CN110261864A - A kind of pulsed laser ranging system echo signal processing equipment and method - Google Patents
A kind of pulsed laser ranging system echo signal processing equipment and method Download PDFInfo
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- CN110261864A CN110261864A CN201910285639.1A CN201910285639A CN110261864A CN 110261864 A CN110261864 A CN 110261864A CN 201910285639 A CN201910285639 A CN 201910285639A CN 110261864 A CN110261864 A CN 110261864A
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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
- G01S7/4861—Circuits for detection, sampling, integration or read-out
-
- 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
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
-
- 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
- G01S7/4873—Extracting wanted echo signals, e.g. pulse detection by deriving and controlling a threshold value
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of pulsed laser ranging system echo signal processing equipment and method, which includes master controller, driving circuit, laser, optical system, PIN photoelectric detector, main twt amplifier, fixed threshold moment discrimination circuit, APD photodetector, preamplifier, main amplifier, Autocorrelation Detection circuit, Double-threshold moment discriminator circuit, HVB high voltage bias circuit, the first peak value sample circuit, the first A/D conversion circuit, the second peak value sampling circuit, the 2nd A/D conversion circuit, D/A conversion circuit, LED display and host computer.First peak value sample circuit, the first A/D conversion circuit, the second peak value sampling circuit, the 2nd A/D conversion circuit, D/A conversion circuit combination Double-threshold moment discriminator circuit of the invention, stationary echo signal amplitude, Autocorrelation Detection circuit is used simultaneously, echo-signal is extracted from noise, improve system signal noise ratio, range accuracy is improved, expands systematic survey range, and this method can also improve level of integrated system simultaneously.
Description
Technical field
The present invention relates to laser ranging technique fields, more particularly to a kind of based on the high-precision of flight time measurement
Spend a wide range of pulsed laser ranging system echo signal processing equipment and method.
Background technique
Laser is widely used in ranging field, pulse laser because having many advantages, such as that good directionality, brightness are high, coherence is good
Ranging is high with peak power, detection range is remote, measurement accuracy is high, low to light source coherence requirement and excellent without cooperative target etc.
Point.The basic principle of pulsed laser ranging is laser to objective emission laser pulse, after laser reaches target surface diffusing reflection
By echo reception channel reception, and measure laser pulse from being emitted to the flight time t for receiving echo, it is to be measured to calculate with this
Distance L=c*t/2, wherein c is the light velocity, and time resolution is the key factor for determining range accuracy.
Traditional pulse laser ranging system includes: Laser emission, photodetection, amplifying circuit, moment discrimination circuit and meter
When several parts of control circuit.Since laser pulse is influenced to have different journeys by atmosphere and target scattering characteristics in communication process
The decaying of degree, when being closer, reflected laser pulse signal energy is stronger, causes photodetection output signal full
With, and distance farther out when, reflected signal is very faint, or even is submerged in noise, cause return laser beam amplitude change
It is larger, thus make return laser beam moment driscrimination error larger, influence range accuracy, while also constraining the measurement range of system.
There are mainly three types of currently used moment discrimination methods: fixed threshold moment differential method, high pass capacitance-resistance moment identify
Method and constant fraction discriminator moment differential method.Although fixed threshold moment differential method circuit structure is simple, certain noise can be filtered out, by
Echo drift error influences greatly, and precision is poor.Although the shadow that high pass capacitance-resistance method and constant fraction discriminator method are changed by echo signal amplitude
Sound is smaller, but does not both allow signal to be saturated, and does not meet the requirement of large-scale application, and vulnerable to noise shadow
Sound causes false triggering.
Based on the above analysis, stationary echo signal amplitude and raising system signal noise ratio are effectively to expand pulsed laser ranging
Sphere of action improves the key of its range accuracy.
Therefore, how to provide a kind of novel pulse laser ranging system echo signal processing equipment and method is this field skill
The problem of art personnel's urgent need to resolve.
Summary of the invention
In view of this, the present invention provides a kind of pulsed laser ranging system echo signal processing equipment and method, it can
Stationary echo signal amplitude and raising system signal noise ratio, improve range accuracy, expand systematic survey range.
