CN106093958A - Laser distance measurement methods based on double APD and device - Google Patents

Laser distance measurement methods based on double APD and device Download PDF

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Publication number
CN106093958A
CN106093958A CN201610714788.1A CN201610714788A CN106093958A CN 106093958 A CN106093958 A CN 106093958A CN 201610714788 A CN201610714788 A CN 201610714788A CN 106093958 A CN106093958 A CN 106093958A
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module
signal
apd
telecommunication
laser
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刘郎
刘一郎
杨俊�
武宏伟
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Wuhan Wanji Information Technology Co Ltd
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Wuhan Wanji Information Technology Co Ltd
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Priority to CN201610714788.1A priority Critical patent/CN106093958A/en
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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
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • 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
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection
    • G01S7/4876—Extracting wanted echo signals, e.g. pulse detection by removing unwanted signals

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The present invention relates to a kind of laser distance measurement method based on double APD and device.Described method includes: laser emitting module launches laser pulse to target measurement thing so that described laser pulse forms echo impulse after arriving described target measurement thing；The echo impulse received is focused by condenser lens, is focused the ambient light received simultaneously；Echo impulse after oneth APD module will focus on is converted into first signal of telecommunication；Ambient light after 2nd APD module will focus on is converted into second signal of telecommunication；First signal of telecommunication and second signal of telecommunication are subtracted and process with the ambient light noise that filters in echo impulse thus obtain the 3rd signal of telecommunication by subtracter block；Processor calculates the distance between laser emitting module and target measurement thing according to the 3rd signal of telecommunication.The device that the present invention provides is used for realizing said method.The present invention can reduce ambient light noise to impact during laser ranging, degree of accuracy during raising laser ranging.

Description

Laser distance measurement methods based on double APD and device
Technical field
The present invention relates to laser ranging technique field, be specifically related to a kind of laser distance measurement method based on double APD and device.
Background technology
Laser distance measuring principle is, lasing light emitter produces laser pulse signal, and sends a branch of by optical fiber or collimator and extender mirror Burst pulse, then calculates laser instrument by measuring this burst pulse flight time between target measurement thing and laser sensor And the distance between target measurement thing.Visible, utilize laser ranging can realize quick distance measurement, be widely used in weapon, intelligence The aspects such as traffic.
In actual application, laser pulse is easily subject to the impact of environment noise and circuit noise.Such as, laser instrument is utilized to survey Measure distant target measurement thing or laser instrument surrounding poor time, the laser echo signal fainter and signal of distance is made an uproar Sound is relatively big, causes laser sensor cannot obtain this laser pulse echo-signal or acquired laser pulse echo-signal not Accurately, so reduce range accuracy.
Summary of the invention
For defect of the prior art, the present invention provides a kind of laser distance measurement method based on double APD and device, permissible Solve the problem that prior art ambient light noise is excessive and that cause laser instrument ranging accuracy is low.
First aspect, the invention provides a kind of laser distance measurement method based on double APD, is applied to based on double APD sharp Optical range finding apparatus, described device at least includes an APD module, the 2nd APD module and subtracter block；Described method includes:
Laser emitting module launches laser pulse to target measurement thing so that described laser pulse arrives the survey of described target Echo impulse is formed after amount thing；Described echo impulse includes ambient light noise；
The echo impulse received is focused by condenser lens, is focused the ambient light received simultaneously；Described time Wave impulse is received by the diverse location of described condenser lens with described ambient light；
Echo impulse after oneth APD module will focus on is converted into first signal of telecommunication；2nd APD module will focus on after ring Border light is converted into second signal of telecommunication；
Subtracter block subtracts process to filter described echo arteries and veins to described first signal of telecommunication and described second signal of telecommunication Ambient light noise in punching thus obtain the 3rd signal of telecommunication；
Processor calculates the distance between laser emitting module and described target measurement thing according to described 3rd signal of telecommunication.
Alternatively, when described device also includes amplification circuit module, described subtracter block and described amplifying circuit electricity Connect；Described method also includes:
Described amplification circuit module electrically connects with a described APD module and described 2nd APD module, for respectively to institute State first signal of telecommunication and described second signal of telecommunication is amplified；
Alternatively, a described APD module and described 2nd APD module are fixed in described amplification circuit module, and institute State and between an APD module with described 2nd APD module, keep the first predeterminable range identical with the visual angle both ensureing.
