CN104459710A - Pulse/phase integrated laser range finder - Google Patents
Pulse/phase integrated laser range finder Download PDFInfo
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- CN104459710A CN104459710A CN201310453237.0A CN201310453237A CN104459710A CN 104459710 A CN104459710 A CN 104459710A CN 201310453237 A CN201310453237 A CN 201310453237A CN 104459710 A CN104459710 A CN 104459710A
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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
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention belongs to the technical field of laser ranging and particularly relates to a pulse/phase integrated laser range finder. A narrow pulse generation circuit and a sine wave generation circuit are connected with a semi-conductor laser device through an analog switch A. One path of laser transmitted by the semi-conductor laser device is input into an APD detector after being received by a transmitting lens, a measuring target and a receiving lens, and then echo signals are output after the laser is amplified by an operational amplifier B. The other path of the laser transmitted by the semi-conductor laser device is input into a PIN detector, and reference signals are output after the laser is amplified through an operation amplifier A. An analog switch B receives the reference signals and the echo signals generated by a laser transmitting pulse/continuous wave dual-mode modulation circuit, and can be switched to be connected with an analog switch C and can also be connected with the analog switch C through a frequency mixing filter circuit. The analog switch C is connected with a double-circuit high-speed comparator which is connected with a time interval measuring circuit. The laser range finder can solve the problem that a single laser ranger finder can not have the pulse and phase measuring modes.
Description
Technical field
The invention belongs to laser ranging technique field, be specifically related to a kind of pulse/phase place integral type laser range finder.
Background technology
Laser range finder is that one uses laser as detection wave beam, measures the length measuring instrument of reflecting surface range transmission point absolute distance.The a series of advantages such as laser ranging has non-cpntact measurement, measuring accuracy is high, resolution is high, antijamming capability is strong, volume is little and lightweight, be widely used in various measurement industry, no matter be in military field, or in scientific experimentation, construction production, capital construction etc., all play an important role.
According to laser distance measuring principle, the laser range finder that noncooperative target (no-mirror, target version) finds range can be realized and can be divided into pulsed and phase type two kinds.
Pulse distancemeter principle is by measured target transponder pulse formula laser beam, and measures the laser turnaround time, calculates draw the distance of measurement point to target according to light velocity of propagation in an atmosphere.The principle of tellurometer and structure are comparatively simple, and ranging is far away, and shortcoming is that Models of Absolute Distance Measurement Based precision is lower, and has the blind area that short range cannot be measured.Usual impulse method operating distance is tens of rice extremely thousands of rice, and error, at about 1m, is generally used for long-distance ranging.
Phase laser distance measurement adopts sine wave signal to modulate laser, the range information utilizing the phase differential of light intensity between the reception light of the light modulated of transmitting and measured target reflection to comprise realizes the measurement to measured target distance, has the advantage that measuring accuracy is high, resolution is high.When adopting noncooperative target, the operating distance of phase distancemeter generally zero point several meters to tens meters, be generally no more than 200 meters, within range error can be controlled in 2mm farthest.
In the application scenario that some are special, both measuring distance far away had been needed, Timeliness coverage, to detect several kilometers of outer distant objects, need again to there is higher detection accuracy, to carry out accurate control operation when short range (in zero point several meters in tens meters).Conventional laser range finder, all only has a kind of distance measurement mode, can not meet current measurement demand: the far away but short range of pulsed measurement range has blind area, precision low; Ranging phase method precision is high, and measurement range is little.If integrated two cover stadimeters in measuring system, carry out pulsed, phase shift rangefinder respectively, just need independently laser instrument, transmitting/receiving optical system, Circuits System, not only cost doubles, and the increase of system bulk, weight, power consumption is also unacceptable.
Summary of the invention
The object of the present invention is to provide a kind of pulse/phase place integral type laser range finder, to solve the problem that separate unit laser range finder can not possess pulse, phase place two kinds of measurement patterns.
For achieving the above object, the technical solution used in the present invention is:
A kind of pulse/phase place integral type laser range finder, comprise the double mode modulation circuit of laser firing pulses/continuous wave and Received signal strength pulse laser flight time/the double mode demodulator circuit of phase differential; The double mode modulation circuit of laser firing pulses/continuous wave comprises narrow pulse generating circuit, sine wave generating circuit, analog switch A, semiconductor laser, transmitting mirror, reception mirror, PIN detector, APD detector, operational amplifier A, operational amplifier B; Narrow pulse generating circuit, sine wave generating circuit are connected with semiconductor laser by analog switch A; Laser one tunnel of semiconductor laser inputs APD detector through transmitting mirror, measurement target, reception mirror after receiving, after operational amplifier B amplifies, export echoed signal; Another road of the laser of semiconductor laser input PIN detector, exports reference signal after operational amplifier A is amplified; Received signal strength pulse laser flight time/the double mode demodulator circuit of phase differential comprises local oscillator sine wave generating circuit, analog switch B, mixing and filtering circuit, analog switch C, two-way high-speed comparator, time interval measuring circuit; Analog switch B receives reference signal and the echoed signal of the double mode modulation circuit generation of laser firing pulses/continuous wave, and analog switch B can switch to and be connected with analog switch C, also can be connected with analog switch C after mixing and filtering circuit; Analog switch C is connected with two-way high-speed comparator, and two-way high-speed comparator is connected with time interval measuring circuit.
