CN110308456A - It is a kind of for improving the bias adjustment device and laser radar system of detection range - Google Patents
It is a kind of for improving the bias adjustment device and laser radar system of detection range Download PDFInfo
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- CN110308456A CN110308456A CN201910667896.1A CN201910667896A CN110308456A CN 110308456 A CN110308456 A CN 110308456A CN 201910667896 A CN201910667896 A CN 201910667896A CN 110308456 A CN110308456 A CN 110308456A
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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
-
- 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
- G01S17/88—Lidar systems specially adapted for specific applications
-
- 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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- 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
-
- 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
- G01S7/491—Details of non-pulse systems
- G01S7/493—Extracting wanted echo signals
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- Physics & Mathematics (AREA)
- 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 for improving the bias adjustment device and laser radar system of detection range, the bias adjustment device includes: signal acquisition unit, for obtaining target echo signal that APD detector receives and therefrom extracting avalanche noise signal and count the avalanche noise signal number in preset time period；Signal processor, for calculating practical bias value according to avalanche noise signal number and the first preset bias voltage correction model；The first bias voltage correction model is used to characterize the mapping relations between the avalanche noise signal number and ideal bias value in preset time；Bias adjustment unit gives APD detector for practical bias value to be generated and exported under the control of signal processor；The present invention passes through the avalanche voltage operating point of dynamically track APD detector, maintains bias voltage always on the slightly less than voltage value of APD detector avalanche voltage, and the bias by improving APD detector improves detectivity, and then increases detection range.
Description
Technical field
The invention belongs to laser ranging technique field, more particularly, to it is a kind of can improve range laser radar detection away from
From the highly sensitive laser receiver and laser radar system with interference free performance.
Background technique
Laser radar is one kind using laser as working beam, obtains mesh by detecting the scattering light characteristic of distant object
Mark the optical remote sensing technology of relevant information, have high measurement accuracy, fine time and spatial resolution and big detection across
Degree.Laser radar is using laser as light source, and in order to ensure laser radar is to the safety of human eye, laser radar is to the laser light emitted
The power or energy in source have and its stringent limitation.Most occasions, which require laser radar, detection range remote as far as possible, than
Such as in automatic driving field, Che Qi producer to the desirable of the detection range of laser radar usually at 300-500 meters very
It is extremely farther.
For the ranging range for further increasing laser radar, usually there are two types of embodiments.The first is to increase laser
Transmission power or energy, be for second to improve entire laser radar by improving the performances such as the sensitivity of laser receiver system
Detection range, currently used reception system is the detector based on avalanche photodide (hereinafter referred to as APD).Above-mentioned two
In point corrective measure, existing laser radar generallys use the first scheme to improve detection range, and but there are the following problems: because
For under the limitation of laser eye safety's power, laser peak power can not be further continued for increasing, therefore the program is not easy to realize；
And the problems such as heat dissipation of powerful pulse laser is high, volume is big, power consumption is big, manufacturing process is complicated, so that the former scheme
Realize that difficulty is all larger.
Second scheme can be mentioned in the case where not increasing laser power by improving laser receiver system performance
High detection range, has great advantages.Avalanche photodide is a kind of phototube established on the basis of inner photoeffect
Part has the function of internal gain and amplification；Avalanche photodide works under reverse bias, a certain range of reversed
Under bias, bias is higher, and gain is bigger, when bias is substantially equal to the avalanche voltage of avalanche photodide, avalanche optoelectronic
Diode tends to the edge of snowslide, can obtain more large gain；Theoretically, the gain of avalanche photodide is biased against and temperature
Influence；In order to improve APD performance of receiving system, generallys use carried out according to bias of the environment temperature to photodetector at present
It adjusts, reduces influence of the temperature change to photodetector sensitivity, improve response speed and sensitivity；Although this scheme exists
Sensitivity is improved to a certain extent, but has the disadvantage in that one is the need for accurate APD temperature bias curve and essence
True APD operating temperature, and additional setting temperature observation circuit is needed to carry out test temperature, which not only increases
The complexity of system structure, and be easy to generate interference to APD；Second is that the gain of photodetector is not only by environment temperature
It influences, also suffers from the influence of the bias lights such as sunlight, if not considering influence of the bias light to photodetector sensitivity,
Photodetector can not be made to play optimal performance, it is even more impossible to improve detection range.
Summary of the invention
For at least one defect or Improvement requirement of the prior art, the present invention provides one kind for improving detection range
Bias adjustment device and laser radar system APD is made by the avalanche voltage operating point of dynamically track APD detector array
Bias voltage is maintained always on the slightly less than voltage value of APD detector avalanche voltage, by improving the inclined of APD detector array
Pressure improves detectivity, and then increases detection range, and its object is to solve reception system spirit existing in the prior art
Sensitivity and detection range problem to be improved.
