CN106908801A - A kind of relevance imaging method of guidance and device - Google Patents
A kind of relevance imaging method of guidance and device Download PDFInfo
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- CN106908801A CN106908801A CN201710075188.XA CN201710075188A CN106908801A CN 106908801 A CN106908801 A CN 106908801A CN 201710075188 A CN201710075188 A CN 201710075188A CN 106908801 A CN106908801 A CN 106908801A
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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
- 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
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J11/00—Measuring the characteristics of individual optical pulses or of optical pulse trains
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
- G01J2001/4238—Pulsed light
Abstract
The embodiment of the present invention provides a kind of relevance imaging method of guidance and device, and methods described includes：Structure light-pulse generator is produced using hadamard matrix modulation pulse laser；Using the structure light-pulse generator and high speed bucket detector, time light intensity is obtained by spline interpolation；Read the point on the time light intensity and be associated computing and obtain subject image；The range information of target is obtained using the subject image and the time light intensity.Above-mentioned technical proposal has the advantages that：By the advantage for combining flying time technology with calculate relevance imaging technology.The relevance imaging with depth information is carried out to target, the accurately range information of target is provided for image guidance, and this imaging system is imaged under having pole low light condition, not by cloud and mist interference and the advantage of high resolution, to solve the problems, such as that current image guidance provides new resolving ideas.
Description
Technical field
The present invention relates to the relevance imaging method of guidance of flying time technology, more particularly to a kind of relevance imaging method of guidance
And device.
Background technology
Mainly used in aircraft terminal guidance field at present and the Imaging Guidance technology greatly developed is infrared imaging guidance
Guided with laser imaging.Infrared imaging is a kind of real time scan infrared imagery technique, and detection is small between target and background
The radiation profiles image that error or radiation frequency difference cause, easily receives natural disturbance and artificial disturbance, aircraft is lost target.Swash
Photoimaging is easily influenceed by cloud, mist and flue dust, it is impossible to round-the-clock to use, while its imaging resolution is low, it is difficult under extremely weak background
To be imaged, this also causes early warning distance to shorten.
Current image guidance method following points limitation：(1) image is easily subject to the weather such as cloud and mist, haze, sleet
Interference；(2) lens photographic system traditional under remote extremely weak background cannot be imaged；(3) resolution ratio is low, it is impossible to resolution ratio mesh
Mark and background.
The content of the invention
The embodiment of the present invention provides a kind of relevance imaging method of guidance and device, and the accurate of target is provided with for image guidance
Range information, and overcome under the low light condition of pole be imaged, easily by cloud and mist interference technical problem.
On the one hand, a kind of relevance imaging method of guidance is the embodiment of the invention provides, methods described includes：
Structure light-pulse generator is produced using hadamard matrix modulation pulse laser；
Using the structure light-pulse generator and high speed bucket detector, m- light intensity when being obtained by spline interpolation；
Point when reading described on m- light intensity is associated computing and obtains subject image；
Using the subject image and it is described when m- light intensity obtain the range information of target.
On the other hand, a kind of relevance imaging guidance device is the embodiment of the invention provides, described device includes：
Modulating unit, for producing structure light-pulse generator using hadamard matrix modulation pulse laser；
Interpolating unit, for utilizing the structure light-pulse generator and high speed bucket detector, when being obtained by spline interpolation
M- light intensity；
Arithmetic element, point during for reading described on m- light intensity is associated computing and obtains subject image；
Distance acquiring unit, for using the subject image and it is described when m- light intensity obtain range-to-go
Information.
Above-mentioned technical proposal has the advantages that：By combining flying time technology and calculating relevance imaging technology
Advantage.The relevance imaging with depth information is carried out to target, the accurately range information of target is provided for image guidance, and
It is to solve figure at present not by cloud and mist interference and the advantage of high resolution and this imaging system has imaging under the low light condition of pole
As the problem of guidance provides new resolving ideas.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is a kind of relevance imaging method of guidance flow chart of the embodiment of the present invention；
Fig. 2 is a kind of relevance imaging guidance device structural representation of the embodiment of the present invention；
Fig. 3 is that embodiment of the present invention single armed calculates relevance imaging schematic diagram；
Fig. 4 launches laser pulse for embodiment of the present invention pulse laser under certain frequency carries out light modulation structural representation
Figure；
Fig. 5 is that the embodiment of the present invention is based on flying time technology relevance imaging guidance system structured flowchart；
M- intensity of reflected light discrete point diagram when Fig. 6 is the embodiment of the present invention；
Fig. 7 is the when m- light intensity figure that embodiment of the present invention cubic spline difference is obtained；
Fig. 8 is embodiment of the present invention flying time technology schematic diagram.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Flying time technology is a kind of laser ranging technique, and sensor sends modulated near infrared light, anti-after chance object
Penetrate, sensor launches the distance of the scenery that is taken to convert with reflection interval difference or phase difference by calculating light, to produce depth
Degree information.
