CN109581399A - A kind of Larger Dynamic range Centimeter Level precision laser distance measuring method - Google Patents
A kind of Larger Dynamic range Centimeter Level precision laser distance measuring method Download PDFInfo
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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
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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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
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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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/491—Details of non-pulse systems
- G01S7/493—Extracting wanted echo signals
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention belongs to laser ranging fields, more particularly to a kind of Larger Dynamic range Centimeter Level precision laser distance measuring method, accurate range information is obtained according to following data integration algorithm process: if AD impulse amplitude does not reach setting saturation threshold, according to system calibrating result, the correction of AD range information is carried out, strength information is obtained according to impulse amplitude.If AD impulse amplitude reaches given threshold, TDC range information is replaced with, according to pulse width and system calibrating as a result, being corrected to TDC range information, and corresponding echo strength is obtained according to pulse width.Further, by the echo intensity calibration to different distance and different target reflectivity, target reflectivity can be estimated using range information and echo strength.The processing method of present invention combination waveform sampling and threshold value comparison, under the conditions of Larger Dynamic range echo, accurate to obtain target range and echo strength, range accuracy can reach Centimeter Level, and estimate target reflectivity according to echo strength.
Description
Technical field
The invention belongs to laser ranging fields, and in particular to a kind of Larger Dynamic range Centimeter Level precision laser distance measuring method.
Background technique
Environment sensing is one of the key technology of unmanned, autonomous unmanned ground vehicle mobile robot research.Laser
Radar can directly acquire target range, it can be achieved that ambient enviroment three-dimensional perception, it is considered to be most worthy in numerous sensors
One of sensor.Measuring speed is fast, processing is simple due to having for laser radar based on pulse laser flight time telemetry (TOF)
It the features such as single, there is no apart from ambiguity, is most widely used in above-mentioned scene.Laser radar as described below, which all refers to, to be based on
TOF principle, repeats no more.
Different according to the application conditions of platform, the operating distance of laser radar needs to reach 100 meters -200 meters, or even arrives
300 meters, while to guarantee that short-distance blind section is as small as possible, minimum distance is down to 0.5 meter or less.Laser radar application scenarios are multiple
Miscellaneous, target reflectivity variation is violent, the existing lower target of reflectivity, such as the bituminous pavement of black, it is also possible to which there are nearly mirror surfaces
Reflectance target, such as vehicle reflector.For Laser radar receiver, dynamic range variation is violent.
According to radar equation, in the case where laser emitting power Pt is certain, reception echo power Pr and target range R,
Target reflectivity ρ has following relationship:
Wherein k expression is constant related with system parameter, and T indicates corresponding atmospheric transmittance.
If target reflectivity is set as 0.1 as shown in figure 3, considering target distribution range from 5 meters to 100 meter, then echo becomes
Change more than 400 times.It is assumed that the variation of target reflectivity, from 0.1 to 0.9, echo power dynamic range has been more than 3000 times.If
Operating distance is farther, considers direct reflection target, then echo dynamic range is more violent.
In order to solve the detection problem of Larger Dynamic range, common method has:
According to last echo degree of saturation, transmission power or amplifier multiplying power next time are adjusted, although having many
Algorithm optimizes this process, but to the scene of dynamic change, for example, preceding primary detection is high reflectance target nearby, under
May be once the dark weak obstacle of distant place, algorithm judges current demand signal close to saturation, reduce transmission power next time or
Step-down amplifier gain, may result in can not detect next time.This to it is unmanned etc. should be used to say that it is unreliable dangerous
's.
To guarantee the detectivity to Weak target, using AD sampling plus digital processing algorithm, detectivity is improved.But
After short distance signal saturation, algorithm is unable to get accurate echo strength, at the same potential range precision also can in various degree under
Drop.Being unable to get accurate echo strength means that traffic mark board either floor marking possibly can not be differentiated, if do not had
Other effectively sensor information redundancies, are equally insecure.
Attempted using modes such as logafiers either time-varying gain control amplifier so that dynamic range of signals reduces.
But unfortunately, since the problems such as bandwidth and gain control speed causes to be difficult to realize.
