CN102901970A - Single-modulation continuous wave laser ranging device and method - Google Patents
Single-modulation continuous wave laser ranging device and method Download PDFInfo
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Abstract
The invention discloses a single-modulation continuous wave laser ranging device and method. The ranging device comprises a transmitting module, a receiving module, a processing module and a light path part. According to the device, the transmitting module transmits a beam of continuous modulation laser signals, a driving modulator in the transmitting module transmits a path of sine wave signals with the same frequency, the transmitted signals are reflected by a target, the receiving module converts the received laser signals into electrical signals, the transmitted and received signals are sent to a frequency mixer and converted into intermediate frequency signals; after frequency mixing, one part of the two paths of signals are sent to a phase discriminator to obtain a phase difference of the two paths of signals, the other part is converted into square signals by reshaping, the square signals are sent to a counter, the number N of sine waves through which the laser signals pass in a round trip is calculated, and the target distance L is solved according to a ranging formula. Through the device and the method, the defects of conventional pulse type ranging and phase type ranging are overcome, the measurement range of a system is ensured, and the measurement precision is improved at the same time.
Description
Technical field
The invention belongs to the laser ranging technique field, relate in particular to a kind of dullness continuous wave laser distance measuring equipment processed and distance-finding method.
Background technology
At present, laser distance measurement method is mainly used time-of-flight method and trigonometry.Time-of-flight method is divided into again pulse type laser range finding and continuous wave phase laser distance measurement.Ultimate principle and the radar range finding principle of pulse type laser range finding are similar, send laser signal by transmitter to target, run into target and reflect, record required flight time t, because the transmission speed of laser is known, can utilize this flight time to calculate target range.Traditional pulse type laser distance-finding method is to utilize modern electronic technology, the width of flight time t is elongated so that measure, or insert a series of high-frequency impulses between emission beginning pulse and stop pulse, the mode that becomes other to measure signal transition.Higher to the distance accuracy requirement, the complexity of electronic circuit will improve thereupon, and corresponding cost also can raise.The phase type range finding is the frequency of utilizing radio wave band, laser beam is carried out amplitude modulation(PAM), and measure the phase delay that the modulated laser round trip produces, converse target range according to the modulation light wavelength again, the method is to utilize indirectly mode to measure the required time of laser signal round trip on light path.Because the phase type range finding self exists drawback, often can't directly measure phase delay in the practical application, traditional phase laser distance measurement often adopts multifrequency emission, respectively the method indirect calculation target range of measure phase difference.
The advantage of pulse type laser ranging technology is that transponder pulse intensity is high, far measuring distance, but exist the not high shortcoming of measuring accuracy, often to increase system complexity as cost raising measuring accuracy.Although phase laser distance measurement technical method measuring accuracy is higher, but exist implacable contradiction between measuring accuracy and the measuring distance, the method that just needs to adopt the multi-frequency combination range finding in order to improve measuring distance, multiple frequency ranging to transmit and receive circuit design more complicated, data processing amount also increases greatly, range finding speed is slow, and system is complicated.
Summary of the invention
The present invention seeks to solve original time-of-flight method ranging technology exists system complex, measuring accuracy not high, and there are the technical matterss such as implacable contradiction between measuring accuracy and the measuring distance, provide a kind of simple in structure, far measuring distance, the dullness that range finding speed is fast, precision is high continuous wave laser distance measuring equipment processed and distance-finding method.
Dullness provided by the invention continuous wave laser distance measuring equipment processed comprises transmitter module, receiver module, processing module and light path part;
Described transmitter module comprises generating laser and driven modulator; Receiver module comprises photoelectric commutator and filter amplifier; Processing module comprises two frequency mixer, phase detector, two reshapers, counter and processors; The first frequency mixer be connected the income end of reshaper and be connected with the output terminal of driven modulator in the transmitter module simultaneously, the second frequency mixer be connected the income end of reshaper and be connected with the output terminal of filter amplifier in the receiver module simultaneously, the first frequency mixer be connected the output terminal of frequency mixer and connect simultaneously the input end of phase detector, the output terminal of phase detector connects processor; The output terminal of the first reshaper and the second reshaper is the input end of linkage counter simultaneously, and the output terminal of counter connects processor;
Described light path part comprises generating laser, collimator objective, two prisms, receiving objective and photoelectric commutators, the light of generating laser emission is after collimator objective becomes directional light, successively through shining target behind the first prism and the second prismatic reflection, the light signal that is reflected back by target converges at photoelectric commutator through receiving objective again.
