CN109031337A - Laser radar and its distance measuring method - Google Patents
Laser radar and its distance measuring method Download PDFInfo
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- CN109031337A CN109031337A CN201811137156.9A CN201811137156A CN109031337A CN 109031337 A CN109031337 A CN 109031337A CN 201811137156 A CN201811137156 A CN 201811137156A CN 109031337 A CN109031337 A CN 109031337A
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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
- G01S17/34—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to a kind of laser radar and its distance measuring method, distance measuring method is the following steps are included: laser issues laser；Optoisolator handles laser signal for real time output；Real time output is carried out branch by the first coupler；Signal emission module emits signal towards measured target；Measured target reflects signal to signal receiving module；Second coupler receives echo-signal and local oscillation signal；Obtain the first signal frequency of echo-signal and the second signal frequency of local oscillation signal；Based on the spacing between the first equation calculation measured target and signal emission module.The hardware foundation of laser radar offer ranging.By carrying out a series of processes such as branch, transmitting, reflection, acquisition and calculating to laser-formed real time output, finally obtain the distance between measured target and signal emission module, to obtain required distance, distance measuring method is simple, laser frequency stabilization, sending power is small, and not only cost and use cost are low, but also reliable test result.
Description
Technical field
The present invention relates to CW with frequency modulation laser radar technique fields, more particularly to a kind of laser radar and its ranging side
Method.
Background technique
Laser radar refers to by the way of emitting laser beam the radar system of the characteristic quantities such as position, the speed for detecting target
System.Its working principle is that: firstly, to objective emission detectable signal (laser beam)；Then, the slave target received is reflected
Signal (target echo) with transmitting signal be compared, after making proper treatment, can be obtained target for information about, such as target
Distance, orientation, height, speed, posture, the even parameters such as shape, to be detected, be tracked to targets such as aircraft, guided missiles
And identification.
Traditional laser radar drives the optical lens system of outgoing to carry out angular transformation by way of mechanical rotation, makes
Radar is able to carry out 360 ° of scanning and the pitching angular transformation of certain perpendicular.However, this laser radar not only needs to match
Standby multiple groups laser transceiver also needs the micro mechanical system for being equipped with accurate light adjustment Barebone and sophisticated design, so that it be made to make
Valence is high；Meanwhile the stability of mechanical system and optical system is poor, service life is shorter.
Summary of the invention
Based on this, it is necessary to provide a kind of laser radar and its distance measuring method.The cost of the laser radar is low, ranging
Effect is good, long service life；The distance measuring method of the laser radar provides the ranging usage mode of aforementioned laser radar, and how is solution
The problem of obtaining distance measurement result.
Its technical solution is as follows:
On the one hand, a kind of distance measuring method of laser radar is provided, comprising the following steps:
Laser issues the laser of frequency consecutive variations and forms sawtooth wave, obtain the laser signal of sawtooth wave and obtain
The slope of sawtooth wave；
Optoisolator receives laser signal and is handled and obtain real time output；
Real time output is carried out branch and forms first via live signal and the second road is believed in real time by the first coupler
Number；
First via live signal is emitted towards measured target and forms the first signal by signal emission module；
Obtain the fiber distance between the first coupler and signal emission module；
Measured target reflects the first signal and to signal receiving module and forms second signal；
It is echo-signal that signal receiving module, which receives second signal and exports,；
Second coupler receives echo-signal；Meanwhile second coupler receive the second current road live signal and obtain
Local oscillation signal；
The first signal frequency for obtaining echo-signal, obtains the second signal frequency of local oscillation signal；
The current first difference frequency value between the first signal frequency and second signal frequency is obtained according to preset requirement；
It is calculated based on the first equation and obtains the spacing between measured target and signal emission module；
Wherein, the first equation are as follows:
R=(Δ f*c/ (2*k))-(L/2)；
Spacing of the R between measured target and signal emission module, Δ f be the first signal frequency and second signal frequency it
Between current first difference frequency value, c be light velocity value, k be sawtooth wave slope, L is between the first coupler and signal emission module
Fiber distance.
The distance measuring method of above-mentioned laser radar, by laser-formed real time output carry out branch, transmitting, instead
It a series of processes such as penetrates, obtain and calculates, the distance between measured target and signal emission module are finally obtained, to obtain institute
The distance needed, distance measuring method is simple, laser frequency stabilization, and sending power is small, and not only cost and use cost are low, but also surveys
Test result is reliable.
