CN109917405A - A kind of laser distance measurement method and system - Google Patents
A kind of laser distance measurement method and system Download PDFInfo
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- CN109917405A CN109917405A CN201910159163.7A CN201910159163A CN109917405A CN 109917405 A CN109917405 A CN 109917405A CN 201910159163 A CN201910159163 A CN 201910159163A CN 109917405 A CN109917405 A CN 109917405A
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Abstract
The invention discloses a kind of laser distance measurement method and systems, the present invention is by carrying out down coversion to the electric signal after mixing, frequency is dropped into 0 frequency, then the signal after frequency reducing is sampled, sample frequency is made to be greater than the bandwidth of signal, data-handling capacity subsequent in this way can greatly promote, sampling resolution before down coversion also than improving simultaneously, to improve the signal-to-noise ratio of system, operating distance is improved, while power consumption volume also reduces.
Description
Technical field
The present invention relates to technical field of laser detection, more particularly to a kind of laser distance measurement method and system.
Background technique
The principle of pulsed laser ranging system is similar to microwave pulse radar range measurement principle, sends out in point distance measurement to measured target
Laser pulse is penetrated, sub-fraction laser reflection is received to point distance measurement by optical detector receiver after laser pulse emission to target.
If target range is R, the round-trip elapsed time of laser pulse is t, and the speed that light is propagated in air is c, then ranging formula is such as
Under: R=ct/2.
Existing pulsed laser ranging method generally uses direct received mode.The directly received detector of laser will shine
Optical power on its photosurface is converted into the photoelectric current changed over time or optical power, passes through the amplitude of exploring laser light echo-signal
To determine whether that whether there is or not echo-signals.In order to improve operating distance, generally by improving peak power to laser emitting source, reduce
Pulse width.But the raising of the peak power of laser emitting source is conditional, and with the raising of peak power, accordingly
The power consumption of laser emitting source, volume, cooling device all can be very big, be unable to satisfy the use of practical application scene.
In order to solve this problem, using relevant heterodyne reception in reception mode.By noise-containing ultra-weak electronic signal
It is mixed with another way reference electrical signal, carries out correlation intergal, eliminate noise using the irrelevance of useful signal and noise,
Useful signal detected.For this detection mode, improving operating distance can be by the method for increase laser energy, i.e.,
Increase pulse width, also properly increase peak power, can thus be acted in the lesser situation of average power ratio of laser
Distance is farther out.In this case the power consumption, volume of laser are all smaller.
The case where for relevant heterodyne reception, to the relevant item of the light such as collimation, the frequency stability of local oscillator light and signal light
Part requires very high.It needs to sample echo-signal in processing simultaneously, since echo-signal is that local oscillator light and signal light are mixed
Electric signal after frequency, this electric signal is generally in 500MHz or so, if directly sampled to this signal, at least needs 1GHz's
Sample rate, it is very high to subsequent data processing energy requirement in this way, it is difficult to meet real-time application demand.
Summary of the invention
The present invention provides a kind of laser distance measurement method and systems, to solve in the prior art for relevant heterodyne reception
Situation directly carries out the larger problem of data processing difficulty to mixed frequency signal.
In a first aspect, the present invention provides a kind of laser distance measurement methods, comprising:
The laser echo signal that object to be measured returns is mixed to obtain mixed frequency signal with local oscillator optical signal, mixing is believed
Mixing electric signal number is converted to, and signal amplification is carried out to mixing electric signal；
Amplified mixing electric signal is divided into several segments, and each segment signal is carried out the following processing:
Signal after segmentation is divided into two-way, and the pure oscillation for being respectively 90 ° by the two paths of signals and relative phase
Signal is mutually mixed, and obtains the road I signal and the road Q signal；
It by the frequency translation of the road I signal and the road Q signal to zero-frequency, is filtered, filters out high-frequency signal, and retain low frequency letter
Number, obtaining bandwidth is bandwidth B, I road signal and Q road signal of the frequency in zero-frequency；
The filtered road I signal and the road Q signal are acquired, and pass through the cascade side of half-band filter of preset quantity
Formula extracts the collected road I signal and the road Q signal according to the filtering processing ability of finite impulse response FIR filter；
The collected road I signal and the road Q signal are filtered by the finite impulse response FIR filter, obtained
The digitized road the I signal of two-way and the road Q signal；
Complex signal x (n)=I (n)+jQ (n) is calculated based on the digitized road the I signal of two-way and the road Q signal, complex signal is done
FFT operation obtains the frequency spectrum at zero-frequency, and is determined to whether there is target information in the segmentation according to the spectrum value of the frequency spectrum,
And determining there are after the target information, the distance of object to be measured is calculated based on the target information.
