CN103076611B - Method and device for measuring speed and distance by coherent detecting laser - Google Patents
Method and device for measuring speed and distance by coherent detecting laser Download PDFInfo
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Abstract
The invention discloses a method and a device for measuring the speed and the distance by coherent detecting laser. Modulating signals used for carrying out frequency modulation on laser sent by a laser source in two stages are introduced, and the speed of a target object and the distance from the target object to test equipment are resolved on the basis of corresponding frequency information in two states in subsequent mixing signals. Compared with the holocyclic triangular wave modulation mode in the prior art, the method has the advantages that the noise-signal ratio of the speed resolving can be greatly improved, and the influence of the linearity of the modulating signals on the speed and distance measurement is eliminated. Meanwhile, the coherent detection mode is adopted in the same device, the laser is subjected to frequency modulation in two stages, the distance information of a movement object can be measured, the speed information of the movement object can also be obtained, and in addition, the measurement precision and the action range are ensured.
Description
Technical field
The present invention relates to technical field of laser detection, particularly relate to a kind of utilize coherent detection laser velocimeter to find range method and device.
Background technology
The range finding coherent laser radar that tests the speed is one of the integrated application of laser radar technique, coherent detection technology, signal processing technology.Be applied in the numerous areas such as Aero-Space, target monitoring, Wind field measurement widely, all have broad application prospects in military and civilian field.
The speed of the most single-measurement target of current laser radar or range information, range finding of testing the speed mainly contains following several method: the first is the mode adopting microwave radar detection, but compared with laser radar detection mode, microwave radar wave beam is wide, angular resolution is low, antijamming capability is not strong.The second is the mode adopting laser radar direct detection, and direct detection is compared with coherent detection, and its detection sensitivity reduces greatly, thus reduces the operating distance of laser radar.The third is the mode adopting return laser beam frequency modulation (PFM) relevant, and this mode will add the large acousto-optic frequency shifters of volume power consumption, and signal to noise ratio (S/N ratio) is not high, cause measuring operating distance and precision not high.4th kind is that employing detects the mode that laser firing signals carries out frequency triangular wave modulation, and when adopting triangular modulation, the non-linear meeting of triangular signal causes measuring accuracy to reduce.
Summary of the invention
The technical problem to be solved in the present invention is, provide a kind of utilize coherent detection laser velocimeter to find range method and device, overcome prior art and measure that operating distance is near, precision is low and measuring equipment volume weight is large defect.
The technical solution used in the present invention is, the described method utilizing coherent detection laser velocimeter to find range, comprising:
Adopt modulation signal to carry out frequency modulation (PFM) to the laser that lasing light emitter sends and obtain FM signal, each cycle of described modulation signal is divided into two stages, wherein the first stage carries out constant frequency modulation to described laser, and subordinate phase carries out sine wave or triangular modulation to described laser;
Described FM signal is divided into two-way, and a road is irradiated to target object and reflection echo signal, and another road obtains mixed frequency signal after carrying out mixing as local oscillator light and described echoed signal;
Mixing electric signal is obtained after mixed frequency signal is carried out opto-electronic conversion, frequency information based on described mixing electric signal each first stage in cycle calculates the speed of target object, and the frequency information based on each cycle subordinate phase of described mixing electric signal calculates the distance of lasing light emitter distance objective object.
Further, the acquisition process of the frequency information of described mixing electric signal each first stage in cycle and subordinate phase, comprising:
The mixing electric signal obtained after opto-electronic conversion is obtained successively after signal amplification, bandpass filtering and Fast Fourier Transform (FFT) to the frequency of mixing electric signal;
Frequency based on mixing electric signal determines the average frequency value of first stage and subordinate phase in described mixing electric signal each cycle respectively.
Further, the acquisition process of the frequency information of described mixing electric signal each first stage in cycle and subordinate phase, comprising:
After signal amplification, bandpass filtering and Fast Fourier Transform (FFT), the spectrum energy of mixing electric signal and the corresponding relation of frequency are obtained successively to the mixing electric signal obtained after opto-electronic conversion;
Based on the corresponding relation of spectrum energy and frequency, respectively in mixing electric signal each cycle described in filtering first stage and subordinate phase intermediate frequency spectrum energy lower than the noise spot frequency of setting threshold value, the average frequency value of first stage and subordinate phase in the described mixing electric signal each cycle then determining filtering noise spot frequency respectively.
