CN108594254A - A method of improving TOF laser imaging radar range accuracies - Google Patents
A method of improving TOF laser imaging radar range accuracies Download PDFInfo
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- CN108594254A CN108594254A CN201810189730.9A CN201810189730A CN108594254A CN 108594254 A CN108594254 A CN 108594254A CN 201810189730 A CN201810189730 A CN 201810189730A CN 108594254 A CN108594254 A CN 108594254A
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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
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S17/36—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
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Abstract
The invention discloses a kind of methods improving TOF laser imaging radar range accuracies.The large-scale laser ranging of quick high accuracy can be realized using the present invention.The sine of low frequency, intermediate frequency and high frequency is respectively adopted in the present invention or pscudo-random codc modulation light carries out TOF measurements to the same target, obtain the corresponding measurement distance of each frequency-modulated light, utilize the proportionate relationship between the measuring range of modulation light and three measurement distances, three measurement distances are merged, high-precision distance measurement result within the scope of medium and long distance is obtained.The method of the present invention is simple, calculating speed is fast, precision is high, it can be achieved that the large-scale laser ranging of quick high accuracy, has a wide range of application.
Description
Technical field
The present invention relates to laser radar range technical fields, and in particular to a kind of raising TOF laser imaging radars ranging essence
The method of degree.
Background technology
TOF laser imaging radars refer to carrying out contactless ranging by time-of-flight method (Time of flight, TOF)
Equipment.TOF laser imaging radar range measurement principles are that laser emitter sends out a branch of modulation laser signal, and the modulation light is through quilt
It is received by laser pickoff after surveying object/barrier reflection, can be solved by the phase difference that measurement emits laser and receives laser
Calculate the distance of target.
However, due to not can determine that phase difference that charge accumulation obtains whether in a frequency cycle, generally adopt
Ranging is carried out with single modulating frequency, to ensure that the phase difference that charge accumulation obtains is located in the same frequency cycle, so as to
It is resolved into row distance, still, the distance in a frequency cycle, also, modulating frequency can only be measured using single modulating frequency
Higher, ranging range is smaller, and range resolution can be higher；Modulating frequency is lower, and ranging range is bigger, and range resolution meeting
It is lower.
Currently, TOF laser imaging radars complete the measurement of different distance, high frequency by emitting the modulation light of different frequency
Rate laser (10~30MHz) be suitble to closely (0~15m) measure, middle frequency laser (2.5~10MHz) be suitble in distance (15~
It 60m) measures, low frequency laser (0.5~2.5MHz) is suitble to remote (60~240m) to measure.
In general, existing majority TOF laser imaging radars can not achieve precision distance measurement in medium and long distance, especially
It is remote, main cause is according to same modulating frequency, and range accuracy and ranging range cannot be taken into account；According to high frequency
With low frequency common modulation, it is easy to cause dysmetria true because frequency difference is excessive.
Invention content
In view of this, the present invention provides a kind of method improving TOF laser imaging radar range accuracies, can realize fast
The laser ranging of fast high-precision large-range.
The method of the raising TOF laser imaging radar range accuracies of the present invention, includes the following steps：
Step 1, the modulation laser that high, medium and low three frequency ranges are respectively adopted carries out laser ranging to the same target, obtains
It is each to modulate the corresponding measurement distance of laser；
Step 2, according to the proportionate relationship between the ranging range and three measurement distances of each modulation laser, three are surveyed
For span from being merged, the distance after fusion is final distance.
Further, the measurement distance of high frequency, intermediate frequency and low frequency modulations laser is respectively d3、d2And d1, high frequency, intermediate frequency and
The ranging range of low frequency modulations laser is respectively D3、D2And D1；
First determine whether d1And D3Size, if d1≤D3, then actual range d=d3；If d1>D3, then judge d1And D2's
Size, if d1≤D2, then final distance d=mD3+d3, wherein m=[d2/D3], " [] " indicates rounding；If d1>D2, then
Judge d1And D1Size, if d1≤D1, then actual range d=nD2+m·D3+d3, wherein n=[d1/D2]。
Further, modulation laser is electroencephalogram or pscudo-random codc modulation light.
