CN107843903A - A kind of more threshold values TDC high-precision lasers pulse ranging methods - Google Patents

A kind of more threshold values TDC high-precision lasers pulse ranging methods Download PDF

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CN107843903A
CN107843903A CN201711026514.4A CN201711026514A CN107843903A CN 107843903 A CN107843903 A CN 107843903A CN 201711026514 A CN201711026514 A CN 201711026514A CN 107843903 A CN107843903 A CN 107843903A
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signal
echo
pulse
result
tdc
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CN107843903B (en
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谢绍禹
杨悦丰
张昌贵
吕华
贾晓东
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Tianjin Jinhang Institute of Technical Physics
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Tianjin Jinhang Institute of Technical Physics
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • 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
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection
    • G01S7/4873—Extracting wanted echo signals, e.g. pulse detection by deriving and controlling a threshold value

Abstract

The invention discloses a kind of more threshold values TDC high-precision laser pulse ranging systems, it includes：Multiple comparators, multiple TDC chips and processor, main ripple signal inputs multiple TDC chips as beginning enabling signal simultaneously, multi-path echo signal is respectively by corresponding comparator, obtained pulse signal is inputted each TDC chips, result when processor reads the survey of multiple TDC chips simultaneously by comparator, and combines the amplitude of echo-signal, obtain the constant amplitude sampled value of echo-signal, according to echo signal amplitude, result when surveying is obtained, distance measurement result is obtained with reference to the light velocity.The present invention is realized using TDC and the amplitude of echo is sampled by choosing more threshold values, it is known that echo is class Gaussian waveform, using quadratic fit, recovers echo-signal, and then obtains distance measurement result using multiple spot information, and range accuracy is high.

