CN106646511A - Reconstruction processing method of laser reflection tomography projection data - Google Patents
Reconstruction processing method of laser reflection tomography projection data Download PDFInfo
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- CN106646511A CN106646511A CN201610879285.XA CN201610879285A CN106646511A CN 106646511 A CN106646511 A CN 106646511A CN 201610879285 A CN201610879285 A CN 201610879285A CN 106646511 A CN106646511 A CN 106646511A
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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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
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
- G01S7/4876—Extracting wanted echo signals, e.g. pulse detection by removing unwanted signals
Abstract
The present invention provides a reconstruction processing method of laser reflection tomography projection data. According to the method, filtered and normalized laser echo pulses which are vertically emitted by a target are adopted as reference echo pulses, and target laser echo data are recovered from received laser echo pulse data and are adopted as projection data of target image reconstruction to reconstruct a target contour image. The target laser echo data are recovered from the laser echo pulse data based on the reference echo pulses, and therefore, the method of the invention is simple, easy to implement, and can reduce the influence of non-target characteristics such as atmospheric modulation and detector response. The data are adopted as the projection data of the target image reconstruction, and therefore, the spatial resolution of a reconstructed target image is improved.
Description
Technical field
The invention belongs to laser imaging field of detecting, specifically a kind of to be used for based on Range resolution laser reflection layer
The reconstruction processing method of analysis projection data.
Background technology
Laser reflection tomography (being based on Range resolution) is by the tomography (Computer of medical domain
Tomography, abbreviation CT) a kind of principle distant-range high-precision imaging method for being incorporated in laser imaging and being formed
(F.K.Knight,S.R.Kulkarni,R.M.Marino,and J.K.Parker.Tomographic Techniques
Applied to Laser Radar Reflective Measurements[J],The Lincoln Laboratory
Journal.Vol.2 No.2 (1989)), its principle is to swash target illuminated, and laser pulse is reflected by target surface, and target is not
The time response of laser pulse is modulated with the surface characteristic at visual angle, changes the shape of laser pulse echo, collected around mesh
Target reflective projection data of the mark after being rotated by 360 ° under different angles, (algorithms most in use has filter to recycle reflection tomographic algorithm
Two kinds of ripple backprojection algorithm and Fourier's Slicing Algorithm) rebuild target image, you can obtain the cross-sectional profiles picture of target.With CT
Except for the difference that laser reflection tomography is based on the reflectance signature coefficient of body surface, and CT foundations are the saturating of interior of articles
Penetrate characteristic coefficient.
In laser reflection tomography target image rebuild be will obtain target reflective projection data Jing convolutional filtering and
Return and smear what is obtained, image pixel strength information is added up by calculating reflection echo intensity of this o'clock in the range of 360 degree
, thus the quality of the target reflective projection quality of data will directly affect the objective image quality height of reconstruction.In practice,
The reflective projection data collected in laser reflection tomography are not exactly merely target reflective projection data, but by
Each target is to laser firing pulses common modulation gained in laser firing signals, propagation in atmosphere medium, detection receiving circuit, hot spot
The laser signal stack combinations for arriving, target surface characteristic is only partial action factor therein, also includes when wherein and detects
Receiving circuit response and noise etc..If the reflective projection data for collecting are directly substituted in reflection tomographic algorithm to weigh
Target image is built, reconstructed image quality and spatial resolution will necessarily be reduced.Therefore, it is the quality of raising Object reconstruction image,
It is accomplished by the Raw projection data to collecting i.e. laser echo signal and is reconstructed process, extracts and belong to each target in hot spot
Laser firing pulses are modulated with formed return laser beam data, and as data for projection, is substituted into reflection tomographic and is calculated
Image reconstruction is carried out in method, so as to improve the target image spatial imaging resolution of reconstruction.Therefore, it is necessary to Study of Laser reflection
The reconstruction processing method of tomography data for projection, improves the quality of object reconstruction image.
The present invention is exactly conceived to this demand, obtained by section vertical incidence and filtered and return using facing to target
One change process laser echo pulse as Basic wave pulse (Zhang Li, Chen Yuwei, Zhang Haihong etc. earth observation laser imaging
[J] is studied in Basic wave pulse. infrared and laser engineering, 2004,33 (3):260-263), from the return laser beam arteries and veins for collecting
Extract in punching and the target laser echo data for including target property information for being formed is acted on by target modulation, using as reflection
Data for projection improves the quality of data for projection carrying out target image reconstruction, reduces air modulation, detection in return laser beam data
The non-targeted characteristics such as device response improve the quality of object reconstruction image with other factor impact.
