CN109507683A - The laser acquisition method and device of the airborne shallow water depth of water - Google Patents
The laser acquisition method and device of the airborne shallow water depth of water Download PDFInfo
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- CN109507683A CN109507683A CN201811327818.9A CN201811327818A CN109507683A CN 109507683 A CN109507683 A CN 109507683A CN 201811327818 A CN201811327818 A CN 201811327818A CN 109507683 A CN109507683 A CN 109507683A
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- laser
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- water surface
- laser pulse
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 110
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000001514 detection method Methods 0.000 claims abstract description 29
- RAFZYSUICBQABU-HMMYKYKNSA-N Phytal Chemical compound CC(C)CCCC(C)CCCC(C)CCC\C(C)=C\C=O RAFZYSUICBQABU-HMMYKYKNSA-N 0.000 claims abstract description 6
- RAFZYSUICBQABU-QYLFUYDXSA-N Phytal Natural products CC(C)CCC[C@@H](C)CCC[C@@H](C)CCC\C(C)=C/C=O RAFZYSUICBQABU-QYLFUYDXSA-N 0.000 claims abstract description 6
- RAFZYSUICBQABU-UHFFFAOYSA-N phytenal Natural products CC(C)CCCC(C)CCCC(C)CCCC(C)=CC=O RAFZYSUICBQABU-UHFFFAOYSA-N 0.000 claims abstract description 6
- 230000003287 optical effect Effects 0.000 claims description 10
- 230000003595 spectral effect Effects 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 5
- 238000011835 investigation Methods 0.000 claims description 4
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 238000001228 spectrum Methods 0.000 abstract description 4
- 238000012360 testing method Methods 0.000 description 12
- 230000005540 biological transmission Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 241000931526 Acer campestre Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000003643 water by type Substances 0.000 description 3
- 210000001367 artery Anatomy 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000001965 increasing effect Effects 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 210000003934 vacuole Anatomy 0.000 description 2
- 230000008016 vaporization Effects 0.000 description 2
- 238000009834 vaporization Methods 0.000 description 2
- 210000003462 vein Anatomy 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000001902 propagating effect Effects 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
Classifications
-
- 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
Abstract
A kind of airborne or UAV system, from low latitude, the laser to the phytal zone depth of water carries out quick detection, the laser acquisition method and device of the airborne shallow water depth of water.This method scans the water surface using laser pulse, and the sound wave pulse with specific frequency spectrum characteristic is generated in water surface shallow-layer, which generates corresponding acoustic vibration through underwater reflection, in the water surface, obtain Water Depth Information after airborne laser beam detects the acoustic vibration.Carrier aircraft can also be with laser determination away from elevation of water.
Description
Technical field
With airborne device to the method and device of the depth of water laser acquisition of phytal zone.Generation including laser pulse swashs
Light pulse generates the sound wave pulse with specific frequency spectrum characteristic in water surface shallow-layer, and sound wave pulse reaches water meter after underwater reflection
The sound wave pulse in face, water surface is vibrated by another airborne laser beam detection.Water Depth Information at this is obtained according to this.Carrier aircraft is away from water
The height of plane can also use laser determination.
Background technique
The measurement of the depth of water including screening measurement and accurately measures, and is always that a pole needs to solve, however again highly difficult
Technical problem.Its key difficulties is that the decaying that water involves light wave to electromagnetism is very big, it is difficult in water with electromagnetic wave or light come into
Row detection.
However, acoustic detection (sonar) is more practical and effective underwater always since water is the excellent transmission medium of sound
Detection method.But the angle of divergence for emitting sound wave pulse is big, and positioning accuracy is poor when degree of taking sounding.Since sound can be from air toward water
Middle propagation, or from propagating in water into air all ping can not can be directly utilized from aerial in practice by strong decaying
Quickly generaI investigation detection is carried out to target in water.
For many years, a large amount of R&D works have been made to carrying out undersea detection with laser pulse.Water is also very serious to the decaying of light,
Only there are preferable transmitance, i.e., transmission window of the so-called water to light in bluish-green spectral range.However, even if using bluish-green laser
In the case where pulse, for preferable water quality, laser detects operating distance also only in tens meters of magnitude under water.For difference
Water quality, visibility in water and water-bed different situation, such as water-bed material (husky, soil, stone etc.), water-bed shape and vegetation shape
State, the power of the feature of laser echo signal, especially echo-signal all can be by serious influence.Usual light pulse signal
It is more more sensitive than acoustic signals for these factors.The bottom of common low visibility muddy water and complexity is easier for phytal zone
Geology and vegetation state, the EFFECTIVE RANGE of laser acquisition is inadequate, and this method is often made not have effective practicability.In water
In the case that face moving situation is complex, the water surface influences the deflecting of direction of beam propagation, and disperse and attenuation effect were both serious
And it is difficult to predict will be restricted to the validity measured under water therefore further from aerial using laser pulse.
In the waters of complicated hydrogeological conditions, the generaI investigation detection of the depth of water can be quickly carried out, especially carries out water from aerial
Deep investigation is a challenge extremely to be solved.
Summary of the invention
Conventional acoustic detection depth of water method is using the sonar being mounted on hydrospace detection platform.Test platform can be
On the water surface or the ships and light boats of underwater.Sonar in test platform emits sound wave pulse toward water-bed.By the sound wave arteries and veins of underwater reflection
Echo-signal is rushed after the equipment detection in test platform, according to sound wave pulse echo-signal relative to transmitting sound wave pulse letter
Time delay between number can determine the depth of water at this.It has been observed that from aerial directly using ping to measuring under water
Realistic possibility is very low.
Carry out water depth detection if it is using laser pulse, then from test platform toward water-bed transmitting laser pulse.By water
Bottom reflection laser pulse echo-signal by test platform equipment detection after, according to laser pulse echo-signal relative to
Emit the time delay between laser pulse signal, can determine the depth of water at this.It, can be using positioned at water for increasing action distance
Bluish-green wavelength laser pulse in transmission window.But it has been observed that effective to what is measured under water using laser pulse from the air
Property is restricted very much.
The of the invention laser acquisition method and device for surveying the depth of water for phytal zone is, using general someone's dopey or
Unmanned plane is airborne platform, emits laser pulse from airborne device to the water surface, laser pulse is got to after the water surface, in laser pulse
Most of energy enter the superficial layer of water and be only absorbed by the water.According to design parameter (wavelength, pulse shape and the width of laser pulse
Degree, pulse energy, beam diameter etc.) it is different, it can be heated and be expanded by laser, laser vaporization vacuole, the differences such as laser breakdown
Mechanism generates strong ping in the shallow-layer of approximately level, i.e., so-called laser-induced sound effect.The ping wave of generation has
Special intensity and spectral characteristic.It generates acoustic pulse echo after being transported down to up to the bottom, and acoustic pulse echo reaches water surface
Afterwards, being formed, there is the water surface ping of same particular frequency spectrum characteristic to vibrate, which is emitted another on apparatus platform
Detecting laser beam.According to the spread speed of ping in water, Water Depth Information can be determined.The echo-pulse of water surface vibrates
Distinctive spectral characteristic helps to improve the success rate detected from other motion artifacts of water surface.A kind of pair of water surface vibration
Dynamic detection mode is the laser beam using single-frequency, carries out heterodyne phase detection to echo.To further increase detection signal-to-noise ratio,
Certain coding can be carried out to laser pulse.The acoustic vibration coding having the same that echo-pulse is generated in the water surface at this time is special
Sign, in order to detect echo-pulse information from noise background.
The measurement of carrier aircraft height can be realized using the method for other discrete laser beams or non-laser.It can use cause sound to swash
Light pulse doubles as laser ranging, can also measure carrier aircraft at a distance from horizontal plane with the laser beam of detection water surface acoustic vibration.
The test method and device provide a kind of depth of water test for not having any Mechanical Contact with the water in test waters
Method and device.Device is installed on someone or unmanned aerial vehicle platform, quickly can be generally investigated or be detected.Especially in waters Nei Shui
Under matter poor visibility or hydrogeological state complex situations, avoids and having been decayed in water with laser when the direct detection of laser depth of water
Serious key difficulties, having played laser in the sky has excellent direction propagation characteristic and sound wave has excellent propagation characteristic in water
Compound advantage maximize favourable factors and minimize unfavourable ones by laser in water surface shallow-layer cause sound, break through the limitation that laser or ping are used alone, answer
There is good application prospect.
Detailed description of the invention
Fig. 1 takes sounding schematic diagram in water surface sound wave or laser pulse
The method schematic diagram that Fig. 2 airborne device takes sounding
Specific embodiment:
Conventional acoustic detection depth of water method is as shown in Figure 1.Test platform can be on the water surface or the ships and light boats of underwater.
01 is in the naval vessel platform of the water surface in Fig. 1.02 is the water surface, and 06 is the bottom.Depth of water h is denoted as 03.04 for from test platform toward
The sound wave pulse of bottom transmitting.05 is by the sound wave pulse echo-signal of underwater reflection.Echo-signal passes through in test platform
It, can be with according to sound wave pulse echo-signal 05 relative to the time delay between transmitting sound wave pulse signal 04 after equipment detection
Determine depth of water h at this.Water depth detection is carried out if it is using laser pulse, still using Fig. 1 as signal, then 04 is by test platform
The upper laser pulse toward water-bed transmitting.05 is by the laser pulse echo-signal of underwater reflection.Echo-signal is passed through in test platform
On equipment detection after, according to laser pulse echo-signal 05 relative to transmitting laser pulse signal 04 between time delay,
It can determine depth of water h at this.It, can be using the bluish-green wavelength laser pulse being located in water transmission window for increasing action distance.
Fig. 2 show the airborne device and method schematic diagram that the depth of water is surveyed for phytal zone of the invention.Wherein 50 be airborne
Platform and detection device.Airborne platform can be general someone's dopey or unmanned plane.51 be to be emitted from device to the water surface 53
Laser pulse.Laser pulse 51 is got to after the water surface 53, and most of energy in laser pulse 51 enters the surface of water by water
It absorbs.It is different according to the design parameter (wavelength, pulse shape and width, pulse energy, beam diameter etc.) of laser pulse, it can be with
It is heated and is expanded by laser, laser vaporization vacuole, the difference mechanism such as laser breakdown generates strong sound in the shallow-layer of approximately level
Pulse 57, i.e., so-called laser-induced sound effect.The ping wave 57 of generation has special intensity and spectral characteristic.It is passed downwards
It is defeated as shown at 56, reach the bottom 55 after generate acoustic pulse echo as indicated as 58.After acoustic pulse echo 58 reaches water surface 53, have
The water surface ping vibration of above-mentioned particular frequency spectrum characteristic is detected by another laser beam 59 emitted on apparatus platform.According to sound arteries and veins
The spread speed of punching in water, can determine Water Depth Information h2.
The laser pulse wavelength for generating ping can be between 0.4 μm to 11 μm.Such as laser diode-pumped Nd:
YAG pulse laser, optical maser wavelength are 1.06 μm, and technology maturation, bulking value is all more suitble to airborne application.It exports pulse
Width can be 10ns to 100ns, and pulse energy can be several millijoules to several joules of magnitudes, pulse recurrence frequency be single extremely
100 times/second.The optical transmitting system of laser can focus on laser beam at horizontal plane according to scheduled flying height substantially,
To realize optimal laser-induced sound effect, stronger ping intensity is obtained.Except as far as possible by laser beam focusing in horizontal plane this
A little outer, the laser and system principle are close to conventional airborne laser range finder.
If the laser pulse 51 for generating ping, when laser pulse pulsewidth is just suitable for laser ranging,
As its pulsewidth be nanosecond when, which can be used to measure simultaneously height of the carrier aircraft platform away from horizontal plane.Pulse at this time 51 is beaten
To after horizontal plane 53, reflected laser pulse 52 is partially reflected to form, after being detected by device 50, according to the time between 52 and 51
Delay, obtains elevation information h of the device from the water surface 53.
Since carrier aircraft flying height is low, such as several hundred rice or even tens meters of magnitudes can also swashing using small-power burst pulse
Optical diode carries out measurement of flight altitude or other non-laser modes determine carrier aircraft flying height, separately using high energy
Laser exclusively carries out laser-induced sound.Such as the Ho:YAG laser of lamp pumping, emitting optical maser wavelength is 2 μm or Er:YAG laser
Device, transmitting optical maser wavelength are 3 μm.Because 2 μm and 3 μm of wavelength is located exactly on the strong absorption peak of water, in laser-induced sound side
Face has original advantage.Laser pulse width can arrive several hundred musec orders for tens, and pulse energy can be several joules of amounts
Grade.The waveform of laser pulse can carry out specific modulation and the modulation to pumping current, to realize optimal cause sound effective value,
Intensity and frequency characteristic including ping.Lamp or laser diode-pumped Nd:YAG laser.Pulsewidth 100 nanoseconds extremely
The big energy pulse of several hundred musec orders is also one of good selection of cause sound in water.
There is above-mentioned laser pulse to cause distinctive spectral characteristic described in several pulses for the echo-pulse vibration of water surface, according to
This feature can help to improve the success rate detected from the vibration of other motion artifacts of water surface.A kind of pair of water surface vibration
Dynamic detection mode is the continuous or quasi-continuous lasing beam 59 using single-frequency, and carries out heterodyne phase detection to its echo 60.?
Principle and equipment are constituted, similar with general laser vibration measurer, without elaborating.To further increase detection signal-to-noise ratio,
Certain coding can be carried out to laser pulse 51.The acoustic vibration coding having the same that echo-pulse is generated in the water surface at this time
Feature, in order to detect echo-pulse information from noise background.This laser beam 59 is centainly modulated, and can be used for surveying
Carrier aircraft is determined at a distance from horizontal plane, similar to the rangefinder of the hand-held laser distance measuring of construction worker.
Claims (13)
1. a kind of laser acquisition method and device with the airborne shallow water depth of water irradiates the water surface with a distance measuring laser beams, the water surface is produced
Raw echo laser is detected by device and show that device apart from water surface elevation, is shone with another cause sound laser pulse through optical system
Jetting face, and cause sound laser pulse is focused on by the water surface according to scheduled carrier aircraft flying height information substantially, it is produced in water surface shallow-layer
Raw laser-induced sound ping, the ping have specific Energy distribution and spectral characteristic, and ping reaches after underwater reflection
The water surface, forms the sound echo vibration with similar energies distribution and spectral characteristic in water surface, and sound echo vibration is used by device
Another vibration detecting detecting laser beam again, it follows that Water Depth Information.
2. distance measuring laser beams and cause sound laser pulse are the same laser source in claim 1.
3. distance measuring laser beams and vibration detecting laser beam are the same laser beam in claim 1, vibration detecting laser beam is in water
It is measured through specific modulation from elevation of water before or after the deep investigation moment.
4. cause sound laser pulse wavelength is 0.4 to 11 micron in claim 1, laser pulse pulsewidth is 10ns to 1 milliseconds, laser
Pulse recurrence frequency is 0.1 time to 100 times per second.
5. cause sound laser pulse wavelength is 1.9 to 3 microns in claim 1, they are located at the strong absorption peak of water.
6. device carrier aircraft is to have man-machine, unmanned plane in claims 1.
7. cause sound laser pulse is the coded pulse group of repetition rate in claims 1.
8. cause sound laser pulse is the single pulse of repetition rate in claims 1.
9. cause sound laser pulse amplitudes are specifically modulated in claims 1.
10. vibration detecting laser beam is continuous or quasi-continuous single-frequency laser in claims 1.
11. the airborne device that a kind of pair of phytal zone depth of water is detected, device includes ranging laser, optical transmitting system and
Echo reception system and detection part, cause sound laser pulse laser and optical transmitting system, water surface acoustic vibration detecting laser,
Optical system and detection part.
12. in claims 11, ranging laser and cause sound laser pulse laser are the same laser, share same
Optical transmitting system.
13. in claims 11, ranging laser and water surface acoustic vibration detecting laser are the same laser, share same
A transmitting receiving optics is respectively completed measurement and water surface acoustic vibration to elevation of water using different modulation and processing
Detection.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110779498A (en) * | 2019-09-19 | 2020-02-11 | 中国科学院测量与地球物理研究所 | Shallow river water depth mapping method and system based on unmanned aerial vehicle multi-viewpoint photography |
| CN111025326A (en) * | 2019-11-28 | 2020-04-17 | 天津津航技术物理研究所 | Laser induced acoustic remote sensing detection method for cross-water-air medium |
| CN111443352A (en) * | 2019-10-23 | 2020-07-24 | 浙江理工大学 | Ocean remote sensing depth measurement method and device based on acousto-optic combined sensing |
| CN113048953A (en) * | 2021-03-24 | 2021-06-29 | 天地伟业技术有限公司 | Unmanned plane and method for monitoring water level, flow velocity and flow |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110779498A (en) * | 2019-09-19 | 2020-02-11 | 中国科学院测量与地球物理研究所 | Shallow river water depth mapping method and system based on unmanned aerial vehicle multi-viewpoint photography |
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| CN111025326A (en) * | 2019-11-28 | 2020-04-17 | 天津津航技术物理研究所 | Laser induced acoustic remote sensing detection method for cross-water-air medium |
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Application publication date: 20190322 |