Diode leadage circuit is added also by photodetector front end, after photoelectric current is more than to a certain degree, from
The dynamic signal for being further separated into amplifier, or avoid amplifier from entering saturation state using methods such as negative-feedbacks.Problem is still
It is to be lost a part of echo strength, and since nonlinear response also results in waveform distortions.
There are also means similar in some other and above method, but can not all solve accurately to know Larger Dynamic range item simultaneously
Range information and echo strength under part.
Summary of the invention
(1) technical problems to be solved
The technical problem to be solved by the present invention is existing Larger Dynamic range detection method can not solve accurately to know simultaneously greatly
Range information and echo strength under the conditions of dynamic range.
(2) technical solution
In order to solve the above technical problems, the present invention provides a kind of Larger Dynamic range Centimeter Level precision laser distance measuring method, packet
Include following steps:
S1, constructs a processing system, and processing system includes comparator, analog-digital converter function module, time figure turn
Functional module and digital waveform processing function module, comparator and analog-digital converter function wired in parallel are changed, when comparator concatenates
Between digital conversion functional module, analog-digital converter function module concatenates digital waveform processing function module, time-to-digital converter function
It can module and digital waveform processing function wired in parallel aggregation of data processing module；
It receives electric echo signal and is sent into comparator and analog-digital converter function module simultaneously, comparator threshold level is according to need
It is configured；It is sent into time-to-digital converter functional module by the threshold value distinguishing signal of comparator, obtains echo impulse width
With pulse arrival time, pulse laser flight time, i.e. time figure conversion functional module can be obtained in conjunction with the laser emitting moment
Range information；
S2, if the AD impulse amplitude that aggregation of data processing module receives does not reach setting saturation threshold, according to sharp
Ligh-ranging system calibrating obtains strength information according to impulse amplitude as a result, progress AD range information correction；
If AD impulse amplitude reaches given threshold, TDC range information is replaced with, according to pulse width and system calibrating knot
Fruit is corrected TDC range information, and obtains corresponding echo strength according to pulse width.
Further, replacement threshold value is the 85% of AD saturation pulse amplitude.
Further, AD range information is not greater than TDC range information 0.5m.
Further, further include S3, by the echo intensity calibration to different distance and different target reflectivity, utilize distance
Information and echo strength estimate target reflectivity.
Further, it after completing an Echo Processing, returns to echo and judges whether to Echo Processing next time for several times, until
All Echo Processings are completed.
Further, digital waveform processing function resume module AD sampling electric echo signal sample point sequence, obtain AD away from
From information and impulse amplitude.
Further, in processing system, at analog-digital converter function module, time-to-digital converter functional module and digital waveform
Managing functional module is independent hardware.
Further, in processing system, at analog-digital converter function module, time-to-digital converter functional module and digital waveform
Reason functional module is built in programmable logic device (FPGA).
(3) beneficial effect
Compared with prior art, the present invention have it is following the utility model has the advantages that
The present invention completes to receive the photoelectric conversion of echo at detector end, and the echo-signal feeding after amplifier compares
Device carries out threshold value identification, while being sent into analog-digital converter (AD), carries out Analog-digital Converter.When the pulse that the former obtains reaches
Signal is carved, obtains pulse arrival time by time-to-digit converter (TDC), in conjunction with the laser emitting for also passing through TDC measurement
Moment, additive operation obtain TDC range information and pulse width.The latter obtains echo impulse climate digital sample sequence, operation
Digital correlation algorithm obtains AD range information and impulse amplitude.Realize the accurate distance obtained under the conditions of Larger Dynamic range echo
Information and echo strength information.
The present invention can receive Larger Dynamic range echo in a During laser emission, while handle saturation echo letter
Number and weak echo signal, primary detection just obtain that small-signal will not be missed, this is right result it is not necessary to measurement is repeated several times
Vehicular applications may be most important.
Under Larger Dynamic range of condition, can accurately obtain target-echo intensity, and then estimate the reflectivity of target, this to point
Distinguish that target materials, target identification etc. are of great advantage.
The present invention only increases on hardware compared with the high-precision laser range-finding scheme of general AD digital processing mode
Comparator does not increase too many cost, and subsequent processing also can be compatible very well with general procedure framework, TDC and subsequent
It is realized on the FPGA that Processing Algorithm can largely use in laser radar, therefore existing laser can be transplanted to well
In radar system.
