CN108919282A - A kind of laser radar signal moment identification system - Google Patents
A kind of laser radar signal moment identification system Download PDFInfo
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- CN108919282A CN108919282A CN201810475156.3A CN201810475156A CN108919282A CN 108919282 A CN108919282 A CN 108919282A CN 201810475156 A CN201810475156 A CN 201810475156A CN 108919282 A CN108919282 A CN 108919282A
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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
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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
-
- 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
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/523—Details of pulse systems
- G01S7/526—Receivers
- G01S7/529—Gain of receiver varied automatically during pulse-recurrence period
Abstract
The present invention relates to laser radar range technical fields, disclose a kind of laser radar signal moment identification system comprising：Signal receives amplification system, AGC system, constant fraction discriminator identification system and time measurement system.Signal receives amplification system and the received reception optical signal of laser radar system is converted to electric signal and is amplified, AGC system is according to gain range mode, the amplitude of input electrical signal is controlled in the optimal input range of constant fraction discriminator system, constant fraction discriminator identification system emits laser radar to be identified with received pulse signal moment point, and time measurement system measures the time difference between the transmitting pulse signal of laser radar system and return pulse signal.Compared with other laser radar moment identification systems, system proposed by the present invention is based on automatic gain control and constant fraction discriminator authentication technique, can reduce walking error and time jitter error simultaneously, effectively increase the identification precision of pulse time point.
Description
Technical field
The present invention relates to laser radar three-dimensional technical field of mapping, especially a kind of laser radar based on circuit design
Signal moment identification system.
Background technique
Laser radar technique is a kind of active remote sensing technological means, can be used for space exploration target, obtains measured target
Elevation information, the intensity data and image outline information of record body surface scattering, to mention to be finally inversed by Land Surface Parameters
Having supplied may.In laser radar three-dimensional technical field of mapping, laser radar range is the core skill of space exploration target information
Art.Compared with other distance measuring methods, pulse laser mensuration by measured target distance be scaled transmitting pulse and receive pulse it
Between flight time, simple and fast, measurement range is big and small power consumption.But for the target in short range dynamic range, pulse
The range accuracy key of laser optical method is the identification of pulse signal moment point, identifies precision and directly affects range performance,
Therefore how to reduce the precision of walk error and the raising signal moment identification of time jitter error is hot spot all the time.
According to existing research achievement, there are mainly three types of typical signal moment discrimination methods：The first is forward position moment mirror
Other method, also known as fixed threshold moment differential method, using high-speed comparator by input pulse signal compared with the reference voltage of setting
Compared at the time of input pulse signal generates trigger signal greater than the moment of reference voltage, records reception pulse, using the party
The amplitude variation that method receives pulse can generate the ranging walking error that can not ignore, and influence range accuracy；Second is that high pass is held
Moment differential method, also known as zero-acrross ing moment differential method are hindered, converts bipolarity for unipolar pulse signal using high-pass filter
Signal is converted into the peak point of bell-shaped pulse signal the zero point of class sinusoidal signal, recorded afterwards using zero-crossing comparator sharp
Light-receiving pulse at the time of point, zero-acrross ing moment authentication technique are insensitive to the amplitude variation of input signal, can solve pulse amplitude
The caused measurement walking error of variation, but zero-acrross ing moment differential method is influenced by the slope near peak value of pulse point, and arteries and veins
Wide size also brings along the error of measurement；The third is constant fraction discriminator differential method, and input signal is divided into two-way, wherein one
Road is decayed, and is in addition delayed all the way, is compared using high-speed comparator to two paths of signals, and two paths of signals is proper
At the time of at the time of good equal as pulse is received, this method combination forward position identifies in advance, can filter out and accidentally touch caused by noise
Hair, and it is insensitive to pulse amplitude, more satisfactory trigger signal can be generated, when reducing due to pulse amplitude or rising
Between variation caused by walk error.The present invention just belongs to a kind of constant fraction discriminator differential method.
It is consulted according to the patent that existing Patent Office provides, the method for improving constant fraction discriminator identification system precision has：The first,
Pulse signal is input to constant fraction discriminator identification system by sample-and-hold circuit, respectively enters the attenuator of electric resistance partial pressure composition
The delayer constituted with RC network, and by comparator, the temporal information of pulse is obtained, adjustable bias voltage segment is designed, compared with
It is small just to overturn introduced amplitude correlation mistake since comparator anode input voltage need to be greater than negative terminal input voltage certain value
Difference, above-mentioned patent are included in disclosed in Chinese patent CN102073051A " range unit when laser multiple-pulse expands ".Second
Kind, input pulse signal enters constant fraction discriminator identification system by buffer, and constant fraction discriminator identification system is by delayer, low pass
Filter and first comparator are constituted, and replace the attenuator in traditional constant fraction discriminator discriminator using low-pass filter, to signal
Decayed, noise reduction, broadening and delay, delayer is formed using multistage LC or RLC network, this method reduce deamplifications
Noise equivalent bandwidth, improve the stability and reliability of constant fraction discriminator, above-mentioned patent is included in Chinese patent
" a kind of constant fraction discriminator discriminator circuit " disclosed in CN102904551A.But input pulse is all done simple peak by the above method
Value is kept or simple amplification, inputs constant fraction discriminator identification system, can not reduce the dynamic range when input pulse amplitude
When big, the additional walking error of time jitter error and comparator the overload generation of generation.
