CN107632298B - A high-sensitivity receiver circuit applied to pulsed lidar system - Google Patents
A high-sensitivity receiver circuit applied to pulsed lidar system Download PDFInfo
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Abstract
本发明提出一种应用于脉冲式激光雷达系统的灵敏度接收电路，其包括光电二极管、数据选择器及设于该二者之间的第一通道和第二通道，该光电二极管为接收电路的信号采信输入，该数据选择器为接收电路的信号输出；该第一通道包括通道选择开关S1、跨阻放大器、一阶RC微分电路、电压放大器一、过零比较器一和阈值比较器一；该第二通道包括通道选择开关S2、电荷灵敏放大器、主二阶RC微分电路、电压放大器二、过零比较器二、阈值比较器二和阈值比较器三。本发明采用跨阻放大器和电荷灵敏放大器作为前置放大器，可以实现低噪声和超宽动态范围，以一阶和二阶微分电路、电压放大器以及过零比较器实现的时刻鉴别电路，在保证高测量精度的同时降低了电路的成本。
The present invention provides a sensitivity receiving circuit applied to a pulsed laser radar system, which includes a photodiode, a data selector, and a first channel and a second channel disposed between the two, and the photodiode is the signal of the receiving circuit Accepting input, the data selector is the signal output of the receiving circuit; the first channel includes a channel selection switch S1, a transimpedance amplifier, a first-order RC differential circuit, a voltage amplifier, a zero-crossing comparator and a threshold comparator; the The second channel includes a channel selection switch S2, a charge sensitive amplifier, a main second-order RC differential circuit, a second voltage amplifier, a second zero-crossing comparator, a second threshold comparator, and a third threshold comparator. The invention adopts the transimpedance amplifier and the charge sensitive amplifier as the preamplifier, which can realize low noise and ultra-wide dynamic range. Measurement accuracy while reducing the cost of the circuit.
Description
Technical Field
The invention relates to a high-sensitivity receiving circuit applied to a pulse type laser radar system.
Background
The pulsed lidar system generally comprises four parts, namely a controller, a transmitting driving circuit, a receiving circuit and a high-precision Time measuring module (refer to the attached figure 1), and adopts the Time of flight (TOF) principle to measure the distance. The working principle is as follows: when the distance measurement is started, the controller sends a START signal to the emission driving circuit to drive the laser diode to emit narrow pulse laser, and meanwhile, the START signal triggers the high-precision time measurement module to START timing; after the pulse laser is subjected to diffuse reflection by a target object, an echo signal generates a current pulse signal through a photodiode, the signal is processed by a receiving circuit to generate a STOP signal, and the high-precision time measuring module immediately STOPs timing after receiving the signal, so that the flying time of the laser on the round trip is recorded; and finally, the time measuring module transmits the measured time data back to the controller and the controller calculates the measured distance according to the time data. Therefore, the key point of the pulse type laser radar for realizing accurate measurement is how to accurately give out the STOP signal, which requires that a receiving circuit not only has a wide dynamic range to adapt to the amplitude change of an echo signal caused by the distance change, but also ensures lower circuit noise to meet the requirement of high precision. In addition, it is necessary to select an appropriate time discrimination scheme in the receiving circuit to overcome the walking error of the echo signal.
