CN101263402A - Optical receiver with modulated photodetector - Google Patents
Optical receiver with modulated photodetector Download PDFInfo
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- CN101263402A CN101263402A CNA2006800257194A CN200680025719A CN101263402A CN 101263402 A CN101263402 A CN 101263402A CN A2006800257194 A CNA2006800257194 A CN A2006800257194A CN 200680025719 A CN200680025719 A CN 200680025719A CN 101263402 A CN101263402 A CN 101263402A
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- 229910052751 metal Inorganic materials 0.000 description 3
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- JBRZTFJDHDCESZ-UHFFFAOYSA-N AsGa Chemical compound [As]#[Ga] JBRZTFJDHDCESZ-UHFFFAOYSA-N 0.000 description 2
- 229910001218 Gallium arsenide Inorganic materials 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
- G01C3/06—Use of electric means to obtain final indication
- G01C3/08—Use of electric radiation detectors
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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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
An optical receiver comprises an optical detector, wherein said optical detector is modulated, whereby it has a time-varying optical responsivity with modulation on the optical detector.
Description
Invention field
The present invention relates to photoreceiver, particularly have the photoreceiver of modulation light detector.More specifically, although be not exclusively, the present invention relates to be used for the photoreceiver of light remote sensing and/or ligh-ranging.
Background of invention
Light device is widely used in sensing, monitoring, control and communication system.A typical optical system comprises an optical sender and a photoreceiver.A photoreceiver generally includes a photo-detector, input optical signal is changed into electronic output signal so that the downstream signal treatment circuit is handled.A photo-detector generally includes a semiconductor absorption layer.When the light signal of suitable wavelength is radiated on the absorption layer of photo-detector, will produce electron hole pair (Electron-hole Pair).Bias voltage on the photo-detector terminals will speed up the charge carrier in electric field between the terminals, takes this incident light and is converted to electric current.A photo-detector can comprise photodiode, for example is used for the PIN type diode of avalanche diode, photo-resistor or nearest MSM photo-detector.Photo-detector is in one usually and is fit to the concrete predetermined bias state of using.
Goal of the invention
An object of the present invention is to provide photoreceiver with new applications of photo-detectors.On minimum level, an object of the present invention is a useful selection that provides photo-detector to use for the public.
Summary of the invention
In a broad aspect, the present invention has described and has comprised that optical sender and a kind of distance measuring equipment of photoreceiver, wherein said optical sender comprise that light source is used to launch light signal to a remote objects of modulation; Described photoreceiver, be used for surveying by described remote objects reflection and come described modulated light signal, described photoreceiver comprises a photo-detector, by using gating signal on described photo-detector, photo-detector can gating be surveyed light signal, and gating signal is configured to become with described modulated light signal constant time or phase relation; Wherein said photoreceiver is configured to calculate the distance of described remote objects, is about the deferred message between the light signal of launching and detecting, and described deferred message is surveyed light signal by the gating of described photo-detector and determined.
Preferably, described modulation signal comprises ON and OFF pulse.
Preferably, when the delay between described emission and the light signal that detects equaled the time cycle of described modulation signal ON pulse, the output of described photo-detector was in minimum value.
Preferably, when be less than or equal to the time cycle of described modulation signal ON pulse the time delay between described emission and the light signal that detects, the output of described photo-detector with postpone proportional.
Preferably, described photoreceiver is configured to, and surveys photocurrent output by the time average of measuring described gated optical detector, determines described deferred message.
Preferably, by changing the frequency of described gating signal, can obtain described deferred message about described modulation of source signal frequency.
Preferably, by changing the time delay of described gating signal, can obtain described deferred message about described modulation of source signal.
Preferably, described photo-detector comprises a MSM photo-detector.
Preferably, the modulation signal that is applied to described photoreceiver and optical sender has identical modulation format.
Preferably, the modulated light signal of the modulation of described photoreceiver and described optical sender emission has a constant phase relation.
Preferably, the modulated light signal of the gating signal of described photoreceiver and described optical sender emission is anti-phase.
