CN109917405B - Laser ranging method and system - Google Patents
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Abstract
The invention discloses a laser ranging method and a system, which reduce the frequency to 0 frequency by down-converting the electrical signal after frequency mixing, and then sample the signal after down-converting to make the sampling frequency larger than the bandwidth of the signal, thus the subsequent data processing capability can be greatly improved, and the sampling digit is also improved compared with that before down-converting, thereby improving the signal-to-noise ratio of the system, improving the action distance and reducing the power consumption volume.
Description
Technical Field
The invention relates to the technical field of laser detection, in particular to a laser ranging method and a laser ranging system.
Background
The principle of the pulse laser ranging system is similar to that of the microwave pulse radar ranging system, laser pulses are transmitted to a measured target at a ranging point, and a small part of laser transmitted to the target is reflected to the ranging point and received by an optical detector receiver. Assuming that the target distance is R, the round-trip elapsed time of the laser pulse is t, and the propagation speed of the light in the air is c, the distance measurement formula is as follows: and R is ct/2.
The existing pulse laser ranging method generally adopts a direct receiving mode. The detector directly receiving laser converts the light power irradiated on the photosensitive surface of the laser into photocurrent or light power changing along with time, and judges whether an echo signal exists or not by detecting the amplitude of the laser echo signal. To increase the range, the pulse width is typically reduced by increasing the peak power to the laser emitting source. However, the improvement of the peak power of the laser emission source is limited, and along with the improvement of the peak power, the power consumption, the volume and the cooling device of the corresponding laser emission source are all very large, and the use of the actual application scene cannot be met.
In order to solve the problem, coherent heterodyne reception is adopted in a reception mode. And mixing the weak electric signal containing noise with the other reference electric signal, performing correlation integration, eliminating the noise by utilizing the irrelevance of the effective signal and the noise, and detecting the effective signal. For such a detection method, the working distance can be increased by increasing the laser energy, i.e., increasing the pulse width and also increasing the peak power appropriately, so that the working distance is longer when the average power of the laser is smaller. In this case, the power consumption and the volume of the laser are small.
For the case of coherent heterodyne reception, the requirements on the coherent conditions of light such as collimation and frequency stability of local oscillation light and signal light are high. Meanwhile, echo signals need to be sampled in processing, because the echo signals are electric signals obtained by mixing local oscillation light and signal light, the electric signals are generally about 500MHz, and if the signals are directly sampled, at least 1GHz sampling rate is needed, so that the requirement on subsequent data processing energy is high, and the real-time application requirement is difficult to meet.
Disclosure of Invention
The invention provides a laser ranging method and a laser ranging system, which aim to solve the problem that in the prior art, the difficulty in directly processing data of a mixing signal is high under the condition of coherent heterodyne reception.
In a first aspect, the present invention provides a laser ranging method, including:
mixing a laser echo signal returned by a target to be detected with a local oscillator optical signal to obtain a mixing signal, converting the mixing signal into a mixing electric signal, and amplifying the mixing electric signal;
dividing the amplified mixed electric signal into a plurality of sections, and processing each section of signal as follows:
dividing the segmented signals into two paths, and mixing the two paths of signals with sinusoidal oscillation signals with the relative phase of 90 degrees respectively to obtain an I path of signals and a Q path of signals;
shifting the frequency of the I path signal and the Q path signal to zero frequency, filtering out a high frequency signal, and reserving a low frequency signal to obtain the I path signal and the Q path signal with the bandwidth of a preset bandwidth B and the frequency of zero frequency;
collecting the filtered I path signals and Q path signals, and extracting the collected I path signals and Q path signals in a mode of cascading a preset number of half-band filters according to the filtering processing capacity of the finite impulse response FIR filter;
filtering the acquired I path signal and Q path signal by the finite impulse response FIR filter to obtain two paths of digitized I path signals and Q path signals;
calculating a complex signal x (n) (I (n) + jq (n)) based on two paths of digitized signals I and Q, performing FFT operation on the complex signal to obtain a frequency spectrum at a zero frequency, judging whether target information exists in the segment according to a frequency spectrum value of the frequency spectrum, and calculating the distance of a target to be detected based on the target information after the target information is determined to exist.
