CN104777471B - A kind of pulse laser short range dynamic gain control circuit - Google Patents
A kind of pulse laser short range dynamic gain control circuit Download PDFInfo
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- CN104777471B CN104777471B CN201510165757.0A CN201510165757A CN104777471B CN 104777471 B CN104777471 B CN 104777471B CN 201510165757 A CN201510165757 A CN 201510165757A CN 104777471 B CN104777471 B CN 104777471B
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Classifications
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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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/489—Gain of receiver varied automatically during pulse-recurrence period
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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 present invention provides a kind of pulse laser short range dynamic gain control circuit, for pulsed laser ranging receiver, the receiver includes voltage-controlled amplifier, the circuit includes fpga chip and D/A converter, the fpga chip is provided with ROM module and STC control machine modules, the ROM module is connected with STC control machines module interactive mode, and the output end of the STC control machines module is connected by the input of D/A converter and voltage-controlled amplifier.The present invention extends the dynamic range of pulsed laser ranging, improves range accuracy, and circuit structure is very simple.
Description
Technical field
The present invention relates to pulse laser field of measuring technique, specifically a kind of pulse laser short range dynamic gain control electricity
Road.
Background technology
Pulse lidar detects target relative distance by measuring the flight time of laser pulse, in short range (tens
Rice scope) in measurement, the measurement accuracy of its single reaches meter level, however as it is a kind of can be with quick obtaining target accurate distance
Effective means, this precision remains unchanged not enough, causes the dynamic model for being primarily due to receiver electronic system that precision is poor
The limitation enclosed.Pulse lidar mostly measure front noncooperative target, in the case of short range ranging, due to target distance,
Emission characteristics etc. changes in the range of Larger Dynamic so that acute variation occurs for the echo power of laser pulse.And in order to ensure
High-precision range measurement, the necessary extreme duty of echo reception circuit is in linear zone, it is to avoid the echo impulse saturation detected is lost
Very, meanwhile, its signal pulse amplitude exported need it is stable in certain scope, so as to reduce the drift that moment band is come
Error.
In pulsed laser ranging application, when laser pulse echo power is widely varied, realize that laser radar is high-precision
Degree ranging is accomplished by introducing AGC (automatic growth control) circuits or STC (sensitivity-frequency control) electricity in echo reception circuit
Road, but the application study on AGC or STC in terms of laser radar are not very ripe at present or implement circuit
More complicated, development difficulty is big, such as agc circuit, typical method is to use logafier, while also to coordinate addition and multiply
Method computing circuit.Zhou Qiang et al. is in paper《Closely pulse laser detection is received and handled》It is middle to propose that one kind is realized using CPLD
Near area gain control method, measurement range is 50~500 meters, but precision is poor, and 50 meters are not provided in this method
Within short range implementation；Hu Chunsheng is in thesis for the doctorate《Impulse semiconductor laser high speed three-dimensional imaging laser radar is studied》
It is middle to propose a kind of method that mode of utilization RC network discharge and recharge realizes controlling curve, realize gain within 30 meters and control, by
In the characteristic of RC network discharge and recharge, the flexibility of gain curve is poor.
The content of the invention
It is an object of the invention to provide a kind of pulse laser short range dynamic gain control circuit, Sensitivity Time control is utilized
Koji-making line (STC) controls the gain of voltage-controlled amplifier in receiver so that the echo strength of near echo receiving circuit output
It is maintained in larger finding range, so as to ensure that range accuracy remains unchanged within the specific limits.
The technical scheme is that：
A kind of pulse laser short range dynamic gain control circuit, for pulsed laser ranging receiver, the receiver bag
Voltage-controlled amplifier is included, the circuit includes fpga chip and D/A converter, the fpga chip is controlled provided with ROM module and STC
Machine module；
The ROM module, for store the voltage control signal that previously generates and the relation curve of time i.e. sensitivity when
Between controlling curve data；
The STC control machines module, for reading ROM module memory storage under the triggering of the FPGA narrow pulse signals produced
Sensitivity-frequency control curve data, and by the data output of reading to D/A converter；
The D/A converter, for sensitivity-frequency control curve data to be carried out into D/A conversions, and will be converted to
Analog voltage control signal exports to voltage-controlled amplifier to control its gain.
