CN109581406A - A kind of the return laser beam processing method and system of adaptive automatic growth control - Google Patents
A kind of the return laser beam processing method and system of adaptive automatic growth control Download PDFInfo
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- CN109581406A CN109581406A CN201811398860.XA CN201811398860A CN109581406A CN 109581406 A CN109581406 A CN 109581406A CN 201811398860 A CN201811398860 A CN 201811398860A CN 109581406 A CN109581406 A CN 109581406A
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Abstract
Return laser beam processing method and system provided by the invention, laser reflects to form echo optical signal through barrier and echo optical signal is converted to echo impulse electric signal, Full wave shape sampling is carried out after amplifying to echo impulse electric signal, echo-peak extraction is carried out to the sampled data after Full wave shape sampling, and compare echo-peak data and threshold values data, generate two path control signal, the size for going out light energy of laser is controlled all the way, the multiple that another way control echo impulse electric signal amplifies, when the echo-peak data are greater than threshold values data upper limit value, it reduces the light energy out of laser or reduces the multiple that echo impulse electric signal amplifies；When echo-peak data are less than threshold values data lower limit value, increase the light energy out of laser or improves the multiple that echo impulse electric signal amplifies, to echo-signal signal-to-noise ratio maximumlly simultaneously, so that echo signal amplitude is more stable, the quality for improving echo-signal improves the performance of laser ranging.
Description
Technical field
The present invention relates to geographical mapping technical field, in particular at a kind of return laser beam of adaptive automatic growth control
Reason method.
Background technique
As the new and high technologies such as electronic technology, laser technology, optical technology are rapidly developing, for changing for long distancemeter
It is good to provide important basis.Especially with laser using emerging for the new branch of science of representative, the innovation of related theory with
And the abundant of practical experience all provides effective reference for the research work of remote laser ranging technology.
The principle of laser ranging is to calculate the product at laser time of flight interval and the light velocity.The light velocity is known conditions, is 30
Ten thousand kilometer per seconds, need to measure is laser time of flight interval.Laser time of flight interval refers to laser firing signals Start,
With laser in communication process, barrier is encountered, is reflected, between the echo-signal Stop received by laser receiver
Time difference.The high-precision that laser ranging technique provides allows to complete an important task i.e. geographical mapping, measures
Space, the earth various information and draw the topographic maps of various information, for the application as geographical mapping etc. to Laser Measuring
Away from requirement, pulse type laser ranging technology is because of its far measuring distance, the advantages that speed is fast, becomes preferred option.
The actual application environment of laser ranging than imitate complicated, Stimulated Light-emission energy, measure distance, clutter reflections rate and greatly
The influence of vapor permeability etc. many factors, echo amplitude variation range is big, may cause amplifying circuit supersaturation, cannot achieve
More echometric measurements even result in rear class and are adopted at all less than echo-signal；Using traditional auto gain control method, fixed laser
Device goes out light energy, according to echo amplitude, only adjusts the amplification factor of control automatic gain amplifier, in this way cannot be good
Echo amplitude is controlled in a range appropriate, and echo-signal signal-to-noise ratio is not high
Summary of the invention
Have in view of that, it is necessary in view of the defects existing in the prior art, one kind be provided can adjust automatic increment benefit simultaneously and put
The return laser beam processing method of big device amplification factor and the adaptive automatic growth control of energy of lasers.
To achieve the above object, the present invention adopts the following technical solutions:
A kind of return laser beam processing method of adaptive automatic growth control, includes the following steps:
Step S110: laser reflects to form echo optical signal through barrier；
Step S120: the echo optical signal is received, and the echo optical signal is converted into echo impulse electric signal；
Step S130: the echo impulse electric signal is amplified；
Step S140: Full wave shape sampling is carried out to amplified echo pulse signal；
Step S150: echo-peak extraction, and the echo-peak are carried out to the sampled data after Full wave shape sampling
Data and threshold values data generate two path control signal, control the size for going out light energy of the laser all the way, and another way controls institute
State the multiple that echo impulse electric signal amplifies.