Preferably, the two sinusoidal oscillation signals with a relative phase of 90 ° are generated by two sinusoidal oscillators.
Preferably, the acquiring the filtered I-path signal and the Q-path signal includes:
and the filtered I path signal and the filtered Q path signal are collected through an ADC (analog to digital converter), and the sampling rate meets the Nyquist theorem.
Preferably, the extracting the two collected signals by a preset number of half-band filters in a cascade mode includes:
2, the collected two paths of signals are subjected to cascade connection by N half-band filtersNAnd (5) performing multiple extraction, wherein N is a natural number.
Preferably, the local oscillator optical signal is generated by a frequency modulation wide pulse optical fiber laser.
In a second aspect, the present invention provides a laser ranging system, comprising:
the frequency mixer is used for mixing the laser echo signal returned by the target to be detected with the local oscillator optical signal to obtain a mixing signal;
the detector is used for converting the mixing signal into a mixing electric signal, amplifying the mixing electric signal, dividing the amplified mixing electric signal into a plurality of sections, and processing each section of signal as follows: dividing the segmented signals into two paths, mixing the two paths of signals with sinusoidal oscillation signals with the relative phase of 90 degrees respectively to obtain an I path of signals and a Q path of signals, and moving the frequency of the I path of signals and the frequency of the Q path of signals to zero frequency;
the low-pass filter is used for filtering the I path signal and the Q path signal which are shifted to the zero frequency, filtering out a high-frequency signal, and reserving a low-frequency signal to obtain the I path signal and the Q path signal with the bandwidth of a preset bandwidth B and the frequency of the zero frequency;
the ADC is used for collecting the filtered I path signal and the filtered Q path signal;
the method comprises the following steps that a preset number of half-band filters are connected in a cascade mode, and the collected I-path signals and Q-path signals are extracted according to the filtering processing capacity of a finite impulse response FIR filter;
the finite impulse response FIR filter is used for filtering the two collected signals to obtain two paths of digitized signals I and Q;
a processor for calculating complex signals based on two paths of digitized I path signals and Q path signals
And x (n) ((i) (n) + jq (n)), performing FFT operation on the complex signal to obtain a frequency spectrum at the zero frequency, determining whether target information exists in the segment according to a frequency spectrum value of the frequency spectrum, and calculating the distance of the target to be measured based on the target information after determining that the target information exists.
Preferably, the system further comprises: two sinusoidal oscillators for generating the two sinusoidal oscillation signals with a relative phase of 90 °.
Preferably, the ADC is further configured to collect the filtered I-path signal and the filtered Q-path signal by the ADC, and a sampling rate satisfies a nyquist theorem.
Preferably, the number of the half-band filters is N, and the acquired two-path signals are subjected to 2-pass filtering through cascade connection of the N half-band filtersNAnd (5) performing multiple extraction, wherein N is a natural number.
Preferably, the system further comprises: a bandwidth-modulated pulse fiber laser;
and the bandwidth modulation pulse fiber laser is used for generating the local oscillator optical signal.
The invention has the following beneficial effects:
the invention reduces the frequency to 0 frequency by down-converting the electric signal after frequency mixing, and then samples the signal after down-conversion to ensure that the sampling frequency is larger than the bandwidth of the signal, thereby greatly improving the subsequent data processing capability, and simultaneously improving the sampling digit compared with the signal before down-conversion, thereby improving the signal-to-noise ratio of the system, improving the action distance and reducing the power consumption volume.
Drawings
Fig. 1 is a schematic flow chart of a laser ranging method according to a first embodiment of the present invention;
fig. 2 is a schematic diagram of the decimation and filtering of the I-path signal and the Q-path signal according to the first embodiment of the present invention.
Detailed Description
The embodiment of the invention reduces the frequency to 0 frequency by down-converting the electric signal after frequency mixing, and then samples the signal after down-converting to ensure that the sampling frequency is greater than the bandwidth of the signal, thereby greatly improving the subsequent data processing capability, and simultaneously improving the sampling digit number compared with the sampling digit number before down-converting, thereby improving the signal-to-noise ratio of the system, improving the action distance and simultaneously reducing the power consumption volume. The present invention will be described in further detail below with reference to the drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
A first embodiment of the present invention provides a laser ranging method, referring to fig. 1, the method including:
s101, mixing a laser echo signal returned by a target to be detected with a local oscillator optical signal to obtain a mixing signal, converting the mixing signal into a mixing electric signal, and amplifying the mixing electric signal;
specifically, the local oscillator optical signal is generated by a frequency modulation wide pulse optical fiber laser.