The content of the invention
The technical problem to be solved in the present invention is to extract to act on shape by target modulation from the laser echo pulse of collection
Into the target laser echo data for including target property information, farthest reduce explorer response, the non-mesh such as noise
Impact of the mark characteristic with other factor to laser reflection tomography Object reconstruction image.The present invention provides a kind of laser reflection chromatography
The reconstruction processing method of projection data, the method principle reliability is simple, can effectively improve laser reflection and chromatograph into
The Object reconstruction picture quality of picture.
The particular technique solution of the present invention is as follows：
A kind of reconstruction processing method of laser reflection tomography data for projection, it is with laser arteries and veins that its feature is the method
Punching impinges perpendicularly on target, and certain faces on section gained and filtered and normalized unsaturation laser echo pulse
As Basic wave pulse, carry in the original laser echo impulse data that recycling Basic wave pulse is collected from detector
Target laser echo data pulse is taken out, in this, as the data for projection of laser reflection tomographic reconstruction target image.Specifically
Comprise the following steps：
1. laser instrument sends laser pulse, and hot spot is adjusted by adjusting beam expanding lens focal length again Jing after gradual change decay mirror decay
Size, makes the laser facula outline reached at detection target that whole detection target is completely covered.
2. target certain section will be detected perpendicular to laser direction of illumination so that the nanosecond laser simple venation of laser instrument transmitting
Vertical irradiation is rushed to the above-mentioned section of detection target, the initial probe angle detected in the case of this corresponding to target is defined as
φ0, the φ0It is to determine in plane in laser instrument, detector and detection target, laser instrument inceptive impulse direction and horizontal direction
Angle, detection acquisition system gather in angle φ0Lower corresponding return laser beam data p (φ after detection target modulation0,
t0)；
3. detection target is rotated after Δ φ, detection angle is changed into φ1=φ0+ Δ φ, laser instrument launches again nanosecond
Return laser beam data p (φ of the pulse irradiation in detection target, under detector collection corresponding angle1,t1)；Detect target edge again
Same direction continues to rotate Δ φ, and detection angle is changed into φ2=φ0+ 2 Δ φ, laser instrument launches again pulse irradiation to detection target
On, detect the return laser beam data p (φ under acquisition system record corresponding angle2,t2)；Repeat the above steps, until detection target
It is rotated by 360 °, obtains all common N groups laser reflection echo data Ji Ji [p (φ0,t0),p(φ1,t1)…p(φN-1,tN-1)],
Wherein N >=360 °/Δ φ and N are positive integer；
4. the laser reflection echo data collection [p (φ for collecting are observed0,t0),p(φ1,t1)…p(φN-1,tN-1)], carry
The maximal peak point of each echo data is taken as characteristic point, laser echo identities spot projection range delay is changed into the time and is prolonged
Late, central projection will be rotated under multiple angles to be arranged under a certain straight line, so as to data for projection be aligned, obtains laser anti-
Penetrate the perspective view p (φ of tomographyi,ti), wherein i=0,1,2 ... N-1；
5. the reflection echo data p (φ to collecting0,t0) be filtered and normalized, the laser after being processed
Echo data p1(φ0,t0), this is Basic wave pulse；
6. respectively to Basic wave pulse p1(φ0,t0) and data for projection set p (φi,ti) do Fourier transformation obtain from
Scattered frequency spectrum P1(ω) with P (ω), then by P (ω) divided by P1(ω) P is obtained2(ω)；
7. to P2(ω) inverse Fourier transform is done, obtains the data for projection collection p after reconstruction processing2(φi,ti)；
8. data for projection collection p after the reconstruction processing for 7. step being obtained2(φi,ti) as rebuild detecting target image most
Whole data for projection, in substituting into laser reflection tomography Processing Algorithm, reconstruction obtains detecting the cross-sectional outling image of target.
Preferably, the width of the 1. described laser pulse of step is 1ns.
Preferably, 3. described anglec of rotation Δ φ≤0.5 ° of step.
