CN109683154A - Laser radar self calibration time set and method based on FPGA - Google Patents
Laser radar self calibration time set and method based on FPGA Download PDFInfo
- Publication number
- CN109683154A CN109683154A CN201710979509.9A CN201710979509A CN109683154A CN 109683154 A CN109683154 A CN 109683154A CN 201710979509 A CN201710979509 A CN 201710979509A CN 109683154 A CN109683154 A CN 109683154A
- Authority
- CN
- China
- Prior art keywords
- module
- carry
- signal
- timing
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000005086 pumping Methods 0.000 claims description 3
- 230000002035 prolonged effect Effects 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 239000006185 dispersion Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 125000000623 heterocyclic group Chemical group 0.000 description 1
- 230000032696 parturition Effects 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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The embodiment of the present invention provides a kind of laser radar self calibration time set and method based on FPGA, wherein device includes: outside source, external delay module and FPGA minimum system；The FPGA minimum system includes: self calibration module, moment identification module, timing module and computing module.The embodiment of the present invention realizes the real time calibration function to FPGA internal clocking unit based on external time delay module, be able to solve the conventional TDC technology based on FPGA accuracy of timekeeping be affected by the external environment it is larger, the problem that can not be suitable under complex environment, the complex environment adaptability and accuracy of timekeeping of laser radar can be improved, stability is high.
Description
Technical field
The present invention relates to based on laser radar clocking technique field more particularly to a kind of laser radar self calibration by FPGA
When device and method.
Background technique
Laser radar is the radar system to emit the characteristic quantities such as the position of detecting laser beam target, speed.It is former from work
It is said in reason, laser radar is to objective emission detectable signal, then by the reflected echo-signal of slave target received and hair
Penetrate signal to be compared, be achieved with target for information about after making proper treatment, as target range, orientation, height, speed,
The parameters such as posture, even shape, to be detected, tracked and be identified to targets such as aircraft, guided missiles, therefore, in laser radar
In technology, emit the performance that the accuracy of timekeeping between signal and echo-signal determines laser radar from principle.
In the prior art, the TDC (time-to-digit converter) of picosecond resolution rank is mainly realized on asic chip
, but the asic chip development cycle is long, it is expensive；And it is based on the TDC technology of FPGA (field programmable gate array)
Cost of implementation is low, the development cycle is short, design flexibility is high, still, due to the particularity of FPGA internal structure, when external environment is sent out
When changing, FPGA internal delay cells delay time changes more violent.The conventional TDC technology accuracy of timekeeping based on FPGA
In 70ps-100ps or so, when the temperature is changed, the dispersion of timing becomes larger therewith.So the conventional TDC skill based on FPGA
The accuracy of timekeeping of art be affected by the external environment it is larger, can not be suitable for complex environment under.
Larger, the nothing in consideration of it, accuracy of timekeeping for how solving the conventional TDC technology based on FPGA is affected by the external environment
Method, which is suitable for the problem under complex environment, becomes the current technical issues that need to address.
Summary of the invention
In order to solve the above technical problems, the present invention provide a kind of laser radar self calibration time set based on FPGA and
Method, the accuracy of timekeeping for being able to solve the conventional TDC technology based on FPGA is affected by the external environment larger, can not be suitable for multiple
Problem under heterocycle border.
In a first aspect, the present invention provides a kind of laser radar self calibration time set based on FPGA, comprising: external signal
Source, external delay module and FPGA minimum system；
The outside source, for generating pumping signal, comprising: the initial signal and echo-signal of laser；
The FPGA minimum system, comprising: self calibration module, moment identification module, timing module and computing module；
The self calibration module, for generating school when detecting from the enable signal of the moment identification module
Quasi- initial signal is simultaneously sent to the external delay module, while resetting and enabling the addition by turn in the self calibration module
Device, and when receiving the calibration pick-off signal that the external delay module generates, in the self calibration module by turn
Adder carry chain step-length is calibrated；
The moment identification module, for capturing the initial signal and echo-signal of laser, and according to the initial signal
With the side information of echo-signal, timing initial time and timing cut-off time are obtained；
The timing module, when timing initial time and timing for being obtained according to the moment identification module end
It carves, obtains the carry quantity and amount of cycles in the laser flying period；
The computing module, for according to the carry chain step-length obtained after the carry quantity, amount of cycles and calibration, meter
Calculation obtains laser time of flight；
The external delay module, the calibration initial signal for generating to the self calibration module carry out delay offset,
It generates calibration pick-off signal and returns to the self calibration module.
