CN109633670A - It is a kind of to utilize the laser pulse ranging method for receiving signal width amendment measurement error - Google Patents
It is a kind of to utilize the laser pulse ranging method for receiving signal width amendment measurement error Download PDFInfo
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- CN109633670A CN109633670A CN201811249086.6A CN201811249086A CN109633670A CN 109633670 A CN109633670 A CN 109633670A CN 201811249086 A CN201811249086 A CN 201811249086A CN 109633670 A CN109633670 A CN 109633670A
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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
-
- 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
-
- 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
- G01S7/497—Means for monitoring or calibrating
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention discloses a kind of laser pulse ranging method using reception signal width amendment measurement error, comprising: light source uses pulse laser, and driving circuit drives laser to emit narrow spaces laser pulse, is emitted after emitted optical system shaping with certain beam divergence angle.The received optical system of target echo signal converges on photodetector photosurface and realizes photoelectric conversion.Electric signal is converted to digital signal after pretreatment.High-speed sampling is carried out to echo using FPGA phase shifting clock, measure the delay of reflection echo and receives signal width.According to the relation curve of the reception signal width of actual measurement and compensation of delay amount, data form is made.Range finder is according to the FPGA forward position moment measured and receives signal width, obtains moment driscrimination error using lookup table mode, is corrected to distance measurement result.Higher range accuracy can be achieved in the present invention, has preferable application prospect in laser ranging related fields.
Description
Technical field
The present invention relates to laser radar technique fields, and in particular to a kind of to correct measurement error using reception signal width
Laser pulse ranging method.
Background technique
Laser distance measurement method is mainly phase method and impulse method at present.Although ranging phase method precision is high, cannot be real
The now measurement of long range.And impulse method ranging has the advantages that detection range is remote, it is low to require light source coherence, it utilizes laser
Pulse duration is extremely short, energy Relatively centralized in time, the very big feature of instantaneous power, in the identical item of average light power
Under part, it can be realized the long range measurements of finite accuracy.Thus it is widely used in architectural engineering, industry, aerospace, army
The fields such as thing, the earth Atmospheric Survey and robot technology.Different application fields has different requirements from precision to measurement range.
Therefore, the precision for improving laser pulse survey button just seems very necessary.
Pulsed laser ranging technology is to be come by using the laser pulse light beam with low emission to compared with distant object
Carry out the non-ranging technology for connecing angie type measurement.Flight time (TOF) by measuring laser pulse can get the distance letter of target
Breath.The principle of TOF method be by measurement laser pulse between laser source and target face between the time Δ t of shuttle flight obtain
Target range.According to this definition, the calculation formula of target range L are as follows:
In formula, c is the light velocity in vacuum.
In TOF pulsed laser ranging technology, there are two main classes for range error: systematic error and random error.Wherein it is
Error of uniting mainly includes timing error, moment driscrimination error and air index error；Random error is mainly that noise causes
Error.Wherein, driscrimination error is one of main error source in pulsed laser ranging at the time of echo strength variation is introduced into.
Summary of the invention
The object of the present invention is to provide a kind of utilizations to receive the laser pulse ranging method that signal width corrects measurement error,
For the compensation of moment driscrimination error, range accuracy is improved, higher range accuracy is realized with lower cost, improves laser
Pulse ranging precision, this method is realized simply, can be used for realizing strong interference immunity, pulsed laser ranging scene at low cost.
In order to achieve the above object, the laser arteries and veins for receiving signal width amendment measurement error is utilized the invention discloses a kind of
Distance measuring method is rushed, which comprises the steps of:
S1, FPGA module carry out high-speed sampling to echo pulse signal, and delay and the reception signal for measuring reflection echo are wide
Degree；
S2, actual measurement receive the data value of signal width and moment driscrimination error, are fitted functional relation between the two
Data form is made in curve；
The delay measurements and receive signal width that S3, range finder are measured according to FPGA module, it is manufactured by inquiring
Data form, driscrimination error at the time of obtaining corresponding are corrected distance measurement result with realizing.
