CN109696684A - Self-correlation laser radar device - Google Patents
Self-correlation laser radar device Download PDFInfo
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- CN109696684A CN109696684A CN201910024580.0A CN201910024580A CN109696684A CN 109696684 A CN109696684 A CN 109696684A CN 201910024580 A CN201910024580 A CN 201910024580A CN 109696684 A CN109696684 A CN 109696684A
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- 238000005311 autocorrelation function Methods 0.000 claims abstract description 11
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Classifications
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
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- Computer Networks & Wireless Communication (AREA)
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- Radar, Positioning & Navigation (AREA)
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- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses an autocorrelation laser radar device, which comprises the steps of firstly obtaining a section of square wave signal through a laser pulse signal, wherein the starting time of the square wave signal is the pulse starting time, and the ending time of the square wave signal is the laser pulse stopping time; and then, carrying out autocorrelation function processing on the square wave signal to obtain a bilaterally symmetrical triangle, wherein the moment when the triangle starts to generate is the starting moment of the square wave signal, the moment when the triangle reaches the highest point is the ending moment of the square wave, and the length of the bottom side of the left half triangle can be obtained by obtaining the highest point value of the triangle and the slope value of the left half of the triangle, wherein the length is the difference value of the starting moment and the ending moment of the square wave, and is the flight time of the pulse.
Description
Technical field
The invention belongs to radio wave technologies fields, more specifically, be related to it is a kind of estimation square wave duration from
Associated laser radar installations.
Background technique
Laser radar using very extensive, from surface development to aerial, develop to space from the air, develop from land
It to sea, is developed under water from sea, and is related to multiple ambits.The advantage that it has normal radar incomparable, nothing
All have broad application prospects by militarily or on civilian.
With the development of science and technology people are higher and higher to intelligentized demand, with and what is come is height to sensor
It is required that.Different from traditional camera visual imaging, the precision of lidar measurement data, distance, resolution ratio will be higher by very much.
The following laser radar will be widely used in each scene, the small sweeping robot to family, and vehicle-mounted automated navigation system arrives greatly
The auto-mapping of aircraft, the precision ranging of satellite.
The ranging of narrow-band impulse flight time, i.e. transmitting module are used for the laser radar system major part manufacturer of low cost
Pulse laser issue one section of narrow-pulse laser, and simultaneously to processor send starting electric signal, the optics sense of receiving module
Answer device receive pulse laser hit the mark object reflection after echo, and to processor send cut-off electric signal, processor
By calculating initial signal, the time difference of pick-off signal calculates the flight time of laser pulse, the flight measured by system
Time is multiplied with known light wave speed, calculates the distance between laser radar and object.
Since light velocity numerical value is larger, the occasion (such as unmanned) having higher requirements for certain pairs of data, to sharp
The initial time of light pulse, the temporal resolution requirement of cut-off time is very high, and (error of 100ps will be such that range error reaches
3cm).Traditional threshold method, constant proportion method etc. are difficult to reach necessary requirement.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of auto-correlation laser radar apparatus, using certainly
Correlation function carries out auto-correlation processing to flight time square-wave signal, and then obtains square wave duration.
