CN106886014B - Dual receive channel for pulsed lidar - Google Patents
Dual receive channel for pulsed lidar Download PDFInfo
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- CN106886014B CN106886014B CN201710179039.8A CN201710179039A CN106886014B CN 106886014 B CN106886014 B CN 106886014B CN 201710179039 A CN201710179039 A CN 201710179039A CN 106886014 B CN106886014 B CN 106886014B
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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
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
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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
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Abstract
The invention discloses a double-receiving channel of a pulse laser radar. The device comprises a front edge moment identification channel, a Gao Tongrong resistance moment identification channel and a gate circuit, wherein in the front edge moment identification channel, an input signal is added to a positive input end of a threshold comparator, a power supply is added to a negative input end of the threshold comparator through a potentiometer, and the threshold can be adjusted according to the potentiometer; gao Tongrong in the time identifying channel, an input signal is processed by a high-pass filtering unit and then is added to the positive input end of the high-speed comparator, an externally added comparison voltage is added to the negative input end of the high-speed comparator through a potentiometer, the state of rotation of the high-speed comparator occurs at the time when the two input signals are equal, and the high-pass filtering times are selectable; the outputs of the threshold comparator and the high-speed comparator pass through a gate phase and the output signal is the identified laser echo time. The invention can effectively reduce timing drift errors caused by echo amplitude and noise interference and improve the precision.
Description
Technical Field
The invention relates to the field of laser measurement, in particular to a high-precision moment identification circuit which is applied to the field of laser ranging.
Technical Field
With the development of laser technology, the technology of laser ranging has tended to be perfect and mature, wherein the pulse laser ranging method is rapidly developed and widely applied. The pulse laser measurement adopts a laser as a light source, the emitted laser is received by the distance meter after being reflected by the measured object, the distance meter records the laser round trip time at the same time, and half of the product of the light speed and the round trip time is the distance between the distance meter and the measured object.
In order to detect the arrival time of a laser echo pulse, a time discrimination circuit is generally used, and the purpose of time discrimination is to convert an analog signal of a laser echo into a digital logic signal having time information. When the amplitude of the input signal meets the set requirement, a trigger signal is generated to convert the analog signal into a digital signal represented by a high-low level.
The main time identification methods at present comprise leading edge time identification, constant ratio time identification and Gao Tongrong resistance time identification; the front edge moment identification circuit has a simple structure, but the accuracy is affected by the echo amplitude, and the threshold value is not set well; constant ratio timing discrimination is not affected by echo amplitude, but when a remote target is measured, echo pulses are weak, the signal to noise ratio is low, corresponding time disturbance can be generated, and therefore accuracy of time discrimination is affected; the identification time point of the Gao Tongrong resistance time identification circuit is generally at the pulse amplitude point, but the time drift is larger; the invention with the application number of 201510200729.8 discloses a research of a double-channel time identification circuit, which has the defects that: the combination of constant ratio time discrimination and leading edge time discrimination cannot greatly improve the time discrimination precision, but only reduces false alarm probability. In order to be able to solve timing errors caused by waveform variations and noise disturbances at the same time, it is necessary to improve and perfect the above-mentioned time discrimination circuit.
Disclosure of Invention
The invention aims to provide a double-receiving channel of a pulse laser radar, which can effectively avoid drift errors caused by echo amplitude and echo interference, reduce false alarm and false alarm probability, and improve the accuracy of time discrimination, thereby further effectively improving the measurement accuracy of pulse laser ranging.
The invention is realized by adopting the following technical scheme: a dual receiving channel of pulse laser radar comprises a front edge moment identification channel, a Gao Tongrong resistance moment identification channel and a gate circuit; in the front edge moment identification channel, an input signal is added to a positive input end of a threshold comparator, a power supply voltage is added to a negative input end of the threshold comparator through a potentiometer, and the threshold can be adjusted according to the potentiometer; gao Tongrong the time identifying channel, the high-pass filtering times are controllable, the input signal is differentially processed by the high-pass filtering unit and then is added to the positive input end of the high-speed comparator, the externally added comparison voltage is added to the negative input end of the high-speed comparator through the potentiometer, and the state of rotation of the high-speed comparator occurs at the time when the signals of the two input ends are equal; the outputs of the threshold comparator and the high speed comparator are passed through a gate phase.