Alternatively, described processor calculates between described laser emitting module and described target measurement thing according to below equation Distance:
R=L/2=C (tstop-tstart)/2；
In formula, tstartRepresent that laser emitting module sends the initial time of laser pulse；tstopRepresent that processor gets The end time of differential signal；R represents the actual range between laser emitting module and target measurement thing；L represents laser pulse The actual range of process；C represents laser speed.
Alternatively, described tstopEmploying below equation calculates:
tstop=F (δ (S1,S2))；
In formula, S1, S2Represent echo pulse signal respectively；δ(S1,S2) represent the differential signal that subtracter block is exported； tstop=F (δ ()) represents that processor receives the termination time as the echo impulse time of differential signal.
Second aspect, present invention also offers a kind of laser ranging system based on double APD, and described device includes that laser is sent out Penetrating module, condenser lens, APD module and a processor, described device also includes the 2nd APD module and subtracter block；
Described laser emitting module is for sending laser pulse to target measurement thing；Described laser pulse is described in arrival Forming echo impulse after target measurement thing, described echo impulse comprises ambient light noise；
Described condenser lens is arranged in the light path of described echo impulse, for described echo impulse is focused, and Ambient light is focused；
A described APD module is arranged in the light path of described echo impulse, the echo impulse conversion after focusing on Become first signal of telecommunication；
Described 2nd APD module is arranged in the light path of described ambient light, and the ambient light after focusing on is converted into the Two signals of telecommunication；
Described subtracter block is connected with a described APD module and described 2nd APD module, for described first electricity Signal and described second signal of telecommunication subtract and process with the ambient light noise that filters in described echo impulse thus obtain the 3rd electricity Signal；
Described processor electrically connects with described subtracter block, for calculating Laser emission mould according to described 3rd signal of telecommunication Distance between block and described target measurement thing.
Alternatively, described device also include amplification circuit module, described amplification circuit module be arranged on an APD module and Between described 2nd APD and described subtracter block, for described first signal of telecommunication and described second signal of telecommunication are amplified And it is sent to described subtracter block；
Or,
Described amplification circuit module is arranged between described subtracter block and described processor, for described 3rd electricity Signal is amplified and is sent to described process.
Alternatively, a described APD module and described 2nd APD module are fixedly mounted in described amplification circuit module, And installation site is symmetrical about horizontal line.
Alternatively, keep the first predeterminable range with both guarantees between a described APD module and described 2nd APD module Visual angle identical.
As shown from the above technical solution, the present invention is by arranging an APD module and the 2nd APD module, and utilizes The echo impulse that condenser lens focuses on is converted into first signal of telecommunication by one APD module, utilizes the 2nd APD module to be focused on by condenser lens Ambient light is converted into second signal of telecommunication；Subtracter block is set simultaneously, the first telecommunications after utilizing this subtracter block to amplify Number and second signal of telecommunication subtract process, so can be by echo impulse ambient light noise and the noise of amplification circuit module Filter, so that laser pulse produced by laser emitting module as far as possible in echo impulse.Visible, the present invention can reduce ring Border optical noise, on impact during laser ranging, improves degree of accuracy during laser ranging.
Accompanying drawing explanation
By being more clearly understood from the features and advantages of the present invention with reference to accompanying drawing, accompanying drawing is schematic and should not manage Solve as the present invention is carried out any restriction, in the accompanying drawings:
Fig. 1 is a kind of based on double APD laser distance measurement method schematic flow sheets that the embodiment of the present invention provides；
Fig. 2 is a kind of based on double APD laser ranging system operation principle schematic diagrams that the embodiment of the present invention provides；
Fig. 3 is another kind laser distance measurement method based on the double APD schematic flow sheet that the embodiment of the present invention provides；
Fig. 4 is another kind laser ranging system based on the double APD operation principle schematic diagram that the embodiment of the present invention provides；
Fig. 5 is another laser distance measurement method schematic flow sheet based on double APD that the embodiment of the present invention provides；
Fig. 6 is another laser ranging system operation principle schematic diagram based on double APD that the embodiment of the present invention provides；
Fig. 7 is laser pulsed range finding schematic diagram；
Fig. 8 is the laser echo pulse curve having ambient light noise；
Fig. 9 is ambient light noise curve；
Figure 10 is the laser echo pulse curve after difference processing
Figure 11 is that ambient light interference calculates schematic diagram.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is The a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art The every other embodiment obtained under not making creative work premise, broadly falls into the scope of protection of the invention.
