CN107831500A - A kind of optimum code generation and coding/decoding method based on photon counting laser radar - Google Patents
A kind of optimum code generation and coding/decoding method based on photon counting laser radar Download PDFInfo
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Abstract
The invention discloses a kind of optimum code generation based on photon counting laser radar and coding/decoding method, first according to given code length and particle number and strength range randomization primary group；Fitness function is designed according to requirement of the photon counting laser radar to coding and calculate the fitness of each particle again；Again by each particle of iterative evolution formula evolution of particle cluster algorithm, and record fitness highest particle；Evolutionary step is repeated, until the maximum evolutionary generation or stopping criterion that meet to set in advance.The optimum code of acquisition is applied to the modulation of transmitting laser, then is obtained by reception system and receives coding.Being encoded and received coding to transmitting using fast Fourier transformation algorithm and doing related can obtain target range information.The pseudo-random sequence for meeting photon counting laser radar requirement can easily be produced and it is optimal sequence under this condition；Also there is integer coding simultaneously, convergence soon, the advantages that being not likely to produce illegal solution.
Description
Technical field
The invention belongs to laser radar technique field, especially relates to pole weak light detection field, specifically a kind of
Optimum code generation and coding/decoding method based on photon counting laser radar.
Background technology
Photon counting laser radar is the effective means of pole weak light detection, each light that can be in response echo signal
Son, effectively solves the contradiction between the limited system resource of laser radar and overall performance；With high sensitivity and psec
The temporal resolution of level, it is possible to achieve high-speed high capacity, high accuracy, the distance of low-power consumption and the three-dimensional information in space obtain.
It is on the other hand rational in order to obtain yet with photon counting technique on the one hand for quick obtaining target information
Pulse energy, therefore often use Gao Zhongying laser；But Gao Zhongying laser effective ranging under conditions of monodrome ranging is met
Scope is very short, and maximum measure distance scope is inversely proportional with laser repetition rate；And being unsatisfactory for monodrome ranging condition can not then differentiate back
The glistening light of waves is sub with exomonental corresponding relation, that is, causes range ambiguity problem.So photon counting laser radar has to solve
Range ambiguity problem caused by Gao Zhongying.
It is a kind of effectively to solve the problems, such as the method for range ambiguity, pseudorandom to shoot laser modulation by pseudorandomcode
The code length of coding and the linear positive correlation of system maximum effective detection range, therefore only by the side for the code length for increasing pseudorandomcode
Method can greatly expand the detection range of photon counting laser radar.In addition, pseudorandomcode typically passes through pseudo random pattern
Generator produces at a high speed, often up to GHz levels, therefore also improves time precision while detection range is improved and then improves
Range accuracy.Zhang Yufei, He Yan et al. were in the paper delivered in 2016《Three-dimensional imaging lidar
system based on high speed pseudorandom modulation and photon counting》In in detail
Elaborate to modulate photon counting laser radar with m-sequence so as to obtain the process of target three-dimensional information, this article is swashed using continuous
The scheme that light device combines with modulator, when being modulated using modulator to continuous wave laser, in the absence of energy storage time, but pulse
Energy is low, and time precision is not high, and modulator is expensive, adds system cost；, can when using pulse laser
Overcome problem above, but limited by pulse laser maximum impulse repetition rate.
Traditional pseudorandomcode, such as m-sequence, have and be easily obtained, the advantages that speed；But it is often that two-phase is compiled
Code, and do not include strength information, therefore signal interdependency is not strong enough, and easily by noise jamming, and then influence ranging essence
Degree；And traditional pseudorandomcode method often can be only generated the coded sequence of regular length and can not flexibly adjust according to demand
It is whole, such as it is 2 that m-sequence, which can only produce length,n- 1 pseudorandom code sequence.And the coding of generation is often fixed sequence
Row, it is impossible to optimization is adjusted according to the requirement of actual application environment, such as the intensity level of certain bits can not be changed, fail to consider
Energy storage time to pulse laser causes transmitting sequence distortion, so as to limit the lifting of the performance of system even more so that photon
Counting laser radar can not normal work.