Preferably, after affiliated object reflection,, just obtain the range information of object at light signal in case survey the modulated light signal that receives by described optical sender emission by gating at described photoreceiver.
Preferably, when described photo-detector is modulated by gating signal and when described photo-detector is not modulated,, obtain the range information of described remote objects by the photocurrent output of more described photo-detector.
Preferably,, detect the maximal value or the minimum value of the photocurrent output of described photo-detector then, determine the distance of object by changing the pulse width of light source.
Preferably,, estimate maximum correlation and minimum value in the electric current output function of described photo-detector then, determine the distance of remote objects by changing the modulating frequency of described light source.
Preferably, by time delay that changes gate function and the maximal value that detects modulated photocurrent, determine the function of the distance of object as time delay.
Description of drawings
Below will be by example and with reference to the accompanying drawings, first-selected embodiment of the present invention will be explained in detail, wherein:
Fig. 1 is the cross-sectional view of a typical MSM photo-detector,
Fig. 2 shows the feature of the photocurrent output corresponding voltage of a typical MSM photo-detector,
Fig. 3 describe the present invention first first-selected use transmit, the sequential chart of reflected signal and photo-detector gating time,
Fig. 4 describes the system construction synoptic diagram of the present invention first first-selected embodiment,
Fig. 5 is the synoptic diagram that shows about variation corresponding time delay of the detection photocurrent of Fig. 3 and Fig. 4 configuration,
Fig. 6 is the synoptic diagram that shows the detection photocurrent variations corresponding modulating frequency change of the second first-selected embodiment,
Fig. 7 shows the sequential chart that concerns between the transmitting of the 3rd first-selected embodiment, reflected signal and the photo-detector gating time, and wherein the light delay that detects gating time is changed,
The corresponding photo-detector gating time of the detection photocurrent variations of Fig. 8 displayed map 7 the present invention second first-selected embodiment time delay d synoptic diagram and
Fig. 9 describes a Demonstration Application of the present invention on three-dimensional body.
First-selected embodiment describes in detail
Photo-detector in the tradition photoreceiver is biased on a constant DC bias voltage usually, to prepare to receive the light signal of input.According to the polarity of using electric field, it is right with accelerated electron and hole that photo-detector is implemented bias voltage, produces photocurrent output.For conventional photodetectors, a bias voltage concrete and constant polarity must be applied to the terminals of photo-detector, is used for significant light detection thereby produce a correct electric field.During normal light detection operation, photo-detector is reversed bias voltage usually.
Permitted many years ago, metal-semiconductor-metal (MSM) photo-detector has been used to the photo-detector in the fibre system.A typical MSM photo-detector comprises the crossed electrode that is placed on the absorption layer as shown in Figure 1.Absorption layer can be, for example, and the gallium arsenide of non-doping (undoped GaAs).United States Patent (USP) 5,461,246 have described a typical MSM photo-detector, are incorporated into herein by reference at this.
Since the symmetrical structure of MSM photo-detector, the I-V feature of a desired light detector have about bias voltage just/negative symmetry, as shown in Figure 2.When the rayed of suitable wavelength on MSM equipment, the direction that produces photocurrent will depend on the polarity of bias voltage.If bias polarity is reverse, the photocurrent direction will be oppositely.
On the non-MSM photo-detector of tradition, can produce charge carrier near the metal electrode place, wherein, there is the electric field of an inherence because the metal Schottky on semiconductor surface contacts.On the other hand, because the height symmetrical structure of MSM photo-detector, the similar carrier moving that will on another electrode, be taken place at the charge carrier at random that produces under the no-bias condition and offsetting.As a result, the MSM photo-detector does not have clean induced current output on zero-bias.This specific characteristic of MSM photo-detector is used in photoreceiver, especially for the photoreceiver of range finding.
With reference to figure 3 and Fig. 4, show to be used to the present invention first first-selected embodiment of finding range and using.With reference to figure 4, range measurement system comprises an optical sender 110 and a photoreceiver 120.Optical transmitter transmits optical signals is to remote objects 130, and it is apart from coming out measured.The light signal of remote objects 130 reflections is received by photoreceiver 120.By reference original transmission signal and the time relationship between the photoreceiver received signals of remote objects 130 reflection back, or more specifically, the mistiming, obtain the range information of remote objects 130.
