CN107957582B - Distance measuring device and distance measuring method based on constant threshold discrimination method - Google Patents

Distance measuring device and distance measuring method based on constant threshold discrimination method Download PDF

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CN107957582B
CN107957582B CN201711296774.3A CN201711296774A CN107957582B CN 107957582 B CN107957582 B CN 107957582B CN 201711296774 A CN201711296774 A CN 201711296774A CN 107957582 B CN107957582 B CN 107957582B
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distance
data
pulse
pulse width
laser
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CN107957582A (en
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钱惟贤
吴李勇
陈钱
顾国华
任侃
路东明
吴钰
王凡
杨锦清
刘泽伟
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Nanjing University of Science and Technology
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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 distance measuring device and a distance measuring method based on a constant threshold time discrimination method, in the pulse laser distance measuring device based on the constant threshold discrimination method, an optical attenuation sheet is utilized to adjust the emitting intensity of pulse laser, the distance of an obstacle is changed, the measuring distances and pulse widths under different laser intensities of different distances are continuously recorded, then primary fitting and secondary fitting are carried out on distance data and pulse width data to obtain a final measuring distance formula after drift error correction, the time drift error caused by a single threshold is compensated, the influence of echo energy change on the pulse laser distance measuring precision based on the constant threshold discrimination method is reduced, the complexity of a circuit does not need to be increased, and the method is simple.

Description

Distance measuring device and distance measuring method based on constant threshold discrimination method
Technical Field
The invention belongs to the field of laser measurement, and particularly relates to a distance measuring device and a distance measuring method based on a constant threshold discrimination method.
Background
The pulse type laser measurement technology adopts a laser as a light source, takes laser as a carrier wave, measures the distance by detecting the time difference between a laser emission pulse and a laser echo according to the flight time principle, has the advantages of simple structure, low price, high reliability, strong anti-interference performance, no need of a cooperative target and the like, and is widely applied to civil use and military use.
In order to detect the arrival time of the laser echo pulse, a time discrimination circuit is generally used, and the purpose of time discrimination is to convert an analog signal of the laser echo into a digital logic signal with time information. When the amplitude of the input signal is lower than a given threshold value, no output signal exists; and exceeding the given threshold value outputs a signal of a certain amplitude, thereby converting the analog signal into a digital signal represented by high and low levels. Actually, the laser echo pulse is easily attenuated and interfered by dust, smoke, water vapor and other objects in the air during transmission, the echo waveform is widened and distorted to different degrees, and the output time after passing through the time discrimination circuit is different, so that a time drift error is caused. Meanwhile, echo waveforms are related to the characteristics of detected targets, even if the same target and the same distance exist, the included angles between the target and a light path are different, the intensities of the echoes are different, so that the amplitude of an electric signal subjected to photoelectric conversion changes along with the intensity change of the echo, and different amplitudes generate difference in output time after passing through a time discrimination circuit to cause time drift errors.
Disclosure of Invention
The invention aims to provide a distance measuring device based on a constant threshold discrimination method.
The technical solution for realizing the purpose of the invention is as follows: a distance measuring device based on a constant threshold moment identification method comprises an FPGA (field programmable gate array) main control board, a TDC (time-to-digital converter) test chip, a laser emission module, an emission optical lens group, an optical attenuation sheet, an optical filter, a receiving optical lens group, a laser receiving module and a CCD (charge coupled device) camera, wherein the emission optical lens group and the optical attenuation sheet are arranged on a horizontal line in a coaxial manner, and the optical filter and the receiving optical lens group are arranged on the other horizontal line in a coaxial manner; the lens of the CCD camera is aligned with the plane barrier;
the FPGA main control board controls the laser emission module to emit pulse laser, the pulse laser is collimated by the emission optical lens group, attenuated by the optical attenuation sheet and then incident on the plane barrier, the pulse laser is reflected by the plane barrier and then passes through the optical filter and the receiving optical lens group, the echo pulse digital electric signal is obtained after the pulse laser is received, amplified and identified by the laser receiving module, the echo pulse digital electric signal is transmitted to the TDC test chip to calculate the time difference between the initial pulse control signal and the echo pulse signal, and the FPGA main control board converts the time difference into a distance and the pulse width of the echo pulse signal.