Preferably, 5. the filtering and normalized are that reflection echo data are carried out using Wiener filtering algorithm to step
Noise reduction, and by the use of the maximum of reflection echo data as denominator, reflection echo data are obtained divided by reflection echo data maximums
Echo data to after normalization.
The technique effect of the present invention is as follows：
The quality of data for projection in laser reflection tomography can be improved using the present invention, using the data for projection after process
To rebuild target image, the target image imaging resolution rebuild can be effectively improved.
Description of the drawings
Fig. 1 is laser irradiation target spot area and detection target shape；
Fig. 2 is the initial included angle for detecting target0With anglec of rotation interval delta φ schematic diagram；
Fig. 3 is reconstructing projection data process flow block diagram；
Fig. 4 is former cube detection target pattern；
Fig. 5 is according to the Object reconstruction image obtained after the inventive method process；
Fig. 6 is using without the Object reconstruction image obtained by the data for projection of reconstruction processing.
Reference：1, laser instrument；2, beam expanding lens；3, laser irradiation area；4, detect target；5, receiving telescope；6, swash
Optical echo；7, detector；8, optical fiber；9, detect acquisition system；10, detect light beam；11, detecting movements of objects track.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in more detail.A kind of laser reflection is chromatographed into
As reconstructing projection data processing method, as shown in figure 3, comprising the following steps：
1. nanosecond laser instrument 1 sends laser pulse, and laser pulse width is 1ns, adjusts the decay system of gradual change decay mirror
Number, by adjusting the focal length of beam expanding lens 2 laser facula size is adjusted, and makes to reach swashing at detection target 4 through laser irradiation area 3
Light hot spot outline can be completely covered whole detection target 4, as shown in Figure 1.
2. certain section of target 4 will be detected perpendicular to laser direction of illumination so that the nanosecond laser list of the transmitting of laser instrument 1
Pulse vertical irradiation is on the detection above-mentioned section of target 4.Two are set up with laser instrument 1, detection target 4 and the place plane of detector 7
Dimension coordinate system, by the initial angle that now laser pulse is irradiated to detection target 4 φ is defined as0, as shown in Figure 2.1, laser instrument
Go out pulse to be irradiated in detection target 4, receiving telescope 5 collects detection target and reflects what irradiated laser pulse was formed
Return laser beam 6, the return laser beam 6 that the detection receiving telescope 5 of detector 7 is received, and electric signal is converted optical signals to, Jing light
Fine 8 deliver to detection acquisition system 9, and the detection acquisition and recording of acquisition system 9 is in angle φ0Under, swashing after objective contour modulation
Light reflection echo data p (φ0,t0)；
3. to detect the barycenter of target 4 as reference axis origin, between detection target 4 makees " step one is stopped " formula angularly around its barycenter
Every rotation, its rotational trajectory such as detecting movements of objects track 11.Return laser beam 6 for target under intensive sampling difference angle is believed
Breath, can set anglec of rotation interval delta φ≤0.5 °.Anglec of rotation interval delta φ of target 4 will be detected, now detection angle is changed into
φ1=φ0+ Δ φ, laser instrument 1 is launched again laser pulse and is irradiated in detection target 4, and detection acquisition system 9 gathers the angle
Under reflective projection echo data p (φ1,t1)；Anglec of rotation interval delta φ again of target 4 is detected, now detection angle is changed into φ2
=φ0+ 2 Δ φ, laser instrument 1 launches again pulse irradiation to detection target 4, and detection acquisition system 9 records anti-under the angle
Penetrate projection echo data p (φ2,t2)；Repeat the above steps, until detection target 4 is rotated by 360 °, collect altogether the reflection of N groups
Projection echo data [p (φ0,t0),p(φ1,t1)…p(φN-1,tN-1)], wherein, N >=360 °/Δ φ and N are positive integer；
4. the reflective projection echo data [p (φ for collecting are observed0,t0),p(φ1,t1)…p(φN-1,tN-1)], extract
The peak point of each echo data changes into time delay as characteristic point the projecting characteristic points range delay of return laser beam 6, will
N times reflective projection echo data p (φi,ti) the projection of pivot be arranged under same straight line, obtain the throwing under every angle
Shadow central point, then weaken the evaluated error because peak point is caused as the characteristic point of tracking by seeking desired method, obtain
Perspective view p (φ after alignmenti,ti), wherein i=0,1,2 ... N-1.Wherein perspective view p (φi,ti) it is with regard to angle and light intensity
The information pattern of distribution；
5. to the data p (φ of return laser beam 60,t0) process is filtered, the noise in return laser beam 6 is filtered, then to filtering
Return laser beam 6 after process is normalized, and obtains Basic wave pulse p1(φ0,t0)；
6. respectively to Basic wave pulse p1(φ0,t0) and data for projection set p (φi,ti) do Fourier transformation obtain from
Scattered frequency spectrum P1(ω) with P (ω), then by P (ω) divided by P1(ω) P is obtained2(ω)；
7. to P2(ω) inverse Fourier transform is done, obtains the data for projection collection p after reconstruction processing2(φi,ti)。
8. by p2(φi,ti) as data for projection can substitute into laser reflection tomography Processing Algorithm-filtered back projection into
As in algorithm, you can the objective contour reconstruction image after being rebuild.