Description

A kind of more threshold values TDC high-precision lasers pulse ranging methods
Technical field
The invention belongs to laser pulse ranging technical field, is related to a kind of more threshold values TDC high-precision lasers pulse ranging sides Method.
Background technology
Laser pulse ranging method passes through measurement using the very narrow laser pulse of pulse laser transmitting one or a row at present Pulse delay time between echo and the main ripple of transmitting carrys out measurement distance, measures time-of-flight method as shown in Figure 1.In sensitivity In the case of enough and not producing range ambiguity, its maximum measurement distance is：
In formula：C is the light velocity, TrIt is that laser travels to and fro between flight time between transmitter and target, it is equal to hair herein Penetrate the repetition period of pulse；frIt is the repetition rate of laser firing pulses.
In the signal processing system of laser ranging, for determining that the signal of timing beginning and end is optical-electrical converter Output signal, it is analog quantity, it is necessary to which the pulse signal being converted into digital circuit could be used for the work of triggering timing system.Generally The conversion method of use is single threshold method, i.e., input signal compared with a fixed threshold values, using threshold points as Burst length reference point.Because laser pulse is bell-shaped pulse, and it is excited the influences such as optical transmission distance and target reflectivity and has Larger changes in amplitude, the discrimination method of the single threshold values of use can produce error T when laser pulse amplitudes change, to measurement Precision causes very big influence, sees Fig. 1.
The content of the invention
(1) goal of the invention
The purpose of the present invention is：A kind of more threshold values TDC high-precision lasers pulse ranging methods are provided, applied to laser pulse Ranging, improve range accuracy.
(2) technical scheme
In order to solve the above-mentioned technical problem, the present invention provides a kind of more threshold values TDC high-precision laser pulse ranging systems, its Including：Multiple comparators, multiple TDC chips and processor, main ripple signal inputs multiple TDC chips as startup is started simultaneously to be believed Number, obtained pulse signal is inputted each TDC chips, place by multi-path echo signal by corresponding comparator, comparator respectively Result when reason device reads the survey of multiple TDC chips simultaneously, and the amplitude of echo-signal is combined, obtain the constant amplitude sampling of echo-signal Value, according to echo signal amplitude, result when surveying is obtained, distance measurement result is obtained with reference to the light velocity.
Present invention also offers a kind of more threshold values TDC high-precision lasers pulse ranging methods, it comprises the following steps：
Step 1：Main ripple signal inputs multiple TDC chips as beginning enabling signal simultaneously；
Step 2：Multi-path echo signal is respectively by corresponding comparator, and obtain pulse signal；
Step 3：Each TDC chips are according to the main ripple signal and echo-signal received, when measuring the survey of pulse signal forward position As a result with after pulse signal along survey when result；
Step 4：When processor is surveyed according to pulse signal forward position echo letter is obtained after result and pulse signal along result when surveying Number constant amplitude sampled value；
Step 5：According to echo signal amplitude, result when surveying is obtained, distance measurement result is obtained with reference to the light velocity.
Wherein, in the step 1, TDC chips have n, commencing signal START of the main ripple signal as TDC, enter simultaneously TDC1, TDC2, TDC3 ..., TDCn.
Wherein, in the step 2, comparator has n, and echo-signal passes through comparator 1, comparative level V1, obtains arteries and veins Rush signal STOP1；Echo-signal passes through comparator 2, comparative level V2, obtains pulse signal STOP2；Echo-signal pass through than Compared with device 3, comparative level V3, pulse signal STOP3 is obtained；By that analogy, echo-signal passes through comparator n, and comparative level is Vn, obtain pulse signal STOPn.
Wherein, in the step 2, the scope of echo-signal output is 0-a volts, and V1 takes a*1/ (n+1) to lie prostrate, and V2 takes a*2/ (n + 1) lie prostrate, V3 takes a*3/ (n+1) to lie prostrate, and by that analogy, Vn takes a*n/ (n+1) to lie prostrate.
Wherein, in the step 3, commencing signal START enters TDC1 chips with pulse signal STOP1 signals, measures out Result is T1, commencing signal START and pulse signal when beginning signal START surveys with pulse signal STOP1 pulse signals forward position Result is T (n+1) when edge is surveyed after STOP1 pulse signals；Commencing signal START enters TDC2 cores with pulse signal STOP2 signals Piece, it is T2, commencing signal START and pulse signal to measure result when START surveys with pulse signal STOP2 pulse signals forward position Result is T (n+2) when edge is surveyed after STOP2 pulse signals；Commencing signal START enters TDC3 cores with pulse signal STOP3 signals Piece, it is T3, commencing signal START and arteries and veins to measure result when commencing signal START surveys with pulse signal STOP3 pulse signals forward position It is T (n+3) to rush after signal STOP3 pulse signals along result when surveying；Commencing signal START enters with pulse signal STOPn signals TDCn chips, it is Tn to measure result when commencing signal START and pulse signal STOPn pulse signals forward position are surveyed, commencing signal START is T (n+n) with result when edge is surveyed after pulse signal STOPn pulse signals.
Wherein, in the step 4, result T1, T2, T3 when processor reads the survey of n TDC chip ..., Tn, T (n + 1), T (n+2), T (n+3) ..., T2n, with reference to n comparative level V1, V2, V3 ..., Vn, i.e. echo-signal width Value, thus obtain the constant amplitude sampled value of 2n point of echo-signal.
Wherein, in the step 5, when echo signal amplitude is less than V1, no distance measurement result；
When echo signal amplitude is more than or equal to V1 and when being less than V2, result T=V1*T1+V1*T (n+1)+/ 2*V1 during survey；
When echo signal amplitude is more than or equal to V2 and when being less than V3, result T=V1*T1+V2*T2+V1*T (n+1) during survey+ V2*T(n+2)/2*(V1+V2)；