For achieving the above object, a kind of auto-correlation laser radar apparatus of the present invention characterized by comprising
CPU module is mainly responsible for the modules into system and sends instruction, and receives modules feedback coefficient
According to and handle, thus control system overall operation；
CPU module first sends to laser pulse emission module and instructs, it is enabled to emit laser pulse signal；And it is same
When to laser pulse receiving module send instruct, enable its prepare receive echo impulse；Etc. then flight time square wave to be received produces
The feedback signal that raw module is sent, after receiving feedback signal, CPU module is sent to triangular wave peak computation module
Instruction, and wait the feedback signal of triangular wave peak computation module；When central processing unit receives triangular wave peak computation module
After feedback signal, square wave duration is calculated by auto-correlation function；
Laser pulse emission module is built-in with laser, photoinduction unit and electric signal amplifying unit；Laser is responsible for connecing
The instruction that CPU module is sent is received, laser pulse signal is then emitted；Photoinduction unit is for generating original pulse
Initial signal；Electric signal amplifying unit amplifies original start-of-pulsing signal；
After laser pulse emission module receives the instruction of CPU module transmitting, photoinduction unit is activated, then
For laser to spatial emission laser pulse signal, photoinduction unit produces original pulse after sensing laser pulse signal
Beginning signal, electric signal amplifying unit amplify original start-of-pulsing signal, are then input to the generation of flight time square wave
Module；
Laser pulse receiving module is built-in with photoinduction unit and electric signal amplifying unit；Photoinduction unit is for generating
Original pulse pick-off signal, electric signal amplifying unit is for amplifying original pulse pick-off signal；
After laser pulse receiving module receives the instruction of CPU module transmitting, photoinduction unit is activated, light is worked as
When the echo-signal that sensing units sense is generated to laser pulse signal by target object reflection, original pulse cut-off is generated
Then signal amplifies original pulse pick-off signal by electric signal amplifying unit, then is input to flight time square wave
Generation module；
Flight time square wave generation module is built-in with threshold generator unit, two comparator units and and gate cell；Threshold
Value Generator Unit provides threshold value for two comparator units, and two comparator units are for intercepting start-of-pulsing signal and pulse
Pick-off signal is used to generate flight time square-wave signal with gate cell；
After flight time square wave generation module receives the instruction of CPU module transmitting, pass through threshold generator list
Member generates threshold value of the suitable level as two comparator units；Two comparator units are according to the threshold value of offer, to signal
The signal that laser pulse emission module and laser pulse receiving module are sent is intercepted, wherein a comparator unit is used
In intercepting amplified start-of-pulsing signal, the square wave letter for the initial time that a start time is start-of-pulsing signal is produced
Number, for another comparator unit for intercepting pulse pick-off signal, producing a finish time is cutting for pulse pick-off signal
The only square-wave signal at moment；Then, flight time square wave letter is produced to the progress of the two square-wave signals and operation with gate cell
Number, then flight time square-wave signal is input to triangular wave peak computation module, while sending and feeding back to CPU module
Signal；
Triangular wave peak computation module is built-in with integrating circuit unit, peak holding circuit unit and analog to digital sampling
Circuit unit；
After triangular wave peak computation module receives the instruction of CPU module transmitting, integrating circuit unit is to flight
Time square-wave signal carries out integral operation, produces a triangular signal；Peak holding circuit unit is to triangular signal
Peak value carries out level holding, obtains the peak level of triangular signal；Then analog to digital sampling unit carries out peak level
Sampling, obtains level numerical value, which is sent to CPU module in the form of feedback signal；
Power module is mainly responsible for the modules into system and provides required level and ground interface, maintains system normal
Operating.
Goal of the invention of the invention is achieved in that
A kind of auto-correlation laser radar apparatus of the present invention first passes through laser pulse signal and obtains one section of square-wave signal, square wave
Signal start time is the moment when pulse originates, and square-wave signal finish time is laser pulse cut-off time；Again by the party
Wave signal does auto-correlation function processing, obtains a symmetrical triangle, and triangle starts to generate the moment as square wave letter
It is the finish time of square wave at the time of triangle peaks, by the highest point for obtaining the triangle at the beginning of number
The slope value of numerical value and the left one side of something of the triangle can be obtained the bottom edge length of left half of triangle, which is that square wave is opened
The difference of finish time at moment beginning, the as flight time of pulse.
Meanwhile a kind of auto-correlation laser radar apparatus of the present invention also has the advantages that
(1), square wave duration is calculated compared to traditional threshold method, this method can obtain better precision, threshold value
The determination at the state pause judgments moment of method is highly dependent on the trigger signal of comparator generation, even if being the extremely excellent comparison of performance
Device, the generation of trigger signal can also generate the delay of 25ns, because light velocity numerical value is excessive, this is in laser radar system can not
(25ns means 7.5 meters) of tolerance.And the program very effective can eliminate this kind of error, two segment signals of the system are all
Comparator of the same race can be passed through, this means can effectively remove time delay brought by comparator itself, and finally interception generates
Flight time square wave then generated by AND gate circuit, compared to comparator 25ns be delayed, it is complete with the delay of door 100ps rank
(100ps means 3cm) can be ignored, this method can obtain better measurement accuracy compared with threshold method.