The beneficial effects of the invention are as follows: the dual receiving channels of the pulse laser radar are adopted, and comprise a front edge moment identification channel and a Gao Tongrong moment identification channel which are combined, so that the arrival moment of a laser echo is obtained and determined together, the moment identification precision is improved, and the measurement false alarm probability is reduced; on the one hand, the front edge moment identification channel can avoid false triggering caused by noise interference superimposed on laser echo at the identification moment by setting a proper threshold value; on the other hand, the Gao Tongrong time identifying channel effectively solves the time play caused by the change of the amplitude of the laser echo pulse, so that the identified time is not influenced by the change of the amplitude of the echo; the invention is suitable for the detection of high-energy narrow pulses and large distance ranges, and can overcome timing errors caused by waveform changes and noise interference.
Drawings
Fig. 1 is a functional block diagram of the present invention.
Fig. 2 is a circuit diagram of a receive channel of the present invention for identifying the channel at the time of its leading edge.
Fig. 3 is a circuit diagram of a high-pass-resistance time discrimination channel in a receiving channel according to the present invention.
Fig. 4 is a graph of the receive channel discrimination time versus the input signal amplitude in accordance with the present invention.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings.
Examples:
referring to fig. 1, a dual receiving channel of a pulse laser radar includes a front-edge time identifying channel and a Gao Tongrong resistance time identifying channel, in the front-edge time identifying channel, an input signal is applied to a positive input end of a threshold comparator, a power supply voltage is applied to a negative input end of the threshold comparator via a potentiometer, and a threshold can be adjusted according to the potentiometer; gao Tongrong in the time identifying channel, the high-pass filtering times are selectable, the input signal is differentially processed by the high-pass filtering unit and then is added to the reverse input end of the high-speed comparator, the externally added comparison voltage is added to the forward phase input end of the high-speed comparator through the potentiometer, and the state of rotation of the high-speed comparator occurs at the time when the signals of the two input ends are equal; the output of the threshold comparator and the high-speed comparator pass through the gate phase and the output signal is the identified laser echo time.
Referring to fig. 2, the leading-edge timing discrimination channel includes a threshold comparator U1 and a first slide rheostat R01. The positive input end of the threshold value comparator U1 is connected with the input signal Vin, and the negative input end of the threshold value comparator U1 is connected with the second pin of the first sliding rheostat R01; the first pin of the first sliding rheostat R01 is connected with the power supply VCC, and the third pin is grounded. The first sliding rheostat R01 is used as a potentiometer, and the negative input end of the threshold comparator U1 is used for setting a constant direct current level by sliding the first sliding rheostat R01 to change the resistance value, and the value of the direct current level is statistically determined according to the noise condition of the echo waveform.
Referring to fig. 3, the high-pass capacitance-resistance moment discrimination channel includes a high-speed comparator U2, a bias circuit, and a high-pass filter unit; the first capacitor C1 and the first resistor R1 form a first-stage high-pass filtering unit, an input signal Vin is added to the first end of the first capacitor C1, and the second end of the capacitor C1 is connected with the first end of the first resistor R1; the second capacitor C2 and the second resistor R2 form a two-stage high-pass filter unit, the first end of the second capacitor C2 is connected with the first end of the first resistor R1, the second end of the second capacitor C2 is connected with the first end of the second resistor R2, and the second ends of the resistors R1 and R2 are grounded; the first end of the resistor R1 and the first end of the resistor R2 are respectively connected with the first end and the second end of the switch S1; the second end of the second capacitor C2 is connected with the positive input end of the high-speed comparator U2; the positive input end of the high-speed comparator U2 is simultaneously connected with the bias circuit; the reverse input end of the high-speed comparator U2 is connected with the second pin of the third sliding rheostat R03; a first pin of the third sliding rheostat R03 is connected with a power supply VCC, and a third pin is grounded; the third sliding resistor R03 is used as a potentiometer, and the reverse input end of the high-speed comparator U2 is set to a constant direct current level by sliding the third sliding resistor R03 to change the resistance value.
