CN107817484A - The multiplication factor processing method and processing device of laser radar amplifying circuit - Google Patents
The multiplication factor processing method and processing device of laser radar amplifying circuit Download PDFInfo
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- CN107817484A CN107817484A CN201610818933.0A CN201610818933A CN107817484A CN 107817484 A CN107817484 A CN 107817484A CN 201610818933 A CN201610818933 A CN 201610818933A CN 107817484 A CN107817484 A CN 107817484A
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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
- 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
- G01S7/4861—Circuits for detection, sampling, integration or read-out
Abstract
The embodiment of the invention discloses a kind of multiplication factor processing method and processing device of laser radar amplifying circuit.This method includes：Obtain the space distribution information of the pulse laser beam of the laser emission element transmitting of laser radar；Obtain the field range information of the echo-signal of the laser pick-off unit reception pulse laser beam of laser radar；According to space distribution information and the energy information of the echo-signal of field range acquisition of information pulse laser beam；The multiplication factor for the multistage amplifier circuit that laser radar needs configure is obtained according to the energy information of echo-signal, so that at least one-level amplifying circuit exports unsaturated signal in multistage amplifier circuit.The space distribution information for the pulse laser beam that the embodiment of the present invention is launched based on laser radar and the field range information for receiving pulse laser beam, the multiplication factor of the amplifying circuit of laser radar is set, so that at least one-level amplifying circuit exports unsaturated signal, and then realize that laser radar carries out the ranging of remote, high accuracy and Gao Zhongying.
Description
Technical field
The present embodiments relate to technical field of laser detection, and in particular to a kind of times magnification of laser radar amplifying circuit
Number processing method and processing device.
Background technology
Pulse type laser radar has that ranging speed is fast, ranging distance is remote, strong antijamming capability, does not need cooperative target etc.
Advantage, quickly grown in the detection field of Centimeter Level required precision.In pulse type laser Radar Technology, due to that need not cooperate
Target, the reflectivity of testee and the change of distance, make the energy dynamics scope of return signal very big, for amplifying circuit
For in order to obtain range capability farther out, must just increase multiplication factor, but will locate for ranging closely, signal
In saturation state, produced " drift error " due to the change of signal rising edge.
During the embodiment of the present invention is realized, inventor has found that general settling mode is to carry out gain control at present,
But gain-adjusted has hysteresis quality, it can not meet the demand of quick detection；In addition, there is the side being modified using rising edge slope
Formula, but need individually to correct every equipment, it is unfavorable for manufacturing.
The content of the invention
One purpose of the embodiment of the present invention is that solve prior art due to exporting saturation signal, causes " drift mistake occur
The problem of difference ".
The embodiment of the present invention proposes a kind of multiplication factor processing method of laser radar amplifying circuit, including：
Obtain the space distribution information of the pulse laser beam of the laser emission element transmitting of the laser radar；
Obtain the field range of the echo-signal of the laser pick-off unit reception pulse laser beam of the laser radar
Information；
According to the echo-signal of pulse laser beam described in the space distribution information and the field range acquisition of information
Energy information；
The multistage amplifier circuit for needing to configure according to the energy information of the echo-signal acquisition laser radar is put
Big multiple, so that at least one-level amplifying circuit exports unsaturated signal in the multistage amplifier circuit.
Optionally, in the multistage for needing to configure according to the energy information of the echo-signal acquisition laser radar
Before the step of multiplication factor of amplifying circuit, methods described also includes：
Least energy information under the laser radar maximum measure distance is obtained according to Ranging Equation for Laser Radar；
Overall according to the multistage amplifier circuit that laser radar described in the least energy acquisition of information needs to configure amplifies
Multiple；
Correspondingly, the multistage for needing to configure according to the energy information of the echo-signal acquisition laser radar is put
The step of multiplication factor of big circuit, specifically includes：
Obtaining the laser radar according to the energy information of the echo-signal and the overall multiplication factor needs to configure
Each amplifying circuit multiplication factor.