(2), the measurement of threshold method is highly dependent on threshold value, and triggering letter is generated when the level in circuit is higher than threshold value
Number, due to the influence of noise in circuit, especially in this high current high power system of laser radar system, shadow of the noise to level
Sound is very big.Some spike noises probably directly break through threshold value, take for signal so as to cause comparator and arrive, generate touching
It signals, generates the result of mistake.In contrast, this method can the effectively influence for eliminating this spike noise, the party
Case calculates square wave duration by the way of integral.Since the peak value of spike noise is larger, but the duration is very short, therefore adopts
It can the very effective influence for inhibiting this noise to generate measurement with the method for integral.More than this noise, for more
Kind noise can have the smoothing effect of integral to be inhibited, therefore the system has better robustness.
(3), for threshold method, the measurement flight time needs the timing circuit of a set of complexity, particularly with laser thunder
Up to for system, the accuracy of the circuit wants high, especially outdoors motion state be highly susceptible to sense disturb, high-frequency crystal oscillator it is micro-
The error that small shake generates measurement is all huge.And the time measurement of this method is then completed by integrating circuit, compared to
For high-precision timing circuit, integrating circuit is simpler, steadily and surely, without a series of Sensitive Apparatuses such as high-frequency crystal oscillator.
Detailed description of the invention
Fig. 1 is a kind of a kind of specific embodiment architecture diagram of auto-correlation laser radar apparatus of the present invention；
Fig. 2 is the schematic diagram of triangular wave peak computation module；
Fig. 3 is flight time square wave generation module schematic diagram；
Fig. 4 is that square-wave signal by auto-correlation function seeks duration schematic diagram.
Specific embodiment
A specific embodiment of the invention is described with reference to the accompanying drawing, preferably so as to those skilled in the art
Understand the present invention.Requiring particular attention is that in the following description, when known function and the detailed description of design perhaps
When can desalinate main contents of the invention, these descriptions will be ignored herein.
Embodiment
Fig. 1 is a kind of a kind of specific embodiment architecture diagram of auto-correlation laser radar apparatus of the present invention.
In the present embodiment, as shown in Figure 1, a kind of auto-correlation laser radar apparatus of the present invention, comprising: central processing unit mould
Block, laser pulse emission module, laser pulse receiving module, flight time square wave generation module, triangular wave peak computation module,
Power module.
CPU module is mainly responsible for the modules into system and sends instruction, and receives modules feedback coefficient
According to and handle, thus control system overall operation.
CPU module first sends to laser pulse emission module and instructs, it is enabled to emit laser pulse signal；And it is same
When to laser pulse receiving module send instruct, enable its prepare receive echo impulse；Etc. then flight time square wave to be received produces
The feedback signal that raw module is sent, after receiving feedback signal, CPU module is sent to triangular wave peak computation module
Instruction, and wait the feedback signal of triangular wave peak computation module；When central processing unit receives triangular wave peak computation module
After feedback signal, the peak electricity level values that triangular wave peak computation module samples are obtained, central processing unit can be by the level value
It is divided by with by consulting the square wave amplitude value that electronic device handbook obtains, to complete the calculating of square wave duration.
In the present embodiment, CPU module can select 51 single-chip microcontrollers, MP430 single-chip microcontroller, for requirements at the higher level
It can be also raspberry pie etc..
Laser pulse emission module is built-in with laser, photoinduction unit and electric signal amplifying unit；Laser is responsible for connecing
The instruction that CPU module is sent is received, laser pulse signal is then emitted；Photoinduction unit is for generating original pulse
Initial signal；Electric signal amplifying unit amplifies original start-of-pulsing signal.
After laser pulse emission module receives the instruction of CPU module transmitting, photoinduction unit is activated, then
For laser to spatial emission laser pulse signal, photoinduction unit produces original pulse after sensing laser pulse signal
Beginning signal, electric signal amplifying unit amplify original start-of-pulsing signal, are then input to the generation of flight time square wave
Module.
