CN104483675A - Self-adaptive laser ranging device and self-adaptive laser ranging method - Google Patents
Self-adaptive laser ranging device and self-adaptive laser ranging method Download PDFInfo
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- CN104483675A CN104483675A CN201410786035.2A CN201410786035A CN104483675A CN 104483675 A CN104483675 A CN 104483675A CN 201410786035 A CN201410786035 A CN 201410786035A CN 104483675 A CN104483675 A CN 104483675A
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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
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
- G01S7/486—Receivers
- G01S7/489—Gain of receiver varied automatically during pulse-recurrence period
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Abstract
The invention discloses a self-adaptive laser ranging device in the field of laser ranging. The self-adaptive laser ranging device comprises a laser receiver, a laser transmitter, a signal processor, a display, an external interface, a photoelectric detector power supply and an emitter power supply; the self-adaptive ranging method achieves self-adaption of air temperature and background by adjusting the work voltage and circuit gain of the photoelectric detector; achieves self-adaption of targeted reflective signal strength by adjusting circuit gain and laser power; achieves self-adaption of work in severe weathers by filtering noise or interference signals which are inconsistent with the targeted signal in waveform characteristic by a waveform filtering method; and achieves the multi-target ranging function by judging the targeted signal by virtue of the threshold value determined by noise; finally, the method satisfies the requirement on ranging distance and measuring accuracy under any speculated environments. The ranging method can be used for various laser ranging instruments.
Description
Technical field
The present invention relates to a kind of distance measuring equipment, particularly a kind of laser ranging system.
Background technology
Along with the birth of new laser, multi-pulse laser range finding becomes a kind of new ranging technology.Patent ZL200410060408.4, set forth and utilized pulse scale-of-two accumulation method to carry out the technology of finding range, range capability than ever single-pulse laser range finder improves a lot.Application number be 200710139189.2 patent set forth and utilize video accumulation method to carry out the technology of finding range, range capability has again new raising.But two patents all do not mention the technical method to environment self-adaption.From the angle of Military Application, except ranging requires, also have the requirement of reliability, adaptive capacity to environment is an importance of reliability, namely require: (1) can adapt to wider operating temperature range, as subzero 50 degree with 70 degree of conditions above freezing under reliably working; (2) there is not measuring distance mistake when greasy weather rainy day works; (3) work under strong background miscellaneous light, do not occur measuring distance mistake; (4) work under, target reflectivity is high, visibility is good again condition near in target range, the phenomenon that appearance distance precision is not overproof; (5) there is multi-Goal Measure function.Obviously, current existing industrial and civilian laser ranging system, does not possess the adaptive ability of severe rugged environment.
Summary of the invention
The object of the present invention is to provide one can survey distance, there is multi-Goal Measure function, there is again laser ranging system and the distance-finding method thereof of severe rugged environment adaptive ability simultaneously.
The object of the present invention is achieved like this: a kind of self-adaptation laser ranging system and distance-finding method thereof, and described distance-finding method, comprises the following steps:
(1) laser signal of laser pickoff receiving target reflection, obtains the clutter of noise and echo signal;
(2) digital conversion is carried out to clutter, obtain digital clutter;
(3) digital clutter is stored;
(4) digital clutter is accumulated, obtain accumulating signal;
(5) digital filtering process is carried out to accumulating signal, obtain digital filtered signal;
(6) judge in digital filtered signal, whether have signal to be more than or equal to threshold value
v tH , will threshold value be greater than
v tH signal as echo signal;
(7) according to the time address of echo signal, each target range is calculated respectively;
(8) send display to show target range value, or store, or exported by external interface;
(9) if there is no threshold value is greater than
v tH echo signal, so, export or display driftlessness signal;
Described distance measuring equipment comprises:
Laser pickoff, for the pulsed laser signal of receiving target reflection, and converts laser signal to electric signal, after being amplified by electric signal, exports the clutter of echo signal and noise, realizes the control of signal gain simultaneously;
Generating laser, for pressing quantity and the mode emission pulse laser of setting;
, for there is laser ranging system work schedule and performing self-adaptation distance-finding method of the present invention in signal processor;
Display, for display distance value;
External interface, for external working power and output distance value;
Photodetector power supply, for providing working power for photoelectric tube, simultaneously by the adjustment of photodetector operating voltage, realizes the control to signal gain;
Transmitter power, for providing working power for generating laser, realizes the adjustment to generating laser output power simultaneously;
Described signal processor is connected with laser pickoff, generating laser, display, external interface, photodetector power supply, transmitter power respectively, described photodetector power supply is connected with laser pickoff, and described transmitter power is connected with generating laser.