The invention also provides a distance measurement method based on the constant threshold discrimination method, which can reduce the influence of the echo energy change on the pulse laser distance measurement precision based on the constant threshold discrimination method and improve the distance measurement accuracy, and comprises the following specific steps:
step 1, constructing a distance measuring device;
step 2, adjusting the optical attenuation sheet to the initial attenuation degree, and moving the barrier to a vertical plane D away from the receiving optical lens group and the receiving optical lens group1Adjusting the light path at the position of the meter to ensure that the laser is vertically incident on the surface of the barrier;
and 3, acquiring distance data and pulse width data, and specifically comprising the following steps:
recording the actual distance d from the current obstacle to the distance measuring machineiContinuously collecting distance data T and pulse width data W, stopping collecting when data amount reaches specified number N, and obtaining average value T of N distance data TijAnd the mean value W of the pulse width data Wij；
Step 4, adjusting the optical attenuation sheet to the next attenuation degree, repeating the step 3 until the optical attenuation sheet returns to the initial attenuation degree after finishing an attenuation period, and finishing a group of distance mean value data tiAnd pulse width mean data wiRecording of (2);
step 5, moving the barrier to a distance measuring machine di+1Wherein d isi+1＝diAnd D, repeating the step 3 and the step 4 until M groups of distance data t are recordediAnd pulse width data wi；
Step 6, establishing distance average value numberAccording to tiAnd pulse width mean data wiThe relation model of (1), the M groups of distance data tiAnd pulse width data wiFitting the substitution relation model to obtain model coefficients a, b and ciThe value of (d); wherein, the distance mean value data tiAnd pulse width mean data wiThe relationship model of (1) is specifically:
Figure BDA0001500451780000021
step 7, establishing an actual distance diAnd coefficient c in step sixiAnd c isiAnd M sets of actual distances diSubstituting the model for fitting to obtain the value of the model coefficient k, e, wherein the relation model is as follows:
di＝kci+e
and 8, obtaining a final measurement distance formula after the drift error is corrected according to the model coefficients a, b, k and e obtained through fitting.
Compared with the prior art, the invention has the remarkable advantages that:
(1) obtaining a drift error estimated value through ranging, fitting and refitting, and subtracting the measured value from the drift error estimated value to obtain a corrected value, so that the influence of echo energy change on the pulse laser ranging precision based on a constant threshold discrimination method can be reduced;
(2) by improving the data processing model, the drift error can be corrected without increasing the complexity of a circuit, and the method is simple.
Drawings
Fig. 1 is a flow chart of a distance measuring method based on a constant threshold discrimination method of the present invention.
Fig. 2 is a schematic diagram of a distance measuring device based on constant threshold discrimination according to the present invention.
FIG. 3 is a diagram showing the effect of the ranging method based on the constant threshold discrimination method before and after the correction at 5 m.
FIG. 4 is a diagram showing the effect of the distance measurement method based on the constant threshold discrimination method before and after the correction at 15 m.
Detailed Description
Referring to fig. 2, a distance measuring device based on a constant threshold time discrimination method includes an FPGA main control board 2, a TDC test chip 3, a laser emission module 4, an emission optical lens group 5, an optical attenuation sheet 6, an optical filter 7, a reception optical lens group 8, a laser reception module 9, and a CCD camera 22, where the emission optical lens group 5 and the optical attenuation sheet 6 are disposed on a horizontal line on a common optical axis, and the optical filter 7 and the reception optical lens group 8 are disposed on another horizontal line on a common optical axis; the lens of the CCD camera 22 is aligned with the plane barrier 10;
the FPGA main control board 2 controls the laser emitting module 4 to emit pulse laser, the pulse laser is collimated by the emitting optical lens group 5, attenuated by the optical attenuation sheet 6 and then incident on the plane obstacle 10, the pulse laser is reflected by the plane obstacle 10, passes through the optical filter 7 and the receiving optical lens group 5, and is received, amplified and time-identified by the laser receiving module 9 to obtain an echo pulse digital electric signal, the echo pulse digital electric signal is transmitted to the TDC test chip 3 to calculate the time difference between an initial pulse control signal and an echo pulse signal, and the FPGA main control board 2 converts the time difference into a distance and the pulse width of the echo pulse signal.
In a further embodiment, the laser emitting module 4 comprises a driving circuit electrically connected to the laser diode 20.
In a further embodiment, the laser receiving module 9 includes an avalanche diode, a pre-amplifier circuit, a main amplifier, and a time discriminator circuit, which are electrically connected in sequence.