With reference to the sequential chart of figure 3, modulated light signal 1120 produces, then by the light emitted of optical sender 110.Light source can be laser or LED.Modulated light signal is sent to remote objects 130, and is reflected to photoreceiver 120 and is used for receiving.Before signal is received by photoreceiver 120, light signal 1120 always will have been advanced apart from x, suppose remote objects 130 away from optical sender 110 and photoreceiver 120, and consequently can ignore in the interval between optical sender 110 and photoreceiver 120.Certainly, the distance that emission and reflection are advanced may not equate that use conventional algorithm principle can calculate the difference between them and be without loss of generality.When modulation signal is received by photoreceiver, time shift between reflected signal stream 1320 and initially signal stream 1120 or delay t will represent and cover always apart from the needed time of x, always be the twice at interval between photoreceiver and the remote objects apart from x in this example.
Because the Light in Medium speed at reflection coefficient n is c/n, wherein c is the light velocity in the vacuum, equals 3 * 10
8Ms
-1, the needed time of light travel distance x is t=nx/c.Advance to remote objects 130 again to the needed time of photoreceiver by tracking illumination from optical sender, can obtain to advance always apart from x and remote objects apart from x/2.Shown in Fig. 3, reflection light pulse 1320 arrives photoreceiver 120, for original transmission signal 1120 a time delay t is arranged.On behalf of light, time delay advance to the needed time of photoreceiver from optical sender.Below will explain use this time relationship with obtain that light signal advances always apart from x (with, the spacing x/2 between remote objects 130 and the photoreceiver 120).
When the biased dc voltage of the photo-detector of photoreceiver 120, so photo-detector always opens, and reflected light signal 1320 will be detected, and the output of the time average photocurrent of photo-detector will be constant, and is irrelevant with time delay t.On the other hand, become by when definition or with modulation signal gating (gating) photo-detector of the optical Response of time correlation, can change the time average photocurrent output of photo-detector.In this instructions, term " time change " or " time correlation " are meant that optical Response is not constant but is changing in the concrete time cycle.This " gating " be meant applied bias voltage to the control end of photo-detector to change the optical Response of photo-detector.In the example gating shown in Fig. 3 gating synoptic diagram is used, photo-detector modulated signals gating, this modulation signal is the same with the temporal aspect of emission light signal.Be similar to and transmit, use a scale-of-two gating modulating function, close, its corresponding low modulation voltage at the not duration of work photo-detector of modulation.
When transmitting 1120 and reflected signal 1320 between not free the delay, be t=0, the output of the photocurrent of photo-detector will equal to have the time average photocurrent output I_n of the photo-detector of constant DC bias voltage, and its DC bias voltage is opened photo-detector and moved on predetermined optical Response.When time delay, t rose, the photocurrent output I_g of gated optical detector descended.As shown in Figure 5, the minimum probe value the when photocurrent of the gated optical detector output maximum probe value during from t=0 is reduced to t=T linearly is promptly when emission and the light signal that reflects when being anti-phase.When time delay t surpasses the pulse width T of emission light signal, the photocurrent output of photoreceiver will increase, and will reach maximal value when the cycle that time delay, t equaled to transmit.Because photocurrent output and time delay at t=0 to display line sexual intercourse between the T, and this relation is I_g=((T-t)/T) I_r=(1-t/T) I_r, wherein I_g is the photocurrent output of gated optical detector, I_r is the photocurrent output of DC bias voltage photo-detector, by ratio I_g/I_r, when the time postpones t＜T, can determine time delay t.