Technical solution is illustrated further below:
It is obtained between the first signal frequency and second signal frequency according to preset requirement in one of the embodiments,
After the step of current first difference frequency value, further includes:
The current first difference frequency value of subsequent time is obtained according to preset requirement and obtains current second difference frequency value；
It is calculated according to preset requirement and based on the first difference frequency value and the second difference frequency value and obtains values of Doppler frequency shift；
Obtain the current tranmitting frequency of laser；
Obtain the current goal radial angle of measured target；
It is calculated based on second equation and obtains the movement speed of measured target relative signal transmitting module；
Wherein, second equation are as follows:
V=(fDopp*c)/(f0*(cosα))；
fDoppFor values of Doppler frequency shift, f0For the current tranmitting frequency of laser, v is that measured target relative signal emits mould
The movement speed of block, c are light velocity value, and α is the current goal radial angle of measured target.
It is calculated based on the first equation in one of the embodiments, and obtains measured target and signal emission module
Between spacing the step of further include:
The echo-signal received and local oscillation signal are combined and are re-started branch, form two by the second coupler
First output optical signal of a equalization；
First output optical signal is converted into the first output electric signal；
Obtain clock signal；
According to preset requirement and based on clock signal, first output electric signal and the first equation handled and obtain by
Survey the spacing between target and signal emission module.
The laser of frequency consecutive variations is issued in laser in one of the embodiments, and forms sawtooth wave, obtains saw
After the step of slope of the real time output of tooth wave and sawtooth wave, real time output is divided in the first coupler
Road and the step of form first via live signal and the second road live signal before, further includes:
Real time output is carried out branch and forms third road live signal and the 4th road is believed in real time by third coupler
Number；
Real time output is subjected to branch in the first coupler and forms first via live signal and the second road is believed in real time
Number the step of after, further includes:
Clock generating module receives the 4th road live signal and generates clock signal；
Real time output is carried out branch and forms first via live signal and the second road live signal by the first coupler
The step of in, the first coupler carry out branch real time output be third road live signal.
Clock generating module includes the 4th coupler, interferometer and the 5th coupler, clock in one of the embodiments,
The step of generation module receives the 4th road live signal and generates clock signal further include:
4th coupler receives the 4th road live signal and the 4th road live signal is carried out branch and forms the 5th tunnel
Live signal and the 6th road live signal；
Interferometer receives the 5th road live signal and the 6th road live signal and to the 5th road live signal and the 6th tunnel reality
When signal handled and formed the 5th signal and the 6th signal, the 5th signal exists with respect to the 6th signal to postpone；
5th coupler receives the 5th signal and the 6th signal and is combined the 5th signal and the 6th signal, lays equal stress on
It is new to carry out branch, form two the second impartial output optical signals；
The second output optical signal is converted into the second output electric signal according to preset requirement and forms clock signal.
In one of the embodiments, according to preset requirement and based on clock signal, the first output electric signal and first party
Cheng Jinhang is handled and is included: the step of obtaining the spacing between measured target and signal emission module
Capture card samples the first output electric signal and is based on clock signal and handled, obtains output simulation letter
Number；
Output analog signal is subjected to analog-to-digital conversion and obtains digital output signal；
It is handled according to preset requirement and based on the first equation logarithm word output signal and obtains measured target and signal
Spacing between transmitting module.
In the step of laser issues the laser of frequency consecutive variations and forms sawtooth wave in one of the embodiments,
Further include:
The Laser emission of phase-modulator control laser simultaneously makes laser export the laser for meeting preset requirement.
On the other hand, a kind of laser radar is additionally provided, it can be using the laser as described in any one above-mentioned technical solution
The distance measuring method of radar carries out ranging, including laser, and laser is for emitting laser；Optoisolator, optoisolator and laser
Device connection；Coupling assembly, coupling assembly include the first coupler and the second coupler；Signal transceiver module, signal transceiver module
Including signal emission module and signal receiving module；And control assembly, control assembly include data acquisition module and data processing
Module, data acquisition module are used to handle the data of data acquisition module acquisition and hold for obtaining data, data processing module
The distance measuring method of laser radar of the row as described in any one above-mentioned technical solution carries out ranging.
Above-mentioned laser radar provides the hardware foundation that laser radar range method above-mentioned is implemented, and cost is low, ranging
Effect is good, and the service life is longer.
