CN107957582A - A kind of range unit and distance measuring method based on permanent threshold value differential method - Google Patents
A kind of range unit and distance measuring method based on permanent threshold value differential method Download PDFInfo
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- CN107957582A CN107957582A CN201711296774.3A CN201711296774A CN107957582A CN 107957582 A CN107957582 A CN 107957582A CN 201711296774 A CN201711296774 A CN 201711296774A CN 107957582 A CN107957582 A CN 107957582A
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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
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- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a kind of range unit and distance measuring method based on permanent threshold value moment differential method, in the pulse laser distance measuring device based on permanent threshold value differential method, pulse laser outgoing intensity is adjusted using optical attenuator, and change obstacle distance, measurement distance and pulsewidth constantly under record different distance difference laser intensity, data of adjusting the distance again and pulse-width data are fitted for the first time, quadratic fit, obtain the measurement distance formula after final drift error is corrected, compensate time drift error caused by single threshold value, reduce because backward energy changes the influence to the pulsed laser ranging precision based on permanent threshold value differential method, and the complexity of circuit need not be increased, method is simple.
Description
Technical field
The invention belongs to laser measurement field, and in particular to a kind of range unit and ranging side based on permanent threshold value differential method
Method.
Background technology
Pulse type laser e measurement technology, as light source, using laser as carrier wave, according to time-of-flight, is led to using laser
Cross detection laser firing pulses and return laser beam between time difference carry out measurement distance, possess it is simple in structure, it is cheap, reliably
Property high, strong interference immunity, it is not necessary to the advantages that cooperative target, be widely used on civilian and military.
For the arrival moment of exploring laser light echo impulse, generally using time-discriminating circuit, the purpose that the moment differentiates exists
In by the analog signal of return laser beam be converted to one have temporal information digital logic signal.When the amplitude of input signal is low
In a certain given threshold value, signal is not exported；And exceed this given threshold value, the signal of certain amplitude is just exported,
Thus, the digital signal represented by low and high level is converted analog signals into.Practical situation is that laser echo pulse is being transmitted across
Easily it is subject to the decay and interference of the objects such as dust in air, smog, steam in journey, echo waveform can be by different degrees of exhibition
Wide and distortion, has differences on the output time after moment discrimination circuit, causes time drift error.Echo ripple at the same time
Shape is related with the target property detected, even the angle of same target, same distance, target and light path is different, echo
Intensity also differs, and causes the electrical signal amplitude after opto-electronic conversion to change with the Strength Changes of echo, different amplitude warps
Crossing moment discrimination circuit, generation difference causes time drift error on output time afterwards.
The content of the invention
It is an object of the invention to provide a kind of range unit based on permanent threshold value differential method.
The technical solution for realizing the object of the invention is：A kind of range unit based on permanent threshold value moment differential method, bag
Include FPGA master control borads, TDC test chips, laser emitting module, transmitting optical lens group, optical attenuator, optical filter, reception light
Lens group, laser pick-off module and CCD camera are learned, the transmitting optical lens group, optical attenuator are on a horizontal line
Common optical axis is placed, and optical filter, receive optical lens group common optical axis placement on another horizontal line；The camera lens of the CCD camera
Alignment surface barrier；
FPGA master control borads control laser emitting module launches pulse laser, and the emitted optical lens group of pulse laser is accurate
Directly, incided after then being decayed by optical attenuator in plane obstacles, pulse laser passes through after plane obstacles reflect
Optical filter, receive optical lens group, is received, amplified by laser pick-off module, obtaining echo impulse digital telecommunication after moment discriminating
Number, which passes to TDC test chips and calculates initial pulse control signal and echo pulse signal
Time difference, FPGA master control borads will be converted into distance, and the pulsewidth of echo pulse signal the time difference.
Present invention also offers a kind of distance measuring method based on permanent threshold value differential method, can reduce because of backward energy change pair
The influence of pulsed laser ranging precision based on permanent threshold value differential method, improves range accuracy, concretely comprises the following steps：
Step 1, structure range unit；
Step 2, adjust optical attenuator to initial decay degree, and barrier is moved to away from receiving optical lens group and connect
Perpendicular D where receiving optical lens group1The position of rice, adjusts light path, ensures laser vertical incidence blocking surfaces；
Step 3, collection range data and pulse-width data, concretely comprise the following steps：
Current barrier is recorded to the actual range d of range finderi, and continuous acquisition range data T and pulse-width data W, when
Data volume reaches when specifying number N, stops collection, obtains the average t of N number of range data TijWith the average w of pulse-width data Wij；
Step 4, adjust optical attenuator to next dough softening, and repeat step 3, completes one until optical attenuator and decline
Initial decay degree is returned to after subtracting the cycle, completes one group apart from mean data tiWith pulsewidth mean data wiRecord；
Step 5, moving obstacle are to away from range finder di+1, wherein di+1=di+ D, repeat step 3, step 4, until record M
Group range data tiWith pulse-width data wi；
Step 6, set up apart from mean data tiWith pulsewidth mean data wiRelational model, by M group range data tiAnd arteries and veins
Wide data wiRelational model is substituted into be fitted to obtain model coefficient a, b and ciNumerical value；Wherein, apart from mean data tiWith
Pulsewidth mean data wiRelational model be specially：
Step 7, establish actual range diWith the coefficient c in step 6iRelational model, and by ciNumerical value and M groups it is real
Border distance diSubstitute into the model to be fitted to obtain the value of model coefficient k, e, relational model is：
di=kci+e
Step 8, the model coefficient a, b, k obtained according to fitting, e obtain measurement after final drift error is corrected away from
From formula.