To achieve the goals above, the present invention adopts the following technical scheme:
A kind of pulsed laser ranging system echo signal processing equipment, comprising: master controller, driving circuit, laser, light
System, PIN photoelectric detector, main twt amplifier, fixed threshold moment discrimination circuit, APD photodetector, preposition amplification
Device, main amplifier, Autocorrelation Detection circuit, Double-threshold moment discriminator circuit, HVB high voltage bias circuit, the first automatic growth control mould
Block, the second automatic growth control module and gain adjustment module；
The master controller, the driving circuit and the laser are sequentially connected, and the pulse that the laser generates swashs
Light enters the PIN photoelectric detector, the PIN photodetection through optical system light splitting afterpulse laser main wave signal
Device, the main twt amplifier, the fixed threshold moment discrimination circuit and the master controller are sequentially connected；
Pulse laser echo-signal after optical system light splitting enters the APD photodetector, the APD light
Electric explorer, the preamplifier, the main amplifier, the Autocorrelation Detection circuit, the dual threshold moment identify electricity
Road and the master controller are sequentially connected；
The output end of the preamplifier connects the input terminal of the second automatic growth control module, and described second
The output end of automatic growth control module connects the input terminal of the master controller；
The output of the Autocorrelation Detection circuit terminates the input terminal of the first automatic growth control module, and described the
The output end of one automatic growth control module connects the input terminal of the master controller；
The output end of the master controller is separately connected the input terminal and HVB high voltage bias electricity of the gain adjustment module
The input terminal on road, and the output end of the gain adjustment module connects the input terminal of the main amplifier, the HVB high voltage bias electricity
The output end on road connects the input terminal of the APD photodetector.
Further, the optical system includes beam expanding lens, spectroscope, receiving lens and narrow band filter, pulse laser according to
Secondary to be divided into two-way pulse laser through the beam expanding lens and the spectroscope, the main wave signal of pulse laser is visited into the PIN photoelectricity
Device is surveyed, pulse laser echo-signal sequentially enters the receiving lens and the narrow band filter after measured target diffusing reflection.
Further, the first automatic growth control module includes the first peak value sample circuit and the first A/D conversion circuit,
The output end of the Autocorrelation Detection circuit connects the input terminal of the first peak value sample circuit, the first peak value sampling electricity
The output end on road connects the input terminal of the first A/D conversion circuit, described in the output end connection of the first A/D conversion circuit
The input terminal of master controller；
The second automatic growth control module includes the second peak value sampling circuit and the 2nd A/D conversion circuit, before described
The output end for setting amplifier connects the input terminal of the second peak value sampling circuit, the output end of the second peak value sampling circuit
The input terminal of the 2nd A/D conversion circuit is connected, the output end of the 2nd A/D conversion circuit connects the master controller
Input terminal；
The gain adjustment module is D/A conversion circuit, and the output end of the master controller connects the D/A conversion circuit
Input terminal, the output end of the D/A conversion circuit connects the input terminal of the main amplifier.
Further, the master controller is FPGA master controller.
Further, further include LED display and host computer, the LED display and the host computer with the master control
Device connection processed.
A kind of pulsed laser ranging system echo signal processing method, comprising the following steps:
Step 1: after system electrification, master controller generates control signal and controls driving circuit, the driving circuit driving
Laser emission pulse laser；
Step 2: the pulse laser enters PIN photoelectric detector through optical system light splitting afterpulse laser main wave signal,
The main wave signal of pulse laser is converted to current signal by the PIN photoelectric detector, and the current signal enters main twt amplifier
It completes Current Voltage to convert and amplify voltage signal, amplified voltage signal is through fixed threshold moment discrimination circuit
Shaping obtains the digital signal at pulse laser emission moment, which enters in the master controller surveys as time interval
The initial time start of amount；
Step 3: the pulse laser echo-signal after optical system light splitting enters APD photodetector, described
The road pulse laser echo-signal is converted to current signal by APD photodetector, and the current signal enters preamplifier
Current Voltage is completed to convert and voltage signal is amplified to the voltage signal V met the requirements；
The voltage signal V divides two-way to be exported, exported all the way to main amplifier be further amplified to obtain meet it is subsequent
The voltage signal V that processing of circuit requires1, another output to the second automatic growth control module；
Digital signal V is obtained through the second automatic growth control modulep2And it stores in the host controller, and and main control
The threshold value V of device settingthIt is compared, and comparison result is fed back in gain adjustment module or HVB high voltage bias circuit；
The voltage signal V1Into Autocorrelation Detection circuit, high s/n ratio voltage signal V is exported after auto-correlation processing2；
Step 4: the high s/n ratio voltage signal V2Divide two-way output, enters the first automatic growth control module all the way
Obtain digital signal Vp1And it stores in the host controller, and two threshold value V with master controller settingHAnd VLIt is compared, VH>
VL, and comparison result is fed back into gain adjustment module；
Another way enters Double-threshold moment discriminator circuit and two echo moment distinguishing signals of generation is sent into main control
Stop signal stop1 and stop2 of the device as time interval measurement；
Step 5: the master controller measures the time between start and stop1 using FPGA delay line interpolation method respectively
It is spaced t1, time interval t between start and stop22, and measurement result is analyzed and processed, calculate pulse laser flight
Time Δ t obtains tested distance S using the pulse laser flight time Δ t.
Further, the optical system includes beam expanding lens, spectroscope, receiving lens and narrow band filter, pulse laser according to
Secondary to be divided into two-way pulse laser through the beam expanding lens and the spectroscope, the main wave signal of pulse laser is visited into the PIN photoelectricity
Device is surveyed, pulse laser echo-signal sequentially enters the receiving lens and the narrow band filter after measured target diffusing reflection,
Wherein, the receiving lens are focused the main wave signal of the pulse laser received, and the narrow band filter is to pulse laser
Main wave signal is filtered.
