CN104199012A - Real-time difference light beam image movement laser radar beacon height calibration method - Google Patents

Real-time difference light beam image movement laser radar beacon height calibration method Download PDF

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Publication number
CN104199012A
CN104199012A CN201410395021.8A CN201410395021A CN104199012A CN 104199012 A CN104199012 A CN 104199012A CN 201410395021 A CN201410395021 A CN 201410395021A CN 104199012 A CN104199012 A CN 104199012A
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China
Prior art keywords
height
beacon
laser
real
imaging
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CN201410395021.8A
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Chinese (zh)
Inventor
靖旭
王英俭
侯再红
程知
秦来安
谭逢富
何枫
吴毅
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Hefei Institutes of Physical Science of CAS
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Hefei Institutes of Physical Science of CAS
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Priority to CN201410395021.8A priority Critical patent/CN104199012A/en
Publication of CN104199012A publication Critical patent/CN104199012A/en
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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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The invention discloses a real-time difference light beam image movement laser radar beacon height calibration method. The method includes the steps of firstly calibrating the relation between the laser beacon height and a laser imaging position in real time through a gating function of a detector and a sharp edge of radar primary detection height laser beacon imaging, and then calculating the distance between an imaging position of a laser beam in other height at the focal plane and the sharp edge of the primary detection height laser imaging and the corresponding height of the laser beam in other height in accordance with the imaging spacing and objective image relationship. The real-time difference light beam image movement laser radar beacon height calibration method can be used for real-time calibration of the corresponding height of a laser beacon with no need of cloudy weather and can effectively overcome the influence on the calibration of the height of the beacon due to instrument jitter.