Laser pulse receiving module is built-in with photoinduction unit and electric signal amplifying unit；Photoinduction unit is for generating
Original pulse pick-off signal, electric signal amplifying unit is for amplifying original pulse pick-off signal.
After laser pulse receiving module receives the instruction of CPU module transmitting, photoinduction unit is activated, light is worked as
When the echo-signal that sensing units sense is generated to laser pulse signal by target object reflection, original pulse cut-off is generated
Then signal amplifies original pulse pick-off signal by electric signal amplifying unit, then is input to flight time square wave
Generation module.
It in the present embodiment, will be to the position of laser pulse emission module, laser pulse receiving module before first use
It is adjusted, for the target of estimated measurement range, to adjust the position of two modules, emit laser pulse emission module sharp
Reflected light after light hits the mark can hit the photoinduction unit of laser pulse receiving module.This adjustment process is in addition to needing
The lens design analysis of the photoinduction unit of lens and laser pulse receiving module to the laser of laser pulse emission module
Outside, it is also necessary to optical path be simulated using visible continuous ray laser source, then manually or mechanically finely tuned, it is enabled to reach
Optimum Working；Secondly, the photoinduction unit of laser pulse emission module and the photoinduction unit of laser pulse receiving module
Different designs need to be selected.For the photoinduction module of laser pulse emission module, since distance lasers light source is closer, can feel
By biggish pulsed laser energy, so needing lesser amplification factor, to prevent from being punctured by excessive energy, similarly thereafter
Continuous amplifying unit will also consider this point, be amplified to suitable size.In addition the photoinduction unit of the module need to only be used and divide
Light device point carrys out a small amount of laser energy triggering, should not waste excessive pulsed laser energy in this part, more should not be direct
Stop the emission pulse laser of laser.Most of energy that laser generates laser will be emitted in space, for based on anti-
Penetrate the flight time ranging of light.And for laser pulse receiving module, the propagation attenuation of laser in space is by distance
Squared impact, therefore for there is great energy attenuation more at a distance, this has higher requirement for photoinduction unit, in addition to wanting
There is higher amplification factor, can sense the faint optical signal of radiation back, it is also necessary to have filter function, other can be filtered out
The noise light of wave band.Logical sample, amplifying unit subsequent for the module also have higher requirement, it would be desirable to be able to which ultra-weak electronic signal is put
Enough sizes are arrived greatly.Therefore, the amplification factor of the electric signal amplifying unit in laser pulse emission module is much smaller than laser arteries and veins
Rush the amplification factor of the electric signal amplifying unit in receiving module.
As shown in figure 3, flight time square wave generation module, be built-in with threshold generator unit, two comparator units and
With gate cell；Threshold generator unit provides threshold value for two comparator units, and two comparator units rise for intercepting pulse
Beginning signal and pulse pick-off signal are used to generate flight time square-wave signal with gate cell.
After flight time square wave generation module receives the instruction of CPU module transmitting, pass through threshold generator list
Member generates threshold value of the suitable level as two comparator units；Two comparator units are according to the threshold value of offer, to signal
The signal that laser pulse emission module and laser pulse receiving module are sent is intercepted, and one section of flight time square wave is got
Signal.
As shown in Fig. 2 (a), wherein a comparator unit produces one for intercepting amplified start-of-pulsing signal
A start time is the square-wave signal of the initial time of start-of-pulsing signal, another comparator unit is for intercepting pulse cut-off
Signal produces the square-wave signal for the cut-off time that a finish time is pulse pick-off signal；In the present embodiment, due to than
Compared with the time delay (high-performance about 5ns or so) of device unit, which is not a smooth square wave, and this point is also
One of traditional pulse mensuration error Producing reason, and shift to an earlier date since pulse will cause comparator in the fluctuation of Near Threshold
Trigger signal is generated, so that the pulse initial time measured shifts to an earlier date than the true moment.Error will will cause decimetre at the time of ns grades
The range error of grade, this is intolerable, the present invention to the application scenarios that precision has higher requirements for such as unmanned wait
This error will be eliminated.
Then, flight time square-wave signal is produced, then will fly to the progress of the two square-wave signals and operation with gate cell
Row time square-wave signal is input to triangular wave peak computation module, while sending feedback signal to CPU module；At this
In embodiment, different from comparator before, the delay of AND gate circuit is extremely low, up to 10ps grades, for the time error, mostly
Number application scenarios can be endured completely.