Further, the first automatic growth control module includes the first peak value sample circuit and the first A/D conversion circuit,
The first peak value sample circuit, which acquires the output signal peak value of the Autocorrelation Detection circuit and is transferred to the first A/D, to be turned
Circuit is changed, the first A/D conversion circuit is converted into digital signal Vp1, and it is sent to the master controller；
Second automatic growth control module includes the second peak value sampling circuit and the 2nd A/D conversion circuit, second peak
Value sample circuit acquires the output signal peak value of the preamplifier and is transferred to the 2nd A/D conversion circuit, and described
Two A/D conversion circuits are converted into digital signal Vp2, and it is sent to the master controller；
The gain adjustment module is D/A conversion circuit, and the D/A conversion circuit is for automatically controlling the main amplifier
Gain.
Further, the D/A conversion circuit carries out the specific steps of automatic growth control are as follows:
A, by the digital signal Vp1With two threshold value V of master controller settingHAnd VLIt is compared, VH>VLIf
Vp1<VL, then increase the gain of the main amplifier by the D/A conversion circuit, if VL≤Vp1≤VH, then the master is kept to put
The gain of big device is constant；
B, by digital signal Vp2With the threshold value V of master controller settingthIt is compared, if Vp1>VH, and Vp2>Vth, then
The bias that the APD photodetector is reduced by the HVB high voltage bias circuit, if Vp1>VH, and Vp2≤Vth, then by described
The gain of D/A conversion circuit reduction main amplifier.
Further, the master controller is FPGA master controller, error is compensated using calibration curve, when pulse laser flight
Between Δ t calculation formula are as follows:
Δ t=t1-Δterror(1)
Wherein, Δ terrorIndicate time drift error；
Tested distance S is obtained using the pulse laser flight time Δ t:
S=c Δ t/2 (2)
Wherein, c is the light velocity in vacuum；
The tested distance S carries out LED using LED display and shows, and carries out data preservation by host computer.
It can be seen via above technical scheme that compared with prior art, the present disclosure provides a kind of surveys of pulse laser
Away from system echoes signal processing apparatus and method, have the advantage that
(1) it present invention employs the amplitude fluctuation that automatic gain control greatly reduces echo-signal, can effectively reduce
Driscrimination error at the time of echo power drift is brought, while being missed using the remaining drift of dual threshold forward position moment differential method compensation
Difference, make to identify constantly precision is not influenced by echo-signal saturation, realizes that high-precision time identifies, solves echo power drift
The problem of being affected to range accuracy improves range accuracy and measurement range.
(2) present invention reduces system noise using Autocorrelation Detection circuit, improves system signal noise ratio, range accuracy and survey
Journey.
(3) present invention realizes the measurement to time interval and the control to system using FPGA master controller simultaneously, improves
The integrated level of system.
(4) signal-to-noise ratio is increased to 10dB or more to the present invention compared with prior art, and measurement range expands as 2m~3km, essence
Degree is increased within 0.5m.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 attached drawing is pulsed laser ranging system echo signal processing equipment schematic diagram provided by the invention.
Fig. 2 attached drawing is schematic diagram of optical system provided by the invention.
Fig. 3 attached drawing is pulsed laser ranging system echo signal processing method flow diagram provided by the invention.
Fig. 4 attached drawing is automatic growth control flow chart provided by the invention.
Fig. 5 attached drawing is Autocorrelation Detection circuit diagram provided by the invention.
Fig. 6 attached drawing is Autocorrelation Detection electrical block diagram provided by the invention.
Fig. 7 attached drawing is Double-threshold moment discriminator circuit structural schematic diagram provided by the invention.
Fig. 8 attached drawing is that Double-threshold moment discriminator circuit provided by the invention identifies schematic diagram.
Wherein, each component indicates:
1, master controller, 2, driving circuit, 3, laser, 4, optical system, 401, beam expanding lens, 402, spectroscope, 403,
Receiving lens, 404, narrow band filter, 5, PIN photoelectric detector, 6, main twt amplifier, 7, fixed threshold moment discrimination circuit,
8, APD photodetector, 9, preamplifier, 10, main amplifier, 11, Autocorrelation Detection circuit, 12, the identification of dual threshold moment
Circuit, 13, HVB high voltage bias circuit, the 14, first automatic growth control module, the 141, first peak value sample circuit, the 142, the first A/D
Conversion circuit, the 15, second automatic growth control module, the 151, second peak value sampling circuit, the 152, the 2nd A/D conversion circuit, 16,
Gain adjustment module, 17, LED display, 18, host computer.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The embodiment of the present invention realizes that high-precision, a wide range of pulse swash based on the light source of 1064nm pulse laser, 10ns pulsewidth
Ligh-ranging proposes novel echo signal processing equipment and method, first design automatic gain control circuit combination dual threshold echo
Signal moment discrimination circuit, stationary echo signal amplitude, while Autocorrelation Detection circuit is used, echo letter is extracted from noise
Number, system signal noise ratio is improved, range accuracy is improved, expands systematic survey range, this method can also improve the system integration simultaneously
Degree.