A MSM photo-detector is applied in this example, because it does not provide photocurrent output for zero the time when bias voltage.When using photo-detector traditional or non-MSM type, not only to close the bias voltage of photo-detector with exomonental " the not working " time of correspondence, photo-detector can be biased on a low voltage, rather than on zero-bias, under the situation of MSM photo-detector, thereby the minimum value of photo-detector will still occur when postponing t=T.When having veiling glare I_s, some Figure 152 of Fig. 5 shows a typical photo-detector output.When having veiling glare, the detection light by the gated optical detector become I_g=(1-t/T) (I_n-I_s)+T/ Θ I_s.But as long as the veiling glare total amount is not many, minimum value still can occur when t=T, and total travel distance thus x=c/n (1-I_g/I_n) T.Therefore, by modulation light detector, make the modulation of the bias voltage corresponding modulating light signal 1120 of photo-detector.The distance of remote objects can be measured be come out.In addition, have the not photoreceiver of gated optical detector (being that photo-detector is always biased to move) by correction on high bias level, the ratio 1-I_g/I_n by shown in the above equation can obtain range information.
As a replacement scheme of distance-finding method described above, by changing the modulation gating frequency of MSM photo-detector, the distance of remote objects can be come out by the configuration of Fig. 4 is measured.In this replacement scheme, the gating modulating function is configured to anti-phase laser output modulation at first, thereby 180 ° of phase shifts are arranged between gating modulating function and laser output source.When between optical sender and the photoreceiver be zero apart from x the time, photo-detector only produces because the photocurrent of incident veiling glare I_s.Because the modulation of the signal of the gating modulating function of photo-detector and optical sender is based on identical but anti-phase basic frequency f_0, the photocurrent output on x=0 will be minimum value, shown on the y y-intercept.Suppose that the gating modulating function comprises a row symmetrical pulse, thus each cycle half working time and half down time are arranged, working time T is relevant with modulating frequency f, i.e. f=1/ (2T).By increasing the frequency of modulating function, when the photocurrent output of photo-detector equals the photocurrent output I_n of gated optical detector, photocurrent output intensity I_g will increase, and reach maximal value up to it on frequency f _ 1.First photocurrent on frequency f _ 1 is exported maximal value with relevant apart from x, i.e. x=c/ (2f).When the gating modulating frequency further increases, output photocurrent intensity I _ g will reduce, and reach minimum value up to it on frequency f _ 2, and f_2=2c/ (2f) wherein is shown in the curve 162 of Fig. 6.On frequency minima, the corresponding basically once more detected veiling glare on every side of the intensity of photocurrent output I_g.To on the odd of basic frequency f_0 and even-order harmonic, repeat in the periodic relationship between gated optical current signal I_g and the frequency.Always apart from the exemplary relationship between x and first (f_1) maximal value and second (f_3) maximal value shown in following tabulation, wherein f_3 equals 3xf_1.
| x[m] | f_1[MHz] | f_3[MHz] |
| 0.10 | 1500 | 4500 |
| 0.30 | 500 | 1500 |
| 1 | 150 | 450 |
| 10 | 15 | 45 |
| 100 | 1.5 | 4.5 |
By following the tracks of the peaked frequency value of first and second frequencies, can calculate always apart from x.Since in Fig. 4 configuration always apart from x be from light source and photo-detector to the twice of the distance of object, pass through relational expression: x=c/ (2f) [1-I_g/I_n], can calculate total travel distance x.Therefore, as long as to export the peaked first resonant frequency f_1 little for instantaneous gating modulation frequency ratio first photocurrent, just can determine the distance of object from individual data point.For example, if first maximal value occurs on the f_1 of 1.5Mhz, aloft Dui Ying total travel distance thus x will equal 100m.
As a change, can utilize a plurality of maximal values and minimum value Frequency point to strengthen the degree of accuracy of measurement to this method.For example, by the linear extrapolation of a plurality of data points between f_0 and the f_1, can obtain first frequency maximal value f_1.Additional data point between f_1 and f_2 can be collected and handle, and be used to extrapolate maximal value and/or minimum value are with further enhancing degree of accuracy.By following the tracks of relevant maximal value and minimum value, can alleviate because the adverse effect that veiling glare causes.
