CN103616696B - A kind of method of laser imaging radar device and range finding thereof - Google Patents
A kind of method of laser imaging radar device and range finding thereof Download PDFInfo
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- CN103616696B CN103616696B CN201310609371.5A CN201310609371A CN103616696B CN 103616696 B CN103616696 B CN 103616696B CN 201310609371 A CN201310609371 A CN 201310609371A CN 103616696 B CN103616696 B CN 103616696B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S17/14—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein a voltage or current pulse is initiated and terminated in accordance with the pulse transmission and echo reception respectively, e.g. using counters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S17/18—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S17/26—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein the transmitted pulses use a frequency-modulated or phase-modulated carrier wave, e.g. for pulse compression of received signals
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Abstract
For the problem that the range resolution of existing range gating laser imaging radar is low, the invention provides a kind of method of laser imaging radar device and range finding, wherein, a kind of laser imaging radar device comprises: laser instrument, Laser Modulation unit, optical antenna unit, probe unit, data processing unit and graphics processing unit; Wherein, probe unit is made up of counter, storbing gate controller and detector array; Data processing unit is made up of totalizer and correlator; Distance-finding method of the present invention, have employed phase encoding pulse amplitude modulation(PAM) mode and has carried out information loading procedure to the laser signal of constant amplitude.Useful technique effect: Apparatus and method for of the present invention combines the high advantage of the detection range resolution of ranging far away and impulse phase coded system of range gating laser imaging radar, avoids the shortcoming of the low image taking speed of the low and impulse phase coded system of resolution of ranging that range gating laser imaging radar has when telemeasurement simultaneously.
Description
Technical field
The present invention relates to laser radar field, a kind of method of particularly laser imaging radar device and range finding thereof.The method can break through the restriction of detector sampling time to radar system range resolution.
Background technology
Range gating laser imaging radar adopts laser active illumination mode, utilize rangerate-gate technique, whether laser echo signal is there is in section specific time delay after signal is launched by detection, judge whether target exists target in the corresponding distance segment of section time delay, and obtain the echoed signal of the target of different distance according to the priority of time delay, thus obtain the 3D image-forming information of target.The range resolution of range gating laser imaging radar, first depends on range gating interval, is secondly the impact of the fluctuation of range gate and laser pulse signal, the range resolution that narrow pulse width and short sampling interval can make radar reach higher.The range resolution of usual raising range gating laser imaging radar, needs to shorten laser pulse width and sampling interval, and improves Laser emission peak power, and this will propose rigors to laser instrument and receiving system, and concrete implementation exists a lot of difficulty.And when Range-gated Imager laser radar carries out imaging to distant object, due to the restriction of the peak power that laser instrument transmits, system needs pulse width to widen to strengthen signal energy, the range resolution of this nearly low laser radar system of a step-down.Simultaneously due to employing is monopulse systems, and target range limits the repetition frequency of laser pulse signal, thus limits the imaging rate of laser radar system.
Phase encoding laser radar carries out phase modulation to light wave CF signal, then transmitter, phase coded laser light pulse signal according to code source.Target reflected laser pulse coded signal, be received machine through transmission delay receive and be converted into echo coded electrical signal by detector, phase encoding echoed signal and Laser emission phase-coded signal are sent into computing machine through data acquisition and are completed related operation, again through signal transacting, finally provide the distance parameter of target.But the detection of phase-coded signal needs high speed detector to carry out quick sampling to signal, and the sample rate of detector array to laser signal is subject to the restriction of detector array manufacture craft, large face battle array phase encoding laser radar can not be met to the rate request of signal sampling, therefore constrain the application of phase encoding system in laser imaging radar.
M sequence phase coding has good pseudo-randomness, outstanding auto-correlation and their cross correlation.But conventional m sequence phase coding ranging radar needs each subpulse of detection sequence,
then the subpulse and reference signal pulse that obtain will be detected
carry out related operation, the correlation peak location of two sequences, in the L position in cycle, represents echo sequence
with reference signal
between phase differential be L, thus judge that target location is
The benefit of this method is modulated at broad pulse, phase information is added in broad pulse, improves measuring distance and the resolution of system.But its shortcoming is system needs each subpulse obtaining sequence, this is very difficult for the laser radar system adopting detector array, because the non-constant width of sampling time width of detector array, cause the subpulse width broadening of sequence, the range resolution of laser radar system is extremely low, can not meet the requirement of laser radar system.
As a rule the sample frequency of detector array is at below 40kHz, and the sampling time of such detector array need be greater than 25 μ s, and this causes the pulse width of systems radiate to need to be greater than 25 μ s, could be recovered the pulse train of laser instrument transmitting by detector array.According to theoretical analysis, the resolution of ranging of system is decided by pulse width, and that is the pulse width of 25 μ s determines the resolution of ranging of system lower than 3750 meters, and this is unacceptable for imaging laser radar system.