Specifically, a kind of pulsed laser ranging system echo signal processing equipment includes master controller 1, driving circuit 2, swashs
Light device 3, optical system 4, PIN photoelectric detector 5, main twt amplifier 6, fixed threshold moment discrimination circuit 7, APD photodetection
Device 8, preamplifier 9, main amplifier 10, Autocorrelation Detection circuit 11, Double-threshold moment discriminator circuit 12, HVB high voltage bias circuit
13, the first automatic growth control module 14, the second automatic growth control module 15, gain adjustment module 16,17 and of LED display
Host computer 18；
Wherein, laser 3 is 1064nm for generation wavelength, and pulsewidth is the pulse laser of 10ns；Optical system 4 is for converging
Poly- pulsed laser signal light splitting afterwards focus echo pulse signal, collimate and filter；PIN photoelectric detector 5 is for detecting main wave
Signal simultaneously carries out photoelectric conversion, and APD photodetector 8 is for detecting echo-signal and carrying out photoelectric conversion；Main 6 He of twt amplifier
Preamplifier 9 is converted into voltage signal to the main wave of output, echo low current signal respectively and amplifies；The fixed threshold moment
Discriminator circuit 7 is for identifying the main wave signal emission time of laser pulse；Autocorrelation Detection circuit 11 is for reducing noise, raising system
System signal-to-noise ratio, realization extract faint echo-signal from noise；HVB high voltage bias circuit 13 to APD photodetector for mentioning
For HVB high voltage bias voltage；First automatic growth control module 14, the second automatic growth control module 15 and gain adjustment module 16,
FPGA master controller is big according to the preamplifier output voltage amplitude and Autocorrelation Detection circuit output voltage amplitude detected
It is small to be compared and calculate with corresponding threshold value, the gain of feedback regulation main amplifier and the bias voltage of APD photodetector,
Reduce the fluctuation range of echo signal amplitude, and then improves system signal noise ratio and range accuracy；Double-threshold moment discriminator circuit 12
For accurately identifying the arrival time of echo-signal, range accuracy is improved；Master controller 1 is FPGA master controller, FPGA master control
Device processed realizes the high resolution measurement of time interval between main echo using FPGA internal delay units, while FPGA is also as system
System controller, improves level of integrated system；LED display 17, for showing the distance measurement result of FPGA master controller calculation processing；On
Position machine 18 saves measurement result for carrying out serial communication with FPGA master controller.
Its connection relationship is, in conjunction with Fig. 1, FPGA master controller, driving circuit 2 and laser 3 are sequentially connected, laser 3
Pulse laser enters PIN photoelectric detector 5 to the pulse laser of generation all the way after the light splitting of optical system 4, PIN photoelectric detector 5,
Main twt amplifier 6, fixed threshold moment discrimination circuit 7 and FPGA master controller are sequentially connected；
Another way pulse laser after the light splitting of optical system 4 enters APD photodetector 8, APD photodetector 8, preceding
Set amplifier 9, main amplifier 10, Autocorrelation Detection circuit 11, Double-threshold moment discriminator circuit 12 and FPGA master controller successively
Connection；
First automatic growth control module 14 includes the first peak value sample circuit 141 and the first A/D conversion circuit 142, from
The output end of correlation detecting circuit 11 connects the input terminal of the first peak value sample circuit 141, the first peak value sample circuit 141 it is defeated
Outlet connects the input terminal of A/D conversion circuit, the input terminal of the output end connection FPGA master controller of A/D conversion circuit；
Second automatic growth control module 15 includes the second peak value sampling circuit 142 and the 2nd A/D conversion circuit 152, preceding
The output end for setting amplifier 9 connects the input terminal of the second peak value sampling circuit 142, the output end of the second peak value sampling circuit 142
The input terminal of the 2nd A/D conversion circuit 152 is connected, the output end of the 2nd A/D conversion circuit 152 connects the defeated of FPGA master controller
Enter end；
Gain adjustment module 16 is D/A conversion circuit, the input of the output end connection D/A conversion circuit of FPGA master controller
End, the input terminal of the output end connection main amplifier 10 of D/A conversion circuit；
LED display 17 and host computer 18 are connect with FPGA master controller.
In conjunction with Fig. 2, optical system 4 includes beam expanding lens 401, spectroscope 402, receiving lens 403 and narrow band filter 404,
Pulse laser is successively divided into two-way pulse laser through beam expanding lens 401 and spectroscope 402, and the main wave signal of pulse laser enters PIN light
Electric explorer 5, another way pulse laser sequentially enter receiving lens 403 and narrow band filter 404 after measured target diffusing reflection,
Pulse laser echo-signal is transmitted to again in APD photodetector 8.