Further, the filter range of described bandpass filtering is determined according to the velocity range of Doppler effect by target object;
The multiple that described signal amplifies is determined by the receiving sensitivity of opto-electronic conversion.
Further, the described frequency information based on described mixing electric signal each first stage in cycle calculates the speed of target object, specifically comprises:
By described filtering, the angle of the average frequency value of described mixing electric signal each first stage in cycle of noise spot frequency, optical maser wavelength and laser beam direction and target object direction of motion brings Doppler effect formulas into, calculates the speed of target object;
The described frequency information based on each cycle subordinate phase of described mixing electric signal calculates the distance of lasing light emitter distance objective object, specifically comprises:
If the distance of lasing light emitter distance objective object is R, then the computing formula of R is as follows:
Wherein, c is the light velocity, f
2the average frequency value of described mixing electric signal each cycle subordinate phase of noise spot frequency for filtering, f
mfor the frequency of modulation signal, Δ f is the maximum frequency deviation of modulation signal.
The present invention also provides a kind of device utilizing coherent detection laser velocimeter to find range, and comprising:
Modulation module, for adopting modulation signal, frequency modulation (PFM) is carried out to the laser that lasing light emitter sends and obtain FM signal, each cycle of described modulation signal is divided into two stages, wherein the first stage carries out constant frequency modulation to described laser, and subordinate phase carries out sine wave or triangular modulation to described laser;
Spectral module, for being divided into two-way by described FM signal;
Detection frequency mixing module, is irradiated to target object and reflection echo signal for the road FM signal separated by spectral module, another road is obtained mixed frequency signal after local oscillator light and described echoed signal carry out mixing;
Photoelectric conversion module, obtains mixing electric signal after mixed frequency signal is carried out opto-electronic conversion;
Resolve module, for calculating the speed of target object based on the frequency information of described mixing electric signal each first stage in cycle, the frequency information based on each cycle subordinate phase of described mixing electric signal calculates the distance of lasing light emitter distance objective object.
Further, described in resolve module, specifically comprise:
Frequency information acquisition module, for obtaining the frequency of mixing electric signal successively after signal amplification, bandpass filtering and Fast Fourier Transform (FFT) to the mixing electric signal obtained after opto-electronic conversion;
Frequency based on mixing electric signal determines the average frequency value of first stage and subordinate phase in described mixing electric signal each cycle respectively.
Further, described in resolve module, specifically comprise:
Frequency information acquisition module, for obtaining the spectrum energy of mixing electric signal and the corresponding relation of frequency successively to the mixing electric signal obtained after opto-electronic conversion after signal amplification, bandpass filtering and Fast Fourier Transform (FFT);
Based on the corresponding relation of spectrum energy and frequency, respectively in mixing electric signal each cycle described in filtering first stage and subordinate phase intermediate frequency spectrum energy lower than the noise spot frequency of setting threshold value, the average frequency value of first stage and subordinate phase in the described mixing electric signal each cycle then determining filtering noise spot frequency respectively.
Further, the filter range of described bandpass filtering is determined according to the velocity range of Doppler effect by target object;
The multiple that described signal amplifies is determined by the receiving sensitivity of photoelectric conversion module.
Further, described in resolve module, also comprise:
Velocity calculated module, angle for the average frequency value of described mixing electric signal each first stage in cycle of the noise spot frequency by described filtering, optical maser wavelength and laser beam direction and target object direction of motion brings Doppler effect formulas into, calculates the speed of target object;
Distance resolves module, is R for going out the distance of lasing light emitter distance objective object according to formulae discovery below, then,
Wherein, c is the light velocity, f
2the average frequency value of described mixing electric signal each cycle subordinate phase of noise spot frequency for filtering, f
mfor the frequency of modulation signal, Δ f is the maximum frequency deviation of modulation signal.