To achieve the above object, according to one aspect of the present invention, it provides a kind of for improving the bias of detection range
Regulating device, including signal acquisition unit, signal processor and bias adjustment unit；
The signal acquisition unit is for obtaining the target echo signal that APD detector receives, from the target echo
Avalanche noise signal is extracted in signal and counts the avalanche noise signal number in preset time；
The signal processor is used for according to the avalanche noise signal number and the first preset bias voltage correction model
Practical bias value is calculated, the practical bias value is made to level off to the avalanche voltage of APD detector；The first bias voltage correction model
For characterizing the mapping relations between avalanche noise signal number and ideal bias value in preset time；
The bias adjustment unit under the control of signal processor for generating and exporting the practical bias value to APD
Detector.
Signal processor passes through the avalanche voltage operating point of signal acquisition unit dynamically track APD detector, and generates APD
APD bias voltage required for detector makes APD bias voltage maintain the electricity of slightly less than APD detector avalanche voltage always
In pressure value, the difference between the APD bias voltage and avalanche voltage is between 0.5-3V；At this point, APD is in the edge of snowslide,
More large gain can be obtained.
Preferably, above-mentioned bias adjustment device, signal acquisition unit are also used to extract background from target echo signal
Direct current optical signal；
The signal processor calculates real according to the background direct current optical signal and the second preset bias voltage correction model
Border bias value；The mapping that the second bias voltage correction model is used to characterize between bias light DC voltage and ideal bias value is closed
System.
Preferably, above-mentioned bias adjustment device, signal acquisition unit include multistage gain amplification module, moment identification mould
Block, flip-flop extract circuit, pulse signal processing module and the first analog-digital converter；
The multistage gain amplification module is for amplifying target echo signal, by the laser in target echo signal
Pulse signal is amplified to the identifiable amplitude of moment identification module；
The moment identification module is used to detect the arrival time of the laser pulse signal, and according to the arrival time
Calculate target range；
The flip-flop extracts circuit and is used to extract noise signal from amplified target echo signal, described to make an uproar
Acoustical signal includes background direct current optical signal and avalanche noise signal；And background direct current optical signal is sent to signal processor, it will
Avalanche noise signal is sent to pulse signal processing module；
The pulse signal processing module is used to the avalanche noise signal shaping be calibration pulse signal, the standard
Pulse signal is sent to signal processor after the processing of the first analog-digital converter.
Preferably, above-mentioned bias adjustment device, multistage gain amplification module include putting before the first order being sequentially connected
Big device, second level gain variable amplifier, third level fixed gain amplifier and fourth stage gain variable amplifier；
The first order preamplifier is connect with APD detector, the target echo letter for receiving APD detector
Number carry out first order amplification；
The gain of the second level gain variable amplifier is controlled by signal processor and carries out dynamic regulation, to the first order
The target echo signal of preamplifier output maintains signal stabilization during amplifying；
The target echo signal that the third level fixed gain amplifier exports second level gain variable amplifier make into
The amplification of one step, and the laser pulse signal in amplified target echo signal is exported to moment identification module；
The fourth stage gain variable amplifier is used for the target echo signal for exporting third level fixed gain amplifier
In noise signal amplify.
Preferably, above-mentioned bias adjustment device, when the flip-flop extracts the background direct current optical signal of circuit output
When voltage value is greater than preset voltage threshold, signal processor calculates output to APD detector according to the second bias voltage correction model
Practical bias value；Otherwise, signal processor calculates output to the practical bias value of APD detector according to the first bias voltage correction model；
The voltage threshold is the 80% of the maximum output voltage of fourth stage gain variable amplifier.
Preferably, above-mentioned bias adjustment device, moment identification module include timing circuit and FPGA moment discrimination circuit；
The timing circuit detects the arrival time of the laser pulse signal under the driving of laser pulse signal；
The FPGA moment discrimination circuit resolves target range according to the arrival time.
Preferably, above-mentioned bias adjustment device, pulse signal processing module include that pulse signal forms circuit and pulse
Signal transformation circuit；
The pulse signal forms circuit and is used to avalanche noise signal being organized into pulse signal by internal comparator；
The pulse signal that the pulse signal shaping circuit is used to form pulse signal circuit output is shaped as standard arteries and veins
Rush signal.
Preferably, above-mentioned bias adjustment device, bias adjustment unit include the second analog-digital converter, flyback BOOST liter
Depressor and bias adjuster；
The flyback BOOST booster, which is used to snow in the control of signal processor, generates one higher than APD detector
Collapse the voltage value of voltage；
The practical bias value that second analog-digital converter is used to generate signal processor is sent to bias adjuster；
The bias adjuster carries out the voltage value that flyback BOOST booster generates according to the practical bias value adaptive
It should divide, give APD detector to export the practical bias value.
