CN104459710A - Pulse/phase integrated laser range finder - Google Patents
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Abstract
本发明属于激光测距技术领域，具体涉及一种脉冲/相位一体式激光测距仪。窄脉冲发生电路、正弦波发生电路通过模拟开关A与半导体激光器连接；半导体激光器发射的激光一路经过发射镜、测量目标、接收镜接收后输入APD探测器，经运算放大器B放大后输出回波信号；半导体激光器发射的激光另一路输入PIN探测器，经运算放大器A放大后输出参考信号；模拟开关B接收激光发射脉冲/连续波双模式调制电路产生的参考信号和回波信号，模拟开关B可以切换至与模拟开关C连接，也可以经过混频滤波电路后与模拟开关C连接；模拟开关C与双路高速比较器连接，双路高速比较器与时间间隔测量电路连接。本发明解决单台激光测距仪不能具备脉冲、相位两种测量模式问题。
The invention belongs to the technical field of laser ranging, and in particular relates to a pulse/phase integrated laser ranging instrument. The narrow pulse generating circuit and the sine wave generating circuit are connected to the semiconductor laser through the analog switch A; the laser light emitted by the semiconductor laser passes through the transmitting mirror, the measurement target, and the receiving mirror all the way to the APD detector, and is amplified by the operational amplifier B to output the echo signal ; The laser emitted by the semiconductor laser is input to the PIN detector in another way, and the reference signal is output after being amplified by the operational amplifier A; the analog switch B receives the reference signal and the echo signal generated by the laser emission pulse/continuous wave dual-mode modulation circuit, and the analog switch B can Switch to connect to the analog switch C, or connect to the analog switch C after passing through the frequency mixing and filtering circuit; the analog switch C is connected to the dual-way high-speed comparator, and the dual-way high-speed comparator is connected to the time interval measurement circuit. The invention solves the problem that a single laser range finder cannot have two measurement modes of pulse and phase.
Description
技术领域technical field
本发明属于激光测距技术领域，具体涉及一种脉冲/相位一体式激光测距仪。The invention belongs to the technical field of laser ranging, and in particular relates to a pulse/phase integrated laser ranging instrument.
背景技术Background technique
激光测距仪是一种使用激光作为探测波束，测量反射面距离发射点绝对距离的长度测量仪器。激光测距具有非接触测量、测量精确度高、分辨率高、抗干扰能力强、体积小和重量轻等一系列的优点，在各种测量行业中得到了广泛的应用，无论是在军事领域，还是在科学试验、施工生产、基础建设等方面，都起着重要的作用。A laser rangefinder is a length measuring instrument that uses a laser as a detection beam to measure the absolute distance from a reflective surface to a launch point. Laser ranging has a series of advantages such as non-contact measurement, high measurement accuracy, high resolution, strong anti-interference ability, small size and light weight, and has been widely used in various measurement industries, whether in the military field , or in scientific experiments, construction production, infrastructure, etc., all play an important role.
按照激光测距原理，能够实现非合作目标（无反射镜、靶标版）测距的激光测距仪可分为脉冲式和相位式两种。According to the principle of laser ranging, the laser rangefinder that can realize the ranging of non-cooperative targets (mirrorless, target version) can be divided into two types: pulse type and phase type.
脉冲式测距仪原理是通过向被测目标发射脉冲式激光束，并测量激光往返飞行时间，根据光在大气中的传播速度计算得出测量点至目标的距离。脉冲测距仪的原理和结构较简单，测程远，缺点是绝对测距精度较低，且有近程无法测量的盲区。通常脉冲法作用距离为数十米至数千米，误差在1m左右，一般用于远程测距。The principle of the pulse rangefinder is to emit a pulsed laser beam to the target to be measured, and measure the round-trip flight time of the laser, and calculate the distance from the measurement point to the target according to the propagation speed of light in the atmosphere. The principle and structure of the pulse range finder are relatively simple, and the measurement range is long. The disadvantage is that the absolute distance measurement accuracy is low, and there are blind areas that cannot be measured at short range. Usually the action distance of the pulse method is tens of meters to thousands of meters, and the error is about 1m. It is generally used for long-distance ranging.
