发<span class="_ _2"></span>可<span class="_ _3"></span>以<span class="_ _2"></span>打</div><div class="t m0 x75 h4 y5f ff1 fs1 fc0 sc0 ls0 ws0">开<span class="_ _2"></span>定<span class="_ _3"></span>时<span class="_ _2"></span>器<span class="_ _2"></span>定<span class="_ _2"></span>时<span class="_ _2"></span>但<span class="_ _2"></span>无<span class="_ _2"></span>法<span class="_ _3"></span>捕<span class="_ _2"></span>获<span class="_ _2"></span>下<span class="_ _2"></span>降<span class="_ _2"></span>沿</div><div class="t m0 x77 h6 y60 ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x78 h4 y61 ff1 fs1 fc0 sc0 ls0 ws0">也<span class="_ _2"></span>就<span class="_ _2"></span>无<span class="_ _3"></span>法<span class="_ _2"></span>关<span class="_ _2"></span>闭<span class="_ _2"></span>定<span class="_ _2"></span>时<span class="_ _2"></span>器</div><div class="t m0 x79 h6 y60 ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x7a h4 y61 ff1 fs1 fc0 sc0 ls0 ws0">从<span class="_ _2"></span>而<span class="_ _2"></span>不</div><div class="t m0 x75 h4 y62 ff1 fs1 fc0 sc0 ls0 ws0">能<span class="_ _2"></span>测<span class="_ _3"></span>距</div><div class="t m0 x7b h6 y63 ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x7c h4 y62 ff1 fs1 fc0 sc0 ls0 ws0">因<span class="_ _2"></span>此<span class="_ _3"></span>用<span class="_ _2"></span>软<span class="_ _3"></span>件<span class="_ _2"></span>的<span class="_ _2"></span>方<span class="_ _3"></span>式<span class="_ _2"></span>实<span class="_ _3"></span>现</div><div class="t m0 x15 h4 y64 ff1 fs1 fc0 sc0 ls0 ws0">。</div><div class="t m0 x16 h4 y62 ff1 fs1 fc0 sc0 ls0 ws0">首<span class="_ _2"></span>先<span class="_ _3"></span>设<span class="_ _2"></span>置<span class="_ _3"></span>两<span class="_ _2"></span>个<span class="_ _3"></span>时<span class="_ _2"></span>间<span class="_ _2"></span>延<span class="_ _2"></span>迟<span class="_ _2"></span>函<span class="_ _2"></span>数</div><div class="t m0 x75 h6 y65 ff2 fs3 fc0 sc0 ls0 ws0">ｕｓｄｅｌａｙ<span class="_ _d"></span>（<span class="_ _b"></span>）</div><div class="t m0 x71 h4 y66 ff1 fs1 fc0 sc0 ls0 ws0">和</div><div class="t m0 x7d h6 y65 ff2 fs3 fc0 sc0 ls0 ws0">ｍ<span class="_ _b"></span>ｓｄｅｌａｙ（<span class="_ _10"></span>）<span class="_ _d"></span>，</div><div class="t m0 x7e h4 y66 ff1 fs1 fc0 sc0 ls0 ws0">这<span class="_ _2"></span>样<span class="_ _2"></span>可<span class="_ _0"></span>以<span class="_ _2"></span>在<span class="_ _2"></span>给<span class="_ _0"></span>出<span class="_ _2"></span>高<span class="_ _2"></span>脉<span class="_ _2"></span>冲</div><div class="t m0 x7f h6 y65 ff2 fs3 fc0 sc0 ls0 ws0">１０ｕｓ</div><div class="t m0 x80 h4 y66 ff1 fs1 fc0 sc0 ls0 ws0">后<span class="_ _0"></span>等<span class="_ _2"></span>超<span class="_ _2"></span>声<span class="_ _0"> </span>波</div><div class="t m0 x75 h4 y67 ff1 fs1 fc0 sc0 ls0 ws0">触<span class="_ _2"></span>发<span class="_ _3"></span>再<span class="_ _2"></span>打<span class="_ _3"></span>开<span class="_ _2"></span>定<span class="_ _3"></span>时<span class="_ _2"></span>期<span