CN104765040A - Monopulse waveform recognition and extraction method - Google Patents
Monopulse waveform recognition and extraction method Download PDFInfo
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- CN104765040A CN104765040A CN201410853737.8A CN201410853737A CN104765040A CN 104765040 A CN104765040 A CN 104765040A CN 201410853737 A CN201410853737 A CN 201410853737A CN 104765040 A CN104765040 A CN 104765040A
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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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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16Z—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS, NOT OTHERWISE PROVIDED FOR
- G16Z99/00—Subject matter not provided for in other main groups of this subclass
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- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a monopulse waveform recognition and extraction method and aims to provide a monopulse waveform recognition method which can remarkably improve the signal to noise ratio and ranging of a signal and is good in the real-time performance. According to the technical scheme, the monopulse waveform recognition and extraction method comprises the steps that first, a pulse ranging system determines a sampling rate according to width of echo of a laser pulse, a signal processing module collects and stores sample data, second, a processing module performs width recognition of waveform on the stored data, delay-time processing is performed on echo signal data, the processing module performs multiplying operation on the delayed echo data and the data before delaying, and finally, the processing module performs distance calculation according to the echo data after the operation. The waveform processed by adopting the monopulse waveform recognition and extraction method is close to the effect of multi-pulse correlation, the signal to noise ratio is improved remarkably, and meanwhile the defect that the real-time performance of multi-pulse correlation is poor is overcome.
Description
Technical field
The invention relates to the single pulse waveforms identification extracting method be applied in laser pulse ranging.
Background technology
Signal processing method conventional at present in pulsed laser ranging has: directly threshold detection method, monopulse correlation detection, multiple-pulse cross correlation process method.
1. directly threshold detection method on direct detection basis, often takes direct threshold detection method to extract target echo by range finder using laser.Range finder using laser classical signals detects and adopts mimic channel always, mainly utilize that resolution element and small scale integration amplify echo, filtering, threshold triggers, shaping and counting.This method is applicable to high light signal (situation that signal to noise ratio (S/N ratio) is greater than 5).Threshold detection method can only when high light signal or signal to noise ratio (S/N ratio) very strong use, the poor real of multiple-pulse cross-correlation, simple monopulse related request sampling rate is high, and data volume is large, in real time difficulty etc.
2. monopulse correlation detection utilizes signal to have the time irrelevance of good temporal correlation and noise (or only part is relevant at short notice), signal is accumulated and noise is not accumulated, buried signal extraction in noise method out, this method needs to carry out two-forty A/D conversion to signal, find range far away, acquisition time is longer, and signal processing unit data throughout is larger, and process is also more difficult in real time.Therefore the method is applicable to short distance, precision distance measurement.
3. multiple-pulse cross correlation process method: this method is commonly used for three pulse cross correlation process, sample of signal accumulation number of times is more, signal reproduction and signal noise ratio improve effect better, but accumulation number of times will be subject to the restriction of laser transmitter performance and measured target speed of related movement.
Summary of the invention
The object of the invention is the weak point existed for prior art threshold detection method, provide one can significantly improve Signal-to-Noise and range finder ranging, the single pulse waveforms identification extracting method that real-time is good.
The solution that the present invention realizes above-mentioned purpose is, a kind of single pulse waveforms identification extracting method, when it is characterized in that comprising the steps: Usage data collection processing module in pulsed laser ranging system, first the width determination sampling rate of the echo of laser pulse is received according to range finder using laser, signal processing module is by echo data collection and store, signal processing module carries out the width identification of waveform to the sampled data stored, again delay process is carried out to echo signal sample data, echo samples data after time delay and the sampled data before time delay carry out multiplication operation, finally the echo data after computing is carried out distance to calculate.
The present invention has following beneficial effect compared to prior art:
The present invention arranges sampling rate according to the situation of the slightly wide feature of monopulse ranging echoed signal peak pulse duration noise width and actual echoed signal, first the data collected are carried out width identification, again time delay is carried out to signal sample data, the sampled data after time delay and former echo samples data are carried out multiplication operation.Adopt the waveform after the process of single pulse waveforms identification extracting method close to the effect of multiple-pulse cross-correlation, signal to noise ratio (S/N ratio) significantly improves, solve again the shortcoming of multipulse poor real simultaneously, this algorithm also adds the identifying processing of waveform widths, this disposal route makes to reduce greatly compared with the data volume relevant with simple monopulse of the data volume after algorithm process, compared with direct threshold detection method, the signal to noise ratio (S/N ratio) of signal is also significantly improved.Laser pulse ranging machine is after use algorithm of the present invention, and the signal to noise ratio (S/N ratio) of signal significantly improves, and the ranging of range finder also improves.
A large amount of experimental datas shows, when echoed signal amplitude close to noise amplitude or than noise amplitude only exceed be no more than 10 time, now directly calculate, can be very difficult, and after algorithm process of the present invention is utilized to the sampled data of signal, signal amplitude significantly improves, and signal amplitude is after treatment 2 ~ 3 times of noise amplitude, and now carrying out the calculating of distance value to the data after process again can be much easier.
Accompanying drawing explanation
Fig. 1 is single pulse waveforms identification extracting method first group of the present invention experiment image data oscillogram and the data waveform figure after processing.Fig. 1 (left side) is the original signal data oscillogram gathered, and Fig. 1 (right side) uses the data waveform figure after the inventive method process for original signal data.