Preferably, in the step S2, further include: S21, actual measurement process are by changing target range and reflection
Rate, measurement obtains the data value that multiple groups receive signal width and moment driscrimination error, and is fitted according to the multi-group data of the measurement
Function curve；S22, the function curve according to fitting, abscissa are produced and generated using the minimal sampling time of FPGA module as interval
Receive the data form between signal width and moment driscrimination error.
Preferably, in the step S21, further include: by changing target range and reflectivity, to 20ns~
220ns receives driscrimination error at the time of within the scope of signal width and carries out discrete sampling measurement；Wherein, Target Board use reflectivity for
0.3 or 0.9 two kind of standard target plate, to obtain big echo strength variation range.
Preferably, it in the step S21, further includes: moment driscrimination error Δ τ and reception signal width Δ T fitting
Functional relation are as follows:
Wherein, A=59.365, B=96.280, k=42.761, then moment driscrimination error Δ τ and receive signal width Δ T
Between it is approximate be in e index relationship.
Preferably, the reception signal width is that output is monitored by oscillograph.
Preferably, it in the step S3, further includes:
When FPGA module is by being calculated mesh using flight time measurement method after tabling look-up to obtain moment driscrimination error Δ τ
Subject distance value L；Wherein, in flight time measurement method, the calculation formula of target range L are as follows:
In formula, c is the light velocity in vacuum, and Δ t is the flight time；Flight time Δ t be equal to delay measurements Δ t ' and when
Carve the sum of driscrimination error Δ τ.
Preferably, the FPGA module uses sample frequency for the fpga chip of 200MHz, and the FPGA module 9 utilizes
90 ° of clock phase-moving methods realize 4 frequency multiplication equivalent sampling clocks, obtain the time resolution of 1.25ns after frequency multiplication.
The laser for receiving signal width amendment measurement error is utilized using as described above the present invention also provides a kind of
The pulse laser range finder of pulse ranging method, which includes:
Emit laser light source, is driven and shone by laser driving circuit；
Optical transmitting system will be emitted after the outgoing light shaping of the transmitting laser light source sending with certain beam divergence angle,
It is irradiated to measured target；
Receiving optics receives the optical signal reflected via the measured target；
The optical signal that the receiving optics is sent to it is converted into electric signal by photodetector；
Detector amplifying circuit, the electric signal that the photodetector is converted out is amplified；
The amplified electric signal that the detector amplifying circuit is sent is converted into digital signal by A/D converter；
FPGA module receives the digital signal that the A/D converter is sent and carries out sampling processing, measures reflection echo
Delay and receive signal width.
Preferably, the pulse laser range finder is powered by electric power source pair of module each unit.
Preferably, the transmitting laser light source emission peak power is 75W, and pulsewidth is about 55ns, wavelength 905nm；Institute
Photodetector is stated using silicon based opto-electronics diode.
Compared with prior art, the invention has the benefit that the range accuracy of laser pulse ranging method of the invention
In range, random error can be ignored with air index error；The present invention passes through the width of measurement echo comparative level, to
The systematic error in laser pulse ranging technology is compensated, can realize that higher range accuracy, the technology are real with lower cost
It is now simple, it can be used for realizing strong interference immunity, pulsed laser ranging scene at low cost.
Detailed description of the invention
Laser pulse ranging method working principle diagram using reception signal width amendment measurement error Fig. 1 of the invention；
Laser pulse ranging method fixed threshold forward position using reception signal width amendment measurement error Fig. 2 of the invention
Moment discrimination method error production principle schematic diagram；
Laser pulse ranging method Sampling Measurement Data using reception signal width amendment measurement error Fig. 3 of the invention
And matched curve；
Error compensation is added in laser pulse ranging method using reception signal width amendment measurement error Fig. 4 of the invention
Residual error distribution after algorithm；
Of the invention being exported using the laser pulse ranging method detector for receiving signal width amendment measurement error of Fig. 5 is swashed
Optical pulse waveform.