Optionally, the energy information and the overall multiplication factor according to the echo-signal obtains the laser thunder
The step of multiplication factor of each amplifying circuit configured up to needs, specifically includes：
According to the energy information of the echo-signal obtain echo-signal energy it is most strong when the laser radar first
Ranging；
The energy information of the echo-signal is analyzed, obtains energy information corresponding to first ranging；
The first order in the multistage amplifier circuit is obtained according to the energy information of echo-signal corresponding to first ranging
The multiplication factor of amplifying circuit；
According to the multiplication factor of the first order amplifying circuit and the overall multiplication factor of the multistage amplifier circuit, obtain
The multiplication factor of other amplifying circuits in the multistage amplification electricity in addition to the first order amplifying circuit.
Optionally, it is described to be put according to the multiplication factor of the first order amplifying circuit and the entirety of the multistage amplifier circuit
Big multiple, obtain the multistage multiplication factor for amplifying other amplifying circuits in electricity in addition to the first order amplifying circuit
Step specifically includes：
Need to match somebody with somebody according to laser radar described in the least energy acquisition of information under first ranging and the maximum measure distance
The series for the amplifying circuit put；
According to the series of the multiplication factor of the first order amplifying circuit, the overall multiplication factor and the amplifying circuit
Obtain the multiplication factor of the amplifying circuit in addition to the first order amplifying circuit.
Optionally, in the multistage amplifier circuit that laser radar needs configure, in addition to first order amplifying circuit, its
The multiplication factor all same of his amplifying circuit.
The invention also provides a kind of multiplication factor processing unit of laser radar amplifying circuit, including：
First acquisition module, the space for the pulse laser beam that the laser emission element for obtaining the laser radar is launched
Distributed intelligence；
Second acquisition module, the laser pick-off unit for obtaining the laser radar receive returning for the pulse laser beam
The field range information of ripple signal；
First processing module, swash for the pulse according to the space distribution information and the field range acquisition of information
The energy information of the echo-signal of light beam；
Second processing module, need what is configured for obtaining the laser radar according to the energy information of the echo-signal
The multiplication factor of multistage amplifier circuit, so that at least unsaturated letter of one-level amplifying circuit output in the multistage amplifier circuit
Number.
Optionally, described device also includes：3rd processing module；
3rd processing module, for being obtained according to Ranging Equation for Laser Radar under the laser radar maximum measure distance
Least energy information；The entirety of the multistage amplifier circuit configured according to laser radar needs described in the least energy acquisition of information
Multiplication factor；
Correspondingly, the Second processing module, specifically for the energy information according to the echo-signal and the entirety
Multiplication factor obtains the multiplication factor for each amplifying circuit that the laser radar needs configure.
Optionally, the Second processing module, specifically for obtaining echo letter according to the energy information of the echo-signal
Number energy it is most strong when the laser radar the first ranging；
The energy information of the echo-signal is analyzed, obtains energy information corresponding to first ranging；According to
First order amplifying circuit puts in the energy information acquisition multistage amplifier circuit of echo-signal corresponding to first ranging
Big multiple；According to the multiplication factor of the first order amplifying circuit and the overall multiplication factor of the multistage amplifier circuit, obtain
The multiplication factor of other amplifying circuits in the multistage amplification electricity in addition to the first order amplifying circuit.
Optionally, the Second processing module, specifically for according under first ranging and the maximum measure distance most
Small energy information obtains the series for the amplifying circuit that the laser radar needs configure；According to putting for the first order amplifying circuit
The series of big multiple, the overall multiplication factor and the amplifying circuit obtains the amplification in addition to the first order amplifying circuit
The multiplication factor of circuit.
