CN107678010A - The multistage high pass of pulse lidar holds resistance moment discrimination circuit - Google Patents
The multistage high pass of pulse lidar holds resistance moment discrimination circuit Download PDFInfo
- Publication number
- CN107678010A CN107678010A CN201710994157.4A CN201710994157A CN107678010A CN 107678010 A CN107678010 A CN 107678010A CN 201710994157 A CN201710994157 A CN 201710994157A CN 107678010 A CN107678010 A CN 107678010A
- Authority
- CN
- China
- Prior art keywords
- circuit
- gate circuit
- pass filtering
- controller
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001914 filtration Methods 0.000 claims abstract description 37
- 238000005070 sampling Methods 0.000 claims abstract description 18
- 230000007935 neutral effect Effects 0.000 claims abstract description 6
- 230000007704 transition Effects 0.000 claims abstract description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims 1
- 230000001276 controlling effect Effects 0.000 claims 1
- 230000002596 correlated effect Effects 0.000 claims 1
- 230000000630 rising effect Effects 0.000 abstract description 6
- 238000005259 measurement Methods 0.000 description 5
- 238000007689 inspection Methods 0.000 description 4
- 239000000523 sample Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000012850 discrimination method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
-
- 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
Abstract
The invention discloses a kind of multistage high pass of pulse lidar to hold resistance moment discrimination circuit.Including high-pass filtering circuit, high speed sampling circuit, high speed comparison circuit, gate circuit and controller, in high-pass filtering circuit, input pulse signal is converted into bipolar signal and exported；High speed sampling circuit sampling filter output signal is simultaneously transmitted to controller；Gate circuit one and high-pass filtering circuit reverse parallel connection, gate circuit two are connected on the in-phase input end of high-pass filtering circuit output end and high-speed comparator；Controller analysis filtering output data simultaneously controls the strobe state of gate circuit one and gate circuit two；The reverse input end connecting to neutral level of high-speed comparator, the transition of high-speed comparator betide two input signals it is equal at the time of, the output signal of high-speed comparator is return laser beam moment for being identified.The present invention can be effectively compressed the timing wander error caused by echo-signal rising edge and noise jamming, improve moment discriminating precision.
Description
Technical field
The present invention relates to laser radar field, more particularly to a kind of High-precision time discriminator circuit, applied to laser measurement
Field.
Technical background
With the development of laser radar technique, laser measurement precision more and more higher, wherein pulsed laser ranging is quickly grown,
Have a wide range of application.Pulse laser measurement launches laser by laser, is received through target object reflection receiving end, reception system
The laser round time is measured, and calculates the distance of laser radar and target.Laser radar passes as a kind of active probe
Sensor, have the advantages that simple in construction, precision is high, strong anti-interference performance, in each side of military, industry manufacture and social life
Face is widely applied.
At the time of moment discrimination circuit is to determine that echo-signal reaches laser radar receiver.Discrimination method at the time of traditional
There is the forward position moment to differentiate, constant fraction discriminator differentiates and high pass holds the discriminating of resistance moment；The forward position moment differentiates that precision is influenceed by threshold value, threshold
It is worth higher or relatively low can brings missing inspection and false-alarm；Constant fraction discriminator, which differentiates, needs wider echo-signal, when echo-signal pulsewidth very
Hour, it is high to measurement electronic device performance requirement；High pass holds the discriminating of resistance moment and unipolar signal is transformed into bipolar signal, leads to
Zero crossing, which compares, determines timing point in echo-signal peak point, but time drift is larger.In order to solve echo-signal simultaneously
Timing wander error caused by rising time change and amplitude, it is necessary to which raising is improved to above-mentioned moment discrimination circuit.
The content of the invention
It is an object of the invention to provide a kind of multistage high pass of pulse lidar to hold resistance moment discrimination circuit, can be effective
Avoid because echo-signal rising time change and amplitude caused by timing wander error, compress timing error, reduce missing inspection and
False-alarm probability, the precision of moment discriminating is improved, so as to further effectively improve the precision of pulse laser measurement.
To realize the purpose of the present invention, it is achieved using following technical scheme：A kind of multistage height of pulse lidar
It is logical to hold resistance moment discrimination circuit, including high-pass filtering circuit, high speed sampling circuit, high speed comparison circuit, gate circuit and controller；
In high-pass filtering circuit, input pulse signal is converted into bipolar signal and exported；High speed sampling circuit is to filtered output signals
Sampling；Gate circuit one and high-pass filtering circuit reverse parallel connection, gate circuit two are connected on high-pass filtering circuit output end and high ratio
Compared with the in-phase input end of device；Controller analysis filtering output data simultaneously controls the strobe state of gate circuit one and gate circuit two；It is high
The reverse input end connecting to neutral level of fast comparator, the transition of high-speed comparator betide two input signals it is equal at the time of, at a high speed
The output signal of comparator is return laser beam moment for being identified.