Adopt technique scheme, the present invention at least has following advantages:
Of the present invention utilize coherent detection laser velocimeter to find range method and device, introducing point two stages carries out warbled modulation signal to the laser that lasing light emitter sends, frequency information based on two stages corresponding in follow-up mixed frequency signal calculates target object speed and the distance apart from testing apparatus, compared with triangular modulation mode holocyclic in prior art, greatly can improve the signal to noise ratio (S/N ratio) of velocity calculated, eliminate the linearity of modulation signal to the impact of finding range and causing of testing the speed.Meanwhile, the present invention adopts the mode of coherent detection in the same apparatus, carries out frequency modulation (PFM) in two stages to laser, can measure moving object distance information, also can obtain moving object velocity information, and ensure that precision and the reach of measurement.
Accompanying drawing explanation
Fig. 1 is the method flow diagram utilizing coherent detection laser velocimeter to find range of first embodiment of the invention;
Fig. 2 is the device utilizing coherent detection laser velocimeter the to find range composition schematic diagram of second embodiment of the invention;
Fig. 3 is the process schematic that the testing apparatus of application example of the present invention performs range finding of testing the speed;
Fig. 4 is the local oscillation signal after modulation signal modulation and the echoed signal schematic diagram of application example of the present invention.
Embodiment
For further setting forth the present invention for the technological means reaching predetermined object and take and effect, below in conjunction with accompanying drawing and preferred embodiment, the present invention is described in detail as after.
First embodiment of the invention, a kind of method utilizing coherent detection laser velocimeter to find range, as shown in Figure 1, comprises the following steps:
Step S101, adopt modulation signal to carry out frequency modulation (PFM) to the laser that lasing light emitter sends and obtain FM signal, each cycle of described modulation signal is divided into two stages, wherein the first stage carries out constant frequency modulation to described laser, and subordinate phase carries out sine wave or triangular modulation to described laser.
Step S102, is divided into two-way by described FM signal, and a road is irradiated to target object and reflection echo signal, and another road obtains mixed frequency signal after carrying out mixing as local oscillator light and described echoed signal.
Step S103, mixing electric signal is obtained after mixed frequency signal is carried out opto-electronic conversion, frequency information based on described mixing electric signal each first stage in cycle calculates the speed of target object, and the frequency information based on each cycle subordinate phase of described mixing electric signal calculates the distance of lasing light emitter distance objective object.
Concrete, the acquisition process of the frequency information of described mixing electric signal each first stage in cycle and subordinate phase, comprising:
The mixing electric signal obtained after opto-electronic conversion is obtained successively after signal amplification, bandpass filtering and Fast Fourier Transform (FFT) to the frequency of mixing electric signal; Frequency based on mixing electric signal determines the average frequency value of first stage and subordinate phase in described mixing electric signal each cycle respectively.
Consider the precision that can improve measurement result in practical application further, preferably, the acquisition process of the frequency information of described mixing electric signal each first stage in cycle and subordinate phase, comprising:
After signal amplification, bandpass filtering and Fast Fourier Transform (FFT), the spectrum energy of mixing electric signal and the corresponding relation of frequency are obtained successively to the mixing electric signal obtained after opto-electronic conversion;
Based on the corresponding relation of spectrum energy and frequency, respectively in mixing electric signal each cycle described in filtering first stage and subordinate phase intermediate frequency spectrum energy lower than the noise spot frequency of setting threshold value, the average frequency value of first stage and subordinate phase in the described mixing electric signal each cycle then determining filtering noise spot frequency respectively.
Further, the filter range of described bandpass filtering is determined according to the velocity range of Doppler effect by target object, and the multiple that described signal amplifies is determined by the receiving sensitivity of opto-electronic conversion.
In step s 103, the described frequency information based on described mixing electric signal each first stage in cycle calculates the speed of target object, specifically comprises:
By described filtering, the angle of the average frequency value of described mixing electric signal each first stage in cycle of noise spot frequency, optical maser wavelength and laser beam direction and target object direction of motion brings Doppler effect formulas into, calculates the speed v of target object;
Concrete, Doppler effect formulas is:
wherein, f
1the average frequency value of described mixing electric signal each first stage in cycle of noise spot frequency for filtering, the angle of θ laser beam direction and target object direction of motion, λ is the wavelength of the laser that lasing light emitter sends, the optical maser wavelength that the present invention can select comprises: 1064nm and 1550nm, preferably, the better effects if of 1550nm is adopted.