Embodiments provide a kind of based on double APD (Avalanche Photo Diode, avalanche photodide) Laser distance measurement method, be applied to laser ranging system based on double APD, as shown in Figures 1 and 2, this device at least includes One APD module, the 2nd APD module and subtracter block.The method includes:
S11, laser emitting module launch laser pulse to target measurement thing so that laser pulse arrives target measurement thing Rear formation echo impulse；Echo impulse includes ambient light noise；
The echo impulse received is focused by S12, condenser lens, is focused the ambient light received simultaneously；Return Wave impulse is received by the diverse location of condenser lens with ambient light；
Echo impulse after S13, an APD module will focus on is converted into first signal of telecommunication；After 2nd APD module will focus on Ambient light be converted into second signal of telecommunication；
S14, subtracter block subtract process with the ring filtering in echo impulse to first signal of telecommunication and second signal of telecommunication Border optical noise thus obtain the 3rd signal of telecommunication；
S15, processor calculate the distance between laser emitting module and target measurement thing according to the 3rd signal of telecommunication.
Subtracter block can calculate after being amplified first signal of telecommunication and second signal of telecommunication again, it is also possible to after calculating again Amplify.In actual application, the amplification of signal can not be met when being actually needed by subtracter block, and the most described laser ranging fills Putting and can also include amplification circuit module, this amplification circuit module arranges between subtracter block and processor, for subtraction The output signal of device module that is the 3rd signal of telecommunication is transferred to processor and processes after being amplified.
Now, a kind of based on double APD laser distance measurement methods that the embodiment of the present invention provides, it is applied to based on double APD Laser ranging system, as shown in Figure 3 and Figure 4, the method includes:
S21, laser emitting module launch laser pulse to target measurement thing so that described laser pulse arrives target survey Echo impulse is formed after amount thing；Described echo impulse includes ambient light noise；
The echo impulse received is focused by S22, condenser lens, is focused the ambient light received simultaneously；Institute State echo impulse to receive by the diverse location of described condenser lens with described ambient light；
Echo impulse after S23, an APD module will focus on is converted into first signal of telecommunication；After 2nd APD module will focus on Ambient light be converted into second signal of telecommunication；
S24, subtracter block subtract process to filter described returning to described first signal of telecommunication and described second signal of telecommunication Ambient light noise in wave impulse thus obtain the 3rd signal of telecommunication；
Described 3rd signal of telecommunication is amplified and is sent to processor by S25, amplification circuit module；
S26, processor according to the 3rd signal of telecommunication after amplifying calculate between laser emitting module and target measurement thing away from From.
The present invention by arranging amplification circuit module after subtracter block, can increase the be input in processor The intensity of three signals of telecommunication, it is to avoid the 3rd signal of telecommunication is too small and causes mistake in computation.But owing to introducing amplification circuit module, also The amplification noise that amplification circuit module produces is introduced, for solving the problems referred to above, the another enforcement of the present invention in the 3rd signal of telecommunication Before amplification circuit module is placed on difference engine by example, i.e. amplification circuit module be arranged on an APD module and the 2nd APD with Between subtracter block, for first signal of telecommunication and second signal of telecommunication are amplified and are sent to subtracter block.To this end, this Inventive embodiments provides again a kind of laser distance measurement method based on double APD, is applied to above-mentioned laser rangings based on double APD dress Putting, as shown in figs. 5 and 6, the method includes:
S31, laser emitting module launch laser pulse to target measurement thing so that described laser pulse arrives described mesh Echo impulse is formed after mapping amount thing；Described echo impulse includes ambient light noise；
The echo impulse received is focused by S32, condenser lens, is focused the ambient light received simultaneously；Institute State echo impulse to receive by the diverse location of described condenser lens with described ambient light；
Echo impulse after S33, an APD module will focus on is converted into first signal of telecommunication and is sent to amplifying circuit mould Block；Ambient light after 2nd APD module will focus on is converted into second signal of telecommunication and is sent to described amplification circuit module；
Described first signal of telecommunication and described second signal of telecommunication are amplified by S34, described amplification circuit module respectively；
S35, subtracter block subtract process with filter to described first signal of telecommunication after amplifying and described second signal of telecommunication Except the ambient light noise in described echo impulse thus obtain the 3rd signal of telecommunication；
S36, processor according to described 3rd signal of telecommunication calculate between laser emitting module and described target measurement thing away from From.