Summary of the invention
For the problem that the range resolution of existing range gating laser imaging radar is low, the invention provides a kind of a kind of method that laser imaging radar device and photoimaging radar installations carry out finding range, adopt the mode of reverse m sequence phase coding range gating, realize the super-resolution imaging to target.Concrete hardware configuration and distance-finding method are distinguished as follows:
The object of the present invention is achieved like this:
A kind of laser imaging radar device, comprises laser instrument 1, Laser Modulation unit 2, optical antenna unit 3, probe unit 4, data processing unit 5 and graphics processing unit 6; Wherein, Laser Modulation unit 2 is made up of modulator 21, m train pulse signal source 22 and pulse signal generator 23; Optical antenna unit 3 is made up of optical transmitting antenna 31 and optical receiver antenna 32; Probe unit 4 comprises storbing gate controller 42 and detector array 43; Data processing unit 5 comprises a correlator 52; Graphics processing unit 6 is made up of scrambler 61 and computing machine 62;
Clock signal is also exported to m train pulse signal source 22 and probe unit 4 by pulse signal generator 23 clocking respectively; M train pulse signal source 22 produces pulse train according to clock signal and pulse train is inputed to respectively modulator 21 and data processing unit 5; Modulator 21 by the pulse train of m train pulse signal source 22 as modulation signal, data processing unit 5 by the pulse train of m train pulse signal source 22 as forward reference signal;
Modulator 21 forms laser pulse sequence signal by excited the laser signal of generation to modulate by laser instrument 1 after, and is irradiated on target object through optical transmitting antenna 31; Laser pulse sequence signal reflects to form laser echo pulse signal at target object; Optical receiver antenna 32 receives the laser echo pulse signal that reflected by target object and transfers to detector array 43; The detector array 43 accumulation laser echo pulse signal controlled by storbing gate controller 42 is converted to echoed signal and exports to correlator 52.
The computing of data is responsible for by correlator 52, and the result of data operation is exported to scrambler 61, judged the distance of target, and completed the output of the three-dimensional distance image of target by computing machine 62 by scrambler 61 according to the phase differential of echoed signal and reference signal; In addition: in probe unit 4, be provided with a counter 41; A totalizer 51 is provided with in data processing unit 5; The laser signal that laser instrument 1 is launched is constant amplitude; The width of the clock signal that pulse signal generator 23 produces is τ; The subcode width of the pulse train that m train pulse signal source 22 produces is τ, Cycle Length is N and puts in order as the pulse train of m sequence, be i.e. the pulse train of forward m sequence; The pulse train of this forward m sequence exports to modulator 21 and totalizer 51 respectively; Modulator 21 is with the pulse train of forward m sequence for modulation signal is modulated laser signal, and the laser signal after modulation is put in order as m sequence, subcode width are τ and Cycle Length is the laser pulse sequence signal of N;
Counter 41 is connected with pulse signal generator 23, and the clock signal sent according to pulse signal generator 23 counts, and exports the count results of counter 41 to storbing gate controller 42; When the result of the counting that counter 41 exports is 0 to N-1, storbing gate controller 42 drives detector array 43 to accumulate echoed signal, and the time that detector array 43 accumulates echoed signal is designated as gating time, and length is (N-1) τ; When counter 41 exports as N-1, storbing gate controller 42 drives detector array 43 to export the echoed signal of accumulation to correlator 52, subsequently, counter 41 resets to 0, and storbing gate controller 42 drives detector array 43 perform accumulation echoed signal by above-mentioned steps circulation and export the echoed signal of accumulation;
Totalizer 51 is connected with pulse signal generator 23; Totalizer 51 is with the pulse train of forward m sequence for m sequence reference signal exports to totalizer 51, and totalizer 51 carries out adding up to every N-1 position signal and exports to correlator 52 as reverse m sequence reference signal;
The echoed signal that pair array detector 43 exports by correlator 52 and the accumulation signal that the reference signal that totalizer 51 exports exports for each pixel of detector array 43 carry out related operation, and result is exported to scrambler 61;
Scrambler 61 judges the distance of target according to the phase differential of echoed signal and reference signal, and is completed the output of the three-dimensional distance image of target by computing machine 62.
