CN115236634A - Method and device for correcting laser linear frequency modulation signal in laser radar - Google Patents
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Abstract
The invention discloses a method and a device for correcting laser linear frequency modulation signals in a laser radar, wherein the method comprises the following steps: and amplitude correction: sampling an envelope signal of the mixed signal; discretizing the amplitude value of the ideal frequency modulation signal; performing curve fitting according to the sampling result of the envelope signal and the sampling result of the ideal frequency modulation signal; determining an amplitude vector of the input modulation signal by using the ideal envelope amplitude vector according to each piecewise function; a frequency correction step; discretizing the frequency value based on an ideal time-frequency function; fitting the input frequency vector and the output frequency vector; taking an inverse function of the fitting function, and determining an actual frequency vector by using the input frequency vector based on the inverse function of the fitting function; the corrected signal is determined based on the amplitude vector and the actual frequency vector of the input modulated signal. According to the embodiment of the application, the amplitude value and the frequency value of the frequency modulation signal are corrected, the output power of the laser amplifier is improved, and the distance and speed measurement accuracy is improved.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a method and a device for correcting laser linear frequency modulation signals in a laser radar.
Background
A frequency-modulated continuous-wave (FM-wave) laser radar is a pulse compression-based laser radar system which can work in a continuous wave or wide pulse system and can simultaneously measure high-precision target distance and speed when working in the continuous wave. The wide pulse system can adopt a pulse compression algorithm, has the characteristics of large signal bandwidth and high time resolution, can reduce the bandwidth requirements on a photoelectric detector and analog-to-digital conversion while improving the detection signal-to-noise ratio of the system, and is one of the widely adopted laser radar detection systems at present.
With the improvement of the requirements of the practical application on the speed measurement precision, the distance measurement resolution ratio and the like of the laser radar system, the laser frequency can be modulated through internal modulation (for example, the frequency is adjusted by adjusting the current of a laser diode) and external adjustment (for example, an acousto-optic modulator), and the linearity and the amplitude value of the actually generated frequency modulation signal do not meet the subsequent laser amplifier and distance speed calculation requirements, so that the linear frequency modulation signal needs to be corrected.
Disclosure of Invention
The embodiment of the invention provides a method and a device for correcting laser linear frequency modulation signals in a laser radar, which are used for carrying out amplitude correction and frequency correction on the linear frequency modulation signals.
A method for correcting laser linear frequency modulation signals in a laser radar comprises the following steps:
and amplitude correction:
acquiring a mixing signal, and sampling an envelope signal of the mixing signal, wherein the mixing signal is formed on the basis of a laser modulation signal and a laser local oscillator signal;
discretizing an amplitude value of the ideal frequency modulation signal, and sampling;
performing curve fitting according to the sampling result of the envelope signal and the sampling result of the ideal frequency modulation signal to obtain a piecewise function of each piecewise interval;
determining an amplitude vector of an input modulation signal by using the ideal envelope amplitude vector according to each piecewise function;
a frequency correction step:
performing time-frequency analysis on the obtained mixing signal to obtain an output frequency vector;
discretizing the frequency value based on an ideal time-frequency function to obtain an input frequency vector;
fitting the input frequency vector and the output frequency vector respectively as horizontal and vertical coordinates to obtain a fitting function;
taking an inverse function of the fitting function G (x) to obtain an inverse function G -1 (x)
Determining an actual frequency vector using the input frequency vector based on the fitted inverse function;
determining a corrected signal based on the amplitude vector of the input modulation signal and the actual frequency vector.
