CN103901435B - A kind of full optical fiber optical optical road Full wave shape laser radar system - Google Patents
A kind of full optical fiber optical optical road Full wave shape laser radar system Download PDFInfo
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- CN103901435B CN103901435B CN201410086819.4A CN201410086819A CN103901435B CN 103901435 B CN103901435 B CN 103901435B CN 201410086819 A CN201410086819 A CN 201410086819A CN 103901435 B CN103901435 B CN 103901435B
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
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Abstract
The invention discloses a kind of full optical fiber optical optical road Full wave shape laser radar system, described laser radar system comprises that control module, LASER Light Source, laser beam splitter unit, laser emission element, data read reference position generation unit, laser acquisition unit, data acquisition unit and software unit. The pulse of control module control impuls laser instrument Emission Lasers, laser pulse is divided into Emission Lasers pulsed light beam through laser beam splitter unit, Emission Lasers impulse waveform gathers light beam and Emission Lasers pulse labeling light beam, Emission Lasers pulsed light beam enters data acquisition unit after by target scattering through laser acquisition unit collected as receiving laser pulse shape, and software unit provides Man Machine Interface. Laser radar system of the present invention has been broken through the restriction that conventional laser radar can only be measured limited distance and intensity data, realize the complete fiberize of Full wave shape laser radar light path with fiber optic component, effectively strengthened the flexibility of Full wave shape laser radar debugging and the simplification of the system integration.<!--2-->
Description
Technical field
The present invention relates to lidar measurement field, especially a kind of full optical fiber optical optical road Full wave shape laser radar system.
Background technology
Laser radar is a kind of active remote sensing technology by means of laser, mainly travels to and fro between between target and laser radar platform by measuring laser pulseTime, obtain the distance between laser radar platform and target according to distance and the relation of the light velocity and time, coordinate the action of scanning means, laserRadar can complete the scanning to target surface, simultaneously in conjunction with position and the attitude data of laser radar platform, thereby obtains the digital watch face mould of targetType and digital elevation model. Because the pulse laser that used in practice exists certain angle of divergence, cause launched laser pulse light beam withThe form of approximate circular cone is propagated forward, is no longer a point in the time of laser pulse light beam and objectives interation, but a round spot, this circle spot quiltBe called laser facula, again due to complexity and the diversity of target in measurement environment, thereby in a laser facula, likely comprise multiple scattering ordersMark or a target there are multiple scattering surfaces, thereby cause the complexity of laser echo signal waveform, for example in an echo, comprise multiple pulses orPerson's pulse is broadened. But conventional laser radar is just by means of certain method of discrimination (rising edge, peak value or center of gravity etc.) detection laser echoIn one or limited time point, thereby obtain the distance value (present stage mostly is 6 most) of one or more targets in laser facula, again due to notThere is different echo waveforms with target, therefore only adopt fixing differentiation detection method, can cause different targets to there is different range accuracies.Full wave shape laser radar be by means of high-speed data acquiring device by laser echo signal complete collection and storage in regular hour interval, therebyTo the complete waveform of laser echo signal, the waveform signal collecting is called as Full wave shape signal, according to the machine of laser pulse and objectives interationManage and in known Full wave shape signal, comprise physics and the geometrical property information that target is abundant.
At the patent of invention (application number: 201310093384.1), in described Full wave shape laser radar system, laser beam is adopted of Li little Lu applicationBy the mode of space transmission, before systematic survey, need the waveform of Emission Lasers pulse to demarcate, for single measurement, can only obtain laser arteries and veinsRefunds waveform, cannot obtain Emission Lasers impulse waveform; The patent of invention of Li Duan application (application number: 201310610608.1), described inIn Full wave shape laser radar system, laser beam adopts the mode of space transmission equally, adopts double detector simultaneously, and binary channels is respectively to launching and connecingReceiving laser pulse shape surveys and gathers.
Full wave shape laser radar system described herein combines optical fiber technology with Full wave shape laser radar system, realized Full wave shape laser radar systemThe complete fiberize of light path, has therefore reduced the debugging of Full wave shape laser radar system and integrated complexity, adopts optic fibre light path reality flexibly simultaneouslyExisting simple detector, single channel gathers to transmitting and receiving laser pulse shape in single measurement when, thereby can provide in each measurement simultaneouslyEmission Lasers impulse waveform and reception laser pulse shape, and simple detector detection, different detectors have been eliminated in single channel collection, and different acquisition is logicalRoad response characteristic inconsistent, has improved the certainty of measurement of system.
Summary of the invention
The invention discloses a kind of full optical fiber optical optical road Full wave shape laser radar system, object is to improve the flexible of Full wave shape laser radar system designProperty, reduce the complexity that Full wave shape laser radar system regulates, increase the integration of Full wave shape laser radar system simultaneously.
