CN103197321A - Full-waveform laser radar system - Google Patents
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- CN103197321A CN103197321A CN2013100933841A CN201310093384A CN103197321A CN 103197321 A CN103197321 A CN 103197321A CN 2013100933841 A CN2013100933841 A CN 2013100933841A CN 201310093384 A CN201310093384 A CN 201310093384A CN 103197321 A CN103197321 A CN 103197321A
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Abstract
The invention discloses a full-waveform laser radar system which is based on the laser measurement technology and the high frequency data collecting and controlling technology. The full-waveform laser radar system comprises a laser emission system, an photoelectric detection system, a data collecting system, a control system and a data analysis system, wherein the laser emission system emits laser pulses with large widths and big light spots, echoes produced after the laser pulses pass a target and are scattered are detected by the photoelectric detection system to obtain complex full-waveform laser echoes with large widths and multiple peak values, full-waveform echo data are collected and stored by the data collecting system, and the control system controls a laser device to emit the laser pulses and controls the data collecting system to collect data. According to the full-waveform laser radar system, long-time continuous measurement under the situation of high repetition frequency measurement is achieved, full-waveform data can be effectively recorded, and the recorded full-waveform data can be displayed in real time on a control program interface of the data collecting system.
Description
Technical field
The invention discloses a kind of all-wave shape laser radar system, this system is based on laser measuring technique and high-frequency data collection and control technology.
Background technology
Traditional pulsed range laser radar system adopts the mode of the time point of a transponder pulse of record and an echo-pulse to calculate the impact point distance, if have only a real goal in the travel path of laser pulse, the primary scattering echo is enough finished accurate measurement so, but in the reality, may there be the target of a plurality of different elevations in the travel path of laser, even also there is this situation in the system for small light spot (the pin spot diameter is that 0.2m is to 2m), at this moment only records an echo and just can not satisfy Testing requirement.So the laser radar system of multiecho occurred to record, the laser radar system of typical multiecho is record first echo-pulse and last echo-pulse (because last echo often is considered to ground point when handling), also has the laser radar system of some multiechos then can record nearly six echoes.Yet, no matter be record single echo or the system of multiecho, the echo that they record all is the peak signal that sets intensity threshold greater than system, the crest signal is converted to the elevation that pulse signal calculates measured target, and recording impulse number and time depend primarily on choosing of detection method and threshold value.Owing to can only utilize the rising edge information of echo, even make the potential echo that is higher than threshold value also can't be detected.In addition, relatively low vegetation or in the urban area street in some forest lands, if the interval of two objects less than 1.5m, general detection method might cannot be distinguished two echoes.Therefore, the system that can record a plurality of echoes still can not satisfy high-precision measurement of higher degree requirement.If but can effectively analyze waveform, just can improve reliability, measuring accuracy and resolution that waveform is surveyed.And this analysis is must be based upon on the basis that can record complete echo, and all-wave shape laser radar just can satisfy this demand.The laser radar system of this record echo that can be complete is exactly all-wave shape laser radar system (Full-Waveform LIDAR System), and the complete composite wave-shape of its record just is called all-wave shape signal.For the conventional discrete laser radar, all-wave shape laser radar can provide more target information, but also has higher requirement to data processing and information extraction simultaneously.Although U.S. NASA has realized airborne (LVIS) and the research of the pilot system of spaceborne all-wave shape laser radar (GLAS), also there is not the report of all-wave shape laser radar system in China at present.Abroad in the reported method research, all-wave shape laser radar technique still has its incomplete place: aspect data storage and transmission, because all-wave graphic data amount is very big, and the memory module finite capacity, cause under high repetition frequency measurement situation, system can't carry out long-time test constantly; Data processing aspect, the quantity of information that all-wave shape echo data contains is abundant, it is big to extract difficulty, how can be effectively from echo inverting obtain more information, be the emphasis of all-wave shape laser radar area research.