Technical solution is illustrated further below:
Coupling assembly further includes third coupler in one of the embodiments, and control assembly further includes that clock generates mould
Block.
Clock generating module includes the 4th coupler, interferometer and the 5th coupler in one of the embodiments,.
Detailed description of the invention
Fig. 1 is that schematic diagram is arranged in the module architectures of laser radar in embodiment；
Fig. 2 is measured target and laser radar echo-signal and local oscillation signal when opposing stationary and to work as in Fig. 1 embodiment
Curve graph of the preceding first difference frequency value about the time；
Fig. 3 is curve graph of the first difference frequency value about the time in Fig. 1 embodiment；
Fig. 4 is the curve graph of clock signal and difference waveform about the time in Fig. 1 embodiment；
Fig. 5 is the curve graph of values of Doppler frequency shift and time in Fig. 1 embodiment；
Fig. 6 is a kind of specific setup module figure of laser radar of Fig. 1 embodiment；
Fig. 7 is the specific setup module figure of another laser radar of Fig. 1 embodiment.
Attached drawing mark explanation:
110, laser, 120, phase-modulator, 130, optoisolator, the 210, first coupler, the 220, second coupler,
230, third coupler, the 240, the 4th coupler, the 250, the 5th coupler, 310, signal emission module, 320, signal reception mould
Block, 400, measured target, 500, interferometer, 600, capture card, the 710, first balanced detector, the 720, second balanced detector,
800, signal analysis module, 900, correcting circuit.
Specific embodiment
The embodiment of the present invention is described in detail with reference to the accompanying drawing:
It should be noted that it can be directly in another element when alleged element is with another element " fixation " in text
Above or there may also be elements placed in the middle.When an element is considered as with another element " connection ", it be can be directly
It is connected to another element in succession or may be simultaneously present centering elements.On the contrary, when element is referred to as " directly existing " another element
When "upper", intermediary element is not present.Term as used herein "vertical", "horizontal", "left" and "right" and similar table
It states for illustrative purposes only, is not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more
Any and all combinations of relevant listed item.
Embodiment as shown in Figures 1 to 7 provides a kind of distance measuring method of laser radar, comprising the following steps:
The laser that laser 110 issues frequency consecutive variations simultaneously forms sawtooth wave, obtains the laser signal, simultaneously of sawtooth wave
Obtain the slope of sawtooth wave；
Optoisolator 130 receives laser signal and is handled and obtain real time output；
Real time output is carried out branch and forms first via live signal and the second road is real-time by the first coupler 210
Signal；
First via live signal is emitted towards measured target 400 and forms the first signal by signal emission module 310；
Obtain the fiber distance between the first coupler 210 and signal emission module 310；
Measured target 400 reflects the first signal and to signal receiving module 320 and forms second signal；
It is echo-signal that signal receiving module 320, which receives second signal and exports,；
Second coupler, 220 receives echo-signal；Meanwhile second coupler 220 receive the second current road live signal,
And obtain local oscillation signal (namely: the second road live signal is the local oscillation signal in system)；
The first signal frequency for obtaining echo-signal, obtains the second signal frequency of local oscillation signal；
The current first difference frequency value between the first signal frequency and second signal frequency is obtained according to preset requirement；
It is calculated based on the first equation and obtains the spacing between measured target 400 and signal emission module 310；
Wherein, the first equation are as follows:
R=(Δ f*c/ (2*k))-(L/2)；
Spacing of the R between measured target 400 and signal emission module 310, Δ f are the first signal frequency and second signal
Current first difference frequency value between frequency, c are light velocity value, and k is the slope of sawtooth wave, and L is that the first coupler 210 and signal emit
Fiber distance between module 310.
By carrying out a series of mistakes such as branch, transmitting, reflection, acquisition and calculating to laser-formed real time output
Journey finally obtains the distance between measured target 400 and signal emission module 310, thus the distance needed for obtaining, distance measuring method
Simply, laser frequency stabilization, sending power is small, and not only cost and use cost are low, but also reliable test result.
In the present embodiment, signal emission module 310 and signal receiving module 320 form square by many identical antennas
The radiated wave of battle array, all antennas forms a branch of radar wave by interference in far field.The phase of each antenna of electronic system real-time control
Position, to control the radar wave direction in far field.Electronic system changes the phase of certain antennas, so that it may change the side of radar wave
To realize dynamic scan.It is fast that such electron scanning does not need mechanical rotation device, sweep speed, and even if has few
Amount antenna breaks down and will not influence the actual use of signal transceiver module.
