CN107843903B - Multi-threshold TDC high-precision laser pulse distance measuring method - Google Patents
Multi-threshold TDC high-precision laser pulse distance measuring method Download PDFInfo
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- CN107843903B CN107843903B CN201711026514.4A CN201711026514A CN107843903B CN 107843903 B CN107843903 B CN 107843903B CN 201711026514 A CN201711026514 A CN 201711026514A CN 107843903 B CN107843903 B CN 107843903B
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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
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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
- G01S7/487—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 multi-threshold TDC high-precision laser pulse ranging system, which comprises: the device comprises a plurality of comparators, a plurality of TDC chips and a processor, wherein a main wave signal is simultaneously input into the TDC chips to serve as a starting signal, a plurality of paths of echo signals respectively pass through the corresponding comparators, the comparators input the obtained pulse signals into each TDC chip, the processor simultaneously reads the time measurement results of the TDC chips, the time measurement results are combined with the amplitude of the echo signals to obtain a constant amplitude sampling value of the echo signals, the time measurement results are obtained according to the amplitude of the echo signals, and the distance measurement results are obtained by combining the speed of light. According to the invention, by selecting multiple threshold values, the amplitude sampling of the echo is realized by using the TDC, the echo is known to be a Gaussian-like waveform, the echo signal is recovered by adopting quadratic fitting, and then the ranging result is solved by using multi-point information, so that the ranging precision is high.
Description
Technical Field
The invention belongs to the technical field of laser pulse ranging, and relates to a multi-threshold TDC high-precision laser pulse ranging method.
Background
In the current laser pulse ranging method, a pulse laser is used to emit one or a series of very narrow laser pulses, and the distance is measured by measuring the pulse delay time between the echo and the emitted main wave, as shown in fig. 1, that is, the time-of-flight method is measured. In the case of sufficient sensitivity and no range ambiguity, the maximum measured range is:
in the formula: c is the speed of light, TrIs the time of flight of the laser light to and from the emitter and target, where it is equal to the repetition period of the emitted pulses; f. ofrIs the repetition frequency of the laser emission pulses.
In a signal processing system for laser ranging, signals for determining the start and the end of timing are output signals of a photoelectric converter, are analog quantities, and need to be converted into pulse signals in a digital circuit to trigger the timing system to work. The conversion method usually used is a single threshold method, i.e. the input signal is compared with a fixed threshold, and the threshold point is used as the reference point of pulse time. Because the laser pulse is a bell-shaped pulse and has large amplitude variation influenced by the laser transmission distance, the target reflectivity and the like, the adopted single threshold discrimination method can generate an error T when the amplitude of the laser pulse varies, and the error T has great influence on the measurement accuracy, which is shown in fig. 1.
Disclosure of Invention
Objects of the invention
The purpose of the invention is: the method is applied to laser pulse ranging and improves ranging precision.
(II) technical scheme
In order to solve the above technical problem, the present invention provides a multi-threshold TDC high-precision laser pulse ranging system, which includes: the device comprises a plurality of comparators, a plurality of TDC chips and a processor, wherein a main wave signal is simultaneously input into the TDC chips to serve as a starting signal, a plurality of paths of echo signals respectively pass through the corresponding comparators, the comparators input the obtained pulse signals into each TDC chip, the processor simultaneously reads the time measurement results of the TDC chips, the time measurement results are combined with the amplitude of the echo signals to obtain a constant amplitude sampling value of the echo signals, the time measurement results are obtained according to the amplitude of the echo signals, and the distance measurement results are obtained by combining the speed of light.
The invention also provides a multi-threshold TDC high-precision laser pulse ranging method, which comprises the following steps:
step 1: the main wave signal is simultaneously input into a plurality of TDC chips as start-up signals;
step 2: the multi-channel echo signals respectively pass through corresponding comparators to obtain pulse signals;
and step 3: each TDC chip measures a pulse signal front edge time measurement result and a pulse signal rear edge time measurement result according to the received main wave signal and the received echo signal;
and 4, step 4: the processor obtains an echo signal constant-amplitude sampling value according to a pulse signal leading edge time measurement result and a pulse signal trailing edge time measurement result;
and 5: and obtaining a time measurement result according to the amplitude of the echo signal, and obtaining a distance measurement result by combining the light speed.
In the step 1, n TDC chips are provided, and the main wave signal is used as a START signal START of the TDC and simultaneously enters the TDC1, the TDC2, the TDC3, the.