Compared with prior art, beneficial effect of the present invention is: in the present invention, distance measuring equipment uses self-adaptation distance-finding method, by regulating photodetector operating voltage and circuit gain, realizes the self-adaptation of temperature and bias light; By regulating circuit gain and adjustment laser power, realize the self-adaptation of signal power; By waveform filtering method, filtering and the inconsistent noise of target setting signal waveform characteristic or undesired signal, realize the self-adaptation of inclement weather work; The threshold decision echo signal determined by signal to noise ratio (S/N ratio), realizes multi-Goal Measure function; Final guarantee laser ranging system under the environment of any requirement, the ranging met the demands and measuring accuracy index.The present invention can be used in range observation.
As further restriction of the present invention, also comprise before step (1):
(1a) Emission Lasers number of pulses M is set;
(1b) M is divided into some groups of N1, N2 ... Nn(n > 2);
(1c) generating laser is by group emission pulse laser;
Also comprise before step (3):
(3a) noise value scope and signal quantity scope is set;
(3b) judge whether digital clutter value exceeds the noise value scope of setting, if actual noise exceeds the noise value scope of setting, then regulate photodetector operating voltage or circuit gain, make digital clutter value within the scope of the noise value of setting;
(3c) judge whether digital clutter amplitude exceeds the signal quantity scope of setting, if digital clutter amplitude exceeds the signal quantity scope of setting, then regulating circuit gain or laser power, makes signal amplitude within the scope of the signal quantity of setting;
Also comprise before step (5):
(5a) waveform characteristic and the filters solutions of echo signal is preset;
(5b) waveform characteristic of filtering and target setting signal or the inconsistent noise of filters solutions or undesired signal;
Also comprise before step (9):
(9a) if there is no threshold value is greater than
v tH echo signal, so, judge whether the laser pulse quantity of having launched is less than setting transponder pulse number M, if the laser pulse quantity of launching is less than setting transponder pulse number M, just continues emission pulse laser, then repeat the operation of step (1) ~ (8).
As further restriction of the present invention, the threshold value of step (6)
v tH meet formula (I), formula (II) and formula (III):
…………………………………（Ⅰ)
…………………………………（Ⅱ)
V
TH=Vn×TNR……………………………………………（Ⅲ)
In formula: FAR is rate of false alarm; Ns is the hits of frame data; Erf is error function; Pd is detection probability; SNR is signal to noise ratio (S/N ratio); TNR is that threshold is made an uproar ratio; Vn is noise data.
As further restriction of the present invention, described laser pickoff comprises: photodetector, signal amplifier, load governor, gain controller, described photodetector is connected with load governor with signal amplifier simultaneously, and signal amplifier is connected with gain controller; Load governor comprises: dead load, load array and switch arrays, dead load and load array in parallel, load array comprises the load of one or more parallel connections, switch arrays comprise the electronic switch of one or more parallel connections, and the load in load array should be connected in series with the Switch Controller in switch arrays respectively; Switch arrays can be integrated electronic switch arrays, also can be the switch arrays of discrete transistor, field effect transistor, metal-oxide-semiconductor composition.The beneficial effect of laser pickoff of the present invention is: adopt the load switching of photo detector signal source and amplifying circuit gain to control the method combined, particularly load switching method, signal amplitude can be made to be controlled on source, avoid just rear class ride gain to there is the phenomenon controlling limitation to occur, make signal amplitude under any condition, all can not exceed the signal quantity scope of setting, also scattered signal is made to obtain effective attenuation, thus ensure that the function and range accuracy of closely finding range, the most I range finding of laser ranging system can be realized from being zero meter.