In some preferred embodiments, in step S150, when the echo-peak data are greater than the threshold values data
When upper limit value, reduces the light energy out of the laser or reduce the multiple that the echo impulse electric signal amplifies；When described
When echo-peak data are less than the threshold values data lower limit value, increase the laser goes out light energy or the raising echo impulse
The multiple that electric signal amplifies.
In some preferred embodiments, in step S150, specifically include the following steps:
Echo-peak extraction, and the echo-peak data and threshold values are carried out to the sampled data after Full wave shape sampling
Data；
Judge whether the echo-peak data are greater than the threshold values data, if so, further judging to the echo arteries and veins
It rushes whether the multiple that electric signal amplifies is minimum amplification factor, if so, reducing the light energy that goes out of the laser, and returns
One step；If it is not, reducing the multiple that the echo impulse electric signal amplifies, and return to previous step；
If it is not, further judging whether the echo-peak data are less than the threshold values data, if so, further judging institute
That states laser goes out whether light energy is maximum energy value, if so, the multiple that the echo impulse electric signal amplifies is improved, and
Return to previous step；If it is not, increasing the light energy out of the laser；
If it is not, returning to previous step.
In addition, the present invention also provides a kind of return laser beam processing systems of adaptive automatic growth control, comprising:
Laser, for emitting laser, the laser reflects to form echo optical signal through barrier；
Reception device is converted to echo impulse telecommunications for receiving the echo optical signal, and by the echo optical signal
Number；
Automatic gain amplifier, for being amplified to the echo impulse electric signal；
High-speed ADC sampler, for carrying out Full wave shape sampling to amplified echo pulse signal；
Fpga logic controller carries out echo-peak extraction for the sampled data after sampling to Full wave shape, and compares institute
Echo-peak data and threshold values data are stated, two path control signal is generated, control the size for going out light energy of the laser all the way, separately
The multiple that the echo impulse electric signal amplifies is controlled all the way.
The present invention by adopting the above technical scheme the advantages of be:
The return laser beam processing method and system, laser of adaptive automatic growth control provided by the invention are anti-through barrier
It penetrates to form echo optical signal, receives the echo optical signal, and the echo optical signal is converted into echo impulse electric signal, it is right
The echo impulse electric signal amplifies, and carries out Full wave shape sampling to amplified echo pulse signal, samples to Full wave shape
Sampled data afterwards carries out echo-peak extraction, and the echo-peak data and threshold values data, generates two-way control letter
Number, the size for going out light energy of the laser is controlled all the way, and another way controls times that the echo impulse electric signal amplifies
Number, the return laser beam processing method and system of adaptive automatic growth control provided by the invention, when the echo-peak data
When greater than the threshold values data upper limit value, reduces the light energy out of the laser or reduce the echo impulse electric signal and put
Big multiple；When the echo-peak data be less than the threshold values data lower limit value when, increase the laser go out light energy or
Improve the multiple that the echo impulse electric signal amplifies, thus echo-signal signal-to-noise ratio maximumlly simultaneously so that returning
Wave signal amplitude is more stable.The quality for improving echo-signal improves the performance of laser ranging.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the step flow chart of the return laser beam processing method of adaptive automatic growth control provided by the invention.
Fig. 2 is the sampled data progress echo-peak extraction after the sampling provided by the invention to Full wave shape, and described in comparison
The step flow chart of echo-peak data and threshold values data.
Fig. 3 is the structural schematic diagram of the return laser beam processing system of adaptive automatic growth control provided by the invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1
Referring to Fig. 1, the return laser beam processing method of the adaptive automatic growth control provided for the embodiment of the present invention 1
100 step flow chart, includes the following steps:
Step S110: laser reflects to form echo optical signal through barrier.
Step S120: the echo optical signal is received, and the echo optical signal is converted into echo impulse electric signal；
Step S130: the echo impulse electric signal is amplified；
Step S140: Full wave shape sampling is carried out to amplified echo pulse signal；
Step S150: echo-peak extraction, and the echo-peak are carried out to the sampled data after Full wave shape sampling
Data and threshold values data generate two path control signal, control the size for going out light energy of the laser all the way, and another way controls institute
State the multiple that echo impulse electric signal amplifies.