相位式激光测距是采用正弦波信号对激光进行调制，利用发射的调制光和被测目标反射的接收光之间光强的相位差包含的距离信息来实现对被测目标距离的测量，具有测量精度高、分辨率高的优点。采用非合作目标时，相位式测距仪的工作距离一般在零点几米至几十米，一般最远不超过200米，测距误差可控制在2mm以内。Phase-type laser ranging uses a sine wave signal to modulate the laser, and uses the distance information contained in the phase difference between the light intensity between the emitted modulated light and the received light reflected by the measured target to measure the distance of the measured target. The advantages of high measurement accuracy and high resolution. When using a non-cooperative target, the working distance of the phase rangefinder is generally a few tenths of meters to tens of meters, and generally the farthest is no more than 200 meters, and the ranging error can be controlled within 2mm.
在一些特殊的应用场合，既需要有较远的测量距离，以便及时发现、探测到数公里外远距离目标，又需要在近程（几十米内至零点几米内）时具有较高的探测精度，以便进行精确的控制操作。常规的激光测距仪，都只有一种测距模式，不能满足目前的测量需求：脉冲式测量范围远但近程有盲区、精度低；相位法测距精度高，测量范围小。如果在测量系统中集成两套测距仪，分别进行脉冲式、相位式测距，就需要有独立的激光器、发射/接收光学系统、电路系统，不仅成本增加一倍，系统体积、重量、功耗的增大也是无法接受的。In some special applications, it is necessary to have a long measurement distance in order to detect and detect long-distance targets several kilometers away in time, and to have high detection accuracy in short-range (within tens of meters to a few tenths of meters) , in order to carry out precise control operation. Conventional laser rangefinders have only one ranging mode, which cannot meet the current measurement needs: the pulse type has a long measurement range but short-range blind spots and low accuracy; the phase method has high accuracy and small measurement range. If two sets of rangefinders are integrated in the measurement system to perform pulse-type and phase-type distance measurement respectively, independent lasers, transmitting/receiving optical systems, and circuit systems are required, which not only doubles the cost, but also increases the volume, weight, and power of the system. The increase in consumption is also unacceptable.
发明内容Contents of the invention
本发明的目的在于提供一种脉冲/相位一体式激光测距仪，以解决单台激光测距仪不能具备脉冲、相位两种测量模式的问题。The object of the present invention is to provide a pulse/phase integrated laser range finder to solve the problem that a single laser range finder cannot have two measurement modes of pulse and phase.
为达到上述目的，本发明所采取的技术方案为：In order to achieve the above object, the technical scheme adopted in the present invention is:
一种脉冲/相位一体式激光测距仪，包括激光发射脉冲/连续波双模式调制电路和接收信号脉冲激光飞行时间/相位差双模式解调电路；激光发射脉冲/连续波双模式调制电路包括窄脉冲发生电路、正弦波发生电路、模拟开关A、半导体激光器、发射镜、接收镜、PIN探测器、APD探测器、运算放大器A、运算放大器B；窄脉冲发生电路、正弦波发生电路通过模拟开关A与半导体激光器连接；半导体激光器发射的激光一路经过发射镜、测量目标、接收镜接收后输入APD探测器，经运算放大器B放大后输出回波信号；半导体激光器发射的激光另一路输入PIN探测器，经运算放大器A放大后输出参考信号；接收信号脉冲激光飞行时间/相位差双模式解调电路包括本振正弦波发生电路、模拟开关B、混频滤波电路、模拟开关C、双路高速比较器、时间间隔测量电路；模拟开关B接收激光发射脉冲/连续波双模式调制电路产生的参考信号和回波信号，模拟开关B可以切换至与模拟开关C连接，也可以经过混频滤波电路后与模拟开关C连接；模拟开关C与双路高速比较器连接，双路高速比较器与时间间隔测量电路连接。