Optionally, the external delay module is made of delay line, is specifically used for received calibration initial signal
Start_0 carries out delay disposal, obtains calibration pick-off signal Stop_0.
Optionally, the timing module is made of timing unit, and the basic structure of the timing unit is adder by turn
Carry chain, wherein the unit stepping of adder, i.e. carry chain one step by turn are the minimum units of timing module.
Optionally, adder carry chain forms the self calibration module by moment discrimination circuit and by turn,
The moment discrimination circuit, for when detecting from the enable signal of the moment identification module, to institute
It states external delay module and sends calibration initial signal Start_0, while resetting and enabling the adder carry chain by turn, receive
The external delay module carries out the calibration pick-off signal Stop_0 generated after delay disposal to Start_0 signal, according to Stop_
0 signal obtains timing cut-off time, by the timing cut-off time export the adder by turn into the self calibration module into
Position chain, obtains the carry total length of the carry chain of adder by turn in this moment corresponding self calibration module, and then basis
The delay time of the carry total length and the external delay module, obtain adder by turn in the self calibration module into
Position chain step-length；And it is read in the self calibration module when detecting from the Stop_0 signal of the external delay module
Adder by turn current carry quantity n0 and current period quantity t0.
Optionally, the moment identification module, is specifically used for
When detecting from the initial signal Start of the laser of the outside source, according to the initial signal
Side information obtain timing initial time, enable the timing module and start carry operation；And works as and detect from institute
When stating the echo-signal Stop of the laser of outside source, timing cut-off time is obtained according to the side information of echo-signal, temporarily
Stop the carry operation of the timing module and reads the current carry quantity n of the adder by turn in the timing module and current
Amount of cycles t.
Optionally, the timing module, is specifically used for
Start carry operation according to the timing initial time that the moment identification module obtains, carry digit is worked as in sequential carry
When amount reaches maximum carry quantity N achieved of pre-set each period, amount of cycles is from adding；And according to the moment
The timing cut-off time that identification module obtains suspends carry operation.
Optionally, the computing module, is specifically used for
According to the carry chain step-length obtained after carry quantity, amount of cycles and the calibration in the laser flying period, pass through
Laser time of flight T is calculated in one formula；
Wherein, first formula are as follows:
T=(L/n0) × (t × N+n)
L is the preset value of the external delay module.
Second aspect, the present invention provide a kind of laser radar self calibration clocking method based on FPGA, using above-mentioned apparatus,
Include:
It is concurrent to generate calibration initial signal when detecting from the enable signal of moment identification module for self calibration module
External delay module is given, while resetting and enabling the adder by turn in the self calibration module；
The calibration initial signal that the external delay module generates the self calibration module carries out delay offset, generates school
Quasi- pick-off signal simultaneously returns to the self calibration module；
The self calibration module is when receiving the calibration pick-off signal that the external delay module generates, to the self-correcting
The carry chain step-length of adder by turn in quasi-mode block is calibrated；
Moment identification module captures the initial signal and echo-signal for the laser that outside source generates, and according to described
The side information of beginning signal and echo-signal obtains timing initial time and timing cut-off time；
The timing initial time and timing cut-off time that timing module is obtained according to the moment identification module, obtain laser
Carry quantity and amount of cycles in airborne period；
Computing module is according to the carry obtained after carry quantity, amount of cycles and the calibration in the laser flying period
Chain step-length, is calculated laser time of flight.
