CN112904355A - Method for non-interference superposition of multi-path zoomed laser pulse ranging echo signals - Google Patents
Method for non-interference superposition of multi-path zoomed laser pulse ranging echo signals Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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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
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The invention relates to a method for the interference-free superposition of a plurality of paths of zoomed laser pulse ranging echo signals, which comprises the steps of inputting original laser pulse ranging echo signals into a plurality of paths of hierarchical zooming circuits, setting a corresponding zooming multiple for each path of zooming circuit, carrying out different-time and fixed delay on each path of laser pulse ranging echo zooming signals through a delay circuit, adopting a signal superposition circuit to superpose all laser pulse ranging echo zooming signals staggered in time to one path, and outputting the superposed signals to an AD circuit backwards; and after the AD circuit samples the superposed signals, traversing from the side with strong signals to the side with weak signals, selecting the optimal signals, and calculating the wave sequence number of the current optimal signals so as to obtain the delay time of the current signals. The invention can stagger the time of the signals after multi-path zooming by the time delay technology and superpose the signals with staggered time into one path, thereby ensuring that only one path of AD can meet the processing requirement.
Description
Technical Field
The invention relates to the technical field of electronic information, in particular to a method for interference-free superposition of multipath zoomed laser pulse ranging echo signals.
Background
The pulse laser radar measures the distance to a target object by emitting a laser pulse to the target object and detecting a return laser pulse echo signal of the target object, and calculating the time of flight of the pulse. The high-precision pulse laser radar also needs to detect the waveform information of the echo pulse, and the ranging precision is further improved through waveform analysis. Good waveform acquisition capability is the core capability of high-precision laser radars.
The wide dynamic range adaptation of the amplification detection of the laser pulse signal reflected by the target object is one of the main problems in the laser radar system. The range of the short-distance laser radar is more than one hundred meters; the range of the medium-long distance laser radar is more than kilometer; the range of the long-distance laser radar can reach more than thousands of meters. For lidar for unspecified applications, the nearest detectable distance is typically required to be less than 0.5 meters; for the laser of a specific application occasion, the nearest detectable distance can reach the centimeter level, and the wide range measurement range ensures that the dynamic range of the laser intensity obtained by the radar receiving system is very large; in addition, the dynamic range of the laser echo light intensity is further enlarged due to different distribution distances and different reflectivity levels of target objects in the scene.
The analog circuit of the single-path amplification structure cannot meet the requirement of signal amplification factor when the echo signal is weak, is easy to saturate when the signal is strong, and is not suitable for the amplification processing of the wide dynamic signal. At present, multi-path scaling is usually adopted, the original signal can be reduced and amplified, and an analog circuit structure is used for solving the problem of wide dynamic range adaptation of the signal according to needs, as shown in fig. 1. Each path of the circuit is set with different scaling times which are expanded step by step, so that the result of at least one path can meet the requirement of subsequent processing. The scheme generally adopts a PD/APD detector with high sensitivity and low noise, and is matched with an amplifier with wide bandwidth, large scaling factor and low noise. Each path of the circuit corresponds to different scaling multiples, so that the circuit is suitable for scaling processing of laser pulse echo signals of target objects with different reflectivities and different distances in the nature.
The processing mode can effectively solve the problem of wide dynamic range amplification of the laser pulse echo signal. Usually, each scaled signal needs an AD conversion to a digital signal, and then an optimal scaled echo signal is selected by a digital circuit for subsequent processing. This means that how many ways of AD conversion are needed for how many ways of scaling. High-speed AD devices are expensive, and circuit and device costs of equipment are increased when one AD is added.
Disclosure of Invention
The technical problem to be solved by the invention is that the signals after multi-path zooming are staggered in time by a delay technology, and the signals staggered in time are superposed into one path, thereby ensuring that only one path of AD is needed to meet the processing requirement.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for constructing interference-free superposition of multi-path zoomed laser pulse ranging echo signals comprises the following steps:
inputting original laser pulse ranging echo signals into a plurality of paths of hierarchical zooming circuits, wherein each path of zooming circuit is provided with a corresponding zooming multiple which generally covers a set dynamic zooming range, and each path of zooming circuit obtains independent laser pulse ranging echo zooming signals after zooming;
each path of laser pulse ranging echo zooming signal is delayed for different time and fixedly through a delay circuit, so that all the laser pulse ranging echo zooming signals are completely staggered in time;
a signal superposition circuit is adopted to superpose all the laser pulse ranging echo zooming signals staggered in time to one path, and the superposed signals are output to an AD circuit backwards;
and after the AD circuit samples the superposed signals, traversing from the side with strong signals to the side with weak signals, selecting the optimal signals, and calculating the wave sequence number of the current optimal signals so as to obtain the delay time of the current signals.