class="_ _2"></span>计<span class="_ _3"></span>时</div><div class="t m0 x81 h6 y68 ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x82 h4 y67 ff1 fs1 fc0 sc0 ls0 ws0">在<span class="_ _2"></span>设<span class="_ _3"></span>置<span class="_ _2"></span>一<span class="_ _3"></span>个<span class="_ _2"></span>外<span class="_ _2"></span>部<span class="_ _3"></span>中<span class="_ _2"></span>断</div><div class="t m0 x7f h6 y68 ff2 fs3 fc0 sc0 ls0 ws0">ｅｉｎｔ１</div><div class="t m0 xb h4 y67 ff1 fs1 fc0 sc0 ls0 ws0">接<span class="_ _2"></span>到<span class="_ _2"></span>超<span class="_ _3"></span>声<span class="_ _2"></span>波</div><div class="t m0 x75 h4 y69 ff1 fs1 fc0 sc0 ls0 ws0">传<span class="_ _2"></span>感<span class="_ _3"></span>器<span class="_ _2"></span>的</div><div class="t m0 x6f h6 y6a ff2 fs3 fc0 sc0 ls0 ws0">ｅｃｈｏ</div><div class="t m0 x83 h4 y69 ff1 fs1 fc0 sc0 ls0 ws0">口<span class="_ _2"></span>并<span class="_ _3"></span>设<span class="_ _2"></span>置<span class="_ _2"></span>为<span class="_ _2"></span>下<span class="_ _2"></span>降<span class="_ _2"></span>沿<span class="_ _2"></span>触<span class="_ _2"></span>发</div><div class="t m0 x84 h6 y6a ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x85 h4 y69 ff1 fs1 fc0 sc0 ls0 ws0">等<span class="_ _2"></span>下<span class="_ _2"></span>降<span class="_ _2"></span>沿<span class="_ _3"></span>来<span class="_ _2"></span>临<span class="_ _2"></span>关<span class="_ _2"></span>闭<span class="_ _2"></span>定<span class="_ _2"></span>时</div><div class="t m0 x75 h4 y6b ff1 fs1 fc0 sc0 ls0 ws0">器<span class="_ _2"></span>读<span class="_ _3"></span>出<span class="_ _2"></span>值<span class="_ _3"></span>既<span class="_ _2"></span>为<span class="_ _3"></span>脉<span class="_ _2"></span>宽<span class="_ _2"></span>的<span class="_ _3"></span>时<span class="_ _2"></span>间<span class="_ _2"></span>长<span class="_ _2"></span>度</div><div class="t m0 x86 h6 y6c ff2 fs3 fc0 sc0 ls0 ws0">，</div><div class="t m0 x87 h4 y6b ff1 fs1 fc0 sc0 ls0 ws0">然<span class="_ _2"></span>后<span class="_ _3"></span>根<span class="_ _2"></span>据<span class="_ _2"></span>障<span class="_ _2"></span>碍<span class="_ _2"></span>物<span class="_ _2"></span>的<span class="_ _2"></span>距<span class="_ _3"></span>离</div><div class="t m0 x88 h6 y6c ff2 fs3 fc0 sc0 ls0 ws0">＝（<span class="_ _b"></span>ＥＣ<span class="_ _b"></span>ＨＯ</div><div class="t m0 x75 h4 y6d ff1 fs1 fc0 sc0 ls0 ws0">高<span class="_ _2"></span>电<span class="_ _3"></span>平<span class="_ _2"></span>的<span class="_ _3"></span>时<span class="_ _2"></span>间</div><div class="t m0 x89 h6 y6e ff2 fs3 fc0 sc0 ls0 ws0">）<span class="_ _b"></span>＊</div><div class="t m0 x5 h4 y6d ff1 fs1 fc0 sc0 ls0 ws0">声<span class="_ _3"></span>纳<span class="_ _2"></span>速<span class="_ _2"></span>度</div><div class="t m0 x8a h6 y6e ff2 fs3 fc0 sc0 ls0 ws0">／２</div><div class="t m0 x1c h4 y6d ff1 fs1 fc0 sc0 ls0 ws0">得<span class="_ _3"></span>出<span class="_ _2"></span>距<span class="_ _2"></span>离</div><div class="t m0 x73 h4 y6f ff1 fs1 fc0 sc0 ls0 ws0">。