CN101598790A - A kind of tellurometer survey device based on coherent sampling - Google Patents
A kind of tellurometer survey device based on coherent sampling Download PDFInfo
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Abstract
A kind of tellurometer survey device based on coherent sampling relates to a kind of tellurometer survey device.Provide a kind of simple in structure, degree of accuracy is higher, lower-cost tellurometer survey device based on coherent sampling.Be provided with frequency control module, microwave module and signal processing module, frequency control module is provided with master clock signal generator, main road pulse shaping circuit, sampling clock signal generator and sampling pulse and forms circuit.Microwave module is provided with local oscillator, main path switch, sampling switch, power amplifier, low noise amplifier, wave filter, coupling mechanism, transmitting mixer, receiving mixer and antenna.Signal processing module is provided with the emission peak detecting device, receives peak detctor, OR circuit, microcontroller and display.Utilize with the received signal cycle and differ minimum sampled signal, realize the expansion of mistiming on time domain of emission and reception, carry out high-precision object distance measurement transmitting and received signal is carried out based on relevant sampling.
Description
Technical field
The present invention relates to a kind of tellurometer survey device, particularly relate to a kind of tellurometer survey device based on coherent sampling.Mainly solve the short problem accurately measured of being difficult to of same ripple time of pulsed radar, to realize high precision, contactless range observation based on microwave.
Background technology
Short range tellurometer survey technology is that a kind of detection range is from several meters miniradar technology to hundreds of rice at zero point, it is in industry and commerce, all be widely used, be particularly suitable for automatic stopping, commercial production monitoring and jar interior level gauging or the like (1.WolfgangWeidmann.A high resolution radar for short range automotive application.28
ThEuropeanmicrowave conference Amsterdam 1998).
The tellurometer survey device is via antenna launched microwave signal, runs into target to be measured and reflection takes place and received by antenna, calculates distance between microwave ranging system and the target to be measured time delay by measured signal.The tellurometer survey device is according to the difference that transmits, usually can be divided into pulsed and continuous wave formula (2.Matthias Wei.Low-cost, Low-power nanosecondpulse radar for industrial applications with mm accuracy.Proceedings EDMO 2001).
The ultimate principle that the continuous wave mode is found range is to adopt certain mode that the continuous wave CF signal is modulated, and with it simultaneously as launching and local oscillation signal, after distance measuring equipment receives target echo, with the local oscillation signal mixing, afterwards it is done frequency-domain analysis, utilize the corresponding relation of the frequency displacement of echo and time delay to draw the distance of target.According to the modulation system that transmits, can be divided into phase modulation (PM) and frequency modulation (PFM) two classes.Frequency modulation (PFM) mainly comprises linear modulation (3.A.G.Stove, Liner FMCW radar techniques, IEEE proc-F, Radar and signal processing, vol, 139, No.5, Oct, 1992, pp.343-350; 4.Yuming Du.Performance analysis of acceleration resolution for the LFMCW radar.2004 internationalconference on communications, circuits and systems.) with non-linear modulation (5.M.Vossiek.Novelnonlinear FMCW radar for precise distance and velocity measurements.Microwave SymposiumDigest, 1998 IEEE MTT-S International.); Phase modulation (PM) comprise phase encoding modulation (6. Liu state year. continuous wave Leibo and signal processing technology thereof. modern radar, 1995,6:20-36) etc.The shortcoming that the continuous wave mode is found range is to continue the launched microwave signal when work, so power consumption is bigger.
The pulse mode range finding is to utilize the relative time delay of target echo and transmitted pulse envelope to measure the distance (7.D.L.McClanahan of target; Pulse-echo radar for short range sensing.IEEE instrumentation and measurementtechnology conference, 1998), its range finding speed is fast, and because the pulsed range finding is that its power consumption can reduce compared to continuous wave mode distance measuring equipment by some cycles interval transponder pulse signal.