Patent purpose of the present invention is to solve above-mentioned all-wave shape laser radar system can't carry out long-time test constantly under high repetition frequency measurement situation problem, and the method for employing is based on laser measuring technique and high-frequency data collection and control technology.Build all-wave shape laser radar laboratory plateform system, by the appropriate design to the capture card working method, make system can finish the long-time actual measurement that continues, and can effectively record the all-wave graphic data, the data that actual measurement obtains can be used as the data basis that waveform resolves arithmetic accuracy and information extraction algorithm.Make its control laser instrument emission laser and data collecting card image data by the appropriate design to the control module working method, guarantee both synchronous workings.Mainly be achieved as follows function: 1. build all-wave shape laser radar laboratory plateform system, make system can finish the long-time actual measurement that continues, and can effectively record the all-wave graphic data.2. the data of gathering are stored with binary form, and can show at control panel in real time.3. laser instrument and digital collection card can synchronous workings.
Summary of the invention
The invention discloses a kind of all-wave shape laser radar system, this system is based on laser measuring technique and high-frequency data collection and control technology.By the following technical solutions:
The invention discloses a kind of all-wave shape laser radar system, this system is based on laser measuring technique and high-frequency data collection and control technology; This all-wave shape laser radar system comprises laser transmitting system, Photodetection system, data acquisition system (DAS), control system and data analysis system; The laser pulse that described laser transmitting system transponder pulse is wide, hot spot is big, the echo that scattering produces after target is surveyed by described Photodetection system, obtains the complicated all-wave shape return laser beam of broad pulse, multi-peak; Described all-wave shape echo data is by described data acquisition system (DAS) collection and storage, and described control system control laser instrument is launched laser pulse and data acquisition system (DAS) image data; Patent of the present invention can be implemented in long-time test constantly under the high repetition frequency measurement situation, and can effectively record the all-wave graphic data, and the all-wave graphic data that records can show on the control program interface of described data acquisition system (DAS) in real time.
Wherein, described laser transmitting system comprises laser instrument and laser beam expanding system; Described laser instrument is the near-infrared wavelength laser instrument of 1064nm, and the pulsewidth of laser instrument is 6 to 10ns, and laser beam divergence can produce the large spot coverage effect of long-range detection target greater than 1.5mrad; Described laser instrument repetition frequency range is 1-5kHz, can be by described control system control laser instrument emission laser pulse; Described laser beam expanding system is used for the diameter of expanded beam; Make laser beam become approximate parallel beam by the use laser beam expanding system, and obtain the high power hot spot.
Wherein, described Photodetection system comprises laser condensing lens, photodetector, fiber coupler; Described laser condensing lens aperture is 35mm, and outer layer lens is coated with infrared anti-reflection film, increases the collected infrared band laser pulse energy of being returned by target scattering; Described photodetector can be PIN diode type detector or APD avalanche diode, described all-wave shape laser radar system adopts at present the PIN detector with 4GHZ bandwidth, can effectively detect the laser echo signal that scattering obtains after described laser pulse and the target; Described fiber coupler be used for to be realized light signal along separate routes, make pulsed laser energy 90% with the transponder pulse detectable signal, the energy of residue 10% directly enters detector, effectively records transmitting pulse waveform and time.
Wherein, described data acquisition system (DAS) is the NI high-speed data acquisition card, has the real-time sampling rate of single channel 1GS/s, and bandwidth can reach 2GS/s; Described control system is NI high-speed digitization instrument, comprises FPGA module and adaptor module; Described two kinds of integrated circuit boards are inserted in the 8 scouring machine casees of NI, and this cabinet is supported Windows XP operating system; Described control module is launched laser and data collecting card image data from the digital output output two-way start pulse signal of high-speed digitization instrument as control signal control laser instrument; The output of described start pulse signal can realize by the FPGA module programming of control module.
Wherein, the working method of described data collecting card, is stored in binary mode in the hard disk of described 8 scouring machine casees gathering intermittence with data upload for triggering N point of back circle collection; By this working method, storage is not final storage space as of short duration transfer on the plate of described data collecting card, interrupts thereby avoid carrying the too small collection that causes by described data acquisition clamp; The driver workflow of described data collecting card is: parameter was set before data acquisition begins, select acquisition channel and store path, described triggering mode selects the simulation edge to trigger, be beneficial to by external signal control data collecting card image data, after the parameter setting is finished, wait for the arrival of trigger pip, when trigger pip arrives, initialization data is gathered, and the opening entry data; In the process of N point of described data collecting card circle collection, whenever enter once circulation, N of data collecting card record put and this N point is stored in the hard disk of described 8 scouring machine casees, and the Wave data that collects can show in the control interface of described data collecting card in real time.