Preferably, the pure oscillation signal that described two relative phases are 90 ° is to be generated by two sinusoidal oscillators.
Preferably, the filtered road I signal and the road Q signal are acquired, comprising:
The filtered road I signal and the road Q signal are acquired by ADC, sample rate meets Nyquist's theorem.
Preferably, by the cascade mode of the half-band filter of preset quantity, collected two paths of signals is extracted,
Include:
2 are carried out to collected two paths of signals by the cascade mode of N number of half-band filterNIt extracts again, the N is nature
Number.
Preferably, the local oscillator optical signal is to be generated by frequency modulation broad pulse optical fiber laser.
Second aspect, the present invention provides a kind of laser ranging system, comprising:
Frequency mixer, the laser echo signal for returning to object to be measured are mixed to obtain mixing letter with local oscillator optical signal
Number；
Detector for mixed frequency signal to be converted to mixing electric signal, and carries out signal amplification to mixing electric signal, and will
Amplified mixing electric signal is divided into several segments, and carries out the following processing to each segment signal: the signal after segmentation is divided equally
The two paths of signals is mutually mixed with the pure oscillation signal that relative phase is 90 ° at two-way, and respectively, obtains the road I signal and the road Q
Signal, by the frequency translation of the road I signal and the road Q signal to zero-frequency；
Low-pass filter filters out high-frequency signal for being filtered to the road the I signal and the road Q signal of moving zero-frequency, and
Retain low frequency signal, obtaining bandwidth is bandwidth B, I road signal and Q road signal of the frequency in zero-frequency；
ADC is used for, and is acquired to the filtered road I signal and the road Q signal；
The half-band filter of preset quantity is connected by cascade mode, according to the filter of finite impulse response FIR filter
Wave processing capacity extracts the collected road I signal and the road Q signal；
It is digitized to obtain two-way for being filtered to collected two paths of signals for finite impulse response FIR filter
The road I signal and the road Q signal；
Processor, for calculating complex signal based on the digitized road the I signal of two-way and the road Q signal
X (n)=I (n)+jQ (n) does FFT operation to complex signal, obtains the frequency spectrum at zero-frequency, and according to the frequency of the frequency spectrum
Spectrum determines to whether there is target information in the segmentation, and is determining there are after the target information, is believed based on the target
Breath calculates the distance of object to be measured.
Preferably, the system further include: two sinusoidal oscillators, for generate described two relative phases be 90 ° just
String oscillator signal.
Preferably, the ADC is also used to, and is acquired to the filtered road I signal and the road Q signal by ADC, sample rate
Meet Nyquist's theorem.
Preferably, the half-band filter is N number of, and is cascaded by N number of half-band filter to collected two paths of signals
Carry out 2NIt extracts again, the N is natural number.
Preferably, system further include: frequency modulation broad pulse optical fiber laser；
The frequency modulation broad pulse optical fiber laser, for generating the local oscillator optical signal.
The present invention has the beneficial effect that:
The present invention drops to 0 frequency by carrying out down coversion to the electric signal after mixing, by frequency, then to the signal after frequency reducing
It is sampled, sample frequency is made to be greater than the bandwidth of signal, data-handling capacity subsequent in this way can greatly promote, and sample simultaneously
Digit before down coversion also than improving, to improve the signal-to-noise ratio of system, improves operating distance, while power consumption volume also reduces.
Detailed description of the invention
Fig. 1 is a kind of flow diagram for laser distance measurement method that first embodiment of the invention provides；
Fig. 2 is the schematic diagram that the road I signal and the road Q signal are extracted and filtered that first embodiment of the invention provides.