Specific embodiment
The present invention provides a kind of using the laser pulse ranging method for receiving signal width amendment measurement error, in order to make
The present invention is more obvious and easy to understand, and below in conjunction with the drawings and specific embodiments, the present invention will be further described.
The pulsed laser ranging model machine based on FPGA is built in this implementation, as shown in Figure 1, the pulsed laser ranging model machine
Include: transmitting laser light source 1, optical transmitting system 3, receiving optics 5, photodetector 6, is visited laser driving circuit 2
Survey device amplifying circuit 7, A/D converter (analog-digital converter) 8 and FPGA module 9.
Emit laser source 1 by laser driving circuit 2 drive shine, emergent light via after 3 shaping of optical transmitting system with
Certain beam divergence angle outgoing, is irradiated to measured target 4, and the heliogram reflected through measured target 4 is received by receiving optics 5,
The optical signals photodetector 6 received is received and converted to electric signal, and the electric signal that photoelectric converter 6 is converted out is through detecting
After device amplifying circuit 7 amplifies, sampling processing is carried out by FPGA module 9 through A/D converter 8.
The present invention is responsible for being powered the above each unit by power module 10.
Wherein, transmitting 1 emission peak power of laser light source is 75W, and pulsewidth is about 55ns, wavelength 905nm.The present invention adopts
Use silicon based opto-electronics diode (Si-PIN) as photodetector 6.
FPGA module 9 carries out high-speed sampling, the delay and pulsewidth of measuring signal to echo pulse signal.
Signal width Δ T is received equal to the pulse width more than threshold portion.FPGA module 9 utilizes 90 ° of clock phase shift sides
Method realizes 4 frequency multiplication equivalent sampling clocks.Preferably, FPGA module 9 uses sample frequency for the fpga chip of 200MHz, after frequency multiplication
The time resolution of available 1.25ns.
Fig. 2 show the present invention using the laser pulse ranging method fixed threshold for receiving signal width amendment measurement error
Forward position moment discrimination method error production principle schematic diagram.
Laser pulse ranging method of the invention includes following procedure:
S1, FPGA module carry out high-speed sampling to echo pulse signal, and delay and the reception signal for measuring reflection echo are wide
Degree；
S2, reception signal width Δ T (numeral mark 12 as shown in Figure 2) and compensation of delay amount according to actual measurement
The relation curve of (i.e. moment driscrimination error Δ τ), is made data form.
The delay measurements Δ t ' (numeral mark 14 as shown in Figure 2) that S3, range finder are measured according to FPGA module with connect
Collection of letters width Delta T (numeral mark 12 as shown in Figure 2), when being obtained using lookup table mode (i.e. the table made in step S2)
Driscrimination error is carved, distance measurement result is corrected.
In the step S2, reception signal width Δ T of the invention and moment driscrimination error Δ τ (number as shown in Figure 2
Label 15) functional relation be rule-of-thumb relation that actual measurement data obtains after Function Fitting.In actual measurement process, benefit
Output is monitored with oscillograph and receives signal width, and by changing target range and reflectivity, measurement obtains multiple groups (Δ T, Δ τ) number
According to then according to measure data fitting function curve.According to obtained fitting function, abscissa is with the minimum sampling of FPGA module
Time is interval, produces and generates the data form of (Δ T, Δ τ).
Specifically, in order to obtain moment driscrimination error Δ τ and receive signal width Δ T approximate function f ' (Δ T),
In experiment, by changing target range and reflectivity, driscrimination error at the time of reception within the scope of signal width to 20ns~220ns
Discrete sampling measurement is carried out, measurement result is as shown in Figure 3.