Wherein, described data acquisition system (DAS) and control system are all supported the LabView programming; By LabView software the driver of described data collecting card is programmed, the parameter of data collecting card and the working method of data acquisition are set, realized that data acquisition is stuck in each function that intermittently data is stored to the cabinet hard disk of gathering, satisfied the real-time and high speed requirement of all-wave shape laser radar to the data acquisition system; By LabView software the FPGA module of described control system is programmed, make described control module produce trigger pulse according to certain frequency, and be input to the control end of laser instrument and the trigger end of data collecting card simultaneously, laser instrument is launched laser pulse after receiving pulse control signal, echoed signal by scattering after the target is transformed into electric signal through behind the detector, after a period of time, data collecting card receives the pulse control signal of control module emission and begins to gather echo data, and the interval time of two pulse control signals and sampling duration are decided by detection range and investigative range.
Wherein, described data analysis system reads the binary file of storing and then according to certain method all-wave shape echo data is analyzed and handled, to obtain needed target information.
Beneficial effect of the present invention: built all-wave shape laser radar laboratory plateform system, make system can finish the long-time actual measurement that continues, described laser instrument and digital collection card can synchronous workings, and can effectively record the all-wave graphic data, the data of gathering are stored with binary form, and can show at control panel in real time.The data that actual measurement obtains can be used as the data basis that waveform resolves arithmetic accuracy and information extraction algorithm, and algorithm is verified.This achievement in research can provide theory and experimental basis for the independent research of China's all-wave shape laser radar system.
Description of drawings
Fig. 1 is the overall design drawing of all-wave shape laser radar system;
Fig. 2 is the laser pulse figure of laser instrument emission;
Fig. 3 is the workflow diagram of all-wave shape laser radar system;
Fig. 4 is the workflow diagram of control system;
Fig. 5 is that final Wave data is integrated synoptic diagram;
Fig. 6 is the workflow diagram of data collecting card;
Fig. 7 is the control program front panel of data collecting card.
Embodiment
The invention discloses a kind of all-wave shape laser radar system, this system is based on laser measuring technique and high-frequency data collection and control technology; As shown in Figure 1, described all-wave shape laser radar system comprises optical design part and electrical design part, and opticator comprises laser instrument, beam expanding lens, laser condensing lens, fiber coupler, photodetector.Laser instrument is the topmost component part of all-wave shape laser radar system, the generating laser that is suitable as all-wave shape laser radar system has semiconductor, optical fiber, solid state laser, solid state laser has the advantages that volume is little, firm, output power is high, easy to use, particularly Nd:YAG laser conversion efficiency height, pulse repetition rate height, the good reliability of semiconductor diode excitation, so native system adopts the near-infrared solid laser device of homemade 1064nm.Very important parameter when in addition, the pulsewidth of laser pulse also is system's design.Under same sample frequency, the Laser emission pulse is more wide, and then the resolution to impact point in the Laser Transmission path is more low, because the overlapping phenomenon of broad pulse is more obvious, is unfavorable for the subsequent analysis to echo; But when pulsewidth is narrow, can increase the requirement of sample frequency, thereby increase the echoed signal of restoring and the error between the actual signal, and in the time can't reaching the sample rate of needs, will cause the distortion of tracer signal.In conjunction with the existing equipment condition, selected laser instrument pulsewidth is 6 to 10ns.Because native system at present main environment for use is indoor, does not therefore need king-sized output energy, selected laser instrument single pulse energy is the 16.6uJ rank, other laser pulse of this energy level laser waveform preferably that can tell in indoor use.In order to make system produce the effect of large spot, added beam expanding lens again before the laser instrument delivery, selected laser divergence angle is 1.5mrad, adds the angle of divergence that beam expanding lens can reduce laser beam that laser instrument is launched, make laser beam become approximate parallel beam, and obtain the high power hot spot.The laser pulse of laser instrument emission as shown in Figure 2.