In inverting target range, sufficient photon signal should be obtained by reception system first and be compiled so as to reconstruct echo
Code signal.In order to determine the flight time of photon signal, it is necessary to be done to the pseudorandom encoded signal and received encoded signal of transmitting
Correlation, judge the delay between shoot laser and echo by relevant peaks.But conventional method calculates correlation step efficiency very
It is low, a large amount of computing resources will be especially taken when code length is longer and computing speed will turn into systematic function and be lifted
Bottleneck.
Therefore explore a set of optimal pseudorandom code sequence generation method suitable for photon counting laser radar and puppet with
Machine encodes the task of top priority that related fast resolution algorithm is lifting system performance.
The content of the invention
It is an object of the invention to provide a kind of life of the optimal pseudorandom code sequence suitable for photon counting laser radar
Into and coding/decoding method, to solve the sequence that traditional pseudorandomcode lacks strength information, is easily disturbed, is difficult to generation length-specific
The shortcomings of arranging and being difficult to be adjusted optimum code according to actual conditions.Compared with other are similar to algorithm, the present invention has
Integer coding, convergence is very fast, is not likely to produce the advantages that illegal solution.In target range inverting module, using FFT
Algorithm resolves correlation step, substantially increases arithmetic speed.
The technical solution of the present invention is to provide a kind of optimum code generation based on photon counting laser radar and solution
Code method, comprises the following steps：
Step 1: presetting relevant parameter according to parameters of laser radar system, relevant parameter is mainly visited according to the maximum of design
Ranging together decides on from, laser repetition etc..
Including：Code length, modulation ratio, buffering digit, strength range and particle cluster algorithm parameter；
Wherein particle cluster algorithm parameter includes：Studying factors, inertia weight, population scale, maximum evolutionary generation and receipts
Hold back threshold value；
Step 2: obtain multiphase pseudorandomcode；
2.1) random number sequence of the length for setting code length is randomly generated, and is assigned to a vector, to the vector
In each element round nearby, the position vector using the vector after rounding as the initialization of particle in particle cluster algorithm；
2.2) random number sequence of the length for setting code length is randomly generated, and is assigned to a vector, to the vector
In each element round nearby, the initial flight velocity vector using the vector after rounding as particle in particle cluster algorithm；
Step 3: obtain the initial population of population；
Repeat step two, position vector each time and velocity vector are recorded respectively, obtain and meet setting population scale
Multiphase pseudorandomcode, the initial population of population in constituent particle group's algorithm；
Step 4: obtain optimum code；
4.1) according to requirement design fitness function of the photon counting laser radar to coding；Above-mentioned fitness function should wrap
Include to the simulation disturbed present in detection environment and to the reward item of good characteristic and the penalty term illegally solved；To interference
Simulation can include time jitter, random noise and atmospheric interference etc., and penalty term includes intensity level over range, buffering digit deficiency
Etc. illegal situation.
4.2) fitness of each particle in the initial population obtained according to obtained fitness function calculation procedure three；Choosing
The best particle of fitness value is taken as initial optimal particle；
4.3) position vector of each particle in primary group is updated by the iterative evolution formula of particle cluster algorithm,
And the fitness of each particle after renewal is calculated according to fitness function, and fitness highest particle is recorded, and it is optimal with history
Particle fitness compares, and chooses global optimum's particle；
4.4) repeat step 4.3), until the maximum evolutionary generation for meeting to set in advance, global optimum's particle pair of acquisition
The position vector answered is optimum code；
Encoded Step 5: obtaining transmitting coding by photon counting laser radar with receiving, the transmitting coding is to walk
Rapid four optimum codes obtained；Again to transmitting coding with reception coding do it is related, so as to calculate target range.
Preferably, step 4.3) is specially：
4.31) flying speed of partcles vector is updated according to particle cluster algorithm speed more new formula, to flying speed vector just
Closely round, then each particle in the initial population of the flying speed vector renewal population by rounding rear each particle nearby
Position vector；
4.32) fitness value of each particle in the particle populations after renewal is calculated, if this more new position of the particle
Fitness is higher than fitness corresponding to the history optimal particle of the particle, then the position vector that this updates using the particle is this
The history optimal value of particle；
If 4.33) fitness of the position vector of the history optimal particle of the particle be more than global optimum's particle position to
The fitness of amount, then the position vector of global optimum's particle is replaced with the position vector of the history optimal particle of the particle；
4.34) according to default population scale and maximum evolutionary generation circulation step 4.31) arrive step 4.33), population
Maximum evolutionary generation is evolved to, output global optimum is optimum code.