In some embodiments, sampling the envelope signal of the mixed signal comprises:
acquiring an envelope signal z = z (t) of a mixing signal, wherein the envelope signal is used for describing the envelope amplitude of the mixed electric signal in a mixing time period;
sampling the envelope signal by a number N of sampling points to obtain a discretized first vector z 1 ，z 2 ，z，.........，z N }。
In some embodiments, discretizing and sampling the amplitude value of the ideal frequency modulated signal comprises:
defining the ideal frequency modulation signal as:
where k is the chirp rate, f 0 The initial frequency is A, the maximum value of the signal amplitude is A, the coordinate of the center of the amplitude envelope peak is b, and c is called standard deviation;
amplitude value of ideal frequency modulation signal
Discretizing, sampling according to the number N of sampling points to obtain a second vector y 1 ，y 2 ，y 3 ，.........，y N }。
In some embodiments, curve fitting the sampling result of the envelope signal and the sampling result of the ideal frequency modulation signal to obtain a piecewise function of each piecewise interval comprises:
respectively taking the first vector and the second vector as an abscissa and an ordinate, and performing curve fitting by adopting a cubic spline interpolation method, wherein the cubic spline interpolation is realized by a piecewise smooth curve, and each segment is a cubic polynomial;
and determining the piecewise function of each piecewise interval based on the relevant parameters of curve fitting.
In some embodiments, performing a time-frequency analysis on the obtained mixed signal to obtain an output frequency vector comprises:
performing time-frequency analysis on the obtained mixing signal, and extracting the time-varying relation of the frequency of the mixed signal in the mixing time period to obtain an output frequency vector { p 1 ，p 2 ，p 3 ，.........，p N }。
In some embodiments, discretizing the frequency values based on an ideal time-frequency function to obtain an input frequency vector comprises:
defining an ideal time-frequency function to meet the following conditions:
wherein, f 0 Is the initial frequency, α is the frequency modulation factor;
discretizing the frequency value to obtain an input frequency vector q 1 ，q 2 ，q 3 ，.........，q N }。
In some embodiments, fitting the input frequency vector and the output frequency vector to obtain a fitting function comprises:
will output the frequency vector p 1 ，p 2 ，p 3 ，.........，p N And an input frequency vector q 1 ，q 2 ，q 3 ，.........，q N And fitting a polynomial curve to obtain a fitting function G (x), wherein the order of the fitting function G (x) is determined according to whether the fitting error meets the requirement or not.
In some embodiments, the method further comprises frequency modulating the laser signal with the corrected chirp signal again, and repeating the correcting step.
The embodiment of the application further provides a device for correcting laser chirp signals in a laser radar, which comprises a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the method for correcting the laser chirp signals in the laser radar are realized.
An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the foregoing method for correcting a laser chirp signal in a laser radar are implemented.
The embodiment of the invention corrects the amplitude value and the frequency value of the frequency modulation signal, improves the output power of the laser amplifier and improves the distance and speed measurement precision.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
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Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a basic flow diagram of a calibration method according to an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating an amplitude correction flow of the correction method according to the embodiment of the present application;
fig. 3 is a schematic flow chart of frequency calibration in the calibration method according to the embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The embodiment of the invention provides a method for correcting a laser chirp signal in a laser radar, and as shown in fig. 1, the method for correcting the laser chirp signal in the laser radar is divided into 2 steps. Amplitude correction and frequency correction of the modulated signal, respectively. The amplitude correction of the modulated signals is mainly used for meeting the input requirements of a subsequent laser amplifier and ensuring that the amplitude of the modulated signals is consistent with the time after the modulated signals are amplified. The frequency correction is used for meeting the requirement on the frequency linearity of the modulation signal in the speed and distance information resolving process.
In a specific application scenario, the laser seed source is divided into 2 paths, one path is subjected to linear frequency modulation, and the other path is used as a local oscillator signal. For example, the laser seed source may adopt a 1550nm single-frequency seed source, a part of the seed source is divided for modulation, the modulation mode is chirp, for example, the chirp frequency is from 200MHz to 800MHz, and the modulation time is 1 μ s. The amplitude of the modulated signal takes the value required by the laser amplifier. This modulated signal is then corrected. And mixing the laser modulation signal before correction with a laser local oscillator signal, wherein the local oscillator signal is not modulated and is a relatively weak optical signal, the signal after mixing passes through a photoelectric detector and then is accessed to an oscilloscope or an AD acquisition processing device, and the signal after mixing is stored.
As shown in fig. 2, the amplitude correction step S1:
in step S101, a mixing signal is obtained, and an envelope signal of the mixing signal is sampled, where the mixing signal is formed based on a laser modulation signal and a laser local oscillator signal.