In step s 103, the described frequency information based on each cycle subordinate phase of described mixing electric signal calculates the distance of lasing light emitter distance objective object, specifically comprises:
If the distance of lasing light emitter distance objective object is R, then the computing formula of R is as follows:
Wherein, c is the light velocity, f
2the average frequency value of described mixing electric signal each cycle subordinate phase of noise spot frequency for filtering, f
mfor the frequency of modulation signal, Δ is the maximum frequency deviation of modulation signal.
Second embodiment of the invention, a kind of method utilizing coherent detection laser velocimeter to find range, as shown in Figure 2, comprises following ingredient:
Modulation module 100, for adopting modulation signal, frequency modulation (PFM) is carried out to the laser that lasing light emitter sends and obtain FM signal, each cycle of described modulation signal is divided into two stages, wherein the first stage carries out constant frequency modulation to described laser, and subordinate phase carries out sine wave or triangular modulation to described laser.
Spectral module 200, for being divided into two-way by described FM signal.
Detection frequency mixing module 300, is irradiated to target object and reflection echo signal for the road FM signal separated by spectral module 200, another road is obtained mixed frequency signal after local oscillator light and described echoed signal carry out mixing.
Photoelectric conversion module 400, obtains mixing electric signal after mixed frequency signal is carried out opto-electronic conversion.
Concrete, photoelectric conversion module 400 can select PIN type silicon photoelectric diode or APD(AvalanchePhoto Diode, avalanche photodide).
Resolve module 500, for calculating the speed of target object based on the frequency information of described mixing electric signal each first stage in cycle, the frequency information based on each cycle subordinate phase of described mixing electric signal calculates the distance of lasing light emitter distance objective object.
Concrete, resolve module 500, comprising:
Frequency information acquisition module 51, for obtaining the frequency of mixing electric signal successively after signal amplification, bandpass filtering and Fast Fourier Transform (FFT) to the mixing electric signal obtained after opto-electronic conversion; Frequency based on mixing electric signal determines the average frequency value of first stage and subordinate phase in described mixing electric signal each cycle respectively.
Consider the precision that can improve measurement result in practical application further, preferably, frequency information acquisition module 51, for obtaining the spectrum energy of mixing electric signal and the corresponding relation of frequency successively to the mixing electric signal obtained after opto-electronic conversion after signal amplification, bandpass filtering and Fast Fourier Transform (FFT);
Based on the corresponding relation of spectrum energy and frequency, respectively in mixing electric signal each cycle described in filtering first stage and subordinate phase intermediate frequency spectrum energy lower than the noise spot frequency of setting threshold value, the average frequency value of first stage and subordinate phase in the described mixing electric signal each cycle then determining filtering noise spot frequency respectively.
Further, the filter range of described bandpass filtering is determined according to the velocity range of Doppler effect by target object; The multiple that described signal amplifies is determined by the receiving sensitivity of photoelectric conversion module.
Velocity calculated module 52, angle for the average frequency value of described mixing electric signal each first stage in cycle of the noise spot frequency by described filtering, optical maser wavelength and laser beam direction and target object direction of motion brings Doppler effect formulas into, calculates the speed v of target object.
Concrete, Doppler effect formulas is:
wherein, f
1the average frequency value of described mixing electric signal each first stage in cycle of noise spot frequency for filtering, the angle of θ laser beam direction and target object direction of motion, λ is the wavelength of the laser that lasing light emitter sends, the optical maser wavelength that the present invention can select comprises: 1064nm and 1550nm, preferably, the better effects if of 1550nm is adopted.
Distance resolves module 53, is R for going out the distance of lasing light emitter distance objective object according to formulae discovery below, then,
Wherein, c is the light velocity, f
2the average frequency value of described mixing electric signal each cycle subordinate phase of noise spot frequency for filtering, f
mfor the frequency of modulation signal, Δ f is the maximum frequency deviation of modulation signal.
Introduce an application example of the present invention below:
Adopt fiber laser as lasing light emitter, its volume is little, lightweight, low in energy consumption.The testing apparatus of this application example performs and tests the speed ranging process as shown in Figure 3, with fiber laser as lasing light emitter, adopt modulation signal to carry out modulation to laser emission frequency and obtain FM signal, this modulation signal is selected the first stage in one-period not modulate namely to keep former laser frequency constant, and subordinate phase adopts the mode of sine wave modulation.