The transmission of laser beam, beam splitting in described laser radar system, close bundle, outgoing, reception and detection and all adopt optic fibre light path, described laser thunderThe system of reaching comprises that control module, LASER Light Source, laser beam splitter unit, laser emission element, data read reference position generation unit, laser acquisitionUnit, data acquisition unit and software unit. Described control module is made up of main control computer and laser control module, and described LASER Light Source is by arteries and veinsRush laser instrument and fibre-optical splice composition, the fiber optic splitter that described laser beam splitter unit is respectively 99:1 and 90:10 by two splitting ratios forms, described inLaser emission element is made up of optical fiber collimator, and described data read reference position generation unit by optical fiber focus lamp, photodiode and amplification shapingThe electric circuit constitute, described laser acquisition unit is made up of telescope, laser optical fibre coupler, optical-fiber bundling device, photodetector and preamplifier,Described data acquisition unit is made up of high-speed data acquisition card and timer, and described control module completes pulse laser in LASER Light Source and data acquisitionThe control of collection unit high speed data collecting card, and the data that data acquisition unit high speed data collecting card is collected read, show,Storage and calculating. Described pulse laser receives the laser control signal from laser control module, launches swashing of certain frequency and pulse widthLight pulse, and by the fibre-optical splice coupled into optical fibres in LASER Light Source, arrive laser beam splitter unit through optical fibre transmission, in order to realize Emission Lasers pulseWaveform and receive the full storage of laser pulse shape, and eliminate the emission delay of pulse laser, described laser pulse is in laser beam splitter unitFiber optic splitter is divided into 3 bundles, and the 1st bundle is called Emission Lasers pulsed light beam, the optical fiber standard of described Emission Lasers pulsed light beam in laser emission elementThe output of straight device collimation is according to target, and optical fiber collimator is mainly in order to reduce dispersing by the laser beam of fiber optic splitter output in laser beam splitter unitAngle, increases laser beam collimation transmission range, increases the size of laser beam waist. Laser pulse is after target scattering, in laser acquisition unitTelescope collect, and by laser optical fibre coupler coupled into optical fibres, then enter photodetector through optical-fiber bundling device, photodetector will receiveLaser pulse signal be converted to electric impulse signal, thereby gathered by the high-speed data acquisition card in data acquisition unit, by means of data acquisition at a high speedSample, the waveform that receives laser pulse can be by complete collection, thereby realizes the Full wave shape storage that receives laser pulse; The 2nd bundle is called Emission Lasers arteries and veinsRush waveform acquisition light beam, described Emission Lasers impulse waveform gather light beam through optical fibre transmission to the optical-fiber bundling device in laser acquisition unit, close through optical fiberBundle device enters into photodetector, and laser pulse is converted to electric pulse by photodetector, thereby by the high-speed data acquisition card in data acquisition unitGather, by means of data sampling at a high speed, the waveform of Emission Lasers pulse can be by complete collection, thereby the Full wave shape of realizing Emission Lasers pulse is depositedStorage, the time-sharing multiplex of optical-fiber bundling device, has realized Emission Lasers pulsed light beam and has received laser pulse light beam through same optic fibre light path, by same photoelectricityDetector is surveyed, same data acquisition channel collection, thus reduce the complexity of system, and eliminated different detectors, different data acquisitionBetween passage, response characteristic is inconsistent. Due to the unstability of pulse laser work, cause launched laser pulse to there is different waveforms,Stored transmit laser pulse shape and reception laser pulse shape simultaneously, makes, in the signal in later stage is processed, to consider that Emission Lasers impulse waveform is wideDegree and the otherness of amplitude, get a more accurate measurement result, and can be according between Emission Lasers impulse waveform and reception laser pulse shape poorDifferent, be finally inversed by physics and the geometrical property of target; The 3rd bundle is called Emission Lasers pulse labeling light beam, and described Emission Lasers pulse labeling light beam is through lightFine light path enters into data and reads reference position generation unit, first focuses on and outputs to the photosurface of photoelectric diode through optical fiber focus lamp, thereby will swashLight pulse signal is converted to electric impulse signal, and electric impulse signal is through amplification and the shaping of amplification and rectification circuit, and being converted to can trigger data acquisition unitThe Emission Lasers impulse waveform data markers signal of middle timer and high-speed data acquisition card, on the one hand described Emission Lasers impulse waveform data markers letterNumber read reference position for setting Emission Lasers impulse waveform data, read high-speed data acquisition card Emission Lasers impulse wave for main control computerReference position when graphic data, reads reference position by means of Emission Lasers impulse waveform data and can realize the complete of Emission Lasers impulse waveform and readGet; Described Emission Lasers impulse waveform data markers signal triggering timer starts timing on the other hand, in the time that timer meets the timing length of setting,Timer output receives laser pulse shape data markers signal, and described reception laser pulse shape data markers signal is used for setting reception laser pulseWave data reads reference position, and the reference position when reading high-speed data acquisition card and receive laser pulse shape data for main control computer, borrowsThe fixed cycle operator that helps timer can be realized the range gating storage that receives laser pulse shape, simultaneously according to receiving laser in high-speed data acquisition cardImpulse waveform data read reference position can realize the Full wave shape storage that receives laser pulse. Described software unit provides Man Machine Interface, completesThe configuration of data acquisition unit high speed data collecting card acquisition parameter and timer timing length, and the control of laser control module output laserThe configuration of signal frequency and dutycycle, the data that collect and the demonstration of data processed result.