Only need one group of Laser emission receiver that the scanning in a space multistory angle can be completed；It uses simultaneously entirely certainly
The manufacture of dynamic, large-scale photonic integrated circuits, the packaging technology peace time-consuming without the such complexity of mechanical laser radar
Calibration process is filled, to reduce cost.Meanwhile the laser radar that the distance measuring method using the laser radar carries out ranging is not necessarily to
High-speed rotating mechanical part, reliability is compared with the available improve of conventional laser radar.
And signal transceiver module is extremely difficult to higher transmission power in traditional laser radar, this is because: light energy
It is gradually to be distributed to many antenna elements in the waveguide of signal transceiver module, therefore in initial input waveguide, unit plane
Long-pending optical power density is larger；The laser radar of pulse ranging is used to require relatively narrow pulsewidth to reach higher peak work simultaneously
Rate further improves the requirement to waveguide material tolerance high optical power.Therefore, in the laser of past laser pulse emission
The use of signal transceiver module is restricted in radar system, in FMCW laser radar system, due to required laser
Information is its frequency shift amount, therefore can reduce the transmission power of laser, to solve the transmission power of signal transceiver module
Restricted problem is not necessarily to higher transmitting function when so that the distance measuring method using laser radar provided in this embodiment carrying out ranging
Ranging can be completed in rate, and Range finding reliability is higher, and ranging is at low cost.
The distance measuring method of laser radar provided in this embodiment more particularly to carry out ranging within the scope of 200 meters and 500 meters,
Be able to solve 400 moving range of measured target it is larger when measurement；Ranging, ranging can be carried out using the Laser emission of low-power
It is at low cost.
Frequency modulated continuous wave radar, also referred to as FMCW (Frequency Modulated Continuous Wave) radar, relies on
The measurement advantage of itself, is widely applied in terms of ranging, and frequency modulated continuous wave radar is a kind of tranmitting frequency by specific letter
Number modulation continuous wave radar.Compared with other range radars, the structure of frequency modulated continuous wave radar is more simple.
In addition, the technical experience of fmcw radar is abundant, required transmission power peak is lower, is easy modulation, is at low cost, letter
Number processing is simple, and the distance measuring method of laser radar provided in this embodiment can be applied in car radar.
Optoisolator 130 is a kind of Passive Optical Components for only Unidirectional light being allowed to pass through, its working principle is that being based on faraday
The nonreciprocity of rotation.It can be isolated well by optoisolator 130 by the light of optical fiber echo reflection.Optoisolator 130 is main
The Faraday effect that utilize magneto-optical crystal, make light can only one direction transmission, by the light of optical fiber echo reflection can by light every
It is isolated well from device 130, improves light wave transmissions efficiency
Optoisolator 130 is located between laser 110 and the first coupler 210, with (such as tunable for controlling laser
Laser) issue laser can unidirectionally conduct, reduce laser emitting laser transmit the probability reflected in a fiber, and
Thus the noise that reflection generates is reduced.
Signal emission module 310 and signal receiving module 320 be respectively used to transmitting signal refer to measured target 400 and receive by
The signal that measured target 400 is reflected back, those skilled in the art can be specifically arranged as needed, to meet actual needs
Subject to, if setting signal transmitting module 310 and signal receiving module 320 are optical phased array.
It should be noted that meet implement to require in the case where, when specific implementation, can adjust corresponding implementation sequence, this
In simply to illustrate that convenience, those skilled in the art can according to need and specifically adjusted when implementing, repeat no more.
Embodiment as shown in Figures 1 to 7, according to preset requirement obtain the first signal frequency and second signal frequency it
Between current first difference frequency value the step of after, further includes:
The current first difference frequency value of subsequent time is obtained according to preset requirement and obtains current second difference frequency value；
It is calculated according to preset requirement and based on the first difference frequency value and the second difference frequency value and obtains values of Doppler frequency shift；
Obtain the current tranmitting frequency of laser 110；
Obtain the current goal radial angle of measured target 400；
It is calculated based on second equation and obtains the movement speed of 400 relative signal transmitting module 310 of measured target；
Wherein, second equation are as follows:
V=(fDopp*c)/(f0*(cosα))；
fDoppFor values of Doppler frequency shift, f0For the current tranmitting frequency of laser 110, v is 400 relative signal of measured target
The movement speed of transmitting module 310, c are light velocity value, and α is the current goal radial angle of measured target 400.