The processing method of present invention combination waveform sampling and threshold value comparison accurately obtains under the conditions of Larger Dynamic range echo
Target range and echo strength are taken, range accuracy can reach Centimeter Level, and estimate target reflectivity according to echo strength.
Detailed description of the invention
Fig. 1 is hardware handles block diagram proposed by the present invention.
Fig. 2 is aggregation of data algorithm flow block diagram proposed by the present invention.
Fig. 3 is to be received back wave dynamic range schematic diagram.
Fig. 4 is to receive circuit echo signal diagram.
Fig. 5 is that pulse width distance deviates correction relationship schematic diagram.
Fig. 6 is pulse width signal intensity correction relation schematic diagram.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated, and described herein specific examples are only used to explain the present invention, but is not used to limit
The present invention.Detailed specific implementation method is described as follows:
A kind of Larger Dynamic range Centimeter Level precision laser distance measuring method, includes the following steps:
S1, constructs a processing system, and processing system includes comparator, analog-digital converter function module, time figure turn
Functional module and digital waveform processing function module, comparator and analog-digital converter function wired in parallel are changed, when comparator concatenates
Between digital conversion functional module, analog-digital converter function module concatenates digital waveform processing function module, time-to-digital converter function
It can module and digital waveform processing function wired in parallel aggregation of data processing module；
It receives electric echo signal and is sent into comparator and analog-digital converter function module simultaneously, comparator threshold level is according to need
It is configured；It is sent into time-to-digital converter functional module by the threshold value distinguishing signal of comparator, obtains echo impulse width
With pulse arrival time, pulse laser flight time, i.e. time figure conversion functional module can be obtained in conjunction with the laser emitting moment
Range information；
S2, if the AD impulse amplitude that aggregation of data processing module receives does not reach setting saturation threshold, according to sharp
Ligh-ranging system calibrating obtains strength information according to impulse amplitude as a result, progress AD range information correction；
If AD impulse amplitude reaches given threshold, TDC range information is replaced with, according to pulse width and system calibrating knot
Fruit is corrected TDC range information, and obtains corresponding echo strength according to pulse width.
Further, replacement threshold value is the 85% of AD saturation pulse amplitude.
Further, AD range information is not greater than TDC range information 0.5m.
Further, further include S3, by the echo intensity calibration to different distance and different target reflectivity, utilize distance
Information and echo strength estimate target reflectivity.
Further, it after completing an Echo Processing, returns to echo and judges whether to Echo Processing next time for several times, until
All Echo Processings are completed.
Further, digital waveform processing function resume module AD sampling electric echo signal sample point sequence, obtain AD away from
From information and impulse amplitude.
Further, in processing system, at analog-digital converter function module, time-to-digital converter functional module and digital waveform
Managing functional module is independent hardware.
Further, in processing system, at analog-digital converter function module, time-to-digital converter functional module and digital waveform
Reason functional module is built in programmable logic device (FPGA).As Fig. 1 swashs for Larger Dynamic range high-precision proposed by the present invention
The hardware block diagram that ligh-ranging method is related to, for ease of description, the present embodiment are only described relevant information.
Embodiment 1
In pulsed laser ranging, the range accuracy of Centimeter Level, usually emits laser pulse width several in order to obtain
Within nanosecond to few tens of nano-seconds, transmitting laser pulse width is conveniently taken to pass through for the echo that 6ns is received in order to describe here
Detector is completed photoelectric conversion and is amplified to drive subsequent processes circuit.Usual photodetector itself has biggish dynamic
Range and very high response speed, but amplifying circuit takes into account dynamic range and the response speed to burst pulse very much.In order to guarantee
The responding ability of transient state nanosecond pulse, amplifying circuit are difficult to realize to Larger Dynamic range echo linear response as shown in Figure 3.
Therefore as shown in Figure 4 to the circuit response condition of Larger Dynamic range echo-signal.In general, when echo-peak power is in microwatt magnitude
Hereinafter, the echo-signal waveform in circuit can maintain linear response substantially, i.e., increase with peak power, signal pulse amplitude is linear
Increase.After echo-peak power is more than certain value, the echo-signal impulse amplitude in circuit is not increasing, and maintains a perseverance
Near fixed level, echo-peak power is continued growing, echo-signal pulse shape changes, and amplifier enters saturation at this time
State, pulse front edge gradually become more precipitous, and pulse back edge gradually extends back, and pulse width broadens.Pulse broadens degree
Increase with echo-peak power and increase, but simultaneously non-linear relation.In the present embodiment, pulse halfwidth is likely to be breached 40 and receives
Second.