In step S150, when the echo-peak data are greater than the threshold values data upper limit value, the laser is reduced
Go out light energy or reduce the multiple that the echo impulse electric signal amplifies；When the echo-peak data are less than the valve
When Value Data lower limit value, increases the light energy out of the laser or improve the multiple that the echo impulse electric signal amplifies.
Referring to Fig. 2, in step S150, specifically include the following steps:
Step S151: echo-peak extraction, and the echo-peak are carried out to the sampled data after Full wave shape sampling
Data and threshold values data；
Step S152: judging whether the echo-peak data are greater than the threshold values data, if so, further judging to institute
State whether the multiple that echo impulse electric signal amplifies is minimum amplification factor, if so, the light energy out of the laser is reduced,
And return to previous step；If it is not, reducing the multiple that the echo impulse electric signal amplifies, and return to previous step；
Step S153: if it is not, further judge whether the echo-peak data are less than the threshold values data, if so, into
One step judges whether the light energy out of the laser is maximum energy value, is put if so, improving the echo impulse electric signal
Big multiple, and return to previous step；If it is not, increasing the light energy out of the laser；
If it is not, returning to previous step.
The return laser beam processing method of adaptive automatic growth control provided by the invention, when the echo-peak data are big
When the threshold values data upper limit value, the light energy out of the laser is reduced or reduces the echo impulse electric signal amplifying
Multiple；When the echo-peak data are less than the threshold values data lower limit value, increase the light energy out of the laser or mention
The multiple that the high echo impulse electric signal amplifies, thus echo-signal signal-to-noise ratio maximumlly simultaneously so that echo
Signal amplitude is more stable.The quality for improving echo-signal improves the performance of laser ranging.
Embodiment 2
Fig. 3 is the structural schematic diagram of the return laser beam processing system of adaptive automatic growth control provided by the invention, packet
It includes:
Laser 110, for emitting laser, the laser reflects to form echo optical signal through barrier；
Reception device 120 is converted to echo impulse electricity for receiving the echo optical signal, and by the echo optical signal
Signal；
Automatic gain amplifier 130, for being amplified to the echo impulse electric signal；
High-speed ADC sampler 140, for carrying out Full wave shape sampling to amplified echo pulse signal；
Fpga logic controller 150 carries out echo-peak extraction for the sampled data after sampling to Full wave shape, and compares
The echo-peak data and threshold values data generate two path control signal, control the size for going out light energy of the laser all the way,
Another way controls the multiple that the echo impulse electric signal amplifies.
Specifically, fpga logic controller 150 when the echo-peak data be greater than the threshold values data upper limit value when,
It reduces the light energy out of the laser 110 or reduces the multiple that the echo impulse electric signal amplifies；When the echo
When peak-data is less than the threshold values data lower limit value, increase the laser 110 goes out light energy or the raising echo arteries and veins
Rush the multiple that electric signal amplifies.
Specifically, fpga logic controller 150 carries out echo-peak extraction to the sampled data after Full wave shape sampling, and compares
The echo-peak data and threshold values data；
Judge whether the echo-peak data are greater than the threshold values data, if so, further judging to the echo arteries and veins
It rushes whether the multiple that electric signal amplifies is minimum amplification factor, if so, reducing the light energy that goes out of the laser, and returns
One step；If it is not, reducing the multiple that the echo impulse electric signal amplifies, and return to previous step；
If it is not, further judging whether the echo-peak data are less than the threshold values data, if so, further judging institute
That states laser goes out whether light energy is maximum energy value, if so, the multiple that the echo impulse electric signal amplifies is improved, and
Return to previous step；If it is not, increasing the light energy out of the laser；
If it is not, returning to previous step.