Preferably, above-mentioned bias adjustment device, signal processor be also used to receive APD detector to target into
Row repeatedly measurement when multiple target echo signals for generating carry out time domain resolving processing, generate true in multiple echo-signals or
Noise distance value falls into the distribution curve of the probability value in different distance segmentation, takes the distance value conduct when probability value maximum
Real goal distance.
By carrying out time domain resolving processing to multiple target echo signals, believed using the irrelevance and target echo of noise
Number correlation filter out the corresponding noise signal of decoy, reduce the error probability that the distance value of system resolves, ensure that
System stability.
Other side according to the invention additionally provides a kind of laser radar system, which includes any of the above-described
The bias adjustment device.
Preferably, above-mentioned laser radar system further includes multi-channel laser transmitter and APD detector；
The APD detector is packaged in the APD detection array on substrate, and the APD detection array includes multiple detections
Spacing between the size and adjacent detector member of the first and described detection member has fixed value；Therefore reception system only needs a light
Focusing anteena, which can be realized, receives the regular spatial multichannel of object space, reduces the debugging difficulty of reception system；
The port number of the multi-channel laser transmitter is identical as the detection member number in APD detection array, is received with being formed
Send out multiple sounding channels independent.
Preferably, above-mentioned laser radar system further includes optical alignment antenna and optical focus antenna；
The optical alignment antenna adjusts transmitting light for collimating the light that multi-channel laser transmitter issues
The direction of beam is so that it is directed at object to be measured；
Each spy of the light focusing that the optical focus antenna is used to reflect object to be measured in APD detector array
It surveys in member.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
(1) provided by the present invention for the bias adjustment device and laser radar system of raising detection range, avalanche optoelectronic
Diode, signal acquisition unit, signal processor and bias adjustment unit constitute closed-loop control system, and signal processor passes through survey
The avalanche noise characteristic for measuring and obtaining current avalanche photodide carrys out the bias that closed-loop control is applied to it, the system energy
The state of real-time tracking avalanche photodide carries out the dynamic regulation of bias, so that the avalanche photodide work is become at one
It is bordering under a working condition of avalanche voltage, this state can obtain biggish signal gain, to improve detection range.
(2) provided by the present invention for the bias adjustment device and laser radar system of raising detection range, consider background
Influence of the light to the gain of avalanche photodide, according to the background direct current optical signal in target echo signal to being input to snowslide
The bias value of photodiode is corrected, and is reduced influence of the bias light to avalanche photodide, is improved response speed and spirit
Sensitivity.
(3) provided by the present invention for improve detection range bias adjustment device and laser radar system, by using
Time domain correlation distance calculation method handles multiple target echo signals, is believed using the irrelevance and target echo of noise
Number correlation filter out the corresponding noise signal of decoy, reduce the error probability that the distance value of system resolves, ensure that
System stability.
(4) provided by the present invention for the bias adjustment device and laser radar system of raising detection range, multichannel swashs
All laser emission elements in optical transmitting set emit laser beam simultaneously, pass through optical focus antenna and APD detector array
Spatial relation, optical alignment antenna and multi-channel laser transmitter spatial relation ensure per Laser emission all the way
It is all that space is independent with reception system, it is less that there are space laser interference, and the laser scanning and ranging greatlyd improve
Detection efficient.
(5) provided by the present invention for the bias adjustment device and laser radar system of raising detection range, APD detects battle array
The spatial position between each detection member in column is fixed, therefore the optical axis direction of receiver is just not necessarily to adjust, and only adjusts multiple
Discrete transmitter is overlapped the direction of the launch of each discrete transmitter detection member corresponding with APD detection array, drop
Half lower debugging work load and the difficulty of optics debugging.
(6) provided by the present invention for the bias adjustment device and laser radar system of raising detection range, pass through introducing
The New Hardwares such as APD detector array, multi-channel laser transmitter, bias adjustment device, time domain correlation distance computation are set
Meter and algorithm, improve the detection range and interference free performance of range laser radar, highly beneficial effect are achieved, to promotion
The overall performance of laser scanning distance measurement system is significant；And the laser that the invention may be directly applied to various wavelength is swept
It retouches in the system of distance measurement, adaptability is very extensive.
Detailed description of the invention
Fig. 1 is the composed structure schematic diagram of laser radar system provided in an embodiment of the present invention；In figure, 1-APD detector；
2- detection member；3- optical focus antenna；4- multi-channel laser transmitter；5- optical alignment antenna
Fig. 2 is the structural schematic diagram of bias adjustment device provided in an embodiment of the present invention；
Fig. 3 is that the distribution provided in an embodiment of the present invention for resolving the multiple echo-signals generated based on time domain correlation distance is bent
Line chart.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
The present invention provides a kind of laser radars for being based on pulse time-of-flight telemetry (Time of Flight, TOF)
System；The laser beam of multichannel is subjected to collimation transmitting by multi-channel laser transmitter and optical alignment antenna, and carries out angle
Degree adjustment, the direction for making multi-channel laser Shu Chaoxiang specified are emitted；The laser beam launched is scattered with distant object,
In 180 ° of back scattering laser reflections to the optical focus antenna of laser radar system on, focusing through optical focus antenna is made
It is respectively focused in each receiving unit of APD detector array with by the Returning beam in each channel.