Many location algorithms that present stage grows up, though change to some extent, be still generally by they derive improve and.The main research emphasis of location algorithm is distance accuracy, can improve precision by sacrificing measuring distance or methods such as measuring speed, hardware device precision in some cases.After the range finding result is subjected to the hardware condition restriction, want to continue to improve the distance accuracy problem, just must make change from algorithm.Chinese patent CN 101162268A proposes pulse signal that a kind of utilization and emission, received signal have a small frequency difference to transmitting and receiving sample distance measuring method when expanding of signal.But use this mode, need switching speed in the ps level to realize the sampling of pulse to transmitted wave and echo, realize difficulty, cost is higher.
Summary of the invention
The object of the present invention is to provide a kind of simple in structurely, degree of accuracy is higher, lower-cost tellurometer survey device based on coherent sampling.
Technical scheme of the present invention is that it transmits and receives pulse modulated wave, utilization and transmitted wave and receive differ minimum and relevant period of wave sampled signal to transmitting and the received signal sampling, when the mistiming that transmits and receives is expanded, thereby improve distance accuracy.
The present invention is provided with frequency control module, microwave module and signal processing module, frequency control module is provided with master clock signal generator, main road pulse shaping circuit, sampling clock signal generator and sampling pulse and forms circuit, the signal period that master clock signal generator and sampling clock signal generator produce has minimum difference, main road pulse shaping circuit input termination master clock signal generator output end, sampling pulse forms circuit input end and accesses sample clock-signal generator output terminal, produces two cycles to differ minimum pulse signal.
Microwave module is provided with local oscillator, main path switch, sampling switch, power amplifier, low noise amplifier, wave filter, coupling mechanism, transmitting mixer, receiving mixer and antenna.The microwave signal that local oscillator produces is divided into two-way, and the main path signal output terminal of local oscillator links to each other with main road pulse shaping circuit output terminal through main path switch, as the carrier wave of main road pulse, produces the main road pulse modulated wave; The sampled signal output terminal of local oscillator forms circuit output end through sampling switch and sampling pulse and links to each other, and as the carrier wave of sampling pulse, produces the sampling pulse modulating wave.The main road pulse modulated wave is connected with power amplifier as transmitting, and the output terminal of power amplifier links to each other with coupling mechanism.An output termination antenna of coupling mechanism, another output termination low noise amplifier of coupling mechanism, the output terminal of low noise amplifier links to each other with wave filter.Two input ends of transmitting mixer are connected to the output terminal of main path switch and the output terminal of sampling switch respectively, and receiving mixer then is connected to the output terminal of wave filter and the output terminal of sampling switch.
Described local oscillator preferably adopts the 5.8GHz local oscillator.
Signal processing module is provided with the emission peak detecting device, receives peak detctor, OR circuit, microcontroller and display.The output terminal of frequency mixer is penetrated in the sending and receiving of emission peak detecting device input end, receives the output terminal of peak detctor input termination receiving mixer.The output terminal of two peak detctors is connected to the input end of OR circuit respectively, and the output terminal of OR circuit is connected with microcontroller, and microcontroller output range finding is the result shown by display.
Distance-finding method when the present invention proposes a kind of new expansion based on correlated sampling, utilize with the received signal cycle and differ minimum sampled signal transmitting and received signal is carried out based on relevant sampling, realize emission and the expansion of mistiming on time domain that receives, carry out high-precision object distance and measure.The present invention need not HF switch and then can realize taking a sample when expanding, and not only circuit is realized simply, and distance accuracy is higher, and range finding speed is very fast.The present invention is particularly suitable for the high precision object distance in fields such as automatic stopping, commercial production monitoring and jar interior level gauging and measures.
Description of drawings
Fig. 1 is the circuit composition frame chart of the embodiment of the invention.
Fig. 2 is the composition frame chart that two relevant clock signals of main signal and sampled signal of the embodiment of the invention form circuit.