In addition, in the embodiment of the present invention, the mixed electrical signal is subjected to signal amplification, for example, three-level signal amplification is performed on the mixed electrical signal, based on the fact that the mixed electrical signal can be acquired.
S102, dividing the amplified mixed electric signal into a plurality of sections, and carrying out the following processing on each section of signal;
s103, dividing the segmented signals into two paths, and mixing the two paths of signals with sinusoidal oscillation signals with the relative phases of 90 degrees to obtain an I path of signals and a Q path of signals;
the two sinusoidal oscillation signals with the relative phase of 90 degrees are generated by two sinusoidal oscillators.
S104, shifting the frequency of the I-path signal and the Q-path signal to zero frequency, filtering, and filtering out high-frequency signals to obtain the I-path signal and the Q-path signal with the bandwidth of a preset bandwidth B and the frequency of zero frequency;
because I, Q two-way signals all can produce high frequency signal in the process of moving, specifically, this high frequency signal is 2 times of former I, Q signal frequency respectively, when the concrete implementation, need filter this high frequency signal.
S105, collecting the filtered I path signals and Q path signals, and extracting the collected I path signals and Q path signals according to the filtering processing capacity of the finite impulse response FIR filter in a mode of cascading a preset number of half-band filters;
specifically, the embodiment of the invention collects the filtered I-path signal and the filtered Q-path signal through the ADC, and the sampling rate meets the Nyquist theorem.
The embodiment of the invention extracts two collected signals in a mode of cascading a preset number of half-band filters, and specifically comprises the following steps: by N halvesCarrying out 2 processing on the acquired I path signal and Q path signal in a mode of cascade filterNAnd (5) performing multiple extraction, wherein N is a natural number.
It should be noted that the extraction result in the embodiment of the present invention is limited by the filtering capability of the present invention, that is, the present invention extracts the I-path signal and the Q-path signal acquired by using the filtering capability of the present invention, and those skilled in the art may also extract the I-path signal and the Q-path signal acquired according to actual needs when implementing the present invention, which is not limited by the present invention.
S106, filtering the acquired I path signal and the Q path signal through a finite impulse response FIR filter to obtain two paths of digitized I path signals and Q path signals;
s107, calculating a complex signal x (n) ═ I (n) + jQ (n) based on two paths of digitized I signals and Q signals, performing FFT operation on the complex signal to obtain a frequency spectrum at a zero frequency, judging whether target information exists in the segment according to the frequency spectrum value of the frequency spectrum, and calculating the distance of the target to be detected based on the target information after the target information is determined to exist.
Specifically, the embodiment of the present invention calculates and determines whether target information exists in each signal segment, and calculates the distance to the target to be measured based on the obtained target information.
Generally speaking, the embodiment of the invention reduces the frequency to 0 frequency by down-converting the electrical signal after frequency mixing, and then samples the signal after down-converting to make the sampling frequency greater than the bandwidth of the signal, so that the subsequent data processing capability can be greatly improved, and the sampling bit number is also improved compared with that before down-converting, thereby improving the signal-to-noise ratio of the system, improving the action distance and reducing the power consumption volume.
The embodiment of the invention provides a method for increasing the laser ranging action distance, which adopts a frequency modulation wide pulse high-energy fiber laser as a laser source and has the advantages of small volume, light weight and low power consumption. The laser source is connected with other components through optical fibers, after the local oscillation light and the echo signal reflected by the target object are mixed, the mixed frequency signal is detected by utilizing the PIN type silicon photodiode, the detected electric signal is subjected to signal amplification, down conversion, filtering and FFT operation, and then the distance information is calculated.