A pulse/phase integrated laser rangefinder, including a laser emission pulse/continuous wave dual-mode modulation circuit and a received signal pulse laser time-of-flight/phase difference dual-mode demodulation circuit; the laser emission pulse/continuous wave dual-mode modulation circuit includes Narrow pulse generating circuit, sine wave generating circuit, analog switch A, semiconductor laser, transmitting mirror, receiving mirror, PIN detector, APD detector, operational amplifier A, operational amplifier B; narrow pulse generating circuit, sine wave generating circuit through analog The switch A is connected to the semiconductor laser; the laser emitted by the semiconductor laser passes through the transmitting mirror, the measuring target, and the receiving mirror, and then enters the APD detector. After being amplified by the operational amplifier B, the echo signal is output; the other path of the laser emitted by the semiconductor laser enters the PIN detection The reference signal is output after being amplified by the operational amplifier A; the received signal pulse laser time of flight/phase difference dual-mode demodulation circuit includes a local oscillator sine wave generating circuit, an analog switch B, a mixing filter circuit, an analog switch C, and a dual-channel high-speed Comparator, time interval measurement circuit; analog switch B receives the reference signal and echo signal generated by the laser emission pulse/continuous wave dual-mode modulation circuit, the analog switch B can be switched to connect with the analog switch C, or pass through the frequency mixing filter circuit Afterwards, it is connected with the analog switch C; the analog switch C is connected with the double-way high-speed comparator, and the double-way high-speed comparator is connected with the time interval measurement circuit.
所述窄脉冲发生电路为基于CPLD可编程器件和雪崩管的大电流窄脉冲发生电路，作为脉冲式调制的信号源。The narrow pulse generating circuit is a large current narrow pulse generating circuit based on CPLD programmable device and avalanche tube, which is used as a signal source of pulse modulation.
所述正弦波发生电路为基于直接数字合成DDS原理的正弦波发生电路，正弦信号经7阶椭圆滤波电路和功率放大电路放大作为连续波调制信号源。The sine wave generating circuit is a sine wave generating circuit based on the principle of direct digital synthesis DDS, and the sine signal is amplified by a 7th order elliptic filter circuit and a power amplifier circuit as a continuous wave modulation signal source.
所述模拟开关A、模拟开关B、模拟开关C为低阻抗、高隔离度的模拟切换开关。The analog switch A, analog switch B, and analog switch C are low-impedance, high-isolation analog switches.
在窄脉冲发生电路、正弦波发生电路两种模式下信号都是对激光的光强进行调制，驱动激光器工作发出高峰值功率、窄脉宽的激光脉冲，或者是设定频率的正弦波激光。In the two modes of narrow pulse generating circuit and sine wave generating circuit, the signal modulates the light intensity of the laser to drive the laser to work and emit laser pulses with high peak power and narrow pulse width, or sine wave laser with a set frequency.
在脉冲测距模式下，即脉冲发生电路工作时，通过单片机操作控制，在选择激光器激励源通道时，通过两级模拟开关B、模拟开关C将参考信号、回波信号直接选通至双路高速比较器，将波形整形为上升沿较陡的阶跃信号，再通过后续的高精度时间间隔测量电路测量出参考信号和回波信号对应的激光飞行时间间隔，乘以光速得出被测距离。In the pulse ranging mode, that is, when the pulse generating circuit is working, it is controlled by the operation of the single-chip microcomputer. When selecting the laser excitation source channel, the reference signal and the echo signal are directly gated to the dual channel through the two-stage analog switch B and analog switch C. The high-speed comparator shapes the waveform into a step signal with a steeper rising edge, and then measures the laser flight time interval corresponding to the reference signal and the echo signal through the subsequent high-precision time interval measurement circuit, and multiplies it by the speed of light to obtain the measured distance .