The beneficial effects of the invention are as follows：Resistance moment discrimination circuit, bag are held using a kind of multistage high pass of pulse lidar
Include high-pass filtering circuit, high speed sampling circuit, high speed comparison circuit, gate circuit and controller to be combined, high-pass filtering circuit pin
Derivation operation is carried out to echo-signal slope characteristics, reduces missing inspection and false-alarm probability；Controller analysis filtering output data, control
The exponent number of filtering operation processed, improves timing accuracy；On the one hand, high-pass filtering circuit avoids laser echo pulse changes in amplitude
Caused missing inspection and false-alarm, make to differentiate that operation is not influenceed by echo amplitude change constantly；On the other hand, controller is adopted with high speed
Sample circuit is combined, and can effectively obtain the data such as pulsewidth, the rising time of high-pass filtering output signal, by setup parameter come
Filter times are controlled, high-pass filtering number of operations can be avoided excessive and produce the moment and differentiate mistake；The present invention is suitable for high-energy
Burst pulse and big distance range detection, can overcome waveform change and noise jamming caused by timing error.
Brief description of the drawings
Fig. 1 is principle of the invention figure.
Fig. 2 is that the multistage high pass of the present invention holds the input of resistance moment discriminating and the graph of a relation of output signal.
Embodiment
The embodiment of the present invention is described further below in conjunction with the accompanying drawings.
Embodiment：
With reference to Fig. 1, a kind of multistage high pass of pulse lidar, which holds resistance moment discrimination circuit, includes high-pass filtering circuit, height
Fast sample circuit, high speed comparison circuit, gate circuit and controller, in high-pass filtering circuit, input pulse signal is converted into bipolar
Property signal simultaneously exports；High speed sampling circuit sampling filter output signal is simultaneously transmitted to controller by bus；Gate circuit one and high pass
Filter circuit reverse parallel connection, gate circuit two are connected on the in-phase input end of high-pass filtering circuit output end and high-speed comparator；Control
Device analysis filtering output data processed simultaneously controls the strobe state of gate circuit one and gate circuit two；The reverse input end of high-speed comparator
Connecting to neutral level, the transition of high-speed comparator betide two input signals it is equal at the time of, the output signal of high-speed comparator is institute
The return laser beam moment identified.
With reference to Fig. 1, high-pass filtering circuit includes electric capacity C1 and resistance R1, the input of electric capacity C1 first end as signal,
Electric capacity C1 the second end is connected with resistance R1 first end；The input of gate circuit one is connected with resistance R1 the second end, door electricity
The output end on road one is connected with electric capacity C1 first end, and the control terminal of gate circuit one is connected with controller, the input of gate circuit two
End is connected with resistance R1 the second end, and the output end of gate circuit two is connected with the input in the same direction of high-speed comparator, gate circuit two
Control terminal be connected with controller；The reverse input end of high-speed comparator is connected with zero level；High speed sampling circuit it is in the same direction partially
10V dc sources, reverse biased connecting to neutral level are crimped, clock source connects+5V/100Hz~2GHz clock signals, signal sampling input
End connection resistance R1 the second end, sampled output are connected with controller data receiving terminal, high speed sampling circuit Enable Pin and electricity
Resistance R2 first end is connected；Controller power source termination+5V Transistor-Transistor Logic levels, earth terminal ground connection, control output end respectively with resistance R2
The second end, the control terminal of gate circuit one is connected with the control terminal of gate circuit two.
With reference to Fig. 1, gate circuit one and the initial state of gate circuit two are cut-off, and high-pass filtering circuit carries out high to input signal
Pass filter, output signal are sampled by high-speed sampler, the pulsewidth for the filtered output signals that controller includes sampled data, width
The characteristics such as value, rising time are made comparisons with the threshold value pre-set, when the threshold is met, controller control gate circuit one
Conducting, gate circuit two ends, and signal carries out high-pass filtering operation again, continues sampling analysis and control, when being unsatisfactory for threshold
During value, controller control gate circuit one ends, and gate circuit two turns on, and filtered output signals enter into high-speed comparator with zero level
Row compares, and exports timing point signal.
With reference to Fig. 2, high-pass filtering exponent number threshold limit is determined, sets the peak point of echo first as timing point, minimum rises
It is T along the timemin, minimum signal amplitude is Vmin, final high-pass filtering number meetsAnd Tn＜
Tmin, k is filter times in formula, and λ is high-pass filtering circuit attenuation coefficient, and V is echo signal amplitude, TnTo filter for the last time
The rising time of output signal.It is assumed that the amplitude of echo-signal is 5V, minimum signal amplitude is 500 μ V, high-pass filtering circuit
Attenuation coefficient is 0.97, then can be calculated maximum filter times as 3.Now identified circuit parameter is：Resistance R1 is 1 Europe
Nurse, resistance R2 are 2 ohm, and electric capacity C1 is 1 pico farad.