In an experiment, big echo strength variation range in order to obtain, uses reflectivity as 0.3 (solid dot) and 0.9
(hollow dots) two kinds of standard target plates.When using reflectivity wherein as 0.3 target, ranging model machine can be in 0.5m~15m model
Enclose interior realization useful signal detection.
By carrying out curve fitting 17 to experimental data, as shown in figure 3, having obtained moment driscrimination error Δ τ and having received to believe
Number approximate analytical function relational expression of width Delta T:
Wherein, A=59.365, B=96.280, k=42.761；It can thus be seen that moment driscrimination error Δ τ and reception
Approximate between signal width Δ T is in e index relationship.
The accuracy of timekeeping of ranging model machine FPGA module of the invention is 1.25ns, reduces computation complexity to simplify, according to
Formula (2) simultaneously makes moment driscrimination error value table with 1.25ns to receive signal width Δ T unit interval.
Range finder of the invention according to delay measurements Δ t ' that FPGA module 9 measures and can receive signal width Δ T, then
Moment driscrimination error Δ τ is obtained using lookup table mode, distance measurement result is corrected, final measurement is obtained.
After FPGA module tables look-up to obtain moment driscrimination error Δ τ by the reception signal width Δ T that measurement obtains, calculate
Obtain target range value L.Wherein, the present invention realizes range measurement using flight time measurement method, and the flight time, Δ t was (in such as Fig. 2
Numeral mark 11) be equal to the sum of delay measurements Δ t ' and moment driscrimination error Δ τ, so as to calculate target range value.
As shown in figure 4, examination is using the residual error Δ τ ' (numeral mark as shown in Figure 4 after the above backoff algorithm
18) signal width Δ T, is received in experiment to choose several sampled points within the scope of (20~220) ns and measure, after obtaining compensation
Error between measurement delay and true value.
By analyzing the above sampling point tolerance distribution it can be seen that receiving signal width Δ T in (40~220) ns range,
Residual error Δ τ ' is within ± 2ns, i.e., range error is less than 0.3m；As reception signal width Δ T < 40ns, i.e. echo-signal
When threshold voltage (numeral mark 13 as shown in Figure 2) of the close setting of intensity, residual error is larger.This be it is too weak by light echo,
It is larger caused that signal width jitter error is received in range finder.
After compensating moment driscrimination error, the residual error of system is mainly derived from two aspects: first is that FPGA module samples
Timing error (accuracy of timekeeping 1.25ns) caused by clock frequency is limited, it can cause to include moment driscrimination error Δ τ and reception
Measurement error including signal width Δ T；Second is that the compensation error that transmitted pulse shapes irregularly introduce, transmitting pulse waveform is such as
Shown in Fig. 5, it can be seen that include more radio-frequency component in transmitting pulse waveform, this leads to error fit curve and actual error amount
Height is difficult to realize to meet.
It to sum up analyzes, the present invention is to further increase error compensation precision, takes following two measure: first is that properly increasing
The sample clock frequency of FPGA module, to improve moment measurement accuracy；Second is that increasing low-pass filtering after detector output signal
Device filters out the high-frequency components in signal, keeps signal output waveform smooth, reduces and receives signal width caused by light echo intensity fluctuation
High dither.
It is discussed in detail although the contents of the present invention have passed through above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read above content, for of the invention
A variety of modifications and substitutions all will be apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (10)
1. a kind of utilize the laser pulse ranging method for receiving signal width amendment measurement error, which is characterized in that the laser arteries and veins
Distance measuring method is rushed to comprise the steps of:
S1, FPGA module carry out high-speed sampling to echo pulse signal, measure the delay of reflection echo and receive signal width；
S2, actual measurement receive the data value of signal width and moment driscrimination error, are fitted function relation curve between the two,
Data form is made；
The delay measurements and receive signal width that S3, range finder are measured according to FPGA module, by inquiring manufactured data
Table, driscrimination error at the time of obtaining corresponding are corrected distance measurement result with realizing.