Optionally, in the multistage amplifier circuit that laser radar needs configure, in addition to first order amplifying circuit, its
The multiplication factor all same of his amplifying circuit
As shown from the above technical solution, at a kind of multiplication factor for laser radar amplifying circuit that the embodiment of the present invention proposes
The space distribution information for the pulse laser beam that reason method and device is launched based on laser radar and the visual field for receiving pulse laser beam
Range information, the multiplication factor of the amplifying circuit of laser radar is set, so that at least unsaturated letter of one-level amplifying circuit output
Number, and then realize that laser radar carries out the ranging of remote, high accuracy and Gao Zhongying based on unsaturated signal.
Brief description of the drawings
The features and advantages of the present invention can be more clearly understood by reference to accompanying drawing, accompanying drawing is schematically without that should manage
Solve to carry out any restrictions to the present invention, in the accompanying drawings：
Fig. 1 shows the structural representation for the laser radar that one embodiment of the invention provides；
Fig. 2 shows a kind of multiplication factor processing method for laser radar amplifying circuit that one embodiment of the invention provides
Schematic flow sheet；
Fig. 3 is shown in a kind of multiplication factor processing method for laser radar amplifying circuit that one embodiment of the invention provides
Ranging light path schematic diagram；
Fig. 4 shows a kind of multiplication factor processing unit for laser radar amplifying circuit that one embodiment of the invention provides
Structural representation.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained on the premise of creative work is not made, belongs to the scope of protection of the invention.
Fig. 1 shows the structural representation for the laser radar that one embodiment of the invention provides, referring to Fig. 1, the laser radar
Including：Laser emission element 11, laser pick-off unit 12, multistage amplifier circuit unit 13, wherein；
Laser emission element 11, for producing the pulse laser beam of certain angle of divergence；
Laser pick-off unit 12, irreflexive laser signal is received with the visual field of certain angle of visual field and is converted to telecommunications
Number；
Multistage amplifier circuit unit 13, can be by the suitable signal amplitude of late-class circuit processing for providing.
Wherein, laser emission element 11 includes：Laser 111 and shaping lens 112；
Laser 111, for producing the laser pulse beam of quick repetition rate；
Shaping lens 112, for carrying out shaping to laser beam caused by laser 111, obtain the pulse of certain angle of divergence
Laser beam.
Laser pick-off unit 12 includes：Receiving lens 121 and electrooptical device 122；
Receiving lens 121, irreflexive laser beam is received with the visual field of certain angle of visual field and converged；
Electrooptical device 122, the beam signal for receiving lens to be converged are converted to electric signal.
Multistage amplifier circuit unit 13 includes：First order amplifying circuit 131, second level amplifying circuit 132 ..., N levels
Amplifying circuit 13N.
Wherein, the diameter parallel of the axis of shaping lens and receiving lens, field of view of receiver angle are more than or equal to beam divergence angle.
Fig. 2 shows a kind of multiplication factor processing method for laser radar amplifying circuit that one embodiment of the invention provides
Schematic flow sheet, referring to Fig. 1 and Fig. 2, this method includes：
210th, the space distribution information of the pulse laser beam of the laser emission element transmitting of the laser radar is obtained；
220th, the visual field of the echo-signal of the laser pick-off unit reception pulse laser beam of the laser radar is obtained
Range information；
230th, the echo of pulse laser beam according to the space distribution information and the field range acquisition of information is believed
Number energy information；
240th, the multistage amplifier circuit configured is needed according to the energy information of the echo-signal acquisition laser radar
Multiplication factor so that at least one-level amplifying circuit exports unsaturated signal in the multistage amplifier circuit.
It should be noted that record has the relevant parameter of laser radar in processor, relevant parameter includes：Shaping lens
112 and the size etc. of receiving lens 121, space distribution information and field range information then in conjunction with pulse laser beam are surveyed
Away from.
The space distribution information for the pulse laser beam that the present embodiment is launched based on laser radar and reception pulse laser beam
Field range information, the multiplication factor of the amplifying circuit of laser radar is set, so that at least one-level amplifying circuit output insatiable hunger
And signal, and then realize that laser radar carries out the ranging of remote, high accuracy and Gao Zhongying based on unsaturated signal.