When echo signal amplitude is more than or equal to V3 and when being less than V4, result T=V1*T1+V2*T2+V3*T3+V1*T during survey (n+1)+V2*T(n+2)+V3*T(n+3)/2*(V1+V2+V3)；
By that analogy, when echo signal amplitude is more than or equal to Vn, result T=V1*T1+V2*T2+V3*T3+ during survey ...Vn*Tn+V1*T(n+1)+V2*T(n+2)+V3*T(n+3)+....Vn*T2n/2*(V1+V2+V3+...Vn)；
The half that T is multiplied by the light velocity obtains distance measurement result.
(3) beneficial effect
More threshold values TDC high-precision lasers pulse ranging methods that above-mentioned technical proposal is provided, by choosing more threshold values, profit To be realized with TDC and the amplitude of echo is sampled, it is known that echo is class Gaussian waveform, using quadratic fit, recovers echo-signal, and then Distance measurement result is obtained using multiple spot information, range accuracy is high.
Brief description of the drawings
Fig. 1 is to differentiate schematic diagram at the single threshold values moment of laser ranging in the prior art.
Fig. 2 is that block diagram is realized in more threshold values TDC rangings in the embodiment of the present invention.
Embodiment
To make the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to the present invention's Embodiment is described in further detail.
Shown in reference picture 2, the more threshold values TDC high-precision laser pulse ranging systems of the present embodiment include：It is multiple comparators, more Individual TDC chips and processor, main ripple signal input multiple TDC chips as enabling signal, multi-path echo signal is started and divided simultaneously Not Jing Guo corresponding to comparator, obtained pulse signal inputs each TDC chips by comparator, and processor reads multiple simultaneously The result during survey of TDC chips, and the amplitude of echo-signal is combined, the constant amplitude sampled value of echo-signal is obtained, according to echo-signal Amplitude, result when surveying is obtained, distance measurement result is obtained with reference to the light velocity.
Based on above-mentioned range-measurement system, the more threshold values TDC high-precision lasers pulse ranging methods of the present embodiment, it includes following step Suddenly：
Step 1：Main ripple signal inputs multiple TDC chips as beginning enabling signal simultaneously
Commencing signal START of the main ripple signal as TDC, while enter TDC1, TDC2, TDC3 ..., TDCn；
Step 2：Multi-path echo signal is respectively by corresponding comparator, and obtain pulse signal
Echo-signal passes through comparator 1, comparative level V1, obtains pulse signal STOP1；Echo-signal passes through comparator 2, comparative level V2, obtain pulse signal STOP2；Echo-signal passes through comparator 3, comparative level V3, obtains pulse letter Number STOP3；......；Echo-signal passes through comparator n, comparative level Vn, obtains pulse signal STOPn；
Wherein, the scope of echo-signal output is 0-a volts, and V1 takes a*1/ (n+1) to lie prostrate, and V2 takes a*2/ (n+1) to lie prostrate, and V3 takes a* 3/ (n+1) is lied prostrate ..., Vn takes a*n/ (n+1) to lie prostrate；
Step 3：Each TDC chips are according to the main ripple signal and echo-signal received, when measuring the survey of pulse signal forward position As a result with after pulse signal along survey when result
START enters TDC1 chips with STOP1 signals, measures result when START and STOP1 pulse signals forward position is surveyed and is Result is T (n+1) when edge is surveyed after T1, START and STOP1 pulse signal；START enters TDC2 chips with STOP2 signals, measures Result is T (n+ when result be edge survey after T2, START and STOP2 pulse signal when START and STOP2 pulse signals forward position are surveyed 2)；START enters TDC3 chips with STOP3 signals, and it is T3 to measure result when START surveys with STOP3 pulse signals forward position, START is T (n+3) with result when edge is surveyed after STOP3 pulse signals；START enters TDCn chips with STOPn signals, measures Result is T (n+ when result be edge survey after Tn, START and STOPn pulse signal when START and STOPn pulse signals forward position are surveyed n)；
Step 4：When processor is surveyed according to pulse signal forward position echo letter is obtained after result and pulse signal along result when surveying Number constant amplitude sampled value
Result T1, T2, T3 during the survey of processor n TDC chip of reading ..., Tn, T (n+1), T (n+2), T (n+ 3) ..., T2n, with reference to n comparative level V1, V2, V3 ..., Vn, i.e. echo-signal amplitude, thus obtain echo The constant amplitude sampled value of 2n point of signal, because echo-signal is class Gaussian waveform, pass through the secondary recovery ripple for fitting to obtain echo Shape.
Step 5：According to echo signal amplitude, result when surveying is obtained, distance measurement result is obtained with reference to the light velocity
When echo signal amplitude is less than V1, no distance measurement result；When echo signal amplitude is more than or equal to V1 and is less than V2, Result T when T=V1*T1+V1*T (n+1)+/ 2*V1 tries to achieve survey；
When echo signal amplitude is more than or equal to V2 and is less than V3, T=V1*T1+V2*T2+V1*T (n+1)+V2*T (n+ 2) result T when/2* (V1+V2) tries to achieve survey；
When echo signal amplitude is more than or equal to V3 and is less than V4, T=V1*T1+V2*T2+V3*T3+V1*T (n+1)+V2* Result T when T (n+2)+V3*T (n+3)/2* (V1+V2+V3) tries to achieve survey；
When echo signal amplitude is more than or equal to Vn, T=V1*T1+V2*T2+V3*T3+...Vn*Tn+V1*T (n+1)+ V2*T (n+2)+V3*T (n+3)+... result T when .Vn*T2n/2* (V1+V2+V3+...Vn) tries to achieve survey；
The half that T is multiplied by the light velocity obtains distance measurement result.
Because laser pulse is bell-shaped pulse, and it is excited the influences such as optical transmission distance and target reflectivity and has larger width Degree change, the discrimination method of the single threshold values of use can produce error when laser pulse amplitudes change, measurement accuracy caused Very big influence.In the present invention, using more threshold methods, more TDC associated working, precision distance measurement is realized, time difference method reaches 45 psecs, corresponding range accuracy are 6.75 millimeters.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For member, without departing from the technical principles of the invention, some improvement and deformation can also be made, these are improved and deformation Also it should be regarded as protection scope of the present invention.