Fig. 3 is the local oscillator circuit theory of constitution figure of the embodiment of the invention.
Fig. 4 is that the circuit of little band frequency mixer of the embodiment of the invention is formed schematic diagram.
Fig. 5 is the theory of constitution figure that transmits and receives peak detection circuit of embodiment of the invention system.
Fig. 6 is the schematic diagram based on correlated sampling of the transmitted wave (reception ripple) of the embodiment of the invention.
Fig. 7 is the integral body of embodiment of the invention range measurement principle figure when expanding.
Embodiment
Referring to Fig. 1, the embodiment of the invention is provided with frequency control module A, receiver module B and signal processing module C.Frequency control module A is provided with master clock generator 1, main road pulse shaping circuit 2, sampling clock generator 3 and sampling pulse and forms circuit 4.The output terminal of the input termination master clock generator 1 of main road pulse shaping circuit 2, the input end of sampling pulse formation circuit 4 accesses the output terminal of sample clock generator 3.Signal generator is used for the cycle of control wave, and the pulsewidth of pulse signal is then determined by pulse shaping circuit.The frequency control module A generation two-way cycle differs very little pulsating wave, and the main road pulse is as the modulation signal of transmitted wave, and sampling pulse is as the modulation signal of sampling ripple.
Microwave module B is provided with main path switch 5, sampling switch 6, local oscillator 7, power amplifier 8, coupling mechanism 9, low noise amplifier 10, wave filter 11, transmitting mixer 12 and receiving mixer 13.Two input ends of main path switch 5 are connected to the output terminal of main road pulse shaping circuit 2 and local oscillator 7 respectively, and two input ends of sampling switch 6 are connected to the output terminal that sampling pulse forms circuit 4 and local oscillator 7 respectively.The output terminal of power amplifier 8 input termination main path switches 5.The input termination power amplifier output terminal of coupling mechanism 9, an output termination antenna 14 of coupling mechanism 9, the input end of another output termination low noise amplifier 10 of coupling mechanism 9, the output terminal of the input termination low noise amplifier 10 of wave filter 11.Two input ends of transmitting mixer 12 connect main path switch 5 and sampling switch 6 respectively, and two input ends of receiving mixer 13 access the output terminal of sample switch 6 and wave filter 11 respectively.Local oscillator 7 is used to produce microwave signal, the signal of its generation is divided into two-way, main path signal provides carrier wave by main path switch 5 for the pulse-modulated signal that main road pulse shaping circuit 2 produces, and another road provides carrier wave by sampling switch 6 for the pulse-modulated signal that sampling pulse forms circuit 4 generations as sampled signal.The pulse modulated wave of main path switch 5 outputs carries out signal through power amplifier 8 and amplifies, and delivers to antenna 14 through coupling mechanism 9 then, launches via antenna.Transmitting runs into target P to be measured, reflects, and antenna 14 receives the signal of reflection, is sent to low noise amplifier 10 through coupling mechanism 9 and carries out preposition amplification.Coupling mechanism has excellent I/O isolation characteristic, output terminal can be arrived the signal suppressing of input end to extremely low degree.Because the propagation loss in the space and the reflection loss of object under test make the microwave signal energy that receives weaken, and therefore need low noise amplifier that weak signal is amplified.Received signal after the amplification is carried out filtering through wave filter 11, handles as received signal.Sampling switch 6 outputs are divided into two-way, and 12 pairs of the transmitting mixers of leading up to transmit and carry out coherent sampling, and coherent sampling is carried out to received signal by frequency mixer 13 in another road.