Compared with prior art, the present invention its remarkable advantage is：
(1) by ranging, fitting, be fitted to obtain drift error estimate again, then by measured value and drift error estimate
Subtract each other to obtain correction value, the shadow to the pulsed laser ranging precision based on permanent threshold value differential method because of backward energy change can be reduced
Ring；
(2) by the improvement to data processing model, with regard to drift error can be corrected, it is not necessary to increase the complexity of circuit,
Method is simple.
Brief description of the drawings
Fig. 1 is the flow chart of the distance measuring method of the invention based on permanent threshold value differential method.
Fig. 2 is the schematic diagram of the range unit based on permanent threshold value differential method of the present invention.
Fig. 3 is to correct front and rear design sketch at the distance measuring method 5 meters of the invention based on permanent threshold value differential method.
Fig. 4 is to correct front and rear design sketch at the distance measuring method 15 meters of the invention based on permanent threshold value differential method.
Embodiment
With reference to shown in Fig. 2, a kind of range unit based on permanent threshold value moment differential method, including FPGA master control borads 2, TDC are surveyed
Try chip 3, laser emitting module 4, transmitting optical lens group 5, optical attenuator 6, optical filter 7, receive optical lens group 8, swash
Optical Receivers 9 and CCD camera 22, the transmitting optical lens group 5, the common optical axis on a horizontal line of optical attenuator 6
Place, optical filter 7, receive the common optical axis placement on another horizontal line of optical lens group 8；The camera lens pair of the CCD camera 22
Directrix plane barrier 10；
FPGA master control borads 2 control laser emitting module 4 to launch pulse laser, the emitted optical lens group 5 of pulse laser
Collimation, then incided after being decayed by optical attenuator 6 in plane obstacles 10, pulse laser is reflected through plane obstacles 10
Afterwards, by optical filter 7, reception optical lens group 5, received, amplified by laser pick-off module 9, obtaining echo arteries and veins after moment discriminating
Digital electric signal is rushed, which passes to TDC test chips 3 and calculate initial pulse control signal and echo
The time difference of pulse signal, FPGA master control borads 2 will be converted into distance, and the pulsewidth of echo pulse signal the time difference.
In further embodiment, the laser emitting module 4 includes the drive circuit being electrically connected and laser diode 20.
In further embodiment, the laser pick-off module 9 include be sequentially connected electrically avalanche diode, preposition amplification
Circuit, main amplifier and moment discrimination circuit.
With reference to shown in Fig. 1, a kind of distance measuring method based on permanent threshold value moment differential method, concretely comprises the following steps：
Step 1, structure range unit, including FPGA master control borads 2, TDC test chips 3, laser emitting module 4, transmitting light
Learn lens group 5, optical attenuator 6, optical filter 7, reception optical lens group 8, laser pick-off module 9 and CCD camera 22, institute
State transmitting optical lens group 5, optical attenuator 6 common optical axis on a horizontal line to place, optical filter 7, reception optical lens group 8 exist
Common optical axis is placed on another horizontal line；The alignment lens plane obstacles 10 of the CCD camera 22；
FPGA master control borads 2 control laser emitting module 4 to launch pulse laser, the emitted optical lens group 5 of pulse laser
Collimation, then incided after being decayed by optical attenuator 6 in plane obstacles 10, pulse laser is reflected through plane obstacles 10
Afterwards, by optical filter 7, reception optical lens group 5, received, amplified by laser pick-off module 9, obtaining echo arteries and veins after moment discriminating
Digital electric signal is rushed, which passes to TDC test chips 3 and calculate initial pulse control signal and echo
The time difference of pulse signal, FPGA master control borads 2 will be converted into distance, and the pulsewidth of echo pulse signal the time difference.