According to this method, the movement speed of 400 relative signal transmitting module 310 of measured target can also be measured, to obtain
Obtain more comprehensively 400 related data of measured target.
It should be understood that being calculated and being obtained according to preset requirement and based on the first difference frequency value and the second difference frequency value
In the step of values of Doppler frequency shift, preset requirement simultaneously calculate based on the first difference frequency value and the second difference frequency value and refers to the first difference frequency value
With the difference of the second difference frequency value.
Further, it is being calculated based on second equation and is obtaining 400 relative signal transmitting module 310 of measured target
Movement speed the step of after, further includes:
Obtain radar absolute velocity of the laser radar with respect to ground level；
According to preset requirement and the movement based on 400 relative signal transmitting module 310 of radar absolute velocity and measured target
The target absolute velocity that speed is calculated and obtains measured target 400 with respect to ground level.
As shown in Figures 2 to 5, solid line refers to first via live signal in figure, and dotted line refers to that echo-signal, the first via are real-time in figure
Signal is after undergoing the τ time, and delay produces the first difference frequency value of Δ f, then the relationship of R (also known as absolute distance) and τ are as follows:
τ=(2*R+L)/C；
According to geometrical relationship:
τ/Δ f=T/ (2* Δ F)；
And R may be expressed as:
R=((Δ f*T*c)/(4* Δ F))-(L/2)；
And:
K=(2* Δ f)/T；
Based on above four formula, the first equation can be obtained, and measured target 400 and signal transmitting can be calculated
Spacing between module 310.
According to Doppler shift characteristics, Δ fDoppRelationship, that is, second equation between movement speed v:
fDopp=f0*(v/c)*(cosα)；
And:
fDopp=Δ fDiff_down-ΔfDiff_up；
Wherein, Δ fDiff_downWith Δ fDiff_upRespectively represent the signal of two different times.
It can calculate as a result, and obtain the movement speed of 400 relative signal transmitting module 310 of measured target.
Embodiment as shown in Figures 1 to 7 is calculated based on the first equation and is obtained measured target 400 and signal hair
The step of penetrating the spacing between module 310 further include:
The echo-signal received and local oscillation signal are combined and are re-started branch, formed by the second coupler 220
Two the first impartial output optical signals；
First output optical signal is converted into the first output electric signal；
Obtain clock signal；
According to preset requirement and based on clock signal, first output electric signal and the first equation handled and obtain by
Survey the spacing between target 400 and signal emission module 310.
Since two signals of the second coupler 220 output are optical signal, need to be converted to electric signal, and further locate
Reason, to meet actual processing needs.
Embodiment as shown in Figures 1 to 7 issues the laser of frequency consecutive variations in laser 110 and forms sawtooth
Wave, obtain sawtooth wave real time output and sawtooth wave slope the step of after, will be exported in real time in the first coupler 210
Before the step of signal carries out branch and forms first via live signal and the second road live signal, further includes:
Real time output is carried out branch and forms third road live signal and the 4th road is real-time by third coupler 230
Signal；
Real time output is subjected to branch in the first coupler 210 and forms first via live signal and the second tunnel reality
When signal the step of after, further includes:
Clock generating module receives the 4th road live signal and generates clock signal；
Real time output is carried out branch and forms first via live signal and the second road is real-time by the first coupler 210
In the step of signal, the real time output that the first coupler 210 carries out branch is third road live signal.
As shown in Figure 1, third coupler 230 will export letter in real time after the sending of laser 110 meets the laser of preset requirement
It number carries out branch and forms two paths of signals and third road live signal and the 4th road live signal, third road signal passes through first
The further branch of coupler 210 simultaneously forms first via live signal and the second road live signal；And the 4th road live signal passes through
The processing of clock generating module simultaneously generates clock signal, and clock signal is used for subsequent data processing and calculating, to obtain more
Accurately data.
Certainly, clock generating module, which can according to need, is specifically arranged, such as when being not provided with third coupler 230,
It can directly be arranged and meet the clock generator needed or subsequent data processing is carried out using the clock signal of the machine and calculates need
It wants, those skilled in the art can be specifically arranged as needed, and which is not described herein again.