Pulsed laser ranging echo signal processing equipment of the present invention, system range measurement principle use flight time measurement method, i.e.,Wherein S is testing distance, and c is the light velocity in vacuum, and Δ t is the flight time of laser pulse.And it realizes high-precision
Degree, a wide range of ranging key be to accurately measure the time, therefore the present invention passes through high-precision echo signal processing electricity
Road, reduces system noise, and stabilization signal amplitude realizes and identifies and the high-precision time at the time of carrying out accurate to echo-signal
Interval measurement.
In conjunction with Fig. 3, a kind of pulsed laser ranging system echo signal processing method, comprising the following steps:
(1) power supply, system electrification are opened, it is sharp that FPGA main controller controls driving circuit 2 drives laser 3 to emit pulse
Light, pulsewidth 10ns, pulse laser are divided into energy 1:9 after beam expanding lens 401 reduces laser beam divergence after spectroscope 402
Two-way light.
(2) pulse laser for accounting for 10% energy is directly entered PIN photoelectric detector 5, and PIN photoelectric detector 5 is by optical signal
It is converted into current signal, this current signal enters in main twt amplifier 6, completes I/V and converts and amplify, output signal is connected to solid
The input terminal for determining threshold value moment discrimination circuit 7 obtains digital signal by shaping, which enters FPGA master controller meter
When module in, the initial time start as time interval measurement.
The pulsed laser signal all the way of (3) 90% energy through measured target diffusing reflection, focusing by receiving lens 403 and
Narrow band filter 404 is received and converted into current signal I by APD photodetector 8 after filtering and exports, wherein APD photodetection
Device 8 is located at 2 times of focal lengths of receiving lens 403, and receiving lens 403 are focused the laser received, and visits to APD photoelectricity
The capture area for surveying device 8 carries out certain amplification；Narrow band filter 404, can close to 8 photosurface of APD photodetector
Stray light is filtered out, improves system accuracy while improving signal-to-noise ratio.
Current signal I, which enters in low noise pre-amplification circuit 9, to carry out I/V conversion and obtains V, voltage letter for thousands of times of amplification
Number V enters main amplifier 10 and is further amplified to obtain the voltage signal V1 for the level standard for meeting subsequent conditioning circuit processing requirement, separately
Enter the second automatic growth control module all the way.
Since laser pulse signal is influenced by atmosphere and target reflectivity characteristics, different degrees of decaying and distortion are had,
When target farther out when, echo-signal amplitude is smaller；Simultaneous background spurious optical noise, ambient noise and hardware circuit part
Noise make echo-signal be submerged in noise it is difficult to extract, this just give exact time band come biggish error, final shadow
Ring range accuracy.So reaching inhibition noise using Autocorrelation Detection circuit 11, the purpose of system signal noise ratio is improved.Main amplification electricity
The output signal V1 on road enters the input terminal of Autocorrelation Detection circuit 11, and high s/n ratio signal is exported after auto-correlation processing
V2。
(4) with the variation of target range, the echo laser power that laser range finder receives can also change, this
Variation is embodied on the voltage magnitude of echo-signal, this can carry out very big drift error to moment band, in addition, too small letter
Number amplitude can be flooded by noise so that can not identification signal.For realize high-precision large-range pulsed laser ranging, using automatic
Gain control, by echo-signal amplitude stability in a lesser waving interval.I.e. Autocorrelation Detection circuit 11 is defeated
Mono- tunnel signal V2 enters the first automatic gain module 14 out.Since the time to peak of pulse signal is shorter, it is not able to satisfy A/D conversion
Requirement of the circuit to input signal, so by the peak value of the first peak detection circuit 141 acquisition echo-signal and keeping one first
The fixed time makes the first A/D conversion circuit 142 have time enough to be converted into digital signal Vp1, so as to FPGA main control
The amplitude information of device acquisition signal.Digital signal Vp1Be stored in FPGA, and with two threshold values being set in FPGA master controller
VHAnd VL(VH>VL) be compared, it feeds back into echo reception circuit D/A conversion circuit 7, the gain of main amplifier 10 is carried out
Adjustment, makes the output voltage stabilization of main amplifier 10 in a lesser fluctuation range；Same principle, the second peak value sampling
Signal 151 carries out peak value sampling to the output signal of preamplifier 9, obtains digital signal V after the 2nd A/D conversion modulep2,
Digital signal Vp2With the threshold value V set in FPGA master controllerthCompare, the bias of feedback regulation APD photodetector, thus
Make the output signal V1 peak steady of amplifying circuit in a minor swing section, voltage signal is prevented to be saturated, is conducive to improve
Moment identifies precision, improves system range accuracy.