In order to reduce walking error and time jitter error caused by pulse amplitude simultaneously, the present invention is to above-mentioned signal
Moment discrimination method improves, and proposes a kind of laser radar signal moment identification system.The present invention is main with above-mentioned patent
Difference is：In a kind of laser radar signal moment identification system, propose that automatic gain control will export pulse amplitude control
System reduces time jitter error caused by pulse amplitude variations in the optimal input range of constant fraction discriminator identification system, utilizes
The timing point of the constant fraction discriminator authentication technique characteristic unrelated with pulse amplitude reduces walking error, and combines forward position authentication technique
Erroneous judgement at the time of reduction noise may cause.The present invention has broad application prospects in lidar measurement technical field.
Summary of the invention
The present invention discloses a kind of laser radar signal moment identification system, which is characterized in that receives amplification system including signal
System, AGC system, constant fraction discriminator identification system and time measurement system, due to the constant fraction discriminator identification system
The middle timing point characteristic unrelated with pulse signal amplitude, the signal moment that pulse signal high accuracy may be implemented identify, reduce
Walking error in range-measurement system is provided most preferably using the AGC system for the constant fraction discriminator identification system
Input pulse amplitude reduces time jitter error and additional walking error in range-measurement system, mainly includes following design；
The signal receives amplification system, as front end amplifying unit, the laser radar system echo impulse that will be received
The photo-signal of signal is amplified, will be described across resistance amplifier section mainly by forming across resistance amplifier section and operation amplifier part
Photo-signal is amplified and converted to voltage signal, and the voltage signal is amplified in operation amplifier part, is input to automatic gain
Control system；
The AGC system, including four units：Peak holding unit, amplitude detection unit, logic control
Unit, controllable amplifying unit；Pulse signal is divided into two-way by the AGC system：Wherein protected all the way by peak value
Unit, amplitude detection unit, logic control element are held, realizes the selection of gain range, and the gain range is passed to can
Control amplifying unit；Another way directly passes through controllable amplifying unit, realizes and amplifies according to the gain range；The peak holding
Unit realizes that signal peak detects and increases the peak holding time, guarantees that amplitude detection unit is able to achieve peak value acquisition；It is described
Amplitude detection unit is mainly realized using modulus conversion chip (Analog-to-Digital Converter, ADC), is acquired
To the peak value of pulse signal, and it is quantified as digital signal and passes to logic control element；The logic control element is realized
The gain measurement range selection is carried out according to the signal peak that the modulus conversion chip detects with the control of other units,
And it exports to controllable amplifying unit；The controllable amplifying unit, including programmable automation controller part and operation amplifier part,
Programmable automation controller is partially received the gain signal, and the amplification of different gains is carried out to pulse signal, then passes through operation
Amplifier section, by the control of pulse signal amplitude in the constant fraction discriminator identification system optimal input range；
The constant fraction discriminator identification system, mainly by forward position moment discriminating unit, constant fraction discriminator discriminating unit and logic gate
Unit composition；The pulse signal of the AGC system output described first is divided into two-way, all the way pulse signal and setting
Reference voltage is input to the forward position moment discriminating unit together, and the forward position moment discriminating unit is by high speed comparing unit structure
At；And another way pulse signal is connected to the constant proportion being made of signal attenuation factor, signal delayed time system and high speed comparing unit
Timing discriminating unit, when the amplitude of time delayed signal be equal to deamplification amplitude when be pulse signal timing point, the constant proportion
The timing point that timing discriminating unit obtains pulse signal is unrelated with the amplitude of input pulse；Finally by the two-way discriminating unit
Output signal input the logic gate, the time corresponding to the logic gate output signal rising edge is to be reflected
Not Chu pulse signal moment point；
The time measurement system realizes high precision time interval measurement, laser radar system using time-to-digital converter method
The transmitting pulse for light path part of uniting as trigger signal into the time measurement system as commencing signal, and laser radar
The return pulse signal of system light path part receives amplification system, AGC system, constant fraction discriminator by the signal
Enter the time measurement system after identification system as stop signal and starts letter when described using digitlization delay line technology
After number entering the time measurement system, is propagated along delay line, calculate between the commencing signal and stop signal experience and prolong
Thus the number of Shi Danyuan calculates the transmitting pulse and the time difference for receiving pulse, and the time difference is stored into institute
It states in logic control element, provides the split-second precision difference information that distance resolves for laser radar system.
The high-precision constant fraction discriminator identification system is it needs to be determined that best input pulse amplitude range, the constant fraction discriminator mirror
Other system by experiment, obtain the standard deviation of pulse time point in the case of different input pulse amplitudes, using the standard deviation as
The constant fraction discriminator identification system most preferably inputs the evaluation index of amplitude range.