As previously mentioned, closely (in 1m-20m) strong echo and relatively may be returned to by emitting a laser in complex scene
The weak echo of (100m-300m) at a distance.The output of amplifier is by saturation broadened signal and remote line including short distance
Property response weak signal.Amplifier signal is sent into the anode of comparator by appropriate coupling, using high ratio in the present embodiment
Compared with device LMH7220, but not limited to this model.The threshold level of comparator negative terminal can according to the saturation level amplitude of amplifier into
Row setting.It is set as the half of saturation level in the present embodiment, can also be set as needed as other level values.
When echo-signal is more than setting threshold value, comparator output terminal can export corresponding digit pulse, and pulse front edge can
Corresponding with echo arrival time, pulse width can react the degree of saturation of pulse signal, pass through calibration reaction echo
Intensity.If echo-signal is not above setting threshold value, comparator does not have output.
The output signal of comparator is sent into TDC, and time interval measurement may be implemented in TDC.General TDC chip such as ACAM is public
The GP21 chip of department, temporal resolution is in 100ps or less.By carry chain abundant in FPGA, gate circuit, interconnection resource,
The function of TDC may be implemented, time resolution is from several ps to several hundred ps etc..In the present embodiment, realized using FPGA
TDC function, time resolution about 100ps, it can be achieved that up to 4 times echoes measurement.TDC by measure pulse signal forward position and
Afterwards along arrival time, laser emitting signal obtains the laser emitting moment also by TDC measurement.By simple subtraction, obtain
To TDC range information and pulse width.As previously mentioned, pulse front edge can also move forward as echo power enhances, cause
TDC range information is less than normal, and in embodiment, deviation can be more than 30 centimetres.By measured in advance amplifier to fixed range difference
The distance value and pulse width values of echo strength, to obtain carrying out the modified relationship of distance deviation according to pulse width.Correction is closed
System such as Fig. 5 illustrates.Equally, the pulse width after signal saturation and echo strength be not in a linear relationship, real by aforementioned calibration
The correction relationship for testing available echo strength and pulse width is as shown in Figure 6.It should be noted that consider the factors such as temperature,
Correction relationship will be increasingly complex, simplified processing has been done in embodiment, but correction relationship is without being limited thereto.
The output signal of amplifier is sent into high-speed AD by suitably coupling and matching, the AD sampling used in the present embodiment
Rate is 500M, bit wide 8bit.Under timing control, AD will be sent into digital waveform comprising the Serial No. of echo-signal waveform and handle
Module.Digital waveform processing will carry out waveform filtering processing first, after filtering out influence of noise, pass through matching, correlation or fitting
The methods of but be not limited to above method and obtain the peak position of echo waveform to correspond to range information, while obtaining corresponding position
Impulse amplitude.Digital waveform processing module can be the Duan Chengxu run in CPU or DPS, be also possible to example, in hardware solidification
The circuit to get off.In order to realize that high speed processing, digital waveform processing module are the FPGA circuitries after Hardware in the present embodiment, away from
From precision 3cm, have 4 Echo Processing abilities.For saturation signal, due to the uncertainty of pulse peak positions, number
Waveform processing module can not provide accurate range information, provide pulse front edge at this time and correspond to approximate location, time precision 2ns.
After the completion of TDC and AD data processing, the starting of aggregation of data Processing Algorithm has checked whether back according to number of echoes first
Wave range information needs to handle.If there is then entering process flow, judge whether to need to carry out according to the size of AD impulse amplitude
The replacement of TDC data.In the present embodiment, replacement threshold value is the 85% of AD saturation pulse amplitude.Into after TDC replacement processing, read in
The TDC information of response judges whether it is with an echo, in fact by checking the deviation of AD range information and TDC range information
Applying AD range information in example and being not greater than TDC range information is more than 0.5m.If it is same echo, then according to TDC pulse width
TDC range information is modified, if there is other systematic errors, can also complete to correct herein together.Then basis is returned
The relationship of intensity of wave and pulse width carries out intensity amendment.If without carrying out TDC replacement, the intensity correction stage need by
Two different representation methods are unified, in embodiment, indicate that AD and TDC pulse width is unified by digit by extension AD amplitude
13 linear intensities indicate.If system, can or progress logarithm fortune high-order by interception linear intensity without estimating reflectivity
The modes such as calculation reduce signal strength expression digit, to meet the requirement of application.