In step S102, the amplitude value of the ideal frequency modulation signal is discretized and sampled.
In step S103, a curve fitting is performed according to the sampling result of the envelope signal and the sampling result of the ideal frequency modulation signal to obtain a piecewise function of each piecewise interval.
In step S104, an amplitude vector of the input modulation signal is determined using the ideal envelope amplitude vector according to each piecewise function.
As shown in fig. 3, the frequency correction step S2:
in step S201, a time-frequency analysis is performed on the obtained mixing signal to obtain an output frequency vector.
In step S202, the frequency values are discretized based on an ideal time-frequency function to obtain an input frequency vector.
In step S203, the input frequency vector and the output frequency vector are fitted to obtain a fitting function.
In step S204, the fitting function G (x) is inverted to obtain an inverted function G -1 (x)
In step S205, determining an actual frequency vector using the input frequency vector based on the fitted inverse function;
in step S3, a corrected signal is determined based on the amplitude vector of the input modulated signal and the actual frequency vector.
The correction method of the embodiment of the invention corrects the amplitude value and the frequency value of the frequency modulation signal, improves the output power of the laser amplifier and improves the distance and speed measurement accuracy.
In some embodiments, sampling the envelope signal of the mixed signal comprises:
an envelope signal z = z (t) of the mixing signal is obtained, wherein the envelope signal is used for describing the envelope amplitude of the mixed electrical signal during the mixing time period. Specifically, the mixed signal may be processed to obtain an envelope signal z = z (t), where the envelope signal is an envelope amplitude of the electric signal after mixing in the mixing time period.
Sampling the envelope signal by a number N of sampling points to obtain a discretized first vector z 1 ，z 2 ，z，.........，z N }。
In some embodiments, discretizing and sampling the amplitude value of the ideal frequency modulated signal comprises:
defining the ideal frequency modulation signal as:
where k is the chirp rate, f 0 As the starting frequency, a is the maximum of the signal amplitude, b is the coordinate of the peak center of the amplitude envelope, and c is the standard deviation.
Amplitude value of ideal frequency modulation signal
Discretizing, sampling according to the number N of sampling points, namely keeping the sampling frequency consistent with the sampling rate of the mixed-frequency electric signal after mixing, and obtaining a second vector { y after sampling discretization 1 ，y 2 ，y 3 ，.........，y N }。
In some embodiments, curve fitting the sampling result of the envelope signal and the sampling result of the ideal frequency modulation signal to obtain a piecewise function of each piecewise interval comprises:
and respectively taking the first vector and the second vector as an abscissa and an ordinate, and performing curve fitting by adopting a cubic spline interpolation method, wherein the cubic spline interpolation is realized by a piecewise smooth curve, and each segment is a cubic polynomial.
In a specific example, { z } 1 ，z 2 ，z，.........，z N And y 1 ，y 2 ，y 3 ，.........，y N Is divided intoAnd respectively taking the Z and the Y as an abscissa and an ordinate, performing curve fitting on the Z and the Y by adopting a cubic spline interpolation method, and fitting an output z and an input y, namely interpolating by using a piecewise smooth curve, wherein each section is a cubic polynomial. And solving a corresponding spline function expression p according to the known array vectors of z and y.
And determining the piecewise function of each piecewise interval based on the relevant parameters of curve fitting. Specifically, the function expression in each segment interval can be solved according to the node matrix of the segment interval, the number of segments being M, the polynomial order being 4, the coefficient matrix coefs of the interpolation polynomial in each segment interval, and the dimension of the matrix being 1
f 1 (x)＝p 11 ·x 3 +p 12 ·x 2 +p 13 ·x+p 14
f 2 (x)＝p 21 ·x 3 +p 22 ·x 2 +p 23 ·x+p 24
.............................................
f M (x)＝p M1 ·x 3 +p M2 ·x 2 +p M3 ·x+p M4
In the formula p 11 ，p 12 ，p 13 ，p 14
p 21 ，p 22 ，P 23 ，p 24
.....................
p M1 ，p M2 ，p M3 ，p M4
Can be fetched in the matrix coefs.