Signal processing module C is provided with emission peak detecting device 15, reception peak detctor 16, OR circuit 17, microcontroller 18 and display 19.Emission peak detecting device 15 is connected to the output terminal of transmitting mixer 12, detects carrying out peak value through transmitting of sampling processing, receives the output terminal that peak detctor 16 is connected to receiving mixer 13, detects carrying out peak value through the received signal of sampling processing.The two-way detection signal enters OR circuit 17 and integrates.Microcontroller 18 is connected to the output terminal of OR circuit 17, and when detecting the peak value of output spread signal, microcontroller 18 begins to carry out timing; When detecting the peak value that receives spread signal, microcontroller 18 timing stop.Microcontroller 18 calculates testing distance according to the mistiming of expansion, by display 19 distance value is shown.
Two clock signal frequency difference among the present invention are small, require the stability of these two frequencies high, and the main road clock adopts relevant clock shaping circuit design with sampling clock.Referring to Fig. 2, the degree of stability of the temperature compensating crystal oscillator 202 of 80MHz is 10
-6Magnitude.VCXO 102 centre frequencies are transferred at 80.001MHz, it is 0.001MHz that two crystal oscillator signals are delivered to digital mixer 106 generation difference frequencies, carry out phase demodulation with 80M crystal oscillator signal through the 0.001M signal that 80000 frequency dividers 105 produce, the voltage output of phase detector 104 removes to control VCXO through loop filter 103, guarantees that VCXO output clock is 80.001MHz.80.001MHz signal is through the master clock signal B1 of 20 frequency dividers, 101 generation 4.00005MHz, the 80MHz signal produces the sampling clock signal B2 of 4MHz through 20 frequency dividers 201.Master clock signal and sampling clock signal have small frequency difference.
Main road, sampling pulse form circuit and adopt monostalbe trigger structural design, the pulse signal that input clock signal, output pulse width are very narrow.Its output pulse width by the integrating circuit in the circuit to discharge and recharge time constant relevant.
Local oscillator can adopt phase-locked ring type local vibration source design, produces 5.8GHz point of fixity local oscillation signal C2 frequently, and its schematic diagram is referring to Fig. 3, and circuit is made up of phase detector 601, loop filter 602, voltage controlled oscillator 603 and frequency divider 604.Utilize the error free tracking characteristics of frequency of phaselocked loop, can produce frequency signal with crystal oscillator (the input signal C1 of loop) identical accuracy and degree of stability, have that noise level is low, the frequency stability advantages of higher by VCO.
Coupling mechanism can adopt the coupling of 3dB microstrip branch line, and its input/output port has isolation preferably, output terminal can be coupled to input end and be suppressed to extremely low degree.Wave filter can adopt little band hair clip type wave filter, has compact conformation, inserts advantages such as loss is little, stopband characteristic is good, can realize the filtering of received signal well.Antenna can adopt wave beam concentrated antennas such as electromagnetic horn or dielectric-rod antenna.
Power amplifier can adopt integrated power amplifier.Impedance matching is carried out in amp.in and local oscillator output, and the output terminal of amplifier will carry out impedance matching with antenna.Low noise amplifier can design according to the frequency and the signal intensity of concrete application.
Main path switch and sampling switch can adopt the cmos transmission gate switch, OR circuit can adopt CMOS technology or the door.
Emission, receiving mixer mainly are made up of microstrip branch line coupling mechanism 121, matching network 122, matching network 123, mixer diode 124, integrating circuit 125 and filter network 126, referring to Fig. 4.After the mixing that realizes transmitted wave signal D1 (echoed signal) and sampling ripple signal D2, by electric capacity output signal is carried out integration, after connect low-pass filter network 126, can realize the expansion on time domain to transmitted wave signal and echoed signal.In Fig. 4, output signal when D3 is expansion.
Emission, reception peak detection circuit schematic diagram are referring to Fig. 5.At first utilize 151 couples of input signal E1 of envelope detector to carry out envelope detection, make it become signal with single peak value, after connect 152 pairs of signals of low-pass filter and carry out smothing filtering, again this signal is carried out peak value and detects.Peak detection circuit is made up of two parts up and down, and top is divided into peak holding circuit 153, and the bottom is divided into signal input circuit 154.When input signal became big, the signal of comparer 155 outputs was 0; When input signal begins to diminish, then export 1.Because order steady state trigger 156 behind the comparer when detecting maximal value, is then exported a pulse E2 (peak value input) to microcontroller, the control that stops of timing or timing to start with.