在相位测距模式下，即正弦波发生电路工作时，在激光器工作之前通过两级模拟开关B、模拟开关C进行通道选择，将参考信号和回波信号切换至混频滤波电路，将混频滤波电路输出传输至双路高速比较器输入端；在启动激光器正弦波发生电路的同时，启动具有一定频差的本振正弦波发生电路，当混频滤波电路接收到参考信号、回波信号以后，分别与本振信号进行混频及滤波，将高频调制信号所携带的相位差信息解调至低频正弦波信号，再通过后级的双路高速比较器、时间间隔测量电路测量出信号时间差，与频差周期作除法得到对应相位差比值，与选定调制频率所对应的测尺常数做乘法即可得到被测距离。In the phase ranging mode, that is, when the sine wave generating circuit is working, the channel selection is performed through the two-stage analog switch B and the analog switch C before the laser works, and the reference signal and the echo signal are switched to the frequency mixing filter circuit, and the frequency mixing The output of the filter circuit is transmitted to the input terminal of the dual-way high-speed comparator; while starting the laser sine wave generating circuit, start the local oscillator sine wave generating circuit with a certain frequency difference, when the mixing filter circuit receives the reference signal and the echo signal , respectively mix and filter with the local oscillator signal, demodulate the phase difference information carried by the high-frequency modulation signal to the low-frequency sine wave signal, and then measure the signal time difference through the dual-channel high-speed comparator and time interval measurement circuit of the subsequent stage , divided by the frequency difference period to obtain the corresponding phase difference ratio, and multiplied by the measuring scale constant corresponding to the selected modulation frequency to obtain the measured distance.
本发明所取得的有益效果为：The beneficial effects obtained by the present invention are:
本发明所述脉冲/相位一体式激光测距仪解决单台激光测距仪不能具备脉冲、相位两种测量模式的问题，利用低阻抗模拟开关对激光器进行分时调制、信号解调的电路结构，实现同一台激光测距仪具备脉冲测距测量范围远的优点，又能具有近距离时相位测距精度高、分辨率高的优点。使用光功率计、示波器、频谱分析仪对参考信号进行测量分析，证明光信号脉冲峰值功率、连续波平均功率、频谱等指标均满足设计要求，实现了对同一激光器的双模调制功能；在两种测距模式下，分别测量解调电路中两级模拟开关输入输出各节点信号，信号幅值、频率、频谱也都满足设计要求，实现了设计的双模式解调功能。应用设计的激光测距系统进行测距试验，相位式测距测量重复性达到1mm，误差2mm；脉冲式测距测量重复性达到0.1m,误差1m，很好的实现了设计功能，应用效果良好。The pulse/phase integrated laser range finder of the present invention solves the problem that a single laser range finder cannot have two measurement modes of pulse and phase, and uses a low-impedance analog switch to perform time-sharing modulation and signal demodulation of the laser. , to realize that the same laser range finder has the advantages of long pulse ranging measurement range, and can also have the advantages of high phase ranging accuracy and high resolution at short distances. Using an optical power meter, an oscilloscope, and a spectrum analyzer to measure and analyze the reference signal, it is proved that the peak power of the optical signal pulse, the average power of the continuous wave, and the frequency spectrum all meet the design requirements, and the dual-mode modulation function for the same laser is realized; In two ranging modes, the signals of the input and output nodes of the two-stage analog switch in the demodulation circuit are measured respectively. The signal amplitude, frequency and frequency spectrum also meet the design requirements, and the designed dual-mode demodulation function is realized. Using the designed laser ranging system for distance measurement test, the repeatability of phase distance measurement reaches 1mm, and the error is 2mm; the repeatability of pulse type distance measurement reaches 0.1m, and the error is 1m. The design function is well realized and the application effect is good. .
附图说明Description of drawings
图1为本发明所述脉冲/相位一体式激光测距仪结构图。Fig. 1 is a structural diagram of the pulse/phase integrated laser range finder of the present invention.