In order to which the pulse amplitude for inputting constant fraction discriminator identification system controls in optimum range, will enter into described automatic
The amplitude of control gain system pulse signal is divided into multiple ranges, and each range corresponds to corresponding gain, and (can be negative increasing
Benefit), realize amplification Weak pulse signal, decaying outranges pulse signal；Since set gain is limited, compiled when described
The amplitude of former pulse signal cannot be controlled the optimal input range in the constant fraction discriminator identification system by journey gain enlarging section point
When interior, then the amplification factor of the operation amplifier part is adjusted with meet demand.
The signal moment identification system, including constant fraction discriminator discriminating unit and forward position discriminating unit, input the signal
The signal of moment identification system includes reference voltage signal and input pulse signal；The reference voltage signal is by suitably setting
The erroneous judgement of moment point caused by noise can be eliminated by setting；Three tunnels of the input pulse signal point enter the signal moment identification system,
Wherein two-way enters the constant fraction discriminator discriminating unit, enters in the forward position discriminating unit all the way；It reflects in the constant fraction discriminator
In other unit, the two-way input pulse signal passes through signal attenuation factor by original signal V all the wayiBecome deamplification Va(t),
Time delayed signal V is become by signal delayed time system all the waya(t), the deamplification Va(t) and time delayed signal Vd(t) pass through height
Fast comparing unit is compared, output signal V1, work as Vd(t) it is less than Va(t) output signal V when1For low level, it is greater than Va(t)
When output signal V1Jump is high level；Use another high speed comparing unit by the input arteries and veins in the forward position discriminating unit
It rushes signal to compare with the reference voltage signal, output signal V2, when the input pulse signal is less than the reference electricity
V is exported when pressing signal2For low level, V is exported when the input pulse signal is greater than the reference voltage signal2Jump is height
Level；The constant fraction discriminator discriminating unit is exported into V1V is exported with the forward position discriminating unit2As the logic gate
Input, the time where the logic gate output signal rising edge are determined as the identification of high-precision signal moment identification system
Pulse time point t outT。
The timing point for obtaining pulse signal using constant fraction discriminator identification system is unrelated with the amplitude of input pulse, will input arteries and veins
Rush signal ViIt is expressed as
Vi=Af (t) (1)
In formula, A indicates the amplitude of pulse signal, and f (t) is normalized signal intensity function, therefore the deamplification Va
(t) and the time delayed signal Vd(t) it can be expressed as
Va(t)=kAf (t) (2)
Vd(t)=Af (t-td) (3)
Wherein, k refers to attenuation coefficient, tdIt is delay time, then calculate equal with deamplification of time delayed signal is enabled to determine
Time point tT, i.e.,：
Af(tT-td)=kAf (tT) (4)
For example, when normalized signal intensity function f (t) is stage parabolic function
PwFor the width of input pulse, calculate time delayed signal it is equal with deamplification when at the time of point tTFor：
Available, the time delayed signal timing point t equal with deamplification by formula (4) and formula (6)TWith pulse signal
Amplitude size it is unrelated, i.e., the described constant fraction discriminator identification system is insensitive to pulse amplitude, can be identified in high precision using this method
Pulse time.
The signal attenuation factor is designed by electric resistance partial pressure principle, and signal delayed time system uses delay line, is realized
Low-pass filtering system, leading to inband signaling at it, only to generate delay almost unattenuated, and need to rationally design the signal delayed time system
With the signal attenuation factor, make as far as possible timing point occur the most precipitous place of the rising edge of the deamplification, i.e. slope most
Big position, delay time coefficient and attenuation coefficient are key parameters as a result, it should be met：
td=tr(1-k) (7)
Wherein, trRefer to pulse rise time, tdIt is delay time, k is attenuation coefficient.
Using the logic control element as system master unit, major function is in the system：One basis
Pulse signal amplitude size adjust gain；Two in the time measurement system before use, carry out configuration initialization to its parameter,
Including channel selecting, pulse number setting and initialization etc.；Three are receiving the transmitting with after echo impulse, are calculated
Time difference, the logic control element are responsible for timing acquiring and record this data.
A kind of laser radar signal moment identification system can reduce error with amendment by calibration and improve ranging essence
Degree, the high-precision signal moment identification system includes systematic error：Error, fixed delay error and the clock frequency of walking are floated
Shift error etc. and random error：Time jitter error, nonlinearity erron, digital circuit rising edge jitter error etc.；It is described from
Dynamic control gain system, controls pulse amplitude in constant fraction discriminator identification system optimal input range, reduces time jitter error
With additional walking error；The constant fraction discriminator identification system reduces row using the timing point characteristic unrelated with pulse signal amplitude
Walk error；The time measurement system can choose calibration measurement when measurement every time, thus right after time calibrating
Measured value is calibrated, and clock frequency drift error is reduced；And the constant time lag error is a definite value, is carried out after can measuring
Amendment；The nonlinearity erron is caused by the time of measuring interval of the time measurement system, can by calculate root mean square into
Row amendment；The digital circuit rising edge jitter error, can by calculate digital circuit bring itself shake standard deviation into
Row amendment.