Description

A kind of method of real-time calibration difference light beam picture motion laser radar beacon height
Technical field
The present invention relates to optical calibrating method field, specifically a kind of method of real-time calibration difference light beam picture motion laser radar beacon height.
Background technology
Difference light beam picture motion radar, with the inclination focal plane laser beam continuous imaging to larger altitude range simultaneously, is measured atmospheric coherence length profile by the laser beam of statistics differing heights in the differential flutter size of detector image-forming.Because the laser beam of differing heights is at focal plane continuous imaging, therefore need to know the height of laser beam and the laser beam image space corresponding relation at detector.How accurately the laser beam height in definite detection altitude range and the relation of image space are key links of difference light beam picture motion lidar measurement atmospheric coherence length profile.The mode of the difference light beam picture motion Radar Calibration beacon height of existing report is, utilizes the height of cloud layer to demarcate the initial elevation angle of receiving telescope under the weather condition that has cloud, then reduces the laser beam of telescope measurement of elevation Beneath Clouds; This scaling method real-time is poor, be limited to weather condition (need to demarcate the telescopical initial elevation angle in the weather condition that has cloud), and require the angle of Emission Lasers bundle and receiving telescope axis relatively stable, be easily subject to instrument to shake the particularly interference of receiving telescope shake.The advantage of difference light beam picture motion radar is to measure in real time turbulent flow profile; Be subject to that external force (mechanical vibration, wind-force etc.) is disturbed and when shake needs to determine in real time the respective heights of laser beam image at instrument.
Summary of the invention
The object of this invention is to provide a kind of method of real-time calibration difference light beam picture motion laser radar beacon height, utilize laser beam to start size time delay of direct impulse laser at the imaging features of focal plane and detector at the object-image relation of focal plane imaging, laser beam, radar system has realized the height of the laser beacon of real-time calibration certain altitude scope, and can effectively overcome instrument and shake the impact on Calibration of Laser beacon height.
In order to achieve the above object, the technical solution adopted in the present invention is:
A method for real-time calibration difference light beam picture motion laser radar beacon height, is characterized in that: comprise the following steps:
(1), utilize the gate control function of detector to determine the initial detection height of radar, carry out the position relationship of real-time calibration beacon height and beacon imaging at the sharpened edge of focal plane imaging in conjunction with initial detection height laser bundle: the height that utilizes the gate control function real-time calibration laser beam of detector, and make the imaging clear-cut margin of laser beam at detector, then utilize the sharpened edge of detector image-forming to determine the beginning image space of laser beam in inclination focal plane, realize initial height and the real-time calibration of corresponding image space surveyed of laser beam;
(2), utilize the relative position of differing heights laser beam at focal plane imaging, determine laser beam respective heights more than initial detection height according to object-image relation: have fixing position coordinates relation according to the laser beam of object-image relation differing heights in the imaging of focal plane, taking starting altitude laser beam at the sharpened edge of detector image-forming as reference point, utilize the distance size of other image spaces and reference point, and be calculated to be the coordinate of image position in conjunction with detector inclination established angle, utilize the coordinate of image space to obtain the beacon respective heights in this position imaging in conjunction with object-image relation, and then obtain the respective heights of atmospheric coherence length.
Advantage of the present invention is:
(1), utilize the gate control function of detector and the sharpened edge of the initial detection height laser of radar beacon imaging to carry out the relation of real-time calibration laser beacon height and laser imaging position; This innovative point can effectively overcome the impact that instrument shake is demarcated beacon height, and calibration process is without the need for the weather of cloud layer.
(2), add up the spacing of other height laser bundles at image space and the initial detection height laser imaging sharpened edge of focal plane, utilize object-image relation to calculate the respective heights of other height laser bundles; This innovative point can real-time calibration laser beacon respective heights.
Brief description of the drawings
Fig. 1 is difference light beam picture motion radar beacon height scaling method schematic diagram.
Fig. 2 is for utilizing object-image relation to demarcate beacon high-level schematic.
Embodiment
A method for real-time calibration difference light beam picture motion laser radar beacon height, comprises the following steps:
(1), utilize the gate control function of detector to determine the initial detection height of radar, carry out the position relationship of real-time calibration beacon height and beacon imaging at the sharpened edge of focal plane imaging in conjunction with initial detection height laser bundle: the height that utilizes the gate control function real-time calibration laser beam of detector, and make the imaging clear-cut margin of laser beam at detector, then utilize the sharpened edge of detector image-forming to determine the beginning image space of laser beam in inclination focal plane, realize initial height and the real-time calibration of corresponding image space surveyed of laser beam;
(2), utilize the relative position of differing heights laser beam at focal plane imaging, determine laser beam respective heights more than initial detection height according to object-image relation: have fixing position coordinates relation according to the laser beam of object-image relation differing heights in the imaging of focal plane, taking starting altitude laser beam at the sharpened edge of detector image-forming as reference point, utilize the distance size of other image spaces and reference point, and be calculated to be the coordinate of image position in conjunction with detector inclination established angle, utilize the coordinate of image space to obtain the beacon respective heights in this position imaging in conjunction with object-image relation, and then obtain the respective heights of atmospheric coherence length.
The schematic diagram of difference light beam picture motion radar real-time calibration beacon height method as shown in Figure 1.Taking laser beam direction straight up as Z axis positive dirction, taking the horizontal line direction of laser transmitting system 1 and receiving system 2 as X-axis positive dirction.The received system 2 of laser that laser transmitting system 1 produces receives, and the laser beam 3 of certain altitude scope is tilt detection face 4 continuous imagings at detector as beacon, and the laser beam height that different image spaces is corresponding is different.The initial detection height 5 of radar system utilizes time delay and the light velocity to calculate by the gate control function of detector; The scaling method that other of radar system are surveyed height 6 is, the gate control function of detector makes laser beacon have sharp keen edge 7 in the imaging of tilt detection face 4, imaging edge 7 is used for determining that laser beam is in the reference position of tilt detection surface imaging, this position and initial 5 position relationships that are used for real-time calibration beacon height and beacon imaging of surveying highly.At real-time calibration after the relation of laser beacon starting altitude 5 and corresponding image space 7, utilize the laser of other height 6 on laser beacon 3 to carry out laser beam the respective heights more than initial detection height of real-time calibration at the image space 8 of inclination focal plane according to object-image relation with the spacing 9 at imaging edge 7.
Utilize the above laser beam of the initial detection height of object-image relation real-time calibration radar respective heights schematic diagram as shown in Figure 2.Laser beam is from height z b, 2start as beacon the inclination focal plane imaging at difference light beam picture motion radar.According to similar triangle theory, certain altitude Z bbeacon at focal plane imaging position coordinates (x i, z i) with the pass of systematic parameter be:
Δ x I = u v - - - ( 1 )
Wherein Δ is emitting-receiving system center distance, x ifor focal plane imaging position is at the coordinate of X-axis; for object distance, relevant with system spacing with beacon height; for image distance relevant with beacon height with system equivalent focal length.Bring the expression formula of object distance u image distance ν into relational expression (1) and obtain beacon height z bwith the X-axis coordinate x of beacon at focal plane imaging irelation:
x I = z B f z B - f Δ z B 2 + Δ 2 - - - ( 2 )
In like manner can obtain beacon height z bwith the Z axis coordinate z of beacon at focal plane imaging irelation:
z I = z B f z B - f z B z B 2 + Δ 2 - - - ( 3 )
Therefore, known system parameters f, Δ and beacon are at the position coordinates x of focal plane imaging ior z i, can directly calculate the beacon height corresponding with this image space according to relational expression (2) or (3).
The system that transmits and receives in actual radar system has certain spacing (general several meters of spacing), because the mechanical shaking of receiving system causes the beacon of sustained height unfixing in focal plane imaging position.Shake for elimination instrument the image space causing and change the deviation of bringing demarcating beacon height, the present invention utilizes differing heights beacon to determine the height of beacon at the relative position of focal plane imaging.That is: utilize the gate control function of camera to determine the initial detection height z of beacon b, 2, utilize the initial beacon of height of surveying at the sharpened edge p of focal plane imaging 2coordinate (x i, 2, z i, 2) be reference point, this reference point is used for the image space of real-time calibration certain altitude beacon in focal plane; Utilize other image spaces of focal plane (to claim p 1point) and this sharpened edge p 2the spacing d of point p1, p2inclination established angle in conjunction with detector calculates p 1the position coordinates of point.Circular is:
x I,1＝x I,2-d p1,p2cos(θ) (4)
z I,1＝z I,2+d p1,p2sin(θ) (5)
Wherein d p1, p2for p 1, p 2the spacing of point, obtains in conjunction with pixel dimension by the pixel count of 2 image spaces.θ is the inclination established angle of detector, can calculate by systematic parameter, and concrete account form is:
θ = tan - 1 [ f Δ ] - - - ( 6 )
Therefore first utilize the pulse delay time to calculate initial detection height z by the gate control function of detector b, 2, then calculate the initial imager coordinate x of height in focal plane that survey according to relational expression (2), (3) i, 1, z i, 1; Calculate other image spaces p of laser beam according to pixel count 1with reference point p 2the pel spacing d of point p1, p2, utilize the inclination established angle of relational expression (6) calculating detector, by parameters fully utilize relational expression (4), (5) can calculate the laser beacon height that other image spaces of laser beam are corresponding.This scaling method not only can real-time calibration beacon height and has effectively been overcome instrument shake to directly utilizing object-image relation to calculate the deficiency of beacon height.