The complete fiber beam splitting of laser pulse can be realized in described laser beam splitter unit, thus using the laser pulse light beam of different components respectively as transmittingLaser pulse outgoing is shone to target, for generation of the collection of Emission Lasers impulse waveform data markers signal and Emission Lasers impulse waveform, described laserBeam splitting unit is made up of two fiber optic splitters, and the splitting ratio of first fiber optic splitter is 99:1, thereby by the laser pulse of pulse laser transmittingThe two bundle laser pulses that the ratio that is divided into light intensity is 99:1, the light beam that wherein energy is larger shines to target as Emission Lasers pulsed light beam, Emission Lasers arteries and veinsThe energy of punching is larger, and measuring distance is far away, under same distance, higher through the laser echo signal signal to noise ratio of target scattering, thereby realize target is far awayDistance and accurately measurement; The light beam that wherein energy is less is through second fiber optic splitter beam splitting again, and the splitting ratio of second fiber optic splitter is90:10, the light beam that wherein energy is larger gathers light beam as Emission Lasers impulse waveform and is received by laser acquisition unit, and higher laser energy has ensuredThe Emission Lasers impulse waveform collecting has higher signal to noise ratio, thereby ensures the accurate storage of Emission Lasers impulse waveform; Wherein energy is lessThe data that enter light beam read reference position generation unit, for generation of Emission Lasers impulse waveform data markers signal.
Described data acquisition unit can be realized complete collection and the storage of Emission Lasers impulse waveform, realizes the distance choosing that receives laser pulse simultaneouslyLogical storage. Described data acquisition unit comprises timer and high-speed data acquisition card, and high-speed data acquisition card, by means of data sampling at a high speed, completesAnalog electrical pulse signal is to the conversion of data signal, and by the signal storage collecting to carrying in memory from body. Timer is according to user's configurationRealize the range gating storage that receives laser pulse, thereby reduce the memory data output that receives laser pulse; When high-speed data acquisition card receive fromData read the Emission Lasers impulse waveform data markers signal of reference position generation unit, can Emission Lasers impulse wave be set in current sample pointGraphic data reads reference position, deducts Emission Lasers pulse forward when high-speed data acquisition card sampling number equals Emission Lasers impulse waveform record lengthAfter record length, the main control computer in control module reads reference position according to Emission Lasers impulse waveform data and reads in high-speed data acquisition cardEmission Lasers impulse waveform data, thus realize the full storage of Emission Lasers impulse waveform, when timer receives Emission Lasers impulse waveform dataAfter marking signal, start timing, in the time that timer meets the fixed time interval of setting, output receives laser pulse shape data markers signal, described receptionLaser pulse shape data markers signal arranges reception laser pulse shape data and reads reference position at the current sampling point place of high-speed data acquisition card,Receive after laser pulse shape record length when high-speed data acquisition card sampling number meets, the main control computer in control module is according to receiving laser arteries and veinsRush Wave data and read reference position and read the reception laser pulse shape data that collect in high-speed data acquisition card, receive laser pulse thereby realizeRange gating storage;
Described laser acquisition unit can be realized Emission Lasers impulse waveform collection light beam and receive laser pulse light beam and enter same optic fibre light path, borrowsHelp optical-fiber bundling device, utilize the time-sharing multiplex of surveying light path, photodetector and high-speed data acquisition card, complete Emission Lasers impulse waveform and connectReceive the simple detector of laser pulse shape and survey, forms data acquisition channel gathers, and whole laser acquisition unit is full optical fiber optical optical road simultaneously, has reduced to beThe loss of the complexity of tracking joint and reception laser pulse signal. Described laser acquisition unit is by telescope, laser optical fibre coupler, and optical-fiber bundling device,Photodetector and preamplifier composition, telescope is collected the laser pulse signal by target scattering, and laser optical fibre coupler is positioned at telescopical JiaoOn point, thereby in an optical fiber of the laser pulse signal coupled into optical fibres bundling device that telescope is collected, another of optical-fiber bundling device optical fiber accessEmission Lasers impulse waveform in laser beam splitter unit gathers light path, and the output optical fibre of optical-fiber bundling device connects photodetector, due to Emission Lasers pulseWaveform acquisition light beam arrives optical-fiber bundling device early than receiving laser pulse light beam, therefore by time-sharing multiplex optical-fiber bundling device, and photodetector and high speedData collecting card, can realize simple detector detection, forms data acquisition channel that Emission Lasers impulse waveform gathers light beam and receives laser pulse light beamCollection and storage, the preamplifier after photodetector is mainly used in the amplification of photodetector output electrical signals, due to the laser of target scatteringEcho-signal is extremely faint, and the minimum that the voltage signal that causes photodetector to be exported is less than data acquisition unit high speed data collecting card is with reference to electricityPress, only have photodetector output voltage is amplified, be just conducive to the collection of data collecting card in data acquisition unit.