Detailed description of the invention
Fig. 1 is a kind of laser radar signal moment identification system structure chart
Fig. 2 is AGC system structure chart
Fig. 3 is constant fraction discriminator identification system structure chart
Fig. 4 is laser ranging system circuit pictorial diagram
Fig. 5 is deamplification and time delayed signal oscillograph sample graph
Fig. 6 is the range accuracy statistical chart of different pulse amplitudes, attenuation coefficient and delay time
Fig. 7 is 105m object ranging data statistics histogram
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and detailed description.
The present invention devises a kind of laser radar signal moment identification system, specific system structure such as Fig. 1 of an embodiment
It is shown.Laser radar signal moment identification system provided in this embodiment includes：Signal receives amplification system, automatic gain control
System, constant fraction discriminator identification system and time measurement system processed
(1) signal receives amplification system structure
Signal described in the present embodiment receives amplification system, is made of trans-impedance amplifier and operational amplifier, trans-impedance amplifier
The photo-signal of laser radar system return pulse signal is amplified and converted to voltage signal, operational amplifier will be described
Voltage signal amplification, and it is input to AGC system；
(2) AGC system structure
AGC system described in the present embodiment is as shown in Fig. 2, include four units：Peak holding unit, width
It is worth detection unit, logic control element, controllable amplifying unit.The peak holding unit, using transconductance type peak holding electricity
Road mainly includes broadband trsanscondutance amplifier OPA615, Schottky diode and holding capacitor.OPA615 is quickly adopted comprising one
Sample comparator (SOTA), an operation transconductance amplifier (OTA) and a concurrent switching circuit, it is enabled by control switch, it is fast
Speed charges to holding capacitor, and when the peak value size of pulse, switch is disconnected, since trsanscondutance amplifier input impedance is high, holding capacitor
Voltage magnitude is basically unchanged, to realize peak holding.And Schottky diode plays the role of a gating switch, is true
It protects circuit and disconnects diode immediately after detecting output voltage and reaching crest voltage, reduce reverse current leakage, this implementation
Example has selected this Schottky diode of BAT17.The amplitude detection unit mainly utilizes modulus conversion chip
(Analog-to-Digital Converter, ADC) is realized, since the present embodiment laser repetition rate is 5KHz, selection is adopted
Sample rate is 3MHz, and the ADS7884 chip of 10bit meets peak value sampling requirement.The logic control element can be compiled by scene
Journey gate array (Field-Programmable Gate Array, FPGA) realizes that selection is that ALTERA company develops
The EP3C25Q240C8N of cyclone3 series.The controllable amplifying unit selects programmable gain amplifier
(Programmable Gain Amplifiers, PGA) mainly by realizing, selection is gain ranging -11.5-20dB
PGA870。
(3) constant fraction discriminator identification system structure
Constant fraction discriminator identification system described in the present embodiment is as shown in figure 3, mainly by forward position moment discriminating unit, constant fraction discriminator
Discriminating unit and logic gate composition；The forward position moment discriminating unit is made of high-speed comparator 1, the constant fraction discriminator
Discriminating unit is made of signal attenuation circuit, signal delay circuit and high-speed comparator 2, the logic gate by one with
Gate cell is constituted.The output signal of the two-way discriminating unit inputs described and gate cell, described and door output signal rising edge
The corresponding time is identified return pulse signal moment point.
(4) time measurement system structure
The time measurement system, using time-to-digit converter (Time-to-Digital Converters, TDC) into
The high-precision time interval measurement of row, time-to-digit converter receive the trigger signal conduct of laser radar system light path part
Commencing signal, and the return pulse signal of laser radar system light path part is by first order amplification, automatic growth control system
Entry time digital quantizer is as stop signal after system, signal moment identification system, inside time-to-digit converter
Complementary metal oxide semiconductor (Complementary Metal-Oxide-Semiconductor, CMOS) gate delay
Digitlization delay line technology is propagated after commencing signal entry time digital quantizer delayed time system along delay line, is counted
The number for undergoing delay unit between the commencing signal and stop signal is calculated, the transmitting pulse and the reception are thus calculated
The time difference of pulse, and the time difference is stored into the field programmable gate array, distance is provided for laser radar system
The split-second precision difference information of resolving.
According to the circuit diagram of the entire laser ranging system of design, pcb board, a kind of laser radar signal moment identification are made
Circuit system is in kind as shown in Figure 4.
(5) determine that constant fraction discriminator identification system most preferably inputs amplitude range
The high-precision constant fraction discriminator identification system needs to be determined by experiment best input pulse amplitude range, will be different
The standard deviation of ranging is as evaluation index in the case of input pulse amplitude.Since the output pulse of peak detection circuit is up to
2V, therefore the present embodiment designs four groups of experiments, providing amplitude using signal generator for constant fraction discriminator identification system is respectively 1.1-
Input pulse within the scope of 1.3V, 1.3-1.5V, 1.5-1.7V, 1.7-1.9V, 100,000 ranging datas of every group of acquisition calculate
Every group of ranging standard deviation, the results are shown in Table 1.