Further, in the step 1, in the step 1, laser imaging radar uses the side of leggy window charge accumulation
Formula carries out charge accumulation to echo-signal, obtains the charge accumulation of out of phase, swashs with transmitting modulation to obtain echo-signal
Phase difference between optical signal, and then the distance between radar and target are calculated according to phasometer.
Further, charge accumulation is carried out using 4 phase windows or 8 phase windows.
Further, using phase window 1~4 or phase window 1~8 successively receives echo-signal, the integral of each phase is obtained
Charge；Wherein, the phase shift of phase window 1 is 0 degree；The phase shift of phase window 2 is 180 degree；The phase shift of phase window 3 is
90 degree；The phase shift of phase window 4 is 270 degree；The phase shift of phase window 5 is 180 degree；The phase shift of phase window 6 is 0
Degree；The phase shift of phase window 7 is 270 degree；The phase shift of phase window 8 is 90 degree.
Advantageous effect：
The present invention is respectively adopted low frequency, intermediate frequency and high frequency modulated light and carries out TOF measurements to the same target, obtains each frequency
The corresponding measurement distance of modulation light, using the proportionate relationship between the measuring range of modulation light and three measurement distances, to three
A measurement distance is merged, and obtains high-precision distance measurement result within the scope of medium and long distance, and the method for the present invention is simple, calculating speed
Soon, precision is high, it can be achieved that the large-scale laser ranging of quick high accuracy, has a wide range of application, including but not limited to TOF laser imagings
Radar.
Description of the drawings
Fig. 1 is the method for the present invention flow chart.
Fig. 2 is 4 out of phase window charge accumulation schematic diagrames of the invention.
Fig. 3 is 8 out of phase window charge accumulation schematic diagrames of the invention.
Specific implementation mode
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present invention provides a kind of methods improving TOF laser imaging radar range accuracies, pass through low frequency, intermediate frequency and high frequency
Laser signal measures the same target, obtains the range measurement amount of different accuracy, then utilize three groups of measurement distances it
Between proportionate relationship, three groups of measurement distances are merged, it is specific to wrap to realize the precision distance measurement within the scope of medium and long distance
Include following steps：
Step 1, laser imaging radar is respectively adopted the laser of high, medium and low three frequency ranges and carries out ranging to the same target,
Obtain 3 measurement distance d1、d2And d3；Wherein, d1To use low frequency f1Measure obtained distance, d2To use intermediate frequency f2It measures
The distance arrived, d3To use high frequency f3Measure obtained distance.
Specifically,
S101, it is f that the light source drive driving laser of laser imaging radar, which sends out modulating frequency,1The modulation of (low frequency)
Light；The integrated CMOS photoelectric processing device of laser imaging radar carries out demodulation leggy window charge accumulation to echo-signal and calculates
Phase differenceIt is converted into the distance between target and radar d simultaneously1；
S102, it is f that light source drive driving laser, which sends out modulating frequency,2The modulation light of (intermediate frequency)；Integrated CMOS photoelectricity
Processor carries out demodulation leggy window charge accumulation to echo-signal and calculates phase differenceIt is converted into distance d simultaneously2；
S103, it is f that light source drive driving laser, which sends out modulating frequency,3The modulation light of (high frequency)；Integrated CMOS photoelectricity
Processor carries out demodulation leggy window charge accumulation to echo-signal and calculates phase differenceIt is converted into distance d simultaneously3；
Wherein, sequence can be interchanged in S101, S102 and S103, only need to meet the modulation light for being utilized respectively basic, normal, high frequency range
TOF measurement is carried out, corresponding measurement result is obtained.
Modulation light (the f that laser is sent out1、f2、f3) can be electroencephalogram or pscudo-random codc modulation light；f1、f2、f3It can
To use same modulation system, different modulation systems can also be used.f3>f2>f1, value range is between 0.5-30MHz.