The specific method comprises the following steps:
(1) the single-frequency laser seed source is divided into two paths, and one path of local oscillator light directly enters the frequency mixer; the other path is chopped and modulated at a fixed frequency by an acousto-optic modulator, then enters a laser amplifier, is amplified in power and then irradiates a target to be detected;
(2) the laser echo signal returned by the target to be detected and the local oscillator optical signal are subjected to frequency mixing in a frequency mixer to obtain a frequency mixing optical signal, and the frequency mixing optical signal is received by a detector;
(3) the detector converts the mixing optical signal into a mixing electric signal, and performs three-level signal amplification on the mixing electric signal;
(4) the amplified signal is divided into a plurality of sections, and whether or not information exists in each section is processed according to the following method,
(5) the amplified electric signals are equally divided into two paths; the two signals are respectively mixed with two sine oscillators with the relative phase of 90 degrees, and the two signals are respectively cos (2 pi f)ct)，-sin(2πfct), the two signals are generated by a DDS (direct digital frequency synthesis), one DDS device outputs adjustable sin waveforms, and the other DDS device outputs adjustable cos waveforms. The local oscillator is generated by DDS IC of AD company (for example, AD9915 can generate sine wave signal up to 1 GHz), and two DDS ICs are used to achieve synchronization and phase difference.
Through the direct digital frequency synthesis chip of ADI company, it can conveniently generate sine wave, sweep frequency, various modulation waveforms.
The AD983X series DDS is low power consumption type, the highest frequency is 50MHz, and high-speed 10-bit DAC output is used. The method is suitable for portable equipment application with strict requirements on power consumption. The AD9834 is internally provided with a comparator which can directly output square waves. The highest input clock of the AD985X series reaches 1GHz, and the AD9850 and the AD9851 have various phase modulation or frequency modulation functions. The AD995X series DDS is a low power consumption product of ADI corporation, and although the AD985X series has high performance, the power consumption is large, and it is basically impossible to use it in portable devices. Particularly, the AD9954 has extremely low power consumption, and the performance is the top level in the AD995X series. Many applications require the generation of two or more sine or square wave signals with a known phase relationship. AD9915DDS IC from ADI corporation can provide such a signal. The application requirements based on this patent are: two sine wave signals are generated with a known phase relationship. An AD9915DDS chip of ADI company can be adopted, the chip has an internal clock speed as high as 2.5GSPS, and can generate an analog signal with frequency hopping as high as 1.0GHz, so that the requirements of experiments are fully met. And contains a high-speed 32-bit parallel data interface, the fast programming of the entire phase, frequency and amplitude tuning word can be accomplished within 300 ns. Since the AD9915 can only generate one path of DA, we need to synchronize two of the devices, and the REFCLK, SYSCLK and IO _ UPDATE timing of each device must be well controlled. The specific method can be found in AN-1254-cn. One DDS device outputs an adjustable sin waveform, and the other DDS device outputs an adjustable cos waveform.
(6) The two paths of signals are mixed with the amplified electric signals to obtain signals of an I path and a Q path, so that down-conversion is realized, and the frequency of the signals is shifted to zero frequency. And then filtering out unnecessary high-frequency harmonic signals by a low-pass filter. Due to the phase mixing, the frequency spectrum of the I, Q two signals will be at zero frequency and 2fcThe high-frequency signal 2f can be filtered out by means of an analog low-pass filter (LPF) in each casecAnd obtaining the signals of the I path and the Q path with the bandwidth of B and the frequency of zero frequency.
(7) The acquired signals of the path I and the path Q are acquired by adopting an ADC (analog to digital converter), and the sampling rate can meet the Nyquist theorem (more than or equal to 2 times of signal bandwidth).
(8) The two paths of signals after passing through the ADC respectively adopt N half-band filters, for example, N is 3(HB3, HB2 and HB1), 8 times of extraction can be realized, the half-band filters are very suitable for a multi-rate conversion system, and 2 times of extraction can be conveniently realized by adopting a mode of cascading the N half-band filtersNAnd (5) performing doubling extraction.
Both QUARTUS and VIVADO provide FIRIP core with which half-band filters can be designed that can perform 2-fold decimation, and then FIR half-band filters are cascaded in the top layer in verilog language to decimate and filter the I and Q paths, as shown in FIG. 2.