Fig. 3 is shown in a kind of multiplication factor processing method for laser radar amplifying circuit that one embodiment of the invention provides
Ranging light path schematic diagram, ranging process is described in detail referring to Fig. 3：
Wherein, the edge space D 2 of the diameter D1 of receiving lens, receiving lens and shaping lens, the diameter of shaping lens
D3, receiving lens and shaping lens center space D 4；
When laser pulse beam is sent by shaping lens 112, the boil down to angle of divergence be ∠ α laser beam, opto-electronic conversion
The visual field that device 122 is ∠ β with the angle of visual field that receiving lens 121 are formed；
Laser beam is not intersecting closely with visual field, and as distance increases, laser beam is sent to complete weight with visual field slave phase
Close, laser beam is S with the position that visual field initially intersects1, initially the position that is completely superposed be S2；
Can be in the hope of S by triangle relation1、S2With the relation between angle of divergence ∠ α, angle of visual field ∠ β：
S1×tan(α)+S1× tan (β)=D2 ... ... formula 1
S2× tan (α)=D2+D4+S2× tan (β) ... ... formula 3
Position S1 that laser beam initially intersects with visual field, the position S2 being initially completely superposed, depending on the He of shaping lens 112
Center space D 4 between the parameter designing and two panels lens of receiving lens 121, D4 is bigger, and laser beam initially intersects with visual field
Position S1, be initially completely superposed position S2 distance it is bigger；
It is pointed out that when distance is less than S1, because light beam does not overlap with visual field, the echo-signal now returned
Energy is zero, therefore the distance less than S1 is referred to as range hole；When distance is less than S2 more than S1, light beam is sent to visual field slave phase
It is completely superposed, now backward energy gradually increases；When distance be more than S2 when, echo-signal energy can with distance square in instead
The rate attenuation of ratio, therefore under S2 distances, echo-signal energy is most strong；Above-mentioned optical characteristics, be for industry personnel it is ripe
Know.
It is pointed out that laser radar in order to protect internal light path, generally increases thang-kng window in outside,
In the case that shaping lens and the size and optical parametric of lens are fixed, by adjusting the space D 4 between two panels lens, make to swash
The position that light beam and visual field initially intersect is more than the position where thang-kng window, when thang-kng window surface adhesive dust, rain, snow etc.
During barrier, because now laser beam does not overlap with visual field, veiling glare caused by barrier will not be received, system it is steady
It is qualitative to increase substantially.
It can be seen that the series N of the multistage amplifier circuit of the present embodiment and the multiplication factor of amplifying circuit at different levels, are to be based on light
Road is designed, and is realized Optical and electrical axes matching, is made under any echo strength, and multistage amplifier circuit at least stage circuit output signal is not
Saturation.
In a possible embodiments, before step 240, this method also includes：
Least energy information under the laser radar maximum measure distance is obtained according to Ranging Equation for Laser Radar；
Overall according to the multistage amplifier circuit that laser radar described in the least energy acquisition of information needs to configure amplifies
Multiple；
According to the energy information of the echo-signal obtain echo-signal energy it is most strong when the laser radar first
Ranging；
Correspondingly, step 240 specifically includes：
The energy information of the echo-signal is analyzed, obtains energy information corresponding to first ranging；
The first order in the multistage amplifier circuit is obtained according to the energy information of echo-signal corresponding to first ranging
The multiplication factor of amplifying circuit；
Need to match somebody with somebody according to laser radar described in the least energy acquisition of information under first ranging and the maximum measure distance
The series for the amplifying circuit put；
According to the series of the multiplication factor of the first order amplifying circuit, the overall multiplication factor and the amplifying circuit
Obtain the multiplication factor of the amplifying circuit in addition to the first order amplifying circuit.
In another possible embodiments, in the multistage amplifier circuit that laser radar needs configure, except the first order is put
Outside big circuit, the multiplication factor all same of other amplifying circuits.