Claims (1)

1. a method for real-time calibration difference light beam picture motion laser radar beacon height, is characterized in that: comprise the following steps:
(1), utilize the gate control function of detector to determine the initial detection height of radar, carry out the position relationship of real-time calibration beacon height and beacon imaging at the sharpened edge of focal plane imaging in conjunction with initial detection height laser bundle: the height that utilizes the gate control function real-time calibration laser beam of detector, utilize the sharpened edge of detector image-forming to determine the beginning image space of laser beam in inclination focal plane, realize initial height and the real-time calibration of corresponding image space surveyed of laser beam;
(2), statistics differing heights laser beam is at the relative position of focal plane imaging, determine laser beam respective heights more than initial detection height according to object-image relation: have fixing position coordinates relation according to the laser beam of object-image relation differing heights in the imaging of focal plane, taking starting altitude laser beam at the sharpened edge of detector image-forming as reference point, utilize the distance size of other image spaces and reference point, and be calculated to be the coordinate of image position in conjunction with detector inclination established angle; Utilize the coordinate of image space to obtain the beacon respective heights in this position imaging in conjunction with object-image relation, and then obtain the respective heights of atmospheric coherence length.
CN201410395021.8A 2014-08-12 2014-08-12 Real-time difference light beam image movement laser radar beacon height calibration method Pending CN104199012A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111796302A (en) * 2020-07-03 2020-10-20 中国科学院合肥物质科学研究院 Trapezoidal lens-based multi-designated-height CCD imaging system and method

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US20050151961A1 (en) * 2003-12-31 2005-07-14 Mcgraw John T. Surface layer atmospheric turbulence differential image motion measurement
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Application publication date: 20141210