In of the present invention second first-selected the application, and with reference to the configuration of figure 4, the time delay of the gating modulating function by changing photo-detector, can measure the distance of remote objects.Can see from pulse sequence Figure 122 1 and 1320, the gating modulating pulse of corresponding diagram 7 and reception reflected impulse respectively, because the pulse width of 1320 reflected impulse and strobe pulse 1221 has identical pulse width and recurrence interval, when the ON pulse overlap, the output of photo-detector will be maximal value.The time delay of the gating modulating function 1221 by changing relevant optical sender modulation signal 1220, and follow the tracks of the maximal value that occurs, the required time t of light beam travel distance x will equal d=t, shown in the curve 164 of Fig. 8.As a simple example,, can estimate the time of occurrence of maximum photo-detector output from the second derivative of corresponding (vs.) function time delay of photocurrent output.In addition, should be appreciated that by measuring light signal I_n, the time average of I_s and I_g can obtain time delay and apart from x/2.
In the of the present invention the 3rd first-selected embodiment,, can measure the 3-dimensional image of remote objects by a peacekeeping bidimensional photodetector array.The range difference of advancing to the light between the photodetector array at the different surfaces of remote objects will provide the three-dimensional information of remote objects.
In the 4th first-selected embodiment, optical sender 110 and the photoreceiver 120 of Fig. 4 can be set for range finding, and need be from reflected by objects.For example, by being connected the optical fiber of the length x between optical sender and the photoreceiver, can measure the length of optical fiber cable.Be without loss of generality, the photocurrent output by gated optical detector relatively and by using above relation or in addition necessary change can calculate the total length x of optical fiber.
Although square or rect.p. is used to should be appreciated that in these examples, other pulse mode such as half-sine wave, Gauss or other pulse mode also can be used, and use known algorithm can calculate the relation of distance-time delay.
The present invention should be appreciated that by being explained with reference to example described above and first-selected embodiment these are to help to understand example of the present invention, but are not restrictive.Variation or the modification tangible or trifling to those skilled in the art, the same with the improvement of making thereon, should be counted as being equal to the present invention.
In addition,, explained the present invention, should be appreciated that, be without loss of generality that no matter have or do not have modification, the present invention can be applicable to other photo-detector by with reference to a MSM photo-detector.
Claims (23)
1. a photoreceiver comprises a photo-detector, the response characteristics to light that becomes when wherein said photo-detector is modulated into, and this response characteristics to light is followed the modulation of photo-detector.
2. photoreceiver according to claim 1, wherein photo-detector is by pulsed modulation, and the pulsed modulation of described photo-detector is followed in the photoresponse of described photo-detector.
3. photoreceiver according to claim 1, the optical Response of wherein said photo-detector is relevant with bias voltage, described photo-detector is implemented modulation be used for input with the optical Response that changes described photo-detector.
4. photoreceiver according to claim 3, the bias polarity of wherein said photo-detector is reversible, the photocurrent output polarity of described photo-detector is reversible, and depends on the polarity of described bias voltage.
5. photoreceiver according to claim 1, wherein said photo-detector is by pulsed modulation.
6. photoreceiver according to claim 1, wherein said photo-detector is replaced opens and closes pulsed modulation.
7. photoreceiver according to claim 6, wherein said photo-detector respectively by described open with Guan pulse towards opening and closing.
8. photoreceiver according to claim 1, wherein said photo-detector comprise a MSM photo-detector.
9. photoreceiver according to claim 8, wherein pulsed modulation is applied in the terminal of described photo-detector.
10. photosystem comprises an optical sender and photoreceiver of claim 1, and wherein said optical sender comprises a light source that sends modulated light signal, and the modulation of described photoreceiver and optical sender has identical form.
11. a photosystem comprises the optical sender and the photoreceiver of claim 2, wherein said optical sender comprises a light source that sends modulated light signal, and the modulation of described photoreceiver has identical form with the modulated light signal that described optical sender sends.
12. a distance measuring equipment comprises a photosystem of claim 11, the modulation of wherein said photoreceiver has identical modulating frequency with the modulated light signal that described optical sender sends.
13. a distance measuring equipment comprises a photosystem of claim 11, the modulated light signal that the modulation of wherein said photoreceiver and described optical sender send is the rect.p. with same period and pulse width (T).