The design principle of the multiplication factor processing method of laser radar amplifying circuit is described in detail below：
301st, the whole of minimum laser energy and multistage amplifier circuit under maximum range is obtained according to Ranging Equation for Laser Radar
Body multiplication factor；
It can be needed in order that laser radar can obtain under maximum range by the amplified signal amplitude of subsequent conditioning circuit processing
The minimum laser energy under maximum range, and the threshold value handled according to minimum laser energy and subsequent conditioning circuit are assessed, it is determined that more
The overall multiplication factor of level amplifying circuit；
Ranging Equation for Laser Radar is row technology known in the industry, and the minimum under maximum range can be obtained using the formula
Laser energy, formula are：
Wherein, PsThe performance number received for laser pick-off unit, ρ be testee reflectivity, PTWhat laser was sent
Performance number, D are receiving lens bore, and S is measurement distance, ηAtmFor atmosphere attenuation coefficien, ηSysFor optical system efficiency of transmission；
After selected electrooptical device, electrooptical device output can be defined as：
Vs=Ps×ηo... ... ... formula 6
Wherein VsFor the signal amplitude of electrooptical device output, ηoFor the photoelectric transformation efficiency of photo-electric conversion element；
By formula 5 and formula 6, can obtain in maximum ranging distance SmaxPlace, the signal amplitude of electrooptical device output：
Vsmax=Psmax×ηo... ... ... formula 7
It should be noted that VsmaxExported for electrooptical device, amplitude does not reach can be by the width of subsequent conditioning circuit processing
Degree is, it is necessary to be amplified processing；
It should be noted that in the case of maximum measure distance, it is all weak, it is necessary to make amplification under the other distances of energy ratio of return
Circuit afterbody exports, and can be just that signal is amplified to the amplitude that can be handled by subsequent conditioning circuit；
Assuming that can be V by the signal amplitude of subsequent conditioning circuit processingvl, the overall of amplifying circuit can be obtained according to formula 8 and amplified
Multiple A is：
302nd, according to light beam and the position relationship of visual field, the most strong distance of laser radar range echo signal amplitude is determined,
And the multiplication factor of the amplifying circuit first order is obtained according to the energy information at the most strong distance of echo signal amplitude；
Likewise, laser radar range most by force distance S can be obtained by formula 5 and formula 62Under electrooptical device output
Signal amplitude：
It should be noted that from formula 12, in lidar measurement by ranging energy most by force distance S2Surveyed to maximum
Journey SmaxDuring, energy is square relation the being inversely proportional decay of distance；
It should be noted that needing to ensure under the most strong distance of ranging energy, first order amplifying circuit output amplitude is used
Can be by the signal amplitude V of subsequent conditioning circuit processingvl, therefore the times magnification of first order amplifying circuit can be obtained by formula 12
Number.
303rd, determined according to the signal amplitude excursion in the range of full distance and amplifying circuit unsaturation range of signal more
The series of level amplifying circuit；
It should be noted that the signal width in the case where obtaining the most strong distance of laser radar range energy and maximum ranging distance
Degree, it becomes possible to obtain the signal amplitude excursion that amplifying circuit exports in whole finding range：Vs2~Vsmax；
Assuming that the characteristic saturation signal amplitude of amplifying circuit is Vvh, amplifying circuit series is N, in order that signal energy is each
It is uniformly distributed on level amplifying circuit, then needs to meet formula 14：
The series of amplifying circuit can must be determined by formula 14：
It should be noted that N round numbers, when can obtain echo signal amplitude change, amplifying circuit always has one-level amplifying circuit
Amplitude is unsaturation.
304th, other grade of circuit amplification is calculated according to overall multiplication factor and first order multiplication factor and amplifying circuit series
Multiple.