Referring to fig. 1, a distance measurement method based on a constant threshold time discrimination method includes the following specific steps:
step 1, constructing a distance measuring device, which comprises an FPGA (field programmable gate array) main control board 2, a TDC (time to live) test chip 3, a laser emission module 4, an emission optical lens group 5, an optical attenuation sheet 6, an optical filter 7, a receiving optical lens group 8, a laser receiving module 9 and a CCD (charge coupled device) camera 22, wherein the emission optical lens group 5 and the optical attenuation sheet 6 are arranged on a horizontal line in a coaxial way, and the optical filter 7 and the receiving optical lens group 8 are arranged on the other horizontal line in a coaxial way; the lens of the CCD camera 22 is aligned with the plane barrier 10;
the FPGA main control board 2 controls the laser emitting module 4 to emit pulse laser, the pulse laser is collimated by the emitting optical lens group 5, attenuated by the optical attenuation sheet 6 and then incident on the plane obstacle 10, the pulse laser is reflected by the plane obstacle 10, passes through the optical filter 7 and the receiving optical lens group 5, and is received, amplified and time-identified by the laser receiving module 9 to obtain an echo pulse digital electric signal, the echo pulse digital electric signal is transmitted to the TDC test chip 3 to calculate the time difference between an initial pulse control signal and an echo pulse signal, and the FPGA main control board 2 converts the time difference into a distance and the pulse width of the echo pulse signal.
Step 2, adjusting the optical attenuation sheet 6 to the initial attenuation degree, and moving the obstacle to a vertical plane D where the receiving optical lens group 5 and the receiving optical lens group 8 are located1Adjusting the light path at the position of the meter to ensure that the laser is vertically incident on the surface of the barrier;
and 3, acquiring distance data and pulse width data, and specifically comprising the following steps:
recording the actual distance d from the current obstacle to the distance measuring deviceiContinuously collecting distance data T and pulse width data W, stopping collecting when data amount reaches specified number N, and obtaining average value T of N distance data TijAnd the mean value W of the pulse width data Wij；
Step 4, adjusting the optical attenuation sheet to the next attenuation degree, repeating the step 3 until the optical attenuation sheet returns to the initial attenuation degree after finishing an attenuation period, and finishing a group of distance mean value data tiAnd pulse width mean data wiRecording of (2);
step 5, moving the barrier to a distance measuring machine di+1Wherein d isi+1＝diAnd D, repeating the step 3 and the step 4 until M groups of distance data t are recordediAnd pulse width data wi；
Step 6, establishing distance mean value data tiAnd pulse width mean data wiThe relation model of (1), the M groups of distance data tiAnd pulse width data wiFitting the substitution relation model to obtain model coefficients a, b and ciThe value of (d); wherein, the distance mean value data tiAnd pulse width mean data wiThe relationship model of (1) is specifically:
Figure BDA0001500451780000051
step 7, establishing an actual distance diAnd coefficient c in step sixiAnd c isiAnd M sets of actual distances diSubstituting the model for fitting to obtain the value of the model coefficient k, e, wherein the relation model is as follows:
di＝kci+e
and 8, obtaining a final measurement distance formula after drift error correction according to the model coefficients a, b, k and e obtained by fitting:
Figure BDA0001500451780000052
where d' represents the measured distance after drift error correction, t is the distance measured by constant threshold discrimination, and w is the pulse width corresponding to t measured by constant threshold discrimination.
In a further embodiment, D1The value range of (1) to (5) m.
In a further embodiment, every H degrees is an attenuation degree, and the value range of H is 2-5.
In a further embodiment, the value range of D is 1-5 m.
The distance measurement method based on the constant threshold time discrimination method can effectively reduce the interference of Gaussian noise by continuously measuring the distance data and the pulse width data for N times and then taking the average value of the distance data and the pulse width data, improves the accuracy of the data and improves the reliability of the subsequent fitting result.
Example 1
With reference to fig. 2, a distance measuring device is constructed, and obstacles are respectively located at an actual distance d from the distance measuring devicei5m, 10 m, 15 m … … 45 m, 50 m, the polarizer is adjusted from 0 ° at each actual distance position, 2 ° at each time, until the optical attenuation sheet returns to the original position after completing one attenuation periodStarting attenuation, continuously acquiring the distance to the obstacle and the pulse width of the echo for 2000 times under each attenuation, and obtaining the average value t of 2000 distance dataijAnd mean value w of pulse width dataijAcquiring a set of range mean data t for each actual range positioniAnd pulse width mean data wiThus, a total of 10 sets of distance averaged data t are acquirediAnd pulse width mean data wi。
10 sets of distance data tiAnd pulse width data wiSubstituting into the following relational model
Figure BDA0001500451780000061
Fitting is performed to obtain model coefficients a-917.1728, b-3.3983 and ciThe values of (A) are shown in Table 1.
TABLE 1 parameter ciValue of (A)
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
C is toiAnd 10 sets of actual distances diSubstituting into the following model
di＝kci+e
The fitting was performed to obtain the model coefficient k 1.013 and e 2.05, i.e., di＝1.013ci+2.05
And obtaining a final measurement distance formula after drift error correction according to the model coefficients a, b, k and e obtained by fitting:
Figure BDA0001500451780000062
where d' represents the measured distance after drift error correction, t is the distance measured by constant threshold discrimination, and w is the pulse width corresponding to t measured by constant threshold discrimination.