In the step 2, n comparators are provided, the echo signals pass through the comparator 1, and the comparison level is V1, so that a pulse signal STOP1 is obtained; the echo signal passes through a comparator 2, the comparison level is V2, and a pulse signal STOP2 is obtained; the echo signal passes through a comparator 3, the comparison level is V3, and a pulse signal STOP3 is obtained; by analogy, the echo signal passes through a comparator n, and the comparison level is Vn to obtain a pulse signal STOPn.
In step 2, the range of the echo signal output is 0-a volts, V1 takes a × 1/(n +1) volts, V2 takes a × 2/(n +1) volts, V3 takes a × 3/(n +1) volts, and so on, and Vn takes a × n/(n +1) volts.
In step 3, the START signal START and the pulse signal STOP1 enter the TDC1 chip, the result of the measurement of the leading edge of the pulse signal of the START signal START and the pulse signal STOP1 is T1, and the result of the measurement of the trailing edge of the pulse signal of the START signal START and the pulse signal STOP1 is T (n + 1); the START signal START and the pulse signal STOP2 enter the TDC2 chip, the result of the measurement of the leading edge of the pulse signal START and the pulse signal STOP2 is T2, and the result of the measurement of the trailing edge of the pulse signal START and the pulse signal STOP2 is T (n + 2); the START signal START and the pulse signal STOP3 enter the TDC3 chip, the result of the measurement of the START signal START and the pulse signal STOP3 is T3 when the leading edge of the pulse signal is detected, and the result of the measurement of the START signal START and the pulse signal STOP3 is T (n +3) when the trailing edge of the pulse signal is detected; the START signal START and the pulse signal STOPn enter the TDCn chip, and the result of the measurement of the leading edge of the pulse signal of the START signal START and the pulse signal STOPn is Tn, and the result of the measurement of the trailing edge of the pulse signal of the START signal START and the pulse signal STOPn is T (n + n).
In the step 4, the processor reads the time measurement results T1, T2, T3, T.. 9., Tn, T (n +1), T (n +2), T (n +3), T.. once, T2n of the n TDC chips, and combines n comparison levels V1, V2, V3, i.e., the amplitude of the echo signal, thereby obtaining a constant-amplitude sampling value of 2n points of the echo signal.
In the step 5, when the amplitude of the echo signal is smaller than V1, no ranging result is obtained;
when the amplitude of the echo signal is greater than or equal to V1 and less than V2, the measurement result T is V1 × T1+ V1 × T (n +1) +/2 × V1;
when the amplitude of the echo signal is greater than or equal to V2 and less than V3, the measurement result T is V1 × T1+ V2 × T2+ V1 × T (n +1) + V2 × T (n +2)/2 × (V1+ V2);
when the amplitude of the echo signal is greater than or equal to V3 and less than V4, the measurement result T ═ V1 × T1+ V2 × T2+ V3 × T3+ V1 × T (n +1) + V2 × T (n +2) + V3 × T (n +3)/2 (V1+ V2+ V3);
by analogy, when the amplitude of the echo signal is greater than or equal to Vn, the measurement result T ═ V1 × T1+ V2 × T2+ V3 × T3+. Vn × Tn + V1 × T (n +1) + V2 × T (n +2) + V3 × T (n +3) +. Vn × T2n/2 (V1+ V2+ V3+. Vn);
t is multiplied by half the speed of light to obtain the ranging result.
(III) advantageous effects
According to the multi-threshold TDC high-precision laser pulse ranging method, the amplitude of the echo is sampled by selecting the multi-threshold and utilizing the TDC, the echo is known to be Gaussian-like, the echo signal is recovered by quadratic fitting, and then the ranging result is obtained by utilizing multi-point information, so that the ranging precision is high.
Drawings
Fig. 1 is a schematic diagram of single threshold time discrimination in laser ranging in the prior art.
Fig. 2 is a block diagram of an implementation of multi-threshold TDC ranging in an embodiment of the present invention.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
Referring to fig. 2, the multi-threshold TDC high-precision laser pulse ranging system of the present embodiment includes: the device comprises a plurality of comparators, a plurality of TDC chips and a processor, wherein a main wave signal is simultaneously input into the TDC chips to serve as a starting signal, a plurality of paths of echo signals respectively pass through the corresponding comparators, the comparators input the obtained pulse signals into each TDC chip, the processor simultaneously reads the time measurement results of the TDC chips, the time measurement results are combined with the amplitude of the echo signals to obtain a constant amplitude sampling value of the echo signals, the time measurement results are obtained according to the amplitude of the echo signals, and the distance measurement results are obtained by combining the speed of light.
Based on the distance measuring system, the multi-threshold TDC high-precision laser pulse distance measuring method of the embodiment includes the following steps:
step 1: the main wave signal is simultaneously input into a plurality of TDC chips as start starting signals
The main wave signal is used as a START signal START of the TDC and simultaneously enters the TDC1, the TDC2, the TDC3, the.