Described laser generator is positioned at the focus place of collimation lens, and described photoelectric commutator is on the receiving objective optical axis, and is coaxial with receiving objective through the sinusoidal laser of the emission of the first prism and the second prism total reflection.
The present invention provides the method for using above-described dullness continuous wave laser distance measuring equipment processed to find range simultaneously, and the step of the method is:
1st, at first produce a sinusoidal wave electric signal by the driven modulator in the transmitter module, driving laser transmitter emission wavelength is the laser signal of the same frequency of λ;
2nd, when generating laser sends the modulated sinusoid signal, driven modulator is launched one with sinusoidal electric signals frequently to processing module, is called to transmit;
3rd, the part that transmits is transferred to frequency mixer in the processing module, becomes intermediate-freuqncy signal, and another part is transferred to the reshaper in the processing module, becomes square-wave signal;
4th, reflect after the laser signal process target that generating laser sends, the laser signal that returns receives and converts to electric signal by the photoelectric commutator in the receiver module, be called return signal, this return signal after filtration twt amplifier is sent into processing module after processing;
5th, a return signal part is transferred to the frequency mixer in the processing module, becomes intermediate-freuqncy signal, and another part is transferred to the reshaper in the processing module, becomes square-wave signal;
6th, differentiate in the phase detector in processing module in the 2nd step alleged transmit with the 4th step in the phase differential of alleged return signal
, it is identical through the local oscillation signal of frequency mixer with return signal wherein to transmit;
7th, by the counter records laser signal within the time that is transmitted into reception, through the square wave number N of counter, the sinusoidal wave number of the emission that namely transmits is according to the range finding formula
Obtain target range L.
Dull continuous wave laser ranging technology principle processed:
Phase laser distance measurement is the frequency of utilizing radio wave band, laser beam carried out amplitude modulation(PAM) realizes, as shown in Figure 1, transmitter module is launched the sinusoidal laser signal of a branch of modulation, and this signal reflects after running into target, is received by receiver module, sinusoidal laser signal every propagation one-period on light path, phase place just postpones 2 π, and phase delay and modulation light wavelength that processing module is propagated in light path according to laser signal converse the distance of phase delay representative.
The range finding formula:
Wherein λ is the modulated sinusoid wavelength,
Be the phase differential of not enough one-period, N is an integer sinusoidal wave number, and L is target range.
By the range finding formula as can be known, the Laser Modulation wavelength is known, only need to measure the laser integer that round trip is propagated on a light path sinusoidal wave number, and the phase differential of not enough one-period, just can obtain target range with round-about way.
Consider in the actual measurement process phase error and wavelength error to occur phase detector error ± 0.5%, wavelength permissible error ± 10
-7
Actual range finding formula can be write as:
Distance accuracy can be write as the ratio of range error and theoretical relatively, can draw, when
The time measuring error maximum.
Relative accuracy during maximum error is:
Can find out that by formula (2) value of N is larger, distance accuracy is less, and when the value of N got 1000, the value of relative accuracy P can reach 5 * 10
-6, satisfied the requirement of precision distance measurement.
Advantage and the beneficial effect of invention:
The present invention adopts the mode that transmits and cooperatively interact and find range with the individual sinusoidal wave number N of return signal phase differential and integer by measurement, the advantage that measuring accuracy is high and the impulse method range finding is far away that has simultaneously ranging phase method has realized the telemeasurement of continuous wave laser range finding.Measuring accuracy of the present invention can reach grade, and measuring accuracy can improve with the raising of measuring distance.Compare with traditional distance measuring equipment, this measurement device distance, precision is high, and system is simple.