1 constant fraction discriminator discriminator circuit the performance test results of table
| Input pulse amplitude range (V) | Ranging standard deviation (cm) |
| 1.1-1.3 | 2.03 |
| 1.3-1.5 | 1.56 |
| 1.5-1.7 | 1.01 |
| 1.7-1.9 | 1.32 |
As seen from table, the present embodiment constant fraction discriminator identification system is best to input according to front end photoelectric detector performance demand
Amplitude range is 1.5V-1.7V, and the AGC system need to control output pulse amplitude, keeps it as stable at this as possible
In a range, to improve the identification precision for receiving pulse time point.
(6) gain of AGC system range divides
The programmable gain amplifier gain ranging that the present embodiment is selected is -11.5dB-20dB, setting detection target zone
For 10m-100m.The range that different distance receives pulse amplitude is divided and each range corresponds to the selection of gain, mainly according to
It is determined according to laser radar equation.It is obtained within the scope of 10m-100m using object module is simplified using laser radar equation
Receiving pulse peak power is：
Wherein, PTAnd PrIt respectively represents transmitting pulse and receives the peak power (W) of pulse, ηoThe optical propagation of finger system
Factor, ρreflRefer to the reflectivity of measured target, ARRefer to scatterer energy absorption area (m2), ΩTaRefer to the angle of scattering of target, R
Indicate target to laser emitter distance (m),Indicate two-way atmospheric propagation factor.By the design parameter of the present embodiment
It substitutes into the formula (1), the range of the available peak power for receiving pulse is 3.6 × 10-2W-9.0×10-6W,
Optical pulse information is converted into electrical impulse information using detector, wherein amplitude (the A of electrical impulse informationP) and optical pulse information
Peak power PrBetween relationship be：
AP=RλPrRf (9)
In formula, RλRepresent the response rate (A/W) of detection circuit, RfFor the feedback resistance (k Ω) of detection circuit.Consider this reality
It applies in a laser radar system, the maximum amplitude of the photodetector output pulse used is about 3V, can obtain the photodetection
It is 0.05V-3V that device, which exports pulse amplitude variations range, and the experimentally determined constant fraction discriminator identification system of the present embodiment is defeated
The optimum range for entering pulse amplitude is 1.5V-1.7V.Therefore the output pulse amplitude of the photodetector is divided by the present embodiment
7 ranges, and according to the corresponding gain of the measurement range selection, to control the output arteries and veins of the AGC system
Signal is rushed in 1.5V-1.7V, as shown in table 2.
The selection of 2 PGA gain of table
| Output/V of detector | Gain/dB of PGA |
| 0.05-0.25 | 20 |
| 0.25-0.42 | 15.5 |
| 0.42-0.70 | 11 |
| 0.70-1.18 | 6.5 |
| 1.18-1.98 | 2 |
| 1.98-2.5 | 0 |
| 2.5-3 | -2 |
(7) determination of pulse signal moment point
Pulse signal moment point determines that the signal moment identification system includes that constant proportion is fixed by signal moment identification system
When discriminating unit and forward position discriminating unit, the signal for inputting the signal moment identification system includes reference voltage signal V0With
Input pulse signal Vi；The input pulse signal ViThree tunnels are divided to enter the signal moment identification system, wherein two-way enters
The constant fraction discriminator discriminating unit realizes the identification of input pulse signal timing point, enters in the forward position discriminating unit all the way.
If A is the amplitude of input pulse signal, f (t) is normalized signal intensity function, then input pulse signal ViIt is represented by：
Vi=Af (t) (10)
In the constant fraction discriminator discriminating unit, the two-way input pulse signal passes through signal attenuation factor by original all the way
Signal ViBecome deamplification Va(t), another way becomes time delayed signal V by signal delayed time systema(t), then the decaying is believed
Number Va(t) and time delayed signal Vd(t) it can be expressed as：
Va(t)=kAf (t) (11)
Vd(t)=Af (t-td) (12)
In formula, k is attenuation coefficient, tdFor delay time.The deamplification Va(t) and time delayed signal Vd(t) enter high speed
Comparator is compared, output signal V1, work as Vd(t)<Va(t) output signal V when1For low level, it is greater than Vd(t)>Va(t)
When output signal V1For high level.Therefore output signal V1Time corresponding to rising edge is input pulse signal timing point tT,
Then enable Vd(t)=Va(t) timing point t can be calculatedT, i.e.,：
Af(tT-td)=kAf (tT) (13)
For example, when normalized signal intensity function f (t) is stage parabolic function
PwFor the width of input pulse, calculate in the constant fraction discriminator discriminating unit time delayed signal it is equal with deamplification
When timing point tTFor：
In the forward position discriminating unit, using another high-speed comparator by the input pulse signal ViWith the reference
Voltage signal V0It compares, output signal V2, work as Vi<V0When output signal V2For low level, work as Vi>V0When output signal V2For
High level can eliminate the erroneous judgement of moment point caused by noise by being appropriately arranged with the reference voltage signal.By the constant fraction discriminator
Discriminating unit exports V1V is exported with the forward position discriminating unit2As the input of the logic gate, the logic gate
Time where output signal rising edge is determined as the pulse time point T that high-precision signal moment identification system identifiesT。
And, the constant fraction discriminator discriminating unit resulting timing point t available by formula (4) and formula (6)TWith pulse signal
Amplitude size it is unrelated, i.e., the described constant fraction discriminator identification system is insensitive to pulse amplitude, can be identified in high precision using this method
Pulse time.