Fig. 1 is the composed structure schematic diagram of laser radar system provided in an embodiment of the present invention, and as shown in fig. 1, this swashs
Optical detection and ranging system includes APD detector 1, multi-channel laser transmitter 4, optical focus antenna 3, optical alignment antenna 5 and bias
Regulating device；
In the present embodiment, multi-channel laser transmitter 4 is for sending the short pulse that the pulsewidth of 905nm wavelength is about 3ns
Laser, laser radar carry out ranging work using the pulse.
APD detector 1 is a kind of APD detection array with multiple detection members being encapsulated on a piece of substrate, detection
Spacing between size and the adjacent detector member of member has all been completely fixed；The present embodiment is using HAMAMATSU company, Japan
32 channel APD array products.The APD detection array of multichannel is located at the rear of optical focus antenna 3, due to APD detection array
In each detection member 2 between spatial position known to；Therefore pass through the optical focus day of selection different focal length and different bores
Line 3 can determine receiving angle and field of view of receiver corresponding to each detection member 2 in APD detection array；APD detection array it is every
The field of view of receiver and angle of a detection member 2 will be corresponded with the transmitting angle of divergence and angle of multi-channel laser transmitter 4, ability
Guarantee that one receives the alignment with a luminous beam, laser radar system can work.
Multi-channel laser transmitter 4 is located at the rear of optical alignment antenna 5, in debugging, by adjusting multi-channel laser
Three axis directions and angle of transmitter 4 are come corresponding detection member 2 of the light beam on APD detection array that issues emission system
In visual field；Due to only needing to adjust multi-channel laser transmitter 4 without adjusting APD detection array, enormously simplify
System debug difficulty.
Short-pulse laser is emitted by the multi-channel laser transmitter 4 of laser radar, which passes through optical alignment
The collimation of antenna 5, will transmitting beam collimation at the lesser laser beam of the angle of divergence, collimated laser beam is from optical alignment
Antenna 5 is advanced in the direction with the light velocity after projecting, until colliding and scattering with distant object；Wherein, 180 ° it is backward dissipate
It penetrates echo optical signal of the light after backtracking, return to be focused by the optical focus antenna 3 in Fig. 1, to obtain one
Fixed optical gain, optical focus antenna 3 focus on echo optical signal in each detection member of APD detection array.Pass through
The measurement of target range can be completed to the time difference for receiving laser pulse in measurement transmitting laser pulse.
In particular, it should be pointed out that laser receiver system uses APD detection array rather than the APD of discrete in the present embodiment
Detector cells, the spatial position between each detection member 2 in APD detection array be it is fixed, this stationarity is by it
What the production technology of manufacturer ensure that, it is to reduce the difficulty of optics debugging using the advantages of APD detection array；If
Using traditional discrete transmitter and discrete receiver, then in process of production, needing first to adjust multiple discrete hairs
The optical axis of emitter, then adjusts the optical axis of multiple discrete receivers again, to guarantee the direction of the launch difference of multiple transmitters
The visual field direction of corresponding multiple receivers is coaxial, debugs very troublesome；And APD detection array is used, due to each spy
The spatial position surveyed between member 2 is fixed, therefore the optical axis direction of receiver can not need to adjust, it is only necessary to be adjusted more
A discrete transmitter is overlapped the direction of the launch of each discrete transmitter detection member corresponding with APD detection array,
Reduce the debugging work load of half.
Fig. 2 is the structural schematic diagram of bias adjustment device provided in this embodiment；As shown in Fig. 2, the bias adjustment device
Including signal acquisition unit, signal processor and bias adjustment unit；
Signal acquisition unit is believed for obtaining the target echo signal that avalanche photodide receives from the target echo
Avalanche noise signal is extracted in number and counts the avalanche noise signal number in preset time；
Signal processor is used to be calculated according to the avalanche noise signal number and the first preset bias voltage correction model real
Border bias value makes the practical bias value level off to the avalanche voltage of avalanche photodide；Above-mentioned first bias voltage correction model
For characterizing the mapping relations between avalanche noise signal number and ideal bias value in preset time；
Bias adjustment unit gives snowslide light for generating under the control of signal processor and exporting the practical bias value
Electric diode.