The output signal another way of Autocorrelation Detection circuit 11 enters Double-threshold moment discriminator circuit 12, uses two threshold values
Vth1And Vth2(Vth1<Vth2) the same laser echo signal of measurement, two echo moment distinguishing signals feeding FPGA master control of generation
Stop signal stop1 and stop2 of the timing module of device processed as time interval measurement.Calibration is utilized in subsequent algorithm processing
Error compensation relationship compensates time drift error caused by single threshold value, obtains accurate return laser beam arrival time.
(5) output signal of Double-threshold moment discriminator circuit 12 enters FPGA master controller, is inserted into using FPGA delay line
Method measures the time interval t between start and stop1 and start and stop2 respectively1And t2, and measurement result is analyzed
Processing calculates pulse laser flight time Δ t, so as to calculate testing distanceIt is aobvious by LED display 17
Show, and host computer 18 is passed to by serial ports and carries out data preservation.
Wherein, Autocorrelation Detection circuit 11 is made of multiplier, delayer and integrator as shown in figure 5, circuit structure shows
It is intended to as shown in Figure 6.Since the output signal V1 of echo main amplifier 10 includes pulse signal s (t) and noise signal n (t), it is
Show signal processing flow, indicates the inclusion relation between signal in Fig. 5 with adder.Signal x (t)=s (t)+n (t) conduct
The input signal of Autocorrelation Detection circuit.
Input signal x (t) is directly entered multiplier all the way, and another way enters multiplier after delay circuit is delayed τ.
Output signal R is obtained after doing auto-correlation computation to signal x (t) by multiplier and integratorx(τ)。
Noise can be significantly inhibited after auto-correlation processing, signal is extracted from noise, improve system signal noise ratio, thus
Raising system range accuracy.
In conjunction with Fig. 4, the specific steps of automatic growth control are as follows:
A, the voltage signal peak value that the first peak value sample circuit 141 acquisition Autocorrelation Detection circuit 11 exports, and by this peak
Value is converted to digital signal V by the first A/D conversion circuitp1It is stored in FPGA master controller；Second peak detection circuit 151
The voltage signal peak value that preamplifier 9 exports is acquired, this peak value is converted into digital signal V by the 2nd A/D conversion circuitp2
It is stored in FPGA.
B, two threshold value V are set in FPGA master controllerHAnd VL, VH>VL, by Vp1With VHAnd VLIt is compared, if Vp1>VH,
Signal is likely to be saturated, and when echo power is excessive to cause APD photodetector 8 or preamplifier 9 to export saturation, needs
It reduces by 8 bias of APD photodetector and obtains a lower multiplication factor, by 9 output signal peak-data of preamplifier
Vp2With the threshold value V stored in FPGA master controllerthIt is compared, if Vp2>Vth, then adjusting reduces APD photodetector 8 partially
Pressure, if Vp2≤Vth, then 10 gain of main amplifier is reduced by D/A conversion circuit feedback control；If Vp1<VL, then pass through D/
The gain of A conversion circuit increase main amplifier；If VL≤Vp1≤VH, then keep main amplifier gain constant.
In conjunction with Fig. 7 and Fig. 8, the shaping principle of Double-threshold moment discriminator circuit 12 and the specific steps of time interval measurement
Are as follows:
A. influencing the principal element that the moment identifies is echo power variation bring drift error, by automatic growth control
Although drift error reduces but still exists after module, therefore the drift error for using the compensation of dual threshold moment differential method remaining.
The time interval between size and two threshold values by establishing drift error known to drifting error model with echo-signal width
It is worth related, therefore the time interval between time drift error and two threshold values is related.
B. the echo voltage signal V that Autocorrelation Detection circuit 11 exports2The positive terminal of first comparator MAX is inputted all the way,
As the voltage signal input for needing to compare.Reverse side input voltage is that threshold voltage is set as Vth1, Vth1It is set as noise not
The minimum value of false-alarm can be triggered, value is related with the noise voltage after amplified voltage value, auto-correlation, can pass through potentiometer root
(- 5V~+5V) is adjusted according to actual conditions, is traditionally arranged to be Vth21/2.When positive terminal voltage reaches threshold voltage Vth1When, than
High level signal is exported compared with device.
C. the echo voltage signal V that Autocorrelation Detection circuit 11 exports2Another way enters the positive of the second comparator MAX
End, as the voltage signal input for needing to compare.Reverse side input voltage is that threshold voltage is set as Vth2, wherein Vth1<Vth2,
Vth2(- 5V~+5V) can be adjusted according to the actual situation by potentiometer, be traditionally arranged to be the minimum signal electricity of amplifying circuit output
Pressure.When positive terminal voltage reaches threshold voltage Vth2When, comparator exports high level signal.