Photodetection system comprises laser condensing lens, photodetector and fiber coupler.The major function of laser condensing lens is to collect by back scattered laser energy after the target, for as much as possible backward energies that receive more, bore and the field angle of wishing laser condensing lens are the bigger the better, but heavy caliber and big field angle also can be collected more veiling glare, thereby generation more noise, and its cost of manufacture is also higher, the laser instrument single pulse energy that described all-wave shape laser radar system adopts is 16.6uJ, and detection range requires shorter, do not need bigbore laser condensing lens, after taking all factors into consideration factors such as cost and cost performance, having selected clear aperature is the laser condensing lens of 35mm.Photodetector commonly used can be divided into two kinds, and a kind of is the PIN diode type, and a kind of is avalanche diode (APD) type.PIN diode is at the middle diode that adds low-doped intrinsic (Intrinsic) semiconductor layer of skim and constitute of traditional PN junction, its working mechanism is identical with PN junction, but the intrinsic semiconductor layer that increases can improve the response speed of original PN junction, makes response speed need not be subjected to the restriction of reversed bias voltage size simultaneously.APD is that the avalanche effect of utilizing PN junction to produce under high reverse biased provides a kind of diode that gains in the electric current.General laser radar system echo and exomonental energy are very littler than generally, generally have only 1% to 10%, when conditioned reflex is bad even less than 1%, therefore the measurement range of detection are had relatively high expectations.The emission laser pulse pulsewidth of described all-wave shape laser radar system has only about 10ns, thus require detector that bigger bandwidth is arranged, so bandwidth also is detector important parameters when selecting.The advantage of PIN detector is that it can directly receive the transponder pulse of laser instrument, and can not produce saturated phenomenon, is the PIN detector of 4GHz so select bandwidth.
The electricity part mainly comprises data acquisition system (DAS) and control system, laser instrument emission laser pulse, through fiber coupler, part energy is directly received by detector, another part energy arrives target, scattering after target, collected by back scattered laser energy after the target by laser condensing lens, photodetector converts light signal to electric signal, input is advanced data acquisition system (DAS) and is carried out data acquisition and storage, control system control laser instrument emission laser pulse and trigger data acquisition card image data.Described data acquisition system (DAS) and control system all are based on (the National Instruments of American National Instr Ltd., abbreviation NI) the integrated equipment of producing, what wherein cabinet adopted is that model is the 8 scouring machine casees of NI PXle-1082, data collecting card employing model is that 8 high speed numbers of PXI-5154 are adopted card, the PXI-5154 number is adopted the real-time sampling rate that jig has single channel 1GS/s, bandwidth can reach 2GS/s, well satisfied the requirement of system to sampling rate, it is 8MB/ch that the plate that the PXI-5154 number is adopted card carries capacity, can not satisfy the memory requirement of the super large data volume of all-wave shape laser radar, but it is the hard disk of 256GB that cabinet NI PXle-1082 then has capacity, programme by the driver to PXI-5154, can realize that data acquisition is stuck in each function that intermittently data is stored to hard disk of gathering, and satisfies the real-time and high speed requirement that all-wave shape laser radar system is gathered data.It is the data collecting card of NI5751R that control system adopts by model, comprises FPGA module and adaptor module, by to the FPGA module programming, can realize the control to laser instrument transmission frequency and launch time and data collecting card.
Fig. 3 is the whole workflow diagram of all-wave shape laser radar system, whole measurement can be divided into calibration phase and measuring phases, calibration phase operation when each start, exomonental calibration process is: laser instrument emission 500 to 1000 subpulses, each transponder pulse is directly sent into the photodetector light-sensitive surface by laser condensing lens, then by capture card to its sampling one section regular time T0, can obtain this 500 to 1000 exomonental waveforms and energy distribution, the transponder pulse that just can obtain to demarcate after it is averaged.The value of T0 is to determine according to the transmission frequency of laser pulse.After being over, demarcation begins to gather echo data, by control system control laser instrument transponder pulse and data collecting card image data.