2. as described in claim 1 utilize the laser pulse ranging method for receiving signal width amendment measurement error, feature
It is,
In the step S2, further include:
S21, actual measurement process are by changing target range and reflectivity, and measurement obtains multiple groups reception signal width and the moment reflects
The data value of other error, and according to the multi-group data fitting function curve of the measurement；
S22, the function curve according to fitting, abscissa produce and generate reception using the minimal sampling time of FPGA module as interval
Data form between signal width and moment driscrimination error.
3. as claimed in claim 2 utilize the laser pulse ranging method for receiving signal width amendment measurement error, feature
It is,
In the step S21, further include:
By changing target range and reflectivity, at the time of reception within the scope of signal width to 20ns~220ns driscrimination error into
Row discrete sampling measurement；Wherein, Target Board uses reflectivity for 0.3 or 0.9 two kind of standard target plate, strong with the echo for obtaining big
Spend variation range.
4. special as claimed in claim 2 or claim 3 using the laser pulse ranging method for receiving signal width amendment measurement error
Sign is,
In the step S21, further include:
Moment driscrimination error Δ τ and the functional relation for receiving signal width Δ T fitting are as follows:
Wherein, A=59.365, B=96.280, k=42.761, then between moment driscrimination error Δ τ and reception signal width Δ T
Approximation is in e index relationship.
5. the laser pulse ranging method using reception signal width amendment measurement error as described in claims 1 or 2 or 3,
It is characterized in that,
The reception signal width is that output is monitored by oscillograph.
6. as claimed in claim 4 utilize the laser pulse ranging method for receiving signal width amendment measurement error, feature
It is,
In the step S3, further include:
When FPGA module by table look-up to obtain moment driscrimination error Δ τ after, using flight time measurement method be calculated target away from
From value L；Wherein, in flight time measurement method, the calculation formula of target range L are as follows:
In formula, c is the light velocity in vacuum, and Δ t is the flight time；Flight time Δ t is equal to delay measurements Δ t ' and the moment reflects
The sum of other error delta τ.
7. utilizing the laser pulse ranging side for receiving signal width amendment measurement error as described in claims 1 or 2 or 3 or 6
Method, which is characterized in that
The FPGA module uses sample frequency for the fpga chip of 200MHz, and the FPGA module 9 utilizes 90 ° of clock phase shift sides
Method realizes 4 frequency multiplication equivalent sampling clocks, obtains the time resolution of 1.25ns after frequency multiplication.
8. a kind of utilize the laser arteries and veins for receiving signal width amendment measurement error using as described in claim 1-7 any one
Rush the pulse laser range finder of distance measuring method, which is characterized in that the pulse laser range finder includes:
Emit laser light source (1), is driven and shone by laser driving circuit (2)；
Optical transmitting system (3) will be gone out after the outgoing light shaping of transmitting laser light source (1) sending with certain beam divergence angle
It penetrates, is irradiated to measured target (4)；
Receiving optics (5) receives the optical signal reflected via the measured target (4)；
The optical signal that the receiving optics (5) is sent to it is converted into electric signal by photodetector (6)；
Detector amplifying circuit (7), the electric signal that the photodetector (6) is converted out is amplified；
The amplified electric signal that the detector amplifying circuit (7) sends is converted into digital signal by A/D converter (8)；
FPGA module (9) receives the digital signal that the A/D converter (8) sends and carries out sampling processing, and measurement is reflected back
The delay and reception signal width of wave.
9. pulse laser range finder as claimed in claim 8, which is characterized in that
The pulse laser range finder is powered each unit by power module (10).
10. pulse laser range finder as claimed in claim 8 or 9, which is characterized in that
Transmitting laser light source (1) the emission peak power is 75W, and pulsewidth is about 55ns, wavelength 905nm；
The photodetector (6) uses silicon based opto-electronics diode (Si-PIN).
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