Fig. 2 is single pulse waveforms identification extracting method second group of the present invention experiment image data oscillogram and the data waveform figure after processing.Fig. 2 (on) original signal data oscillogram for gathering, Fig. 2 (under) use the data waveform figure after the inventive method process for original signal data.
Embodiment
According to the present invention, first according to the width determination sampling rate of the echo of laser pulse, signal processing module is by sampled data collection and store, secondly signal processing module carries out the width identification of waveform to the sampled data stored, can reduce greatly through this amount of operational data, then signal processing module carries out delay process to echo samples data again, echo samples data after time delay and the echo samples data before time delay carry out multiplication operation, now can positive and negative according to signal, suitable choice part data, if echoed signal is negative signal, positive portion in data can be given up, vice versa, by to after the choice of data, follow-up calculated amount can reduce a part again, increase the real-time of algorithm better.Finally the echo samples data after calculating are carried out distance to calculate.The length of the time delay experimentally deration of signal is determined, the length of time delay generally gets 1/4 ~ 1/3 of echo signal sample width.
The present invention is for increasing signal to noise ratio (S/N ratio), time delay is employed to original signal samples data, therefore the peak position of echo can change, the distance value of range finder is caused to change thus, thus produce certain system delay after causing range measurement system to use the inventive method process, when carrying out system and correcting, the systematic error that the time delay in reply the inventive method causes is corrected.
Consult the data waveform figure after several groups of experiment image data oscillograms that Fig. 1, Fig. 2 provide and process.Find out from accompanying drawing 1,2, as shown in raw data oscillogram, when the signal to noise ratio (S/N ratio) of the echoed signal of pulse ranging machine is very low, signal processing module almost cannot extract echo-pulse, the Wave data signal to noise ratio (S/N ratio) after the inventive method process is used to significantly improve, as processed shown in rear data waveform figure, the amplitude of signal is about 2 ~ 3 times of noise amplitude, and in oscillogram after treatment, signal processing module is passable
Extract echo-pulse very like a cork, extraction accuracy is also greatly improved, thus distance computational accuracy also improves thereupon.Find out from accompanying drawing 1,2, as shown in raw data oscillogram, when the signal to noise ratio (S/N ratio) of the echoed signal of pulse ranging machine is very low, signal processing module almost cannot extract echo-pulse, the Wave data signal to noise ratio (S/N ratio) after the inventive method process is used to significantly improve, as processed shown in rear data waveform figure, the amplitude of signal is about 2 ~ 3 times of noise amplitude, in oscillogram after treatment, signal processing module can extract echo-pulse very like a cork, extraction accuracy is also greatly improved, thus distance computational accuracy also improves thereupon.
Claims (2)
1. a single pulse waveforms identification extracting method, when it is characterized in that comprising the steps: Usage data collection processing module in pulsed laser ranging system, first the width determination sampling rate of the echo of laser pulse is received according to range finder using laser, signal processing module is by echo data collection and store, secondly processing module carries out the width identification of waveform to the sampled data stored, again delay process is carried out to echo signal sample data, echo samples data after time delay and the sampled data before time delay carry out multiplication operation, finally the echo data after computing is carried out distance to calculate.
2. single pulse waveforms recognition methods as claimed in claim 1, is characterized in that: the length experimentally deration of signal decision of time delay, the length of time delay fetches 1/4 ~ 1/3 of wave width.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106888005A (en) * | 2015-12-15 | 2017-06-23 | 西安富成防务科技有限公司 | A kind of TACAN pulsing signal recognition devices |
| CN110954918A (en) * | 2019-12-06 | 2020-04-03 | 北京石头世纪科技股份有限公司 | Pulse distance measuring device and method and automatic cleaning equipment with device |
| CN112014824A (en) * | 2019-05-31 | 2020-12-01 | 深圳市速腾聚创科技有限公司 | Multi-pulse anti-interference signal processing method and device |
| WO2020239084A1 (en) * | 2019-05-31 | 2020-12-03 | 深圳市速腾聚创科技有限公司 | Anti-jamming processing method and device for multi-pulse lidar system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106888005A (en) * | 2015-12-15 | 2017-06-23 | 西安富成防务科技有限公司 | A kind of TACAN pulsing signal recognition devices |
| CN112014824A (en) * | 2019-05-31 | 2020-12-01 | 深圳市速腾聚创科技有限公司 | Multi-pulse anti-interference signal processing method and device |
| WO2020239084A1 (en) * | 2019-05-31 | 2020-12-03 | 深圳市速腾聚创科技有限公司 | Anti-jamming processing method and device for multi-pulse lidar system |
| CN112740066A (en) * | 2019-05-31 | 2021-04-30 | 深圳市速腾聚创科技有限公司 | Anti-interference processing method and device for multi-pulse laser radar system |
| CN112740066B (en) * | 2019-05-31 | 2023-08-04 | 深圳市速腾聚创科技有限公司 | Anti-interference processing method and device for multi-pulse laser radar system |
| CN110954918A (en) * | 2019-12-06 | 2020-04-03 | 北京石头世纪科技股份有限公司 | Pulse distance measuring device and method and automatic cleaning equipment with device |
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Application publication date: 20150708 |