Signal processor passes through the avalanche voltage operating point of signal acquisition unit dynamically track avalanche photodide, and produces
APD bias voltage required for raw avalanche photodide, makes APD bias voltage maintain slightly less than two pole of avalanche optoelectronic always
On the voltage value of pipe avalanche voltage, the difference between the APD bias voltage and avalanche voltage is between 0.5-3V；At this point, at APD
In the edge of snowslide, more large gain can be obtained, to improve the detection range of laser radar system.
Further, above-mentioned signal acquisition unit is also used to extract background direct current optical signal from target echo signal；Letter
Number processor calculates practical bias value according to the background direct current optical signal and the second preset bias voltage correction model；Above-mentioned second
Bias voltage correction model is used to characterize the mapping relations between bias light DC voltage and ideal bias value.The present invention considers bias light
Influence to the gain of avalanche photodide, according to the background direct current optical signal in target echo signal to being input to snowslide light
The bias value of electric diode is corrected, and reduces influence of the bias light to avalanche photodide, improves response speed and sensitive
Degree.
As shown in Fig. 2, signal acquisition unit includes multistage gain amplification module, moment identification module, flip-flop extraction
Circuit, pulse signal processing module and high-speed AD converter；Wherein, multistage gain amplification module includes the preposition amplification of the first order
Device, second level gain variable amplifier, third level fixed gain amplifier and fourth stage variable gain amplifier；Moment identifies mould
Block includes TDC timing circuit, high speed FPGA moment discrimination circuit；Pulse signal processing module include pulse signal formed circuit and
Pulse signal shaping circuit；
Signal processor is FPGA master control processing circuit plate；Bias adjustment unit includes digital analog converter, flyback BOOST liter
Depressor and bias adjuster.
First order preamplifier is connect with avalanche photodide, the echo for receiving avalanche photodide
Signal carries out first order amplification, which can be trans-impedance amplifier, be also possible to prime ohmic load,
The current signal of avalanche photodide is converted into voltage signal, electricity is connected after trans-impedance amplifier or prime ohmic load
Press amplifier.Second level gain variable amplifier is connected with first order preamplifier, the increasing of second level gain variable amplifier
Benefit is controlled by FPGA master control processing circuit plate, and control mode can be number, is also possible to analog voltage control, the present embodiment
It is not specifically limited.Second level gain variable amplifier is in order to avoid because laser radar is close using the purpose of adjustable gain mode
Locate fog or nearby environment scatters caused ranging mistake.When work by the way of low gain and high-gain near-linear transition work
To make, when laser is just launched, the gain of second level gain variable amplifier is lower, as laser beam is into increasingly remoter, the
The gain of second level gain variable amplifier is gradually increased, so as to avoid the above problem.In addition, the variation of gain can be same
It is adjusted, is also possible to by being adopted when multiple pulses, i.e. first laser pulse detection in laser pulse propagation time
With low gain, second laser pulse is carried out by the way of high-gain when detecting.Third level fixed gain amplifier and second
Stage gain variable amplifier is connected, and is further amplified for the small-signal to echo, and for being isolated the
Second level gain variable amplifier, because the stability of second level gain variable amplifier wants poor compared with fixed gain amplifier
Some, therefore, third level fixed gain amplifier not only has gain enlarging function, while being also to play signal isolation, guarantee
System stablizes the effect of no-self excitation.
First output end of third level fixed gain amplifier is connected with TDC timing circuit, TDC timing circuit and high speed
FPGA moment discrimination circuit is connected.The effect of TDC timing circuit and high speed FPGA moment discrimination circuit is realized to target range
Resolving, the mode specifically resolved can be the comparator moment identification, be also possible to high-speed AD converter mode, this implementation
Example is not specifically limited.The master of first order preamplifier, second level gain variable amplifier, third level fixed gain amplifier
Act on is that the laser pulse signal in target echo signal is amplified to the identifiable amplitude of moment identification module；If without
The signal of amplification, avalanche photodide output is weaker, cannot directly drive TDC timing circuit.TDC timing circuit is after amplification
Laser pulse signal driving under detect laser pulse signal arrival time；FPGA moment discrimination circuit is according to the arrival
Time resolves target range.
The second output terminal of third level fixed gain amplifier is connected with fourth stage variable gain amplifier, and the fourth stage is variable
Gain amplifier is mainly used for amplifying the avalanche noise signal of avalanche photodide, when the bias for being added to avalanche photodide
It is excessively high, almost the avalanche voltage value of avalanche photodide when, avalanche photodide output noise will be rapid
It is significantly increased, which is connected through first order preamplifier, second level gain variable amplifier, third level fixed gain is amplified
The avalanche noise of device, the especially amplification of fourth stage variable gain amplifier, avalanche photodide output will account for entire signal
The overwhelming majority of noise obtains the ideal avalanche voltage of current avalanche photodide using the noise signal.The present embodiment
In, the amplification factor of fourth stage variable gain amplifier is about first order preamplifier, second level gain variable amplifier phase
Even, 4-6 times of the sum of amplification factor of third level fixed gain amplifier three；If amplified without fourth stage variable gain
Device, then avalanche noise signal is also weaker, can not form the pulse of standard.