D. echo-signal is simultaneously through Vth1And Vth2Two stopping timing figure signals are generated, FPGA timing module is sent into, it can
Two flight time t are obtained with measurement1And t2。
Have in e.FPGA master controller by testing the t demarcated in advance2-t1With time drift error delta terrorPass
System searches the time drift error amount for needing to compensate by way of tabling look-up, pulse time-of-flight is finally calculated are as follows:
Δ t=t1-Δterror
A kind of pulsed laser ranging system echo signal processing method provided by the invention expands systematic survey range, can
To improve system signal noise ratio and range accuracy, and level of integrated system can also be improved.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of pulsed laser ranging system echo signal processing equipment characterized by comprising master controller (1), driving electricity
Road (2), laser (3), optical system (4), PIN photoelectric detector (5), main twt amplifier (6), fixed threshold moment identify electricity
When road (7), APD photodetector (8), preamplifier (9), main amplifier (10), Autocorrelation Detection circuit (11), dual threshold
Carve discriminator circuit (12), HVB high voltage bias circuit (13), the first automatic growth control module (14), the second automatic growth control module
(15) and gain adjustment module (16)；
The master controller (1), the driving circuit (2) and the laser (3) are sequentially connected, and the laser (3) generates
Pulse laser through the optical system (4) light splitting afterpulse laser main wave signal enter the PIN photoelectric detector (5), institute
State PIN photoelectric detector (5), the main twt amplifier (6), the fixed threshold moment discrimination circuit (7) and the main control
Device (1) is sequentially connected；
Pulse laser echo-signal after the optical system (4) light splitting enters the APD photodetector (8), the APD
It is photodetector (8), the preamplifier (9), the main amplifier (10), the Autocorrelation Detection circuit (11), described
Double-threshold moment discriminator circuit (12) and the master controller (1) are sequentially connected；
The output end of the preamplifier (9) connects the input terminal of the second automatic growth control module (15), and described
The output end of second automatic growth control module (15) connects the input terminal of the master controller (1)；
The output of the Autocorrelation Detection circuit (11) terminates the input terminal of the first automatic growth control module (14), and institute
The output end for stating the first automatic growth control module (14) connects the input terminal of the master controller (1)；
The output end of the master controller (1) be separately connected the gain adjustment module (16) input terminal and the HVB high voltage bias
The input terminal of circuit (13), and the output end of the gain adjustment module (16) connects the input terminal of the main amplifier (10),
The output end of the HVB high voltage bias circuit (13) connects the input terminal of the APD photodetector (8).
2. a kind of pulsed laser ranging system echo signal processing equipment according to claim 1, which is characterized in that described
Optical system (4) includes beam expanding lens (401), spectroscope (402), receiving lens (403) and narrow band filter (404), and pulse swashs
Light is successively divided into two-way pulse laser through the beam expanding lens (401) and the spectroscope (402), and the main wave signal of pulse laser enters
The PIN photoelectric detector (5), pulse laser echo-signal sequentially enter the receiving lens after measured target diffusing reflection
(403) and the narrow band filter (404).
3. a kind of pulsed laser ranging system echo signal processing equipment according to claim 1, which is characterized in that described
First automatic growth control module (14) includes the first peak value sample circuit (141) and the first A/D conversion circuit (142), described
The output end of Autocorrelation Detection circuit (11) connects the input terminal of the first peak value sample circuit (141), first peak value
The output end of sample circuit (141) connects the input terminal of the first A/D conversion circuit (142), the first A/D conversion circuit
(142) output end connects the input terminal of the master controller (1)；
The second automatic growth control module (15) includes the second peak value sampling circuit (151) and the 2nd A/D conversion circuit
(152), the input terminal of output end connection the second peak value sampling circuit (151) of the preamplifier (9), described second
The output end of peak value sampling circuit (151) connects the input terminal of the 2nd A/D conversion circuit (152), the 2nd A/D conversion
The output end of circuit (152) connects the input terminal of the master controller (1)；
The gain adjustment module (16) is D/A conversion circuit, and the output end of the master controller (1) connects the D/A conversion
The input terminal of circuit, and the output end of the D/A conversion circuit connects the input terminal of the main amplifier (10).
4. a kind of pulsed laser ranging system echo signal processing equipment according to claim 1, which is characterized in that also wrap
Include LED display (17) and host computer (18), the LED display (17) and the host computer (18) with the master controller
(1) it connects.
5. a kind of pulsed laser ranging system echo signal processing equipment according to claim 1, which is characterized in that described
Master controller (1) is FPGA master controller.