Described data read reference position generation unit and comprise optical fiber focus lamp, photoelectric diode and amplification and rectification circuit; Optical fiber focus lamp access laserThe Emission Lasers pulse labeling light beam of fiber optic splitter output in beam splitting unit, focuses on photoelectricity two by the Emission Lasers pulse labeling light beam of optical fiber outputOn the photosurface of utmost point pipe, the effect of optical fiber focus lamp is to converge the Emission Lasers pulse labeling light beam of optical fiber output to the photosurface of photodiode,Thereby increase detection efficient, Emission Lasers pulse labeling light pulse signal is converted to electric impulse signal by photodiode, electric impulse signal through described in putLarge shaping circuit amplifies and shaping, and becoming can driving data collecting unit high speed data collecting card and the Emission Lasers impulse waveform of timerData markers signal, due to less through the Emission Lasers pulse labeling beam energy of laser beam splitter unit output, thereby cause by photodiode and exportsVoltage pulse signal level cannot meet the requirement of data acquisition unit high speed data collecting card to level, therefore need the electricity to diode outputPulse signal amplifies, and simultaneously, because the high-speed data acquisition card in data acquisition unit and timer are edging trigger, precipitous rising edge is passableImprove triggering precision, therefore need the voltage pulse signal of photodiode output to carry out shaping.
Described laser emission element is an optical fiber collimator, by the Emission Lasers pulsed light beam collimation output through optical fiber output by laser beam splitter unit. InstituteState control module and comprise main control computer and laser control module; The complete paired data collecting unit of main control computer high speed data collecting card collection ginsengThe configuration of number and the configuration of timer timing frequency and fixed time interval, simultaneously to laser control module output square-wave signal frequency, amplitude and dutycycleSetting.
Beneficial effect of the present invention, full optical fiber optical optical road Full wave shape laser radar system can gather simultaneously and store the Emission Lasers pulse in single measurementWaveform and reception laser pulse shape, with the transmission of optical fibre transmission replacement spatial light, increased each assembly in the debugging of Full wave shape laser radar system and systemThe flexibility that put locus, is conducive to the system integration.
Brief description of the drawings
Fig. 1 is full optical fiber optical optical road Full wave shape laser radar system sketch.
Fig. 2 is full optical fiber optical optical road Full wave shape laser radar system software interface figure.
Fig. 3 is full optical fiber optical optical road Full wave shape laser radar system complete diagram.
Fig. 4 is Emission Lasers impulse waveform and receives laser pulse shape collection sequential chart.
Fig. 5 is the Emission Lasers pulse collecting and receives laser pulse shape figure
Detailed description of the invention
Before system works, by means of software unit, system operational parameters is arranged, software unit mainly completes full optical fiber optical optical road Full wave shape laser thunderThe parameter configuration of the system of reaching before starting working, and Emission Lasers impulse waveform and receive the real-time demonstration of laser pulse shape, software interface is as figureShown in 2,
Software unit is based on Labview platform development, and front panel interface is by high-speed data acquisition card configuration section, timer configuration section, laser instrumentControl module configuration section and waveform display section composition. High-speed collection card configuration section comprises that again file setting, acquisition channel voltage arrange, gatherChannel time arranges, acquisition channel input arranges and capture card triggers setting. File setting comprises that file store path arranges and storage file is individualThe demonstration of number. The setting of acquisition channel voltage comprises that acquisition channel reference voltage arranges and the setting of acquisition channel bias voltage. Acquisition channel reference voltageDepend on and receive the size of signal amplitude and the size of high-speed data acquisition card reference voltage with the setting of bias voltage. Acquisition channel set of time comprisesThe setting of sample frequency, the setting of Emission Lasers impulse waveform record length, Emission Lasers pulse be setting and the reception laser pulse of memory length forwardThe setting of waveform recording length. The setting of Emission Lasers impulse waveform record length, depends on width and the institute of the laser pulse of pulse laser transmittingThe Emission Lasers impulse waveform length recording. Emission Lasers pulse forward memory length is that leading reading out data is counted, and is mainly in order to eliminate transmittingLaser pulse shape gathers the time difference of light beam and Emission Lasers pulse labeling light beam arrival data acquisition unit, ensures the complete of Emission Lasers impulse waveformWhole deposit storage. Acquisition channel input arranges and comprises the setting that gathers logical maximum incoming frequency and input signal coupled modes. Capture card triggers setting and comprises tactileSetting, the setting of triggering level size and the setting of trigger port coupled modes rise. The selection of trigger source depends on that outer triggering signal and high-speed data adoptWhich input channel of truck is connected, and triggering level size arranges and depends on the Emission Lasers impulse waveform that reads reference position generation unit from dataThe level of data markers signal. Laser control cell location part comprises frequency, amplitude and the dutycycle setting of laser control signal. ControlThe frequency of signal processed depends on measures desired laser pulse tranmitting frequency, and the amplitude of control signal depends on the triggering that pulse laser can respondSignal amplitude size, the dutycycle setting of control signal and the set of frequency of control signal are used in conjunction with, and depending primarily on pulse laser can respondThe size of triggering signal dutycycle. Waveform display window is for the real-time demonstration of Emission Lasers impulse waveform and reception laser pulse shape. Set upCheng Hou, clicks operation button system and starts working, and high logarithmic data capture card starts Real-time Collection and store the data that collect into plate to carry in memory.