Optionally, the self calibration module is right when receiving the calibration pick-off signal that the external delay module generates
The carry chain step-length of adder by turn in the self calibration module is calibrated, comprising:
Discriminator circuit, which is worked as, at the time of in the self calibration module detects the enabled letter from the moment identification module
Number when, Xiang Suoshu external delay module sends calibration initial signal Start_0, at the same resets and described in enabling by turn adder into
Position chain receives the external delay module and carries out the calibration pick-off signal Stop_0 generated after delay disposal to Start_0 signal,
Timing cut-off time is obtained according to Stop_0 signal, the timing cut-off time is exported into the self calibration module by turn
Adder carry chain obtains the carry total length of the carry chain of adder by turn in this moment corresponding self calibration module,
And then according to the delay time of the carry total length and the external delay module, obtain in the self calibration module by turn
Adder carry chain step-length；And the self-correcting is read when detecting from the Stop_0 signal of the external delay module
The current carry quantity n0 and current period quantity t0 of adder by turn in quasi-mode block；
Correspondingly, the moment identification module captures the initial signal and echo-signal for the laser that outside source generates,
And according to the side information of the initial signal and echo-signal, timing initial time and timing cut-off time are obtained, comprising:
The moment identification module when detecting from the initial signal Start of the laser of the outside source,
Timing initial time is obtained according to the side information of the initial signal, the timing module is enabled and starts carry operation, and
When detecting from the echo-signal Stop of the laser of the outside source, obtained according to the side information of echo-signal
Timing cut-off time suspends the carry operation of the timing module and reads the current of the adder by turn in the timing module
Carry quantity n and current period quantity t；
Correspondingly, when the timing initial time and timing that the timing module is obtained according to the moment identification module end
It carves, obtains the carry quantity and amount of cycles in the laser flying period, comprising:
The timing module starts carry operation according to the timing initial time that the moment identification module obtains, gradually into
Position, when carry quantity reaches maximum carry quantity N achieved of pre-set each period, amount of cycles is from adding；And
Suspend carry operation according to the timing cut-off time that the moment identification module obtains.
Optionally, the computing module is according to carry quantity, amount of cycles and the calibration in the laser flying period
The carry chain step-length obtained afterwards, is calculated laser time of flight, comprising:
The computing module is according to the carry obtained after carry quantity, amount of cycles and the calibration in the laser flying period
Laser time of flight T is calculated by the first formula in chain step-length；
Wherein, first formula are as follows:
T=(L/n0) × (t × N+n)
L is the preset value of the external delay module.
As shown from the above technical solution, the laser radar self calibration time set provided in an embodiment of the present invention based on FPGA
And method, the real time calibration function to FPGA internal clocking unit is realized based on external time delay module, is able to solve conventional
The accuracy of timekeeping of TDC technology based on FPGA is affected by the external environment larger, the problem that can not be suitable under complex environment, can be with
The complex environment adaptability and accuracy of timekeeping of laser radar are improved, stability is high.
Detailed description of the invention
Fig. 1 is the process signal for the laser radar self calibration clocking method based on FPGA that one embodiment of the invention provides
Figure；
Fig. 2 is the schematic diagram of internal structure of the self calibration module in Fig. 1 that one embodiment of the invention provides；
Fig. 3 is that a kind of process for laser radar self calibration clocking method based on FPGA that one embodiment of the invention provides is shown
It is intended to.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiment of the present invention, ordinary skill people
Member's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Fig. 1 shows a kind of knot of laser radar self calibration time set based on FPGA of one embodiment of the invention offer
Structure schematic diagram, as shown in Figure 1, the laser radar self calibration time set based on FPGA of the present embodiment, comprising: outside source
11, external delay module 12 and FPGA minimum system 13；
The outside source 11, for generating pumping signal, comprising: the initial signal and echo-signal of laser；
The external delay module 12, for the calibration to the self calibration module 14 generated in the FPGA minimum system 13
Initial signal carries out delay offset, generates calibration pick-off signal and returns to the self calibration module 14；
The FPGA minimum system 13, comprising: self calibration module 14, moment identification module 15, timing module 16 and operation
Module 17；
The self calibration module 14, for giving birth to when detecting from the enable signal of the moment identification module 15
Initial signal and be sent to the external delay module 12 at calibration, at the same reset and enable in the self calibration module 14 by
Position adder, and when receiving the calibration pick-off signal that the external delay module 12 generates, to the self calibration module
The carry chain step-length of adder by turn in 14 is calibrated；
The moment identification module 15 is believed for capturing the initial signal and echo-signal of laser, and according to the starting
Number and echo-signal side information, obtain timing initial time and timing cut-off time；
The timing module 16, timing initial time and timing for being obtained according to the moment identification module 15 end
Moment obtains carry quantity and amount of cycles in the laser flying period；
The computing module 17, for according to the carry chain step-length obtained after the carry quantity, amount of cycles and calibration,
Laser time of flight is calculated.
It is understood that the self calibration module 14 is in the calibration cut-off for receiving the generation of external delay module 12
When signal, the carry chain step-length of adder by turn in the self calibration module 14 is calibrated, obtained carry chain step-length is
The one step of laser radar timing；The carry chain step-length obtained after calibration are as follows: L/n0, wherein L is the external delay module
Preset value, n0 be initial signal obtained carry quantity after Postponement module.
In a particular application, the external delay module 12 can be made of delay line, be specifically used for received calibration
Initial signal Start_0 carries out delay disposal, obtains calibration pick-off signal Stop_0.