具体实施方式Detailed ways
下面结合附图和具体实施例对本发明进行详细说明。The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
如图1所示，本发明所述脉冲/相位一体式激光测距仪包括激光发射脉冲/连续波双模式调制电路和接收信号脉冲激光飞行时间/相位差双模式解调电路；As shown in Figure 1, the pulse/phase integrated laser range finder of the present invention includes a laser emission pulse/continuous wave dual-mode modulation circuit and a received signal pulse laser time-of-flight/phase difference dual-mode demodulation circuit;
（1）激光发射脉冲/连续波双模式调制电路工作原理：(1) Laser emission pulse/continuous wave dual mode modulation circuit working principle:
激光发射脉冲/连续波双模式调制电路包括窄脉冲发生电路、正弦波发生电路、模拟开关A、半导体激光器、发射镜、接收镜、PIN探测器、APD探测器、运算放大器A、运算放大器B；窄脉冲发生电路、正弦波发生电路通过模拟开关A与半导体激光器连接；半导体激光器发射的激光一路经过发射镜、测量目标、接收镜接收后输入APD探测器，经运算放大器B放大后输出回波信号；半导体激光器发射的激光另一路输入PIN探测器，经运算放大器A放大后输出参考信号；The laser emission pulse/continuous wave dual-mode modulation circuit includes a narrow pulse generating circuit, a sine wave generating circuit, an analog switch A, a semiconductor laser, a transmitting mirror, a receiving mirror, a PIN detector, an APD detector, an operational amplifier A, and an operational amplifier B; The narrow pulse generating circuit and the sine wave generating circuit are connected to the semiconductor laser through the analog switch A; the laser emitted by the semiconductor laser passes through the transmitting mirror, the measurement target, and the receiving mirror all the way, and then enters the APD detector, and is amplified by the operational amplifier B to output the echo signal ; The laser emitted by the semiconductor laser is input to the PIN detector in another way, and the reference signal is output after being amplified by the operational amplifier A;
为实现脉冲/连续波双模式调制，设计了基于CPLD可编程器件和雪崩管的大电流窄脉冲发生电路，作为脉冲式调制的信号源；设计了基于直接数字合成DDS原理的正弦波发生电路，7阶椭圆滤波电路和功率放大电路，将正弦信号功率放大作为连续波调制信号源。使用低阻抗、高隔离度的模拟开关A作为切换器件，将所需激励信号源连接至半导体激光器驱动端，在选定一种测距模式后，通过单片机控制使其中一种信号源电路工作。在两种模式下信号都是对激光的光强进行调制，驱动激光器工作发出高峰值功率、窄脉宽的激光脉冲，或者是设定频率的正弦波激光。In order to realize pulse/continuous wave dual mode modulation, a large current narrow pulse generating circuit based on CPLD programmable device and avalanche tube is designed as the signal source of pulse modulation; a sine wave generating circuit based on the principle of direct digital synthesis DDS is designed, The 7th-order elliptic filter circuit and power amplifier circuit amplify the sinusoidal signal power as a continuous wave modulation signal source. Use a low-impedance, high-isolation analog switch A as a switching device, connect the required excitation signal source to the semiconductor laser drive terminal, and after selecting a distance measurement mode, control one of the signal source circuits to work through the single-chip microcomputer. In both modes, the signal modulates the light intensity of the laser to drive the laser to work and emit laser pulses with high peak power and narrow pulse width, or sine wave laser with a set frequency.
为实现测距功能，发射激光通过分光光路分出一束参考光并使用PIN探测器接收，经运算放大器A放大后作为参考信号；从被测目标反射回的激光信号通过APD探测器接收，经运算放大器B放大后作为携带时间或相位信息的回波信号。In order to realize the distance measurement function, the emitted laser splits a beam of reference light through the optical path and is received by the PIN detector. After being amplified by the operational amplifier A, it is used as a reference signal; the laser signal reflected from the measured target is received by the APD detector. The operational amplifier B is amplified as an echo signal carrying time or phase information.