With reference to Fig. 2, according to theory analysis and experimental verification, multistage high pass holds input and the output wave of resistance moment discrimination circuit
Shape is as shown in Fig. 2 V in figurei(t) it is waveform input signal, V1(t) it is single order high-pass filtering output signal, V2(t) it is high for second order
Pass filter output signal, V3(t) it is final high-pass filtering output signal, V3(t) triggering is differentiated by high-speed comparator output time
Pulse signal Vo(t)。
Claims (3)
1. a kind of multistage high pass of pulse lidar holds resistance moment discrimination circuit, including high-pass filtering circuit, high-speed sampling electricity
Road, high speed comparison circuit, gate circuit and controller, it is characterised in that in the high-pass filtering circuit, the conversion of input pulse signal
Into bipolar signal and export；High speed sampling circuit samples to filtered output signals；Gate circuit one and high-pass filtering circuit are reverse
Parallel connection, gate circuit two are connected on the in-phase input end of high-pass filtering circuit output end and high-speed comparator；Controller analysis filtering
Output data and the strobe state for controlling gate circuit one and gate circuit two；The reverse input end connecting to neutral level of high-speed comparator is high
The transition of fast comparator betide two input signals it is equal at the time of, the output signal of high-speed comparator is the laser that is identified
The echo moment.
2. the multistage high pass of pulse lidar according to claim 1 holds resistance moment discrimination circuit, it is characterised in that institute
Stating high-pass filtering circuit includes electric capacity C1 and resistance R1, the input of electric capacity C1 first end as signal, electric capacity C1 the second end
It is connected with resistance R1 first end；The input of gate circuit one is connected with resistance R1 the second end, the output end of gate circuit one with
Electric capacity C1 first end is connected, and the control terminal of gate circuit one is connected with controller, and the of the input of gate circuit two and resistance R1
Two ends are connected, and the output end of gate circuit two is connected with the input in the same direction of high-speed comparator, the control terminal of gate circuit two and control
Device is connected；The reverse input end of high-speed comparator is connected with zero level；The bias in the same direction of high speed sampling circuit connects 10V direct currents
Source, reverse biased connecting to neutral level, clock source connect+5V/100Hz ~ 2GHz clock signals, signal sampling input connection resistance R1's
Second end, sampled output are connected with controller data receiving terminal, and the data bit width of high speed sampling circuit is 8 ~ 64, is adopted at a high speed
Sample circuit Enable Pin is connected with resistance R2 first end；Controller power source termination+5V Transistor-Transistor Logic levels, earth terminal ground connection, control are defeated
Go out to hold the control terminal at the second end with resistance R2, the control terminal of gate circuit one and gate circuit two to be respectively connected.
3. the multistage high pass of pulse lidar according to claim 2 holds resistance moment discrimination circuit, it is characterised in that institute
Gate circuit one and the initial state of gate circuit two is stated to be sampled by high-speed sampler for cut-off, high-pass filtering output signal, and by total
Line is transmitted to controller, and controller obtains filtered output signals correlated characteristic data, and the threshold with pre-setting according to sampled data
Value is made comparisons, and the strobe state of gate circuit one and gate circuit two is controlled with this.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710994157.4A CN107678010B (en) | 2017-10-23 | 2017-10-23 | Multi-order Gao Tongrong resistance moment identification circuit of pulse laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710994157.4A CN107678010B (en) | 2017-10-23 | 2017-10-23 | Multi-order Gao Tongrong resistance moment identification circuit of pulse laser radar |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107678010A true CN107678010A (en) | 2018-02-09 |
| CN107678010B CN107678010B (en) | 2023-12-19 |
Family
ID=61141000
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710994157.4A Active CN107678010B (en) | 2017-10-23 | 2017-10-23 | Multi-order Gao Tongrong resistance moment identification circuit of pulse laser radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107678010B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108919235A (en) * | 2018-08-24 | 2018-11-30 | 上海星秒光电科技有限公司 | Moment discrimination circuit system |
| CN109521413A (en) * | 2018-10-22 | 2019-03-26 | 天津大学 | Full wave shape suitable for laser radar obtains circuit |