The pulse type laser radar receiving circuit which is most commonly used at present usually adopts a leading edge time discrimination method or a constant ratio discrimination method. The receiver circuit using the leading edge time discrimination is shown in fig. 2, and the receiver circuit using the constant ratio discrimination is shown in fig. 3. Both of these circuits have significant disadvantages:
1) the leading edge moment discrimination method cannot eliminate the walking error of the pulse echo signal, so the measurement error is often very large;
2) the dynamic range of the variable gain amplifier is very limited, and the ultra-wide dynamic range cannot be achieved;
3) although the constant ratio identification method can eliminate walking errors, an accurate delayer needs to be matched, the error is increased due to the simpler delayer, and the cost is increased due to the accurate delayer;
4) a receiving circuit adopting a transimpedance amplification design tends to have large noise, and thus it is difficult to obtain high sensitivity.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a sensitivity receiving circuit applied to a pulse type laser radar system, which is realized by the following technical means:
a high-sensitivity receiving circuit applied to a pulse type laser radar system comprises a photodiode, a data selector, a first channel and a second channel, wherein the first channel and the second channel are arranged between the photodiode and the data selector;
the first channel comprises a channel selection switch S1, a trans-impedance amplifier, a resistor RdAnd a capacitor CdThe circuit comprises a first-order RC differential circuit, a voltage amplifier I, a zero-crossing comparator I and a threshold comparator I; the selection switch S1, the trans-impedance amplifier, the first-order RC differential circuit, the first voltage amplifier and the first zero-crossing comparator are connected in sequence, and the input end of the first threshold comparator is connected with the output end of the first voltage amplifier;
the second channel comprises a channel selection switch S2, a charge sensitive amplifier, a charge-trapping transistor consisting essentially of a resistor Rd1、Rd2And a capacitorCd1、Cd2The second-order RC differential circuit, the voltage amplifier II, the zero-crossing comparator II, the threshold comparator II and the threshold comparator III are formed; the channel selection switch S2, the charge sensitive amplifier, the second-order RC differential circuit, the second voltage amplifier and the second zero-crossing comparator are sequentially connected, and the input ends of the second threshold comparator and the third threshold comparator are respectively connected with the output end of the second voltage amplifier;
the output end of the first threshold comparator generates a gating signal for a selection switch S1, the output end of the third threshold comparator generates a gating signal for a selection switch S2, and the output end of the second threshold comparator is respectively connected with the enabling ends of the first zero-crossing comparator and the second zero-crossing comparator; the first zero-crossing comparator and the second zero-crossing comparator are selected by the data selector to output.
Preferably, the preamplifier is composed of the transimpedance amplifier and the charge sensitive amplifier.
Preferably, the first-order RC differential circuit, the second-order RC differential circuit, the first voltage amplifier, the second voltage amplifier, the first zero-crossing comparator, and the second zero-crossing comparator constitute a time discriminating circuit.
The invention has the beneficial effects that: the transimpedance amplifier and the charge sensitive amplifier are used as preamplifiers to respectively convert a current pulse signal with a larger amplitude and a current pulse signal with a smaller amplitude into voltage signals, and the charge sensitive amplifier has very low noise, so that the preamplifiers not only have low noise, but also have a wide input dynamic range. In addition, the circuit adopts an RC high-pass resistance-capacitance identification method, and a post-stage voltage amplifier does not need gain control, so that extra errors can not be introduced while walking errors are eliminated, and high sensitivity can be realized. Meanwhile, the time discrimination circuit is realized by adopting a first-order differential circuit, a second-order differential circuit, a voltage amplifier and a zero crossing comparator, so that the cost of the circuit is reduced to a certain extent while high measurement precision is ensured.
The invention is a product with excellent technical, practical and economic performance, and is very suitable for popularization and use.
Drawings
Fig. 1 shows a pulsed lidar system architecture.
Fig. 2 shows a conventional pulse type lidar receiving circuit adopting a leading-edge time discrimination method.
Fig. 3 shows a conventional pulsed lidar receiving circuit employing constant ratio discrimination.
Fig. 4 is a schematic diagram of a novel high-sensitivity receiving circuit applied to a pulsed lidar according to the present invention.