Preferably, step 4.31) updates flying speed vector especially by formula (1),
In formula, the k in subscript represents the algebraically of current iteration, and v is velocity vector, and x is position vector, and w is inertia weight,
c1, c2For Studying factors, s is population scale, gbestThe position vector of global optimum's particle, PsbestThe position of history optimal particle
Vector, r1、r2For the random number in [0,1]；
Position vector is updated according to following formula：
Preferably, above-mentioned steps five are specially：
5.1) transmitting coding is obtained by photon counting laser radar to encode with receiving；
5.2) DFT is made with receiving coding to transmitting coding by fft algorithm respectively；
5.3) docking incorporates the DFT of code into own forces and seeks conjugation；
5.4) Fourier of correlation function is asked to become by launching the conjugation of DFT of the coding with receiving coding
Change；
5.5) inverse fourier transform is made in the Fourier transform of pair correlation function, and photon is tried to achieve by the relevant peaks of correlation function
Flight time；
5.6) target range can be obtained by photon flight time and the light velocity.
The beneficial effects of the invention are as follows：
1st, code length is adjustable in coding method of the present invention and coding form is not fixed, with other pseudorandom code sequence phases
Than this method can obtain the coded sequence that performance is more excellent under photon counting detection environment, and signal is entered by the coding
After row modulation, caused signal spectrum is wide, strong antijamming capability；
2nd, particle fitness function, the evaluation as pseudo-random sequence are built according to the real demand of photon counting laser radar
Table standard, the performance of the pseudo-random sequence of acquisition are more preferable；
3rd, pseudorandomcode of the present invention is multiphase pseudorandomcode, there is multiple intensity levels in coded sequence, is obtained higher
Related gain；
4th, compared with other are similar to algorithm, the present invention is using particle cluster algorithm and rounds nearby, avoids substantial amounts of illegal
Solution, there is integer coding, convergence is very fast, is not likely to produce illegal solution；
5th, in target range inverting module, correlation step is resolved using fast Fourier transformation algorithm, substantially increases fortune
Calculate speed.
Brief description of the drawings
Fig. 1 is the optimum code generating algorithm flow chart based on photon counting laser radar；
Fig. 2 is decoding process flow chart；
Fig. 3 is the autocorrelation displaying of the coded sequence of optimum code generating algorithm generation of the present invention；
Fig. 4 is the autocorrelation displaying of m-sequence；
Fig. 5 be present invention decoding calculate it is related it is related to conventional method calculating spent by the time comparison diagram.
Embodiment
Below in conjunction with drawings and the specific embodiments, the present invention will be further described.It should be noted that add in specification
Thick symbology vector, non-overstriking symbology numerical value.
As Fig. 1 optimum code generation methods of the present invention are as follows：
Step 1：Pseudorandom code sequence length L is set according to photon counting laser radar systems, modulation ratio, buffering
Digit, strength range；
Step 2：Particle cluster algorithm parameter is set：Studying factors c1, c2, inertia weight w, population scale s and maximum are entered
Change algebraically Mg；
Step 3：It is L to randomly generate a lengthsRandom number sequence, and be assigned to vector x；
Step 4：Each element in vector x is rounded nearby, if elementThen
Position vector using the vector x as the initialization of particle in population；
Step 5：It is L to randomly generate a lengthsRandom number sequence, and be assigned to vector v；
Step 6：Each element in vector v is rounded nearby, as the initialization of particle in population speed to
Amount；
Step 7：Repeat step three records position vector each time and velocity vector, obtained respectively to step 6 s times
Meet the multiphase pseudorandomcode of setting population scale, the initial population of population in constituent particle group's algorithm；
Step 8：By position vector x each timesIt is assigned to Psbest, the history optimal value as current each particle；
Step 9：Particle fitness function is built to the demand of coding efficiency according to photon counting laser radar；It is described suitable
Response function should include the simulation to being disturbed present in detection environment and the reward item of good characteristic is punished with what is illegally solved
Penalize item；The larger reward factor is taken for representing computational item of the coding with superperformance, the direction evolved as population；It is right
Yu representatives are encoded to the computational item illegally solved and take larger penalty factor, as tabu search region；
Fitness function can be write as following form：
Wherein EP represents the computational item with superperformance, and NP represents the computational item illegally solved.A and b represents to reward respectively
The factor and penalty factor.To maximize fitness as Evolutionary direction.LEPWith LNPRespectively represent with superperformance computational item with
The number of the computational item illegally solved.