Embodiment as shown in Figures 1 to 7, clock generating module include the 4th coupler 240, interferometer 500 and the 5th
The step of coupler 250, clock generating module receives the 4th road live signal and generates clock signal further include:
4th coupler 240 receives the 4th road live signal and the 4th road live signal is carried out branch and forms the 5th
Road live signal and the 6th road live signal；
Interferometer 500 receives the 5th road live signal and the 6th road live signal and to the 5th road live signal and the 6
Road live signal is handled and is formed the 5th signal and the 6th signal, and the 5th signal exists with respect to the 6th signal to postpone；
5th coupler 250 receives the 5th signal and the 6th signal and is combined the 5th signal and the 6th signal, simultaneously
It re-starts branch, form two the second impartial output optical signals；
The second output optical signal is converted into the second output electric signal according to preset requirement and forms clock signal.
The correction signal road by such setting of 4th road live signal, so that clock signal is obtained, it is subsequent to meet
Needs.
It should be noted that as needed, can be set are as follows:
Third coupler 230 is by the third road live signal and the 4th tunnel that real time output branch is that energy ratio is 99:1
Live signal；
First coupler 210 is by the first via live signal and second that third road live signal branch is that energy ratio is 99:1
Road live signal；
It is 50:50's that echo-signal and local oscillation signal are combined by the second coupler 220 and branch is energy ratio again
Two the first impartial output optical signals；
4th coupler 240 is by the 5th road live signal and the 6th that the 4th road live signal branch is that energy ratio is 99:1
Road live signal；
It is 50:50 that 5th signal and the 6th signal are combined by the 5th coupler 250 and branch forms energy ratio again
Two the second impartial output optical signals.
Certainly, those skilled in the art can be specifically arranged as needed, no longer superfluous here to meet actual needs
It states.
Embodiment as shown in Figures 1 to 7, according to preset requirement and based on clock signal, the first output electric signal and the
One equation is handled and includes: the step of obtaining the spacing between measured target 400 and signal emission module 310
Capture card 600 samples the first output electric signal and is based on clock signal and handled, obtains output simulation
Signal；
Output analog signal is subjected to analog-to-digital conversion and obtains digital output signal；
It is handled according to preset requirement and based on the first equation logarithm word output signal and obtains 400 and of measured target
Spacing between signal emission module 310.
By the above process, specific signal processing and conversion are carried out, to obtain specific data.Those skilled in the art
Can specifically it be arranged as needed, which is not described herein again.
Embodiment as shown in Figures 1 to 7, laser 110 issue the laser of frequency consecutive variations and form sawtooth wave
In step, further includes:
Phase-modulator 120 controls the Laser emission of laser 110 and the output of laser 110 is made to meet preset requirement
Laser.
The Laser emission of laser 110 is controlled by phase-modulator 120, the frequency so as to be met the requirements connects
The laser of continuous variation.
Further, phase-modulator 120 is double parallel phase-modulator, and those skilled in the art can carry out as needed
Specific setting, which is not described herein again.
Such as Fig. 1, Fig. 4 to embodiment shown in Fig. 7, additionally provide a kind of laser radar, can using as it is above-mentioned any one
The distance measuring method of laser radar described in embodiment carries out ranging, including laser 110, and laser 110 is for emitting laser；Light
Isolator 130, optoisolator 130 are connect with laser 110；
Coupling assembly, coupling assembly include the first coupler 210 and the second coupler 220；Signal transceiver module, signal are received
Sending out component includes signal emission module 310 and signal receiving module 320；And control assembly, control assembly include data acquisition mould
Block and data processing module, data acquisition module are obtained for obtaining data, data processing module for handling data acquisition module
The distance measuring method of laser radar of the data and execution taken as described in any one above-mentioned embodiment carries out ranging.
The laser radar is used to provide the hardware foundation that laser radar range method above-mentioned is implemented, and cost is low, surveys
It is good away from effect, and the service life is longer.
Embodiment as shown in Figure 1, coupling assembly further include third coupler 230, and control assembly further includes that clock generates
Module.
Embodiment as shown in Figure 1, clock generating module include the 4th coupler 240, interferometer 500 and the 5th coupler
250。
Further, interferometer 500 can be Mach-Zehnder interferometers 500, and being also possible to other can be realized to two
A signal carries out the interferometer 500 of given delay disposal, to meet actual needs.