In a particular application, the timing module 16 can be made of timing unit, the basic structure of the timing unit
For adder carry chain by turn, wherein the unit stepping of adder, i.e. carry chain one step by turn, be timing module most
Junior unit.
In a particular application, as shown in Fig. 2, the self calibration module 14 is by can be with moment discrimination circuit 18 and addition by turn
Device carry chain 19 forms,
The moment discrimination circuit 18, for when detecting from the enable signal of the moment identification module 15,
Calibration initial signal Start_0 is sent to the external delay module 12, while resetting and enabling the adder carry by turn
Chain 19 receives the external delay module 12 and carries out the calibration pick-off signal Stop_ generated after delay disposal to Start_0 signal
0, timing cut-off time is obtained according to Stop_0 signal, the timing cut-off time is exported into the self calibration module 14
Adder carry chain 19 by turn, obtain the carry chain of adder by turn 19 in this moment corresponding self calibration module 14 into
Position total length, and then according to the delay time of the carry total length and the external delay module 12, obtain the self calibration
The carry chain step-length of adder by turn in module 14；And work as the Stop_0 letter detected from the external delay module 12
Number when read the current carry quantity n0 and current period quantity t0 of adder by turn in the self calibration module 14.
In a particular application, the moment identification module 15, can be specifically used for
When detecting from the initial signal Start of the laser of the outside source 11, believed according to the starting
Number side information (i.e. rising edge information or failing edge information) obtain timing initial time, enable the timing module 16 and open
Beginning carry operation；And when detecting from the echo-signal Stop of the laser of the outside source 11, according to echo
The side information (i.e. rising edge information or failing edge information) of signal obtains timing cut-off time, suspends the timing module 16
Carry operation and read the current carry quantity n and current period quantity t of the adder by turn in the timing module 16.
In a particular application, the timing module 16, can be specifically used for
Start carry operation according to the timing initial time that the moment identification module 15 obtains, carry is worked as in sequential carry
When quantity reaches maximum carry quantity N achieved of pre-set each period, amount of cycles from plus；And according to it is described when
It carves the timing cut-off time that identification module 15 obtains and suspends carry operation.
In a particular application, the computing module 17, can be specifically used for
According to the carry chain step-length obtained after carry quantity, amount of cycles and the calibration in the laser flying period, pass through
Laser time of flight T is calculated in one formula；
Wherein, first formula are as follows:
T=(L/n0) × (t × N+n) (1)
L is the preset value of the external delay module.
It is understood that FPGA minimum system 13 described in the present embodiment can complete the high-accuracy stable of picosecond resolution
Timing
The laser radar self calibration time set based on FPGA of the present embodiment is realized pair based on external time delay module
The real time calibration function of FPGA internal clocking unit is able to solve the accuracy of timekeeping of the conventional TDC technology based on FPGA by outer
Boundary's environment is affected, and the complex environment adaptability of laser radar can be improved in the problem that can not be suitable under complex environment
And accuracy of timekeeping, stability are high.
The process that Fig. 3 shows the laser radar self calibration clocking method based on FPGA of one embodiment of the invention offer is shown
It is intended to, method described in the present embodiment is filled using the laser radar self calibration timing described in above-mentioned apparatus embodiment based on FPGA
It sets, as shown in figure 3, the laser radar self calibration clocking method based on FPGA of the present embodiment is as described below.
101, self calibration module generates calibration initial signal when detecting from the enable signal of moment identification module
And it is sent to external delay module, while resetting and enabling the adder by turn in the self calibration module.
102, the calibration initial signal that the external delay module generates the self calibration module carries out delay offset, raw
At calibration pick-off signal and return to the self calibration module.
103, the self calibration module is when receiving the calibration pick-off signal that the external delay module generates, to described
The carry chain step-length of adder by turn in self calibration module is calibrated.
It is understood that the self calibration module 14 is in the calibration cut-off for receiving the generation of external delay module 12
When signal, the carry chain step-length of adder by turn in the self calibration module 14 is calibrated, obtained carry chain step-length is
The one step of laser radar timing.