As further restriction of the present invention, gain controller is digital gain controller, comprising:
Signal processor port, for output voltage data;
Digital to analog converter, for converting voltage data to analog voltage;
Signal amplifier and gain control end, for control signal amplifier gain;
Signal processor port is connected with digital to analog converter; The output of digital to analog converter is connected with signal amplifier gain control end; Digital to analog converter can be independently integrated digital to analog converter, also can be the digital to analog converter being integrated in signal processor inside.The beneficial effect of digital gain controller of the present invention is: digital gain controller can realize the closed-loop control of gain, can, in strict accordance with the algorithm ride gain preset, gain be controlled more accurately with effective.
As further restriction of the present invention, gain controller is automatic gain controller, comprising:
Signal amplifier output terminal, for exporting random clutter;
F/V converter, for converting random clutter to d. c. voltage signal;
Fader, for regulating gain control ratio;
Signal amplifier and gain control end, for control signal amplifier gain;
Signal amplifier output terminal, F/V converter and fader are linked in sequence.The beneficial effect of automatic gain controller of the present invention is: the gain control circuit structure of realization is simple, is that the one that the gain of cost laser distance measuring equipment controls is selected.
As further restriction of the present invention, photodetector power supply is digital control separated exciting power supply, comprising:
Signal processor port, for exporting pulse drive signal;
Separated exciting DC/DC transducer, for being transformed into DC voltage by pulse drive signal;
Output voltage sample circuit, for sampling output voltage;
Analog to digital converter, for being transformed into digital value by output voltage sampling value;
Signal processor port, for reading the data of the output voltage sampling value of digital to analog converter;
Signal processor port, separated exciting DC/DC transducer, output voltage sample circuit, analog to digital converter are connected with signal processor port order; Described analog to digital converter can be independently integrated analog digit converter, and also can be the analog to digital converter being integrated in signal processor inside, photodetector power supply be identical with form with the circuit structure of transmitter power.The beneficial effect of digital control separated exciting power supply of the present invention is: digital control separated exciting power supply, control accurately with flexible, optimum value can be realized in any environment control, give full play to the range finding potentiality of laser ranging system, obtain the optimization of range performance.
As further restriction of the present invention, photodetector power supply is be all digital control auto-excitation type power supply, comprising:
Signal processor port, for starting or turning off auto-excitation type DC/DC transducer;
Auto-excitation type DC/DC transducer, for converting lower DC voltage to higher DC voltage;
Voltage divider, for carrying out dividing potential drop to auto-excitation type DC/DC transducer output voltage;
Signal processor port, for exporting digital voltage data;
Digital to analog converter, for converting the digital voltage of signal transacting and control circuit to analog voltage;
Signal processor port, auto-excitation type DC/DC transducer, voltage divider, digital to analog converter are connected with signal processor port order, and voltage divider is connected with auto-excitation type DC/DC transducer feedback end; Described digital to analog converter can be independently integrated digital to analog converter, also can be the digital to analog converter being integrated in signal processor inside; Photodetector power supply is identical with form with the circuit structure of transmitter power.The beneficial effect of digital control auto-excitation type power supply of the present invention is: the control method of realization is relatively simple, and control accuracy is higher, is that the one of low cost superior performance laser ranging system auto-adaptive control scheme is selected.
As further restriction of the present invention, transmitter power is simulation pressure-adjusting type auto-excitation type power supply, comprising:
Signal processor port, for starting or turning off auto-excitation type DC/DC transducer;
Auto-excitation type DC/DC transducer, its output terminal is used for Output of laser transmitter required voltage, and its feedback end is used for regulation output voltage;
Voltage divider, for carrying out dividing potential drop to auto-excitation type DC/DC transducer output voltage;
Signal processor port, auto-excitation type DC/DC converter output terminal, voltage divider and auto-excitation type DC/DC transducer feedback end are linked in sequence.The beneficial effect of simulation pressure-adjusting type auto-excitation type of the present invention is: the control method of realization is simple, is that the one of cost laser distance measuring equipment adaptive control is selected.
Accompanying drawing explanation
Fig. 1 is self-adaptation laser distance measurement method process flow diagram of the present invention.