Adopt laser imaging radar device of the present invention to carry out the method for finding range, carry out as follows:
Step one: laser instrument 1 launches the laser signal of constant amplitude, laser signal passes to Laser Modulation unit 2;
Step 2: pulse signal generator 23 produces pulse clock signal, the pulse width of this pulse clock signal is τ, and sends to m train pulse signal source 22 sum counter 41 respectively;
Step 3: pulse clock signal is converted to m train pulse signal by m train pulse signal source 22
and transfer to modulator 21 and totalizer 51 respectively; Wherein, the sequence period length of described m train pulse signal is N; This m train pulse signal is sent to modulator 21 as modulation signal; This m train pulse signal is the narrow sequence forward reference signal of τ as pulse width
be sent to totalizer 51;
Step 4: after modulator 21 receives m train pulse signal, laser signal that launch laser instrument 1, that have constant amplitude is modulated, and obtains m train pulse sequence string; This m train pulse sequence string is delivered to optical transmitting antenna 31;
Step 5: optical transmitting antenna 31 pairs of m train pulse sequence strings carry out shaping, and are radiated on target object;
Step 6: counter 41 paired pulses clock signal counts, and count results is exported to storbing gate controller 42;
Step 7: storbing gate controller 42, according to count results, controls unlatching or the cut out of the detector array 43 be connected with storbing gate controller 42; The gating time of storbing gate controller 42 is set to (N-1) τ;
Step 8: optical receiver antenna 32 collects the m train pulse sequence string that target object reflects, and this m train pulse sequence string is gathered on detector array 43; The m train pulse sequence string received is converted to detectable signal by detector array 43
wherein, detectable signal
the deration of signal be (N-1) τ;
Step 9: when storbing gate controller 42 is opened, detector array 43 accumulation detectable signal
when storbing gate controller 42 cuts out, detector array 43 is by the detectable signal of accumulation
export to correlator 52, wherein, detectable signal
the deration of signal be
Step 10: the narrow sequence reference signal that totalizer 51 pairs of m train pulse signal sources 22 export
add up, the burst pulse forward reference signal of cumulative N-1 position, obtains broad pulse back-reference burst
circulation performs, and exports broad pulse back-reference burst
to correlator (52);
Step 11: correlator 52 calculates the accumulation detectable signal that the deration of signal exported by detector array 43 is (N-1) τ
with wide sequence reference signal
between correlation, the correlation peak location obtained is N-L, i.e. phase difference t
m=(N-1) (N-L) τ, and by phase difference t
mexport to scrambler 61;
Step 12: scrambler 61 is according to formula
calculate laser echo signal
with reference signal
between phase differential be Δ t
m=L τ, the distance of the detection of a target
and distance value corresponding for each for detector array pixel is sent to computing machine, sampling time due to radar system is (N-1) τ, the width in its sampling time, the i.e. accumulation detection time of detector array, for broad pulse width (N-1) τ, and then resolve the range resolution obtaining narrow pulse width and be;
Step 13: the distance value that computing machine 62 sends according to scrambler 61, the stereo image in target object.
Advantage of the present invention is:
1. equipment is simple: native system reforms on the basis of typical phase encoding laser radar, and hardware device and the typical phase encoding laser radar of employing are similar to, and the hardware device of increase can adopt goods shelf products on the market.The innovation of system reforms based on the algorithm of device property.Therefore equipment is simple;
2. speed of finding range is fast: because adopt phase coding method, the detect cycle of system is no longer limited to the flight time of laser, shortens the detect cycle of system;
3. signal to noise ratio (S/N ratio) is high: systems radiate wide laser pulse signal (width is N τ), signal energy is large.Because adopt gated fashion Received signal strength, system does not receive ground unrest outside gating interval and atmospheric scattering noise, thus reduces noise energy.Because system adopts m sequence phase, coded system is modulated signal again, adopts related operation, greatly can improve Signal-to-Noise during reception;
4. finding range large (range finding non-fuzzy distance is large): systems radiate wide laser pulse signal (width is N τ), signal energy is large, thus the measurement range of system is increased.Owing to using PE system, the large scale of carrying out distance is measured, and can change the fuzzy distance of range finding by changing sequence length;
5. good in anti-interference performance: because adopt PE system, encoding law is near random series, and m sequence has excellent auto-correlation and their cross correlation, possesses excellent interference free performance;
6. resolution of ranging is high: because adopt phase coding method modulated laser signal, make the resolution of ranging of system reach signal subcode width τ, far below the width in the gating interval of traditional range gating laser imaging radar system.Owing to adopting reverse m sequence detection technology, the resolution of ranging of system equals sequence subpulse width, far above the sampling time width of system.
The resolution of classic method is system pulses width.When not adopting mode of the present invention, if the reaction velocity of detector is 40kHz, systematic sampling time width is 25 microseconds, sequence subcode width can not be less than 25 microseconds, then system timing resolution is exactly 25 microseconds, is converted into distance, then the resolution of ranging of system is lower than 3750 meters.But adopt method of the present invention, the reaction velocity of detector remains 40kHz, sampling time width is 25 microseconds, but when subcode length is 1023, subcode width reaches 24.5ns, and the resolution of the subcode width obtained after resolving is 24.5ns, the resolution of ranging of system is 3.675 meters, and resolution of ranging is significantly improved.
Accompanying drawing explanation
Fig. 1 is the electricity structure schematic diagram of present device.
Fig. 2 is reverse m retrieval method schematic diagram.
Fig. 3 is the true echoed signal in confirmatory experiment.
Fig. 4 is the signal waveform that in confirmatory experiment, detector accumulation exports.
Fig. 5 is the detector accumulation signal waveform exported and the related operation value accumulating the reference signal obtained.
Embodiment
Now be described with reference to the accompanying drawings structural principle of the present invention.