As shown in Figure 2, the heavy line with arrow is that light beam transmits in space, and the fine line with arrow is that light beam transmits in optical fiber, with the point of arrowBe scribed ss the signal of telecommunication transmits in wire. The measurement that pulse laser 1 is system provides laser pulse. The wavelength of pulse laser 1 is selected to depend onThe transmission window of transmission medium and the scattering properties of measured target in measurement environment, for example, in Tactics of Urban Surveying, Laser Transmission medium is atmosphere, testedTarget is high building, meadow and road surface, and the wavelength of laser instrument 1 can be chosen as 1064nm; In Ocean Surveying, the transmission medium of laser is for another exampleWater, now laser instrument 1 wavelength can be chosen as 532nm. Pulse laser has repetition rate height and the large characteristic of peak power, thereby can expireFast and the requirement of telemeasurement, therefore laser type is chosen as pulse laser to foot. The laser pulse width that pulse laser 1 is launched is generalSelect 5-10ns. Narrow laser pulse causes the too high damage that may cause target of peak power of laser pulse on the one hand; Cause on the other hand swashingLight device cost increases and laser detector bandwidth requirement increases, thereby increases the cost of system. Under same frequency, identical measuring distance, wideLaser pulse can increase the power demand of laser instrument, thereby increases power consumption. Pulse laser 1 is tunable laser device, can be flexibly according to surveyThe tranmitting frequency that need to regulate laser instrument of amount task.
Pulse laser 1 receives the laser control signal sending from the laser control module 2 in control module, launches certain frequency and arteries and veinsWide laser pulse, described laser pulse, through fibre-optical splice 3 coupled into optical fibres, arrives laser beam splitter unit through optical fibre transmission, in laser beam splitter unitFiber optic splitter 1 be divided into light beam 1 and light beam 2, light beam 1 is 99:1 with the ratio of the light intensity of light beam 2; Light beam 1 is as Emission Lasers pulsed light beamOptical fiber collimator outgoing in laser emission element is shone to target, and laser pulse transmitting light beam accounts for the main energy because of transmitting light beam of significant proportion and gets overGreatly, measuring distance is far away, and the laser echo signal signal to noise ratio being detected by photodetector under same distance is higher, thereby realize target is remoteWith accurate measurement. Optical fiber collimator in laser emission element is mainly in order to reduce the angle of divergence by optical fiber emitting laser light beam, thereby reduces to swashThe Magnification of laser facula in optical pulse propagation process, thus be conducive to telemeasurement.
In Fig. 2, light beam 2 is divided into light beam 3 and light beam 4 through fiber optic splitter 2 again, and light beam 3 is 90:10 with the ratio of the light intensity of light beam 4, light beam 3Gather light beam as Emission Lasers impulse waveform, light beam 4 is as Emission Lasers pulse labeling light beam; Wherein light beam 3 account for significant proportion be mainly becauseLight beam 3 gathers light beam as Emission Lasers impulse waveform, and higher pulsed laser energy has ensured that the Emission Lasers impulse waveform collecting has higherSignal to noise ratio, thereby ensure the accurate storage of Emission Lasers impulse waveform. Light beam 3 through optical fibre transmission to the optical-fiber bundling device 4 in laser acquisition unit,Incide photodetector 11 and be converted to the signal of telecommunication through optical fiber again, the described signal of telecommunication after preamplifier 12 amplifies by data acquisition unitHigh-speed data acquisition card gathers, and as the storage of Emission Lasers impulse waveform, thereby has realized the Full wave shape storage of Emission Lasers impulse waveform.
Light beam 4 is through optical fibre transmission to optical fiber focus lamp 5, and optical fiber focus lamp 5 focuses on the light beam of optical fiber output to output to the photosensitive of photodiode 6On face, optical signal is converted to the signal of telecommunication by photodiode 6, and the signal of telecommunication is converted in can driving data collecting unit through amplification and rectification circuit 7The Emission Lasers impulse waveform data markers signal of timer 8 and high-speed data acquisition card 9, high-speed data acquisition card 9 is operated in Real-time Collection pattern,And the data that collect are stored in to plate carry in memory, meeting in the time that high-speed data acquisition card 9 receives Emission Lasers impulse waveform data markers signalIn current sample point, Emission Lasers impulse waveform data are set and read reference position, high-speed data acquisition card 9 continues to gather the data of certain lengthAfter (data length equals Emission Lasers impulse waveform record length and deducts Emission Lasers pulse memory length forward), the master control in control module is calculatedEmission Lasers impulse waveform record length and Emission Lasers pulse that machine 10 reads reference position and sets according to Emission Lasers impulse waveform dataMemory length forward, reads the Emission Lasers impulse waveform data that collect in high-speed data acquisition card 9. When receiving from data, reads by timer 8Get the Emission Lasers impulse waveform data markers signal in the generation unit of reference position, timer 8 starts timing, when timer 8 meets the meter of settingTime when interval, output receives laser pulse shape data markers signal, receives laser pulse thereby set at high-speed data acquisition card current sampling point placeWave data reads reference position, and high-speed data acquisition card 9 continues to gather data (the reception laser arteries and veins that data length equals to set of certain lengthRush waveform recording length) after, the main control computer 10 in control module reads reference position and reads backward as benchmark to receive laser pulse shape dataGet and receive laser pulse shape data. Timer 8 is started working simultaneously and has been ensured Emission Lasers impulse waveform data and connect with high-speed data acquisition card 9Receive laser pulse shape data and have identical time mark, timer 8 has been realized reception laser pulse shape number with the cooperating of data collecting card 9According to range gating storage, thereby reduced the memory space that receives laser pulse shape data.