(9) After passing through 3 half-band filters, the two signals respectively pass through an FIR (finite impulse response) filter to obtain two paths of digitized IQ signals. When the passband of the half-band filter is small, the half-band filter is often not suitable for being used as the last stage of the multistage decimation filter, that is, the post-stage filter must have other types of FIR filters, but after the preceding decimation, the sampling rate is relatively low, so that under a certain processing clock, the FIR filter with higher-order general characteristics can be adopted, the performance indexes such as passband tolerance, transition bandwidth, stop band tolerance and the like are designed to be higher, and the overall requirements of the filtering characteristics are further met.
(10) After two paths of digitized IQ signals are obtained, a complex signal x (n) ═ I (n) + jQ (n) is obtained, and FFT operation is carried out on the complex signal to obtain a frequency spectrum at a zero frequency. Whether target information exists in the segment is judged through the spectrum value.
A second embodiment of the present invention provides a laser ranging system, including:
the frequency mixer is used for mixing the laser echo signal returned by the target to be detected with the local oscillator optical signal to obtain a mixing signal;
the detector is used for converting the mixing signal into a mixing electric signal, amplifying the mixing electric signal, dividing the amplified mixing electric signal into a plurality of sections, and processing each section of signal as follows: dividing the segmented signals into two paths, mixing the two paths of signals with sinusoidal oscillation signals with the relative phase of 90 degrees respectively to obtain an I path of signals and a Q path of signals, and moving the frequency of the I path of signals and the frequency of the Q path of signals to zero frequency;
specifically, the two sinusoidal oscillation signals with the relative phases of 90 ° are generated by two sinusoidal oscillators, and the sinusoidal oscillation signals are respectively mixed with the two equally divided signals.
A low pass filter for filtering the I path signal and Q path signal shifted to zero frequency to filter out high frequency signal 2fcObtaining a bandwidth ofPresetting a bandwidth B, and I and Q signals with frequencies at zero frequency;
the ADC is used for collecting the filtered I path signal and the filtered Q path signal;
the method comprises the following steps that a preset number of half-band filters are connected in a cascade mode, and the collected I-path signals and Q-path signals are extracted according to the filtering processing capacity of a finite impulse response FIR filter;
the finite impulse response FIR filter is used for filtering the two collected signals to obtain two paths of digitized signals I and Q;
and the processor is used for calculating a complex signal x (n) ═ I (n) + jQ (n) based on the two paths of digitized I signals and Q signals, performing FFT operation on the complex signal to obtain a frequency spectrum at a zero frequency, judging whether target information exists in the segment according to the frequency spectrum value of the frequency spectrum, and calculating the distance of the target to be detected based on the target information after the target information is determined to exist.
In specific implementation, the ADC according to the embodiment of the present invention is further configured to collect the filtered I-path signal and Q-path signal through the ADC, and a sampling rate satisfies the nyquist theorem.
In specific implementation, the number of the half-band filters is N, and the acquired two paths of signals are subjected to 2-pass filtering through cascade connection of the N half-band filtersNAnd (5) performing multiple extraction, wherein N is a natural number.
The system of the embodiment of the invention generates the local oscillator optical signal through a frequency modulation wide pulse optical fiber laser.
The embodiments of the present invention may be understood with reference to the method embodiments, which are not discussed in detail herein.
Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, and the scope of the invention should not be limited to the embodiments described above.
Claims (10)
1. A laser ranging method, comprising:
dividing a single-frequency laser seed source into two paths of signals, wherein one path of signal is a local oscillator optical signal, the other path of signal is a laser signal obtained by chopping, modulating with fixed frequency and amplifying power of the local oscillator optical signal through an acoustic optical modulator, and irradiating the laser signal to the surface of a target to be detected;
mixing a laser echo signal returned by a target to be detected with a local oscillator optical signal to obtain a mixing signal, converting the mixing signal into a mixing electric signal, and amplifying the mixing electric signal;
dividing the amplified mixed electric signal into a plurality of sections, and processing each section of signal as follows:
dividing the segmented signals into two paths, and mixing the two paths of signals with sinusoidal oscillation signals with the relative phase of 90 degrees respectively to obtain an I path of signals and a Q path of signals, wherein the sinusoidal oscillation signals with the relative phase of 90 degrees are determined according to the fixed frequency;
shifting the frequency of the I path signal and the Q path signal to zero frequency, filtering out a high frequency signal, and reserving a low frequency signal to obtain the I path signal and the Q path signal with the bandwidth of a preset bandwidth B and the frequency of zero frequency;
collecting the filtered I path signals and Q path signals, and extracting the collected I path signals and Q path signals in a mode of cascading a preset number of half-band filters according to the filtering processing capacity of the finite impulse response FIR filter;
filtering the acquired I path signal and Q path signal by the finite impulse response FIR filter to obtain two paths of digitized I path signals and Q path signals;
calculating a complex signal x (n) (I (n) + jq (n)) based on two paths of digitized signals I and Q, performing FFT operation on the complex signal to obtain a frequency spectrum at a zero frequency, judging whether target information exists in the segment according to the frequency spectrum value of the frequency spectrum, and calculating the distance of a target to be detected based on the target information after the target information is determined to exist.