Flip-flop extracts circuit and is connected with fourth stage variable gain amplifier, the signal that avalanche photodide receives
Other than the laser pulse of laser radar own transmission, including bias light, such as sunlight, bias light is to two pole of avalanche optoelectronic
The bias voltage control of pipe has very big influence.Flip-flop extracts circuit and is used to echo-signal dividing into short pulse signal,
That is the laser and background direct current optical signal and avalanche noise signal that the multi-channel laser transmitter 4 of about 4ns pulsewidth is launched.
Wherein, the first output end that flip-flop extracts circuit is connected with FPGA master control processing circuit plate, by background direct current
Optical signal is conveyed to the low speed analog-digital converter in FPGA master control processing circuit plate, first as FPGA master control processing circuit plate
A input variable.Flip-flop extracts the second output terminal of circuit and pulse signal forms circuit and is connected, and flip-flop extracts electricity
The avalanche noise signal of avalanche photodide is conveyed to pulse signal and forms circuit by road, and pulse signal forms circuit for the snow
It collapses noise signal and pulse signal is organized by internal comparator；Pulse signal shaping circuit forms circuit phase with pulse signal
Even, the less regular pulse signal for pulse signal to be formed the output of circuit internal comparator is shaped as calibration pulse letter
Number, for subsequent processing.High-speed AD converter is connected with pulse signal shaping circuit, for filtering avalanche noise shaping
The noise criteria pulse signal acquisition that wave generates into FPGA master control processing circuit plate, as FPGA master control processing circuit plate the
Two input variables.
FPGA master control processing circuit plate is according to background direct current optical signal, the control of two input variables of noise criteria pulse signal
The current desired practical bias value that be added to avalanche photodide is calculated under system；Specifically, FPGA master control processing circuit plate
According in preset time avalanche noise signal number and preset the first bias voltage correction meter calculate practical bias value；Or according to
Background direct current optical signal and the second preset bias voltage correction meter calculate practical bias value；Wherein, the first bias voltage correction table and
Two bias voltage correction tables are to pre-establish and be stored in FPGA master control processing circuit plate, and what is stored in the first bias voltage correction table is
The corresponding relationship of the current ideal bias value of the number of (such as 1ms) noise pulse and APD, the second bias voltage correction in certain period of time
What is stored in table is the voltage value of background direct current optical signal and the corresponding relationship of the current ideal bias value of APD；Work as flip-flop
When extracting the voltage value of the background direct current optical signal of circuit output greater than preset voltage threshold, illustrate background light signal mistake at this time
By force, it will seriously affect reception of the avalanche photodide to laser pulse signal, FPGA master control processing circuit plate is according at this time
Two bias voltage correction meters calculate output to the practical bias value of APD detector；Otherwise, signal processor is according to the first bias voltage correction meter
Output is calculated to the practical bias value of APD detector；In the present embodiment, above-mentioned voltage threshold is set as fourth stage gain variable amplifier
Maximum output voltage 80%.
Flyback BOOST booster is connected with FPGA master control processing circuit plate, is higher than two pole of avalanche optoelectronic for generating one
The high pressure of the avalanche voltage of pipe, the high pressure are generated under the control of FPGA master control processing circuit plate；FPGA master control processing electricity
Road plate generates PWM pulse-width signal, the switching tube in flyback BOOST booster is controlled, to control output voltage.The control
It is closed loop, low speed analog-digital converter of the high pressure through FPGA master control processing circuit intralamellar part that flyback BOOST booster generates is anti-
It feeds FPGA master control processing circuit plate, FPGA master control processing circuit plate maintains the high pressure generated always by the closed-loop control
In the avalanche voltage for being higher than avalanche photodide；Digital analog converter is connected with FPGA master control processing circuit plate, at FPGA master control
Reason circuit board exports the practical bias value being calculated to bias adjuster by digital analog converter, and bias adjuster at once will
The fixation high pressure that flyback BOOST booster generates generates practical bias value and is applied to avalanche optoelectronic two by adaptive partial pressure
In pole pipe.
Avalanche photodide, signal acquisition unit, signal processor and bias adjustment unit constitute closed-loop control system,
FPGA master control processing circuit plate is applied by measuring and obtaining the avalanche noise characteristic of current avalanche photodide come closed-loop control
The bias being added to it, the state of the system energy real-time tracking avalanche photodide make come the dynamic regulation for carrying out bias
Avalanche photodide work level off at one avalanche voltage a working condition under, this state can obtain biggish
Signal gain, to improve detection range.