In a particular application, the step 103 may include:
Discriminator circuit, which is worked as, at the time of in the self calibration module detects the enabled letter from the moment identification module
Number when, Xiang Suoshu external delay module sends calibration initial signal Start_0, at the same resets and described in enabling by turn adder into
Position chain receives the external delay module and carries out the calibration pick-off signal Stop_0 generated after delay disposal to Start_0 signal,
Timing cut-off time is obtained according to Stop_0 signal, the timing cut-off time is exported into the self calibration module by turn
Adder carry chain obtains the carry total length of the carry chain of adder by turn in this moment corresponding self calibration module,
And then according to the delay time of the carry total length and the external delay module, obtain in the self calibration module by turn
Adder carry chain step-length；And the self-correcting is read when detecting from the Stop_0 signal of the external delay module
The current carry quantity n0 and current period quantity t0 of adder by turn in quasi-mode block.
It is understood that the carry chain step-length obtained after calibration are as follows: L/ (t0 × N+n0), wherein L is that the outside is prolonged
The preset value of slow module, N are the timing module pre-set each period maximum carry quantity achieved.
104, moment identification module captures the initial signal and echo-signal for the laser that outside source generates, and according to institute
The side information for stating initial signal and echo-signal obtains timing initial time and timing cut-off time.
In a particular application, the step 104 may include:
The moment identification module when detecting from the initial signal Start of the laser of the outside source,
Timing initial time is obtained according to the side information of the initial signal, the timing module is enabled and starts carry operation, and
When detecting from the echo-signal Stop of the laser of the outside source, obtained according to the side information of echo-signal
Timing cut-off time suspends the carry operation of the timing module and reads the current of the adder by turn in the timing module
Carry quantity n and current period quantity t.
105, the timing initial time and timing cut-off time that timing module is obtained according to the moment identification module, obtain
Carry quantity and amount of cycles in the laser flying period.
In a particular application, the step 105 may include:
The timing module starts carry operation according to the timing initial time that the moment identification module obtains, gradually into
Position, when carry quantity reaches maximum carry quantity N achieved of pre-set each period, amount of cycles is from adding；And
Suspend carry operation according to the timing cut-off time that the moment identification module obtains.
106, computing module after carry quantity, amount of cycles and the calibration in the laser flying period according to obtaining
Carry chain step-length, is calculated laser time of flight.
In a particular application, the step 106 may include:
The computing module is according to the carry obtained after carry quantity, amount of cycles and the calibration in the laser flying period
Laser time of flight T is calculated by the first formula in chain step-length；
Wherein, first formula are as follows:
T=(L/n0) × (t × N+n) (1)
L is the preset value of the external delay module.
The laser radar self calibration clocking method based on FPGA of the present embodiment, using described in Installation practice based on
The laser radar self calibration time set of FPGA realizes the real-time school to FPGA internal clocking unit based on external time delay module
Quasi- function, the accuracy of timekeeping for being able to solve the conventional TDC technology based on FPGA is affected by the external environment larger, can not be suitable for
Problem under complex environment, can be improved the complex environment adaptability and accuracy of timekeeping of laser radar, and stability is high.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.Term " on ", "lower" etc. refer to
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplifies
Description, rather than the device or element of indication or suggestion meaning must have a particular orientation, constructed and grasped with specific orientation
Make, therefore is not considered as limiting the invention.Unless otherwise clearly defined and limited, term " installation ", " connected ",
" connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be
Mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary
Connection inside element.For the ordinary skill in the art, above-mentioned term can be understood at this as the case may be
Concrete meaning in invention.
In specification of the invention, numerous specific details are set forth.Although it is understood that the embodiment of the present invention can
To practice without these specific details.In some instances, well known method, structure and skill is not been shown in detail
Art, so as not to obscure the understanding of this specification.Similarly, it should be understood that disclose in order to simplify the present invention and helps to understand respectively
One or more of a inventive aspect, in the above description of the exemplary embodiment of the present invention, each spy of the invention
Sign is grouped together into a single embodiment, figure, or description thereof sometimes.However, should not be by the method solution of the disclosure
Release is in reflect an intention that i.e. the claimed invention requires more than feature expressly recited in each claim
More features.More precisely, as the following claims reflect, inventive aspect is less than single reality disclosed above
Apply all features of example.Therefore, it then follows thus claims of specific embodiment are expressly incorporated in the specific embodiment,
It is wherein each that the claims themselves are regarded as separate embodiments of the invention.It should be noted that in the absence of conflict, this
The feature in embodiment and embodiment in application can be combined with each other.The invention is not limited to any single aspect,
It is not limited to any single embodiment, is also not limited to any combination and/or displacement of these aspects and/or embodiment.And
And can be used alone each aspect and/or embodiment of the invention or with other one or more aspects and/or its implementation
Example is used in combination.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme should all cover within the scope of the claims and the description of the invention.