2. The method of claim 1,
two sinusoidal oscillation signals with the relative phase of 90 degrees are generated by two sinusoidal oscillators.
3. The method of claim 1 or 2, wherein collecting the filtered I and Q signals comprises:
and the filtered I path signal and the filtered Q path signal are collected through an ADC (analog to digital converter), and the sampling rate meets the Nyquist theorem.
4. The method according to claim 1 or 2, wherein the extracting the two collected signals by means of cascading a preset number of half-band filters comprises:
2, the collected two paths of signals are subjected to cascade connection by N half-band filtersNAnd (5) performing multiple extraction, wherein N is a natural number.
5. The method according to claim 1 or 2,
the local oscillator optical signal is generated by a frequency modulation wide pulse optical fiber laser.
6. A laser ranging system, comprising:
the laser amplifier is used for carrying out power amplification on the laser signal which is subjected to chopping and fixed frequency modulation by the acousto-optic modulator in one of the two paths of signals into which the single-frequency laser seed source is divided, and irradiating the laser signal to the surface of a target to be detected;
the frequency mixer is used for mixing the laser echo signal returned by the target to be detected with the local oscillator optical signal to obtain a mixing signal;
the detector is used for converting the mixing signal into a mixing electric signal, amplifying the mixing electric signal, dividing the amplified mixing electric signal into a plurality of sections, and processing each section of signal as follows: dividing the segmented signals into two paths, mixing the two paths of signals with sinusoidal oscillation signals with the relative phase of 90 degrees respectively to obtain an I path of signals and a Q path of signals, wherein the sinusoidal oscillation signals with the relative phase of 90 degrees are determined according to the fixed frequency, and the frequency of the I path of signals and the frequency of the Q path of signals are shifted to zero frequency;
the low-pass filter is used for filtering the I path signal and the Q path signal which are shifted to the zero frequency, filtering out a high-frequency signal, and reserving a low-frequency signal to obtain the I path signal and the Q path signal with the bandwidth of a preset bandwidth B and the frequency of the zero frequency;
the ADC is used for collecting the filtered I path signal and the filtered Q path signal;
the method comprises the following steps that a preset number of half-band filters are connected in a cascade mode, and the collected I-path signals and Q-path signals are extracted according to the filtering processing capacity of a finite impulse response FIR filter;
the finite impulse response FIR filter is used for filtering the two collected signals to obtain two paths of digitized signals I and Q;
and the processor is used for calculating the complex signal x (n) ═ I (n) + jQ (n), performing FFT operation on the complex signal to obtain a frequency spectrum at the zero frequency, judging whether target information exists in the segment according to the frequency spectrum value of the frequency spectrum, and calculating the distance of the target to be detected based on the target information after the target information is determined to exist.
7. The system of claim 6, further comprising:
two sinusoidal oscillators for generating the two sinusoidal oscillation signals with a relative phase of 90 °.
8. The system of claim 6 or 7,
the ADC is further used for collecting the filtered I-path signals and the filtered Q-path signals through the ADC, and the sampling rate meets the Nyquist theorem.
9. The system of claim 6 or 7,
the number of the half-band filters is N, and the acquired two paths of signals are subjected to 2-pass filtering through cascade connection of the N half-band filtersNAnd (5) performing multiple extraction, wherein N is a natural number.
10. The system of claim 6 or 7, further comprising: a bandwidth-modulated pulse fiber laser;
and the bandwidth modulation pulse fiber laser is used for generating the local oscillator optical signal.
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