See Fig. 1, a kind of laser imaging radar device, comprises laser instrument 1, Laser Modulation unit 2, optical antenna unit 3, probe unit 4, data processing unit 5 and graphics processing unit 6; Wherein, Laser Modulation unit 2 is made up of modulator 21, m train pulse signal source 22 and pulse signal generator 23; Optical antenna unit 3 is made up of optical transmitting antenna 31 and optical receiver antenna 32; Probe unit 4 comprises storbing gate controller 42 and detector array 43; Data processing unit 5 comprises a correlator 52; Graphics processing unit 6 is made up of scrambler 61 and computing machine 62;
Clock signal is also exported to m train pulse signal source 22 and probe unit 4 by pulse signal generator 23 clocking respectively; M train pulse signal source 22 produces pulse train according to clock signal and pulse train is inputed to respectively modulator 21 and data processing unit 5; Modulator 21 by the pulse train of m train pulse signal source 22 as modulation signal, data processing unit 5 by the pulse train of m train pulse signal source 22 as forward reference signal; Modulator 21 forms laser pulse sequence signal by excited the laser signal of generation to modulate by laser instrument 1 after, and is irradiated on target object through optical transmitting antenna 31; Laser pulse sequence signal reflects to form laser echo pulse signal at target object;
Optical receiver antenna 32 receives the laser echo pulse signal that reflected by target object and transfers to detector array 43; The detector array 43 accumulation laser echo pulse signal controlled by storbing gate controller 42 is converted to echoed signal and exports to correlator 52;
The computing of data is responsible for by correlator 52, and the result of data operation is exported to scrambler 61, judged the distance of target, and completed the output of the three-dimensional distance image of target by computing machine 62 by scrambler 61 according to the phase differential of echoed signal and reference signal; In addition: in probe unit 4, be provided with a counter 41; A totalizer 51 is provided with in data processing unit 5; The laser signal that laser instrument 1 is launched is constant amplitude; The width of the clock signal that pulse signal generator 23 produces is τ; The subcode width of the pulse train that m train pulse signal source 22 produces is τ, Cycle Length is N and puts in order as the pulse train of m sequence, be i.e. the pulse train of forward m sequence; The pulse train of this forward m sequence exports to modulator 21 and totalizer 51 respectively;
Modulator 21 is with the pulse train of forward m sequence for modulation signal is modulated laser signal, and the laser signal after modulation is put in order as m sequence, subcode width are τ and Cycle Length is the laser pulse sequence signal of N;
Counter 41 is connected with pulse signal generator 23, and the clock signal sent according to pulse signal generator 23 counts, and exports the count results of counter 41 to storbing gate controller 42; When the result of the counting that counter 41 exports is 0 to N-1, storbing gate controller 42 drives detector array 43 to accumulate echoed signal, and the time that detector array 43 accumulates echoed signal is designated as gating time, and length is (N-1) τ; When counter 41 exports as N-1, storbing gate controller 42 drives detector array 43 to export the echoed signal of accumulation to correlator 52, subsequently, counter 41 resets to 0, and storbing gate controller 42 drives detector array 43 perform accumulation echoed signal by above-mentioned steps circulation and export the echoed signal of accumulation;
Totalizer 51 is connected with pulse signal generator 23; Totalizer 51 is with the pulse train of forward m sequence for m sequence reference signal exports to totalizer 51, and totalizer 51 carries out adding up to every N-1 position signal and exports to correlator 52 as reverse m sequence reference signal;
The echoed signal that pair array detector 43 exports by correlator 52 and the accumulation signal that the reference signal that totalizer 51 exports exports for each pixel of detector array 43 carry out related operation, and result is exported to scrambler 61.
Scrambler 61 judges the distance of target according to the phase differential of echoed signal and reference signal, and is completed the output of the three-dimensional distance image of target by computing machine 62.Laser imaging radar device carries out a method of finding range, and carries out as follows:
Step one: laser instrument 1 launches the laser signal of constant amplitude, laser signal passes to Laser Modulation unit 2.
Step 2: pulse signal generator 23 produces pulse clock signal, the pulse width of this pulse clock signal is τ, and sends to m train pulse signal source 22 sum counter 41 respectively.
Step 3: m train pulse signal source 22 converts pulse clock signal to raw m train pulse signal according to the generation order of the mechanism of production of m sequence and coding
and transfer to modulator 21 and totalizer 51 respectively; Wherein, the sequence period length of described m train pulse signal is N; This m train pulse signal is sent to modulator 21 as modulation signal; This m train pulse signal is the narrow sequence forward reference signal of τ as pulse width
be sent to totalizer 51;
As shown in Figure 2, described m sequence is by the cycle of the cascaded shift registers generation of band linear feedback the longest a kind of pseudo-random sequence.If n is the progression of the feedback shift register of structure m sequence, then the one-period code length figure place formula N=2 of m sequence
n-1 expresses.
represent the 1 to the N number of sequences of pulsed signals, wherein m of shift register output
irepresent sequence
in subpulse signal, i=1 ..., N.
represent the 1+L of shift register output
thto N+L
thindividual sequences of pulsed signals.
for sequence
the signal launched after L time postpones,
with
pass be:
Wherein A represents feedback factor matrix, A
lrepresent L displacement of register;
In phase encoding laser radar, the echoed signal collected is designated as
its reference signal is designated as
here L represents that laser signal propagates the delay caused in an atmosphere.Under normal circumstances, for calculating the value of L, cross correlation algorithm is adopted to calculate
with
the phase differential of two sequences.