Fig. 4 is the concrete workflow of described control system: host computer is programmed to the FPGA of described control module by LabView, make described control module control laser instrument emission laser and data collecting card image data according to certain mode, described laser instrument and described data collecting card are controlled in the digit pulse of described control module output two-way.Laser instrument is launched laser pulse after receiving pulse control signal, echoed signal by scattering after the target is transformed into electric signal through behind the detector, after a period of time, data collecting card receives the pulse control signal of control module emission and begins to gather echo data, and the interval time of two pulse control signals and sampling duration are decided by detection range and investigative range.If the repetition frequency of used laser instrument is controlled to be 5KHz, pulse width is 10ns, then is spaced apart 200us between two pulses, and the primary design detection range of supposing the system is s, and the pulse flight time is t
0, the light velocity is c.Detection range s and light velocity c and flight time t
0Between the pass be: t
0=2 * s/c calculates light velocity c=3 * 10 according to detection range s=30m
8M/s, then can obtain the pulse flight time by this relational expression is 200ns, is far smaller than transponder pulse 200us at interval.If sample window is chosen N point, the sample frequency of data collecting card is set to f, and sampling interval is T, and relational expression: T=1/f is then arranged, and sampling time t is: t=N*T.Suppose that sample window N selects 544 points, the sample frequency of data collecting card is 1GHz, and it is 1ns that sampling interval is then arranged, and the sampling time is 544ns, and the length that system can survey is 81.6m.Fig. 5 is that final Wave data is integrated synoptic diagram, and T0 wherein, T1, T2 are according to the condition enactment in the actual measurement.Wherein, T0 is the fixedly duration of sampling when demarcating transponder pulse, and T1 is two time intervals between the pulse control signal, is decided by detection range, can be set by the timer of control module, also can be determined by the trigger delay time of data acquisition module.T2 is that the acquisition window of capture card is opened the time, determines by surveying length.Suppose that detection range is 30m, detection length is 81.6m, and then can calculate T1 is 200ns, and T2 is 544ns, and investigative range is that 30m is to 111.6m.The exomonental pulsewidth of laser instrument is 10ns, and then T0 can select 20ns.
The data volume of an echo is 544byte, not enough 1Kb if use LabView to programme to the PXI-5154 data collecting card, then can make it intermittently data outwards be transmitted in collection, and the transmission speed of the PXI bus of NI instrument can reach 50M/s, satisfies the requirement of system fully.As long as reasonably design data collection and control system just can realize the real-time data acquisition for a long time of all-wave shape laser radar system.Fig. 6 is the workflow diagram of data acquisition system (DAS), adopt the circle collection mode to realize real-time collection, put and with data upload for each circle collection N, storage only is as of short duration transfer on the plate of described like this data collecting card, rather than main storage space, interrupt thereby avoided carrying the too small collection that causes by plate.Fig. 7 is the LabView front panel of described data collecting card, input or show various parameters in the control of plate in front, the echo waveform of gathering also in front plate show.The workflow of described data acquisition fixture body is:
(1) select data acquisition signal source and store path: before data acquisition begins, select cabinet slot and acquisition channel earlier, passage can selector channel 0 and passage 1 here.Resource Name control on the LabView front panel is used for selecting the slot of NI PXle-10828 scouring machine case, and Channel Name input control is used for selecting the passage of PXI-5154.Store path can select the binary file of suffix .bin by name to store, and it is little that the reason of selecting binary file to store is that binary file takes up room, and storage speed is fast, and can read binary file by Matlab.File path (dialog if empty) control is to select the file path that existed.
(2) select triggering mode: adopt simulation edge mode to trigger, this is because the edge triggering mode can be controlled data collecting card by external control signal and carry out data acquisition.Trigger Type is used for selecting triggering mode, can be Immediate triggering mode, Window window triggering mode, Digital numeral triggering mode, Hysteresis magnetic hysteresis triggering mode and Edge edge triggering mode immediately, Trigger Source is used for selecting the triggering source, here can selector channel 0 or passage 1.Trigger Delay arranges the trigger delay time, triggers opening entry data more in other words how long afterwards.Ref Position is that the data that record is set account for the ratio that triggers front and back, and for example when being arranged to 50, half is before triggering for the data of expression record, and half is the data after the triggering.Trigger Level is used for arranging the amplitude of trigger pip, for example ought be arranged to the edge triggering mode and Trigger Level is arranged to 2, it is that rising edge triggers that Trigger Slope is arranged to Positive, as long as trigger pip rises to 2V from 0, data collecting card namely begins image data.