As shown in Figure 4, the FM signal obtained after modulation is divided into two-way, one tunnel is as local oscillation signal, another road as transmit by launch camera lens be irradiated to measured target object, the echoed signal returned from target object is received by receiving camera lens, echoed signal and local oscillation signal are carried out mixing through frequency mixer, mixed frequency signal PIN type silicon photoelectric diode receives, mixed frequency signal converted to mixing electric signal and carry out signal amplification, bandpass filtering, Fast Fourier Transform (FFT) FFT computing, obtaining the spectrum energy of mixed frequency signal and the corresponding relation of frequency.Then, based on the corresponding relation of spectrum energy and frequency, respectively in mixing electric signal each cycle described in filtering first stage and subordinate phase intermediate frequency spectrum energy lower than the noise spot frequency of setting threshold value.Because the first stage in mixing electric signal each cycle is completely different from the spectrum energy of subordinate phase, need to set the filtering that threshold value carries out noise frequency respectively.Determine described mixing electric signal each first stage in cycle of filtering noise spot frequency and the average frequency value of subordinate phase more respectively, namely the average frequency value of described mixing electric signal each first stage in cycle is the average frequency value f of not stage of modulating
1, the average frequency value of each cycle subordinate phase of described mixing electric signal is the average frequency value f in sine wave modulation stage
2.
For moving object, according to formula
can calculate moving object speed v, wherein λ is the optical maser wavelength that fiber laser sends, and θ is the angle of laser beam direction and target object direction of motion.According to formula
solving target object is apart from the distance of testing apparatus, and wherein, c is the light velocity, and Δ f is sinusoidal modulation signal maximum frequency deviation, f
mfor the frequency of sinusoidal modulation signal.
Of the present invention utilize coherent detection laser velocimeter to find range method and device, introduce and do not modulate signal phase, compared with triangular modulation mode holocyclic in prior art, greatly can improve the signal to noise ratio (S/N ratio) of velocity calculated, eliminate the linearity of modulation signal to the impact of finding range and causing of testing the speed.Meanwhile, the present invention adopts the mode of coherent detection in the same apparatus, carries out frequency modulation (PFM) in two stages to laser, can measure moving object distance information, also can obtain moving object velocity information, and ensure that precision and the reach of measurement.
By the explanation of embodiment, should to the present invention for the technological means reaching predetermined object and take and effect be able to more deeply and concrete understanding, but appended diagram be only to provide with reference to and the use of explanation, be not used for being limited the present invention.
Claims (2)
1. the method utilizing coherent detection laser velocimeter to find range, is characterized in that, comprising:
Adopt modulation signal to carry out frequency modulation (PFM) to the laser that lasing light emitter sends and obtain FM signal, each cycle of described modulation signal is divided into two stages, wherein the first stage carries out constant frequency modulation to described laser, and subordinate phase carries out sine wave modulation to described laser;
Described FM signal is divided into two-way, and a road is irradiated to target object and reflection echo signal, and another road obtains mixed frequency signal after carrying out mixing as local oscillator light and described echoed signal;
Mixing electric signal is obtained after mixed frequency signal is carried out opto-electronic conversion, frequency information based on described mixing electric signal each first stage in cycle calculates the speed of target object, and the frequency information based on each cycle subordinate phase of described mixing electric signal calculates the distance of lasing light emitter distance objective object;
The acquisition process of the frequency information of described mixing electric signal each first stage in cycle and subordinate phase, comprising:
After signal amplification, bandpass filtering and Fast Fourier Transform (FFT), the spectrum energy of mixing electric signal and the corresponding relation of frequency are obtained successively to the mixing electric signal obtained after opto-electronic conversion;
Based on the corresponding relation of spectrum energy and frequency, respectively in mixing electric signal each cycle described in filtering first stage and subordinate phase intermediate frequency spectrum energy lower than the noise spot frequency of setting threshold value, the average frequency value of first stage and subordinate phase in the described mixing electric signal each cycle then determining filtering noise spot frequency respectively;
The filter range of described bandpass filtering is determined according to the velocity range of Doppler effect by target object; The multiple that described signal amplifies is determined by the receiving sensitivity of opto-electronic conversion;
The described frequency information based on described mixing electric signal each first stage in cycle calculates the speed of target object, specifically comprises:
By described filtering, the angle of the average frequency value of described mixing electric signal each first stage in cycle of noise spot frequency, optical maser wavelength and laser beam direction and target object direction of motion brings Doppler effect formulas into, calculates the speed of target object;
The described frequency information based on each cycle subordinate phase of described mixing electric signal calculates the distance of lasing light emitter distance objective object, specifically comprises:
If the distance of lasing light emitter distance objective object is R, then the computing formula of R is as follows:
Wherein, c is the light velocity, f
2the average frequency value of described mixing electric signal each cycle subordinate phase of noise spot frequency for filtering, f
mfor the frequency of modulation signal, Δ f is the maximum frequency deviation of modulation signal.