We are verified using laser reflection tomography experimental system and the inventive method, using one 30cm × 30cm
Used as detection target 4, as shown in figure 4, system range resolution ratio Δ R=15cm, then object rebuilds completely institute to × 30cm cubes
The projection angle interval of needs xmaxRefer to target size
30cm.Δ φ=0.5 ° in experiment, the data for projection number of sets of sample takes and meets the 720 of condition, detects target 4 with laser instrument 1, detection
Device 7 is apart from for 40m.Implement experimental verification according to concrete steps of the present invention successively, reconstruction image is as shown in figure 5, Fig. 6 is without number
The target image for obtaining is rebuild according to reconstruction processing, may certify that the reconstructing projection data processing method of the present invention can be effectively improved
The quality of laser reflection tomographic reconstruction target image.
The above embodiment 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 without departing from design spirit of the present invention, technical side of the those of ordinary skill in the art to the present invention
Various modifications and improvement that case is made, all should fall in the protection domain of claims of the present invention determination.
Claims (5)
1. a kind of reconstruction processing method of laser reflection tomography data for projection, it is characterised in that：The method gathers first sharp
Certain faces laser echo pulse obtained by section to light vertical incidence target, then above-mentioned laser echo pulse is filtered and is returned
One change is processed, and obtains Basic wave pulse；Basic wave pulse is recycled to recover from the laser echo pulse data of collection
The processing method of the return laser beam data comprising target property information for being formed is acted on by target modulation.
2. a kind of reconstruction processing method of laser reflection tomography data for projection according to claim 1, its feature exists
In comprising the following steps that：
1. nanosecond laser instrument sends laser pulse, and light is adjusted by adjusting beam expanding lens focal length again Jing after gradual change decay mirror decay
Spot size, makes the laser facula outline reached at detection target that whole detection target is completely covered；
2. by certain plane of detection target perpendicular to laser direction of illumination so that the nanosecond single laser pulse of laser instrument transmitting
Vertical irradiation is defined as the initial probe angle detected in the case of this corresponding to target in the above-mentioned plane of detection target
φ0, the φ0It is to determine in plane in laser instrument, detector and detection target, laser instrument inceptive impulse direction and horizontal direction
Angle, detection acquisition system record in angle φ0Lower corresponding reflection echo data p (φ after detection target modulation0,
t0)；
3. detection target is rotated after Δ φ, detection angle is changed into φ1=φ0+ Δ φ, laser instrument launches again nanosecond pulse photograph
It is mapped in detection target, the reflective projection data p (φ under detector collection corresponding angle1,t1)；Detection target is again along same side
To continuing to rotate Δ φ, detection angle is changed into φ2=φ0+ 2 Δ φ, laser instrument launches again pulse irradiation to detection target, visits
The reflection echo data p (φ surveyed under acquisition system record corresponding angle2,t2)；Repeat the above steps, until detection target rotation
360 °, obtain all common N groups reflection echo data set [p (φ0,t0),p(φ1,t1)…p(φN-1,tN-1)], wherein N >=
360 °/Δ φ and N are positive integer；
4. the reflection echo data set [p (φ that observation detection acquisition system is gathered0,t0),p(φ1,t1)…p(φN-1,tN-1)], carry
The maximal peak point of each echo data is taken as characteristic point, laser echo identities spot projection range delay is changed into the time and is prolonged
Late, central projection will be rotated under multiple angles to be arranged under a certain straight line, so as to data for projection be aligned, obtains reflecting layer
The data for projection set p (φ of analysis imagingi,ti), wherein i=0,1,2 ... N-1；
5. the reflection echo data p (φ that detection target certain plane is collected is irradiated to laser vertical0,t0) be filtered and
Normalized, with reflection echo data p after process1(φ0,t0) as Basic wave pulse；
6. respectively to Basic wave pulse p1(φ0,t0) and data for projection set p (φi,ti) do Fourier transformation and obtain discrete frequency
Spectrum P1(ω) with P (ω), then by P (ω) divided by P1(ω) P is obtained2(ω)；
7. to P2(ω) inverse Fourier transform is done, obtains the data for projection collection p after reconstruction processing2(φi,ti)；
8. data for projection collection p after the reconstruction processing for 7. step being obtained2(φi,ti) as the final throwing for rebuilding detecting target image
Shadow data, in substituting into laser reflection tomography Processing Algorithm, reconstruction obtains detecting the cross-sectional outling image of target.