Specific embodiment
The embodiment of the present invention by after mixing electric signal carry out down coversion, by frequency drop to 0 frequency, then to frequency reducing after
Signal sampled, so that sample frequency is greater than the bandwidth of signal, data-handling capacity subsequent in this way can greatly promote, together
When sampling resolution also than being improved before down coversion, to improve the signal-to-noise ratio of system, improve operating distance, while power consumption volume
Reduce.Below in conjunction with attached drawing and embodiment, the present invention will be described in further detail.It should be appreciated that described herein
Specific embodiment is only used to explain the present invention, does not limit the present invention.
First embodiment of the invention provides a kind of laser distance measurement method, referring to Fig. 1, this method comprises:
S101, it is mixed the laser echo signal that object to be measured returns to obtain mixed frequency signal with local oscillator optical signal, it will
Mixed frequency signal is converted to mixing electric signal, and carries out signal amplification to mixing electric signal；
Specifically, the embodiment of the present invention is to generate the local oscillator optical signal by frequency modulation broad pulse optical fiber laser.
Also, the embodiment of the present invention is to be subject to that mixing electric signal can be collected, and carries out signal to mixing electric signal
Amplification, for example, carrying out three-level signal amplification, etc. to mixing electric signal.
S102, amplified mixing electric signal is divided into several segments, and each segment signal is carried out the following processing；
S103, the signal after segmentation is divided into two-way, and the sine for being respectively 90 ° by the two paths of signals and relative phase
Oscillator signal is mutually mixed, and obtains the road I signal and the road Q signal；
The pure oscillation signal that the described two relative phases of the embodiment of the present invention are 90 ° is to be produced by two sinusoidal oscillators
It is raw.
S104, by the frequency translation of the road I signal and the road Q signal to zero-frequency, be filtered, filter out high-frequency signal, obtain band
Width is bandwidth B, I road signal and Q road signal of the frequency in zero-frequency；
Since I, Q two paths of signals can generate high-frequency signal during moving, specifically, high-frequency signal difference
For former I, 2 times of Q signal frequency, in the specific implementation, which need to be filtered out.
S105, the filtered road I signal and the road Q signal are acquired, and pass through the half-band filter grade of preset quantity
The mode of connection, according to finite impulse response FIR filter filtering processing ability to the collected road I signal and the road Q signal into
Row extracts；
Specifically, the embodiment of the present invention is to be acquired to the filtered road I signal and the road Q signal by ADC, sampling
Rate meets Nyquist's theorem.
The embodiment of the present invention carries out collected two paths of signals by the cascade mode of half-band filter of preset quantity
It extracts, specifically includes: 2 being carried out to the collected road I signal and the road Q signal by the cascade mode of N number of half-band filterNIt takes out again
It takes, the N is natural number.
It should be noted that the embodiment of the present invention extracts the result is that being limited with filter capacity of the invention, that is, the present invention
Be with filter capacity of the invention come to acquisition the road I signal and the road Q signal extract, those skilled in the art when specific implementation
Member can also according to actual needs to acquisition the road I signal and the road Q signal extract, the present invention does not limit this specifically
It is fixed.
S106, the collected road I signal and the road Q signal are filtered by finite impulse response FIR filter, are obtained
The digitized road the I signal of two-way and the road Q signal；
S107, complex signal x (n)=I (n)+jQ (n) is calculated based on the digitized road the I signal of two-way and the road Q signal, to multiple
Signal does FFT operation, obtains the frequency spectrum at zero-frequency, and is determined to whether there is target in the segmentation according to the spectrum value of the frequency spectrum
Information, and determining there are after the target information, the distance of object to be measured is calculated based on the target information.
Specifically, the embodiment of the present invention is to calculate to judge with the presence or absence of target information in each signal subsection, and be based on
Obtained target information calculates the distance of object to be measured.
On the whole, the embodiment of the present invention is that frequency is dropped to 0 frequency by carrying out down coversion to the electric signal after mixing,
Then the signal after frequency reducing is sampled, sample frequency is made to be greater than the bandwidth of signal, data-handling capacity subsequent in this way
It can greatly promote, while sampling resolution, to improve the signal-to-noise ratio of system, improves operating distance also than improving before down coversion,
Power consumption volume also reduces simultaneously.