Step 4: after modulator 21 receives m train pulse signal, laser signal that launch laser instrument 1, that have constant amplitude is modulated, and obtains m train pulse sequence string; This m train pulse sequence string is delivered to optical transmitting antenna 31.
Step 5: optical transmitting antenna 31 pairs of m train pulse sequence strings carry out shaping, and are radiated on target object.
Step 6: counter 41 paired pulses clock signal counts, and count results is exported to storbing gate controller 42.
Step 7: storbing gate controller 42, according to count results, controls unlatching or the cut out of the detector array 43 be connected with storbing gate controller 42; The gating time of storbing gate controller 42 is set to (N-1) τ.
Step 8: optical receiver antenna 32 collects the m train pulse sequence string that target object reflects, and this m train pulse sequence string is gathered on detector array 43, the m train pulse sequence string received is changed and exports as detectable signal by detector array 43
wherein, detectable signal
the deration of signal be;
If radar range is less than laser fly able distance in pulse train half period, and the m sequence that laser instrument 1 is launched contains N-1 cycle, then the subpulse of the burst received can be written as m
i, i=1 ..., N (N-1).
Step 9: when storbing gate controller 42 is opened, detector array 43 accumulation detectable signal
when storbing gate controller 42 cuts out, detector array 43 is by the detectable signal of accumulation
export to correlator 52, wherein, detectable signal
the deration of signal be
As shown in Figure 2, in reverse m sequence phase coding range gating laser imaging radar system, adding up in every N-1 position of m sequence reference signal by totalizer 51, obtains reverse m sequence reference sequence, be designated as
detector array 43 accumulates detection echoed signal in gating interval (N-1) τ simultaneously, is designated as
wherein M
iand M
i+L, i=1,2 ..., N represents the subcode of accumulation echo samples burst and reverse m sequence reference burst respectively; Therefore have
There is a characteristic in m sequence, i.e. the number of number than 0 many 1 of 1, so
simultaneously because m sequence is periodic sequence, have
wherein α is integer.Formula (II) can be transformed to
Wherein j=1,2 ..., N.
Formula (III) gives the accumulation sequences of echo signals collected
L=in formula (1,1 ..., 1).
Step 10: the narrow sequence reference signal that totalizer 51 pairs of m train pulse signal sources 22 export
add up, the burst pulse forward reference signal of cumulative N-1 position, obtains broad pulse back-reference burst
circulation performs, and exports broad pulse back-reference burst
to correlator (52), the width of this cumulative result is (N-1) τ;
And according to formula (IV), can obtain reverse m sequence reference burst is:
Step 11: correlator 52 calculates the accumulation detectable signal that the deration of signal exported by detector array 43 is (N-1) τ
with wide sequence reference signal
between correlation, the correlation peak location obtained is N-L, i.e. phase difference t
m=(N-1) (N-L) τ, and by phase difference t
mexport to scrambler 61;
Its calculating process can be able to obtain according to formula (I)
(m
N+L，m
N-1+L，...，m
1+L)＝(m
N，m
N-1，...，m
1)A
N-L(VI)
Therefore
Formula (VII) represents the return laser beam sequence that accumulated samples obtains
with reverse m sequence reference burst
between phase differential be N-L, both accumulated the echoed signal obtained
with reverse m sequence reference burst
between phase differential be Δ t
m=(N-1) (N-L) τ;
Correlation refers to the echoed signal accumulating and obtain
with reverse m sequence reference burst
the value that obtains of computing cross-correlation, its process is the echoed signal that will tired obtain
sequence and reverse m sequence reference burst
sequence in each element be multiplied successively after sum up, the value that obtains; Specifically by the tired echoed signal obtained
sequence move one, then carry out being multiplied and adding and, obtain the 2nd value, take turns doing and go on doing, obtain N number of value, this N number of value is exactly correlation, and what correlation was maximum is exactly relevant peaks.
Step 12: scrambler 61 is according to formula
calculate laser echo signal
with reference signal
between phase differential be Δ t
m=L τ, the distance of the detection of a target
and distance value corresponding for each for detector array pixel is sent to computing machine, sampling time due to radar system is (N-1) τ, the width in its sampling time, the i.e. accumulation detection time of detector array, for broad pulse width (N-1) τ, be τ through resolving the range resolution namely obtaining narrow pulse width; Concrete calculation procedure is as follows:
Calculate laser echo signal
with reference signal
between phase differential can by accumulating the echoed signal that obtain
with reverse m sequence reference burst
between phase differential obtain, its derivation is as follows:
Because N is
the length of sequence is known, and therefore L can be obtained by return laser beam sequence and the phase difference calculating oppositely between m sequence reference burst.For actual signal, known subpulse width is τ, and the time of detector accumulation is (N-1) τ.Suppose laser echo signal
with reference signal
between phase differential be Δ t
m=L τ, then accumulate the echoed signal obtained
with reverse m sequence reference burst
between phase differential be Δ t
m=(N-1) (N-L) τ.Therefore have
Then target range R is
Step 13: the distance value that computing machine 62 sends according to scrambler 61 is the stereo image of target object according to each pixel arrangement position of detector.