Relevance imaging be a kind of associate feature by between two light arms be reconstructed be calculated target image into
Image space formula, with the fast development of the technologies such as quantum secret communication, quantum teleportation, quantum computer, relevance imaging technology
This has merged the technology of the multiple subject such as quantum mechanics, quantum optices, mathematics, computer science, and it is to close to calculate relevance imaging
One kind in connection imaging mode.Relevance imaging is calculated by structure light irradiation object, the total light intensity and table of object reflected light is collected
Show that the matrix correlation computing of structure light light field obtains target image, compared to traditional double light arm relevance imaging, calculate relevance imaging
Advantage be controllable light field, and only one of which light arm, it is easy to accomplish, a kind of new method of guidance can be provided.
As shown in figure 1, being a kind of relevance imaging method of guidance flow chart of the embodiment of the present invention, methods described includes：
101st, structure light-pulse generator is produced using hadamard matrix modulation pulse laser；
102nd, using the structure light-pulse generator and high speed bucket detector, m- luminous intensity is bent when being obtained by spline interpolation
Line；
Point when the 103rd, reading described on m- light intensity is associated computing and obtains subject image；
104th, using the subject image and it is described when m- light intensity obtain the range information of target.
Preferably, the utilization hadamard matrix modulation pulse laser produces structure light-pulse generator, including：Pulse laser is sent out
Expanded by beam expanding lens first after penetrating and become diverging light, diverging light becomes parallel angle pencil of ray, parallel light wide by convex lens focus
The diameter range of beam is 2.5cm~4cm；Parallel angle pencil of ray is radiated at and light field modulation is carried out in spatial light modulator, and spatial light is adjusted
Device processed is controlled by the hadamard matrix that 0-1 is constituted, and hadamard matrix is expressed as AN×N, hadamard matrix is a kind of orthogonal matrix,
Orthogonality is met between row, column, the matrix size of Hadamard can only be 2n×2nSize.
Preferably, it is described using the structure light-pulse generator and high speed bucket detector, it is m- when being obtained by spline interpolation
Light intensity, including：After structure light-pulse generator is irradiated to target, its reflected light is received by high speed bucket detector, and high speed bucket is visited
The reflected light total light intensity discrete point that device is changed over time in a Laser pulse time nt is surveyed, if t is corresponding anti-
Penetrating light overall strength is2t moment reflected light overall strengths areThe reflected light overall strength that the nt moment obtains isPair when it is m- anti-
Penetrating light total light intensity discrete point carries out cubic spline interpolation, m- light intensity when obtaining；
Wherein, the cubic spline interpolation formula is：
In formula,
M- light intensity when k is, k=1,2,3,4 represent four measurements, and laser often launches a bundle of pulsed laser, one hada of correspondence
Horse matrixA coincidence measurement is corresponded to, coincidence measurement can all obtain m- light intensity k at one each time.
Preferably, the point when reading is described on m- light intensity is associated computing and obtains subject image, wraps
Include：
T ' the moment is more corresponding in m- light intensity when taking, and luminous intensity is B'k, using reflected light overall strength B'kWith
Modulate the hadamard matrix of laserAssociation computing, obtains subject image G2, its mathematics computing model is：
In formula,It is the Hadamard-modulated matrix that kth time measurement is used, B'kFor in k curves t ' moment reflected lights it is total
Intensity,<>Ensemble average is sought in expression, and K is pendulous frequency, and pendulous frequency is 4, result of calculation G in example2It is that size is 2 × 2
Matrix, withSize it is identical, be the gray level image of target.
Preferably, it is described using the subject image and it is described when m- light intensity obtain the range information of target, bag
Include：
Target image G is obtained using the total light intensity association computing at t ' moment2, when m- light intensity k in, laser hair
The time is penetrated for t1, by t'-t1Obtain from Laser emission to the time interval Δ t for receiving target reflecting light, using formula
Obtain target image G2The range information of middle target,
In formula, s is the distance of target, and c is the light velocity.