The embodiment of the present invention proposes a kind of method for improving laser ranging operating distance, and this method uses the wide arteries and veins of frequency modulation
Big energy optical fiber laser is rushed as laser source, it is small in size, light-weight, low in energy consumption.Laser source and other components pass through optical fiber
Connection, local oscillator light detect mixing letter using PIN type silicon photoelectric diode with after the echo-signal that target object reflects is mixed
Number, signal amplification, down coversion, filtering, FFT operation are carried out to the electric signal detected, information of then adjusting the distance is resolved.
The specific method is as follows:
(1) single-frequency laser seed source is by being divided into two-way, and local oscillator light is directly entered frequency mixer all the way；In addition pass through sound all the way
Optical modulator carries out the modulation of copped wave, fixed frequency to it, then irradiates its power amplification subsequently into laser amplifier
To object to be measured；
(2) laser echo signal after object to be measured returns is mixed with local oscillator optical signal in frequency mixer, is obtained
It is mixed optical signal, mixing optical signal is received by a detector；
(3) detector will be mixed optical signal and become to be mixed electric signal, carry out three-level signal amplification to this mixing electric signal；
(4) this amplified signal is divided into several segments, each section whether there is or not information to be handled according to the methods below,
(5) amplified electric signal is divided into two-way；This two paths of signals is 90 ° of sinusoidal vibration with two relative phases respectively
It swings device to be mutually mixed, this two paths of signals is respectively cos (2 π fcT) ,-sin (2 π fcT), this two paths of signals is by DDS (Direct Digital frequency
Rate synthesis) it generates, allow a DDS device to export adjustable sin waveform, another DDS device exports adjustable cos waveform.This
Ground oscillator generates (such as AD9915 may produce up to the sine wave signal of 1GHz) by the DDS IC of AD company, uses two panels DDS
IC reaches synchronous, phase phase difference.
By the direct digital synthesis technique chip of ADI company, sine wave, frequency sweep, various tune can be very easily generated
Waveform processed.
Wherein AD983X series DDS is low-power consumption type, and highest frequency is 10-bit high speed DAC output in 50MHz.It is suitable
Close the portable equipment application stringent to power consumption requirements.Wherein AD9834 is internally integrated comparator, can directly export square wave.AD985X
The highest input clock of series reaches 1GHz, in addition to AD9850 and AD9851, all has the function of a variety of phase modulation or frequency modulation.
AD995X series DDS is the low-power consumption product of ADI company, although AD985X series performance is very high, power consumption is also very big, base
Portable equipment can not be used on this.Especially AD9954, power consumption is extremely low, and performance is the top of AD995X series the inside.It is many
Application requirement generates two or more sine waves or square-wave signal with known phase relationship.ADI company
AD9915DDS IC is just capable of providing this signal.Application requirement based on this patent: generating two has known phase relationship
Sine wave signal.The AD9915DDS chip of ADI company can be used, this chip possesses internal clock speed and is up to 2.5GSPS,
The analog signal of the up to frequency hopping of 1.0GHz can be generated, adequately meeting experiment will require.It and include a height
Fast 32 bit parallel data interfaces, can complete the fast programming of entire phase, frequency and amplitude tuning word in 300ns.Due to
AD9915 can only generate DA all the way, it would be desirable to synchronous two devices, it is necessary to control REFCLK, SYSCLK of each device
With IO_UPDATE timing.Specific method can refer to AN-1254-cn.A DDS device is allowed to export adjustable sin waveform, it is another
A DDS device exports adjustable cos waveform.
(6) after this two paths of signals is mixed with amplification electric signal, the road I and the road Q signal are obtained, down coversion is realized, by signal
Frequency translation is to zero-frequency.Again by low-pass filter, unwanted high frequency harmonic signals are filtered out.After being mutually mixed, respective
I, Q two paths of signals frequency spectrum on can in zero-frequency and 2fc, respectively by simulation low-pass filter (LPF), high frequency letter can be filtered out
Number 2fc, obtaining bandwidth is B, I road and Q road signal of the frequency in zero-frequency.
(7) road I obtained and the road Q signal are realized using ADC to be acquired, and sample rate meets Nyquist's theorem and (can be greater than
Equal to 2 times signal bandwidths).