From above-mentioned steps: present invention employs phase encoding pulse amplitude modulation(PAM) mode and carried out information loading procedure to the laser signal of constant amplitude.After the signal received is carried out accumulation detection by detector array 43, phase encoding computing cross-correlation is carried out with the cumulative reverse m sequence reference signal obtained of totalizer 51, respectively phase difference calculating is carried out to target, obtain broad pulse sequence phase poor, be converted to narrow pulse sequence phase differential again, and be converted to target range.This method combines the high advantage of the detection range resolution of ranging far away and impulse phase coded system of range gating laser imaging radar, avoids the shortcoming of the low image taking speed of the low and impulse phase coded system of resolution of ranging that range gating laser imaging radar has when telemeasurement simultaneously.Concrete is analyzed as follows:
Laser imaging radar device of the present invention still launches the narrower subpulse burst of width, and Reference Signal is designated as
Echoed signal is designated as
Here L represents that laser signal propagates the delay caused in an atmosphere.
Wherein, add up in every N-1 position of m sequence reference signal by totalizer 51, obtains reverse m sequence reference sequence, be designated as
detector array 43 accumulates detection echoed signal in gating interval (N-1) τ simultaneously, is designated as
wherein M
iand M
i+L, i=1,2 ..., N represents the subcode of accumulation echo samples burst and reverse m sequence reference burst respectively.Sampling time due to detector array 43 is gating time (N-1) τ, and when N is larger, the sampling time width also non-constant width of detector array 43, the reaction velocity of detector array 43 can meet the requirement of system.According to derivation, can obtain
Formula represents that the phase differential between the return laser beam sequence that accumulated samples obtains and new reference signal sequence is N-L.
Because N is
the length of sequence is known, and therefore L can be obtained by return laser beam sequence and the phase difference calculating oppositely between m sequence reference burst.For actual signal, known subpulse width is τ, and the time of detector accumulation is (N-1) τ.Suppose laser echo signal
with reference signal
between phase differential be Δ t
m=L τ, then accumulate the echoed signal obtained
with reverse m sequence reference burst
between phase differential be Δ t
m=(N-1) (N-L) τ.Therefore have
Then target range R is
Temporal resolution of the present invention is τ as can be seen here, much smaller than sampling time (N-1) τ of detector array, achieves the super-resolution function of reverse m sequence phase coding Range-gated Imager laser radar system.
As preferred version, the present invention's laser instrument 1 used can adopt central wavelength lambda=561nm, power to be the semiconductor laser of 75mW; Modulator 21 adopts acousto-optic modulator, electrooptic modulator or MZM modulator, and detector 43 adopts ICCD detector, the rise time 1ns of detector, fall time 1ns, sensitivity 0.45A/W; The cycle of m sequence phase modulation signals is 10ns.The m sequence of 12 grades 4096 that digital modulation signals adopts, sequence period is 40.96 μ s, and subcode width is 10ns.
Apparatus and method for of the present invention is verified under experimental simulation environment by department of physics of Harbin Institute of Technology:
1, simulated experiment brief introduction
Adopt following equipment and assemble by the scheme provided in the present invention: laser instrument 1 adopts the continuous wave laser of that produced by Gooch & Housego company, that model is a Cobolt Jive 75; Laser instrument 1 launches the laser signal of an amplitude stabilization, and optical maser wavelength is 561nm, and laser output power is 75mW.Laser signal has a modulating frequency to be that the sound-light type modulator 21 of 150kHz is modulated into pulse sequence signal.M train pulse signal source 22 and pulse signal generator 23 adopt a bandwidth to be 240MHz, and model is the signal generator simulation of the AFG3252 of Tektronix company, and producing code length is that the m sequence of 15 is as modulated signal sequences
with analog echo signal sequence
the subpulse width τ of two bursts is 2 μ s, and the cycle is 30 μ s.AFG3252 signal generator produces two signals, is designated as reference signal respectively
and echoed signal
echoed signal
export to modulator 21, model is the R23080-3-LTD of Gooch & Housego company, and its maximum amplitude modulation frequency is 5MHz, and modulation signal voltage amplitude is 0-1V.In signal generator, echoed signal
relative to reference signal
be delayed by 10 μ s, be used for simulated laser echoed signal.