The optical signal after frequency mixing is to be connected to the laser amplifier, the requirements for the input amplitude are different according to different performance characteristics of each laser amplifier, and the optimal input signal amplitude of the laser amplifier, namely the ideal envelope amplitude vector { u } is found out according to the actual input and output characteristics of the laser amplifier and the theoretical input of the laser amplifier 1 ，u 2 ，u 3 ，.........，u N ). In some embodiments, an ideal envelope magnitude vector is utilized according to each piecewise functionDetermining a magnitude vector of an input modulation signal comprises; according to the respective piecewise function f 1 (x)，f 2 (x)，f M (x) The magnitude vector { u } 1 ，u 2 ，u 3 ，.........，u N Substituting calculates the amplitude vector A = { A } of the corresponding input modulation signal 1 ，A 2 ，A 3 ，.........，A N }。
In some embodiments, performing a time-frequency analysis on the obtained mixed signal to obtain an output frequency vector comprises: performing time-frequency analysis on the obtained mixing signal, and extracting the time-varying relation of the frequency of the mixed signal in the mixing time period to obtain an output frequency vector { p } 1 ，p 2 ，p 3 ，.........，p N }。
In some embodiments, discretizing the frequency values based on an ideal time-frequency function to obtain an input frequency vector comprises:
defining an ideal time-frequency function to satisfy:
wherein, f 0 Is the initial frequency, α is the frequency modulation factor;
discretizing the frequency value to obtain an input frequency vector q 1 ，q 2 ，q 3 ，.........，q N }。
In some embodiments, fitting the input frequency vector and the output frequency vector to obtain a fitting function comprises:
will output the frequency vector p 1 ，p 2 ，p 3 ，.........，p N And an input frequency vector q 1 ，q 2 ，q 3 ，.........，q N And fitting a polynomial curve to obtain a fitting function G (x), wherein the frequency is used for fitting input and output, the horizontal and vertical coordinates are input and output respectively, the order of the polynomial of the order of the fitting function G (x) is not fixed, and the order of the fitting function G (x) is determined according to whether a fitting error meets requirements or not.In some examples, determining the actual frequency vector using the input frequency vector based on the fit function includes inverting the fit function G (x) to obtain an inverted function G -1 (x) In that respect The ideal frequency vector q 1 ，q 2 ，q 3 ，.........，q N Substituting into the inverse function G -1 (x) Calculating the frequency vector H = { H } in the actual modulation signal 1 ，H 2 ，H 3 ，.........，H N }。
Whereby the amplitude-corrected and frequency-corrected signal is
y＝A·cos(2·π·t·H)
The values of each point in the A and H vectors are respectively substituted into the above formula to obtain a set of corrected vector signals. The resulting set of vectors is written to a signal generator, which generates a signal that is coupled into a laser modulator.
In some embodiments, the method further comprises frequency modulating the laser signal again with the corrected chirp signal, and repeating the correcting step, wherein the correction error can be further reduced through a plurality of iterations. And finally, adding the modulated signal into the system to measure the actual distance and speed.
In laser coherent ranging detection, linear frequency modulation needs to be performed on laser frequency, and if amplitude values and frequency values of generated frequency modulation signals are not corrected, the performance and the distance and speed measurement accuracy of a subsequent laser amplifier are affected. The scheme of the application is used for solving the problems, and the amplitude value and the frequency value of the frequency modulation signal are corrected by the method, so that the output power of the laser amplifier is improved, and the distance and speed measurement accuracy is improved.
The embodiment of the application further provides a device for correcting laser chirp signals in a laser radar, which comprises a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the method for correcting the laser chirp signals in the laser radar are realized.