（2）接收信号脉冲激光飞行时间/相位差双模式解调电路工作原理：(2) The working principle of the receiving signal pulse laser flight time/phase difference dual-mode demodulation circuit:
接收信号脉冲激光飞行时间/相位差双模式解调电路包括本振正弦波发生电路、模拟开关B、混频滤波电路、模拟开关C、双路高速比较器、时间间隔测量电路；模拟开关B接收激光发射脉冲/连续波双模式调制电路产生的参考信号和回波信号，模拟开关B可以切换至与模拟开关C连接，也可以经过混频滤波电路后与模拟开关C连接；模拟开关C与双路高速比较器连接，双路高速比较器与时间间隔测量电路连接；Received signal pulse laser time of flight/phase difference dual-mode demodulation circuit includes local oscillator sine wave generation circuit, analog switch B, mixing filter circuit, analog switch C, dual-way high-speed comparator, time interval measurement circuit; analog switch B receives The reference signal and echo signal generated by the laser emission pulse/continuous wave dual-mode modulation circuit, the analog switch B can be switched to connect to the analog switch C, or can be connected to the analog switch C after passing through the frequency mixing and filtering circuit; the analog switch C is connected to the dual The two-way high-speed comparator is connected, and the two-way high-speed comparator is connected with the time interval measurement circuit;
设计了两级的低阻抗高隔离度模拟开关B、模拟开关C选通结构，实现解调模式的切换。在脉冲测距模式下，通过单片机操作控制，在选择激光器激励源通道时，通过两级模拟开关B、模拟开关C将参考信号、回波信号直接选通至双路高速比较器，将波形整形为上升沿较陡（ns级）的阶跃信号，再通过后续的高精度时间间隔测量电路测量出参考信号和回波信号对应的激光飞行时间间隔，乘以光速得出被测距离（回波信号延时与被测目标的距离成正比）。A two-stage low-impedance high-isolation analog switch B and analog switch C gating structure is designed to realize the switching of the demodulation mode. In the pulse ranging mode, through the operation and control of the single-chip microcomputer, when selecting the laser excitation source channel, the reference signal and the echo signal are directly gated to the dual high-speed comparator through the two-stage analog switch B and analog switch C to shape the waveform. It is a step signal with a steep rising edge (ns level), and then the laser flight time interval corresponding to the reference signal and the echo signal is measured through the subsequent high-precision time interval measurement circuit, and multiplied by the speed of light to obtain the measured distance (echo The signal delay is proportional to the distance of the measured target).
在相位测距模式下，同样在激光器工作之前通过两级模拟开关B、模拟开关C进行通道选择，将参考信号和回波信号切换至混频滤波电路，将混频滤波电路输出传输至双路高速比较器输入端；在启动激光器正弦波发生电路的同时，启动具有一定频差（一般在几十kHz）的本振正弦波发生电路，当测量系统接收到参考信号、回波信号以后，分别与本振信号进行混频及滤波，将高频调制信号所携带的相位差信息解调至低频（与频差对应）正弦波信号，再通过后级的双路高速比较器、时间间隔测量电路测量出信号时间差，与频差周期作除法得到对应相位差比值，与选定调制频率所对应的测尺常数做乘法即可得到被测距离（测尺长度与选定调制频率成反比，回波信号与参考信号的相位差与被测目标距离成正比）。In the phase ranging mode, before the laser works, the channel is selected through the two-stage analog switch B and the analog switch C, the reference signal and the echo signal are switched to the frequency mixing filter circuit, and the output of the frequency mixing filter circuit is transmitted to the dual channel Input terminal of the high-speed comparator; while starting the laser sine wave generating circuit, start the local oscillator sine wave generating circuit with a certain frequency difference (generally tens of kHz), when the measurement system receives the reference signal and the echo signal, respectively Perform frequency mixing and filtering with the local oscillator signal, demodulate the phase difference information carried by the high-frequency modulation signal to a low-frequency (corresponding to the frequency difference) sine wave signal, and then pass through the dual-channel high-speed comparator and time interval measurement circuit of the subsequent stage Measure the signal time difference, divide it with the frequency difference period to get the corresponding phase difference ratio, and multiply it with the scale constant corresponding to the selected modulation frequency to get the measured distance (the length of the scale is inversely proportional to the selected modulation frequency, and the echo The phase difference between the signal and the reference signal is proportional to the distance of the measured target).
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Application publication date: 20150325 |