As shown in Figure 2, through the return laser beam light beam of target scattering by laser acquisition unit in telescope 13 collect as receiving laser pulse light beam,Laser optical fibre coupler 14 is positioned at the focal position of telescope 13, thus the laser echo signal coupled into optical fibres that telescope 13 is collected, and warpOptical fibre transmission is to optical-fiber bundling device 4, and optical-fiber bundling device 4 is transferred to laser echo signal photodetector 11 again, thereby laser pulse signal is turnedBe changed to electric impulse signal, electric impulse signal is gathered by the high-speed data acquisition card 9 in data acquisition unit through the amplification of preamplifier 12. Optical fiberThe Main Function of bundling device 4 is to utilize the time difference that receives laser pulse light beam and Emission Lasers impulse waveform collection light beam arrival optical-fiber bundling device, borrowsHelp the principle of time-sharing multiplex, Emission Lasers impulse waveform is gathered to light beam and be transferred to same spy with reception laser pulse light beam by same optic fibre light pathSurvey device, thereby utilize simple detector and forms data acquisition channel, complete the detection of Emission Lasers pulse and reception laser pulse, gather and storage. BeforeThe effect of putting amplifier 12 is mainly the electric impulse signal that amplifies photodetector output, and owing to receiving, laser pulse light beam power is very little, therefore lightThe output voltage of electric explorer is less than the reference voltage of high-speed data acquisition card minimum, only has the pulse to photodetector output voltage to amplify,Can be gathered by high-speed data acquisition card.
Data acquisition and storage sequential as shown in Figure 4, system start working after high-speed data acquisition card be operated in Real-time Collection pattern, and will collectData be stored in plate and carry in memory. Laser control module in control module is sent laser control signal trigger impulse laser instrument Emission LasersPulse. Described laser pulse is through the beam splitting of laser beam splitter unit, and wherein Emission Lasers impulse waveform collection light beam is the signal of telecommunication through laser acquisition cell translationBe transferred to data acquisition unit, Emission Lasers pulse labeling light beam reads reference position generation unit through data and produces Emission Lasers impulse wave figurate number simultaneouslyAccording to marking signal, described Emission Lasers impulse waveform data markers signal arranges Emission Lasers impulse waveform at high-speed data acquisition card current sampling point placeData read reference position, when high-speed data data collecting card reads reference position as benchmark taking Emission Lasers impulse waveform data, continue to collectSampling number meets the Emission Lasers impulse waveform record length that sets and Emission Lasers pulse forward after memory length, the master control meter in control moduleCalculation machine reads reference position as benchmark taking Emission Lasers impulse waveform data, reads the Emission Lasers impulse wave figurate number collecting in high-speed data acquisition cardAccording to, data that read forward certain point number be for eliminate Emission Lasers impulse waveform collection signal and Emission Lasers impulse waveform data markers signal itBetween time difference, thereby ensure the full storage of Emission Lasers impulse waveform data, when timer is received Emission Lasers impulse waveform data markers signalRear beginning timing, when the timing length of timer meets after the fixed time interval of setting, timer output receives laser pulse shape data markers signal,Described reception laser pulse shape data markers signal can arrange reception laser pulse shape data at the current sampling point number of high-speed data acquisition card and readGet reference position, when high-speed data acquisition card reads reference position as benchmark to receive laser pulse shape data, the sampling number that continues to collect is fullFoot receives after laser pulse shape record length, and the main control computer in control module reads reference position as benchmark to receive laser pulse shape dataRead the reception laser pulse shape data that collect in high-speed data acquisition card, thereby complete the storage that receives laser pulse shape.
Figure 5 shows that Emission Lasers impulse waveform and receive laser pulse shape figure, the record length of Emission Lasers impulse waveform as shown in Figure 5Be 40ns, range gating length is 8.55m(57ns), the record length that receives echo waveform is 70ns, the note forward of Emission Lasers impulse waveformRecord length is 13ns, thereby has ensured the full storage of Emission Lasers impulse waveform. Because the main control computer in control module is only according to transmitted waveformRead reference position with reception echo data and read the Emission Lasers impulse waveform record length setting and receive laser pulse shape record length, thereforeIn a period of time of timer range gating, there is no data.
The above, be only the basic scheme of specific implementation method of the present invention, but protection scope of the present invention is not limited to this, is anyly familiar with this skillThe personnel in art field are in technical scope disclosed by the invention, and the variation that can expect or replacement, within all should being encompassed in protection scope of the present invention. CauseThis, protection scope of the present invention should be as the criterion with the protection domain of claim. Variation in all implication being equal to and scopes that fall into claimAll by within being included in the scope of claim.