Detailed Description
The scheme of the present application is further described below with reference to fig. 4:
a high-sensitivity receiving circuit applied to a pulse type laser radar system comprises a photodiode, a data selector, a first channel and a second channel, wherein the first channel and the second channel are arranged between the photodiode and the data selector;
the first channel comprises a channel selection switch S1, a trans-impedance amplifier, a resistor RdAnd a capacitor CdThe circuit comprises a first-order RC differential circuit, a voltage amplifier I, a zero-crossing comparator I and a threshold comparator I; the selection switch S1, the trans-impedance amplifier, the first-order RC differential circuit, the first voltage amplifier and the first zero-crossing comparator are connected in sequence, and the input end of the first threshold comparator is connected with the output end of the first voltage amplifier;
the second channel comprises a channel selection switch S2, a charge sensitive amplifier, a charge-trapping transistor consisting essentially of a resistor Rd1、Rd2And a capacitor Cd1、Cd2The second-order RC differential circuit, the voltage amplifier II, the zero-crossing comparator II, the threshold comparator II and the threshold comparator III are formed; the channel selection switch S2, the charge sensitive amplifier, the second-order RC differential circuit, the second voltage amplifier and the second zero-crossing comparator are sequentially connected, and the input ends of the second threshold comparator and the third threshold comparator are respectively connected with the output end of the second voltage amplifier;
the output end of the first threshold comparator generates a gating signal for a selection switch S1, the output end of the third threshold comparator generates a gating signal for a selection switch S2, and the output end of the second threshold comparator is respectively connected with the enabling ends of the first zero-crossing comparator and the second zero-crossing comparator; the first zero-crossing comparator and the second zero-crossing comparator are selected by the data selector to output.
The preamplifier is composed of the trans-impedance amplifier and the charge sensitive amplifier, so that low noise is realized, and the dynamic range of the receiving circuit is greatly increased. The first-order RC differential circuit, the second-order RC differential circuit, the first voltage amplifier, the second voltage amplifier, the first zero-crossing comparator and the second zero-crossing comparator form a moment identification circuit, so that the cost of the circuit is reduced to a certain extent while high measurement accuracy is ensured.
The above preferred embodiments should be considered as examples of the embodiments of the present application, and technical deductions, substitutions, improvements and the like similar to, similar to or based on the embodiments of the present application should be considered as the protection scope of the present patent.
Claims (3)
1. The utility model provides a be applied to pulsed lidar system's high sensitivity receiving circuit which characterized in that: the signal acquisition and transmission device comprises a photodiode, a data selector, a first channel and a second channel, wherein the first channel and the second channel are arranged between the photodiode and the data selector;
the first channel comprises a channel selection switch S1, a trans-impedance amplifier, a resistor RdAnd a capacitor CdThe circuit comprises a first-order RC differential circuit, a voltage amplifier I, a zero-crossing comparator I and a threshold comparator I; the selection switch S1, the trans-impedance amplifier, the first-order RC differential circuit, the first voltage amplifier and the first zero-crossing comparator are connected in sequence, and the input end of the first threshold comparator is connected with the output end of the first voltage amplifier;
the second channel comprises a channel selection switch S2, a charge sensitive amplifier, a charge-trapping transistor consisting essentially of a resistor Rd1、Rd2And a capacitor Cd1、Cd2The second-order RC differential circuit, the voltage amplifier II, the zero-crossing comparator II, the threshold comparator II and the threshold comparator III are formed; the channel selection switch S2, the charge sensitive amplifier, the second order RC differential circuit, and the power supplyThe second voltage amplifier and the second zero-crossing comparator are sequentially connected, and the input ends of the second threshold comparator and the third threshold comparator are respectively connected with the output end of the second voltage amplifier;
the output end of the first threshold comparator generates a gating signal for a selection switch S1, the output end of the third threshold comparator generates a gating signal for a selection switch S2, and the output end of the second threshold comparator is respectively connected with the enabling ends of the first zero-crossing comparator and the second zero-crossing comparator; the first zero-crossing comparator and the second zero-crossing comparator are selected by the data selector to output.
2. The high-sensitivity receiving circuit applied to the pulsed lidar system according to claim 1, wherein: the transimpedance amplifier and the charge sensitive amplifier constitute a preamplifier.