Description of drawings
Fig. 1 is the laser distance measuring system principle schematic;
Fig. 2 is a kind of dullness continuous wave laser distance measuring equipment processed system diagram;
Fig. 3 is counting principle figure;
Fig. 4 is Laser emission receiving light path figure;
Among the figure, 1 generating laser, 2 collimator objectives, 3 first prisms, 4 second prisms, 5 targets, 6 receiving objectives, 7 laser pickoffs.
Embodiment
The present invention is further described below in conjunction with accompanying drawing:
Embodiment 1, measurement mechanism
As shown in Figure 3 and Figure 4, dullness provided by the invention continuous wave laser distance measuring equipment processed comprises transmitter module, receiver module, processing module and light path part;
Described transmitter module comprises generating laser and driven modulator; Receiver module comprises photoelectric commutator and filter amplifier; Processing module comprises two frequency mixer, phase detector, two reshapers, counter and processors; The first frequency mixer be connected the income end of reshaper and be connected with the output terminal of driven modulator in the transmitter module simultaneously, the second frequency mixer be connected the income end of reshaper and be connected with the output terminal of filter amplifier in the receiver module simultaneously, the first frequency mixer be connected the output terminal of frequency mixer and connect simultaneously the input end of phase detector, the output terminal of phase detector connects processor; The output terminal of the first reshaper and the second reshaper is the input end of linkage counter simultaneously, and the output terminal of counter connects processor;
Described light path part (see figure 4) comprises generating laser, collimator objective, two prisms, receiving objective and photoelectric commutators, the light of generating laser 1 emission is after collimator objective 2 becomes directional light, successively through shining target 5 after the first prism 3 and 4 reflections of the second prism, the light signal that is reflected back by target converges at photoelectric commutator 7 through receiving objective 6 again.
Described laser generator is positioned at the focus place of collimation lens, and described photoelectric commutator is on the receiving objective optical axis, and is coaxial with receiving objective through the sinusoidal laser of the emission of the first prism and the second prism total reflection.
Described generating laser is selected output power 100mw, to eye-safe, and the semiconductor laser diode M5-905-0100 of wavelength 905nm.
The precision high-frequency function generator MAX038 chip that described driven modulator adopts MAXIM company to produce.
Described photoelectric commutator is selected the 44 in science and technology group of China Electronics, surveys wavelength coverage 400nm～1100nm, peak wavelength 940nm, the Si PIN photodiode GT-101 of response time 5ns.Or the avalanche photodide ADP of the loose company in Japanese shore, survey wavelength coverage 400nm ~ 1000nm, peak wavelength 800nm, model is AD2382.
Described filter amplifier is selected the MAX4100 chip of MAXIM company.
High-speed low-power-consumption, high-accuracy voltage comparator MAX913 that described reshaper adopts MAXIM company to produce.
Described frequency mixer is selected the analog multiplier MC1496 of motorola inc.
Described phase detector is selected the digital phase detection chip MC4044/MC4344 of motorola inc.
Described counter is selected the microwave divider MB506 of FUJITSU company.
The XC164CS chip of described processor adopting Infineon company.
Embodiment 2, measuring method
A kind of dullness continuous wave laser distance measuring equipment processed, as shown in Figure 1, by transmitter module, receiver module, processing module consists of.The modulated continuous wave of transmitter module emission certain frequency is transmitted into target surface to be measured, and receiver module receives the light wave that reflects.Transmitter module, receiver module, the signal processing module part connects by wire.
Among this embodiment, as shown in Figure 2, adopting the semiconductor laser diode M5-905-0100 of wavelength 904nm is generating laser; The XC164CS chip of Infineon company is processor; The precision high-frequency function generator MAX038 that MAXIM company produces is driven modulator; The Si PIN photodiode GT-101 that science and technology group of China Electronics is the 44 is photoelectric commutator; The MAX4100 of MAXIM company is filter amplifier; High-speed low-power-consumption, high-accuracy voltage comparator MAX913 that MAXIM company produces are the first reshaper, the second reshaper; The analog multiplier MC1496 of motorola inc is the first frequency mixer, the second frequency mixer; The digital phase detection chip MC4344 of motorola inc is phase detector; Microwave divider MB506 chip is counter.