Embodiment as shown in Figure 1, laser radar further include phase-modulator 120, with full for issuing laser 110
The laser needed enough.
Embodiment as shown in Figure 1, laser radar further include the first balanced detector 710 and the second balanced detector 720,
First balanced detector 710 is used to the first output optical signal being converted to the first output electric signal；Second balanced detector 720 is used
In the second output optical signal is converted to the second output electric signal.
As shown in Figure 6 and Figure 7, it is two specific embodiments:
In Fig. 6, laser 110 is Distributed Feedback Laser 110 (DFB Laser, i.e. Distributed Feedback
Laser), at this point, need to cooperate that phase-modulator 120, can to issue the frequency met the requirements continuous to control Distributed Feedback Laser 110
The laser of variation.
In this embodiment, the frequency that Distributed Feedback Laser 110 needs phase-modulator 120 to export laser 110 is by electric current
Modulation reaches the mode of continuous wave output；The sampling frequency of capture card 600 is 10kHz-100kHz, and the frequency of capture card 600 can
Reach lower using frequency to reduce；The output power of Distributed Feedback Laser 110 can correspondingly increase.
In Fig. 7, laser 110 is ECL outer cavity adjustable laser 110 (ECL, i.e. External Cavity Laser), should
The laser of the directly capable of emitting frequency consecutive variations of laser 110, no setting is required phase-modulator 120.
In addition, correcting circuit 900 is equivalent to clock generating module in Fig. 6 and Fig. 7, for cooperating capture card 600 to carry out
Subsequent treatment process；Signal analysis module 800 is for carrying out final process and exporting ranging and the result that tests the speed.
In this embodiment, ECL outside cavity gas laser 110 can sensitive adjusting output signal, frequency sweep precision is compared with Distributed Feedback Laser
110 is smaller, and the speed of frequency shift is bigger；Simultaneously, it is also desirable to the acquisition rate Corresponding matching of capture card 600, namely require to adopt
The acquisition rate of truck 600 is higher.Clock signal caused by correcting circuit 900 also accordingly narrows, to carry out matching treatment；Letter
Number analysis module 800 should be also correspondingly arranged according to aforementioned arrangements.
In addition, as needed, analog-digital converter ADC is set also between capture card 600 and signal analysis module 800, with
Output analog signal is subjected to analog-to-digital conversion and is converted to digital output signal.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of distance measuring method of laser radar, which comprises the following steps:
Laser issues the laser of frequency consecutive variations and forms sawtooth wave, obtain the laser signal of the sawtooth wave and obtain
The slope of the sawtooth wave；
Optoisolator receives the laser signal and is handled and obtain real time output；
The real time output is carried out branch and forms first via live signal and the second road is believed in real time by the first coupler
Number；
The first via live signal is emitted towards measured target and forms the first signal by signal emission module；
Obtain the fiber distance between first coupler and the signal emission module；
The measured target reflects first signal to the signal receiving module and forms second signal；
It is echo-signal that the signal receiving module, which receives the second signal and exports,；
Second coupler receives the echo-signal；Meanwhile second coupler receives current second road and believes in real time
Number and obtain local oscillation signal；
The first signal frequency for obtaining the echo-signal obtains the second signal frequency of the local oscillation signal；
The current first difference frequency value between first signal frequency and the second signal frequency is obtained according to preset requirement；
It is calculated based on the first equation and obtains the spacing between the measured target and the signal emission module；
Wherein, first equation are as follows:
R=(Δ f*c/ (2*k))-(L/2)；
Spacing of the R between the measured target and the signal emission module, Δ f are first signal frequency and described the
Current first difference frequency value between binary signal frequency, c are light velocity value, and k is the slope of the sawtooth wave, and L is first coupling
Fiber distance between device and the signal emission module.
2. the distance measuring method of laser radar according to claim 1, which is characterized in that described in being obtained according to preset requirement
After the step of current first difference frequency value between first signal frequency and the second signal frequency, further includes:
The current first difference frequency value of subsequent time is obtained according to preset requirement and obtains current second difference frequency value；
It is calculated according to preset requirement and based on the first difference frequency value and the second difference frequency value and obtains Doppler frequency shift
Value；
Obtain the current tranmitting frequency of the laser；
Obtain the current goal radial angle of the measured target；
It is calculated based on second equation and obtains the movement speed of the relatively described signal emission module of the measured target；
Wherein, the second equation are as follows:
V=(fDopp*c)/(f0*(cosα))；
fDoppFor values of Doppler frequency shift, f0For the current tranmitting frequency of the laser, v is the relatively described letter of the measured target
The movement speed of number transmitting module, c are light velocity value, and α is the current goal radial angle of the measured target.