Such as EP can be designed as the ratio at the top and time peak in correlated results, the measurement as autocorrelation；
In another example need to account for situation of the encoding strength not in strength range during design NP, i.e., in the whole coding of statistics, intensity is not
Number in strength range.
Step 10：Calculate the fitness function value fitness of each particle in particle populationss；
Step 11：It is current global optimum's particle to choose fitness highest particle in population, its corresponding position to
Measure as gbest；
Step 12：According to following formula renewal speed vector：
K in subscript represents the algebraically of current iteration；
Step 13：Position vector is updated according to following formula：
Step 14：If the particle of renewalFitness be more than Psbest, then withFor the particle history most
The position vector P of excellent particlesbest；
Step 15：If the history optimal particle P of the particlesbestFitness be more than global optimum's particle position vector
gbestFitness, then with the history optimal particle P of the particlesbestFor the position vector g of global optimum's particlebest；
Step 10 six：Repeat step 12 travels through whole population to step 15 s times；
Step 10 seven：The M of repeat step 16gIt is secondary；
Step 10 eight：Export global optimum particle gbestFor final output optimum code a (n)；
As Fig. 2, coding/decoding method of the present invention are as follows：
Step 10 nine：Encoded signal a (n) is converted into optical signal and repeat its transmission several times by laser, then by connecing
Receipts system is received back to glistening light of waves, is obtained after accumulating and quantifying and receives coded sequence b (n)；Receiving sequence is remapped back intensity
Section, the sequence similar with transmitting sequence can be obtained after remapping；
Step 2 ten：The N point discrete Fouriers for seeking transmitting pseudo-random sequence A (n) based on fast Fourier transformation algorithm (FFT) are stood
Leaf transformation
Wherein A (k) represents the signal after discrete Fourier transform, and DFT () represents to do discrete Fourier transform, N tables
Show the sequence length of discrete Fourier transform,Complex exponential is represented, i.e.,
Step 2 11：The N point discrete Fouriers for receiving pseudo-random sequence B (n) are sought based on fast Fourier transformation algorithm (FFT)
Vertical leaf transformation
Step 2 12：Receiving sequence DFT B (k) conjugation B* (k) is sought,
Step 2 13：Seek the DFT H of correlation functionAB(k)=A (k) B* (k)
Step 2 14：The DFT H of pair correlation functionAB(k) N point Fourier inverse transformation IFFT are,
Step 2 15：Seek sequences hxyMaximum, if maximum position is d, system timing resolution tbin,
Then delay τ=d*t between transmitting sequence and receiving sequencebin。
Step 2 16：The light velocity is represented with C, final ranging distance D is tried to achieve according to lower formula：
Transverse axis is relative delay of the echo encoded signal with launching encoded signal in Fig. 3, Fig. 4, and the longitudinal axis is different echo positions
The related amplitude value put, by Fig. 3 and Fig. 4 contrasts it can be found that the optimal volume proposed by the present invention based on photon counting laser radar
Code generating algorithm caused by coding autocorrelation it is more excellent, related peak-to-peak value higher than other positions correlation ten again with
On, far win m-sequence；In this test, fitness function devises intensity level over range, modulation positions number is unsatisfactory for setting ratio
Example, three penalty terms illegally solved of laser buffer time are unsatisfactory for, take larger penalty factor (to take 1*10^ in this test
(20))；And the reward item of the ratio between related peak-to-peak value and remaining correlation is devised, take the larger reward factor (to be taken in this test
1*10^(10)).Code length for test is 16383, and Fig. 3 particle cluster algorithm 1000 generations of evolution that are encoded to obtain
Result.
Fig. 5 be fft algorithm of the present invention calculate it is related it is related to conventional method calculating spent by the time comparison diagram.Lower section compared with
Thick lines be fft algorithm with code length increase spent by the time curve.Obvious fft algorithm calculate spent by correlation when
Between it is less, and the time consumed do not increase with code length and drastically increase, it should be noted that this coordinate system is logarithmic coordinates.