Triangular wave peak computation module is built-in with integrating circuit unit, peak holding circuit unit and analog to digital sampling
Circuit unit；
Triangular wave peak computation module receive CPU module transmitting instruction after, flight time square-wave signal into
The processing of row auto-correlation function, detailed process are as follows:
Firstly, integrating circuit unit carries out integral operation to flight time square-wave signal as shown in Fig. 2 (b), it is assumed that flight
The square-wave signal that time square wave generation module generates are as follows:
Wherein, A be flight time square wave amplitude, due to the square-wave signal be directly generated by AND gate circuit, so
Its amplitude is a fixed numbers, which can be obtained by consulting related electronic devices handbook, i.e. A is known quantity, t0, t1For
The initial time of square-wave signal and deadline are unknown quantity, t1-t0As required time is poor.The square-wave signal is carried out
A triangular signal can be produced after integral operation:
Wherein, f2(t) for square wave f1(t) signal integrated, f1It (t) is square-wave signal described above, S is signal
f1(t) area.Although due to the flight time square-wave signal f of front1(t) there is more burr on, but by integrating circuit
Processing can smoothly the burr of square-wave signal obtains a smoother pseudo- right angled triangle before, due to the duration of burr
Shorter, integral process can do it well smoothly, so obtained pseudo- right angled triangle burr can seldom, side is also more flat
It is sliding, it can be approximated to be right angled triangle.
Then, as shown in Fig. 2 (c), peak holding circuit unit carries out level holding to the peak value of triangular signal, obtains
The peak level of triangular signal, it may be assumed that
f3=max (f2)=S；
Then, as shown in Fig. 2 (d), then analog to digital sampling unit samples peak level, obtains level number
The level numerical value is sent to CPU module by value, i.e. S in the form of feedback signal；
As shown in figure 4, the process is calculated using the principle of self-coherence function in time-domain, for convenience of describing, first
Square wave amplitude is normalized, i.e., square-wave signal amplitude described below is all 1.Principle is as follows:
As shown in Fig. 4 (a), contains jagged square-wave signal for one section, auto-correlation function operation is carried out to it, can be obtained
One symmetrical figure, as shown in Fig. 4 (b)；Since auto-correlation function has good smoothing effect, therefore the figure is regarded as
One symmetrical triangle is one approximate well.The case where only considering left half of triangle below, due to square wave
Amplitude is 1, so the slope of the hypotenuse is 1；
Integral operation is done for the square wave, also due to integral can obtain an approximate triangle to the inhibiting effect of burr
Shape.Due to integral operation, so the triangle peak size (i.e. height) is the entire area size of original square wave；Herein, side
The amplitude of wave is 1, so the maximum value of overlapping area is the area of original square wave, so the peak value size of auto-correlation function is just
The good peak value size for integral function, and since the slope of auto-correlation function triangle is 1, so the peak value of integral function is big
The half of the small bottom edge length equal to auto-correlation function, the i.e. duration of square wave.So the peak value of integral function can be passed through
Obtain the duration of flight pulse square wave, i.e. pulse time-of-flight.
Power module is mainly responsible for the modules into system and provides required level and ground interface, maintains system normal
Operating.
Although the illustrative specific embodiment of the present invention is described above, in order to the technology of the art
Personnel understand the present invention, it should be apparent that the present invention is not limited to the range of specific embodiment, to the common skill of the art
For art personnel, if various change the attached claims limit and determine the spirit and scope of the present invention in, these
Variation is it will be apparent that all utilize the innovation and creation of present inventive concept in the column of protection.