Described pulse laser short range dynamic gain control circuit, the circuit also includes low pass filter, the low pass filtered
Ripple device is used to be smoothed analog voltage control signal, and its input connects the output end of D/A converter, its output end
Connect the voltage control signal input of voltage-controlled amplifier.
Described pulse laser short range dynamic gain control circuit, the voltage-controlled amplifier uses VCA810 cake cores.
Compared with prior art, the advantage of the invention is that only needing to the sensitivity-frequency control curve previously generated just
The amplitude of laser pulse echo-signal can be controlled, is kept it in the manageable scope of linear amplifier, the present invention can
To avoid aim in short distance echo signal intensity saturation, so that the precision of short range ranging is improved, and also circuit structure is very simple.
Brief description of the drawings
Fig. 1 is the structural representation of the specific embodiment of the invention；
Fig. 2 is that the present invention is used for the theory diagram of pulsed laser ranging system；
Fig. 3 is the specific example structure chart of the voltage-controlled amplifier and intermediate amplifier for pulsed laser ranging receiver；
Fig. 4 is echo signal intensity and the graph of relation of time in pulsed laser ranging；
Fig. 5 is voltage control signal and the graph of relation of time；
Fig. 6 is VCA810 multiplication factor and the graph of relation of time；
Fig. 7 is the echo signal intensity and the graph of relation of time after VCA810 is handled.
Embodiment
Below in conjunction with the accompanying drawings the present invention is further illustrated with specific embodiment.
As shown in figure 1, a kind of pulse laser short range dynamic gain control circuit, including the conversion of fpga chip 11, high-speed d/a
Device 12 and low pass filter 13, fpga chip 11 are provided with STC control machines module 111 and ROM module 112.STC control machine modules
111 are connected with the interactive signal of ROM module 112, the signal output part connection high-speed a/d converter 12 of STC control machines module 111
Signal input part, the signal output part of high-speed a/d converter 12 connects the signal input part of low pass filter 13, LPF
The signal output part of device 13 connects the voltage control signal input of voltage-controlled amplifier 2.
The operation principle of the present invention：
As shown in Fig. 2 pulsed laser ranging system includes processor 100, emitter 200 and receiver 300, the present invention is used
Voltage-controlled amplifier 2 in receiver 300 carries out gain control, and for ease of description, the present invention is designated as into STC circuits 1.
Mersure Controler in processor 100 shares a fpga chip 11 with the STC circuits 1 in receiver 300.Measurement
Controller produces a branch of narrow pulse signal LDTRIG and visited to trigger the PIN in the generation pulse laser of emitter 200, emitter 200
Device is surveyed to obtain the initial time of laser time of flight and give the timing circuit in processor 100；Receiver 300 receives what is returned
Laser pulse echo-signal, is sent to after preamplifier, voltage-controlled amplifier 2 and intermediate amplifier 3 amplify and differentiates electricity constantly
Road, produces laser time of flight end time and simultaneously gives the timing circuit in processor 100, timing circuit using initial time with
End time calculates laser time of flight difference to calculate laser flying distance.STC circuits 1 in receiver 300 are produced
Voltage control signal controls the gain size of voltage-controlled amplifier 2, thus ensure laser pulse echo signal intensity without departing from
The linear process scope of intermediate amplifier 3.
STC circuits 1 produce voltage control signal to control the gain size of voltage-controlled amplifier 2, and detailed process is：
While the narrow pulse signal LDTRIG triggering emitters 200 that Mersure Controler is produced produce pulse laser, start
STC control machines 111 read the voltage control signal previously generated and the relation curve of the time i.e. spirit of the memory storage of ROM module 112
Sensitivity time control curve data, and by the data output of reading to high speed D/A converter 12, high-speed d/a converter 12 is exported
Analog voltage control signal, generates voltage control signal Vcon to control in receiver 300 after low pass filter 13 is smooth
The gain size of voltage-controlled amplifier 2.