(8) selection of optimized attenuation coefficient and delay time
The acquisition for receiving pulse time point relies primarily on constant fraction discriminator discriminating unit part, and moment precision is mainly by institute
It states signal delayed time system and signal attenuation factor determines.When experience proposes modelled signal delayed time system and signal attenuation factor, answer
Occur that timing point at the most precipitous place of the rising edge of deamplification, the i.e. position of maximum slope, delay time and decaying
Coefficient is key parameter, should be met：
td=tr(1-k) (16)
Wherein, trFor input pulse rise time, tdFor delay time, k is attenuation coefficient, and is existed according to experience attenuation coefficient
0.2-0.5 range is more appropriate.The present embodiment is as follows to the selection of attenuation coefficient and delay time below:
A) attenuation coefficient and determining for delay time are tested
The present embodiment discusses attenuation coefficient k and delay time tdThe influence of caused range accuracy, it is right by the two to need
The variation of timing point position is summed up in the point that in the influence of range accuracy.Using oscillograph under conditions of attenuation coefficient is 0.4, it will decline
Cut signal and time delayed signal are recorded, as shown in Fig. 5.Yellow curve represents time delayed signal Vd(t), light blue curve represents
Deamplification Va(t).In figure 5 it can be seen that the deamplification Va(t) and time delayed signal Vd(t) intersection obtains timing point
Changing rule can generally be divided into four classes.When the forward position of deamplification, but the pulse amplitude of timing point occur for timing point
Less than the reference voltage of the leading edge discriminator, such as Fig. 5 (a-b), range-measurement system cannot get accurate distance measurement result.When timing
When the pulse amplitude of point is substantially equal to reference voltage, noise is bigger on range accuracy influence, and range accuracy is poor.Work as timing point
Betide decaying pulse forward position, and the pulse amplitude of timing point be greater than the leading edge discriminator reference voltage when, such as scheme
5 (d-f), range accuracy is higher.When timing point occur decay pulse it is rear along when, distance measurement result is incorrect.
In the case of different pulse amplitudes, range accuracy statistical chart caused by differential declines coefficient and delay time is recorded in
In Fig. 6.Wherein, in each attenuation coefficient three column diagrams (from left to right) respectively represent pulse amplitude be 0.4V, 0.8V,
The range accuracy of 1.2V.Horizontal, ordinate respectively indicates attenuation coefficient and delay time.The Block of different colours indicates different points
The range accuracy of class, Block 1 indicate that timing point is less than the reference voltage of leading edge discriminator, and there are mistakes for distance measurement result；
Block 2 indicates that the reference voltage of timing point and leading edge discriminator is close, and range accuracy is poor；Block 3 indicates timing point hair
The raw forward position in decaying pulse, range accuracy are higher；Block 4 indicates that timing point occurs not meeting on the rear edge of decaying pulse
The principle of constant fraction discriminator discriminator, distance measurement result mistake.That is, distance measurement result is promoted to be located in Block3 (red area)
It can obtain best range performance.
As shown in Figure 6：First, the selection range of attenuation coefficient k is 0.2-0.6, within this range, can adjust delay
Time is located at distance measurement result in Block 3.When attenuation coefficient is less than 0.2 or is greater than 0.6, no matter delay time is more
It is few, it all cannot more accurately distance measurement result.Second, optimal attenuation coefficient and delay time must be according to minimum pulse width
The distance measurement result of value is chosen, this is that analysis obtains the critical data of optimal circuit parameter.Because in minimum pulse amplitude
In obtained distance measurement result, the range of Block 3 is suitable for the distance measurement result of other pulse amplitudes.Therefore, we are designing
After receiving pulse detection circuit, the minimum detection that can use system receives pulse amplitude to choose attenuation coefficient and delay
Time.
B) Range finding experiments
After detecting the performance of the AGC system and constant fraction discriminator identification system, design laser ranging is real
Test the range performance for detecting entire laser ranging system.Wherein, transmitting pulse and reception pulse pass through two PIN photodetections
Device is acquired, then by it is collected be signally attached to laser radar control on the circuit board of ranging, respectively as
Start and stop signal.The passive distance measurement of 10-105m target is carried out by laser radar system, every 5m measures one group of number
According to 80000 data of every group of measurement.Wherein, the statistic histogram of the measurement data of 105m is as shown in Figure 7.
In an experiment, distance calibration (model is carried out using laser range finder：BH-AD41, precision 0.1mm), respectively
To each distance reference value under.Table 3 lists the precision of the ranging data of every 10m, the laser radar thus developed
The performance of range-measurement system.
It is available to draw a conclusion by the experimental result of static ranging：
(1) it by automatic gain control, may be implemented：Target range receives pulse in 10-100m dynamic range
Amplitude variation stablize in 1.5-1.7V, the amplitude that reduces acutely shake caused by walking error.