It should be noted that designed in the system in order to simplify, in addition to first order amplifying circuit, other grade of amplifying circuit
Multiplication factor all same, therefore maximum amplification A and first order multiplication factor A is being determined1Afterwards, can be by formula 16 and public affairs
Formula 17 is obtained in addition to the first order, the multiplication factor A of other grade of circuite：
A1×(Ae)N-1=A ... ... ... formula 16
It should be noted that the series of amplifying circuit mentioned in the present invention, the multiplication factor of circuit at different levels, are to pass through light
Beam and the spatial relation of visual field, by Optical and electrical axes matching, make amplifying circuit always have stage circuit output signal width come what is determined
Spend for unsaturation, basis of signals is provided for follow-up unsaturated signal transacting, make what laser radar changed in distance and signal amplitude
In the case of, the requirement of precision distance measurement can be met.
For method embodiment, in order to be briefly described, therefore it is all expressed as to a series of combination of actions, but ability
Field technique personnel should know that embodiment of the present invention is not limited by described sequence of movement, because according to the present invention
Embodiment, some steps can use other orders or carry out simultaneously.Secondly, those skilled in the art should also know,
Embodiment described in this description belongs to preferred embodiment, involved action embodiment party not necessarily of the present invention
Necessary to formula.
Fig. 4 shows a kind of multiplication factor processing unit for laser radar amplifying circuit that one embodiment of the invention provides
Structural representation, referring to Fig. 4, the multiplication factor processing unit of the laser radar amplifying circuit, it is characterised in that including：First
Acquisition module 41, the second acquisition module 42, first processing module 43 and Second processing module 44, wherein；
First acquisition module 41, the sky for the pulse laser beam that the laser emission element for obtaining the laser radar is launched
Between distributed intelligence；
Second acquisition module 42, the laser pick-off unit for obtaining the laser radar receive the pulse laser beam
The field range information of echo-signal；
First processing module 43, for the pulse according to the space distribution information and the field range acquisition of information
The energy information of the echo-signal of laser beam；
Second processing module 44, need to configure for obtaining the laser radar according to the energy information of the echo-signal
Multistage amplifier circuit multiplication factor so that at least unsaturated letter of one-level amplifying circuit output in the multistage amplifier circuit
Number.
The space distribution information and reception pulse laser for the pulse laser beam that the embodiment of the present invention is launched based on laser radar
The field range information of beam, the multiplication factor of the amplifying circuit of laser radar is set, so that at least one-level amplifying circuit exports
Unsaturated signal, and then realize that laser radar carries out the ranging of remote, high accuracy and Gao Zhongying based on unsaturated signal.
In a possible embodiments, device also includes：3rd processing module；
3rd processing module, for being obtained according to Ranging Equation for Laser Radar under the laser radar maximum measure distance
Least energy information；The entirety of the multistage amplifier circuit configured according to laser radar needs described in the least energy acquisition of information
Multiplication factor；
Correspondingly, the Second processing module, specifically for the energy information according to the echo-signal and the entirety
Multiplication factor obtains the multiplication factor for each amplifying circuit that the laser radar needs configure.
In another possible embodiments, the Second processing module, specifically for being believed according to the energy of the echo-signal
First ranging of the laser radar when energy of breath acquisition echo-signal is most strong；The energy information of the echo-signal is carried out
Analysis, obtain energy information corresponding to first ranging；According to the energy information of echo-signal corresponding to first ranging
Obtain the multiplication factor of first order amplifying circuit in the multistage amplifier circuit；According to first ranging and the maximum measure distance
Under least energy acquisition of information described in laser radar need the series of amplifying circuit that configures；Electricity is amplified according to the first order
The series of the multiplication factor on road, the overall multiplication factor and the amplifying circuit is obtained in addition to the first order amplifying circuit
Amplifying circuit multiplication factor.
In another possible embodiments, in the multistage amplifier circuit that laser radar needs configure, except the first order is put
Outside big circuit, the multiplication factor all same of other amplifying circuits.