Voltage-controlled amplifier 2 is made up of the variable gain amplifier and its peripheral resistor network of control end with voltage, in order to full
The demand of sufficient nanosecond pulse laser, variable gain amplifier will select the amplifier of high bandwidth and high-gain adjustable range, such as
VCA810 etc..VCA810 control voltage and the relation of multiplication factor are：
G=10-2(Vcon+1) (1)
Wherein, Vcon represents voltage control signal, and scope is [0, -2V]；G represents multiplication factor.
ROM module 112 on the strap of fpga chip 11, sensitivity-frequency control curve data is stored in ROM module 112,
Advantage of this is that the speed of service is very high on piece, it is easy to the data of high-speed d/a converter 12 to update.
The acquisition methods of sensitivity-frequency control curve, one be can directly calculate the laser pulse echo-signal of actual measurement with
The relation of distance, then calculates voltage control signal and the relation apart from (time), and this method is comparatively laborious.It is also a kind of
Simple method, using following radar equation (2), generates echo signal intensity and the relation curve of time, such as in matlab
It is 0ns~400ns, corresponding distance present invention is generally directed to the plot against time scope of local control, therefore generation shown in Fig. 4
Scope is 0~60m, main in 30ns~300ns for time curve ranges of concern；Matlab is recycled, and is combined
The requirement of control, the triangle ramp signal required for generation, as shown in figure 5, controlling VCA810's using triangle ramp signal
Gain.
Wherein, PreceiverRepresent receiving power, τ0Represent the optical efficiency of receiver, τaRepresent propagation in atmosphere efficiency, DRTable
Show the optical aperture of receiver, ρtRepresent the reflectivity of measured target, PtTransmitting luminous power is represented, R represents measured target distance.
From radar equation (2), laser pulse echo signal power is receiving power PreceiverWith measured target apart from R
Square be substantially inversely proportional.When apart from dynamic range be 1:When 10, the dynamic range of echo signal power is about 1:
100, because echo-signal amplitude is directly proportional to echo signal power, therefore the dynamic range of echo-signal amplitude is also about 1:
100, and the dynamic range for the echo-signal amplitude that linear operational amplifier can be handled is generally 1:10, therefore, how
Echo-signal amplitude is in the manageable dynamic range of linear operational amplifier, range accuracy will be related to
One key factor.
Fig. 3 is the theory diagram of voltage-controlled amplifier 2 and intermediate amplifier 3, and voltage-controlled amplifier 2 uses variable gain amplifier
VCA810, intermediate amplifier 3 is using current feedback amplifier AD8009 composition two-stage direct proportion amplifications, and multiplication factor maximum can
Up to 100 times.VCA810 Vcon ends are the inputs of voltage control signal, and control method is to weaken echo letter in nearer distance
Number amplitude, echo-signal amplitude is amplified in larger distance, as shown in fig. 6, VCA810 multiplication factors when closely are less than 1,
Multiplication factor is more than 1 when remote.By VCA810 processing after echo signal intensity, as shown in fig. 7,30ns~
In the range of 300ns, minimum strength is 0.19 × 106, maximum intensity is 0.76 × 106(although volume unit is taken as volt in Fig. 7,
But substantially it is relative quantity, not absolute magnitude), changes in amplitude is within 4 times, enough subsequent conditioning circuit processing.
The sensitivity-frequency control STC (sensitivity time control) of the present invention refers to that control pulse laser is surveyed
Away from receiver sensitivity time to time change in system, receiver sensitivity is incremented by with the time, to the echo-signal of aim in short distance
Strength retrogression is larger, thus ensure aim in short distance echo signal intensity will not saturation, and the echo-signal to remote object is strong
Degree decay is smaller, it is ensured that the echo signal intensity of remote object has sufficiently large gain.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the model of the present invention
Enclose and be defined, on the premise of design spirit of the present invention is not departed from, technical side of the those of ordinary skill in the art to the present invention
In various modifications and improvement that case is made, the protection domain that claims of the present invention determination all should be fallen into.