3. the distance measuring method of laser radar according to claim 2, which is characterized in that it is described carried out by the first equation based on
The step of calculating and obtaining the spacing between the measured target and the signal emission module further include:
The echo-signal received and the local oscillation signal are combined and re-start point by second coupler
Road forms two the first impartial output optical signals；
First output optical signal is converted into the first output electric signal；
Obtain clock signal；
Handled according to preset requirement and based on the clock signal, the first output electric signal and first equation,
And obtain the spacing between the measured target and the signal emission module.
4. the distance measuring method of laser radar according to claim 3, which is characterized in that issue frequency in the laser and connect
The laser of continuous variation simultaneously forms sawtooth wave, obtains the step of the real time output of the sawtooth wave and the slope of the sawtooth wave
After rapid, the real time output is subjected to branch in first coupler and forms first via live signal and second
Before the step of road live signal, further includes:
The real time output is carried out branch and forms third road live signal and the 4th road is believed in real time by third coupler
Number；
The real time output is subjected to branch in first coupler and forms first via live signal and the second tunnel reality
When signal the step of after, further includes:
Clock generating module receives the 4th road live signal and generates the clock signal；
The real time output is carried out branch and forms first via live signal and the second road is real-time by first coupler
In the step of signal, the real time output that first coupler carries out branch is third road live signal.
5. the distance measuring method of laser radar according to claim 4, which is characterized in that the clock generating module includes the
Four couplers, interferometer and the 5th coupler, the clock generating module receive described in the 4th road live signal and generation
The step of clock signal further include:
4th coupler receives the 4th road live signal and the 4th road live signal is carried out branch and shape
At the 5th road live signal and the 6th road live signal；
The interferometer receives the 5th road live signal and the 6th road live signal and is believed in real time the 5th road
Number and the 6th road live signal handled and formed the 5th signal and the 6th signal, the 5th signal relatively described in
There is delay in the 6th signal；
5th coupler receives the 5th signal and the 6th signal and believes the 5th signal and the described 6th
It number is combined and re-starts branch, form two the second impartial output optical signals；
Second output optical signal is converted into the second output electric signal according to preset requirement and forms the clock signal.
6. the distance measuring method of laser radar according to claim 3, which is characterized in that described according to preset requirement and to be based on
The clock signal, the first output electric signal and first equation are handled and obtain the measured target and institute
The step of stating the spacing between signal emission module include:
Capture card samples the first output electric signal and is based on the clock signal and handled, obtains output mould
Quasi- signal；
The output analog signal is subjected to analog-to-digital conversion and obtains digital output signal；
The digital output signal is handled according to preset requirement and based on first equation and obtains the tested mesh
Spacing between mark and the signal emission module.
7. the distance measuring method of laser radar according to claim 1-6, which is characterized in that the laser issues
The laser of frequency consecutive variations and the step of form sawtooth wave in, further includes:
The phase-modulator controls the Laser emission of the laser and the laser output is made to meet swashing for preset requirement
Light.
8. a kind of laser radar, which is characterized in that can be using the ranging such as the described in any item laser radars of claim 1-7
Method carries out ranging, comprising:
Laser, the laser is for emitting laser；
Optoisolator, the optoisolator are connect with the laser；
Coupling assembly, the coupling assembly include the first coupler and the second coupler；
Signal transceiver module, the signal transceiver module include signal emission module and signal receiving module；And
Control assembly, the control assembly include data acquisition module and data processing module, and the data acquisition module is used for
Data are obtained, the data processing module is used to handle the data that the data acquisition module obtains and executes such as claim
The distance measuring method of the described in any item laser radars of 1-7 carries out ranging.
9. laser radar according to claim 8, which is characterized in that the coupling assembly further includes third coupler, institute
Stating control assembly further includes clock generating module.
10. laser radar according to claim 9, which is characterized in that the clock generating module include the 4th coupler,
Interferometer and the 5th coupler.
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