Note：Instrument for this test is MATLAB 2016a, and testing computer is association ThinkCentre
M8600t-D064。
Claims (4)
1. a kind of optimum code generation and coding/decoding method based on photon counting laser radar, it is characterised in that including following step
Suddenly：
Step 1: relevant parameter is preset according to parameters of laser radar system；
Including：Code length, modulation ratio, buffering digit, strength range and particle cluster algorithm parameter；
Wherein particle cluster algorithm parameter includes：Studying factors, inertia weight, population scale, maximum evolutionary generation and convergence threshold
Value；
Step 2: obtain multiphase pseudorandomcode；
2.1) random number sequence of the length for setting code length is randomly generated, and is assigned to a vector, in the vector
Each element rounds nearby, the position vector using the vector after rounding as the initialization of particle；
2.2) random number sequence of the length for setting code length is randomly generated, and is assigned to a vector, in the vector
Each element rounds nearby, the initial flight velocity vector using the vector after rounding as particle；
Step 3: obtain the initial population of population；
Repeat step two, position vector each time and velocity vector are recorded respectively, obtain the multiphase for meeting setting population scale
Pseudorandomcode, the initial population of population in constituent particle group's algorithm；
Step 4: obtain optimum code；
4.1) according to requirement design fitness function of the photon counting laser radar to coding；The fitness function should include pair
The simulation disturbed present in detection environment and to the reward item of good characteristic and the penalty term illegally solved；
4.2) fitness of each particle in the initial population obtained according to obtained fitness function calculation procedure three；Choose suitable
The best particle of angle value is answered as initial optimal particle；
4.3) position vector of each particle in primary group, and root are updated by the iterative evolution formula of particle cluster algorithm
The fitness of each particle after renewal is calculated according to fitness function, records fitness highest particle, and with history optimal particle
Fitness compares, and chooses global optimum's particle；
4.4) repeat step 4.3), until meeting the maximum evolutionary generation that sets in advance, corresponding to global optimum's particle of acquisition
Position vector is optimum code；
Encoded Step 5: obtaining transmitting coding by photon counting laser radar with receiving, the transmitting coding is step 4
The optimum code of acquisition；Again to transmitting coding with reception coding do it is related, so as to calculate target range.
2. optimum code generation and coding/decoding method according to claim 1 based on photon counting laser radar, its feature
It is：
Step 4.3) is specially：
4.31) flying speed of partcles vector is updated according to particle cluster algorithm speed more new formula, flying speed vector is taken nearby
It is whole, then each position of particle in the initial population of the flying speed vector renewal population by rounding rear each particle nearby
Vector；
4.32) fitness value of each particle in the particle populations after renewal is calculated, if the adaptation of this more new position of the particle
Degree is higher than fitness corresponding to the history optimal particle of the particle, then the position vector that this updates using the particle is the particle
History optimal value；
If 4.33) fitness of the position vector of the history optimal particle of the particle is more than the position vector of global optimum's particle
Fitness, then the position vector of global optimum's particle is replaced with the position vector of the history optimal particle of the particle；
4.34) according to default population scale and maximum evolutionary generation circulation step 4.31) step 4.33) is arrived, population is evolved
To maximum evolutionary generation, output global optimum is optimum code.
3. optimum code generation and coding/decoding method according to claim 1 based on photon counting laser radar, its feature
It is：Step 4.31) updates flying speed vector especially by formula (1),
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r1、r2For the random number in [0,1]；
Position vector is updated according to following formula：
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4. optimum code generation and coding/decoding method according to claim 1 based on photon counting laser radar, its feature
It is：The step 5 is specially：
5.1) transmitting coding is obtained by photon counting laser radar to encode with receiving；
5.2) DFT is made with receiving coding to transmitting coding by fft algorithm respectively；
5.3) docking incorporates the DFT of code into own forces and seeks conjugation；
5.4) Fourier transform of correlation function is asked by launching the conjugation of DFT of the coding with receiving coding；
5.5) inverse fourier transform is made in the Fourier transform of pair correlation function, and photon flight is tried to achieve by the relevant peaks of correlation function
Time；
5.6) target range can be obtained by photon flight time and the light velocity.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110161521A (en) * | 2019-06-11 | 2019-08-23 | 中国科学院光电技术研究所 | A kind of photon counting laser radar based on truly random coding |
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