针对超声波相位法测距应用中测距端运动所造成的多普勒效应对测距超声波传播频率的影响，提出了改进的超声波相位法测距数学模型，其中重新推导了超声波总相位差与空间距离的关系；为了适应普遍情况还对变速运动情况下的产生的多普勒效应进行了详细的分析，并将整个测距波传播过程分为往程、回程两部分，分别讨论每个阶段测距端的运动对测距波传播的影响；实验结果显示在运动条件下测距结果与忽略多普勒效应的原有方法相比有适当提高，表明改进后的超声测距波传播理论模型有效提升了超声波相位法测距准确性。%In this work, the doppler effect on ultrasonic ranging signals induced by the motion of the rangefinder is analyzed, and in the proposed optimized mathematical model, the relationship between the ultrasonic wave phase difference and the spatial distance is derived;in order to accommodate general conditions, the doppler effect induced by non-uniform motion is described, and for convenience of analysis, the propagation of the ultrasonic ranging signals is divided into two parts:forward propagation and backward propagation, and the doppler effect in each part is discussed separately;the simulations show that the optimized ultrasonic ranging method produces better results in comparison with the old method, which indicates that the accuracy of the phase shift rangefinder is improved.
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