When carrying out leggy window charge accumulation to echo-signal, integrated CMOS photoelectric processing device is under same modulating frequency
Echo-signal carry out charge accumulation may be configured as four times integral or eight times integral.Fig. 2 and Fig. 3 is that the present invention 4 is different with 8
Phase window charge accumulation schematic diagram, integrated CMOS photoelectric processing device are received successively according to phase window 1-4 or phase window 1-8 through target
The echo-signal of return obtains the integral charge of 4 groups or 8 groups outs of phase；Wherein, the phase shift of phase window 1 is 0 degree；Phase
The phase shift of position window 2 is 180 degree；The phase shift of phase window 3 is 90 degree；The phase shift of phase window 4 is 270 degree；Phase
The phase shift of window 5 is 180 degree；The phase shift of phase window 6 is 0 degree；The phase shift of phase window 7 is 270 degree；Phase window 8
Phase shift be 90 degree.
Then optical signal phase round-trip between laser imaging radar and target can be calculated according to 4 groups or 8 groups of integral charges
Potential differenceBy taking electroencephalogram as an example, f1(or f2Or f3) phase between the echo-signal corresponding to modulation light and transmitting signal
DifferenceFor：
Or
Wherein, Q1~Q8The respectively integral charge of 1~phase window of phase window 8.
According to phase differenceThe two-way time t of the modulation light can be calculated, then according to light velocity c can be calculated by
The distance between laser imaging radar that the modulation light measurement obtains and target d.
Step 2, the Embedded real-time signal processing module of laser imaging radar is according to f1、f2、f3Ranging corresponding to frequency laser
Range D1、D2、D3And d1、d2And d3Between proportionate relationship, to d1、d2And d3It is merged, the satisfaction essence after being merged
Desired distance value d is spent, realizes that high-precision distance calculates in different finding ranges.
Specifically,
In principle, when carrying out ranging to the same target, it is f to be utilized respectively frequency1、f2、f3When modulation light measures
Obtained corresponding measurement distance d1、d2、d3Meet following relationship：
d1≈n·D2+d2, d2≈m·D3+d3
Wherein, c is the light velocity；N is in whole distance back and forth 2 times of the distance between target (radar with) interior, intermediate frequency f2's
Repetition period number；M is in intermediate frequency f2Maximum measurement distance in, high frequency f3Repetition period number；D2And D3Respectively modulate
Frequency f2And f3Corresponding maximum measure distance range.
According to above-mentioned relation, using the maximum measure distance range and d of high, medium and low frequency1、d2、d3Between proportionate relationship,
Step up the range accuracy of medium and long distance.
Specifically, first determining whether d1And D3Size, if d1≤D3, then actual range d=d3；If d1>D3, then judge
d1And D2Size, if d1≤D2, then actual range d=mD3+d3, m=[d2/D3], " [] " indicates rounding；If d1>D2,
Then judge d1And D1(D1For modulating frequency f1Corresponding maximum measure distance range) size, if d1≤D1, then actual range d=
n·D2+m·D3+d3, m=[d2/D3], n=[d1/D2]。
It is close as a result, in, remote range accuracy can reach the measurement accuracy of high frequency ranging.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (6)
1. a kind of method improving TOF laser imaging radar range accuracies, which is characterized in that include the following steps：
Step 1, the modulation laser that high, medium and low three frequency ranges are respectively adopted carries out laser ranging to the same target, obtains each tune
The corresponding measurement distance of laser processed；
Step 2, according to it is each modulation laser ranging range and three measurement distances between proportionate relationship, to three measure away from
From being merged, the distance after fusion is final distance.
2. the method for improving TOF laser imaging radar range accuracies as described in claim 1, which is characterized in that high frequency, intermediate frequency
Measurement distance with low frequency modulations laser is respectively d3、d2And d1, the ranging range difference of high frequency, intermediate frequency and low frequency modulations laser
For D3、D2And D1；
First determine whether d1And D3Size, if d1≤D3, then actual range d=d3；If d1>D3, then judge d1And D2It is big
It is small, if d1≤D2, then final distance d=mD3+d3, wherein m=[d2/D3], " [] " indicates rounding；If d1>D2, then sentence
Disconnected d1And D1Size, if d1≤D1, then actual range d=nD2+m·D3+d3, wherein n=[d1/D2]。
3. the method for improving TOF laser imaging radar range accuracies as described in claim 1, which is characterized in that modulation laser
For electroencephalogram or pscudo-random codc modulation light.