To sum up, the multiplication factor processing method and processing device of a kind of laser radar amplifying circuit proposed by the present invention, is employed
Multistage amplifier circuit designs, and the multiplication factor of the amplifying circuits at different levels of amplifying circuit, the series of amplifying circuit, passes through
The spatial relation of laser beam and field of view of receiver is designed, and is ensured in finding range, for the echo of any intensity
Signal, at least one-level amplifying circuit output signal is unsaturation all the time in multistage amplifier circuit, handles and provides for subsequent conditioning circuit
Unsaturated signal, using row unsaturated signal processing technology known in the industry, the precision distance measurement in measurement range is realized, improved
Production efficiency.In addition during the angle of divergence and the angle of visual field of design laser, light beam is set to be more than with the position that visual field initially intersects
Position where thang-kng window, the influence that thang-kng window accumulation dust causes veiling glare to bring is filtered out, improve the stability of equipment.
For device embodiments, because it is substantially similar to method embodiment, so description is fairly simple,
Related part illustrates referring to the part of method embodiment.
It should be noted that in all parts of the device of the present invention, according to the function that it to be realized to therein
Part has carried out logical partitioning, and still, the present invention is not only restricted to this, all parts can be repartitioned as needed or
Person combines.
The all parts embodiment of the present invention can be realized with hardware, or to be transported on one or more processor
Capable software module is realized, or is realized with combinations thereof.In the present apparatus, PC is by realizing internet to equipment or device
Remote control, the step of accurately control device or device each operate.The present invention is also implemented as being used to perform here
The some or all equipment or program of device of described method are (for example, computer program and computer program production
Product).Being achieved in that the program of the present invention can store on a computer-readable medium, and file or document caused by program has
Having can be statistical, produces data report and cpk reports etc., and batch testing can be carried out to power amplifier and is counted.On it should be noted that
Stating embodiment, the present invention will be described rather than limits the invention, and those skilled in the art are not departing from
Replacement embodiment can be designed in the case of the scope of attached claim.In the claims, should not will be between bracket
Any reference symbol be configured to limitations on claims.Word "comprising" does not exclude the presence of member not listed in the claims
Part or step.Word "a" or "an" before element does not exclude the presence of multiple such elements.The present invention can borrow
The hardware that helps to include some different elements and realized by means of properly programmed computer.If listing equipment for drying
Unit claim in, several in these devices can be embodied by same hardware branch.Word first,
Second and third use do not indicate that any order.These words can be construed to title.
Although being described in conjunction with the accompanying embodiments of the present invention, those skilled in the art can not depart from this hair
Various modifications and variations are made in the case of bright spirit and scope, such modifications and variations are each fallen within by appended claims
Within limited range.
Claims (10)
- A kind of 1. multiplication factor processing method of laser radar amplifying circuit, it is characterised in that including：Obtain the space distribution information of the pulse laser beam of the laser emission element transmitting of the laser radar；Obtain the field range information of the echo-signal of the laser pick-off unit reception pulse laser beam of the laser radar；According to the energy of the echo-signal of pulse laser beam described in the space distribution information and the field range acquisition of information Information；The times magnification for the multistage amplifier circuit that the laser radar needs configure is obtained according to the energy information of the echo-signal Number, so that at least one-level amplifying circuit exports unsaturated signal in the multistage amplifier circuit.
- 2. according to the method for claim 1, it is characterised in that obtained described according to the energy information of the echo-signal Before the laser radar needs the step of multiplication factor of the multistage amplifier circuit configured, methods described also includes：Least energy information under the laser radar maximum measure distance is obtained according to Ranging Equation for Laser Radar；The overall multiplication factor of the multistage amplifier circuit configured according to laser radar needs described in the least energy acquisition of information；Correspondingly, the multistage amplification electricity for needing to configure according to the energy information of the echo-signal acquisition laser radar The step of multiplication factor on road, specifically includes：Configured according to the energy information of the echo-signal and the overall multiplication factor acquisition laser radar needs each The multiplication factor of amplifying circuit.