Driven modulator MAX038 sends a sinusoidal wave electric signal, driving laser transmitter M5-905-0100 emission is a branch of with modulated sinusoid laser signal frequently, in the time of generating laser M5-905-0100 Emission Lasers, driven modulator MAX038 is a branch of with sinusoidal wave electric signal frequently to the processing module emission, be called and transmit, a part that transmits is sent into the first frequency mixer MC1496 and is converted intermediate-freuqncy signal to, another part becomes the square wave electric signal after through the first reshaper MAX913, then this square wave electric signal is input to counter CD74HC190, claims that this signal is the start signal.After running into target, the Sine Modulated laser signal of launching fires back, photoelectric commutator GT-101 receives this laser signal, and convert thereof into the Sine Modulated electric signal, be called return signal, this signal is through after the filter amplifying processing, with transmit identical, the part of return signal is sent into the second frequency mixer MC1496 and is converted intermediate-freuqncy signal to, another part becomes the square wave electric signal after through the second reshaper MAX913, then this square wave electric signal is input to counter MB506 chip, claims that this signal is the stop signal.Phase detector MC4344 identifies the phase differential of s emission signal s tart and return signal stop, counter obtain transmitting between start and stop signal through the square wave number, as shown in Figure 3, during this period of time whenever add one by a square-wave signal Counter Value, thus obtain the sinusoidal laser signal of modulation on light path round trip the integer periodicity N of process.Counter and phase detector are sent resulting sinusoidal wave number and phase information into processor XC164CS respectively, and processor calculates target range according to the modulation signal wavelength.
A kind of dullness continuous wave laser distance-finding method processed, experimentation is as follows:
1) launches a branch of Sine Modulated laser signal by generating laser.
2) the modulation phase detector obtains transmitting and receives the phase differential of not enough one-period between the signal
3) counter is measured from the signal x time, the integer of the process sinusoidal wave number N to returning.
The Emission Lasers of certain frequency, the relation between phase differential and the integer sinusoidal wave number N:
According to formula
Obtain target range.
A kind of dullness continuous wave laser distance-finding method processed, interpretation of result is as follows:
1) generating laser is launched the laser signal of a branch of modulating frequency 400MHZ, corresponding wavelength λ=0.75m, and respectively to 100m, 500m, 1000m, 1700m, the target of 2000m is measured.
Relation between table 1 modulating frequency and the different measuring distance
Table 1
| Target range (m) | The N value | Phase difference φ | Theoretical (m) | Actual range (m) |
| 100 | 266 | 4π/3 | 100.00250 | 100.00230 |
| 500 | 1333 | 2π/3 | 499.99875 | 499.99879 |
| 1000 | 2666 | 4π/3 | 1000.0025 | 1000.00125 |
| 1700 | 4533 | 2π/3 | 1699.99875 | 1699.99957 |
| 2000 | 5333 | 2π/3 | 2000.00125 | 2000.00064 |
As can be seen from Table 1, in the situation of same transmit frequency, target range is far away, and the shared proportion of N value is larger, and relative accuracy is just higher.Empirical tests is in the situation of emission modulating frequency 400MHZ, and dull continuous wave laser distance-finding method absolute measurement precision processed can reach 3.75mm, and the method has solved the not high problem of laser ranging telemeasurement precision to a certain extent.
2) generating laser emission modulating frequency 100MHZ, 200MHZ, 400MHZ, 700MHZ, the laser signal of 1000MHZ, respectively corresponding wavelength λ
1=3m, λ
2=1.5m, λ
3=0.75m, λ
4=0.375m, λ
5=0.3m measures the target of 1100m.