Corresponding to above method embodiment, as shown in Fig. 2 being a kind of relevance imaging guidance device structure of the embodiment of the present invention
Schematic diagram, described device includes：
Modulating unit 21, for producing structure light-pulse generator using hadamard matrix modulation pulse laser；
Interpolating unit 22, for utilizing the structure light-pulse generator and high speed bucket detector, is obtained by spline interpolation
When m- light intensity；
Arithmetic element 23, point during for reading described on m- light intensity is associated computing and obtains subject image；
Distance acquiring unit 24, for using the subject image and it is described when m- light intensity obtain target away from
From information.
Preferably, the modulating unit 21, hair is become specifically for being expanded by beam expanding lens first after pulse laser emission
Astigmatism, diverging light becomes parallel angle pencil of ray by convex lens focus, and the diameter range of parallel angle pencil of ray is 2.5cm~4cm；It is parallel
Angle pencil of ray is radiated at and light field modulation is carried out in spatial light modulator, and spatial light modulator is controlled by the hadamard matrix that 0-1 is constituted,
Hadamard matrix is expressed as AN×N, hadamard matrix is a kind of orthogonal matrix, and orthogonality, the square of Hadamard are met between row, column
Battle array size can only be 2n×2nSize.
Preferably, the interpolating unit 22, after being irradiated to target specifically for structure light-pulse generator, its reflected light is by a high speed
Bucket detector receive, the reflected light total light intensity that high speed bucket detector is changed over time in a Laser pulse time nt from
Scatterplot, if the corresponding reflected light overall strength of t is2t moment reflected light overall strengths areThe reflected light that the nt moment obtains
Overall strength isPair when m- reflected light total light intensity discrete point carry out cubic spline interpolation, m- light intensity when obtaining；
Wherein, the cubic spline interpolation formula is：
In formula,
M- light intensity when k is, k=1,2,3,4 represent four measurements, and laser often launches a bundle of pulsed laser, one hada of correspondence
Horse matrixA coincidence measurement is corresponded to, coincidence measurement can all obtain m- light intensity k at one each time.
Preferably, the arithmetic element 23, the t ' moment is more corresponding in m- light intensity during specifically for taking, light
Intensity is B'k, using reflected light overall strength B'kWith the hadamard matrix of modulation laserAssociation computing, obtains subject image G2,
Its mathematics computing model is：
In formula,It is the Hadamard-modulated matrix that kth time measurement is used, B'kFor in k curves t ' moment reflected lights it is total
Intensity,<>Ensemble average is sought in expression, and K is pendulous frequency, and pendulous frequency is 4, result of calculation G in example2It is that size is 2 × 2
Matrix, withSize it is identical, be the gray level image of target.
Preferably, the distance acquiring unit 24, the total light intensity specifically for utilizing the t ' moment associates computing and obtains target
Image G2, when m- light intensity k in, laser emission time is t1, by t'-t1Obtain from Laser emission to receiving target
The time interval Δ t of reflected light, using formula
Obtain target image G2The range information of middle target,
In formula, s is the distance of target, and c is the light velocity.
Embodiment of the present invention above-mentioned technical proposal has the advantages that：By combining flying time technology and calculating pass
Join the advantage of imaging technique.The relevance imaging with depth information is carried out to target, for image guidance provides the accurate of target
Range information, and this imaging system has under the low light condition of pole and is imaged, not by cloud and mist interference and the advantage of high resolution,
To solve the problems, such as that current image guidance provides new resolving ideas.