- 3. according to the method for claim 2, it is characterised in that the energy information according to the echo-signal and described The step of multiplication factor for each amplifying circuit that the overall multiplication factor acquisition laser radar needs to configure, specifically includes：According to the first ranging of the energy of the energy information of echo-signal acquisition echo-signal laser radar when most strong；The energy information of the echo-signal is analyzed, obtains energy information corresponding to first ranging；The first order in the multistage amplifier circuit is obtained according to the energy information of echo-signal corresponding to first ranging to amplify The multiplication factor of circuit；According to the multiplication factor of the first order amplifying circuit and the overall multiplication factor of the multistage amplifier circuit, described in acquisition The multiplication factor of other amplifying circuits in multistage amplification electricity in addition to the first order amplifying circuit.
- 4. according to the method for claim 3, it is characterised in that the multiplication factor according to the first order amplifying circuit With the overall multiplication factor of the multistage amplifier circuit, obtain in the multistage amplification electricity in addition to the first order amplifying circuit Other amplifying circuits multiplication factor the step of specifically include：Need what is configured according to laser radar described in the least energy acquisition of information under first ranging and the maximum measure distance The series of amplifying circuit；Obtained according to the series of the multiplication factor of the first order amplifying circuit, the overall multiplication factor and the amplifying circuit The multiplication factor of amplifying circuit in addition to the first order amplifying circuit.
- 5. according to the method described in claim any one of 1-4, it is characterised in that in the multistage that the laser radar needs to configure In amplifying circuit, in addition to first order amplifying circuit, the multiplication factor all same of other amplifying circuits.
- A kind of 6. multiplication factor processing unit of laser radar amplifying circuit, it is characterised in that including：First acquisition module, the spatial distribution for the pulse laser beam that the laser emission element for obtaining the laser radar is launched Information；Second acquisition module, the laser pick-off unit for obtaining the laser radar receive the echo letter of the pulse laser beam Number field range information；First processing module, for the pulse laser beam according to the space distribution information and the field range acquisition of information Echo-signal energy information；Second processing module, for the multistage for needing to configure according to the energy information of the echo-signal acquisition laser radar The multiplication factor of amplifying circuit, so that at least one-level amplifying circuit exports unsaturated signal in the multistage amplifier circuit.
- 7. device according to claim 6, it is characterised in that described device also includes：3rd processing module；3rd processing module, for obtaining the minimum under the laser radar maximum measure distance according to Ranging Equation for Laser Radar Energy information；Overall according to the multistage amplifier circuit that laser radar described in the least energy acquisition of information needs to configure amplifies Multiple；Correspondingly, the Second processing module, specifically for the energy information according to the echo-signal and the overall amplification Multiple obtains the multiplication factor for each amplifying circuit that the laser radar needs configure.
- 8. device according to claim 7, it is characterised in that the Second processing module, specifically for being returned according to described First ranging of the laser radar when energy of the energy information acquisition echo-signal of ripple signal is most strong；To the echo-signal Energy information analyzed, obtain energy information corresponding to first ranging；According to echo corresponding to first ranging The energy information of signal obtains the multiplication factor of first order amplifying circuit in the multistage amplifier circuit；Put according to the first order The big multiplication factor of circuit and the overall multiplication factor of the multistage amplifier circuit, obtain in the multistage amplification electricity except described the The multiplication factor of other amplifying circuits outside one-level amplifying circuit.
- 9. device according to claim 8, it is characterised in that the Second processing module, specifically for according to described Laser radar described in least energy acquisition of information under one ranging and the maximum measure distance needs the series of the amplifying circuit configured； Obtained according to the series of the multiplication factor of the first order amplifying circuit, the overall multiplication factor and the amplifying circuit and remove institute State the multiplication factor of the amplifying circuit outside first order amplifying circuit.
- 10. according to the device described in claim any one of 6-9, it is characterised in that configured in laser radar needs more In level amplifying circuit, in addition to first order amplifying circuit, the multiplication factor all same of other amplifying circuits.
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| CN113495280A (en) * | 2020-04-07 | 2021-10-12 | 北京万集科技股份有限公司 | Laser radar ranging information acquisition method and device, electronic equipment and storage medium |
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