2. the device utilizing coherent detection laser velocimeter to find range, is characterized in that, comprising:
Modulation module, for adopting modulation signal, frequency modulation (PFM) is carried out to the laser that lasing light emitter sends and obtain FM signal, each cycle of described modulation signal is divided into two stages, and wherein the first stage carries out constant frequency modulation to described laser, and subordinate phase carries out sine wave modulation to described laser;
Spectral module, for being divided into two-way by described FM signal;
Detection frequency mixing module, is irradiated to target object and reflection echo signal for the road FM signal separated by spectral module, another road is obtained mixed frequency signal after local oscillator light and described echoed signal carry out mixing;
Photoelectric conversion module, obtains mixing electric signal after mixed frequency signal is carried out opto-electronic conversion;
Resolve module, for calculating the speed of target object based on the frequency information of described mixing electric signal each first stage in cycle, the frequency information based on each cycle subordinate phase of described mixing electric signal calculates the distance of lasing light emitter distance objective object;
Describedly resolve module, specifically comprise:
Frequency information acquisition module, for obtaining the spectrum energy of mixing electric signal and the corresponding relation of frequency successively to the mixing electric signal obtained after opto-electronic conversion after signal amplification, bandpass filtering and Fast Fourier Transform (FFT);
Based on the corresponding relation of spectrum energy and frequency, respectively in mixing electric signal each cycle described in filtering first stage and subordinate phase intermediate frequency spectrum energy lower than the noise spot frequency of setting threshold value, the average frequency value of first stage and subordinate phase in the described mixing electric signal each cycle then determining filtering noise spot frequency respectively;
The filter range of described bandpass filtering is determined according to the velocity range of Doppler effect by target object; The multiple that described signal amplifies is determined by the receiving sensitivity of photoelectric conversion module;
Describedly resolve module, also comprise:
Velocity calculated module, angle for the average frequency value of described mixing electric signal each first stage in cycle of the noise spot frequency by described filtering, optical maser wavelength and laser beam direction and target object direction of motion brings Doppler effect formulas into, calculates the speed of target object;
Distance resolves module, is R for going out the distance of lasing light emitter distance objective object according to formulae discovery below, then,
Wherein, c is the light velocity, f
2the average frequency value of described mixing electric signal each cycle subordinate phase of noise spot frequency for filtering, f
mfor the frequency of modulation signal, Δ f is the maximum frequency deviation of modulation signal.
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| US9261794B1 (en) * | 2014-12-09 | 2016-02-16 | Cymer, Llc | Compensation for a disturbance in an optical source |
| CN105372642B (en) * | 2015-11-06 | 2017-08-29 | 中国人民解放军空军装备研究院雷达与电子对抗研究所 | A kind of VHD laser two-dimension scanning device measured based on modulating frequency |
| US10830881B2 (en) * | 2018-03-20 | 2020-11-10 | Panosense Inc. | Active signal detection using adaptive identification of a noise floor |
| CN109521222B (en) * | 2018-11-09 | 2020-12-18 | 中国电子科技集团公司第十一研究所 | Method for improving laser speed measurement precision |
| CN109917405B (en) * | 2019-03-04 | 2021-09-03 | 中国电子科技集团公司第十一研究所 | Laser ranging method and system |
| CN111624614B (en) * | 2020-06-10 | 2022-11-01 | 哈尔滨工业大学 | Method and system for ranging through laser coherent detection |
| CN113064150B (en) * | 2021-03-17 | 2024-04-26 | 深圳安智杰科技有限公司 | Method and device for determining distance and speed of target to be detected and radar equipment |
| CN113757570B (en) * | 2021-07-28 | 2023-05-05 | 北京市燃气集团有限责任公司 | Methane leakage detection device for natural gas pipeline |
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