Step 2, adjust optical attenuator 6 to initial decay degree, by barrier be moved to away from receive optical lens group 5 and
Receive 8 place perpendicular D of optical lens group1The position of rice, adjusts light path, ensures laser vertical incidence blocking surfaces；
Step 3, collection range data and pulse-width data, concretely comprise the following steps：
Current barrier is recorded to the actual range d of range uniti, and continuous acquisition range data T and pulse-width data W,
When data volume, which reaches, specifies number N, stop collection, obtain the average t of N number of range data TijWith the average of pulse-width data W
wij；
Step 4, adjust optical attenuator to next dough softening, and repeat step 3, completes one until optical attenuator and decline
Initial decay degree is returned to after subtracting the cycle, completes one group apart from mean data tiWith pulsewidth mean data wiRecord；
Step 5, moving obstacle are to away from range finder di+1, wherein di+1=di+ D, repeat step 3, step 4, until record M
Group range data tiWith pulse-width data wi；
Step 6, set up apart from mean data tiWith pulsewidth mean data wiRelational model, by M group range data tiAnd arteries and veins
Wide data wiRelational model is substituted into be fitted to obtain model coefficient a, b and ciNumerical value；Wherein, apart from mean data tiWith
Pulsewidth mean data wiRelational model be specially：
Step 7, establish actual range diWith the coefficient c in step 6iRelational model, and by ciNumerical value and M groups it is real
Border distance diSubstitute into the model to be fitted to obtain the value of model coefficient k, e, relational model is：
di=kci+e
Step 8, the model coefficient a, b, k obtained according to fitting, e obtain measurement after final drift error is corrected away from
From formula：
Wherein, d' represents the measurement distance after drift error amendment, and t is the distance that permanent threshold value differential method measures, and w is permanent
Threshold value differential method measure with the corresponding pulsewidths of t.
In further embodiment, D1Value range be 1~5m.
It is a dough softening every H °, the value range of H is 2~5 in further embodiment.
In further embodiment, the value range of D is 1~5 meter.
The distance measuring method based on permanent threshold value moment differential method of the invention adjusts the distance data and pulse-width data continuously measures n times again
Take its average value effectively to reduce the interference of Gaussian noise, improve the accuracy of data, it is relatively reliable to improve follow-up fitting result.
Embodiment 1
With reference to Fig. 2, structure range unit is built, barrier is located at away from range unit actual range d respectivelyi=5 meters, 10
Rice, 15 meters ... 45 meters, 50 meters place, in each actual range position, polarizer is adjusted since 0 °, every time adjusting 2 °, until
Optical attenuator returns to initial decay degree after completing a damped cycle, and under each dough softening, continuous acquisition arrives for 2000 times
The distance of barrier and the pulsewidth of echo, and obtain the average t of this 2000 range dataijWith the average w of pulse-width dataij, often
A one group of actual range station acquisition is apart from mean data tiWith pulsewidth mean data wi, therefore 10 groups of distances are collected altogether
Value Data tiWith pulsewidth mean data wi。
By 10 groups of range data tiWith pulse-width data wiSubstitute into following relational model
It is fitted, obtains model coefficient a=-917.1728, b=3.3983 and ciNumerical value it is as shown in table 1.
1 parameter c of tableiValue
| i | ci |
| 1 | 2.9288 |
| 2 | 7.8238 |
| 3 | 12.7720 |
| 4 | 17.7071 |
| 5 | 22.6539 |
| 6 | 27.5981 |
| 7 | 32.5501 |
| 8 | 37.4850 |
| 9 | 42.3877 |
| 10 | 47.3018 |
By ciNumerical value and 10 groups of actual range diSubstitute into such as drag
di=kci+e
It is fitted, obtains model coefficient k=1.013, e=2.05, i.e. di=1.013ci+2.05
The model coefficient a, b, k obtained according to fitting, the measurement distance that e is obtained after final drift error is corrected are public
Formula：
Wherein, d' represents the measurement distance after drift error amendment, and t is the distance that permanent threshold value differential method measures, and w is permanent
Threshold value differential method measure with the corresponding pulsewidths of t.
The measurement distance formula that distance measuring method of the invention based on permanent threshold value moment differential method obtains is to because echo strength becomes
Time drift error has carried out certain amendment caused by change, corrects front and rear design sketch as shown in Figure 3 and Figure 4.Fig. 3 is real
Fair curve at 5 meters of border distance, Fig. 4 are the fair curves at 15 meters of actual range, and dotted line represents the data before correcting, has very
Big fluctuation, solid line represent revised data, and fluctuation greatly reduces, and correction effect is ideal.