Wherein, in the step of delaying each laser pulse ranging echo zooming signal for different time and fixed time through the delay circuit so as to make all laser pulse ranging echo zooming signals completely staggered in time, the delay mode is set as: and numbering and sequencing all the laser pulse ranging echo zooming signals, performing no time delay operation on the 1 st laser pulse ranging echo zooming signal, and performing unequal time delay on the 2 nd to the n nd laser pulse ranging echo zooming signals.
The delay circuit is realized by adopting a longer cable, a circuit board wiring or a related signal delay device, and meanwhile, the interference to the signal quality is avoided.
Wherein the set dynamic scaling range is determined according to the ranging range and the target reflectivity.
In the step of sampling the superimposed signal by the AD circuit, the sampling method is set to be selected from high to low signal intensities.
The invention is different from the prior art, the invention provides a method for the interference-free superposition of multi-path zoomed laser pulse ranging echo signals, which comprises the steps of inputting the original laser pulse ranging echo signals into a multi-path hierarchical zooming circuit, setting a corresponding zooming multiple for each path of zooming circuit, carrying out different-time and fixed delay on each path of laser pulse ranging echo zooming signal through a delay circuit, adopting a signal superposition circuit to superpose all laser pulse ranging echo zooming signals staggered in time to one path, and outputting the superposed signals to an AD circuit backwards; and after the AD circuit samples the superposed signals, traversing from the side with strong signals to the side with weak signals, selecting the optimal signals, and calculating the wave sequence number of the current optimal signals so as to obtain the delay time of the current signals. The invention can stagger the time of the signals after multi-path zooming by the time delay technology and superpose the signals with staggered time into one path, thereby ensuring that only one path of AD can meet the processing requirement.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart illustrating a method for interference-free superposition of multiple scaled laser pulse ranging echo signals according to the present invention.
FIG. 2 is a flow chart of echo signal processing of a method for interference-free superposition of multiple zoomed laser pulse ranging echo signals according to the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the present invention provides a method for interference-free superposition of multiple zoomed laser pulse ranging echo signals, comprising:
inputting original laser pulse ranging echo signals into a plurality of paths of hierarchical zooming circuits, wherein each path of zooming circuit is provided with a corresponding zooming multiple which generally covers a set dynamic zooming range, and each path of zooming circuit obtains independent laser pulse ranging echo zooming signals after zooming;
each path of laser pulse ranging echo zooming signal is delayed for different time and fixedly through a delay circuit, so that all the laser pulse ranging echo zooming signals are completely staggered in time;
a signal superposition circuit is adopted to superpose all the laser pulse ranging echo zooming signals staggered in time to one path, and the superposed signals are output to an AD circuit backwards;
and after the AD circuit samples the superposed signals, traversing from the side with strong signals to the side with weak signals, selecting the optimal signals, and calculating the wave sequence number of the current optimal signals so as to obtain the delay time of the current signals.
Wherein, in the step of delaying each laser pulse ranging echo zooming signal for different time and fixed time through the delay circuit so as to make all laser pulse ranging echo zooming signals completely staggered in time, the delay mode is set as: and numbering and sequencing all the laser pulse ranging echo zooming signals, performing no time delay operation on the 1 st laser pulse ranging echo zooming signal, and performing unequal time delay on the 2 nd to the n nd laser pulse ranging echo zooming signals.
The delay circuit is realized by adopting a longer cable, a circuit board wiring or a related signal delay device, and meanwhile, the interference to the signal quality is avoided.
Wherein the set dynamic scaling range is determined according to the ranging range and the target reflectivity.
In the step of sampling the superimposed signal by the AD circuit, the sampling method is set to be selected from high to low signal intensities.
As shown in fig. 2, the implementation of the present invention is as follows:
1. and a PD or APD device is adopted to convert the laser reflection pulse optical signal of the object to be measured into an electric signal (original pulse echo signal). The original pulse-echo signal is input to a multi-way (say 4) hierarchical scaling circuit. Each scaling circuit should set an appropriate scaling factor (assuming that the amplification factor of each signal relative to the original signal is 1, 8, 64, 512 in turn). Each scaled signal is an independent pulse signal.
2. Each path is delayed at equal intervals of 20 ns. The No. 1 path is not delayed, the No. 2 path is delayed by 20ns, the No. 3 path is delayed by 40ns, and the No. 4 path is delayed by 60 ns. The delay circuit may be implemented using longer cables, circuit board wiring, or related signal delay devices. The delay circuit should avoid interfering with the signal quality.
3. A signal superposition circuit is adopted to superpose 4 paths of signals staggered in time to one path. And the combined signals are collected and processed by using AD.