6. a kind of pulsed laser ranging system echo signal processing method, which comprises the following steps:
Step 1: after system electrification, master controller (1) generates control signal and controls driving circuit (2), the driving circuit
(2) laser (3) emission pulse laser is driven；
Step 2: the pulse laser enters PIN photoelectric detector through optical system (4) light splitting afterpulse laser main wave signal
(5), the main wave signal of pulse laser is converted to current signal by the PIN photoelectric detector (5), and the current signal enters main wave
Amplifier (6) completes Current Voltage and converts and amplify voltage signal, and amplified voltage signal is through the fixed threshold moment
The shaping of discriminator circuit (7) obtains the digital signal at pulse laser emission moment, which enters described-master controller
(1) the initial time start in as time interval measurement；
Step 3: the pulse laser echo-signal after the optical system (4) light splitting enters APD photodetector (8), described
The road pulse laser echo-signal is converted to current signal by APD photodetector (8), and the current signal enters preceding storing
Big device (9) completes Current Voltage and converts and voltage signal is amplified to the voltage signal V met the requirements；
The voltage signal V divides two-way to be exported, exported all the way to main amplifier (10) be further amplified to obtain meet it is subsequent
The voltage signal V that processing of circuit requires1, another output to the second automatic growth control module (15)；
Digital signal V is obtained through the second automatic growth control module (15)p2And be stored in described-master controller (1), and
With the threshold value V of described-master controller (1) settingthIt is compared, and comparison result is fed back into gain adjustment module (16) or height
It presses in biasing circuit (13)；
The voltage signal V1Into Autocorrelation Detection circuit (11), high s/n ratio voltage signal V is exported after auto-correlation processing2；
Step 4: the high s/n ratio voltage signal V2Divide two-way output, enters the first automatic growth control module (14) all the way and obtain
To digital signal Vp1And it is stored in the master controller (1), and two threshold value V with the master controller (1) settingHAnd VL
It is compared, VH>VL, and comparison result is fed back into the gain adjustment module (16)；
Another way enters Double-threshold moment discriminator circuit (12) and two echo moment distinguishing signals of generation is sent into main control
Stop signal stop1 and stop2 of the device (1) as time interval measurement；
Step 5: the master controller (1) measures the time between start and stop1 using FPGA delay line interpolation method respectively
It is spaced t1, time interval t between start and stop22, and measurement result is analyzed and processed, calculate pulse laser flight
Time Δ t obtains tested distance S using the pulse laser flight time Δ t.
7. a kind of pulsed laser ranging system echo signal processing method according to claim 6, which is characterized in that described
Optical system (4) includes beam expanding lens (401), spectroscope (402), receiving lens (403) and narrow band filter (404), and pulse swashs
Light reduces the angle of divergence by the beam expanding lens (401) and is divided into two-way pulse laser, the pulse by the spectroscope (402)
Laser main wave signal enter the PIN photoelectric detector (5), pulse laser echo-signal after measured target diffusing reflection successively into
Enter the receiving lens (403) and the narrow band filter (404), wherein pulse of the receiving lens (403) to receiving
Laser echo signal is focused, and the narrow band filter (404) is filtered pulse laser echo-signal.
8. a kind of pulsed laser ranging system echo signal processing method according to claim 7, which is characterized in that described
First automatic growth control module (14) includes the first peak value sample circuit (141) and the first A/D conversion circuit (142), described
First peak value sample circuit (141) acquires the output signal peak value of the Autocorrelation Detection circuit (11) and is transferred to described first
A/D conversion circuit (142), the first A/D conversion circuit (142) are converted into digital signal Vp1, and it is sent to the master
Controller (1)；
The second automatic growth control module (15) includes the second peak value sampling circuit (151) and the 2nd A/D conversion circuit
(152), the second peak value sampling circuit (151) acquires the output signal peak value of the preamplifier (9) and is transferred to institute
The 2nd A/D conversion circuit (152) is stated, the 2nd A/D conversion circuit (152) is converted into digital signal Vp2, and be sent to
The master controller (1)；
The gain adjustment module (16) is D/A conversion circuit, and the D/A conversion circuit is for automatically controlling the main amplifier
(10) gain.
9. a kind of pulsed laser ranging system echo signal processing method according to claim 8, which is characterized in that described
The specific steps of D/A conversion circuit progress automatic growth control are as follows:
A, by the digital signal Vp1With two threshold value V of the master controller (1) settingHAnd VLIt is compared, VH>VLIf Vp1
<VL, then increase the gain of the main amplifier (10) by the D/A conversion circuit, if VL≤Vp1≤VH, then the master is kept
The gain of amplifier (10) is constant；
B, by digital signal Vp2With the threshold value V of the master controller (1) settingthIt is compared, if Vp1>VH, and Vp2>Vth, then lead to
Crossing the HVB high voltage bias circuit (13) reduces the bias of the APD photodetector (8), if Vp1>VH, and Vp2≤Vth, then pass through
The D/A conversion circuit reduces the gain of main amplifier (10).
10. a kind of pulsed laser ranging system echo signal processing method according to claim 6, which is characterized in that institute
Stating master controller (1) is FPGA master controller, compensates error using calibration curve, calculates pulse laser flight time Δ t:
Δ t=t1-Δterror (1)
Wherein, Δ terrorIndicate time drift error；
Tested distance S is obtained using the pulse laser flight time Δ t:
S=c Δ t/2 (2)
Wherein, c is the light velocity in vacuum；
The tested distance S carries out LED using LED display (17) and shows, and carries out data preservation by host computer (18).
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