(3) parameter of signalization collection: before entering data acquisition, also will carry out the parameter setting, comprise sample frequency, signal input amplitude range etc., Min.Sample Rate control is used for arranging sample frequency, and Vertical Range control is used for selecting the scope of sampling channel signal amplitude, can select 0-5V here, Vertical Offset is used for arranging the side-play amount of amplitude, Vertical Coupling is used for arranging coupling scheme, can select DC coupling or AC coupling, or GND.The maximum durations of finishing to be collected such as this control of Timeout is used for selecting are when acquisition tasks is not finished but program just reports an error during the time that acquisition time surpass to be set.Probe Attenuation is used for arranging the amplitude with the relevant probe of passage, and for example when being arranged to 10, explanation is the probe of 10:1.The parameter setting of horizontal direction, Min.Record Length is used for arranging smallest record length, each what points of acquisition and recording just, Actual Record Length and Actual Sample Length show control, are used for showing the sample frequency of actual record length and reality.Waveform shows that control is used for showing the waveform of the data that collect, X0, dx, offset, Scale, Last Points Fetched, Total Points Fetched show control, be used for some specifying informations of display waveform, the starting point of representing time shaft respectively, interval between each point, side-play amount, amplitude range, the counting and counting of record altogether of last record
(4) actual acquisition process: after above-mentioned parameter selection and setting were finished, data collecting card was waited for the arrival of trigger pip, when trigger pip arrives, and initialization data collection, and opening entry data.Here adopt the mode image data of circle collection N point, whenever enter once circulation, N of data collecting card record put and with data upload, be stored in the binary file, to realize the real-time collection of data, storage only is as of short duration transfer on the plate of described data collecting card, can realize long data acquisition.In gatherer process, data waveform figure is presented in real time on the driver front panel of described data acquisition system (DAS), waits for the arrival of trigger pip after circle collection time has been counted to again, circle collection always, up to pressing the STOP key, the data acquisition task just finishes.
The above; only be the basic scheme of specific implementation method of the present invention, but protection scope of the present invention is not limited thereto, any those skilled in the art that are in technical scope disclosed by the invention; the variation that can expect or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.All fall into the implication that is equal to of claim and the variation in the scope all will be included within the scope of claim.
Claims (7)
1. the invention discloses a kind of all-wave shape laser radar system, this system is based on laser measuring technique and high-frequency data collection and control technology; This all-wave shape laser radar system comprises laser transmitting system, Photodetection system, data acquisition system (DAS), control system and data analysis system; The laser pulse that described laser transmitting system transponder pulse is wide, hot spot is big, the echo that scattering produces after target is surveyed by described Photodetection system, obtains the complicated all-wave shape return laser beam of broad pulse, multi-peak; Described all-wave shape echo data is by described data acquisition system (DAS) collection and storage, and described control system control laser instrument is launched laser pulse and data acquisition system (DAS) image data; Patent of the present invention can be implemented in long-time test constantly under the high repetition frequency measurement situation, and can effectively record the all-wave graphic data, and the all-wave graphic data that records can show on the control program interface of described data acquisition system (DAS) in real time.
2. according to the described a kind of all-wave shape laser radar system of claim 1, it is characterized in that described laser transmitting system comprises laser instrument and laser beam expanding system; Described laser instrument is the near-infrared wavelength laser instrument of 1064nm, and the pulsewidth of laser instrument is 6 to 10ns, and laser beam divergence can produce the large spot coverage effect of long-range detection target greater than 1.5mrad; Described laser instrument repetition frequency range is 1-5kHz, can be by described control system control laser instrument emission laser pulse; Described laser beam expanding system is used for the diameter of expanded beam; Make laser beam become approximate parallel beam by the use laser beam expanding system, and obtain the high power hot spot.
3. according to the described a kind of all-wave shape laser radar system of claim 1, it is characterized in that described Photodetection system comprises laser condensing lens, photodetector, fiber coupler; Described laser condensing lens aperture is 35mm, and outer layer lens is coated with infrared anti-reflection film, increases the collected infrared band laser pulse energy of being returned by target scattering; Described photodetector can be PIN diode type detector or APD avalanche diode, described all-wave shape laser radar system adopts at present the PIN detector with 4GHZ bandwidth, can effectively detect the laser echo signal that scattering obtains after described laser pulse and the target; Described fiber coupler be used for to be realized light signal along separate routes, make pulsed laser energy 90% with the transponder pulse detectable signal, the energy of residue 10% directly enters detector, effectively records transmitting pulse waveform and time.