</div><div class="t m0 x8b h4 y6d ff1 fs1 fc0 sc0 ls0 ws0">空<span class="_ _3"></span>气<span class="_ _2"></span>中</div><div class="t m0 x8c h6 y6e ff2 fs3 fc0 sc0 ls0 ws0">ｖ</div><div class="t m0 x8d h4 y6d ff1 fs1 fc0 sc0 ls0 ws0">与<span class="_ _2"></span>温<span class="_ _3"></span>度<span class="_ _2"></span>关<span class="_ _3"></span>系</div><div class="t m0 x8e h6 y6e ff2 fs3 fc0 sc0 ls0 ws0">：ｖ<span class="_ _b"></span>＝</div><div class="t m0 x19 h4 y70 ff1 fs1 fc0 sc0 ls0 ws0">罗<span class="_ _14"> </span>磊</div><div class="t m0 xf h6 y71 ff2 fs3 fc0 sc0 ls0 ws0">：</div><div class="t m0 x33 h4 y70 ff1 fs1 fc0 sc0 ls0 ws0">硕<span class="_ _2"></span>士<span class="_ _3"></span>研<span class="_ _2"></span>究<span class="_ _3"></span>生</div><div class="t m0 x19 h4 y72 ff1 fs1 fc0 sc0 ls0 ws0">基<span class="_ _1"> </span>金<span class="_ _13"> </span>项<span class="_ _1"> </span>目</div><div class="t m0 x8f h6 y73 ff2 fs3 fc0 sc0 ls0 ws0">：</div><div class="t m0 x3d h4 y72 ff1 fs1 fc0 sc0 ls0 ws0">黑<span class="_ _1"> </span>龙<span class="_ _13"> </span>江<span class="_ _13"> </span>省<span class="_ _1"> </span>研<span class="_ _13"> </span>究<span class="_ _1"> </span>生<span class="_ _13"> </span>创<span class="_ _13"> </span>新<span class="_ _1"> </span>科<span class="_ _13"> </span>研<span class="_ _13"> </span>项<span class="_ _1"> </span>目</div><div class="t m0 x90 h6 y73 ff2 fs3 fc0 sc0 ls0 ws0">（ＹＪ<span class="_ _2"></span>ＳＣ<span class="_ _4"></span>Ｘ２００７<span class="_ _0"></span>－</div><div class="t m0 x19 h6 y74 ff2 fs3 fc0 sc0 ls0 ws0">０２８０Ｈ<span class="_ _4"></span>Ｌ<span class="_ _3"></span>Ｊ<span class="_ _2"></span>）；</div><div class="t m0 x91 h4 y75 ff1 fs1 fc0 sc0 ls0 ws0">黑<span class="_ _2"></span>龙<span class="_ _3"></span>江<span class="_ _2"></span>省<span class="_ _3"></span>政<span class="_ _2"></span>府<span class="_ _2"></span>博<span class="_ _3"></span>士<span class="_ _2"></span>后<span class="_ _3"></span>启<span class="_ _2"></span>动<span class="_ _3"></span>基<span class="_ _2"></span>金<span class="_ _2"></span>项<span class="_ _3"></span>目</div><div class="t m0 x50 h6 y76 ff2 fs3 fc0 sc0 ls0 ws0">（Ｌ<span class="_ _4"></span>Ｒ<span class="_ _3"></span>Ｂ０００３４）；</div><div class="t m0 x19 h4 y77 ff1 fs1 fc0 sc0 ls0 ws0">黑<span class="_ _3"></span>龙<span class="_ _2"></span>江<span class="_ _2"></span>省<span class="_ _3"></span>教<span class="_ _2"></span>育<span class="_ _3"></span>厅<span class="_ _2"></span>海<span class="_ _3"></span>外<span class="_ _2"></span>学<span class="_ _2"></span>人<span class="_ _3"></span>项<span class="_ _2"></span>目</div><div class="t m0 x13 h6 y78 ff2 fs3 fc0 sc0 ls0 ws0">（１０５５Ｈ<span class="_ _4"></span>Ｑ<span class="_ _3"></span>０３６）</div><div class="t m0 x92 hf y79 ff2 fsc fc0 sc0 ls0 ws0">２５４</div><div class="t m0 x93 ha y7a ff2 fs7 fc0 sc0 ls0 ws0">－<span class="_ _15"> </span>－</div></div></div><div class="pi" data-data='{"ctm":[1.730867,0.000000,0.000000,1.730867,0.000000,0.000000]}'></div></div></body></html>