The time drift error caused by the echo intensity change is corrected to a certain extent by a measuring distance formula obtained by a distance measuring method based on a constant threshold time discrimination method, and effect graphs before and after correction are shown in fig. 3 and 4. Fig. 3 is a correction curve at an actual distance of 5 meters, fig. 4 is a correction curve at an actual distance of 15 meters, a dotted line represents data before correction and has large fluctuation, a solid line represents data after correction, the fluctuation is greatly reduced, and the correction effect is ideal.
In summary, the invention measures the distances and pulse widths of different distances and different laser intensities, and then performs primary fitting and secondary fitting on the distance data and the pulse width data to finally obtain a drift error correction formula, compensates the time drift error caused by a single threshold, reduces the influence of the echo energy change on the pulse laser ranging precision based on the constant threshold discrimination method, and does not need to increase the complexity of the circuit, and the method is simple.

Claims (4)

1. A distance measurement method based on a constant threshold moment identification method is characterized by comprising the following specific steps:
step 1, constructing a distance measuring device;
the ranging device comprises an FPGA main control board (2), a TDC test chip (3), a laser emission module (4), an emission optical lens group (5), an optical attenuation sheet (6), an optical filter (7), a receiving optical lens group (8), a laser receiving module (9) and a CCD camera (22), wherein the emission optical lens group (5) and the optical attenuation sheet (6) are arranged on a horizontal line in a coaxial manner, and the optical filter (7) and the receiving optical lens group (8) are arranged on the other horizontal line in a coaxial manner; the lens of the CCD camera (22) is aligned with the plane barrier (10);
the FPGA main control board (2) controls a laser emission module (4) to emit pulse laser, the pulse laser is collimated by an emission optical lens group (5), attenuated by an optical attenuation sheet (6) and then incident on a plane barrier (10), the pulse laser is reflected by the plane barrier (10), passes through an optical filter (7) and a receiving optical lens group (5), is received, amplified and time-identified by a laser receiving module (9) to obtain an echo pulse digital electric signal, the echo pulse digital electric signal is transmitted to a TDC test chip (3) to calculate the time difference between an initial pulse control signal and an echo pulse signal, and the FPGA main control board (2) converts the time difference into a distance and the pulse width of the echo pulse signal;
step 2, adjusting the optical attenuation sheet (6) to the initial attenuation degree, and moving the barrier to a distanceReceiving optical lens group (5) and vertical plane D where receiving optical lens group (8) is located1Adjusting the light path at the position of the meter to ensure that the laser is vertically incident on the surface of the barrier;
and 3, acquiring distance data and pulse width data, and specifically comprising the following steps:
recording the actual distance d from the current obstacle to the distance measuring machineiContinuously collecting distance data T and pulse width data W, stopping collecting when data amount reaches specified number N, and obtaining average value T of N distance data TijAnd the mean value W of the pulse width data Wij；
Step 4, adjusting the optical attenuation sheet to the next attenuation degree, repeating the step 3 until the optical attenuation sheet returns to the initial attenuation degree after finishing an attenuation period, and finishing a group of distance mean value data tiAnd pulse width mean data wiRecording of (2);
step 5, moving the barrier to a distance measuring machine di+1Wherein d isi+1＝di+D1And repeating the step 3 and the step 4 until M groups of distance data t are recordediAnd pulse width data wi；
Step 6, establishing distance mean value data tiAnd pulse width mean data wiThe relation model of (1), the M groups of distance data tiAnd pulse width data wiFitting the substitution relation model to obtain model coefficients a, b and ciThe value of (d); wherein, the distance mean value data tiAnd pulse width mean data wiThe relationship model of (1) is specifically:
Figure FDA0003035881170000021
step 7, establishing an actual distance diAnd coefficient c in step 6iAnd c isiAnd M sets of actual distances diSubstituting the model to perform fitting to obtain model coefficients k, e1The relationship model is:
di＝kci+e1
step 8, obtaining the target according to fittingModel coefficients a, b, k, e of1And obtaining a final measured distance model after drift error correction.
2. A ranging method based on constant threshold moment discrimination according to claim 1 characterized by the model coefficients a, b, k, e obtained from fitting in step 81The measured distance model after the final drift error correction is obtained specifically as follows:
Figure FDA0003035881170000022
where d' represents the measured distance after drift error correction, t is the distance measured by constant threshold discrimination, and w is the pulse width corresponding to t measured by constant threshold discrimination.
3. A ranging method based on constant threshold moment discrimination according to claim 1 characterized by that D1The value range of (1) to (5) m.
4. A distance measuring method based on a constant threshold moment identification method according to claim 1, characterized in that every H ° is an attenuation degree, and the value range of H is 2-5.
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