Described narrow pulse generating circuit is the big current narrow pulse generating circuit based on CPLD programming device and snowslide pipe, as the signal source of pulse modulation.
Described sine wave generating circuit is the sine wave generating circuit based on Direct Digital Synthesis-DDS principle, and through 7 rank, oval filtering circuit and power amplification circuit amplify as modulated continuous wave signal source sinusoidal signal.
Described analog switch A, analog switch B, analog switch C are the analog switch of Low ESR, high-isolation.
Be all modulate the light intensity of laser at narrow pulse generating circuit, sine wave generating circuit two kinds of mode signals, drive laser work sends the laser pulse of high-peak power, narrow spaces, or the sinusoidal wave laser of setpoint frequency.
Under pulse ranging pattern, namely during pulse generating circuit work, controlled by single-chip microcomputer operation, when selecting laser excites source channels, by two-stage analog switch B, analog switch C Reference Signal, the direct gating of echoed signal to two-way high-speed comparator, be the step signal that rising edge is steeper by wave shaping, then go out reference signal and laser time of flight interval corresponding to echoed signal by follow-up high precision time interval measurement circuit measuring, be multiplied by the light velocity and draw tested distance.
Under phase ranging pattern, namely during sine wave generating circuit work, channel selecting was carried out by two-stage analog switch B, analog switch C before laser works, Reference Signal and echoed signal switch to mixing and filtering circuit, are exported by mixing and filtering circuit and transfer to two-way high-speed comparator input end, while startup laser instrument sine wave generating circuit, start the local oscillator sine wave generating circuit with certain frequency difference, when mixing and filtering circuit receives reference signal, after echoed signal, mixing and filtering is carried out respectively with local oscillation signal, phase information entrained by high-frequency modulation signal is demodulated to low frequency sine wave signal, again by the two-way high-speed comparator of rear class, time interval measuring circuit measures signal time difference, corresponding phase difference ratio is obtained as division with the frequency difference cycle, do multiplication with the survey chi constant corresponding to selected modulating frequency and can obtain tested distance.
Beneficial effect acquired by the present invention is:
Pulse of the present invention/phase place integral type laser range finder solves the problem that separate unit laser range finder can not possess pulse, phase place two kinds of measurement patterns, low-impedance analog Switch Controller laser instrument is utilized to carry out the circuit structure of time division modulation, signal receiving, realize same laser range finder and possess pulse ranging measurement range advantage far away, the advantage that when can have closely again, phase place distance accuracy is high, resolution is high.Use light power meter, oscillograph, spectrum analyzer to carry out Measurement and analysis to reference signal, prove that the indexs such as optical signal pulses peak power, continuous wave average power, frequency spectrum all meet design requirement, achieve the bimodulus modulation function to same laser instrument; Under two kinds of distance measurement modes, measure each node signal of two-stage analog switch input and output in demodulator circuit respectively, signal amplitude, frequency, frequency spectrum also all meet design requirement, and achieve the double mode demodulation function of design.The laser distance measuring system of application design carries out range finding test, and phase shift rangefinder measuring repeatability reaches 1mm, error 2mm; Pulsed range finding measuring repeatability reaches 0.1m, error 1m, and well achieve design function, effect is good.