Fig. 2 is self-adaptation laser ranging system composition frame chart of the present invention.
Fig. 3 is laser pickoff composition frame chart of the present invention.
Fig. 4 self-adaptation laser ranging system of the present invention load governor schematic diagram.
Fig. 5 is self-adaptation laser ranging system digital gain controller composition frame chart of the present invention.
Fig. 6 is self-adaptation laser ranging system automatic gain controller composition frame chart of the present invention.
Fig. 7 is digital control separated exciting photodetector grid bias power supply of the present invention and transmitter power composition frame chart.
Fig. 8 is digital control auto-excitation type photodetector grid bias power supply of the present invention and transmitter power composition frame chart.
Fig. 9 is analogue enlargement auto-excitation type transmitter power composition frame chart of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples for illustration of the present invention, but are not used for limiting the scope of the invention.
Disclosure sets forth a kind of laser distance measurement method, and implement this method by laser ranging system of the present invention.
Laser distance measurement method of the present invention, with the method for " time changes space ", warp with cumulative, utilizes echo signal and noise irrelevance in time to the repeatedly statistics of echoed signal, the echo signal of burying in noise is highlighted, thus reaches the remote object of measurement.
Judge that the standard of echo signal is the threshold value determined according to detection probability and false alarm rate index, be echo signal by the signal being greater than threshold value, the signal being less than threshold value is given up as noise.Fixed too high of threshold value, can abandon real echo signal, and fixed too low of threshold value, can be used as noise as target, the range data of output error.Therefore, need environmentally parameter, automatically regulate photodetector operating voltage, receiving gain and laser power, obtain best threshold value, simultaneously in conjunction with filtering measures, realize the self-adaptation of accurately range finding.
A kind of self-adaptation distance-finding method as shown in Figure 1, comprises the following steps:
51 setting Emission Lasers number of pulses M, setting noise value scope and signal quantity scope;
52 M is divided into some groups of N1, N2 ... Nn(n > 2), the number of pulses often organized is impartial, or not etc., by group emission pulse laser;
The laser signal of 53 receiving target reflections, obtains the clutter of noise and echo signal;
54 pairs of clutters carry out digital conversion, obtain digital clutter;
55 calculate digital clutter value, judge whether digital clutter value exceeds the noise value scope of setting simultaneously;
If 56 digital clutter values exceed the noise value scope of setting, then regulate photodetector operating voltage or circuit gain, make digital clutter value within the scope of the noise value of setting;
57 judge whether digital clutter amplitude exceeds the signal quantity scope of setting;
If 58 digital clutter amplitudes exceed the signal quantity scope of setting, then regulating circuit gain or laser power, make signal amplitude within the scope of the signal quantity of setting;
Noise value and signal amplitude judge and regulate normally, enter following step:
59 repeat step (52) ~ (54), store digital clutter;
60 raffle number clutters, obtain accumulating signal;
61 pairs of accumulating signals carry out digital filtering process, obtain digital filtered signal;
62 judge whether have signal to be more than or equal to threshold value in digital filtered signal
v tH , will threshold value be greater than
v tH signal as echo signal;
63, according to the address of echo signal, calculate target range respectively;
Target range value send display to show by 64, or stores, or is exported by external interface;
65 are if there is no greater than threshold value
v tH echo signal, so, judge whether the laser pulse quantity of having launched is less than emission maximum umber of pulse M, if the laser pulse quantity of launching is less than setting transponder pulse number M, just continue emission pulse laser, then repeat the operation of step (59) ~ (64);
If 66 setting umber of pulse M have launched, still do not exist and be greater than threshold value
v tH echo signal, just export driftlessness signal.
In the embodiment of above-mentioned distance-finding method, step (61) comprises three kinds of filtering methods: (1) time-domain filtering, according to the echo signal waveform characteristic preset, and filtering and the inconsistent noise of echo signal waveform characteristic or undesired signal; (2) frequency domain filtering, according to the echo signal frequency characteristic preset, filtering and the inconsistent noise signal of echo signal frequency characteristic; (3) Time-frequency Filter, according to Higher Order Cumulants, filtering and the inconsistent noise signal of echo signal feature.