(8) N number of half-band filter is respectively adopted in the two paths of signals after ADC, can be with such as n=3 (HB3, HB2, HB1)
Realize 8 times of extractions, half-band filter is very suitable to multi tate converting system, by using the cascade mode of N number of half-band filter,
It can easily realize carry out 2NIt extracts again.
QUARTUS and VIVADO both provides FIRIP core, can design half-band filter using FIRIP core, and half
Band filter can realize 2 times of extractions, then FIR half-band filter be cascaded up in top layer with verilog language, to the road I
It is extracted and is filtered with the road Q, it is specific as shown in Figure 2.
(9) two paths of signals, respectively by FIR (finite impulse response) filter, obtains after 3 half-band filters
To the digitized I/Q signal of two-way.When the passband very little of half-band filter, it is often not suitable as multistage decimation filter
Afterbody, i.e. rear class filtering device must have an other kinds of FIR filter, but by front it is decimated after, sampling
Rate is comparatively very low, so under certain processing clock, so that it may using the FIR of the general characteristic of higher order
Filter makes the performance indicators such as its passband tolerance, transition band width, stopband tolerance be designed higher, and then meets filtering characteristic
General requirement.
(10) after obtaining the digitized I/Q signal of two-way, complex signal x (n)=I (n)+jQ (n) is just obtained, to this complex signal
FFT operation is done, the frequency spectrum at zero-frequency is obtained.Determine to whether there is target information in the section by this spectrum value.
Second embodiment of the invention provides a kind of laser ranging system, comprising:
Frequency mixer, the laser echo signal for returning to object to be measured are mixed to obtain mixing letter with local oscillator optical signal
Number；
Detector for mixed frequency signal to be converted to mixing electric signal, and carries out signal amplification to mixing electric signal, and will
Amplified mixing electric signal is divided into several segments, and carries out the following processing to each segment signal: the signal after segmentation is divided equally
The two paths of signals is mutually mixed with the pure oscillation signal that relative phase is 90 ° at two-way, and respectively, obtains the road I signal and the road Q
Signal, by the frequency translation of the road I signal and the road Q signal to zero-frequency；
Specifically, the embodiment of the present invention be generated by two sinusoidal oscillators described two relative phases be 90 °
Pure oscillation signal, the present invention is by the way that pure oscillation signal to be mixed with two segment signals after dividing equally respectively.
Low-pass filter filters out high-frequency signal for being filtered to the road the I signal and the road Q signal of moving zero-frequency
2fc, obtaining bandwidth is bandwidth B, I road and Q road signal of the frequency in zero-frequency；
ADC is used for, and is acquired to the filtered road I signal and the road Q signal；
The half-band filter of preset quantity is connected by cascade mode, according to the filter of finite impulse response FIR filter
Wave processing capacity extracts the collected road I signal and the road Q signal；
It is digitized to obtain two-way for being filtered to collected two paths of signals for finite impulse response FIR filter
The road I signal and the road Q signal；
Processor, for calculating complex signal x (n)=I (n)+jQ based on the digitized road the I signal of two-way and the road Q signal
(n), FFT operation is done to complex signal, obtains the frequency spectrum at zero-frequency, and according to the spectrum value of the frequency spectrum determine in the segmentation whether
There are target informations, and are determining there are after the target information, and the distance of object to be measured is calculated based on the target information.
When it is implemented, ADC described in the embodiment of the present invention is also used to, the filtered road I signal and the road Q signal are passed through
ADC is acquired, and sample rate meets Nyquist's theorem.
When it is implemented, half-band filter described in the embodiment of the present invention is N number of, and pass through the cascade pair of N number of half-band filter
Collected two paths of signals carries out 2NIt extracts again, the N is natural number.
System described in the embodiment of the present invention is to generate the local oscillator optical signal by frequency modulation broad pulse optical fiber laser.
The related content of the embodiment of the present invention can be found in embodiment of the method and be understood, not be discussed in detail herein.
Although for illustrative purposes, the preferred embodiment of the present invention has been disclosed, those skilled in the art will recognize
It is various improve, increase and replace be also it is possible, therefore, the scope of the present invention should be not limited to the above embodiments.