3. The high-sensitivity receiving circuit applied to the pulsed lidar system according to claim 1, wherein: the first-order RC differential circuit, the second-order RC differential circuit, the first voltage amplifier, the second voltage amplifier, the first zero-crossing comparator and the second zero-crossing comparator form a moment identification circuit.
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| CN108614272A (en) * | 2018-04-13 | 2018-10-02 | 中山大学 | A kind of pulse type laser range-measuring circuit |
| CN108919234B (en) * | 2018-05-15 | 2020-05-19 | 天津杰泰高科传感技术有限公司 | Processing circuit for transmitting sampling signal and pulse type laser radar |
| CN108896979B (en) * | 2018-07-13 | 2021-09-21 | 中山大学 | Pulse laser radar receiving circuit and system with ultra-wide single-shot measurement range |
| 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 |
| KR102163664B1 (en) * | 2018-12-07 | 2020-10-08 | 현대오트론 주식회사 | Apparatus and A Method For Lidar Increase Sensing Distance |
| CN110967683B (en) * | 2019-12-12 | 2022-04-01 | 上海禾赛科技有限公司 | Signal receiving and amplifying circuit and laser radar with same |
| CN112198518A (en) * | 2020-09-29 | 2021-01-08 | 广东博智林机器人有限公司 | Pulse laser radar and ranging method thereof |
| CN115542334A (en) * | 2022-09-15 | 2022-12-30 | 广州大学 | Laser radar time discrimination system |
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| JP4926408B2 (en) * | 2005-03-14 | 2012-05-09 | 浜松ホトニクス株式会社 | Photodetection circuit |
| US8384038B2 (en) * | 2009-06-24 | 2013-02-26 | General Electric Company | Readout electronics for photon counting and energy discriminating detectors |
| CN101848033B (en) * | 2010-04-28 | 2012-11-14 | 成都优博创技术有限公司 | Dual-rate receiving device |
| CN102621555B (en) * | 2012-01-20 | 2013-08-14 | 南京理工大学 | Double-threshold moment discriminator circuit |
| CN104297760A (en) * | 2014-10-09 | 2015-01-21 | 中国科学院合肥物质科学研究院 | Vehicle-mounted impulse type laser radar system |
| CN106817101B (en) * | 2017-03-15 | 2018-03-06 | 中国人民解放军火箭军工程大学 | Trans-impedance amplifier and receiver with Self Adaptive Control gain Larger Dynamic scope |
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Effective date of registration: 20211221 Address after: B201, zero one square, Xi'an Software Park, 72 Keji 2nd Road, high tech Zone, Xi'an City, Shaanxi Province, 710000 Patentee after: XI'AN TUOER MICROELECTRONICS Co.,Ltd. Address before: 510000 No. 135 West Xingang Road, Guangzhou, Guangdong, Haizhuqu District Patentee before: SUN YAT-SEN University |
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Address after: B201, zero one square, Xi'an Software Park, 72 Keji 2nd Road, high tech Zone, Xi'an City, Shaanxi Province, 710000 Patentee after: Xi'an Tuoer Microelectronics Co.,Ltd. Address before: B201, zero one square, Xi'an Software Park, 72 Keji 2nd Road, high tech Zone, Xi'an City, Shaanxi Province, 710000 Patentee before: XI'AN TUOER MICROELECTRONICS Co.,Ltd. Address after: B201, zero one square, Xi'an Software Park, 72 Keji 2nd Road, high tech Zone, Xi'an City, Shaanxi Province, 710000 Patentee after: Tuoer Microelectronics Co.,Ltd. Address before: B201, zero one square, Xi'an Software Park, 72 Keji 2nd Road, high tech Zone, Xi'an City, Shaanxi Province, 710000 Patentee before: Xi'an Tuoer Microelectronics Co.,Ltd. |
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