In the embodiment of above-mentioned distance-finding method, step (12) threshold value
v tH determination more crucial, it must meet formula (I), formula (II) and formula (III) simultaneously:
…………………………………（Ⅰ)
…………………………………（Ⅱ)
V
TH=Vn×TNR……………………………………………（Ⅲ)
In formula: FAR is rate of false alarm; Ns is the hits of frame data; Erf is error function; Pd is detection probability; SNR is signal to noise ratio (S/N ratio); TNR is that threshold is made an uproar ratio; Vn is noise data.
A kind of laser ranging system performing self-adaptation distance-finding method as shown in Figure 2, comprising:
Laser pickoff 1, for the pulsed laser signal of receiving target reflection, and converts laser signal to electric signal, after being amplified by electric signal, exports the clutter of echo signal and noise, realizes the control of receiving gain simultaneously;
Generating laser 2, for the quantity by setting, packet mode emission pulse laser;
Signal processor 3, for there is the work schedule of laser ranging system, performs the self-adaptation distance-finding method of above-described embodiment, first, signal processor 3 controls transponder pulse quantity and the mode of generating laser, digital conversion is carried out to the clutter that receiver exports, again according to clutter statistics value, regulate the output voltage of photodetector power supply 5, clutter value is made to be within noise value scope, simultaneously, judge whether clutter amplitude exceeds the signal quantity scope of setting, if exceeded, ride gain is gone by laser pickoff 2, or the load of regulating load regulating circuit, or by transmitter power 6, regulate laser operating voltage, thus adjustment laser output power, digital clutter amplitude is made to be within the scope of the signal quantity of setting, after photodetector operating voltage and signal quantity range regulation complete, signal processor is accumulated clutter, then carries out digital filtering, cancelling noise and abnormal jamming signal, and judges the threshold value of target by snr computation, by threshold value identification target, then, according to echo signal address, calculate target range, then send display to show target range value, or store, or exported by external interface, if maximum number of pulses M has launched, still do not exist and be greater than identification targets threshold
v tH echo signal, just export driftlessness signal.Above-mentioned distance-finding method, in the mode of software, is implemented by signal processor 3, completes the environment self-adaption of range finding, wherein to the operation of clutter Cumulate Sum filtering, the mode of hardware can also be adopted to complete, and therefore, software mode is not used for limiting the present invention;
Display 4, for display distance value;
External interface 13, for external working power and output distance value;
Photodetector grid bias power supply 5, for providing working power for photodetector, simultaneously by the adjustment of photodetector operating voltage, realizes the control to noise;
Transmitter power 6, for providing working power for generating laser, realizes the adjustment to generating laser output power simultaneously;
Described signal processor 3 is connected with laser pickoff 1, generating laser 2, display 4, external interface 13, photodetector power supply 5, transmitter power 6 respectively, described photodetector power supply 5 is connected with laser pickoff 1, and described transmitter power 6 is connected with generating laser 2.
Fig. 3 is laser pickoff 1 composition frame chart of self-adaptation laser ranging system in Fig. 2, this laser pickoff 1 comprises: photodetector 7, signal amplifier 8, load governor 9, gain controller 10, described photodetector 7 is connected with load governor 9 with signal amplifier 8 simultaneously, and signal amplifier 8 is connected with gain controller 10.
Fig. 4 is the composition frame chart of load governor 9 in laser pickoff 1 in Fig. 3, this load governor 9 comprises dead load 15, load array 16 and switch arrays 17, load array 16 comprises one or more load, switch arrays 17 comprise one or more electronic switch, and the load in load array 16 should be connected with the Switch Controller in switch arrays 17 respectively.Switch arrays 16 can be integrated electronic switch arrays, also can be the switch arrays of discrete transistor, field effect transistor, metal-oxide-semiconductor composition.