It should be noted that the bias for being added to avalanche photodide is higher, signal gain is bigger, and this point is advantageous
, but the avalanche voltage of avalanche photodide is more leveled off to, the avalanche noise of avalanche photodide itself is also bigger, this
Any is unfavorable.In order to solve the problems, such as signal gain increase bring avalanche noise increase, the present embodiment by using when
Domain correlation distance calculation method handles target echo signal.Specifically, FPGA master control processing circuit plate is to avalanche optoelectronic
Multiple target echo signals that diode received generate when taking multiple measurements to target carry out time domain resolving processing, generate
Multiecho signal falls into the distribution curve of the probability value in different distance segmentation, when taking probability value maximum on the distribution curve
Distance value as real goal distance.By carrying out time domain resolving processing to multiple target echo signals, not using noise
Correlation and the correlation of target echo signal filter out the corresponding noise signal of decoy, and the distance value for reducing system resolves
Error probability, ensure that system stability.
Laser radar in the present embodiment is 360 ° of rotary laser radars, i.e. is partially used as a ranging described in Fig. 1 and Fig. 2
System is integrally installed on 360 ° of rotating platforms, and rotating platform encloses speed per second with 10-25 and rotates, Laser emission and reception
System continuously carries out the distance measurement of multichannel.Laser radar carries out a range measurement whenever rotating to 0 °, but
Since the bias using the avalanche photodide after above-mentioned bias adjustment device is relatively high, avalanche noise is larger, may
It can cause ranging decoy.Therefore, carry out n times Laser emission of the multi-channel laser transmitter in same angle, is measured N number of
Echo-signal and corresponding distance value.Specifically, in the case where N value is set as 3, when laser radar turns over 0 ° of angle for the first time
When, a ranging is carried out, but result does not export, when second of 0 ° of angle of laser, carries out second of ranging, it is as a result also not defeated
Out.When laser third time turns over 0 ° of angle, third time ranging is carried out, when the distance measurement result and preceding distance measurement result twice carry out
Domain relevant treatment；Target range detected using the irrelevance of noise and the correlation of target echo signal, is utilized
Above-mentioned principle extracts distance where real goal from decoy, to complete target range detection.
Fig. 3 is the distribution curve provided in this embodiment that the multiple echo-signals generated are resolved based on time domain correlation distance
Figure, wherein horizontal axis indicates that distance value, the longitudinal axis indicate that true or noise signal the distance value in multiecho signal falls into difference
Probability on range segment separating, since noise has irrelevance, the noise signal in 3 echo-signals measured is same
The probability occurred in distance segment is minimum, distance where can determine real goal using the size of probability value.
In addition, being filtered out since the present invention is resolved using time domain correlation distance to noise signal, needed in the process to same
One target takes multiple measurements, therefore can extend time of measuring, reduces measurement efficiency；In order to solve this problem, the present embodiment
In, all laser emission elements in multi-channel laser transmitter 4 emit laser beam simultaneously, and non-sequential luminous, pass through light
Learn the spatial relation, optical alignment antenna 5 and multi-channel laser transmitter 4 of focusing anteena 3 and APD detector array 1
Spatial relation ensures per Laser emission all the way and receives that system is all that space is independent, and less there are space laser interference.
This mode from the modes of multiple detection member successively detection of luminescence shorten to it is primary and meanwhile it is luminous detected, greatly improve
The detection efficient of laser scanning and ranging.The promotion of this detection efficient can greatly make up due to pursue distance promoted and use
Efficiency brought by time domain correlation distance computation slightly decreases.
Provided by the present invention for improving the bias adjustment device and laser radar system of detection range, by using encapsulation
APD detector array and multi-channel laser transmitter on a piece of substrate carry out laser scanning and ranging, APD detector array
Detection member size and adjacent detector member between spacing be all completely fixed, therefore receive system only need an optical focus
The spatial multichannel reception to object space can be realized in antenna.Multi-channel laser transmitter shines simultaneously, APD detector array
Range measurement to object space is also to carry out simultaneously, improves scanning speed.On the other hand, by improving APD detector
Bias improve the sensitivity of APD detector array；This may generate extra noise, but pass through time domain correlation distance solution
Calculation method detects target range using the irrelevance of noise and the correlation of target echo signal.By above-mentioned
On the one hand scheme improves detectivity by improving the bias of APD detector array, and then improves detection range.It is another
Aspect, the error probability resolved by the distance value that time domain correlation distance calculation method reduces system ensure that system is stablized
Property.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of for improving the bias adjustment device of detection range, which is characterized in that including signal acquisition unit, signal processing
Device and bias adjustment unit；
The signal acquisition unit is for obtaining the target echo signal that APD detector receives, from the target echo signal
Middle extraction avalanche noise signal simultaneously counts the avalanche noise signal number in preset time period；
The signal processor is used to be calculated according to the avalanche noise signal number and the first preset bias voltage correction model
Practical bias value；The first bias voltage correction model is used to characterize avalanche noise signal number and ideal bias in preset time
Mapping relations between value；
The bias adjustment unit is detected for the practical bias value to be generated and exported under the control of signal processor to APD
Device.