The return laser beam processing system of adaptive automatic growth control provided by the invention, when the echo-peak data are big
When the threshold values data upper limit value, the light energy out of the laser is reduced or reduces the echo impulse electric signal amplifying
Multiple；When the echo-peak data are less than the threshold values data lower limit value, increase the light energy out of the laser or mention
The multiple that the high echo impulse electric signal amplifies, thus echo-signal signal-to-noise ratio maximumlly simultaneously so that echo
Signal amplitude is more stable.The quality for improving echo-signal improves the performance of laser ranging.
Certainly the return laser beam processing method of adaptive automatic growth control of the invention can also have a variety of transformation and change
Type, it is not limited to the specific structure of above embodiment.In short, protection scope of the present invention should include those for this field
It obviously converts or substitutes and retrofit for those of ordinary skill.
Claims (4)
1. a kind of return laser beam processing method of adaptive automatic growth control, which is characterized in that include the following steps:
Step S110: laser reflects to form echo optical signal through barrier；
Step S120: the echo optical signal is received, and the echo optical signal is converted into echo impulse electric signal；
Step S130: the echo impulse electric signal is amplified；
Step S140: Full wave shape sampling is carried out to amplified echo pulse signal；
Step S150: echo-peak extraction, and the echo-peak data are carried out to the sampled data after Full wave shape sampling
With threshold values data, two path control signal is generated, controls the size for going out light energy of the laser all the way, another way control is described to return
The multiple that wave impulse electric signal amplifies.
2. the return laser beam processing method of adaptive automatic growth control as described in claim 1, which is characterized in that in step
In S150, when the echo-peak data are greater than the threshold values data upper limit value, that reduces the laser goes out light energy or drop
The multiple that the low echo impulse electric signal amplifies；When the echo-peak data are less than the threshold values data lower limit value
When, increase the light energy out of the laser or improves the multiple that the echo impulse electric signal amplifies.
3. the return laser beam processing method of adaptive automatic growth control as claimed in claim 2, which is characterized in that in step
In S150, specifically include the following steps:
Echo-peak extraction, and the echo-peak data and threshold number are carried out to the sampled data after Full wave shape sampling
According to；
Judge whether the echo-peak data are greater than the threshold values data, if so, further judging to the echo impulse electricity
Whether the multiple that signal amplifies is minimum amplification factor, if so, reducing the light energy that goes out of the laser, and returns to upper one
Step；If it is not, reducing the multiple that the echo impulse electric signal amplifies, and return to previous step；
If it is not, further judging whether the echo-peak data are less than the threshold values data, if so, further judging described sharp
Light goes out whether light energy is maximum energy value, if so, improving the multiple that the echo impulse electric signal amplifies, and returns
Previous step；If it is not, increasing the light energy out of the laser；
If it is not, returning to previous step.
4. a kind of return laser beam processing system of adaptive automatic growth control characterized by comprising
Laser, for emitting laser, the laser reflects to form echo optical signal through barrier；
Reception device is converted to echo impulse electric signal for receiving the echo optical signal, and by the echo optical signal；
Automatic gain amplifier, for being amplified to the echo impulse electric signal；
High-speed ADC sampler, for carrying out Full wave shape sampling to amplified echo pulse signal；
Fpga logic controller carries out echo-peak extraction, and relatively described time for the sampled data after sampling to Full wave shape
Wave crest Value Data and threshold values data generate two path control signal, control the size for going out light energy of the laser, another way all the way
Control the multiple that the echo impulse electric signal amplifies.
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| CN111596282A (en) * | 2020-04-19 | 2020-08-28 | 北京理工大学 | Pulse laser ranging echo amplitude automatic adjusting system |
| CN111751835A (en) * | 2020-07-06 | 2020-10-09 | 中国科学院国家天文台长春人造卫星观测站 | Full-waveform satellite laser ranging system and method |
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| CN114637021A (en) * | 2022-05-18 | 2022-06-17 | 四川吉埃智能科技有限公司 | Sub-centimeter-level full-waveform laser radar ranging method and device |
| CN114994643A (en) * | 2022-07-18 | 2022-09-02 | 四川吉埃智能科技有限公司 | APD bias voltage adjusting method and circuit in laser ranging |
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