(2) automatic gain control greatly enhances laser thunder with being used in combination for constant fraction discriminator authentication technique
Up to the range accuracy of system, especially target range be 35-75m within the scope of, range accuracy is relatively stable, not with target away from
The acute variation from variation.
(3) measurement range of the laser radar range system designed by can achieve 110m, and range accuracy is stablized in 1-
Between 2.6cm.
The result of the static ranging of table 3
| Target range/m | 10 | 20 | 30 | 40 | 50 | 60 | 70 | 80 | 90 | 100 |
| Standard deviation/cm | 2.30 | 1.96 | 1.05 | 1.54 | 1.57 | 1.60 | 1.66 | 1.91 | 2.28 | 2.54 |
The above, the basic scheme of specific implementation method only of the present invention, but protection scope of the present invention is not limited to
In this, any those skilled in the art in technical scope disclosed by the invention, it is contemplated that change or replacement, all
It is covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
It is quasi-.Variation in the equivalent meaning and scope of fallen with claim is intended to be included within the scope of the claims.
Claims (8)
1. a kind of laser radar signal moment identification system, which is characterized in that receive amplification system, automatic gain control including signal
System processed, constant fraction discriminator identification system and time measurement system, the timing point as determined by the constant fraction discriminator identification system
Unrelated with pulse signal amplitude, the signal moment that the high accuracy of pulse signal may be implemented identifies, and reduces in range-measurement system
Walking error, provides best input pulse amplitude using the AGC system for the constant fraction discriminator identification system,
Reduce the time jitter error and additional walking error in range-measurement system, mainly includes following design；
The signal receives amplification system, as front end amplifying unit, the laser radar system echo pulse signal that will be received
Photo-signal amplification, mainly by being formed across resistance amplifier section and operation amplifier part, across resistance amplifier section by the photoelectricity
Stream signal is amplified and converted to voltage signal, and the voltage signal is amplified in operation amplifier part, is input to automatic growth control
System；
The AGC system, including four units：Peak holding unit, amplitude detection unit, logic control element,
Controllable amplifying unit；Pulse signal is divided into two-way by the AGC system：Wherein all the way by peak holding unit,
Amplitude detection unit, logic control element realize the selection of gain range, and the gain range are passed to controllable amplification list
Member；Another way directly passes through controllable amplifying unit, realizes and amplifies according to the gain range；The peak holding unit is realized
Signal peak detects and increases the peak holding time, guarantees that amplitude detection unit is able to achieve peak value acquisition；The amplitude detection list
Member is mainly realized using modulus conversion chip (Analog-to-Digital Converter, ADC), collects pulse signal
Peak value, and be quantified as digital signal and pass to logic control element；The logic control element is realized and other units
Control carries out the gain measurement range selection according to the signal peak that the modulus conversion chip detects, and output is controllably put
Big unit；The controllable amplifying unit, including programmable automation controller part and operation amplifier part, programmable automation controller portion
Tap receives the gain signal, the amplification of different gains is carried out to pulse signal, then by operation amplifier part, pulse is believed
The control of number amplitude is in the constant fraction discriminator identification system optimal input range；
The constant fraction discriminator identification system, mainly by forward position moment discriminating unit, constant fraction discriminator discriminating unit and logic gate
Composition；The pulse signal of the AGC system output described first is divided into two-way, the reference of pulse signal and setting all the way
Voltage is input to the forward position moment discriminating unit together, and the forward position moment discriminating unit is made of high speed comparing unit；And
Another way pulse signal is connected to the constant fraction discriminator mirror being made of signal attenuation factor, signal delayed time system and high speed comparing unit
Other unit is the timing point of pulse signal, constant fraction discriminator mirror when the amplitude of time delayed signal is equal to deamplification amplitude
The timing point that other unit obtains pulse signal is unrelated with the amplitude of input pulse；Finally the output of the two-way discriminating unit is believed
Number input logic gate, the time corresponding to the logic gate output signal rising edge is identified arteries and veins
Rush signal moment point；
The time measurement system realizes high precision time interval measurement, laser radar system light using time-to-digital converter method
The transmitting pulse of road part enters the time measurement system as commencing signal as trigger signal, and laser radar system light
The return pulse signal of road part receives amplification system, AGC system, constant fraction discriminator by the signal and identifies system
Enter the time measurement system after system as stop signal, using digitlization delay line technology, when the commencing signal enters
It after the time measurement system, is propagated along delay line, calculates and undergo delay unit between the commencing signal and stop signal
Number, thus calculate the transmitting pulse and the time difference for receiving pulse, and the time difference be stored into the logic
In control unit, the split-second precision difference information that distance resolves is provided for laser radar system.
2. method according to claim 1, which is characterized in that high-precision constant fraction discriminator identification system is it needs to be determined that best input
Pulse amplitude range, the constant fraction discriminator identification system obtain pulse time in the case of different input pulse amplitudes by experiment
The standard deviation of point, the evaluation index of amplitude range is most preferably inputted using the standard deviation as the constant fraction discriminator identification system.