Claims (10)
1. a kind of laser radar self calibration time set based on FPGA characterized by comprising outside source, outside are prolonged
Slow module and FPGA minimum system；
The outside source, for generating pumping signal, comprising: the initial signal and echo-signal of laser；
The FPGA minimum system, comprising: self calibration module, moment identification module, timing module and computing module；
The self calibration module, for when detecting from the enable signal of the moment identification module, generation to be calibrated
Beginning signal is simultaneously sent to the external delay module, while resetting and enabling the adder by turn in the self calibration module, with
And when receiving the calibration pick-off signal that the external delay module generates, to the adder by turn in the self calibration module
Carry chain step-length is calibrated；
The moment identification module for capturing the initial signal and echo-signal of laser, and according to the initial signal and returns
The side information of wave signal obtains timing initial time and timing cut-off time；
The timing module, timing initial time and timing cut-off time for being obtained according to the moment identification module, is obtained
Obtain the carry quantity and amount of cycles in the laser flying period；
The computing module, for calculating according to the carry chain step-length obtained after the carry quantity, amount of cycles and calibration
To laser time of flight；
The external delay module, the calibration initial signal for generating to the self calibration module carry out delay offset, generate
Calibration pick-off signal simultaneously returns to the self calibration module.
2. the apparatus according to claim 1, which is characterized in that the external delay module is made of delay line, specific to use
In carrying out delay disposal to received calibration initial signal Start_0, calibration pick-off signal Stop_0 is obtained.
3. the apparatus according to claim 1, which is characterized in that the timing module is made of timing unit, the timing
The basic structure of unit is adder carry chain by turn, wherein the unit stepping of adder, i.e. carry chain one step by turn,
It is the minimum unit of timing module.
4. device according to claim 3, which is characterized in that the self calibration module adds by moment discrimination circuit and by turn
Musical instruments used in a Buddhist or Taoist mass carry chain composition,
The moment discrimination circuit, for when detecting from the enable signal of the moment identification module, to described outer
Portion's Postponement module sends calibration initial signal Start_0, while resetting and enabling the adder carry chain by turn, described in reception
External delay module carries out the calibration pick-off signal Stop_0 generated after delay disposal to Start_0 signal, is believed according to Stop_0
Number timing cut-off time is obtained, the timing cut-off time is exported into the adder carry by turn into the self calibration module
Chain obtains the carry total length of the carry chain of adder by turn in this moment corresponding self calibration module, and then according to institute
The delay time for stating carry total length and the external delay module obtains the adder carry by turn in the self calibration module
Chain step-length；And it is read in the self calibration module when detecting from the Stop_0 signal of the external delay module
The current carry quantity n0 and current period quantity t0 of adder by turn.
5. device according to claim 4, which is characterized in that the moment identification module is specifically used for
When detecting from the initial signal Start of the laser of the outside source, according to the side of the initial signal
Timing initial time is obtained along information, the timing module is enabled and starts carry operation；And works as and detect from described outer
When the echo-signal Stop of the laser of portion's signal source, timing cut-off time is obtained according to the side information of echo-signal, suspends institute
It states the carry operation of timing module and reads the current carry quantity n and current period of the adder by turn in the timing module
Quantity t.
6. device according to claim 5, which is characterized in that the timing module is specifically used for
Start carry operation, sequential carry, when carry quantity reaches according to the timing initial time that the moment identification module obtains
When maximum carry quantity N achieved to pre-set each period, amount of cycles from plus；And identified according to the moment
The timing cut-off time that module obtains suspends carry operation.
7. device according to claim 6, which is characterized in that the computing module is specifically used for
According to the carry chain step-length obtained after carry quantity, amount of cycles and the calibration in the laser flying period, pass through the first public affairs
Laser time of flight T is calculated in formula；
Wherein, first formula are as follows:
T=(L/n0) × (t × N+n)
L is the preset value of the external delay module.