An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the foregoing method for correcting a laser chirp signal in a laser radar are implemented.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one.. Said.", it is not intended to exclude that an additional identical element is present in a process, method, article or apparatus that comprises the same element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
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 (10)
1. A method for correcting laser linear frequency modulation signals in a laser radar is characterized by comprising the following steps:
an amplitude correction step:
acquiring a mixing signal, and sampling an envelope signal of the mixing signal, wherein the mixing signal is formed on the basis of a laser modulation signal and a laser local oscillator signal;
discretizing the amplitude value of the ideal frequency modulation signal and sampling;
performing curve fitting according to the sampling result of the envelope signal and the sampling result of the ideal frequency modulation signal to obtain a piecewise function of each piecewise interval;
determining an amplitude vector of the input modulation signal by using the ideal envelope amplitude vector according to each piecewise function;
a frequency correction step:
performing time-frequency analysis on the obtained mixing signal to obtain an output frequency vector;
discretizing the frequency value based on an ideal time-frequency function to obtain an input frequency vector;
fitting the input frequency vector and the output frequency vector respectively as horizontal and vertical coordinates to obtain a fitting function;
taking an inverse function of the fitting function G (x) to obtain an inverse function G -1 (x)
Determining an actual frequency vector using the input frequency vector based on the fitted inverse function;
determining a corrected signal based on the amplitude vector of the input modulation signal and the actual frequency vector.
2. The method of claim 1, wherein sampling the envelope signal of the mixed signal comprises:
acquiring an envelope signal z = z (t) of a mixing signal, wherein the envelope signal is used for describing the envelope amplitude of the mixed electric signal in a mixing time period;
sampling the envelope signal by a number N of sampling points to obtain a discretized first vector z 1 ,z 2 ,z,………,z N }。
3. The method of claim 2, wherein discretizing the amplitude value of the ideal chirp signal and sampling comprises:
defining the ideal frequency modulation signal as:
where k is the chirp rate, f 0 The initial frequency is A, the maximum value of the signal amplitude is A, the coordinate of the peak center of the amplitude envelope is b, and the standard variance is c;
amplitude value of ideal frequency modulation signal
Discretizing, sampling according to the number N of sampling points to obtain a second vector y 1 ,y 2 ,y 3 ,………,y N }。
4. The method of claim 3, wherein the step of obtaining the piecewise function for each piecewise interval based on the curve fitting of the sampled result of the envelope signal and the sampled result of the ideal chirp signal comprises:
respectively taking the first vector and the second vector as an abscissa and an ordinate, and performing curve fitting by adopting a cubic spline interpolation method, wherein the cubic spline interpolation is realized by a piecewise smooth curve, and each segment is a cubic polynomial;
and determining the piecewise function of each piecewise interval based on the relevant parameters of curve fitting.
5. The method of claim 1, wherein performing a time-frequency analysis on the obtained mixed signal to obtain an output frequency vector comprises:
performing time-frequency analysis on the obtained mixing signal, and extracting the time-varying relation of the frequency of the mixed signal in the mixing time period to obtain an output frequency vector { p 1 ,p 2 ,p 3 ,………,p N }。
6. The method of claim 5, wherein discretizing the frequency values based on an ideal time-frequency function to obtain an input frequency vector comprises:
defining an ideal time-frequency function to satisfy:
wherein f is 0 Is the initial frequency, α is the frequency modulation factor;
discretizing the frequency value to obtain an input frequency vector q 1 ,q 2 ,q 3 ,………,q N }。
7. The method of claim 6, wherein fitting the input frequency vector to the output frequency vector to obtain a fitting function comprises:
will output the frequency vector { p } 1 ,p 2 ,p 3 ,………,p N And an input frequency vector q 1 ,q 2 ,q 3 ,………,q N And fitting a polynomial curve to obtain a fitting function G (x), wherein the order of the fitting function G (x) is determined according to whether the fitting error meets the requirement or not.
8. The method of claim 1, further comprising frequency modulating the laser signal with the corrected chirp once again and repeating the correcting step.
9. An apparatus for laser chirp correction in a lidar comprising a processor and a memory, the memory having stored thereon a computer program that, when executed by the processor, performs the steps of the method for laser chirp correction in a lidar according to any of claims 1 to 8.
10. A computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of a method for laser chirp signal correction in a lidar according to any of claims 1 to 8.
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