| CN109581333A (en) * | 2018-11-17 | 2019-04-05 | 天津大学 | Laser radar reading circuit based on the reconstruct of pulse echo ultra-high speed sampling |
| CN110376569A (en) * | 2019-07-25 | 2019-10-25 | 桂林理工大学 | The high-order of pulse lidar amplifies-it is fitted moment discrimination circuit |
| CN110412545A (en) * | 2019-07-26 | 2019-11-05 | 桂林理工大学 | The analog-to-digital measuring circuit of pulse lidar time interval |
| CN117233734A (en) * | 2023-11-14 | 2023-12-15 | 山东富锐光学科技有限公司 | Laser radar data acquisition method and system based on TDC and ADC and laser radar |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102621555A (en) * | 2012-01-20 | 2012-08-01 | 南京理工大学 | Double-threshold moment discriminator circuit |
| CN106886014A (en) * | 2017-03-23 | 2017-06-23 | 桂林理工大学 | The double reception passage of pulse lidar |
| CN207336744U (en) * | 2017-10-23 | 2018-05-08 | 桂林理工大学 | A kind of multistage high pass of pulse lidar holds resistance moment discrimination circuit |
-
2017
- 2017-10-23 CN CN201710994157.4A patent/CN107678010B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102621555A (en) * | 2012-01-20 | 2012-08-01 | 南京理工大学 | Double-threshold moment discriminator circuit |
| CN106886014A (en) * | 2017-03-23 | 2017-06-23 | 桂林理工大学 | The double reception passage of pulse lidar |
| CN207336744U (en) * | 2017-10-23 | 2018-05-08 | 桂林理工大学 | A kind of multistage high pass of pulse lidar holds resistance moment discrimination circuit |
Non-Patent Citations (2)
| Title |
|---|
| GUOQING ZHOU 等: "A new approach to minimize walk error in pulsed laser rangefinding", 《IGARSS 2017》, pages 1708 - 1711 * |
| PASI PALOJARVI 等: "A NEW APPROACH TO AVOID WALK ERROR IN PULSED LASER RANGEFINDING", 《IEEE》, pages 258 - 261 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108919235A (en) * | 2018-08-24 | 2018-11-30 | 上海星秒光电科技有限公司 | Moment discrimination circuit system |
| CN109521413A (en) * | 2018-10-22 | 2019-03-26 | 天津大学 | Full wave shape suitable for laser radar obtains circuit |
| CN109581333A (en) * | 2018-11-17 | 2019-04-05 | 天津大学 | Laser radar reading circuit based on the reconstruct of pulse echo ultra-high speed sampling |
| CN110376569A (en) * | 2019-07-25 | 2019-10-25 | 桂林理工大学 | The high-order of pulse lidar amplifies-it is fitted moment discrimination circuit |
| CN110412545A (en) * | 2019-07-26 | 2019-11-05 | 桂林理工大学 | The analog-to-digital measuring circuit of pulse lidar time interval |
| CN117233734A (en) * | 2023-11-14 | 2023-12-15 | 山东富锐光学科技有限公司 | Laser radar data acquisition method and system based on TDC and ADC and laser radar |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107678010B (en) | 2023-12-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107678010A (en) | The multistage high pass of pulse lidar holds resistance moment discrimination circuit | |
| CN106772404B (en) | Laser radar ranging device and method | |
| CN107632298B (en) | High-sensitivity receiving circuit applied to pulse type laser radar system | |
| US7864100B2 (en) | Self-referencing radar pulse detector | |
| CN108919282A (en) | A kind of laser radar signal moment identification system | |
| CN106886014B (en) | Dual receive channel for pulsed lidar | |
| CN207336744U (en) | A kind of multistage high pass of pulse lidar holds resistance moment discrimination circuit | |
| CN207601308U (en) | A kind of laser ranging system | |
| CN102904551B (en) | Constant fraction timing discriminator circuit | |
| CN210109328U (en) | Time discrimination circuit and laser radar device | |
| US20070004988A1 (en) | Circuit for measuring breath waveform with impedance method and method and device for resisting interference of electrical fast transient | |
| CN105319556A (en) | Pulse laser rangefinder and implementation method thereof | |
| CN109639345A (en) | A kind of cable bandwidth test method based on time domain reflectometry TDR technology | |
| JP2011228826A (en) | Interface device | |
| CN105403892A (en) | Semiconductor laser distance measuring device based on switched capacitor array sampling | |
| CN201878130U (en) | Automatic signal control peak detector | |
| CN109143251B (en) | Pulse laser ranging time discriminator based on differential signals | |
| CN107346030B (en) | A kind of random pulses multichannel amplitude analyzer under high count rate | |
| CN116700093A (en) | Dual-channel high-speed data acquisition device based on FPGA processor and acquisition method thereof | |
| CN206389376U (en) | One kind digitlization Tacan receiver | |
| CN210690814U (en) | High-order amplification-fitting time discrimination circuit of pulse laser radar | |
| CN106597390B (en) | Sea clutter suppression method | |
| CN115561770A (en) | Laser radar pulse peak value self-adaptive detection and fitting ranging system | |
| CN103532528A (en) | Pulse time discrimination device | |
| CN205120534U (en) | Dust detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |