CN109164457A - Laser ranging system and range accuracy modification method - Google Patents
Laser ranging system and range accuracy modification method Download PDFInfo
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- CN109164457A CN109164457A CN201811199715.9A CN201811199715A CN109164457A CN 109164457 A CN109164457 A CN 109164457A CN 201811199715 A CN201811199715 A CN 201811199715A CN 109164457 A CN109164457 A CN 109164457A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
-
- 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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/282—Transmitters
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- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention provides a kind of laser ranging system and range accuracy modification method, belongs to precise distance measurement technical field.Laser ranging system includes, modulated signal source circuit, laser, Amici prism, reference path detector, echo reception detector and modulation and ranging control circuit, modulated signal source circuit is electrically connected with laser, modulated current signal is exported to laser, Amici prism is arranged in the optical path of modulation laser, modulation laser is divided into detection light beam and reference beam, reference path detector receives reference beam and exports reference signal, echo reception detector receives the detection light beam output echo-signal being reflected back through object, modulation and ranging control circuit respectively with echo reception detector, reference path detector and the electrical connection of modulated signal source circuit, for receives echo-signal and reference signal, processing exports target range after calculating, modulation amplitude revise signal is exported to modulated signal source circuit simultaneously.
Description
Technical field
The present invention relates to precise distance measurement technical fields, repair in particular to a kind of laser ranging system and range accuracy
Correction method.
Background technique
China, which is done, manufactures big country as the whole world, and for many years advanced manufacturing industry field has obtained significant progress.As elder generation
The important technology that system is made, high-precision Models of Absolute Distance Measurement Based are measurement means indispensable in Large-Scale Equipment assembling.
Existing absolute distance measurement method includes pulse time-of-flight method, phase ranging method, multi-wavelength interference method and frequency modulation
Continuous wave mensuration etc..In precise distance measurement, phase ranging method is the most commonly used.Phase ranging method, by laser light source into
Row Sine Modulated, then the phase difference of detection measurement light and reference light, is calculated the absolute distance of measurement target.Phase laser
Rangefinder carries out the calculating of phase difference by the strength information of exploring laser light signal, but interference and hair due to measurement environment
The fluctuation for penetrating laser stability, the intensity for causing the laser signal received are changed, so that the phase being calculated
Information can not accurately reflect target range.
Summary of the invention
The purpose of the present invention is to provide a kind of laser ranging system and range accuracy modification methods, can pass through the laser
Reference signal and echo-signal, which is compared, in the modulation of range unit and ranging control circuit generates modulation amplitude revise signal,
To be modified to modulation laser, interference of the atmosphere to modulation laser can reduce using revised laser, and then promoted
The measurement accuracy of laser ranging system.
The embodiment of the present invention is achieved in that
The one side of the embodiment of the present invention provides a kind of laser ranging system, comprising: modulated signal source circuit, laser,
Amici prism, reference path detector, echo reception detector and modulation and ranging control circuit；
Modulated signal source circuit is electrically connected with laser, is swashed for exporting modulated current signal to laser with generating modulation
Light, Amici prism are arranged in the optical path of modulation laser, are divided into detection light beam and reference beam, reference light for that will modulate laser
The light direction of reference beam is arranged in road detector, for receiving reference beam, and exports reference signal, echo reception detection
Device receives the detection light beam being reflected back through object, and exports echo-signal, and wherein echo-signal includes corresponding with target range
Phase signal and modulation amplitude signal corresponding with atmospheric interference, modulation and ranging control circuit respectively with echo reception detect
Device, reference path detector and the electrical connection of modulated signal source circuit, are used for receives echo-signal and reference signal, after processing calculates
Target range is exported, while exporting modulation amplitude revise signal to modulated signal source circuit.
Optionally, modulation and ranging control circuit include: modulated signal generation module, echo and reference signal sampling mould
Block, wave-shape amplitude compare correction module and survey phase computing module；
Modulated signal generation module, which generates modulated signal and exports, gives modulated signal source circuit, and echo and reference signal sample
Module real-time synchronization acquires echo-signal and reference signal, and modulation amplitude signal relevant to atmospheric interference and reference signal are sent
Enter wave-shape amplitude and compare correction module, phase signal relevant to target range is sent into and surveys phase computing module, wave-shape amplitude is repaired
Positive module receives reference signal and modulation amplitude signal corresponding with atmospheric interference, carries out wave-shape amplitude relatively and generates modulated amplitude
It spends revise signal and is sent into modulated signal generation module, survey phase computing module and receive phase signal relevant to target range, carry out
Phase data is calculated and solution is counted as measuring range information accordingly.
Optionally, laser ranging system further includes beam collimation mirror, and beam collimation mirror is arranged in the optical path of detection light beam.
Optionally, laser ranging system further includes echo convergent mirror, and echo convergent mirror is arranged in be reflected back through object
In the optical path for detecting light beam.
Optionally, the light-emitting window of Amici prism detection light beam is arranged in the fitting of beam collimation mirror.
Optionally, the incident side of echo reception detector is arranged in the fitting of echo convergent mirror.
The another aspect of the embodiment of the present invention provides a kind of range accuracy modification method, comprising:
Modulated signal source circuit generates modulated current signal and is modulated to laser；
Laser output modulation laser；
Modulation laser is divided into detection light beam and reference beam by Amici prism, wherein detection light beam goes out towards object
It penetrates；
Reference path detector receives reference beam and reference beam is converted to reference signal output；
Echo reception detector receives the detection light beam being reflected back through object, and is converted to echo-signal output, wherein
Echo-signal includes and the corresponding phase signal of target range and modulation amplitude signal corresponding with atmospheric interference；
Modulation and ranging control circuit receive reference signal and echo-signal respectively, and processing exports target range after calculating,
Modulation amplitude revise signal is exported to modulated signal source circuit simultaneously.
Optionally, modulation and ranging control circuit receive reference signal and echo-signal respectively, and processing exports mesh after calculating
Subject distance, while exporting modulation amplitude revise signal to modulated signal source circuit and including:
Modulation and ranging control circuit are to modulation amplitude signal corresponding with atmospheric interference in echo-signal and reference signal
It is compared, exports modulation amplitude revise signal；
Modulation and ranging control circuit calculate phase signal corresponding with target range in echo-signal, export mesh
Subject distance.
Optionally, laser ranging system includes beam collimation mirror, modulation laser by Amici prism be divided into detection light beam with
Reference beam and echo reception detector receive the detection light beam being reflected back through object, and are converted to echo-signal and export it
Between, the range accuracy modification method further include:
Detection light beam is emitted after being collimated by beam collimation mirror towards object.
Optionally, laser ranging system further includes echo convergent mirror, modulates laser by Amici prism and is divided into detection light beam
The detection light beam being reflected back through object is received with reference beam and echo reception detector, and is converted to echo-signal and exports it
Between, the range accuracy modification method further include:
The detection light beam being reflected back through object is assembled directive echo reception detector again by echo convergent mirror.
The beneficial effect of the embodiment of the present invention includes:
A kind of laser ranging system and range accuracy modification method provided in an embodiment of the present invention, including modulating signal source electricity
Road, laser, Amici prism, reference path detector, echo reception detector and modulation and ranging control circuit.Pass through modulation
Signal circuit is electrically connected with laser, and being modulated to the laser that laser issues makes laser generate modulation laser, Jin Erli
Ranging is carried out with modulation laser.It is arranged in the optical path of modulation laser by Amici prism, is sent out laser using Amici prism
Modulation laser out is divided into detection light beam and reference beam, to carry out range measurement by detection light beam, utilizes reference beam
It is modulated the amendment of laser.By the way that reference path detector to be arranged in the light direction of reference beam, reference path is utilized
Reference beam is converted to reference signal by detector, and then using reference signal as the modified references object of Laser Modulation.It returns
Wave pick-up probe receives the detection light beam that is reflected back through object, and exports echo-signal, and wherein echo-signal includes and mesh
The corresponding phase signal of subject distance and modulation amplitude signal corresponding with atmospheric interference, and then pass through modulation and ranging control circuit
Echo-signal and above-mentioned reference signal are handled, modulation amplitude revise signal is generated, modulated current signal source circuit is produced
Raw modulated current signal is modified, and then is modified to modulation laser, and then make revised modulation laser by big
The influence of gas interference is reduced, to improve the laser ranging system for the precision of range measurement.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the schematic diagram of laser ranging system provided in an embodiment of the present invention；
Fig. 2 is one of the flow chart of range accuracy modification method provided in an embodiment of the present invention；
Fig. 3 is the two of the flow chart of range accuracy modification method provided in an embodiment of the present invention；
Fig. 4 is the three of the flow chart of range accuracy modification method provided in an embodiment of the present invention；
Fig. 5 is the four of the flow chart of range accuracy modification method provided in an embodiment of the present invention.
Icon: 100- modulated signal source circuit；200- laser；300- Amici prism；400- beam collimation mirror；500- ginseng
Examine optical path detector；600- echo convergent mirror；700- echo reception detector；800- modulation and ranging control circuit.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is indication or suggestion relative importance.
In addition, the terms such as term "horizontal", "vertical" are not offered as requiring component abswolute level or pendency, but can be slightly
Low dip.It is not to indicate that the structure has been had to if "horizontal" only refers to that its direction is more horizontal with respect to for "vertical"
It is complete horizontal, but can be slightly tilted.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
The embodiment of the present invention provides a kind of laser ranging system, as shown in Figure 1, comprising: modulating signal source circuit 100 swashs
Light device 200, Amici prism 300, reference path detector 500, echo reception detector 700 and modulation and ranging control circuit
800。
Modulated signal source circuit 100 is electrically connected with laser 200, for export modulated current signal to laser 200 with
Modulation laser is generated, Amici prism 300 is arranged in the optical path of modulation laser, is divided into detection light beam and ginseng for that will modulate laser
Light beam is examined, the light direction of reference beam is arranged in reference path detector 500, for receiving reference beam, and exports reference
Signal, echo reception detector 700 receives the detection light beam being reflected back through object, and exports echo-signal, and wherein echo is believed
It number include and the corresponding phase signal of target range and modulation amplitude signal corresponding with atmospheric interference, modulation and ranging control electricity
Road 800 is electrically connected with echo reception detector 700, reference path detector 500 and modulated signal source circuit 100 respectively, is used for
Receives echo-signal and reference signal, processing export target range after calculating, while exporting modulation amplitude revise signal to modulation
Signal source circuit 100.
It should be noted that first, modulated signal source circuit 100 can export Sine Modulated current signal, and be sent to
Laser 200 is modulated laser, generates the modulation laser of sinusoidal signal needed for having ranging, is next ranging work
Offer basis of signals is provided.Certainly, the modulated current signal that modulated signal source circuit 100 exports in practical applications can also be it
His cyclical signal, for example, cosine signal etc..
The frequency of modulated current signal can according in actual use the case where be configured.Specifically, modulated current signal
Frequency need to make its wavelength to be greater than twice of testing distance, and then can be realized the laser ranging system in ranging and pass through
Phase difference carries out ranging.Illustratively, the set of frequency of modulated current signal is between 10~200MHz, for example, 10MHz,
50MHz, 100MHz or 200MHz etc..
Second, the laser that laser 200 issues also needs to facilitate excitation while needing better directionality, due to
The more low then tranmitting frequency of pulsed laser energy is higher, therefore the laser frequency that above-mentioned laser 200 issues should be high frequency, example
, selecting shoot laser wavelength is the laser 200 of 633nm.So that the modulation laser that laser 200 issues has better direction
Also facilitate excitation while property.Certainly, in the other embodiments of the disclosure, the specification of laser 200 can also be that wavelength is
532nm, 633nm, 780nm or 1064nm etc..
Third, illustratively, the power setting for the modulation laser that laser 200 issues is between 0.2~5mW, so that modulation
Laser has stronger intensity, so that the influence that modulation laser is interfered in ranging process is smaller, illustratively, modulation
The power setting of laser is 0.2mW, 1mW or 5mW etc..
4th, exemplary, Amici prism 300 is set as square, and the modulation laser of input is divided into orthogonal inspection
Light beam and reference beam are surveyed, and then object is measured using detection light beam, while subsequent using reference beam progress
Modulation amendment.Certainly, in the other embodiments of the disclosure, Amici prism 300 can also be other shapes, for example, triangular prism
Mirror etc.；The detection light beam and reference beam separated through Amici prism 300 is also possible to the case where not being mutually perpendicular to.
The position that Amici prism 300 is arranged is close proximity to the light-emitting window of laser 200, so as to separated through Amici prism 300
Reference beam is influenced to minimize by atmospheric interference, and then makes the laser ranging system using reference beam to modulation laser
Amendment can be more accurate, to further improve the precision of measurement distance.
5th, Amici prism 300 will be modulated laser and is divided according to the ratio between 90:10~99:1, wherein detecting
The accounting of light beam is higher than the accounting of reference beam.Exemplary, light splitting ratio can be 90:10,95:5 or 99:1 etc..
6th, the light-emitting window for being located proximate to 300 reference beam of Amici prism that reference path detector 500 is arranged makes to join
Examining optical path detector 500 more timely can be converted to reference signal for reference beam, further reduce the factors pair such as atmosphere
The interference of reference beam, to promote the amendment precision of the laser ranging system.
7th, the receiving end of echo reception detector 700 and the light-emitting window of laser 200 are in and hang down with modulation laser optical path
In straight approximately the same plane, to detect light beam when guaranteeing that echo reception detector 700 receives the detection light beam reflected through object
Error is smaller between twice of the distance and testing distance passed by, and then improves the measurement accuracy of the laser ranging system.
A kind of laser ranging system provided in an embodiment of the present invention, including modulated signal source circuit 100, laser 200, point
Light prism 300, reference path detector 500, echo reception detector 700 and modulation and ranging control circuit 800.Pass through modulation
Signal source circuit 100 is electrically connected with laser 200, and being modulated to the laser that laser 200 issues makes laser 200 generate tune
Laser processed, and then ranging is carried out using modulation laser.By Amici prism 300 be arranged in modulation laser optical path on, using point
The modulation laser that laser 200 issues is divided into detection light beam and reference beam by light prism 300, to be carried out by detection light beam
Range measurement is modulated the amendment of laser using reference beam.By being arranged reference path detector 500 in reference beam
Light direction, reference beam is converted into reference signal using reference path detector 500, so using reference signal as
The modified references object of Laser Modulation.Echo reception detector 700 receives the detection light beam being reflected back through object, and exports back
Wave signal, wherein echo-signal includes that and the corresponding phase signal of target range and modulation amplitude corresponding with atmospheric interference is believed
Number, and then echo-signal and above-mentioned reference signal are handled by modulation and ranging control circuit 800, generate modulation amplitude
Revise signal, the modulated current signal generated to modulation signal source circuit 100 are modified, and then are repaired to modulation laser
Just, so make it is revised modulation laser by atmospheric interference influence reduce, thus improve the laser ranging system for
The precision of range measurement.
Specifically, modulation and ranging control circuit 800 include: that modulated signal generation module, echo and reference signal sample
Module, wave-shape amplitude compare correction module and survey phase computing module；
Modulated signal generation module generates modulated signal and exports to modulated signal source circuit 100, echo and reference signal
Sampling module real-time synchronization acquires echo-signal and reference signal, will modulation amplitude signal relevant to atmospheric interference and reference letter
It number is sent into wave-shape amplitude and compares correction module, relevant to target range phase signal is sent into and surveys phase computing module, waveform width
It spends correction module and receives reference signal and modulation amplitude signal corresponding with atmospheric interference, carry out wave-shape amplitude relatively and generate tune
Amplitude correction signal processed is sent into modulated signal generation module, surveys phase computing module and receives phase signal relevant to target range,
It carries out that phase data is calculated and solution is counted as measuring range information accordingly.
It should be noted that modulated signal generation module, echo are corrected compared with reference signal sampling module, wave-shape amplitude
Electrical connection is all made of between module and survey phase computing module.
Modulated signal, which can be generated, by the modulated signal generation module in modulation and ranging control circuit 800 is transported to tune
Signal source circuit 100 processed makes its generate satisfactory modulated current signal, so using modulated current signal progress after
Ranging work.Received reference signal and echo-signal can be sampled and be classified with reference signal sampling module by echo,
Different signals is transferred to wave-shape amplitude respectively and compares correction module and survey phase computing module, is relatively repaired by wave-shape amplitude
Positive module and survey phase computing module corresponding signal handled, so realize the amendment to modulation laser and export target away from
From, and then reach and reduce the factors such as atmosphere to the interference purpose of modulation laser, to realize the promotion of precision of laser ranging.
Further, laser ranging system further includes beam collimation mirror 400, and the setting of beam collimation mirror 400 is in detection light beam
Optical path on.
It should be noted that being collimated by beam collimation mirror 400 to the detection light beam that Amici prism 300 separates, make
Detection light beam can compare vertical homed on its target object, and the circuit for detecting light beam is enable to be equal to the two of testing distance as far as possible
Times, enable phase information used when finally calculating more accurate, further promotes the measurement of the laser ranging system
Precision.
Further, laser ranging system further includes echo convergent mirror 600, and echo convergent mirror 600 is arranged through object
In the optical path for the detection light beam being reflected back.
It should be noted that the detection light beam being reflected back through object by 600 Duis of echo convergent mirror is assembled, make back
The detection light beam being reflected back through object that wave pick-up probe 700 receives is more complete, intensity is higher, and then connects echo
The echo-signal for receiving the output of detector 700 is more accurate, there is certain promotion to make the measurement accuracy of the laser ranging system
With.
Specifically, beam collimation mirror 400, which is bonded, is arranged in the light-emitting window that Amici prism 300 detects light beam.
Beam collimation mirror 400 is bonded to the light-emitting window that Amici prism 300 is arranged in and detects light beam, makes beam collimation mirror 400
Much sooner to the collimation for detecting light beam, reduce the error path for detecting light beam as far as possible, and then fill the laser ranging
The measurement accuracy set is further enhanced.
Specifically, echo convergent mirror 600 is bonded the incident side that echo reception detector 700 is arranged in.
It should be noted that echo convergent mirror 600 be bonded be arranged in echo reception detector 700 incident side but the two it
Between not in contact with there is certain gap, this gap provides required space for the convergence of optical path.
Echo convergent mirror 600 is bonded to the incident side that echo reception detector 700 is arranged in, makes echo convergent mirror 600
The inspection being reflected back through object that more dispersed lights can be assembled, and then receive echo reception detector 700
Survey light beam is more complete, to promote the accuracy of the echo-signal of the output of echo reception detector 700.
The another aspect of the embodiment of the present invention provides a kind of range accuracy modification method, as shown in Figure 2, comprising:
S10, modulated signal source circuit 100 generate modulated current signal and are modulated to laser 200.
S20, the output modulation laser of laser 200.
S30, modulation laser are divided by Amici prism 300 for detection light beam and reference beam, wherein detect light beam towards mesh
Mark object outgoing.
S40, reference path detector 500 receive reference beam and reference beam are converted to reference signal output.
S50, echo reception detector 700 receives the detection light beam being reflected back through object, and it is defeated to be converted to echo-signal
Out, wherein echo-signal includes and the corresponding phase signal of target range and modulation amplitude signal corresponding with atmospheric interference.
S60, modulation and ranging control circuit 800 receive reference signal and echo-signal respectively, and processing exports mesh after calculating
Subject distance, while modulation amplitude revise signal is exported to modulated signal source circuit 100.
It should be noted that reference path detector 500 receives ginseng when not considering light aerial spread speed
Examining light beam and receiving the detection light beam being reflected back through object with echo reception detector 700 is synchronous progress, is not distinguished successively.When
So in the other embodiments of the disclosure, this two step can also be carried out one in front and one in back.
After being modulated by modulated signal source circuit 100 to laser 200, the output modulation laser of laser 200.It adjusts
The laser processed prism 300 that is split divides and passes through echo reception detector 700 using detection light beam for detection light beam and reference beam
Detection light beam is converted, the measurement of distance may be implemented using the phase information after detection light beam conversion.Utilize reference light
Beam converts reference beam by reference to optical path detector 500, and the reference signal after recycling reference beam conversion passes through
Amendment is compared with echo-signal for modulation and ranging control circuit 800, and then modulation laser is modified, and then make to modulate
Laser is influenced to reduce by factors such as atmosphere, and then the influence for making the laser ranging system be interfered is reduced, thus
Improve the precision of range measurement.
Specifically, modulation and ranging control circuit 800 receive reference signal and echo-signal respectively, and processing exports after calculating
Target range, while it is as shown in Figure 3 to modulated signal source circuit 100 to export modulation amplitude revise signal, comprising:
S61, modulation and ranging control circuit 800 are to modulation amplitude signal corresponding with atmospheric interference in echo-signal and ginseng
It examines signal to be compared, exports modulation amplitude revise signal.
S62, modulation and ranging control circuit 800 count phase signal corresponding with target range in echo-signal
It calculates, exports target range.
Pass through, modulation and ranging control circuit 800 to modulation amplitude signal corresponding with atmospheric interference in echo-signal and
Reference signal is compared, and exports modulation amplitude revise signal；Modulation and ranging control circuit 800 in echo-signal with target
It is calculated apart from corresponding phase signal, exports target range, make modulation and ranging control circuit 800 to echo-signal and ginseng
The processing for examining signal is more careful specific, improves the treatment effeciency of the modulation and ranging control circuit 800.
Further, laser ranging system includes beam collimation mirror 400, and modulation laser is divided by Amici prism 300 for inspection
It surveys light beam and reference beam and echo reception detector 700 receives the detection light beam being reflected back through object, and be converted to echo
Between signal output, the range accuracy modification method is as shown in Figure 4, further includes:
S31, detection light beam are emitted after being collimated by beam collimation mirror 400 towards object.
It is collimated by 400 pairs of detection light beams of beam collimation mirror, enables the homed on its target for detecting light beam Relative vertical
Object, and then enable the length in the detection entire circuit of light beam as close as twice of testing distance, and then make the Laser Measuring
Away from device calculate apart from when can be more accurate.
Further, laser ranging system further includes echo convergent mirror 600, and modulation laser is divided by Amici prism 300 is
Detection light beam and reference beam and echo reception detector 700 receive the detection light beam being reflected back through object, and are converted to back
Between the output of wave signal, the range accuracy modification method is as shown in Figure 5, further includes:
S51, the detection light beam being reflected back through object are assembled again the spy of directive echo reception by echo convergent mirror 600
Survey device 700.
The detection light beam being reflected back through object by 600 Duis of echo convergent mirror is assembled, and echo reception detector is made
The 700 detection light beams being reflected back through object received are more complete, intensity is higher, and then make echo reception detector 700
The echo-signal of output is more accurate, and certain facilitation is generated to the measurement accuracy of the laser ranging system.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of laser ranging system characterized by comprising modulated signal source circuit, laser, Amici prism, reference light
Road detector, echo reception detector and modulation and ranging control circuit；
The modulated signal source circuit is electrically connected with the laser, for exporting modulated current signal to the laser to produce
Raw modulation laser；
The Amici prism is arranged in the optical path of the modulation laser, for the modulation laser to be divided into detection light beam and ginseng
Examine light beam；
The light direction of the reference beam is arranged in the reference path detector, for receiving the reference beam, and it is defeated
Reference signal out；
The echo reception detector receives the detection light beam being reflected back through object, and exports echo-signal, and wherein echo is believed
It number include and the corresponding phase signal of target range and modulation amplitude signal corresponding with atmospheric interference；
It is described modulation and ranging control circuit respectively with the echo reception detector, the reference path detector and the tune
Signal source circuit electrical connection processed, for receiving the echo-signal and the reference signal, processing exports target range after calculating,
Modulation amplitude revise signal is exported to the modulated signal source circuit simultaneously.
2. laser ranging system as described in claim 1, which is characterized in that it is described modulation and ranging control circuit include: adjust
Signal generator module processed, echo correction module and survey phase computing module compared with reference signal sampling module, wave-shape amplitude；
The modulated signal generation module generates modulated signal and exports to the modulated signal source circuit；
The echo and reference signal sampling module real-time synchronization acquisition echo-signal and reference signal, will described and atmospheric interference
Relevant modulation amplitude signal and the reference signal are sent into the wave-shape amplitude and compare correction module, will described and target range
Relevant phase signal is sent into the survey phase computing module；
The wave-shape amplitude correction module receives the reference signal and the modulation amplitude signal corresponding with atmospheric interference, into
Traveling wave shape amplitude relatively and generates the modulation amplitude revise signal and is sent into the modulated signal generation module；
The survey phase computing module receives the phase signal relevant to target range, be calculated phase data simultaneously
Solution is counted as measuring range information accordingly.
3. laser ranging system as described in claim 1, which is characterized in that the laser ranging system further includes beam collimation
Mirror, the beam collimation mirror are arranged in the optical path of the detection light beam.
4. laser ranging system as described in claim 1, which is characterized in that the laser ranging system further includes that echo is assembled
Mirror, the echo convergent mirror are arranged in the optical path for the detection light beam being reflected back through object.
5. laser ranging system as claimed in claim 3, which is characterized in that the beam collimation mirror fitting is arranged at described point
The light-emitting window of light prism detection light beam.
6. laser ranging system as claimed in claim 4, which is characterized in that the echo convergent mirror fitting is arranged at described time
The incident side of wave pick-up probe.
7. a kind of range accuracy modification method characterized by comprising
Modulated signal source circuit generates modulated current signal and is modulated to laser；
Laser output modulation laser；
Modulation laser is divided into detection light beam and reference beam by Amici prism, wherein detection light beam is emitted towards object；
Reference path detector receives the reference beam and the reference beam is converted to reference signal output；
Echo reception detector receives the detection light beam being reflected back through object, and is converted to echo-signal output, wherein echo
Signal includes and the corresponding phase signal of target range and modulation amplitude signal corresponding with atmospheric interference；
Modulation and ranging control circuit receive the reference signal and the echo-signal respectively, after processing calculates output target away from
From, while modulation amplitude revise signal is exported to the modulated signal source circuit.
8. range accuracy modification method as claimed in claim 7, which is characterized in that the modulation and ranging control circuit difference
The reference signal and the echo-signal are received, processing exports target range after calculating, while exporting modulation amplitude amendment letter
Number include: to the modulated signal source circuit
The modulation and ranging control circuit are to modulation amplitude signal corresponding with atmospheric interference in the echo-signal and described
Reference signal is compared, and exports modulation amplitude revise signal；
The modulation and ranging control circuit calculate phase signal corresponding with target range in the echo-signal, defeated
Target range out.
9. range accuracy modification method as claimed in claim 7, which is characterized in that the laser ranging system includes light beam standard
Straight mirror, the modulation laser is divided into detection light beam and reference beam by Amici prism and the echo reception detector receives warp
The detection light beam that object is reflected back, and be converted between echo-signal output, the range accuracy modification method further include:
The detection light beam is emitted after being collimated by the beam collimation mirror towards object.
10. range accuracy modification method as claimed in claim 7, which is characterized in that the laser ranging system further includes back
Wave convergent mirror, the modulation laser is divided into detection light beam and reference beam by Amici prism and the echo reception detector connects
The detection light beam being reflected back through object is received, and is converted between echo-signal output, the range accuracy modification method also wraps
It includes:
The detection light beam being reflected back through object is assembled echo reception described in directive again by the echo convergent mirror
Detector.
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