The present invention to transmitted wave and receive ripple based on the principle of waveform correlated sampling referring to Fig. 6.The principle of ranging technology is utilization with transmitted wave and to receive the waveform of echo relevant during based on the expansion of waveform correlated sampling, and the cycle differs that very little sampling pulse modulating wave is sampled to transmitted wave and echo and operates when expanding.Coherent sampling is meant that (multiply each other referring to point relevant in Fig. 6 point a) and the sampled signal (referring to Fig. 6 b), multiplied result becomes the point on the composite signal (referring to Fig. 6 c) to transmitted wave (echo) signal.All multiplied result have been formed composite signal, by composite signal is carried out integration and signal Processing, when realizing the expansion to transmitted wave (echo) signal (referring to Fig. 6 d).
When the sampling ripple to transmitted wave (echo) when sampling, because second pulse signal compared first pulse delay: Td=T2-T1 of position existence to the echo sampling, promptly can regard to transmitted wave (echo) in one-period T1 the sampling of carrying out every the point of Td time as.After N=T1/Td sampling, can finish the complete sampling of one-period signal in transmitted wave (echo) waveform, a complete cycle of the back waveform that promptly is expanded.N sampling pulse T.T. is T=N*T2, and this moment, echo was propagated N+1 cycle.Method when using the expansion based on waveform correlated sampling is β=T2/ (T1-T2)=N+1 with transmitted wave (echo) waveform amplification multiple.
Range measurement principle was referring to Fig. 7 when integral body of the present invention expanded.In Fig. 7, (referring to Fig. 7 a), the second period signal is the transmitted wave echoed signal that runs into object under test reflection (referring to Fig. 7 b, i.e. received signal) to first periodic signal waves in order to transmit.Transmit and periodic signal between have a time delay t, for microwave signal is propagated the time delay of generation between stadimeter and object under test, so t=2d/t.Wherein d is an object distance to be measured, and c is the light velocity.If record t time delay, then testing distance just can in the hope of.Since between not high to this time measurement precision, therefore the expansion of echoed signal being carried out on the time spectrum is amplified, to improve the precision of measuring.
The 3rd periodic signal is sample-pulse signal (referring to Fig. 7 c), and it is and the generation simultaneously that transmits, and waveform is relevant, but long slightly periodic signal of clock period.Sample-pulse signal carries out based on the relevant sampling of waveform echoed signal being expanded (N+1) doubly on time shaft to echoed signal.Therefore be time delay: t=(t2-t1)/(N+1).
Suppose that electronic devices and components are Δ t to the measuring error of time, so directly the result who measures is: T1 ± Δ t.After employing is measured during based on the expansion of waveform correlated sampling, still be Δ t to the error of time measurement, promptly the time of expansion back measurement is T ± Δ t.At last expansion time being compressed N+1 doubly reduces the time to be measured and can get: (T ± Δ t)/(N+1)=T1 ± Δ t/ (N+1).Compare with the result of direct measurement, error has reduced N+1 doubly.Signal when signal and reception ripple expanded when Fig. 7 d and 7e provided the transmitted wave expansion respectively.