3. method according to claim 1, which is characterized in that for the pulse amplitude control for inputting constant fraction discriminator identification system
System will enter into the amplitude for automatically controlling gain system pulse signal and be divided into multiple ranges, each in optimum range
Range corresponds to corresponding gain (can be negative gain), realizes amplification Weak pulse signal, and decaying outranges pulse signal；Due to
Set gain is limited, when the programmable automation controller part cannot control the amplitude of former pulse signal in the constant proportion
When in the optimal input range of timing identification system, then the amplification factor of the operation amplifier part is adjusted with meet demand.
4. method according to claim 1, which is characterized in that the signal moment identification system, including constant fraction discriminator identify
Unit and forward position discriminating unit, the signal for inputting the signal moment identification system includes reference voltage signal and input pulse letter
Number；The reference voltage signal can eliminate the erroneous judgement of moment point caused by noise by being appropriately arranged with；The input pulse signal point
Three tunnels enter the signal moment identification system, wherein two-way enter the constant fraction discriminator discriminating unit, all the way enter it is described before
Along discriminating unit；In the constant fraction discriminator discriminating unit, the two-way input pulse signal is decayed by signal all the way is
System is by original signal ViBecome deamplification Va(t), time delayed signal V is become by signal delayed time system all the waya(t), the decaying letter
Number Va(t) and time delayed signal Vd(t) it is compared by high speed comparing unit, output signal V1, work as Vd(t) it is less than Va(t) when
Output signal V1For low level, it is greater than Va(t) output signal V when1Jump is high level；Using another in the forward position discriminating unit
One high speed comparing unit compares the input pulse signal with the reference voltage signal, output signal V2, when described
Input pulse signal exports V when being less than the reference voltage signal2For low level, when the input pulse signal is greater than the ginseng
V is exported when examining voltage signal2Jump is high level；The constant fraction discriminator discriminating unit is exported into V1With the forward position discriminating unit
Export V2As the input of the logic gate, the time where the logic gate output signal rising edge is determined as height
The pulse time point t that precision signal moment identification system identifiesT。
5. method according to claim 1, which is characterized in that obtain the timing of pulse signal using constant fraction discriminator identification system
Point is unrelated with the amplitude of input pulse, by input pulse signal ViIt is expressed as
Vi=Af (t) (1)
In formula, A indicates the amplitude of pulse signal, and f (t) is normalized signal intensity function, therefore the deamplification Va(t) and
The time delayed signal Vd(t) it can be expressed as
Va(t)=kAf (t) (2)
Vd(t)=Af (t-td) (3)
Wherein, k refers to attenuation coefficient, tdIt is delay time, then enables time delayed signal is equal with deamplification to calculate timing point
tT, i.e.,：
Af(tT-td)=kAf (tT) (4)
For example, when normalized signal intensity function f (t) is stage parabolic function
PwFor the width of input pulse, calculate time delayed signal it is equal with deamplification when at the time of point tTFor：
Available, the time delayed signal timing point t equal with deamplification by formula (4) and formula (6)TWith the width of pulse signal
Value size is unrelated, i.e., the described constant fraction discriminator identification system is insensitive to pulse amplitude, can identify pulse in high precision using this method
Moment.
6. method according to claim 1, which is characterized in that the signal attenuation factor is designed by electric resistance partial pressure principle,
Signal delayed time system use delay line, realize low-pass filtering system, its lead to inband signaling only generates postpone almost do not wane
Subtract, and the signal delayed time system and the signal attenuation factor need to be rationally designed, timing point generation is made to decline described as far as possible
The most precipitous place of the rising edge of cut signal, the i.e. position of maximum slope, delay time coefficient and attenuation coefficient are crucial ginsengs as a result,
Number, it should meet：
td=tr(1-k) (7)
Wherein, trRefer to pulse rise time, tdIt is delay time, k is attenuation coefficient.
7. method according to claim 1, which is characterized in that using the logic control element as system master list
Member, in the system major function be：One according to pulse signal amplitude size adjust gain；Two in the time measurement system
Before use, carrying out configuration initialization, including channel selecting, pulse number setting and initialization etc. to its parameter；Three are receiving
With after echo impulse the time difference is calculated, the logic control element is responsible for timing acquiring and records this data in the transmitting.
8. method according to claim 1, which is characterized in that a kind of laser radar signal moment identification system can pass through
Calibration reduces error with amendment and improves range accuracy, and the high-precision signal moment identification system includes systematic error：Walking
Error, fixed delay error and clock frequency drift error etc. and random error：Time jitter error, nonlinearity erron, number
Circuit rising edge jitter error etc.；The automatic control gain system, control pulse amplitude are best in constant fraction discriminator identification system
In input range, reduce time jitter error and additional walking error；The constant fraction discriminator identification system, utilizes timing point and arteries and veins
It rushes the unrelated characteristic of signal amplitude and reduces walking error；The time measurement system can choose calibration when measurement every time
Measurement reduces clock frequency drift error to calibrate after time calibrating to measured value；And the constant time lag is missed
Difference is a definite value, is modified after can measuring；The nonlinearity erron, by the time of measuring interval of the time measurement system
Cause, can be modified by calculating root mean square；The digital circuit rising edge jitter error, can be by calculating digital circuit sheet
Body bring shake standard deviation is modified.
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