Reflectivity estimation method is indicated according to radar equation in conjunction with accurate range information and unified linear intensity, is led to
Crossing the calibration of fixed range standard reflectivity target can be realized.
It after completing an Echo Processing, returns to echo and judges whether to Echo Processing next time for several times, until all times
Wave processing is completed.
In the embodiment of the present invention, by combining two kinds of threshold values to identify and two kinds of processing methods realization Larger Dynamic ranges of AD sampling
Multiecho processing, guarantee to obtain high-precision range information by aggregation of data Processing Algorithm while to obtain accurate echo strong
Degree, and then realize target reflectivity estimation, the Larger Dynamic range for being suitable for complex scene is real time distance.
The above is not intended to limit the invention, any modification all within the spirits and principles of the present invention, equivalent
Replacement and improvement etc., should be included among protection scope of the present invention.
Claims (8)
1. a kind of Larger Dynamic range Centimeter Level precision laser distance measuring method, which comprises the steps of:
S1, constructs a processing system, and processing system includes comparator, analog-digital converter function module, time-to-digital converter function
Energy module and digital waveform processing function module, comparator and analog-digital converter function wired in parallel, comparator concatenate time number
Word conversion functional module, analog-digital converter function module concatenate digital waveform processing function module, time-to-digital converter function mould
Block and digital waveform processing function wired in parallel aggregation of data processing module；
Receive electric echo signal and be sent into comparator and analog-digital converter function module simultaneously, comparator threshold level as needed into
Row setting；It is sent into time-to-digital converter functional module by the threshold value distinguishing signal of comparator, obtains echo impulse width and arteries and veins
Arrival time is rushed, pulse laser flight time, i.e. time figure conversion functional module distance can be obtained in conjunction with the laser emitting moment
Information；
S2, if the AD impulse amplitude that aggregation of data processing module receives does not reach setting saturation threshold, according to Laser Measuring
Away from system calibrating as a result, carrying out the correction of AD range information, strength information is obtained according to impulse amplitude；
If AD impulse amplitude reaches given threshold, replace with TDC range information, according to pulse width and system calibrating as a result,
TDC range information is corrected, and corresponding echo strength is obtained according to pulse width.
2. Larger Dynamic range Centimeter Level precision laser range-measurement system according to claim 1, which is characterized in that replacing threshold value is
The 85% of AD saturation pulse amplitude.
3. dynamic range Centimeter Level precision laser range-measurement system according to claim 1, which is characterized in that AD range information is not
It obtains and is greater than TDC range information 0.5m.
4. Larger Dynamic range Centimeter Level precision laser range-measurement system according to claim 1, which is characterized in that it further include S3,
It is anti-using range information and echo strength estimation target by the echo intensity calibration to different distance and different target reflectivity
Penetrate rate.
5. Larger Dynamic range Centimeter Level precision laser range-measurement system according to claim 1, which is characterized in that complete primary return
It after wave processing, returns to echo and judges whether to Echo Processing next time for several times, until all Echo Processings are completed.
6. Larger Dynamic range Centimeter Level precision laser range-measurement system according to claim 1, which is characterized in that at digital waveform
The electric echo signal for managing functional module processing AD sampling samples point sequence, obtains AD range information and impulse amplitude.
7. Larger Dynamic range Centimeter Level precision laser range-measurement system according to claim 1, which is characterized in that processing system
In, analog-digital converter function module, time-to-digital converter functional module and digital waveform processing function module are independent hardware.
8. Larger Dynamic range Centimeter Level precision laser range-measurement system according to claim 1, which is characterized in that processing system
In, analog-digital converter function module, time-to-digital converter functional module and digital waveform processing function module are built in programmable
In logical device.
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| WO2021046768A1 (en) * | 2019-09-11 | 2021-03-18 | 华为技术有限公司 | Method and device for calculating reflectance of target object, and related apparatus |
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