Accompanying drawing explanation
Fig. 1 is pulse of the present invention/phase place integral type laser range finder structural drawing.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
As shown in Figure 1, pulse of the present invention/phase place integral type laser range finder comprise the double mode modulation circuit of laser firing pulses/continuous wave and Received signal strength pulse laser flight time/the double mode demodulator circuit of phase differential;
(1) laser firing pulses/continuous wave double mode modulation circuit working principle:
The double mode modulation circuit of laser firing pulses/continuous wave comprises narrow pulse generating circuit, sine wave generating circuit, analog switch A, semiconductor laser, transmitting mirror, reception mirror, PIN detector, APD detector, operational amplifier A, operational amplifier B; Narrow pulse generating circuit, sine wave generating circuit are connected with semiconductor laser by analog switch A; Laser one tunnel of semiconductor laser inputs APD detector through transmitting mirror, measurement target, reception mirror after receiving, after operational amplifier B amplifies, export echoed signal; Another road of the laser of semiconductor laser input PIN detector, exports reference signal after operational amplifier A is amplified;
For realizing the double mode modulation of pulse/continuous wave, devise the big current narrow pulse generating circuit based on CPLD programming device and snowslide pipe, as the signal source of pulse modulation; Devise the sine wave generating circuit based on Direct Digital Synthesis-DDS principle, the oval filtering circuit in 7 rank and power amplification circuit, using sinusoidal signal power amplification as modulated continuous wave signal source.Use the analog switch A of Low ESR, high-isolation as switching device, required exciting signal source is connected to semiconductor laser drive end, after selected a kind of distance measurement mode, makes wherein a kind of signal source circuit work by Single-chip Controlling.Signal is all modulate the light intensity of laser in both modes, and drive laser work sends the laser pulse of high-peak power, narrow spaces, or the sinusoidal wave laser of setpoint frequency.
For realizing distance measurement function, Emission Lasers separates a branch of reference light by light splitting optical path and uses PIN detector to receive, as reference signal after operational amplifier A is amplified; The laser signal be reflected back from measured target is received by APD detector, as the echoed signal of the time of carrying or phase information after operational amplifier B amplifies.
(2) Received signal strength pulse laser flight time/the double mode demodulator circuit principle of work of phase differential:
Received signal strength pulse laser flight time/the double mode demodulator circuit of phase differential comprises local oscillator sine wave generating circuit, analog switch B, mixing and filtering circuit, analog switch C, two-way high-speed comparator, time interval measuring circuit; Analog switch B receives reference signal and the echoed signal of the double mode modulation circuit generation of laser firing pulses/continuous wave, and analog switch B can switch to and be connected with analog switch C, also can be connected with analog switch C after mixing and filtering circuit; Analog switch C is connected with two-way high-speed comparator, and two-way high-speed comparator is connected with time interval measuring circuit;
Devise the Low ESR high-isolation analog switch B of two-stage, analog switch C gating structure, realize the switching of demodulation modes.Under pulse ranging pattern, controlled by single-chip microcomputer operation, when selecting laser excites source channels, by two-stage analog switch B, analog switch C Reference Signal, the direct gating of echoed signal to two-way high-speed comparator, it is the step signal of rising edge comparatively steep (ns level) by wave shaping, go out reference signal and laser time of flight interval corresponding to echoed signal by follow-up high precision time interval measurement circuit measuring again, be multiplied by the light velocity and draw tested distance (echoed signal time delay is directly proportional to the distance of measured target).
Under phase ranging pattern, channel selecting was carried out by two-stage analog switch B, analog switch C equally before laser works, Reference Signal and echoed signal switch to mixing and filtering circuit, are exported by mixing and filtering circuit and transfer to two-way high-speed comparator input end, while startup laser instrument sine wave generating circuit, start the local oscillator sine wave generating circuit with certain frequency difference (generally at tens kHz), when measuring system receives reference signal, after echoed signal, mixing and filtering is carried out respectively with local oscillation signal, phase information entrained by high-frequency modulation signal is demodulated to low frequency (corresponding with frequency difference) sine wave signal, again by the two-way high-speed comparator of rear class, time interval measuring circuit measures signal time difference, corresponding phase difference ratio is obtained as division with the frequency difference cycle, do multiplication with the survey chi constant corresponding to selected modulating frequency can obtain tested distance and (survey chi length and selected modulating frequency is inversely proportional to, echoed signal is directly proportional to measured target distance to the phase differential of reference signal).
Claims (7)
1. pulse/phase place integral type laser range finder, is characterized in that: comprise the double mode modulation circuit of laser firing pulses/continuous wave and Received signal strength pulse laser flight time/the double mode demodulator circuit of phase differential; The double mode modulation circuit of laser firing pulses/continuous wave comprises narrow pulse generating circuit, sine wave generating circuit, analog switch A, semiconductor laser, transmitting mirror, reception mirror, PIN detector, APD detector, operational amplifier A, operational amplifier B; Narrow pulse generating circuit, sine wave generating circuit are connected with semiconductor laser by analog switch A; Laser one tunnel of semiconductor laser inputs APD detector through transmitting mirror, measurement target, reception mirror after receiving, after operational amplifier B amplifies, export echoed signal; Another road of the laser of semiconductor laser input PIN detector, exports reference signal after operational amplifier A is amplified; Received signal strength pulse laser flight time/the double mode demodulator circuit of phase differential comprises local oscillator sine wave generating circuit, analog switch B, mixing and filtering circuit, analog switch C, two-way high-speed comparator, time interval measuring circuit; Analog switch B receives reference signal and the echoed signal of the double mode modulation circuit generation of laser firing pulses/continuous wave, and analog switch B can switch to and be connected with analog switch C, also can be connected with analog switch C after mixing and filtering circuit; Analog switch C is connected with two-way high-speed comparator, and two-way high-speed comparator is connected with time interval measuring circuit.