Referring to fig. 3, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a second sliding resistor R02, and a third capacitor C3 form a bias circuit; the first end of the third resistor R3 is connected with the positive input end of the high-speed comparator U2, and the second end of the third resistor R3 is connected with the first end of the third capacitor C3; the first end of the fourth resistor R4 is connected with the first end of the second slide rheostat R02, and the second end of the fourth resistor R4 is connected with the +5V power VCC; the first end of the fifth resistor R5 is connected with a-5V power supply VEE, and the second end of the fifth resistor R5 is connected with the third end of the second slide rheostat R02; the second end of the second slide rheostat R02 is connected with the first end of the third capacitor C3; the second end of the third capacitor C3 is grounded; the bias circuit adjusts the partial pressure to set an initial bias voltage to the positive input end of the high-speed comparator U2 by sliding the second slide rheostat R02 to change the resistance value, so that the comparator is prevented from being in an unstable state and generating oscillation when no signal is input.
Referring to fig. 4, if the number of high-pass filtering is determined and the 1/2 of the rising edge of the echo is set as the point in time for time discrimination, the number of filtering k=2 and the drift error is
Where k is the number of filtering times, t r For the rise time of the echo signal, assuming that the rise time of the echo signal is 10ns, the calculated obtainable drift time is 5ns. The circuit parameters determined at this time are: the first resistor R1 and the second resistor R2 are 750 ohms, the first capacitor C1 and the second capacitor C2 are 1 picofarad, the third sliding resistor R03 sliding vane is positioned at 50%, the fourth resistor R4 is 1000 ohms, the fifth resistor R5 is 1000 ohms, the second sliding resistor R02 sliding vane is positioned at 20%, and the third capacitor C3 is 1 microfarad.
Referring to FIG. 4, a schematic diagram of waveforms in Gao Tongrong resistance moment discrimination channels according to theoretical analysis and experimental verification is shown in FIG. 4, in which V i And (t) is an input signal waveform. When the ranging accuracy is required to be normal, the switch S1 is closed and the signal V is input i (t) one-stage high-pass-capacitance-resistance filtering to output signal waveform V 1 (t) at this time, the discrimination time outputted by the high-speed comparator is the input signal V i The peak point of (t) corresponds to the instant; when the distance measurement accuracy is required to be high, the switch S1 is opened to input the signal V i (t) output signal waveform V after two-stage high-pass capacitive-resistive filtering 2 (t)；V o (t) is V 2 (t) triggering a pulse signal at a discrimination timing outputted by the high-speed comparator.
When the target echo signal is received, the leading edge moment identification channel detects whether the target signal reaches a threshold value, and when the received signal is larger than the set threshold value, the target is considered to be valid, so that the trigger signal is input into the gate circuit, and the trigger signal of the Gao Tongrong resistance moment identification channel is enabled to be valid.
Claims (1)
1. The double-receiving channel of the pulse laser radar comprises a front edge moment identification channel, a Gao Tongrong resistance moment identification channel and a gate circuit, and is characterized in that in the front edge moment identification channel, an input signal is connected to a positive input end of a threshold comparator, a power supply voltage is connected to a negative input end of the threshold comparator through a potentiometer, and a threshold can be adjusted according to the potentiometer; gao Tongrong in the time identifying channel, an input signal is added to the positive input end of the high-speed comparator through the high-pass filtering unit, the negative input end of the high-speed comparator is connected with an externally added adjustable comparison voltage through the potentiometer, and the high-pass filtering times are selectable; the output of the threshold comparator and the high-speed comparator pass through a gate phase and the output signal is the identified laser echo time;
the front edge moment identification channel comprises a threshold comparator and a first slide rheostat; the input signal is applied to the positive input end of the threshold comparator, and the reverse input end is connected with the second pin of the first slide rheostat; the first pin of the first slide rheostat is connected with a power supply, and the third pin is grounded; the first sliding rheostat R01 is used as a potentiometer, the negative input end of the threshold comparator U1 is used for setting a constant direct current level by sliding the first sliding rheostat R01 to change the resistance value, and the value of the direct current level is statistically determined according to the noise condition of the echo waveform;