4. the method for improving TOF laser imaging radar range accuracies as described in claim 1, which is characterized in that the step 1
In, in the step 1, laser imaging radar carries out charge accumulation by the way of leggy window charge accumulation to echo-signal,
The charge accumulation of out of phase is obtained, to obtain the phase difference between echo-signal and transmitting modulation laser signal, Jin Ergen
The distance between radar and target are calculated according to phasometer.
5. the method for improving TOF laser imaging radar range accuracies as claimed in claim 4, which is characterized in that use 4 phases
Window or 8 phase windows carry out charge accumulation.
6. the method for improving TOF laser imaging radar range accuracies as claimed in claim 5, which is characterized in that use phase
Window 1~4 or phase window 1~8 receives echo-signal successively, obtain the integral charge of each phase；Wherein, the phase shift of phase window 1
Move is 0 degree；The phase shift of phase window 2 is 180 degree；The phase shift of phase window 3 is 90 degree；The phase shift of phase window 4 is
270 degree；The phase shift of phase window 5 is 180 degree；The phase shift of phase window 6 is 0 degree；The phase shift of phase window 7 is 270
Degree；The phase shift of phase window 8 is 90 degree.
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Cited By (12)
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| CN109541622A (en) * | 2018-12-26 | 2019-03-29 | 豪威科技(武汉)有限公司 | The calculation method and TOF measurement system of TOF measurement amplitude |
| CN109917807A (en) * | 2019-03-25 | 2019-06-21 | Oppo广东移动通信有限公司 | Control system and control method, the terminal of flight time component |
| CN109917809A (en) * | 2019-03-25 | 2019-06-21 | Oppo广东移动通信有限公司 | The control system and terminal of flight time component |
| CN109991583A (en) * | 2019-03-14 | 2019-07-09 | 深圳奥比中光科技有限公司 | A kind of jamproof distance measurement method and depth camera |
| CN109991584A (en) * | 2019-03-14 | 2019-07-09 | 深圳奥比中光科技有限公司 | A kind of jamproof distance measurement method and depth camera |
| CN110187355A (en) * | 2019-05-21 | 2019-08-30 | 深圳奥比中光科技有限公司 | A kind of distance measurement method and depth camera |
| CN110687545A (en) * | 2019-09-27 | 2020-01-14 | 电子科技大学中山学院 | High-precision laser radar system |
| WO2020182137A1 (en) * | 2019-03-14 | 2020-09-17 | 深圳市镭神智能系统有限公司 | Scanning method for laser radar, and laser radar |
| CN111766605A (en) * | 2020-06-18 | 2020-10-13 | 北京理工大学 | Solid-state area array laser three-dimensional imaging system and method |
| WO2021026709A1 (en) * | 2019-08-12 | 2021-02-18 | 深圳市速腾聚创科技有限公司 | Laser radar system |
| WO2022161043A1 (en) * | 2021-01-26 | 2022-08-04 | 宁波飞芯电子科技有限公司 | Detection method and detection system for acquiring distance information |
| WO2023115571A1 (en) * | 2021-12-23 | 2023-06-29 | 探维科技(北京)有限公司 | Distance measurement method and laser radar |
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| CN109917807A (en) * | 2019-03-25 | 2019-06-21 | Oppo广东移动通信有限公司 | Control system and control method, the terminal of flight time component |
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| CN110687545A (en) * | 2019-09-27 | 2020-01-14 | 电子科技大学中山学院 | High-precision laser radar system |
| CN110687545B (en) * | 2019-09-27 | 2022-03-25 | 电子科技大学中山学院 | High-precision laser radar system |
| CN111766605A (en) * | 2020-06-18 | 2020-10-13 | 北京理工大学 | Solid-state area array laser three-dimensional imaging system and method |
| CN111766605B (en) * | 2020-06-18 | 2023-03-14 | 北京理工大学 | Solid-state area array laser three-dimensional imaging system and method |
| WO2022161043A1 (en) * | 2021-01-26 | 2022-08-04 | 宁波飞芯电子科技有限公司 | Detection method and detection system for acquiring distance information |
| WO2023115571A1 (en) * | 2021-12-23 | 2023-06-29 | 探维科技(北京)有限公司 | Distance measurement method and laser radar |
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