Embodiment of the present invention above-mentioned technical proposal is described in detail below in conjunction with application example：
The embodiment of the present invention proposes a kind of relevance imaging method of guidance based on flying time technology, can be with association
Principle carries out image guidance to object, with highly sensitive, anti-interference and provide the advantage of target range information, pulse laser hair
Pulsed beams to spatial light modulator are penetrated, object is irradiated as light source through the laser beam of ovennodulation, its reflected light is visited by high speed bucket
Survey device to receive, target image and range information are obtained by receiving curve, the method specific implementation proposed to the embodiment of the present invention
Mode is described as follows:
As shown in figure 3, for embodiment of the present invention single armed calculates relevance imaging schematic diagram；As shown in figure 4, for the present invention is implemented
Example pulse laser launches laser pulse under certain frequency carries out light modulation structural representation；As shown in figure 5, for the present invention is implemented
Example is based on flying time technology relevance imaging guidance system structured flowchart, and the guidance system of proposition includes Laser Modulation, reflected light
Reception, three flows of data processing operation.Expanded by beam expanding lens first after pulse laser emission and become diverging light, diverging light warp
Cross convex lens focus and become parallel angle pencil of ray.The diameter range of parallel angle pencil of ray is 2.5cm~4cm.Identification light is whether flat
The method of light is whether the size for observing laser facula keeps constant.Parallel angle pencil of ray is radiated in spatial light modulator and carries out
Light field is modulated.Conventional spatial light modulator includes digital micro-mirror device or phase type modulator.Hollow light modulation of system
Device is controlled by the hadamard matrix that 0-1 is constituted.Hadamard matrix is a kind of orthogonal matrix, and orthogonality is met between row, column, is breathed out
Matrix size up to horse can only be 2n×2nSize, that is, hadamard matrix can only take 2 × 2,4 × 4,8 × 8 ... sizes.And
And the hadamard matrix of each size is unique.Here the hadamard matrix A that size is 4 × 4 is given4×4As an example.
Obtain A4×4Afterwards, the matrix of 2 × 2 sizes will be rewritten into per a line, 4 rows obtain the modulation matrix of 42 × 2, with
A4×4The first row as a example by, we obtain matrix
Spatial light modulator existsControl under angle pencil of ray laser is modulated, be changed into pulse structure light field, pulse knot
Structure laser is irradiated on object as light source, and at the end of first laser pulse, the modulation matrix for changing spatial light is
Broad beam laser light field also changes, the like, control four laser pulses to carry out 4 to object with four hadamard matrixs
Secondary association is measured.In actual guidance system, the hadamard matrix for being used is generally 4096 × 4096 sizes, will be per a line square
Battle array is write as 64 × 64 control matrix, carries out 4096 coincidence measurements.
After pulse structure laser is irradiated to target, its reflected light is received by high speed bucket detector, and high speed bucket detector is general
Made by photodiode and high-speed collection card, temporal resolution is up to 3ns.High speed bucket detector is in a Laser pulse time
The reflected light total light intensity discrete point changed over time in nt, as shown in fig. 6, m- reflective light intensity when being the embodiment of the present invention
Discrete point diagram is spent, if the corresponding reflected light overall strength of t is2t moment reflected light overall strengths areThe nt moment obtains
Reflected light overall strength isCubic spline interpolation is carried out to time-reflected light total light intensity discrete point, m- luminous intensity when obtaining
Curve, as shown in fig. 7, the when m- light intensity figure obtained for embodiment of the present invention cubic spline difference.
Cubic spline interpolation formula is：
In formula,The first derivative of curve is represented,Table
Show four measurements.Laser often launches a bundle of pulsed laser, one hadamard matrix of correspondenceCoincidence measurement of correspondence, it is each
Secondary coincidence measurement can all obtain a time-light intensity k, and 4 light intensity curves can be obtained in this example, if carried out
4096 duplex measurements, it will obtain 4096 time-light intensity curves.
Time-light intensity k indicate kth time coincidence measurement in reflected light total intensity value within a burst length
Change with time relation.T ' the moment is more corresponding in taking curve, and luminous intensity is B'k, using reflected light overall strength B'kWith tune
The hadamard matrix of laser processedAssociation computing, can obtain subject image G2, its mathematics computing model is：
In formula,It is the Hadamard-modulated matrix that kth time measurement is used, B'kFor in k curves t ' moment reflected lights it is total
Intensity,<>Ensemble average is sought in expression, and K is pendulous frequency, and pendulous frequency is 4, the result of calculation G of formula (4) in example2It is size
It is 2 × 2 matrix, withSize it is identical, be the gray level image of target, when being to obtain using 64 × 64 control matrix
Image pixel number is 64 × 64,
As shown in figure 8, being embodiment of the present invention flying time technology schematic diagram, the total light intensity association computing at t2 moment is obtained
Target image 1, the total light intensity association computing at t3 moment obtains target image 2.In time-light intensity k, Laser emission
Time is t1, by t2-t1And t3-t2Can obtain from Laser emission to the time for receiving target one and the reflected light of target two
Interval of delta t1, Δ t2Using formula
The range information of target one and target two can be obtained, in formula, s is the distance of target, and c is the light velocity.In image
During guidance, the range information for obtaining target is favorably improved guidance precision.