Step 2: the multi-path echo signals respectively pass through corresponding comparators to obtain pulse signals
The echo signal passes through a comparator 1, the comparison level is V1, and a pulse signal STOP1 is obtained; the echo signal passes through a comparator 2, the comparison level is V2, and a pulse signal STOP2 is obtained; the echo signal passes through a comparator 3, the comparison level is V3, and a pulse signal STOP3 is obtained; ...; the echo signal passes through a comparator n, the comparison level is Vn, and a pulse signal STOPn is obtained;
wherein, the range of the echo signal output is 0-a volt, V1 takes a 1/(n +1) volt, V2 takes a 2/(n +1) volt, V3 takes a 3/(n +1) volt,.
And step 3: each TDC chip measures the front edge time measurement result and the rear edge time measurement result of the pulse signal according to the received main wave signal and echo signal
The START and STOP1 signals enter a TDC1 chip, the result of the measurement of the leading edge of the START and STOP1 pulse signals is T1, and the result of the measurement of the trailing edge of the START and STOP1 pulse signals is T (n + 1); the START and STOP2 signals enter a TDC2 chip, the result of the measurement of the leading edge of the START and STOP2 pulse signals is T2, and the result of the measurement of the trailing edge of the START and STOP2 pulse signals is T (n + 2); the START and STOP3 signals enter a TDC3 chip, the result of the measurement of the leading edge of the START and STOP3 pulse signals is T3, and the result of the measurement of the trailing edge of the START and STOP3 pulse signals is T (n + 3); the START and STOPn signals enter the TDCn chip, the result of the measurement of the leading edges of the START and STOPn pulse signals is Tn, and the result of the measurement of the trailing edges of the START and STOPn pulse signals is T (n + n);
and 4, step 4: the processor obtains the constant amplitude sampling value of the echo signal according to the leading edge time measurement result and the trailing edge time measurement result of the pulse signal
The processor reads time measurement results T1, T2, T3, a.
And 5: according to the amplitude of the echo signal, a time measurement result is obtained, and a distance measurement result is obtained by combining the light speed
When the amplitude of the echo signal is smaller than V1, no ranging result is obtained; when the echo signal amplitude is greater than or equal to V1 and less than V2, T is V1T 1+ V1T (n +1) +/2V 1 to obtain a measurement result T;
when the echo signal amplitude is greater than or equal to V2 and less than V3, T ═ V1 × T1+ V2 × T2+ V1 × T (n +1) + V2 × T (n +2)/2 ═ V1+ V2, a measurement result T is obtained;
when the echo signal amplitude is greater than or equal to V3 and less than V4, T ═ V1 × T1+ V2 × T2+ V3 × T3+ V1 × T (n +1) + V2 × T (n +2) + V3 × T (n +3)/2 ═ V1+ V2+ V3;
when the amplitude of the echo signal is larger than or equal to Vn, T ═ V1T 1+ V2T 2+ V3T 3+. Vn Tn + V1T (n +1) + V2T (n +2) + V3T (n +3) +. Vn T2n/2 (V1+ V2+ V3+. Vn) is used for obtaining a measurement result T;
t is multiplied by half the speed of light to obtain the ranging result.
Because the laser pulse is a bell-shaped pulse and has large amplitude variation under the influence of laser transmission distance, target reflectivity and the like, the adopted single threshold value identification method can generate errors when the amplitude of the laser pulse varies, and has great influence on measurement accuracy. In the invention, a multi-threshold method and multi-TDC combined work are adopted to realize high-precision distance measurement, the time measurement precision reaches 45 picoseconds, and the corresponding distance measurement precision is 6.75 millimeters.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (3)
1. A multi-threshold TDC high-precision laser pulse distance measurement method is characterized by comprising the following steps:
step 1: the main wave signal is simultaneously input into a plurality of TDC chips as start-up signals;
step 2: the multi-channel echo signals respectively pass through corresponding comparators to obtain pulse signals;
and step 3: each TDC chip measures a pulse signal front edge time measurement result and a pulse signal rear edge time measurement result according to the received main wave signal and the received echo signal;
and 4, step 4: the processor obtains an echo signal constant-amplitude sampling value according to a pulse signal leading edge time measurement result and a pulse signal trailing edge time measurement result;
and 5: according to the amplitude of the echo signal, a time measurement result is obtained, and a distance measurement result is obtained by combining the light speed;
in the step 1, n TDC chips are provided, and the main wave signal is used as a START signal START of the TDC and simultaneously enters the TDC1, the TDC2, the TDC3, the.