Relation between table 2 different modulating frequency and the measuring distance
Table 2
| Transmission frequency f (MHZ) | The N value | Phase difference φ | Theoretical (m) | Actual range (m) |
| 100 | 733 | 2π/3 | 1100.00500 | 1000.00255 |
| 200 | 1466 | 4π/3 | 1100.00500 | 1100.00273 |
| 400 | 2933 | 2π/3 | 1099.99875 | 1099.99914 |
| 700 | 5866 | 4π/3 | 1100.00145 | 1100.00085 |
| 1000 | 7333 | 2π/3 | 1100.00050 | 1100.00017 |
As can be seen from Table 2, in the situation of same target distance, the modulating frequency that transmits is higher, and the integer that the light wave round trip is propagated a sinusoidal wave number is more, and the shared ratio of phase error is less, and relative accuracy is just higher.Transmission frequency is 100MHZ, 200MHZ, and 400MHZ, 700MHZ, the laser signal of 1000MHZ, the absolute measurement precision is respectively 15mm, 7.5mm, 3.75mm, 2.14mm, 1.5mm, transmission frequency is higher, and the absolute measurement precision is higher.Therefore, suitable frequency value can satisfy the requirement of distant-range high-precision range finding.
Claims (3)
1. a dull continuous wave laser distance measuring equipment processed is characterized in that this device comprises transmitter module, receiver module, processing module and light path part;
Described transmitter module comprises generating laser and driven modulator; Receiver module comprises photoelectric commutator and filter amplifier; Processing module comprises two frequency mixer, phase detector, two reshapers, counter and processors; The first frequency mixer be connected the income end of reshaper and be connected with the output terminal of driven modulator in the transmitter module simultaneously, the second frequency mixer be connected the income end of reshaper and be connected with the output terminal of filter amplifier in the receiver module simultaneously, the first frequency mixer be connected the output terminal of frequency mixer and connect simultaneously the input end of phase detector, the output terminal of phase detector connects processor; The output terminal of the first reshaper and the second reshaper is the input end of linkage counter simultaneously, and the output terminal of counter connects processor;
Described light path part comprises generating laser, collimator objective, two prisms, receiving objective and photoelectric commutators, the light of generating laser emission is after collimator objective becomes directional light, successively through shining target behind the first prism and the second prismatic reflection, the light signal that is reflected back by target converges at photoelectric commutator through receiving objective again.
2. device according to claim 1, it is characterized in that described laser generator is positioned at the focus place of collimation lens, described photoelectric commutator is on the receiving objective optical axis, and is coaxial with receiving objective through the sinusoidal laser of the emission of the first prism and the second prism total reflection.
3. method that right to use requires 1 described dullness continuous wave laser distance measuring equipment processed to find range is characterized in that the step of the method is:
1st, at first produce a sinusoidal wave electric signal by the driven modulator in the transmitter module, driving laser transmitter emission wavelength is the laser signal of the same frequency of λ;
2nd, when generating laser sends the modulated sinusoid signal, driven modulator is launched one with sinusoidal electric signals frequently to processing module, is called to transmit;
3rd, the part that transmits is transferred to frequency mixer in the processing module, becomes intermediate-freuqncy signal, and another part is transferred to the reshaper in the processing module, becomes square-wave signal;
4th, reflect after the laser signal process target that generating laser sends, the laser signal that returns receives and converts to electric signal by the photoelectric commutator in the receiver module, be called return signal, this return signal after filtration twt amplifier is sent into processing module after processing;
5th, a return signal part is transferred to the frequency mixer in the processing module, becomes intermediate-freuqncy signal, and another part is transferred to the reshaper in the processing module, becomes square-wave signal;
6th, differentiate in the phase detector in processing module in the 2nd step alleged transmit with the 4th step in the phase differential of alleged return signal
, it is identical through the local oscillation signal of frequency mixer with return signal wherein to transmit;
7th, by the counter records laser signal within the time that is transmitted into reception, through the square wave number N of counter, the sinusoidal wave number of the emission that namely transmits is according to the range finding formula
Obtain target range L.
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