4. For data acquired by AD, the signal strength is selected starting from high to low. Initially, the wave sequence counter is set to 1, if the signal is saturated, the current wave is discarded, and the waveform counter is incremented by 1. This step is repeated until the signal strength value is within a reasonable interval. And recording the value N of the current waveform counter, so that the time of the current signal delay is (4-N) × 20 ns.
The invention is different from the prior art, the invention provides a method for the interference-free superposition of multi-path zoomed laser pulse ranging echo signals, which comprises the steps of inputting the original laser pulse ranging echo signals into a multi-path hierarchical zooming circuit, setting a corresponding zooming multiple for each path of zooming circuit, carrying out different-time and fixed delay on each path of laser pulse ranging echo zooming signal through a delay circuit, adopting a signal superposition circuit to superpose all laser pulse ranging echo zooming signals staggered in time to one path, and outputting the superposed signals to an AD circuit backwards; and after the AD circuit samples the superposed signals, traversing from the side with strong signals to the side with weak signals, selecting the optimal signals, and calculating the wave sequence number of the current optimal signals so as to obtain the delay time of the current signals. The invention can stagger the time of the signals after multi-path zooming by the time delay technology and superpose the signals with staggered time into one path, thereby ensuring that only one path of AD can meet the processing requirement.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (5)
1. A method for interference-free superposition of multi-path zoomed laser pulse ranging echo signals is characterized by comprising the following steps:
inputting original laser pulse ranging echo signals into a plurality of paths of hierarchical zooming circuits, wherein each path of zooming circuit is provided with a corresponding zooming multiple which generally covers a set dynamic zooming range, and each path of zooming circuit obtains independent laser pulse ranging echo zooming signals after zooming;
each path of laser pulse ranging echo zooming signal is delayed for different time and fixedly through a delay circuit, so that all the laser pulse ranging echo zooming signals are completely staggered in time;
a signal superposition circuit is adopted to superpose all the laser pulse ranging echo zooming signals staggered in time to one path, and the superposed signals are output to an AD circuit backwards;
and after the AD circuit samples the superposed signals, traversing from the side with strong signals to the side with weak signals, selecting the optimal signals, and calculating the wave sequence number of the current optimal signals so as to obtain the delay time of the current signals.
2. The method according to claim 1, wherein the step of delaying each of the laser pulse ranging echo scaled signals by a delay circuit for a predetermined time so that all the laser pulse ranging echo scaled signals are completely staggered in time is performed in a delay manner of: and numbering and sequencing all the laser pulse ranging echo zooming signals, performing no time delay operation on the 1 st laser pulse ranging echo zooming signal, and performing unequal time delay on the 2 nd to the n nd laser pulse ranging echo zooming signals.
3. The method of claim 1 wherein the delay circuit is implemented using longer cables, circuit board wiring, or related signal delay devices while avoiding interference with signal quality.
4. The method of claim 1 wherein the set dynamic scaling range is determined based on the range and target reflectivity.
5. The method of claim 1, wherein in the step of sampling the superimposed signal by the AD circuit, the sampling mode is set to be selected from high to low according to the signal intensity.
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| CN109116333A (en) * | 2018-09-14 | 2019-01-01 | 南京理工大学 | A kind of multiple-pulse is staggered the time the laser radar echo simulator of superposition |
| CN109286462A (en) * | 2018-09-12 | 2019-01-29 | 中国科学院自动化研究所 | Method for resampling, device and system based on dynamic delay compensation |
| CN109597057A (en) * | 2018-12-06 | 2019-04-09 | 苏州镭图光电科技有限公司 | A kind of return laser beam distance measuring method and range unit |
| CN112014824A (en) * | 2019-05-31 | 2020-12-01 | 深圳市速腾聚创科技有限公司 | Multi-pulse anti-interference signal processing method and device |
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2021
- 2021-01-22 CN CN202110089654.6A patent/CN112904355A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20120212366A1 (en) * | 2011-02-21 | 2012-08-23 | TransRobotics, Inc. | System and method for sensing distance and/or movement |
| CN104199042A (en) * | 2014-09-23 | 2014-12-10 | 李亚锋 | Multi-echo laser ranging method and laser range finder |
| CN205176265U (en) * | 2015-11-19 | 2016-04-20 | 上海无线电设备研究所 | Precision programmable delay circuit |
| CN108196265A (en) * | 2016-12-08 | 2018-06-22 | 北京万集科技股份有限公司 | A kind of multi-path laser flight time parallel acquisition system and method |
| CN109286462A (en) * | 2018-09-12 | 2019-01-29 | 中国科学院自动化研究所 | Method for resampling, device and system based on dynamic delay compensation |
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