Fig. 5 is the composition frame chart of a kind of digital gain controller of gain controller 10 in laser pickoff 1 in Fig. 3, and this gain controller 10 comprises:
Signal processor port 9, for output voltage data;
Digital to analog converter 18, for converting voltage data to analog voltage;
Signal amplifier 8 and gain control end, for control signal amplifier gain;
Signal processor port 9 is connected with digital to analog converter 18; The output of digital to analog converter 18 is connected with signal amplifier 8 gain control end; Digital to analog converter 18 can be independently integrated digital to analog converter, also can be the digital to analog converter being integrated in signal processor inside.
Fig. 6 is the composition frame chart of the another kind of automatic gain controller of gain controller 10 in laser pickoff 1 in Fig. 3, and this gain controller 10 comprises:
Signal amplifier output terminal 20, for exporting random clutter;
F/V converter 22, for converting random clutter to d. c. voltage signal;
Fader 21, for regulating gain control ratio;
Signal amplifier 8 and gain control end, for control signal amplifier gain;
Signal amplifier output terminal 20, F/V converter 22 and fader 21 are linked in sequence.
The load governor 9 of above-mentioned Fig. 4, the digital gain controller of Fig. 5 and the automatic gain controller of Fig. 6, be all used for implementing the adjustment to receiving gain, under normal circumstances, only need adopt a kind of control method in three kinds of methods.
Fig. 7 is the composition frame chart of a kind of photodetector power supply 5 and a kind of transmitter power 6 in self-adaptation laser ranging system in Fig. 2, and these two kinds of circuit construction of electric power are identical with form, and be all digital control separated exciting power supply, this power supply comprises:
Signal processor port (24), for exporting pulse drive signal;
Separated exciting DC/DC transducer (26), for being transformed into DC voltage by pulse drive signal;
Output voltage sample circuit (28), for sampling output voltage;
Analog to digital converter (27), for being transformed into digital value by output voltage sampling value;
Signal processor port (25), for reading the data of the output voltage sampling value of digital to analog converter;
Signal processor 3 port 24, separated exciting DC/DC transducer 26, output voltage sample circuit 28, analog to digital converter 27 and signal processor port 25 are linked in sequence.Wherein analog to digital converter 27 can be independently integrated analog digit converter, also can be the analog to digital converter being integrated in signal processor inside.
Fig. 8 is the composition frame chart of another photodetector power supply 5 and a kind of transmitter power 6 in self-adaptation laser ranging system in Fig. 2, and these two kinds of circuit construction of electric power are identical with form, are all digital control auto-excitation type power supply, comprise:
Signal processor port 29, for starting or turning off auto-excitation type DC/DC transducer;
Auto-excitation type DC/DC transducer 31, for converting lower DC voltage to higher DC voltage; ;
Voltage divider 32, for carrying out dividing potential drop to auto-excitation type DC/DC transducer output voltage;
Signal processor port 30, for exporting digital voltage data;
Digital to analog converter 18, for converting the digital voltage of signal transacting and control circuit to analog voltage;
Signal processor port 29, auto-excitation type DC/DC transducer 31 output terminal, voltage divider 32, digital to analog converter 18 and signal processor port 30 are linked in sequence, and voltage divider 38 is connected with auto-excitation type DC/DC transducer 31 feedback end; Wherein digital to analog converter 18 can be independently integrated digital to analog converter, also can be the digital to analog converter being integrated in signal processor inside.
Fig. 9 is the composition frame chart of a kind of transmitter power in self-adaptation laser ranging system in Fig. 2, and this power supply is simulation pressure-adjusting type auto-excitation type power supply, comprising:
Signal processor port 29, for starting or turning off auto-excitation type DC/DC transducer;
Auto-excitation type DC/DC transducer 31, its output terminal is used for Output of laser transmitter required voltage, and its feedback end is used for regulation output voltage;
Voltage divider 32, for carrying out dividing potential drop to auto-excitation type DC/DC transducer output voltage;
Signal processor port 29, auto-excitation type DC/DC transducer 31 output terminal, voltage divider 32 and auto-excitation type DC/DC transducer 31 feedback end are linked in sequence.
The present invention is not limited to above-described embodiment; on the basis of technical scheme disclosed by the invention; those skilled in the art is according to disclosed technology contents; do not need performing creative labour just can make some to some technical characteristics wherein to replace and distortion, these are replaced and are out of shape all in protection scope of the present invention.