2. bias adjustment device as described in claim 1, which is characterized in that the signal acquisition unit is also used to return from target
Background direct current optical signal is extracted in wave signal；
The signal processor calculates practical inclined according to the background direct current optical signal and the second preset bias voltage correction model
Pressure value；The mapping that the second bias voltage correction model is used to characterize between different bias light DC voltage and ideal bias value is closed
System.
3. bias adjustment device as claimed in claim 2, which is characterized in that when the voltage value of the background direct current optical signal is big
When preset voltage threshold, signal processor calculates output to the practical bias of APD detector according to the second bias voltage correction model
Value；Otherwise, signal processor calculates output to the practical bias value of APD detector according to the first bias voltage correction model.
4. bias adjustment device as claimed in claim 1 or 3, which is characterized in that the signal acquisition unit includes multistage increases
Beneficial amplification module, moment identification module, flip-flop extract circuit, pulse signal processing module and analog-digital converter；
The multistage gain amplification module is for amplifying target echo signal, by the laser arteries and veins in target echo signal
It rushes signal and is amplified to the identifiable amplitude of moment identification module；
The moment identification module is used to detect the arrival time of the laser pulse signal, and is calculated according to the arrival time
Target range；
The flip-flop extracts circuit for extracting noise signal, the noise letter from amplified target echo signal
Number include background direct current optical signal and avalanche noise signal；And the background direct current optical signal is sent to signal processor, it will
The avalanche noise signal is sent to pulse signal processing module；
The pulse signal processing module is used to the avalanche noise signal shaping be calibration pulse signal, the calibration pulse
Signal is sent to signal processor after analog-digital converter is handled.
5. bias adjustment device as claimed in claim 4, which is characterized in that the multistage gain amplification module includes successively phase
First order preamplifier, second level gain variable amplifier, third level fixed gain amplifier and fourth stage gain even can
Become amplifier；
The first order preamplifier is connect with APD detector, the target echo signal for receiving APD detector into
The amplification of the row first order；
The gain of the second level gain variable amplifier is controlled by signal processor and carries out dynamic regulation, preposition to the first order
The target echo signal of amplifier output maintains signal stabilization during amplifying；
The third level fixed gain amplifier makees the target echo signal that second level gain variable amplifier exports further
Amplification, and the laser pulse signal in amplified target echo signal is exported to moment identification module；
In the target echo signal that the fourth stage gain variable amplifier is used to export third level fixed gain amplifier
Noise signal amplifies.
6. bias adjustment device as claimed in claim 1 or 5, which is characterized in that the bias adjustment unit includes that digital-to-analogue turns
Parallel operation, flyback BOOST booster and bias adjuster；
The flyback BOOST booster under the control of signal processor for generating the snowslide electricity for being higher than APD detector
The voltage value of pressure；
The digital analog converter is used to be sent to bias tune after the practical bias value that signal processor generates is carried out digital-to-analogue conversion
Save device；
The bias adjuster is adaptively divided according to the voltage value that the practical bias value generates flyback BOOST booster
Pressure, gives APD detector to export the practical bias value.
7. bias adjustment device as claimed in claim 1 or 5, which is characterized in that the signal processor is also used to visit APD
It surveys the multiple target echo signals generated when taking multiple measurements to target that device receives and carries out time domain resolving processing, generate more
True or noise distance value in a echo-signal falls into the distribution curve of the probability value in different distance segmentation, takes the probability
Distance value when value is maximum is as real goal distance.
8. a kind of laser radar system, which is characterized in that including the described in any item bias adjustment devices of claim 1-7.
9. laser radar system as claimed in claim 8, which is characterized in that further include that multi-channel laser transmitter and APD are visited
Survey device；
The APD detector is packaged in the APD detection array on substrate, the APD detection array include multiple detections members and
Spacing between the size and adjacent detector member of the detection member is fixed；
The port number of the multi-channel laser transmitter is identical as the detection member number in APD detection array, only to form transmitting-receiving
Vertical multiple sounding channels.
10. laser radar system as claimed in claim 9, which is characterized in that further include optical alignment antenna and optical focus
Antenna；
The optical alignment antenna adjusts transmitting light beam for collimating the light that multi-channel laser transmitter issues
Direction is so that it is directed at object to be measured；
Each the detection member of the light focusing that the optical focus antenna is used to reflect object to be measured in APD detection array
On.
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