In the step 2, n comparators are provided, the echo signals pass through the comparator 1, and the comparison level is V1, so that a pulse signal STOP1 is obtained; the echo signal passes through a comparator 2, the comparison level is V2, and a pulse signal STOP2 is obtained; the echo signal passes through a comparator 3, the comparison level is V3, and a pulse signal STOP3 is obtained; by analogy, the echo signal passes through a comparator n, the comparison level is Vn, and a pulse signal STOPn is obtained;
in the step 2, the range of the echo signal output is 0-a volts, V1 takes a 1/(n +1) volts, V2 takes a 2/(n +1) volts, V3 takes a 3/(n +1) volts, and so on, and Vn takes a n/(n +1) volts;
in step 3, the START signal START and the pulse signal STOP1 enter the TDC1 chip, the result of the measurement of the leading edge of the pulse signal of the START signal START and the pulse signal STOP1 is T1, and the result of the measurement of the trailing edge of the pulse signal of the START signal START and the pulse signal STOP1 is T (n + 1); the START signal START and the pulse signal STOP2 enter the TDC2 chip, the result of the measurement of the leading edge of the pulse signal START and the pulse signal STOP2 is T2, and the result of the measurement of the trailing edge of the pulse signal START and the pulse signal STOP2 is T (n + 2); the START signal START and the pulse signal STOP3 enter the TDC3 chip, the result of the measurement of the START signal START and the pulse signal STOP3 is T3 when the leading edge of the pulse signal is detected, and the result of the measurement of the START signal START and the pulse signal STOP3 is T (n +3) when the trailing edge of the pulse signal is detected; the START signal START and the pulse signal STOPn enter the TDCn chip, and the result of the measurement of the leading edge of the pulse signal of the START signal START and the pulse signal STOPn is Tn, and the result of the measurement of the trailing edge of the pulse signal of the START signal START and the pulse signal STOPn is T (n + n).
2. The multi-valve TDC high-precision laser pulse ranging method according to claim 1, wherein in step 4, the processor reads time measurement results T1, T2, T3, n.. once, Tn, T (n +1), T (n +2), T (n +3), n.. once, T2n of n TDC chips in combination with n comparison levels V1, V2, V3,. once, Vn, i.e. the amplitude of the echo signal, thereby obtaining equal-amplitude sampling values of 2n points of the echo signal.
3. The multi-threshold TDC high precision laser pulse ranging method according to claim 2, wherein in step 5, when the echo signal amplitude is less than V1, there is no ranging result;
when the echo signal amplitude is greater than or equal to V1 and less than V2, the measurement result T is V1 × T1+ V1 × T (n +1)/2 × V1;
when the amplitude of the echo signal is greater than or equal to V2 and less than V3, the measurement result T is V1 × T1+ V2 × T2+ V1 × T (n +1) + V2 × T (n +2)/2 × (V1+ V2);
when the amplitude of the echo signal is greater than or equal to V3 and less than V4, the measurement result T ═ V1 × T1+ V2 × T2+ V3 × T3+ V1 × T (n +1) + V2 × T (n +2) + V3 × T (n +3)/2 (V1+ V2+ V3);
by analogy, when the amplitude of the echo signal is greater than or equal to Vn, the measurement result T ═ V1 × T1+ V2 × T2+ V3 × T3+. Vn × Tn + V1 × T (n +1) + V2 × T (n +2) + V3 × T (n +3) +. Vn × T2n/2 (V1+ V2+ V3+. Vn);
t is multiplied by half the speed of light to obtain the ranging result.
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| CN109116302A (en) * | 2018-08-29 | 2019-01-01 | 四川中电昆辰科技有限公司 | A kind of arrival time detection method, device and positioning device |
| CN109669188B (en) * | 2019-01-17 | 2023-04-07 | 杜鑫 | Multi-edge trigger time identification method and pulse type laser ranging method |
| CN110488241A (en) * | 2019-08-26 | 2019-11-22 | 苏州迈斯泰克达光电科技有限公司 | A kind of laser radar multiple echo information extraction element and method |
| CN111983625B (en) * | 2020-07-20 | 2022-10-18 | 重庆邮电大学 | Pulse laser ranging error compensation method based on GABP |
| CN112782709B (en) * | 2020-12-28 | 2022-09-27 | 杭州电子科技大学 | Laser ranging method based on dynamic multi-threshold error correction |
| WO2023123084A1 (en) * | 2021-12-29 | 2023-07-06 | 深圳市大疆创新科技有限公司 | Distance measurement method, distance measurement device, and movable platform |
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