The embodiment of the present invention describes above-mentioned laser distance measurement method based on double APD in detail based on a kind of laser ranging system Each step.
Such as Fig. 2, shown in 4 and 6, embodiments provide a kind of laser ranging system based on double APD, this device bag Include: laser emitting module 1, condenser lens the 2, the oneth APD module the 3, the 2nd APD module 4, amplification circuit module 5, subtracter block 6 With processor 7.
Laser emitting module 1 sends the laser pulse of target measurement thing 0, and record start time tstart, as shown in Figure 7 Pulse 1.As shown in Fig. 7～10, above-mentioned laser pulse forms echo impulse after arriving target measurement thing 0.In this echo impulse Can be affected through environment by institute, make this echo impulse (as shown in waveform in Fig. 8) comprises ambient light noise (in Fig. 9 Shown in waveform).During these ambient light noise can make subsequent calculations, result is inaccurate.
Being provided with condenser lens 2 in the light path of above-mentioned echo impulse, above-mentioned echo impulse can be gathered by this condenser lens 2 Jiao, forms the echo impulse bundle being convenient for measuring.Meanwhile, the ambient light in surrounding is also focused by this condenser lens 2, is formed Environment light beam.
It should be noted that focused echo pulse is different from the region focusing on ambient light in condenser lens 2.In actual application, Such as Fig. 2, shown in 4 and 6, condenser lens 2 can be divided into upper and lower two parts region on the basis of the horizontal plane at its axis place.Its In, upper part region is for receiving and focused echo pulse, and lower part region is used for receiving and focusing on ambient light.So can make Lower part region gets the ambient light of laser ranging system local environment, and upper part region can also get and comprise ring simultaneously The echo impulse of border optical noise.
In the embodiment of the present invention, the light path of echo impulse arranges an APD module 3 and (Fig. 2,4 and 6 uses APD1 Represent).Echo impulse i.e. echo impulse bundle after oneth APD module 3 will focus on is converted into the first signal of telecommunication S1, and by it It is sent to amplification circuit module 5.The light path of ambient light arranges the 2nd APD module 4 (using APD2 to represent in Fig. 2,4 and 6), Ambient light i.e. environment light beam after 2nd APD module 4 will focus on is converted into the second signal of telecommunication S2, and is sent to amplifying circuit mould Block 5.
In actual application, an APD module 3 and the 2nd APD module 4 are symmetrically mounted on condenser lens 2 axis institute by the present invention In the upper and lower both sides of horizontal plane, and need between the two to ensure the first predeterminable range, can by arranging this first predeterminable range To ensure that an APD module and the 2nd APD module have the identical angle of visual field.Corresponding, now laser emitting module 1 is arranged Upper side coil at condenser lens 2.
It should be noted that above-mentioned first predeterminable range, refer to install between an APD module 3 and the 2nd APD module 4 The distance of position.This first predeterminable range can be according to the size of condenser lens 2, and the light path of echo impulse and ambient light is carried out Adjust.
Amplification circuit module 5 electrically connects with an above-mentioned APD module 3 and the 2nd APD module 4, for respectively to the first electricity Signal and second signal of telecommunication are amplified.In the embodiment of the present invention, amplification circuit module 5 can use the signal of prior art to put Big circuit realiration, it would however also be possible to employ there are the chip of signal amplifying function, device etc. and realize, fall into the protection model of the application equally Enclose.
Subtracter block 6 electrically connects with amplification circuit module 5, receives first signal of telecommunication and second signal of telecommunication respectively, then Both are done subtraction and obtains the 3rd signal of telecommunication i.e. differential signal δ (S1,S2), as shown in Figure 10.Visible, the 3rd signal of telecommunication Refer to echo impulse filters the pulse signal after ambient light noise, the laser that this pulse signal produces with excitation-emission module Relatively, i.e. laser pulse is affected by ambient light the least for pulse signal, is conducive to improving the accurate of subsequent calculations result Degree.