14. a distance measuring equipment comprises a photosystem of claim 11, the modulated light signal that the modulation of wherein said photoreceiver and described optical sender send has a constant phase relation.
15. a distance measuring equipment comprises a photosystem of claim 11, the modulated light signal that the modulation of wherein said photoreceiver and described optical sender send is anti-phase.
16. a distance-finding method comprises a photosystem of claim 11, the modulated light signal that the modulation of wherein said photoreceiver and described optical sender send has a constant phase differential.
17. a distance measuring equipment comprises a photosystem of claim 11, the modulated light signal that the modulation of wherein said photoreceiver and described optical sender send has a constant phase differential.
18. a distance measuring equipment comprises a photosystem of claim 11, wherein at light signal after the reflection of described object, in case described photoreceiver receives the modulated light signal that is sent by described optical sender, promptly obtain the range information of object.
19. distance measuring equipment according to claim 18, wherein when described photo-detector is modulated and when described photo-detector is not modulated, the photocurrent output by more described photo-detector obtains range information.
20. distance measuring equipment according to claim 18 wherein by pulse width that changes light source and maximal value or the minimum value of exporting by the photocurrent that detects described photo-detector, is determined the distance of object.
21. distance measuring equipment according to claim 7 wherein by some the relevant minimum value in the assessment photoresponse function, is determined the distance of a plurality of reflection spots.
22. distance measuring equipment according to claim 4 wherein by time delay that changes gate function and the maximal value that detects modulated photocurrent, is determined the function of the distance of object as time delay.
23. distance measuring equipment according to claim 10 wherein by the maximum correlation in the assessment photoresponse function, is determined the distance of a plurality of reflection spots.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| HK05108487 | 2005-09-26 | ||
| HK05108487.8 | 2005-09-26 | ||
| PCT/CN2006/002507 WO2007033608A1 (en) | 2005-09-26 | 2006-09-25 | Optical receiver with a modulated photo-detector |
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| Publication Number | Publication Date |
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| CN101263402A true CN101263402A (en) | 2008-09-10 |
| CN101263402B CN101263402B (en) | 2012-05-30 |
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| CN2006800257194A Active CN101263402B (en) | 2005-09-26 | 2006-09-25 | Optical receiver with modulated photodetector |
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| WO (1) | WO2007033608A1 (en) |
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| WO2019037464A1 (en) * | 2017-08-22 | 2019-02-28 | 深圳市道通智能航空技术有限公司 | Distance measurement method and apparatus for unmanned aerial vehicle, and unmanned aerial vehicle |
| CN112965079A (en) * | 2021-02-04 | 2021-06-15 | 郜键 | AMCW long-distance laser imaging method and system based on MSM detection |
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| RU2506538C1 (en) * | 2012-07-04 | 2014-02-10 | Общество с ограниченной ответственностью "Си Тех" | Laser device for measurements with higher accuracy |
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-
2006
- 2006-09-25 CN CN2006800257194A patent/CN101263402B/en active Active
- 2006-09-25 WO PCT/CN2006/002507 patent/WO2007033608A1/en active Application Filing
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107024179A (en) * | 2017-03-30 | 2017-08-08 | 江苏昂德光电科技有限公司 | A kind of contactless remote fiber displacement measuring device and its measuring method |
| WO2019037464A1 (en) * | 2017-08-22 | 2019-02-28 | 深圳市道通智能航空技术有限公司 | Distance measurement method and apparatus for unmanned aerial vehicle, and unmanned aerial vehicle |
| US11668827B2 (en) | 2017-08-22 | 2023-06-06 | Autel Robotics Co., Ltd. | Unmanned aerial vehicle ranging method, apparatus and unmanned aerial vehicle |
| CN112965079A (en) * | 2021-02-04 | 2021-06-15 | 郜键 | AMCW long-distance laser imaging method and system based on MSM detection |
| CN112965079B (en) * | 2021-02-04 | 2023-11-17 | 苏州奥瑞图光电科技有限公司 | AMCW long-distance laser imaging method and system based on MSM detection |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101263402B (en) | 2012-05-30 |
| WO2007033608A1 (en) | 2007-03-29 |
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