Present invention advantage compared with prior art is：
1st, classical record by imaging is radiation field average intensity (or phase) distribution, and quantum imaging record is radiation field point
The association of the intensity, phase and space fluctuation of cloth.Classical imaging system is first-order system, and quantum imaging is second-order system, description
The dimension of target information increased, therefore the antijamming capability of quantum imaging is inherently better than the classical anti-interference energy being imaged
Power；
2nd, classical coherence imaging resolution is limited by system diffraction limit, and resolution ratio is relatively low；Traditional infrared imaging wavelength model
It is trapped among 10-5-10-6M, spectral response bandwidth is 10-6M magnitudes, and the wave band of quantum light spectrum image-forming division rank is detailed-oriented to 10-10-10-15M, spectral resolution reaches 10-10-10-13M, the bucket detector combination reference light of single photon can imaging, quantum imaging
Radiometric resolution and the index such as spatial resolution be also greatly improved；
3rd, flying time technology can provide the range information of object, during Imaging Guidance, provide the distance of object
Information, the guidance process for after provides foundation, can further improve guidance precision.
It should be understood that the particular order or level the step of during disclosed are the examples of illustrative methods.Based on setting
Meter preference, it should be appreciated that during the step of particular order or level can be in the feelings of the protection domain for not departing from the disclosure
Rearranged under condition.Appended claim to a method gives the key element of various steps with exemplary order, and not
It is to be limited to described particular order or level.
In above-mentioned detailed description, various features are combined in single embodiment together, to simplify the disclosure.No
This open method should be construed to reflect such intention, i.e. the embodiment of theme required for protection needs ratio
The more features of feature clearly stated in each claim.Conversely, as appending claims reflects
Like that, the present invention is in the state fewer than whole features of disclosed single embodiment.Therefore, appending claims
It is hereby expressly incorporated into detailed description, wherein each claim is alone as the single preferred embodiment of the present invention.
To enable any technical staff in the art to realize or using the present invention, disclosed embodiment being entered above
Description is gone.To those skilled in the art；The various modification modes of these embodiments will be apparent from, and this
The General Principle of text definition can also be applied to other embodiments on the basis of the spirit and scope for not departing from the disclosure.
Therefore, the disclosure is not limited to embodiments set forth herein, but most wide with principle disclosed in the present application and novel features
Scope is consistent.
Described above includes the citing of one or more embodiments.Certainly, in order to above-described embodiment is described and description portion
The all possible combination of part or method is impossible, but it will be appreciated by one of ordinary skill in the art that each is implemented
Example can do further combinations and permutations.Therefore, embodiment described herein is intended to fall into appended claims
Protection domain in all such changes, modifications and variations.Additionally, with regard to the term used in specification or claims
"comprising", the word cover mode similar to term " including ", solved as link word in the claims just as " including, "
As releasing.Additionally, the use of any one term "or" in the specification of claims being to represent " non-exclusionism
Or ".
Those skilled in the art will also be appreciated that the various illustrative components, blocks that the embodiment of the present invention is listed
(illustrative logical block), unit, and step can be by the knot of electronic hardware, computer software, or both
Conjunction is realized.To clearly show that the replaceability (interchangeability) of hardware and software, above-mentioned various explanations
Property part (illustrative components), unit and step universally describe their function.Such work(
It can be the design requirement for realizing depending on specific application and whole system by hardware or software.Those skilled in the art
Can be for every kind of specific application, it is possible to use various methods realize described function, but this realization is understood not to
Beyond the scope of embodiment of the present invention protection.
Various illustrative logical block described in the embodiment of the present invention, or unit can by general processor,
Digital signal processor, application specific integrated circuit (ASIC), field programmable gate array or other programmable logic devices, discrete gate
Or the design of transistor logic, discrete hardware components, or any of the above described combination is come the function realized or described by operate.General place
Reason device can be microprocessor, and alternatively, the general processor can also be any traditional processor, controller, microcontroller
Device or state machine.Processor can also be realized by the combination of computing device, such as digital signal processor and microprocessor,
Multi-microprocessor, one or more microprocessors combine a Digital Signal Processor Core, or any other like configuration
To realize.