Claims (10)
1. a self-adaptation distance-finding method, is characterized in that, comprises the following steps:
(1) laser signal of laser pickoff receiving target reflection, obtains the clutter of noise and echo signal;
(2) digital conversion is carried out to clutter, obtain digital clutter;
(3) digital clutter is stored;
(4) digital clutter is accumulated, obtain accumulating signal;
(5) digital filtering process is carried out to accumulating signal, obtain digital filtered signal;
(6) judge in digital filtered signal, whether have signal to be more than or equal to threshold value
v tH , will threshold value be greater than
v tH signal as echo signal;
(7) according to the time address of echo signal, each target range is calculated respectively;
(8) send display to show target range value, or store, or exported by external interface;
(9) if there is no threshold value is greater than
v tH echo signal, so, export or display driftlessness signal.
2. self-adaptation distance-finding method according to claim 1, is characterized in that,
Also comprise before step (1):
(1a) Emission Lasers number of pulses M is set;
(1b) M is divided into some groups of N1, N2 ... Nn(n > 2);
(1c) generating laser is by group emission pulse laser;
Also comprise before step (3):
(3a) noise value scope and signal quantity scope is set;
(3b) judge whether digital clutter value exceeds the noise value scope of setting, if actual noise exceeds the noise value scope of setting, then regulate photodetector operating voltage or circuit gain, make digital clutter value within the scope of the noise value of setting;
(3c) judge whether digital clutter amplitude exceeds the signal quantity scope of setting, if digital clutter amplitude exceeds the signal quantity scope of setting, then regulating circuit gain or laser power, makes signal amplitude within the scope of the signal quantity of setting;
Also comprise before step (5):
(5a) waveform characteristic and the filters solutions of echo signal is preset;
(5b) waveform characteristic of filtering and target setting signal or the inconsistent noise of filters solutions or undesired signal;
Also comprise before step (9):
(9a) if there is no threshold value is greater than
v tH echo signal, so, judge whether the laser pulse quantity of having launched is less than setting transponder pulse number M, if the laser pulse quantity of launching is less than setting transponder pulse number M, just continues emission pulse laser, then repeat the operation of step (1) ~ (8).
3. self-adaptation distance-finding method according to claim 1, is characterized in that,
The threshold value of step (6)
v tH meet formula (I), formula (II) and formula (III):
…………………………………（Ⅰ)
…………………………………（Ⅱ)
V
TH=Vn×TNR……………………………………………（Ⅲ)
In formula: FAR is rate of false alarm; Ns is the hits of frame data; Erf is error function; Pd is detection probability; SNR is signal to noise ratio (S/N ratio); TNR is that threshold is made an uproar ratio; Vn is noise data.
4. a self-adaptation laser ranging system, is characterized in that, comprising:
Laser pickoff (1), for the pulsed laser signal of receiving target reflection, and converts laser signal to electric signal, after being amplified by electric signal, exports the clutter of echo signal and noise, realizes the control of signal gain simultaneously;
Generating laser (2), for pressing quantity and the mode emission pulse laser of setting;
, for there is laser ranging system work schedule and performing self-adaptation distance-finding method of the present invention in signal processor (3);
Display (4), for display distance value;
External interface (13), for external working power and output distance value;
Photodetector power supply (5), for providing working power for photoelectric tube, simultaneously by the adjustment of photodetector operating voltage, realizes the control to signal gain;
Transmitter power (6), for providing working power for generating laser, realizes the adjustment to generating laser output power simultaneously;
Described signal processor (3) is connected with laser pickoff (1), generating laser (2), display (4), external interface (13), photodetector power supply (5), transmitter power (6) respectively, described photodetector power supply (5) is connected with laser pickoff (1), and described transmitter power (6) is connected with generating laser (2).