Echoed signal after modulator 21 is modulated
be focused on a PIN detector through optical transmitting antenna 31 and optical receiver antenna 32, namely on detector array 43, model is the DET 10A/M of Thorlabs company, and its sensitivity is 0.45A/W, and rising edge and negative edge are limited in 1ns.An integrated amplifier is passed in the output of PIN detector, and model is the AD8488 of Analog Devices company.Systematical control integrated amplifier, realizes the accumulation to laser echo signal, is set to 28 μ s integration time, and its output is passed to computing machine and accumulated the laser echo signal obtained as detector
the combination of PIN detector and amplifier is in order to analog detection unit 4, comprises the function of counter 41, storbing gate controller 42 and accumulation type detector array 43 (as CCD camera, the sample frequency of this kind of detector is very low).
The reference signal that signal generator produces
also pass to computing machine, realize accumulation function in a computer, as accumulating the reference signal obtained
here computer simulation totalizer 51 is used.
Computing machine is also used for analog correlator 52, the reference sequences signals of 15 accumulation when computer acquisition
after echo sequence signal
computing machine realizes reference sequences signal
with echo sequence signal
related operation, and calculate their phase differential.Then computing machine is according to the phase differential calculated, and analog encoder 61 calculates laser echo signal
with reference signal
between phase differential and target range.Due in simulation test, the PIN detector analog array detector of employing, therefore can omit in target stereo image step at computing machine 62.
2, interpretation
Fig. 3 shows laser echo signal
true waveform.The system looks cycle is 420 μ s, and namely 15 seat pulse widths are the echo sequence after the accumulation of 28 μ s
cycle.Figure top in Fig. 4 shows subpulse 2 μ s, and sequence period is the echoed signal of the one-period of 30 μ s
waveform.
Although the laser pulse signal launched is by 2 system m sequence modulation, but the signal exported due to PIN detector and integrated amplifier is simulating signal, and inevitably noisy interference in experiment, as ground unrest, dark current noise and other noises, the signal that detector exports can not keep stable amplitude.
Fig. 4 shows the laser echo signal of the one-period run up to
the subpulse width of signal is that (each subpulse width is 14 echoed signals do not accumulated to 28 μ s
width).Each subpulse signal represents that detector accumulates the echoed signal energy obtained in 28 μ s.Relatively Figure 4 and 5, can find out that detector sample frequency is 35.7kHz, far below the modulating frequency 500kHz of electrooptic modulator.
Fig. 5 shows the reference signal accumulating and obtain
the echoed signal obtained with accumulation
related operation.In related operation, what system adopted is the analog echo signal that detector exports
with digital reference signal
because the computing cross-correlation of m sequence can reduce the impact of noise, the relevant peaks that related operation obtains gives reference sequences
with sequences of echo signals
phase differential.The phase differential showing two sequences in Fig. 5 is 280 μ s.According to formula (8), laser echo signal can be obtained
with reference signal
phase differential be 10 μ s, the initial setting up of this and experimental system coincide.This fully demonstrates feasibility of the present invention and rationality, and this also show this laser radar system under the sampling time restriction of 28 μ s, and successfully achieve the temporal resolution of 2 μ s, namely system timing resolution performance improves 14 times.
Under above-mentioned experimental verification Apparatus and method for of the present invention can achieve the restriction of low sampling rate, obtain the ability of High Range Resolution, namely achieve super-resolution function.
Claims (2)
1. a laser imaging radar device, comprises laser instrument (1), Laser Modulation unit (2), optical antenna unit (3), probe unit (4), data processing unit (5) and graphics processing unit (6); Wherein, Laser Modulation unit (2) is made up of modulator (21), m train pulse signal source (22) and pulse signal generator (23); Optical antenna unit (3) is made up of optical transmitting antenna (31) and optical receiver antenna (32); Probe unit (4) comprises storbing gate controller (42) and detector array (43); Data processing unit (5) comprises a correlator (52); Graphics processing unit (6) is made up of scrambler (61) and computing machine (62); Clock signal is also exported to m train pulse signal source (22) and probe unit (4) by pulse signal generator (23) clocking respectively; M train pulse signal source (22) produces pulse train according to clock signal and pulse train is inputed to respectively modulator (21) and data processing unit (5); Modulator (21) by the pulse train of m train pulse signal source (22) as modulation signal, data processing unit (5) by the pulse train of m train pulse signal source (22) as forward reference signal; Modulator (21) will form laser pulse sequence signal after the laser signal of generation being excited to modulate by laser instrument (1), and be irradiated on target object through optical transmitting antenna (31); Laser pulse sequence signal reflects to form laser echo pulse signal at target object; Optical receiver antenna (32) receives the laser echo pulse signal that reflected by target object and transfers to detector array (43); Detector array (43) the accumulation laser echo pulse signal controlled by storbing gate controller (42) is converted to echoed signal and exports to correlator (52); The computing of data is responsible for by correlator (52), and the result of data operation is exported to scrambler (61), judged the distance of target by scrambler (61) according to the phase differential of echoed signal and reference signal, and completed the output of the three-dimensional distance image of target by computing machine (62);