In conclusion the present invention is by measuring distance and pulsewidth under different distance difference laser intensity, then number of adjusting the distance
Fitting, quadratic fit for the first time are carried out according to pulse-width data, drift error correction formula is finally obtained, compensates caused by single threshold value
Time drift error, reduces because backward energy changes the influence to the pulsed laser ranging precision based on permanent threshold value differential method, and
The complexity of circuit need not be increased, method is simple.
Claims (8)
1. a kind of range unit based on permanent threshold value moment differential method, it is characterised in that tested including FPGA master control borads (2), TDC
Chip (3), laser emitting module (4), transmitting optical lens group (5), optical attenuator (6), optical filter (7), reception optical lens
Microscope group (8), laser pick-off module (9) and CCD camera (22), the transmitting optical lens group (5), optical attenuator (6)
Common optical axis is placed on a horizontal line, and optical filter (7), receive optical lens group (8) common optical axis placement on another horizontal line；Institute
State the alignment lens plane obstacles (10) of CCD camera (22)；
FPGA master control borads (2) control laser emitting module (4) launches pulse laser, the emitted optical lens group of pulse laser
(5) collimate, then incided after being decayed by optical attenuator (6) in plane obstacles (10), pulse laser is through impediment in plane
After thing (10) reflection, by optical filter (7), optical lens group (5) is received, is received, amplified, the moment by laser pick-off module (9)
Echo impulse digital electric signal is obtained after discriminating, which passes to TDC test chips (3) and calculate starting
The time difference of pulse control signal and echo pulse signal, FPGA master control borads (2) will be converted into distance, and echo arteries and veins the time difference
Rush the pulsewidth of signal.
2. the range unit according to claim 1 based on permanent threshold value moment differential method, it is characterised in that the laser hair
Penetrate drive circuit and laser diode (20) that module (4) includes being electrically connected.
3. the range unit according to claim 1 based on permanent threshold value moment differential method, it is characterised in that the laser connects
Receive avalanche diode, pre-amplification circuit, main amplifier and moment discrimination circuit that module (9) includes being sequentially connected electrically.
4. a kind of distance measuring method of the range unit based on described in claim 1, it is characterised in that concretely comprise the following steps：
Step 1, structure range unit；
Step 2, adjust optical attenuator (6) to initial decay degree, by barrier be moved to away from receive optical lens group (5) and
Perpendicular D where receiving optical lens group (8)1The position of rice, adjusts light path, ensures laser vertical incidence blocking surfaces；
Step 3, collection range data and pulse-width data, concretely comprise the following steps：
Current barrier is recorded to the actual range d of range finderi, and continuous acquisition range data T and pulse-width data W, work as data volume
Reach when specifying number N, stop collection, obtain the average t of N number of range data TijWith the average w of pulse-width data Wij；
Step 4, adjust optical attenuator to next dough softening, repeat step 3, until optical attenuator completes a decay week
Initial decay degree is returned to after phase, completes one group apart from mean data tiWith pulsewidth mean data wiRecord；
Step 5, moving obstacle are to away from range finder di+1, wherein di+1=di+ D, repeat step 3, step 4, until record M groups away from
From data tiWith pulse-width data wi；
Step 6, set up apart from mean data tiWith pulsewidth mean data wiRelational model, by M group range data tiWith pulsewidth number
According to wiRelational model is substituted into be fitted to obtain model coefficient a, b and ciNumerical value；Wherein, apart from mean data tiAnd pulsewidth
Mean data wiRelational model be specially：
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Step 7, establish actual range diWith the coefficient c in step 6iRelational model, and by ciNumerical value and M groups it is actual away from
From diSubstitute into the model to be fitted to obtain the value of model coefficient k, e, relational model is：
di=kci+e
Step 8, the model coefficient a, b, k obtained according to fitting, e obtain the measurement distance mould after final drift error is corrected
Type.
5. the distance measuring method according to claim 4 based on permanent threshold value moment differential method, it is characterised in that root in step 8
The model coefficient a, b, k obtained according to fitting, the measurement distance model that e obtains after final drift error amendment are specially：
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<mi>d</mi>
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Wherein, d' represents the measurement distance after drift error amendment, and t is the distance that permanent threshold value differential method measures, and w is permanent threshold value
Differential method measure with the corresponding pulsewidths of t.
6. the distance measuring method according to claim 4 based on permanent threshold value moment differential method, it is characterised in that D1Value model
Enclose for 1~5m.
7. the distance measuring method according to claim 4 based on permanent threshold value moment differential method, it is characterised in that every H ° be one
A dough softening, the value range of H is 2~5.
8. the distance measuring method according to claim 4 based on permanent threshold value moment differential method, it is characterised in that the value model of D
Enclose for 1~5 meter.
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| CN109902365A (en) * | 2019-02-12 | 2019-06-18 | 哈尔滨新光光电科技股份有限公司 | A kind of laser light source simulation method |
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