5. self-adaptation laser ranging system according to claim 4, it is characterized in that, described laser pickoff (1) comprising: photodetector (7), signal amplifier (8), load governor (9), gain controller (10), described photodetector (7) is connected with load governor (9) with signal amplifier (8) simultaneously, and signal amplifier (8) is connected with gain controller (10); Load governor (9) comprising: dead load (15), load array (16) and switch arrays (17), dead load and load array in parallel, load array (16) comprises the load of one or more parallel connections, switch arrays (17) comprise the electronic switch of one or more parallel connections, and the load in load array (16) should be connected in series with the Switch Controller in switch arrays (17) respectively; Switch arrays (16) can be integrated electronic switch arrays, also can be the switch arrays of discrete transistor, field effect transistor, metal-oxide-semiconductor composition.
6. self-adaptation laser ranging system according to claim 5, is characterized in that, gain controller (10) is digital gain controller, comprising:
Signal processor port (19), for output voltage data;
Digital to analog converter (18), for converting voltage data to analog voltage;
Signal amplifier (8) and gain control end, for control signal amplifier gain;
Signal processor port (19) is connected with digital to analog converter (18); The output of digital to analog converter (18) is connected with signal amplifier (8) gain control end; Digital to analog converter (18) can be independently integrated digital to analog converter, also can be the digital to analog converter being integrated in signal processor inside.
7. self-adaptation laser ranging system according to claim 5, is characterized in that, gain controller (10) is automatic gain controller, comprising:
Signal amplifier output terminal (20), for exporting random clutter;
F/V converter (22), for converting random clutter to d. c. voltage signal;
Fader (21), for regulating gain control ratio;
Signal amplifier (8) and gain control end, for control signal amplifier gain;
Signal amplifier output terminal (20), F/V converter (22) and fader (21) are linked in sequence.
8. self-adaptation laser ranging system according to claim 4, is characterized in that, photodetector power supply (5) is digital control separated exciting power supply, comprising:
Signal processor port (24), for exporting pulse drive signal;
Separated exciting DC/DC transducer (26), for being transformed into DC voltage by pulse drive signal;
Output voltage sample circuit (28), for sampling output voltage;
Analog to digital converter (27), for being transformed into digital value by output voltage sampling value;
Signal processor port (25), for reading the data of the output voltage sampling value of digital to analog converter;
Signal processor port (24), separated exciting DC/DC transducer (26), output voltage sample circuit (28), analog to digital converter (27) and signal processor port (25) are linked in sequence; Described analog to digital converter (27) can be independently integrated analog digit converter, also can be to be integrated in the inner analog to digital converter of signal processor (3), and photodetector power supply (5) is identical with form with the circuit structure of transmitter power (6).
9. self-adaptation laser ranging system according to claim 4, is characterized in that, photodetector power supply (5) is be all digital control auto-excitation type power supply, comprising:
Signal processor port (29), for starting or turning off auto-excitation type DC/DC transducer;
Auto-excitation type DC/DC transducer (31), for converting lower DC voltage to higher DC voltage;
Voltage divider (32), for carrying out dividing potential drop to auto-excitation type DC/DC transducer output voltage;
Signal processor port (30), for exporting digital voltage data;
Digital to analog converter (18), for converting the digital voltage of signal transacting and control circuit to analog voltage;
Signal processor port (29), auto-excitation type DC/DC transducer (31) output terminal, voltage divider (32), digital to analog converter (18) and signal processor port (30) are linked in sequence, and voltage divider (38) is connected with auto-excitation type DC/DC transducer (31) feedback end; Described digital to analog converter (18) can be independently integrated digital to analog converter, also can be the digital to analog converter being integrated in signal processor inside; Photodetector power supply (5) is identical with form with the circuit structure of transmitter power (6).
10. self-adaptation laser ranging system according to claim 4, is characterized in that, transmitter power (6) is simulation pressure-adjusting type auto-excitation type power supply, comprising:
Signal processor port (29), for starting or turning off auto-excitation type DC/DC transducer;
Auto-excitation type DC/DC transducer (31), its output terminal is used for Output of laser transmitter required voltage, and its feedback end is used for regulation output voltage;
Voltage divider (32), for carrying out dividing potential drop to auto-excitation type DC/DC transducer output voltage;
Signal processor port (29), auto-excitation type DC/DC transducer (31) output terminal, voltage divider (32) and auto-excitation type DC/DC transducer (31) feedback end are linked in sequence.
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