Claims (3)
1. a kind of pulse laser short range dynamic gain control circuit, for pulsed laser ranging receiver, the receiver includes
Voltage-controlled amplifier, it is characterised in that：The circuit includes fpga chip and D/A converter, and the fpga chip is provided with ROM module
With STC control machine modules；
The ROM module, for storing the voltage control signal previously generated and the i.e. Sensitivity Time control of the relation curve of time
Curve data processed；
The STC control machines module, the spirit for reading ROM module memory storage under the triggering of the FPGA narrow pulse signals produced
Sensitivity time control curve data, and by the data output of reading to D/A converter；
The D/A converter uses high-speed d/a converter, for sensitivity-frequency control curve data to be carried out into D/A conversions, and
The analog voltage control signal being converted to is exported to voltage-controlled amplifier to control its gain；
The generation of the sensitivity-frequency control curve includes：
A, using following radar equation, echo signal intensity and the relation curve of time are generated in matlab：
Wherein,Represent receiving power,The optical efficiency of receiver is represented,Propagation in atmosphere efficiency is represented,Table
Show the optical aperture of receiver,The reflectivity of measured target is represented,Transmitting luminous power is represented,Represent measured target distance；
B, recycling matlab, and combine the control voltage of voltage-controlled amplifier and the relation of multiplication factor, three required for generation
Angle ramp signal.
2. pulse laser short range dynamic gain control circuit according to claim 1, it is characterised in that：The circuit also includes
Low pass filter, the low pass filter is used to be smoothed analog voltage control signal, and its input connection D/A turns
The output end of parallel operation, its output end connects the voltage control signal input of voltage-controlled amplifier.
3. pulse laser short range dynamic gain control circuit according to claim 1, it is characterised in that：The voltage-controlled amplification
Device uses VCA810 cake cores.
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| CN201510165757.0A CN104777471B (en) | 2015-04-09 | 2015-04-09 | A kind of pulse laser short range dynamic gain control circuit |
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| CN201510165757.0A CN104777471B (en) | 2015-04-09 | 2015-04-09 | A kind of pulse laser short range dynamic gain control circuit |
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| CN104777471B true CN104777471B (en) | 2017-07-21 |
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| CN109212549A (en) * | 2018-08-15 | 2019-01-15 | 南京理工大学 | Solid-state laser radar system based on LCD phased array |
| CN111684300B (en) * | 2019-01-09 | 2023-08-08 | 深圳市大疆创新科技有限公司 | Signal amplification method and device and distance measuring device |
| US11719792B2 (en) | 2020-08-21 | 2023-08-08 | Lg Innotek Co., Ltd. | Systems and methods for intra-shot dynamic adjustment of LIDAR detector gain |
| CN113625247B (en) * | 2021-10-11 | 2022-03-04 | 北京一径科技有限公司 | Control method and device and laser radar |
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| US7312856B2 (en) * | 2002-09-12 | 2007-12-25 | Lockheed Martin Corporation | Programmable pulse capture device with automatic gain control |
| CN201947252U (en) * | 2010-11-19 | 2011-08-24 | 无锡华测电子系统有限公司 | Radio-frequency sensitivity control device for receiver |
| JP5889152B2 (en) * | 2012-09-20 | 2016-03-22 | オムロンオートモーティブエレクトロニクス株式会社 | Light receiving circuit, laser radar |
| CN203037846U (en) * | 2012-11-30 | 2013-07-03 | 华北电力大学 | Optical receiving unit of phase type laser range finder |
| CN104330775A (en) * | 2014-10-17 | 2015-02-04 | 西安电子工程研究所 | Attenuation control method of digital STC attenuation circuit |
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| "一种应用于脉冲激光测距系统的宽动态－高速接收电路";王强等;《山东科学》;20120430;第25卷(第2期);第53-58页 * |
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Granted publication date: 20170721 |