Claims (4)
1. a full optical fiber optical optical road Full wave shape laser radar system, is characterized in that, the transmission of laser beam, beam splitting in described laser radar system, goes outPenetrating, receive, close bundle and surveying all adopts optic fibre light path, described laser radar system to comprise control module, LASER Light Source, laser beam splitter unit, swashOptical Transmit Unit, data read reference position generation unit, laser acquisition unit, data acquisition unit and software unit, and described control module is by leadingControl computer and laser control module composition, described LASER Light Source is made up of pulse laser and fibre-optical splice, and described laser beam splitter unit is by twoFiber optic splitter composition, splitting ratio is respectively 99:1 and 90:10, and described laser emission element is made up of optical fiber collimator, and described data read referencePosition generation unit is made up of optical fiber focus lamp, photodiode and amplification and rectification circuit, and described laser acquisition unit is by telescope, laser fiber couplingClose device, optical-fiber bundling device, photodetector and preamplifier composition, described data acquisition unit is made up of high-speed data acquisition card and timer,Described pulse laser receives the laser control signal from laser control module output in control module, sends certain frequency and pulse widthLaser pulse, described laser pulse is by the fibre-optical splice coupled into optical fibres in LASER Light Source, and through optical fibre transmission, to laser beam splitter unit, described laser dividesThe laser pulse of pulse laser output is divided into 3 bundles by fiber optic splitter in Shu Danyuan, and the 1st bundle is called Emission Lasers pulsed light beam, described transmittingThe optical fiber collimator collimation output of laser pulse light beam in laser emission element is shone to target, and Emission Lasers pulse becomes reception and swashs after target scatteringLight pulse, is collected by the telescope in laser acquisition unit, and by laser optical fibre coupler coupled into optical fibres, then enter photoelectricity spy through optical-fiber bundling deviceSurvey device, the optical signal receiving is converted to the signal of telecommunication by described photodetector, thereby gathered by the high-speed data acquisition card in data acquisition unit,By means of data sampling at a high speed, receiving laser pulse shape can be by complete collection, thereby realizes the Full wave shape storage that receives laser pulse; The 2ndBundle is called Emission Lasers impulse waveform and gathers light beam, described Emission Lasers impulse waveform gather light beam through optical fibre transmission to the optical fiber in laser acquisition unitBundling device, enters into photodetector through optical-fiber bundling device, and laser pulse is converted to electric impulse signal by photodetector, thereby by data acquisition listHigh-speed data acquisition card collection in unit, by means of data sampling at a high speed, the waveform of Emission Lasers pulse can, by complete collection, be sent out thereby realizePenetrate the Full wave shape storage of laser pulse, the 3rd bundle is called Emission Lasers pulse labeling light beam, and described Emission Lasers pulse labeling light beam enters through optic fibre light pathEnter to data and read reference position generation unit, first focus on and output to the photosurface of photoelectric diode through optical fiber focus lamp, thereby laser pulse is believedNumber be converted to electric impulse signal, electric impulse signal is through amplification and the shaping of amplification and rectification circuit, be converted to can trigger data acquisition unit in timerWith the Emission Lasers impulse waveform data markers signal of high-speed data acquisition card, described Emission Lasers impulse waveform data markers signal is used for establishing on the one handDetermine Emission Lasers impulse waveform data and read reference position, read Emission Lasers arteries and veins in high-speed data acquisition card for the main control computer of control moduleReference position while rushing Wave data, reads by Emission Lasers impulse waveform data the Full wave shape that can realize Emission Lasers pulse in reference position and depositsStorage, described Emission Lasers impulse waveform data markers signal triggering timer starts timing on the other hand, in the time that timer meets the timing length of setting,Timer output receives laser pulse shape data markers signal, and described reception laser pulse shape data markers signal is used for setting reception laser pulseWave data reads reference position, and the reference position when reading high-speed data acquisition card and receive laser pulse shape data for main control computer, borrowsHelp the fixed cycle operator of timer can realize the range gating storage that receives laser pulse shape data, simultaneously according to receiving and swash in high-speed data acquisition cardOptical pulse waveform data read reference position can realize the Full wave shape storage that receives laser pulse, and control module completes pulse laser in LASER Light SourceThe configuration of device and data acquisition unit high speed data collecting card, and the data that collect in high-speed data acquisition card are read, show, depositedStorage and calculating; Described software unit provides Man Machine Interface, data acquisition unit high speed data collecting card acquisition parameter and timer timingThe configuration of length, and the configuration of laser control module output laser control signal frequency and dutycycle, the data that collect and data processing knotThe demonstration of fruit; Described full optical fiber optical optical road Full wave shape laser radar system can be realized the full fiberize of Full wave shape laser radar light path, adopts single spy simultaneouslySurvey timesharing detection, acquisition time and timesharing storage that device and single acquisition channel are realized Emission Lasers pulse and received laser pulse, survey thereby obtain singleThe Full wave shape data of Emission Lasers pulse and reception laser pulse in amount.