8. a kind of laser radar self calibration clocking method based on FPGA, using the device of any of claims 1-7,
It is characterised by comprising:
Self calibration module generates calibration initial signal and is sent to when detecting from the enable signal of moment identification module
External delay module, while resetting and enabling the adder by turn in the self calibration module；
The calibration initial signal that the external delay module generates the self calibration module carries out delay offset, generates calibration and cuts
Stop signal simultaneously returns to the self calibration module；
The self calibration module is when receiving the calibration pick-off signal that the external delay module generates, to the self-correcting quasi-mode
The carry chain step-length of adder by turn in block is calibrated；
Moment identification module captures the initial signal and echo-signal for the laser that outside source generates, and is believed according to the starting
Number and echo-signal side information, obtain timing initial time and timing cut-off time；
The timing initial time and timing cut-off time that timing module is obtained according to the moment identification module, obtain laser flying
Carry quantity and amount of cycles in period；
Computing module is walked according to the carry chain obtained after carry quantity, amount of cycles and the calibration in the laser flying period
It is long, laser time of flight is calculated.
9. according to the method described in claim 8, it is characterized in that, the self calibration module is receiving the external delay mould
When the calibration pick-off signal that block generates, the carry chain step-length of adder by turn in the self calibration module is calibrated, comprising:
Discriminator circuit is when detecting from the enable signal of the moment identification module at the time of in the self calibration module,
Calibration initial signal Start_0 is sent to the external delay module, while resetting and enabling the adder carry chain by turn,
It receives the external delay module and carries out the calibration pick-off signal Stop_0 generated after delay disposal to Start_0 signal, according to
Stop_0 signal obtains timing cut-off time, and the timing cut-off time is exported the addition by turn into the self calibration module
Device carry chain obtains the carry total length of the carry chain of adder by turn in this moment corresponding self calibration module, in turn
According to the delay time of the carry total length and the external delay module, the addition by turn in the self calibration module is obtained
Device carry chain step-length；And the self-correcting quasi-mode is read when detecting from the Stop_0 signal of the external delay module
The current carry quantity n0 and current period quantity t0 of adder by turn in block；
Correspondingly, the moment identification module captures the initial signal and echo-signal for the laser that outside source generates, and root
According to the side information of the initial signal and echo-signal, timing initial time and timing cut-off time are obtained, comprising:
The moment identification module when detecting from the initial signal Start of the laser of the outside source, according to
The side information of the initial signal obtains timing initial time, enables the timing module and starts carry operation, and when inspection
When measuring from the echo-signal Stop of the laser of the outside source, timing is obtained according to the side information of echo-signal
Cut-off time suspends the carry operation of the timing module and that reads the adder by turn in the timing module works as advanced potential
Quantity n and current period quantity t；
Correspondingly, the timing initial time and timing cut-off time that the timing module is obtained according to the moment identification module,
Obtain the carry quantity and amount of cycles in the laser flying period, comprising:
The timing module starts carry operation according to the timing initial time that the moment identification module obtains, sequential carry,
When carry quantity reaches maximum carry quantity N achieved of pre-set each period, amount of cycles from plus；And according to
The timing cut-off time that the moment identification module obtains suspends carry operation.
10. according to the method described in claim 9, it is characterized in that, the computing module is according in the laser flying period
Carry quantity, obtained carry chain step-length after amount of cycles and calibration, laser time of flight is calculated, comprising:
The computing module is walked according to the carry chain obtained after carry quantity, amount of cycles and the calibration in the laser flying period
It is long, laser time of flight T is calculated by the first formula；
Wherein, first formula are as follows:
T=(L/n0) × (t × N+n)
L is the preset value of the external delay module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710979509.9A CN109683154B (en) | 2017-10-19 | 2017-10-19 | Laser radar self-calibration timing device and method based on FPGA |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710979509.9A CN109683154B (en) | 2017-10-19 | 2017-10-19 | Laser radar self-calibration timing device and method based on FPGA |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109683154A true CN109683154A (en) | 2019-04-26 |