4. according to the described a kind of all-wave shape laser radar system of claim 1, it is characterized in that described data acquisition system (DAS) is the NI high-speed data acquisition card, have the real-time sampling rate of single channel 1GS/s, bandwidth can reach 2GS/s; Described control system is NI high-speed digitization instrument, comprises FPGA module and adaptor module; Described two kinds of integrated circuit boards are inserted in the 8 scouring machine casees of NI, and this cabinet is supported Windows XP operating system; Described control module is launched laser and data collecting card image data from the digital output output two-way start pulse signal of high-speed digitization instrument as control signal control laser instrument; The output of described start pulse signal can realize by the FPGA module programming of control module.
5. according to claim 1 or 4 described a kind of all-wave shape laser radar systems, it is characterized in that the working method of described data collecting card is for triggering N point of back circle collection, gathering intermittence with data upload, be stored in binary mode in the hard disk of described 8 scouring machine casees; By this working method, storage is not final storage space as of short duration transfer on the plate of described data collecting card, interrupts thereby avoid carrying the too small collection that causes by described data acquisition clamp; The driver workflow of described data collecting card is: parameter was set before data acquisition begins, select acquisition channel and store path, described triggering mode selects the simulation edge to trigger, be beneficial to by external signal control data collecting card image data, after the parameter setting is finished, wait for the arrival of trigger pip, when trigger pip arrives, initialization data is gathered, and the opening entry data; In the process of N point of described data collecting card circle collection, whenever enter once circulation, N of data collecting card record put and this N point is stored in the hard disk of described 8 scouring machine casees, and the Wave data that collects can show in the control interface of described data collecting card in real time.
6. according to claim 1 or 4 or 5 described a kind of all-wave shape laser radar systems, it is characterized in that described data acquisition system (DAS) and control system all support the LabView programming; By LabView software the driver of described data collecting card is programmed, the parameter of data collecting card and the working method of data acquisition are set, realized that data acquisition is stuck in each function that intermittently data is stored to the cabinet hard disk of gathering, satisfied the real-time and high speed requirement of all-wave shape laser radar to the data acquisition system; By LabView software the FPGA module of described control system is programmed, make described control module produce trigger pulse according to certain frequency, and be input to the control end of laser instrument and the trigger end of data collecting card simultaneously, laser instrument is launched laser pulse after receiving pulse control signal, echoed signal by scattering after the target is transformed into electric signal through behind the detector, after a period of time, data collecting card receives the pulse control signal of control module emission and begins to gather echo data, and the interval time of two pulse control signals and sampling duration are decided by detection range and investigative range.
7. according to the described a kind of all-wave shape laser radar system of claim 1, it is characterized in that described data analysis system reads the binary file of storing and then according to certain method all-wave shape echo data analyzed and handled, to obtain needed target information.
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| CN103576134A (en) * | 2013-11-26 | 2014-02-12 | 北京航空航天大学 | Full-waveform laser radar system based on coaxial two-channel data acquisition |
| CN103901435A (en) * | 2014-03-11 | 2014-07-02 | 北京航空航天大学 | Full-fiber optical path full-waveform laser radar system |
| CN104199042A (en) * | 2014-09-23 | 2014-12-10 | 李亚锋 | Multi-echo laser ranging method and laser range finder |
| TWI477801B (en) * | 2013-10-25 | 2015-03-21 | Univ Nat Chiao Tung | Method of geospatial-related waveform analysis for full-waveform lidar |
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| CN110346778B (en) * | 2018-04-03 | 2023-11-21 | 通用汽车环球科技运作有限责任公司 | Coherent lidar system with extended field of view |
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| US10466342B1 (en) | 2018-09-30 | 2019-11-05 | Hesai Photonics Technology Co., Ltd. | Adaptive coding for lidar systems |
| CN109613560A (en) * | 2018-12-26 | 2019-04-12 | 武汉大学 | EO-1 hyperion three-dimensional laser radar system based near infrared light Full wave shape ranging |
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