Claims (2)
1. tellurometer survey device based on coherent sampling, it is characterized in that being provided with frequency control module, microwave module and signal processing module, frequency control module is provided with master clock signal generator, main road pulse shaping circuit, sampling clock signal generator and sampling pulse and forms circuit, main road pulse shaping circuit input termination master clock signal generator output end, sampling pulse forms circuit input end and accesses sample clock-signal generator output terminal;
Microwave module is provided with local oscillator, main path switch, sampling switch, power amplifier, low noise amplifier, wave filter, coupling mechanism, transmitting mixer, receiving mixer and antenna, the microwave signal that local oscillator produces is divided into two-way, the main path signal output terminal of local oscillator links to each other with main road pulse shaping circuit output terminal through main path switch, as the carrier wave of main road pulse, produce the main road pulse modulated wave; The sampled signal output terminal of local oscillator forms circuit output end through sampling switch and sampling pulse and links to each other, and as the carrier wave of sampling pulse, produces the sampling pulse modulating wave; The main road pulse modulated wave is connected with power amplifier as transmitting, and the output terminal of power amplifier links to each other with coupling mechanism; An output termination antenna of coupling mechanism, another output termination low noise amplifier of coupling mechanism, the output terminal of low noise amplifier links to each other with wave filter; Two input ends of transmitting mixer are connected to the output terminal of main path switch and the output terminal of sampling switch respectively, and receiving mixer then is connected to the output terminal of wave filter and the output terminal of sampling switch;
Signal processing module is provided with the emission peak detecting device, receives peak detctor, OR circuit, microcontroller and display, the output terminal of frequency mixer is penetrated in the sending and receiving of emission peak detecting device input end, receive the output terminal of peak detctor input termination receiving mixer, the output terminal of two peak detctors is connected to the input end of OR circuit respectively, the output terminal of OR circuit is connected with microcontroller, microcontroller output termination display.
2. a kind of tellurometer survey device based on coherent sampling as claimed in claim 1 is characterized in that described local oscillator is the 5.8GHz local oscillator.
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| US9239377B2 (en) | 2012-12-13 | 2016-01-19 | Industrial Technology Research Institute | Pulse radar ranging apparatus and ranging algorithm thereof |
| CN106950748A (en) * | 2017-05-12 | 2017-07-14 | 京东方科技集团股份有限公司 | Display device, color membrane substrates, mobile terminal and its driving method |
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| CN112698344A (en) * | 2021-03-25 | 2021-04-23 | 中国人民解放军国防科技大学 | Stepping frequency continuous wave distance measuring device and method based on rydberg atoms |
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| CN1987516A (en) * | 2007-02-27 | 2007-06-27 | 呼秀山 | Equivalent sampling pulse distance measuring laser system |
| CN100590450C (en) * | 2007-11-21 | 2010-02-17 | 厦门大学 | Microwave geodimeter |
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| US9239377B2 (en) | 2012-12-13 | 2016-01-19 | Industrial Technology Research Institute | Pulse radar ranging apparatus and ranging algorithm thereof |
| CN106950748A (en) * | 2017-05-12 | 2017-07-14 | 京东方科技集团股份有限公司 | Display device, color membrane substrates, mobile terminal and its driving method |
| US10763574B2 (en) | 2017-05-12 | 2020-09-01 | Boe Technology Group Co., Ltd. | Display device, color filter substrate, mobile terminal and driving method thereof |
| CN109283519A (en) * | 2018-10-29 | 2019-01-29 | 湖南迈克森伟电子科技有限公司 | Based on LFMCW range-measurement system |
| CN109283519B (en) * | 2018-10-29 | 2021-07-16 | 湖南迈克森伟电子科技有限公司 | Based on LFMCW ranging system |
| CN112698344A (en) * | 2021-03-25 | 2021-04-23 | 中国人民解放军国防科技大学 | Stepping frequency continuous wave distance measuring device and method based on rydberg atoms |
| CN112698344B (en) * | 2021-03-25 | 2021-06-18 | 中国人民解放军国防科技大学 | Stepping frequency continuous wave distance measuring device and method based on rydberg atoms |
| CN114343564A (en) * | 2022-03-17 | 2022-04-15 | 北京大学 | Ultra-large-range OCT imaging device and imaging method thereof |
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| CN115372985A (en) * | 2022-08-19 | 2022-11-22 | 厦门大学 | Pulse laser distance measuring device based on correlated sampling time-expanding algorithm |
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