| CN109683154B CN109683154B (en) | 2020-12-18 |
Family
ID=66183788
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710979509.9A Active CN109683154B (en) | 2017-10-19 | 2017-10-19 | Laser radar self-calibration timing device and method based on FPGA |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109683154B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110764075A (en) * | 2019-07-29 | 2020-02-07 | 南京芯视界微电子科技有限公司 | Laser radar receiving chip test system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101441232A (en) * | 2008-12-25 | 2009-05-27 | 中南大学 | Time base frequency real time calibration frequency measuring method and apparatus |
| US20130278917A1 (en) * | 2012-03-21 | 2013-10-24 | Honda Motor Co., Ltd. | Distance measuring system |
| CN103837741A (en) * | 2014-03-12 | 2014-06-04 | 河南科技大学 | Equal-precision frequency testing system based on FPGA and design method thereof |
| US8957705B2 (en) * | 2012-09-14 | 2015-02-17 | Intel Corporation | Phase frequency detector |
| CN206193241U (en) * | 2016-09-12 | 2017-05-24 | 北京万集科技股份有限公司 | Range unit of three -dimensional laser |
| CN206311760U (en) * | 2016-12-16 | 2017-07-07 | 北京万集科技股份有限公司 | A kind of laser radar system |
-
2017
- 2017-10-19 CN CN201710979509.9A patent/CN109683154B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101441232A (en) * | 2008-12-25 | 2009-05-27 | 中南大学 | Time base frequency real time calibration frequency measuring method and apparatus |
| US20130278917A1 (en) * | 2012-03-21 | 2013-10-24 | Honda Motor Co., Ltd. | Distance measuring system |
| US8957705B2 (en) * | 2012-09-14 | 2015-02-17 | Intel Corporation | Phase frequency detector |
| CN103837741A (en) * | 2014-03-12 | 2014-06-04 | 河南科技大学 | Equal-precision frequency testing system based on FPGA and design method thereof |
| CN206193241U (en) * | 2016-09-12 | 2017-05-24 | 北京万集科技股份有限公司 | Range unit of three -dimensional laser |
| CN206311760U (en) * | 2016-12-16 | 2017-07-07 | 北京万集科技股份有限公司 | A kind of laser radar system |
Non-Patent Citations (1)
| Title |
|---|
| 马成等: "实时温度补偿的TDC时间间隔测量方法设计与实现", 《全球定位系统》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110764075A (en) * | 2019-07-29 | 2020-02-07 | 南京芯视界微电子科技有限公司 | Laser radar receiving chip test system |
| CN110764075B (en) * | 2019-07-29 | 2020-04-17 | 南京芯视界微电子科技有限公司 | Laser radar receiving chip test system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109683154B (en) | 2020-12-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108594254A (en) | A method of improving TOF laser imaging radar range accuracies | |
| WO2014158994A1 (en) | Lidar scanner | |
| CN101834684A (en) | GPS clock synchronization method for distributed acoustic positioning system | |
| CN109683154A (en) | Laser radar self calibration time set and method based on FPGA | |
| CN101655505B (en) | Non-contact velocity measuring device with multi-path parallel light-sensitive array | |
| CN106066599B (en) | Chronometer time measuring system for three-dimensional laser scanner | |
| CN103412474B (en) | Range high-precision expanded circuit when TDC-GP2 based on FPGA surveys | |
| TWI233481B (en) | Laser range finder | |
| CN108802734A (en) | A kind of method and device that control radar system sequence synchronizes | |
| CN108919234B (en) | Processing circuit for transmitting sampling signal and pulse type laser radar | |
| CN108387906A (en) | A kind of three-dimensional laser imaging system based on FPGA-TDC | |
| CN104316775A (en) | Pulse signal cycle and duty ratio continuous measurement method | |
| CN108061885A (en) | The implementation method of multi-channel laser Fuze target feature recognition signal processing circuit | |
| CN112558514A (en) | Multi-device hardware synchronization method | |
| CN101702617B (en) | High-precision +/-180 DEG digital phase distinguishing method and applying device thereof | |
| CN109100700A (en) | A kind of singly sampling Radar Signal Processing System and method | |
| CN115097420A (en) | Laser range finder signal calibration method and device based on AD data and electronic equipment | |
| CN103248342A (en) | Pulse delay circuit and scanning method | |
| CN203502749U (en) | Pulse time interval measuring device | |
| CN103529687B (en) | Pulse interval measuring device | |
| CN108896966B (en) | Transmission control time sequence generation circuit and two-dimensional laser radar | |
| RU2361237C2 (en) | Method of photo-location measurement of height of cloud layers and device to this end | |
| RU2792970C1 (en) | Pulse counter for a digital range finder | |
| RU191380U1 (en) | RADAR STATION WITH UNIVERSAL MEASURING RANGE TO METEOROLOGICAL OBJECT | |
| Dhongade et al. | Food Sensing Technique Using Time To Digital Convertion Principle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231206 Address after: 430200, 7th floor, Building 3, Phase II, Modern Service Industry Demonstration Base, Huazhong University of Science and Technology Science Park, Guandong Street, Wuhan Donghu New Technology Development Zone, Wuhan City, Hubei Province Patentee after: Wuhan Wanji Photoelectric Technology Co.,Ltd. Address before: 100085 No. 5, building 1, East Road, Haidian District, Beijing, 601 Patentee before: BEIJING WANJI TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right |