3. a kind of reconstruction processing method of laser reflection tomography data for projection according to claim 1, its feature exists
In：The width of the 1. described laser pulse of step is 1ns.
4. a kind of reconstruction processing method of laser reflection tomography data for projection according to claim 1, its feature exists
In：3. described anglec of rotation Δ φ≤0.5 ° of step.
5. a kind of reconstruction processing method of laser reflection tomography data for projection according to claim 2, its feature exists
In：5. the filtering and normalized are to carry out noise reduction to reflection echo data using Wiener filtering algorithm to step, and are utilized
The maximum of reflection echo data as denominator, after reflection echo data are normalized divided by reflection echo data maximums
Echo data.
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Cited By (7)
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| CN110703223A (en) * | 2019-11-07 | 2020-01-17 | 上海禾赛光电科技有限公司 | Adjusting method applied to laser radar and electronic equipment |
| CN110850432A (en) * | 2018-07-25 | 2020-02-28 | 中国人民解放军国防科技大学 | Method for resolving reflectivity distribution of laser reflection tomography target |
| CN110850433A (en) * | 2018-07-25 | 2020-02-28 | 中国人民解放军国防科技大学 | Method for detecting mass center of space debris based on laser reflection tomography technology |
| CN111010505A (en) * | 2019-11-07 | 2020-04-14 | 广东工业大学 | Transient scene reconstruction algorithm and device |
| CN113253295A (en) * | 2021-06-22 | 2021-08-13 | 中国人民解放军国防科技大学 | Laser reflection tomography multi-angle laser echo registration method |
| CN114397668A (en) * | 2022-01-13 | 2022-04-26 | 中国人民解放军国防科技大学 | Method and system for estimating centroid distance of small space debris based on laser reflection chromatography |
| CN116184427A (en) * | 2022-12-21 | 2023-05-30 | 湖南迈克森伟电子科技有限公司 | Distance detection system based on laser distance sensing technology |
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| CN110850432A (en) * | 2018-07-25 | 2020-02-28 | 中国人民解放军国防科技大学 | Method for resolving reflectivity distribution of laser reflection tomography target |
| CN110850433A (en) * | 2018-07-25 | 2020-02-28 | 中国人民解放军国防科技大学 | Method for detecting mass center of space debris based on laser reflection tomography technology |
| CN110703223A (en) * | 2019-11-07 | 2020-01-17 | 上海禾赛光电科技有限公司 | Adjusting method applied to laser radar and electronic equipment |
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| CN110703223B (en) * | 2019-11-07 | 2023-06-30 | 上海禾赛科技有限公司 | Adjusting method applied to laser radar and electronic equipment |
| CN113253295A (en) * | 2021-06-22 | 2021-08-13 | 中国人民解放军国防科技大学 | Laser reflection tomography multi-angle laser echo registration method |
| CN114397668A (en) * | 2022-01-13 | 2022-04-26 | 中国人民解放军国防科技大学 | Method and system for estimating centroid distance of small space debris based on laser reflection chromatography |
| CN116184427A (en) * | 2022-12-21 | 2023-05-30 | 湖南迈克森伟电子科技有限公司 | Distance detection system based on laser distance sensing technology |
| CN116184427B (en) * | 2022-12-21 | 2023-12-29 | 湖南迈克森伟电子科技有限公司 | Distance detection system based on laser distance sensing technology |
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