Claims (3)
1. a kind of auto-correlation laser radar apparatus characterized by comprising
CPU module is mainly responsible for the modules into system and sends instruction, and receives modules feedback data simultaneously
Processing, thus control system overall operation；
CPU module first sends to laser pulse emission module and instructs, it is enabled to emit laser pulse signal；And simultaneously to
Laser pulse receiving module sends instruction, it is enabled to prepare to receive echo impulse；Etc. then flight time square wave to be received generates mould
The feedback signal that block is sent, after receiving feedback signal, CPU module sends to triangular wave peak computation module and instructs,
And wait the feedback signal of triangular wave peak computation module；When central processing unit receives the feedback letter of triangular wave peak computation module
After number, square wave duration is calculated by auto-correlation function；
Laser pulse emission module is built-in with laser, photoinduction unit and electric signal amplifying unit；Laser is responsible in reception
The instruction that central processor module is sent, then emits laser pulse signal；Photoinduction unit is used to generate original pulse starting
Signal；Electric signal amplifying unit amplifies original start-of-pulsing signal；
After laser pulse emission module receives the instruction of CPU module transmitting, photoinduction unit, subsequent laser are activated
For device to spatial emission laser pulse signal, photoinduction unit produces original pulse starting letter after sensing laser pulse signal
Number, electric signal amplifying unit amplifies original start-of-pulsing signal, is then input to flight time square wave generation module；
Laser pulse receiving module is built-in with photoinduction unit and electric signal amplifying unit unit；Photoinduction unit is for generating
Original pulse pick-off signal, electric signal amplifying unit is for amplifying original pulse pick-off signal；
After laser pulse receiving module receives the instruction of CPU module transmitting, photoinduction unit is activated, photoinduction is worked as
When unit senses the echo-signal that laser pulse signal is generated by target object reflection, original pulse cut-off letter is generated
Number, then original pulse pick-off signal is amplified by electric signal amplifying unit, then be input to the production of flight time square wave
Raw module；
Flight time square wave generation module is built-in with threshold generator unit, two comparator units and and gate cell；Threshold value produces
Raw device unit provides threshold value for two comparator units, and two comparator units are for intercepting start-of-pulsing signal and pulse cut-off
Signal is used to generate flight time square-wave signal with gate cell；
After flight time square wave generation module receives the instruction of CPU module transmitting, produced by threshold generator unit
Threshold value of the raw suitable level as two comparator units；Two comparator units are according to the threshold value of offer, to signal laser
The signal that impulse ejection module and laser pulse receiving module are sent is intercepted, wherein a comparator unit is for cutting
Amplified start-of-pulsing signal is taken, the square-wave signal for the initial time that a start time is start-of-pulsing signal is produced,
Another comparator unit is for intercepting pulse pick-off signal, when producing the cut-off that a finish time is pulse pick-off signal
The square-wave signal at quarter；Then, flight time square-wave signal is produced to the progress of the two square-wave signals and operation with gate cell,
Flight time square-wave signal is input to triangular wave peak computation module again, while sending feedback letter to CPU module
Number；
Triangular wave peak computation module is built-in with integrating circuit unit, peak holding circuit unit and analog to digital sample circuit
Unit；
After triangular wave peak computation module receives the instruction of CPU module transmitting, integrating circuit unit is to the flight time
Square-wave signal carries out integral operation, produces a triangular signal；Peak value of the peak holding circuit unit to triangular signal
Level holding is carried out, the peak level of triangular signal is obtained；Then analog to digital sampling unit adopts peak level
Sample obtains level numerical value, which is sent to CPU module in the form of feedback signal；
Power module is mainly responsible for the modules into system and provides required level and ground interface, system is maintained to run well.
2. a kind of auto-correlation laser radar system according to claim 1, which is characterized in that the laser pulse emission
Module and laser pulse receiving module meet: auto-correlation laser radar system when first used, adjusts laser pulse emission module
With the position of laser pulse receiving module, make laser pulse emission module emit laser pulse signal hit the mark after reflection
Light can hit the photoinduction unit in laser pulse receiving module.
3. a kind of auto-correlation laser radar apparatus according to claim 1, which is characterized in that the laser pulse emission
Electric signal amplifying unit in module and laser pulse receiving module meets: the electric signal in laser pulse emission module amplifies single
Amplification factor of the amplification factor of member much smaller than the electric signal amplifying unit in laser pulse receiving module.
Priority Applications (1)
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| CN110737189A (en) * | 2019-11-05 | 2020-01-31 | 中国电子科技集团公司第四十四研究所 | Pulse laser interval measuring circuit |
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