The step of method or algorithm described in the embodiment of the present invention can be directly embedded into hardware, computing device it is soft
Part module or the combination of both.Software module can be stored in RAM memory, flash memory, ROM memory, EPROM storages
Other any form of storage media in device, eeprom memory, register, hard disk, moveable magnetic disc, CD-ROM or this area
In.Exemplarily, storage medium can be connected with processor, to allow that processor reads information from storage medium, and
Write information can be deposited to storage medium.Alternatively, storage medium can also be integrated into processor.Processor and storage medium can
To be arranged in ASIC, ASIC can be arranged in user terminal.Alternatively, processor and storage medium can also be arranged at use
In different part in the terminal of family.
In one or more exemplary designs, above-mentioned functions described by the embodiment of the present invention can be in hardware, soft
Any combination of part, firmware or this three is realized.If realized in software, these functions can be stored and computer-readable
On medium, or it is transmitted on the medium of computer-readable with one or more instructions or code form.Computer readable medium includes electricity
Brain stores medium and is easy to so that allowing computer program to be transferred to other local telecommunication medias from a place.Storage medium can be with
It is that any general or special computer can be with the useable medium of access.For example, such computer readable media can include but
RAM, ROM, EEPROM, CD-ROM or other optical disc storages, disk storage or other magnetic storage devices are not limited to, or other are appointed
What can be used for carrying or store with instruct or data structure and other can be by general or special computer or general or specially treated
Device reads the medium of the program code of form.Additionally, any connection can be properly termed computer readable medium, example
Such as, if software is by a coaxial cable, fiber optic cables, double from web-site, server or other remote resources
Twisted wire, Digital Subscriber Line (DSL) or with the wireless way for transmitting such as example infrared, wireless and microwave be also contained in it is defined
In computer readable medium.Described disk (disk) and disk (disc) include Zip disk, radium-shine disk, CD, DVD, floppy disk
And Blu-ray Disc, disk is generally with magnetic duplication data, and disk generally carries out optical reproduction data with laser.Combinations of the above
Can also be included in computer readable medium.
Above-described specific embodiment, has been carried out further to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail, should be understood that and the foregoing is only specific embodiment of the invention, be not intended to limit the present invention
Protection domain, all any modification, equivalent substitution and improvements within the spirit and principles in the present invention, done etc. all should include
Within protection scope of the present invention.
Claims (10)
1. a kind of relevance imaging method of guidance, it is characterised in that methods described includes：
Structure light-pulse generator is produced using hadamard matrix modulation pulse laser；
Using the structure light-pulse generator and high speed bucket detector, m- light intensity when being obtained by spline interpolation；
Point when reading described on m- light intensity is associated computing and obtains subject image；
Using the subject image and it is described when m- light intensity obtain the range information of target.
2. relevance imaging method of guidance as claimed in claim 1, it is characterised in that the utilization hadamard matrix modulation pulse swashs
Light produces structure light-pulse generator, including：
Expanded by beam expanding lens first after pulse laser emission and become diverging light, diverging light becomes parallel width by convex lens focus
Light beam, the diameter range of parallel angle pencil of ray is 2.5cm~4cm；Parallel angle pencil of ray is radiated at carries out light field in spatial light modulator
Modulation, spatial light modulator is controlled by the hadamard matrix that 0-1 is constituted, and hadamard matrix is expressed as AN×N, hadamard matrix is one
Orthogonal matrix is planted, orthogonality is met between row, column, the matrix size of Hadamard can only be 2n×2nSize.
3. relevance imaging method of guidance as claimed in claim 2, it is characterised in that it is described using the structure light-pulse generator and
High speed bucket detector, m- light intensity when being obtained by spline interpolation, including：
After structure light-pulse generator is irradiated to target, its reflected light is received by high speed bucket detector, and high speed bucket detector swashs at one
The reflected light total light intensity discrete point changed over time in optical pulse time nt, if the corresponding reflected light overall strength of t is2t moment reflected light overall strengths areThe reflected light overall strength that the nt moment obtains isPair when m- reflected light total light intensity from
Scatterplot carries out cubic spline interpolation, m- light intensity when obtaining；
Wherein, the cubic spline interpolation formula is：
In formula,k
For when m- light intensity, k=1,2,3,4 represent four measurements, and laser often launches a bundle of pulsed laser, one hada of correspondence
Horse matrixA coincidence measurement is corresponded to, coincidence measurement can all obtain m- light intensity k at one each time.