2. pulse according to claim 1/phase place integral type laser range finder, is characterized in that: described narrow pulse generating circuit is the big current narrow pulse generating circuit based on CPLD programming device and snowslide pipe, as the signal source of pulse modulation.
3. pulse according to claim 1/phase place integral type laser range finder, it is characterized in that: described sine wave generating circuit is the sine wave generating circuit based on Direct Digital Synthesis-DDS principle, through 7 rank, oval filtering circuit and power amplification circuit amplify as modulated continuous wave signal source sinusoidal signal.
4. pulse according to claim 1/phase place integral type laser range finder, is characterized in that: described analog switch A, analog switch B, analog switch C are the analog switch of Low ESR, high-isolation.
5. pulse according to claim 1/phase place integral type laser range finder, it is characterized in that: be all that the light intensity of laser is modulated at narrow pulse generating circuit, sine wave generating circuit two kinds of mode signals, drive laser work sends the laser pulse of high-peak power, narrow spaces, or the sinusoidal wave laser of setpoint frequency.
6. pulse according to claim 1/phase place integral type laser range finder, it is characterized in that: under pulse ranging pattern, namely during pulse generating circuit work, controlled by single-chip microcomputer operation, when selecting laser excites source channels, by two-stage analog switch B, analog switch C Reference Signal, the direct gating of echoed signal is to two-way high-speed comparator, be the step signal that rising edge is steeper by wave shaping, reference signal and laser time of flight interval corresponding to echoed signal is gone out again by follow-up high precision time interval measurement circuit measuring, be multiplied by the light velocity and draw tested distance.
7. pulse according to claim 1/phase place integral type laser range finder, it is characterized in that: under phase ranging pattern, namely during sine wave generating circuit work, channel selecting was carried out by two-stage analog switch B, analog switch C before laser works, Reference Signal and echoed signal switch to mixing and filtering circuit, are exported by mixing and filtering circuit and transfer to two-way high-speed comparator input end, while startup laser instrument sine wave generating circuit, start the local oscillator sine wave generating circuit with certain frequency difference, when mixing and filtering circuit receives reference signal, after echoed signal, mixing and filtering is carried out respectively with local oscillation signal, phase information entrained by high-frequency modulation signal is demodulated to low frequency sine wave signal, again by the two-way high-speed comparator of rear class, time interval measuring circuit measures signal time difference, corresponding phase difference ratio is obtained as division with the frequency difference cycle, do multiplication with the survey chi constant corresponding to selected modulating frequency and can obtain tested distance.
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| CN105301599A (en) * | 2015-10-13 | 2016-02-03 | 深圳市迈测科技股份有限公司 | Mixed measuring ruler-based phase type laser distance measuring method and device |
| CN105652282A (en) * | 2015-12-29 | 2016-06-08 | 电子科技大学 | Laser phase ranging module |
| CN105891840A (en) * | 2016-06-29 | 2016-08-24 | 长春理工大学 | Laser ranging system |
| CN106093958A (en) * | 2016-08-24 | 2016-11-09 | 武汉万集信息技术有限公司 | Laser distance measurement methods based on double APD and device |
| CN107275918A (en) * | 2017-06-27 | 2017-10-20 | 武汉锐科光纤激光技术股份有限公司 | Optical fiber laser RF driving source |
| CN107315177A (en) * | 2017-07-06 | 2017-11-03 | 深圳乐创信息通讯技术有限公司 | Laser ranging circuit, laser ranging system, preventing collision of vehicles collision device and its control method |
| CN107607962A (en) * | 2017-09-22 | 2018-01-19 | 北京航天计量测试技术研究所 | A kind of method for improving phase laser distance measurement frequency |
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| CN105891840A (en) * | 2016-06-29 | 2016-08-24 | 长春理工大学 | Laser ranging system |
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| CN110809704B (en) * | 2017-05-08 | 2022-11-01 | 威力登激光雷达美国有限公司 | LIDAR data acquisition and control |
| CN110809704A (en) * | 2017-05-08 | 2020-02-18 | 威力登激光雷达有限公司 | LIDAR data acquisition and control |
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