It should be noted that amplification circuit module 5 can be separately provided in the embodiment of the present invention, it is arranged on subtracter block The front of or behind of 6, it is also possible to be incorporated in same module with subtracter block 6.Above-mentioned subtracter block 6 can use Difference amplifier or subtracter block operational amplification circuit the most in the art realize, and such as subtracter block 6 uses computing When amplifier is made, corresponding amplification can be set by the parameter of regulation operational amplifier peripheral circuit, the most permissible Remove above-mentioned amplification circuit module 5.Those skilled in the art can be according to concrete scene setting amplification circuit module and subtractor Block combiner order, it would however also be possible to employ comprise subtraction and/or the circuit of signal amplifying function, chip, device realization, the present invention It is not construed as limiting.Corresponding, when being provided with amplification circuit module 5, an above-mentioned APD module 3 and the 2nd APD module 4 are fixed It is arranged in this amplification circuit module 5；When removing amplification circuit module 5, above-mentioned APD module 3 and a 2nd APD module 4 It is fixedly mounted in subtracter block 6.Same those skilled in the art can be configured according to concrete scene, and the present invention does not makees Limit.
In actual application, laser pulse is a spatial and temporal distributions function, and an APD module and the 2nd APD module obtain respectively To echo impulse and ambient light power can be regarded as laser pulse and target measurement thing, medium, circuit interact mistake Journey, uses below equation to represent:
P 1 = P L + P B 1 + P D P 2 = P B 2 + P D ;
In formula, P1Represent the echo power of the echo impulse of an APD module reception；P2Represent what the 2nd APD module received The echo power of ambient light；PLRepresent the exact value of the echo power of echo impulse；PB1And PB2Respectively represent an APD module and The ambient light noise power that 2nd APD module receives；PDIndication circuit signal noise power.
P1With P2Expression formula after subtracting each other is:
P1-P2=PL+PB1-PB2。
As shown in figure 11, the computing formula that APD module is affected by ambient light:
P B = π 4 · Ω s 2 · L λ · β · θ r 2 · d r 2 · 1 - T a a ;
Wherein,LλRepresentation unit wavelength interval is radiated the radiant power of unit solid angle；β is scattering Coefficient；θrRepresent the angle of visual field；drRepresent APD diameter；A represents atmosphere attenuation coefficien；Ta=exp (-ax).
The embodiment of the present invention select two APD modules that size is identical as an APD module and the 2nd APD mould Block, and ensure θr1=θr2, so that PB1And PB2Equal, now, PL=P1-P2。
Processor 7 electrically connects with subtracter block 6, after receiving the 3rd signal of telecommunication, and first record end time tstop, tstop=F (δ (S1,S2)), then according to the distance between formula calculating laser emitting module 1 and target measurement thing 0:
R=L/2=C (tstop-tstart)/2=C (F (δ (S1,S2))-tstart)/2。
In formula, S1, S2Represent echo pulse signal respectively；δ(S1,S2) represent the differential signal that subtracter block is exported； tstop=F (δ ()) represents that processor receives the termination time as the echo impulse time of differential signal.
It should be noted that above-mentioned processor can use single-chip microcomputer of the prior art, ARM or dsp chip function Realizing, the present invention is not construed as limiting.
Disclosing the situation including amplification circuit module in the embodiment of the present invention, certain those skilled in the art can not also Use amplification circuit module, enlarging function is set in subtracter block module, equally realizes the scheme of the application, at this No longer describe in detail.
In sum, the laser distance measurement methods based on double APD of embodiment of the present invention offer and device, by light path Oneth APD module and the 2nd APD module be set, and utilize an APD module echo impulse is converted into first signal of telecommunication and Utilizing the 2nd APD module that ambient light is converted into secondary signal, then recycling subtracter block seeks first signal of telecommunication and second The difference of the signal of telecommunication, such that it is able to filter out the ambient light noise included in echo impulse, can improve laser in subsequent calculations The degree of accuracy of range finding.When being provided with amplification circuit module after an APD module and the 2nd APD module, utilize the difference engine can So that the noise of amplification circuit module is filtered out simultaneously.Visible, the present invention can by the ambient light noise in echo-signal and Amplification circuit module noise filters out simultaneously, is effectively improved the degree of accuracy of range finding.
In the present invention, term " first ", " second ", " the 3rd " are only used for describing purpose, and it is not intended that instruction or Hint relative importance.Term " multiple " refers to two or more, unless otherwise clear and definite restriction.
Although being described in conjunction with the accompanying embodiments of the present invention, but those skilled in the art can be without departing from this Making various modifications and variations in the case of bright spirit and scope, such amendment and modification each fall within by claims Within limited range.