Claims (8)

  1. A kind of 1. more threshold values TDC high-precision laser pulse ranging systems, it is characterised in that including：Multiple comparators, multiple TDC Chip and processor, main ripple signal inputs multiple TDC chips as enabling signal, multi-path echo signal is started simultaneously to be passed through respectively Obtained pulse signal is inputted each TDC chips by corresponding comparator, comparator, and processor reads multiple TDC chips simultaneously Survey when result, and combine echo-signal amplitude, obtain the constant amplitude sampled value of echo-signal, according to echo signal amplitude, obtain Result when must survey, distance measurement result is obtained with reference to the light velocity.
  2. A kind of 2. more threshold values TDC high-precision lasers pulse ranging methods, it is characterised in that comprise the following steps：
    Step 1：Main ripple signal inputs multiple TDC chips as beginning enabling signal simultaneously；
    Step 2：Multi-path echo signal is respectively by corresponding comparator, and obtain pulse signal；
    Step 3：Each TDC chips measure result when pulse signal forward position is surveyed according to the main ripple signal and echo-signal received With result when edge is surveyed after pulse signal；
    Step 4：When processor is surveyed according to pulse signal forward position echo-signal etc. is obtained after result and pulse signal along result when surveying Width sampled value；
    Step 5：According to echo signal amplitude, result when surveying is obtained, distance measurement result is obtained with reference to the light velocity.
  3. 3. more threshold values TDC high-precision lasers pulse ranging methods as claimed in claim 2, it is characterised in that the step 1 In, TDC chips have n, commencing signal START of the main ripple signal as TDC, while enter TDC1, TDC2, TDC3 ..., TDCn。
  4. 4. more threshold values TDC high-precision lasers pulse ranging methods as claimed in claim 3, it is characterised in that the step 2 In, comparator has n, and echo-signal passes through comparator 1, comparative level V1, obtains pulse signal STOP1；Echo-signal passes through Comparator 2 is crossed, comparative level V2, obtains pulse signal STOP2；Echo-signal passes through comparator 3, comparative level V3, obtains To pulse signal STOP3；By that analogy, echo-signal passes through comparator n, comparative level Vn, obtains pulse signal STOPn.
  5. 5. more threshold values TDC high-precision lasers pulse ranging methods as claimed in claim 4, it is characterised in that the step 2 In, the scope of echo-signal output is 0-a volts, and V1 takes a*1/ (n+1) to lie prostrate, and V 2 takes a*2/ (n+1) to lie prostrate, and V 3 takes a*3/ (n+1) Volt, by that analogy, Vn take a*n/ (n+1) to lie prostrate.
  6. 6. more threshold values TDC high-precision lasers pulse ranging methods as claimed in claim 5, it is characterised in that the step 3 In, commencing signal START enters TDC1 chips with pulse signal STOP1 signals, measures commencing signal START and pulse signal Result is T1 when STOP1 pulse signals forward position is surveyed, and commencing signal START when edge is surveyed after pulse signal STOP1 pulse signals with tying Fruit is T (n+1)；Commencing signal START enters TDC2 chips with pulse signal STOP2 signals, measures START and pulse signal Result is T2 when STOP2 pulse signals forward position is surveyed, and commencing signal START when edge is surveyed after pulse signal STOP2 pulse signals with tying Fruit is T (n+2)；Commencing signal START enters TDC3 chips with pulse signal STOP3 signals, measures commencing signal START and arteries and veins It is T3, commencing signal START and edge after pulse signal STOP3 pulse signals to rush result when signal STOP3 pulse signals forward position is surveyed Result is T (n+3) during survey；Commencing signal START enters TDCn chips with pulse signal STOPn signals, measures commencing signal Result is Tn, commencing signal START and pulse signal STOPn pulses when START surveys with pulse signal STOPn pulse signals forward position Result is T (n+n) when signal trailing edge is surveyed.
  7. 7. more threshold values TDC high-precision lasers pulse ranging methods as claimed in claim 6, it is characterised in that the step 4 In, result T1, T2, T3 when processor reads the survey of n TDC chip ..., Tn, T (n+1), T (n+2), T (n+ 3) ..., T2n, with reference to n comparative level V1, V2, V3 ..., Vn, i.e. echo-signal amplitude, thus obtain echo The constant amplitude sampled value of 2n point of signal.
  8. 8. more threshold values TDC high-precision lasers pulse ranging methods as claimed in claim 7, it is characterised in that the step 5 In, when echo signal amplitude is less than V1, no distance measurement result；
    When echo signal amplitude is more than or equal to V1 and when being less than V2, result T=V1*T1+V1*T (n+1)+/ 2*V1 during survey；
    When echo signal amplitude is more than or equal to V2 and when being less than V3, result T=V1*T1+V2*T2+V1*T (n+1)+V2*T during survey (n+2)/2*(V1+V2)；
    When echo signal amplitude is more than or equal to V3 and when being less than V4, result T=V1*T1+V2*T2+V3*T3+V1*T (n+1) during survey +V2*T(n+2)+V3*T(n+3)/2*(V1+V2+V3)；
    By that analogy, when echo signal amplitude is more than or equal to Vn, result T=V1*T1+V2*T2+V3*T3+...Vn*Tn during survey +V1*T(n+1)+V2*T(n+2)+V3*T(n+3)+....Vn*T2n/2*(V1+V2+V3+...Vn)；
    The half that T is multiplied by the light velocity obtains distance measurement result.
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