2. a kind of full optical fiber optical optical according to claim 1 road Full wave shape laser radar system, is characterized in that, described data acquisition unit is passableRealize collection and the storage of Emission Lasers impulse waveform, realize the range gating storage that receives laser pulse simultaneously, described data acquisition unit comprises fixedTime device and high-speed data acquisition card, high-speed data acquisition card, by means of data sampling at a high speed, completes the conversion of electric pulse analog signal to data signal,And by the signal storage collecting to carrying in memory from body, the range gating that timer receives laser pulse signal according to user's Configuration is depositedStorage, thus the memory data output that receives laser pulse signal reduced, when receiving from data, high-speed data acquisition card reads reference position generation unitEmission Lasers impulse waveform data markers signal, can Emission Lasers impulse waveform data are set in current sample point read reference position, work as heightSpeed data collecting card reads reference position as starting point taking Emission Lasers impulse waveform data, and the sampling number collecting equals Emission Lasers impulse waveformRecord length deducts Emission Lasers pulse forward after record length, and the main control computer in control module reads ginseng according to Emission Lasers impulse waveform dataExamine position and read the Emission Lasers impulse waveform data in high-speed data acquisition card, thereby realize the storage of Emission Lasers impulse waveform, when timer connectsAfter receiving Emission Lasers impulse waveform data markers signal, start timing, when timer meets the fixed time interval of setting, output receives laser pulse shapeData markers signal, described reception laser pulse shape data markers signal arranges reception laser pulse at the current sampling point place of high-speed data acquisition cardWave data reads reference position, and when high-speed data acquisition card is to receive laser pulse data reference position as starting point, the sampling number collecting is fullFoot receives after laser pulse shape data record size, and the main control computer in control module reads reference position according to receiving laser pulse shape dataRead the reception laser pulse shape data in high-speed data acquisition card, thereby realize the range gating storage that receives laser pulse.
3. a kind of full optical fiber optical optical according to claim 1 road Full wave shape laser radar system, is characterized in that, described laser acquisition unit is by looking in the distanceMirror, laser optical fibre coupler, optical-fiber bundling device, photodetector and preamplifier composition, telescope is collected and is believed by the laser pulse of target scatteringNumber, laser optical fibre coupler is positioned in telescopical focus, thus a light of the laser pulse signal coupled into optical fibres bundling device that telescope is collectedIn fibre, the output optical fibre of optical-fiber bundling device connects photodetector, arrives early than receiving laser pulse light beam because Emission Lasers impulse waveform gathers light beamOptical-fiber bundling device, therefore by time-sharing multiplex optical-fiber bundling device, photodetector and high-speed data acquisition card, adopt simple detector and forms data collectionPassage is realized timesharing detection, acquisition time and the timesharing storage that Emission Lasers impulse waveform gathers light beam and receives laser pulse light beam, photodetectorAfter preamplifier be mainly used in the amplification of photodetector output electrical signals, Emission Lasers impulse waveform can be realized in described laser acquisition unitGather light beam and enter same fiber-optic probe light path with reception laser pulse light beam, by means of optical-fiber bundling device, utilize fiber-optic probe light path, photodetectionThe time-sharing multiplex of device and high-speed data acquisition card, the simple detector that completes Emission Lasers impulse waveform and reception laser pulse shape is surveyed, forms data is adoptedThe collection of collection passage, whole laser acquisition unit is full optical fiber optical optical road simultaneously, has reduced the system complexity regulating and the loss that receives laser pulse signal.
4. a kind of full optical fiber optical optical according to claim 1 road Full wave shape laser radar system, is characterized in that, described software unit comprises at a high speedData collecting card configuration section, laser control block configuration part, timer configuration section and waveform display section, high-speed data acquisition card configurationPart comprises that file setting, the setting of acquisition channel voltage, acquisition channel set of time, acquisition channel input arrange and capture card triggers setting, fileArrange and comprise the setting of file store path and the demonstration of storage file number, the setting of acquisition channel voltage comprises the setting of acquisition channel reference voltageArrange with acquisition channel bias voltage, sampling channel set of time comprise setting, the Emission Lasers impulse waveform record length of sample frequency setting,Emission Lasers pulse is the setting of memory length and the setting of reception laser pulse shape record length forward, and acquisition channel input arranges and comprises acquisition channelThe setting of maximum incoming frequency and input signal coupled modes, capture card triggers to arrange and comprises that trigger source setting, triggering level size arrange and trigger logicalRoad coupled modes arrange, and timer configuration section comprises the setting of timer toggle rate and the setting of timing length, laser control block configuration portionDivide and comprise laser control signal frequency, amplitude and dutycycle setting, waveform display section is for Emission Lasers impulse waveform and receive return laser beam rippleThe real-time demonstration of shape, described software unit provides Man Machine Interface, can data acquisition unit high speed data collecting card acquisition parameter and fixedTime device timing length configuration, and the configuration of laser control module output laser control signal frequency and dutycycle, the data that collect and numberAccording to the demonstration of result.
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