It is characterized in that: in probe unit (4), be provided with a counter (41); A totalizer (51) is provided with in data processing unit (5); The laser signal that laser instrument (1) is launched is constant amplitude; The width of the clock signal that pulse signal generator (23) produces is τ; The subcode width of the pulse train that m train pulse signal source (22) produces is τ, Cycle Length is N and put in order as the pulse train of m sequence, i.e. the pulse train of forward m sequence; The pulse train of this forward m sequence exports to modulator (21) and totalizer (51) respectively; Modulator (21) is with the pulse train of forward m sequence for modulation signal is modulated laser signal, and the laser signal after modulation is put in order as m sequence, subcode width are τ and Cycle Length is the laser pulse sequence signal of N; Counter (41) is connected with pulse signal generator (23), the clock signal sent according to pulse signal generator (23) counts, and exports the count results of counter (41) to storbing gate controller (42); When the result of the counting that counter (41) exports is 0 to N-1, storbing gate controller (42) drives detector array (43) accumulation echoed signal, the time of detector array (43) accumulation echoed signal is designated as gating time, and length is (N-1) τ; When counter (41) exports as N-1, storbing gate controller (42) drives detector array (43) to export the echoed signal of accumulation to correlator (52), subsequently, counter (41) resets to 0, and storbing gate controller (42) drives detector array (43) perform accumulation echoed signal by above-mentioned steps circulation and export the echoed signal of accumulation;
Totalizer (51) is connected with pulse signal generator (23); Totalizer (51) is with the pulse train of forward m sequence for m sequence reference signal exports to totalizer (51), and totalizer (51) carries out adding up to every N-1 position signal and exports to correlator (52) as reverse m sequence reference signal; The echoed signal that pair array detector (43) exports by correlator (52) and the accumulation signal that the reference signal that totalizer (51) exports exports for detector array (43) each pixel carry out related operation, and result are exported to scrambler (61); Scrambler (61) judges the distance of target according to the phase differential of echoed signal and reference signal, and is completed the output of the three-dimensional distance image of target by computing machine (62).
2. adopt a kind of laser imaging radar device as claimed in claim 1 to carry out the method for finding range, it is characterized in that, carry out as follows:
Step one: laser instrument (1) launches the laser signal of constant amplitude, and laser signal passes to Laser Modulation unit (2);
Step 2: pulse signal generator (23) produces pulse clock signal, and the pulse width of this pulse clock signal is τ, and sends to m train pulse signal source (22) sum counter (41) respectively;
Step 3: pulse clock signal is converted to m train pulse signal by m train pulse signal source (22)
and transfer to modulator (21) and totalizer (51) respectively; Wherein, described m train pulse signal
sequence period length be N; This m train pulse signal
modulator (21) is sent to as modulation signal; This m train pulse signal
it is the narrow sequence forward reference signal of τ as pulse width
be sent to totalizer (51);
Step 4: modulator (21) receives m train pulse signal
after, laser signal that launch laser instrument (1), that have constant amplitude is modulated, and obtains m train pulse sequence string; This m train pulse sequence string is delivered to optical transmitting antenna (31);
Step 5: optical transmitting antenna (31) carries out shaping to m train pulse sequence string, and is radiated on target object;
Step 6: counter (41) paired pulses clock signal counts, and count results is exported to storbing gate controller (42);
Step 7: storbing gate controller (42), according to count results, controls unlatching or the cut out of the detector array (43) be connected with storbing gate controller (42); Wherein, the gating time of storbing gate controller (42) is set to (N-1) τ;
Step 8: optical receiver antenna (32) collects the m train pulse sequence string that target object reflects, and is gathered on detector array (43) by this m train pulse sequence string; The m train pulse sequence string received is converted to detectable signal by detector array (43)
wherein, detectable signal
the deration of signal be (N-1) τ;
Step 9: when storbing gate controller (42) is opened, detector array (43) accumulation detectable signal
when storbing gate controller (42) cuts out, detector array (43) is by the detectable signal of accumulation
export to correlator (52), wherein, detectable signal
the deration of signal be (N-1) τ;
Step 10: the narrow sequence reference signal that totalizer (51) exports m train pulse signal source (22)
add up, the burst pulse forward reference signal of cumulative N-1 position, obtains broad pulse back-reference burst
circulation performs, and exports broad pulse back-reference burst
to correlator (52);
Step 11: correlator (52) calculates the accumulation detectable signal that the deration of signal exported by detector array (43) is (N-1) τ
with wide sequence reference signal
between correlation, the correlation peak location obtained is N-L, i.e. phase difference t
m=(N-1) (N-L) τ, and by phase difference t
mexport to scrambler (61);
Step 12: scrambler (61) is according to formula
calculate laser echo signal
with reference signal
between phase differential be Δ t
m=L τ, the distance of the detection of a target
and distance value corresponding for each for detector array pixel is sent to computing machine, sampling time due to radar system is (N-1) τ, the width in its sampling time, the i.e. accumulation detection time of detector array, for broad pulse width (N-1) τ, and then to resolve the range resolution obtaining narrow pulse width be τ;
Step 13: the distance value that computing machine (62) sends according to scrambler (61), the stereo image in target object.
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