Claims (9)

1. a laser distance measurement method based on double APD, it is characterised in that be applied to laser ranging system based on double APD, institute State device and at least include an APD module, the 2nd APD module and subtracter block；Described method includes:
Laser emitting module launches laser pulse to target measurement thing so that described laser pulse arrives described target measurement thing Rear formation echo impulse；Described echo impulse includes ambient light noise；
The echo impulse received is focused by condenser lens, is focused the ambient light received simultaneously；Described echo arteries and veins Punching is received by the diverse location of described condenser lens with described ambient light；
Echo impulse after oneth APD module will focus on is converted into first signal of telecommunication；2nd APD module will focus on after ambient light It is converted into second signal of telecommunication；
Subtracter block subtracts process to filter in described echo impulse to described first signal of telecommunication and described second signal of telecommunication Ambient light noise thus obtain the 3rd signal of telecommunication；
Processor calculates the distance between laser emitting module and described target measurement thing according to described 3rd signal of telecommunication.
Laser distance measurement method the most according to claim 1, it is characterised in that when described device also includes amplification circuit module Time, described amplifying circuit electrically connects with a described APD module and described 2nd APD module, and described subtracter block is with described Amplifying circuit electrically connects；Described method also includes:
Described first signal of telecommunication and described second signal of telecommunication are amplified and are sent to described by described amplification circuit module respectively Subtracter block.
Laser distance measurement method the most according to claim 2, it is characterised in that a described APD module and described 2nd APD Module is fixed in described amplification circuit module, and between a described APD module and described 2nd APD module, holding first is pre- If distance is identical with the visual angle both ensureing.
4. according to the laser distance measurement method described in any one of claims 1 to 3, it is characterised in that described processor is according to following Distance between the formula described laser emitting module of calculating and described target measurement thing:
R=L/2=C (tstop-tstart)/2；
In formula, tstartRepresent that laser emitting module sends the initial time of laser pulse；tstopRepresent that processor gets difference The end time of signal；R represents the actual range between laser emitting module and target measurement thing；L represents that laser pulse passes through Actual range；C represents laser speed.
Laser distance measurement method the most according to claim 4, it is characterised in that described tstopEmploying below equation calculates:
tstop=F (δ (S1,S2))；
In formula, S1, S2Represent echo pulse signal respectively；δ(S1,S2) represent the differential signal that subtracter block is exported；tstop =F (δ ()) represents that processor receives the termination time as the echo impulse time of differential signal.
6. laser ranging systems based on double APD, described device includes laser emitting module, condenser lens, an APD module And processor, it is characterised in that described device also includes an APD module, the 2nd APD module and subtracter block；
Described laser emitting module is for sending laser pulse to target measurement thing；Described laser pulse arrives described target Forming echo impulse after measuring thing, described echo impulse comprises ambient light noise；
Described condenser lens is arranged in the light path of described echo impulse, for being focused described echo impulse, and to ring Border light is focused；
A described APD module is arranged in the light path of described echo impulse, and the echo impulse after focusing on is converted into the One signal of telecommunication；
Described 2nd APD module is arranged in the light path of described ambient light, and the ambient light after focusing on is converted into the second electricity Signal；
Described subtracter block is connected with a described APD module and described 2nd APD module, for described first signal of telecommunication Subtract with described second signal of telecommunication and process with the ambient light noise that filters in described echo impulse thus obtain the 3rd signal of telecommunication；
Described processor electrically connects with described subtracter block, for according to described 3rd the signal of telecommunication calculate laser emitting module with Distance between described target measurement thing.
Laser ranging system the most according to claim 6, it is characterised in that described device also includes amplification circuit module, Described amplification circuit module is arranged between an APD module and described 2nd APD and described subtracter block, for described First signal of telecommunication and described second signal of telecommunication are amplified and are sent to described subtracter block；
Or,
Described amplification circuit module is arranged between described subtracter block and described processor, for described 3rd signal of telecommunication It is amplified and is sent to described process.
8. according to the laser ranging system described in claim 6 or 7, it is characterised in that a described APD module and described second APD module is fixedly mounted in described amplification circuit module, and installation site is symmetrical about horizontal line.
Laser ranging system the most according to claim 8, it is characterised in that a described APD module and described 2nd APD Keep the first predeterminable range identical with the visual angle both ensureing between module.
CN201610714788.1A 2016-08-24 2016-08-24 Laser distance measurement methods based on double APD and device Pending CN106093958A (en)

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