the Gao Tongrong moment identifying channel comprises a high-speed comparator, a first resistor, a second resistor, a first capacitor, a second capacitor, a third sliding rheostat and a first switch; the first resistor and the second resistor, the first capacitor and the second capacitor form a high-pass filter unit; the first end of the first capacitor is connected with an input signal, the first capacitor and the second capacitor are connected in series, the first ends of the first resistor and the second resistor are respectively connected with the second ends of the first capacitor and the second capacitor, the second ends of the first resistor and the second resistor are grounded, the first switch is added between the first ends of the first resistor and the second resistor, and the second end of the second capacitor is connected with the positive input end of the high-speed comparator; the forward input end of the high-speed comparator is simultaneously connected with the bias circuit, the third slide rheostat R02 is used as a potentiometer, and the second end of the third slide rheostat R02 is added to the reverse input end of the high-speed comparator;
the reverse input end of the high-speed comparator is connected with the second pin of the third slide rheostat; the first pin of the third slide rheostat is connected with a power supply, and the third pin is grounded; the third slide rheostat is used as a potentiometer, and the reverse input end of the high-speed comparator is used for setting a constant direct current level by sliding the third slide rheostat to change the resistance value;
the bias circuit comprises a third resistor, a fourth resistor, a fifth resistor, a second slide rheostat and a third capacitor; the first end of the third resistor is connected with the positive input end of the high-speed comparator, and the second end of the third resistor is connected with the first end of the third capacitor; the first end of the fourth resistor is connected with the third end of the second slide rheostat, and the second end of the fourth resistor is connected with a power supply; the first end of the sixth resistor is connected with a power supply, and the second end of the sixth resistor is connected with the first end of the second slide rheostat; the second end of the second slide rheostat is connected with the first end of the third capacitor; the second end of the third capacitor is grounded;
the bias circuit adjusts the voltage division to set an initial bias voltage for the positive input end of the high-speed comparator by sliding the second sliding rheostat to change the resistance value, so that the comparator is prevented from being in an unstable state and generating oscillation when no signal is input;
determining the high-pass filtering times, setting 1/2 of the rising edge of the echo as the moment point of moment discrimination, and setting the filtering times k=2 and drift errors as
Where k is the number of filtering times, t r Assuming that the rising time of the echo signal is 10ns, calculating the available drift time to be 5ns; the circuit parameters determined at this time are: the first resistor and the second resistor are 750 ohms, the first capacitor and the second capacitor are 1 picofarad, the third slide rheostat slide sheet is positioned at 50%, the fourth resistor is 1000 ohms, the fifth resistor is 1000 ohms, the second slide rheostat slide sheet is positioned at 20%, and the third capacitor is 1 microfarad.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107678010B (en) * | 2017-10-23 | 2023-12-19 | 桂林理工大学 | Multi-order Gao Tongrong resistance moment identification circuit of pulse laser radar |
| CN108152526A (en) * | 2018-02-06 | 2018-06-12 | 中广核研究院有限公司北京分公司 | Nuclear power station main pump rotation-speed measuring device |
| CN108919235A (en) * | 2018-08-24 | 2018-11-30 | 上海星秒光电科技有限公司 | Moment discrimination circuit system |
| CN111239707B (en) * | 2018-11-28 | 2023-02-03 | 湖北华中长江光电科技有限公司 | Human eye safety double-wave gate laser detection device |
| CN110031094B (en) * | 2019-04-24 | 2021-04-02 | 中国科学院上海微系统与信息技术研究所 | System and method for improving photon number resolution capability of single photon detector |
| CN110646804B (en) * | 2019-11-05 | 2021-05-18 | 中国电子科技集团公司第四十四研究所 | Pulse time discriminating circuit based on double-pulse laser signal |
| CN113359145B (en) * | 2021-06-03 | 2023-05-16 | 郑州航空工业管理学院 | Target accurate positioning method in pulse laser ranging and application thereof |
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| CN102087312A (en) * | 2010-11-29 | 2011-06-08 | 哈尔滨工程大学 | Automatically controlled peak detector for signal |
| CN202168051U (en) * | 2011-07-25 | 2012-03-14 | 武汉理工光科股份有限公司 | Detection circuit at peak position |
| CN102621555B (en) * | 2012-01-20 | 2013-08-14 | 南京理工大学 | Double-threshold moment discriminator circuit |
| CN106160706A (en) * | 2015-04-24 | 2016-11-23 | 南京理工大学 | A kind of dual pathways moment discrimination circuit |
| CN206740969U (en) * | 2017-03-23 | 2017-12-12 | 桂林理工大学 | A kind of double reception passage of pulse lidar |
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| JPH05308245A (en) * | 1992-04-30 | 1993-11-19 | Nippon Koden Corp | High pass filter for impulse |
| CN102498663A (en) * | 2009-06-17 | 2012-06-13 | 华为技术有限公司 | Apparatus and method for class-G line driver control signal |
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