4. relevance imaging method of guidance as claimed in claim 3, it is characterised in that m- light intensity when the reading is described
On point be associated computing and obtain subject image, including：
T ' the moment is more corresponding in m- light intensity when taking, and luminous intensity is B'k, using reflected light overall strength B'kWith modulation
The hadamard matrix of laserAssociation computing, obtains subject image G2, its mathematics computing model is：
In formula, wherein G2Represent subject image,It is the Hadamard-modulated matrix that kth time measurement is used, B'kIt is t ' in k curves
The overall strength of moment reflected light,<>Ensemble average is sought in expression, and K is pendulous frequency, and pendulous frequency is 4, result of calculation G in example2
Be size be 2 × 2 matrix, withSize it is identical, be the gray level image of target.
5. relevance imaging method of guidance as claimed in claim 4, it is characterised in that it is described using the subject image and it is described when
M- light intensity obtains the range information of target, including：
Target image G is obtained using the total light intensity association computing at t ' moment2, when m- light intensity k in, laser emission time
It is t1, by t'-t1Obtain from Laser emission to the time interval Δ t for receiving target reflecting light, using formula
Obtain target image G2The range information of middle target, wherein G2Represent subject image；
In formula, s is the distance of target, and c is the light velocity.
6. a kind of relevance imaging guidance device, it is characterised in that described device includes：
Modulating unit, for producing structure light-pulse generator using hadamard matrix modulation pulse laser；
Interpolating unit, for utilizing the structure light-pulse generator and high speed bucket detector, m- light when being obtained by spline interpolation
Intensity curve；
Arithmetic element, point during for reading described on m- light intensity is associated computing and obtains subject image；
Distance acquiring unit, for using the subject image and it is described when m- light intensity obtain the range information of target.
7. relevance imaging guidance device as claimed in claim 6, it is characterised in that
The modulating unit, diverging light is become specifically for being expanded by beam expanding lens first after pulse laser emission, diverging light warp
Cross convex lens focus and become parallel angle pencil of ray, the diameter range of parallel angle pencil of ray is 2.5cm~4cm；Parallel angle pencil of ray is radiated at
Light field modulation is carried out in spatial light modulator, spatial light modulator is controlled by the hadamard matrix that 0-1 is constituted, hadamard matrix table
It is shown as AN×N, hadamard matrix is a kind of orthogonal matrix, and orthogonality is met between row, column, and the matrix size of Hadamard can only be
2n×2nSize.
8. relevance imaging guidance device as claimed in claim 7, it is characterised in that
The interpolating unit, after being irradiated to target specifically for structure light-pulse generator, its reflected light is received by high speed bucket detector,
The reflected light total light intensity discrete point that high speed bucket detector is changed over time in a Laser pulse time nt, if t
Corresponding reflected light overall strength is2t moment reflected light overall strengths areThe reflected light overall strength that the nt moment obtains is
Pair when m- reflected light total light intensity discrete point carry out cubic spline interpolation, m- light intensity when obtaining；
Wherein, the cubic spline interpolation formula is：
In formula,k
For when m- light intensity, k=1,2,3,4 represent four measurements, and laser often launches a bundle of pulsed laser, one hada of correspondence
Horse matrixA coincidence measurement is corresponded to, coincidence measurement can all obtain m- light intensity k at one each time.
9. relevance imaging guidance device as claimed in claim 8, it is characterised in that
The arithmetic element, the t ' moment is more corresponding in m- light intensity during specifically for taking, and luminous intensity is B'k, utilize
Reflected light overall strength B'kWith the hadamard matrix of modulation laserAssociation computing, obtains subject image G2, its mathematical computations mould
Type is：
In formula,It is the Hadamard-modulated matrix that kth time measurement is used, B'kIt is the overall strength of t ' moment reflected lights in k curves,
<>Ensemble average is sought in expression, and K is pendulous frequency, and pendulous frequency is 4, result of calculation G in example2Be size be 2 × 2 matrix,
WithSize it is identical, be the gray level image of target.
10. relevance imaging guidance device as claimed in claim 9, it is characterised in that
The distance acquiring unit, the total light intensity specifically for utilizing the t ' moment associates computing and obtains target image G2, when it is m-
In light intensity k, laser emission time is t1, by t'-t1Obtain from Laser emission to the time for receiving target reflecting light
Every Δ t, using formula
Obtain target image G2The range information of middle target,
In formula, s is the distance of target, and c is the light velocity.
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