Claims (10)
1. a kind of laser distance measurement method characterized by comprising
The laser echo signal that object to be measured returns is mixed to obtain mixed frequency signal with local oscillator optical signal, mixed frequency signal is turned
It is changed to mixing electric signal, and signal amplification is carried out to mixing electric signal；
Amplified mixing electric signal is divided into several segments, and each segment signal is carried out the following processing:
Signal after segmentation is divided into two-way, and the pure oscillation signal for being respectively 90 ° by the two paths of signals and relative phase
It is mutually mixed, obtains the road I signal and the road Q signal；
By the frequency translation of the road I signal and the road Q signal to zero-frequency, it is filtered, filters out high-frequency signal, and retain low frequency signal,
Obtaining bandwidth is bandwidth B, I road signal and Q road signal of the frequency in zero-frequency；
The filtered road I signal and the road Q signal are acquired, and by the cascade mode of the half-band filter of preset quantity,
The collected road I signal and the road Q signal are extracted according to the filtering processing ability of finite impulse response FIR filter；
The collected road I signal and the road Q signal are filtered by the finite impulse response FIR filter, obtain two-way
The digitized road I signal and the road Q signal；
Complex signal x (n)=I (n)+jQ (n) is calculated based on the digitized road the I signal of two-way and the road Q signal, FFT is done to complex signal
Operation obtains the frequency spectrum at zero-frequency, is determined to whether there is target information in the segmentation according to the spectrum value of the frequency spectrum, and true
Surely after there is the target information, the distance of object to be measured is calculated based on the target information.
2. the method according to claim 1, wherein
The pure oscillation signal that described two relative phases are 90 ° is to be generated by two sinusoidal oscillators.
3. method according to claim 1 or 2, which is characterized in that adopted to the filtered road I signal and the road Q signal
Collection, comprising:
The filtered road I signal and the road Q signal are acquired by ADC, sample rate meets Nyquist's theorem.
4. method according to claim 1 or 2, which is characterized in that pass through the cascade side of the half-band filter of preset quantity
Formula extracts collected two paths of signals, comprising:
2 are carried out to collected two paths of signals by the cascade mode of N number of half-band filterNIt extracts again, the N is natural number.
5. method according to claim 1 or 2, which is characterized in that
The local oscillator optical signal is to be generated by frequency modulation broad pulse optical fiber laser.
6. a kind of laser ranging system characterized by comprising
Frequency mixer, the laser echo signal for returning to object to be measured are mixed to obtain mixed frequency signal with local oscillator optical signal；
Detector for mixed frequency signal to be converted to mixing electric signal, and carries out signal amplification to mixing electric signal, and will amplification
Mixing electric signal afterwards is divided into several segments, and carries out the following processing to each segment signal: the signal after segmentation is divided into two
Road, and be respectively mutually mixed the two paths of signals with the pure oscillation signal that relative phase is 90 °, obtain the road I signal and the road Q letter
Number, by the frequency translation of the road I signal and the road Q signal to zero-frequency；
Low-pass filter filters out high-frequency signal, and retain for being filtered to the road the I signal and the road Q signal of moving zero-frequency
Low frequency signal, obtaining bandwidth is bandwidth B, I road signal and Q road signal of the frequency in zero-frequency；
ADC is used for, and is acquired to the filtered road I signal and the road Q signal；
The half-band filter of preset quantity is connected by cascade mode, at the filtering according to finite impulse response FIR filter
Reason ability extracts the collected road I signal and the road Q signal；
Finite impulse response FIR filter obtains the digitized road I of two-way for being filtered to collected two paths of signals
Signal and the road Q signal；
Processor does FFT operation to complex signal, obtains the frequency spectrum at zero-frequency for calculating complex signal x (n)=I (n)+jQ (n),
And determined to whether there is target information in the segmentation according to the spectrum value of the frequency spectrum, and determining that there are the target informations
Afterwards, the distance of object to be measured is calculated based on the target information.
7. system according to claim 6, which is characterized in that further include:
Two sinusoidal oscillators, the pure oscillation signal for being 90 ° for generating described two relative phases.
8. system according to claim 6 or 7, which is characterized in that
The ADC is also used to, and is acquired to the filtered road I signal and the road Q signal by ADC, sample rate meets Nai Kuisi
Specific reason.
9. system according to claim 6 or 7, which is characterized in that
The half-band filter is N number of, and carries out 2 to collected two paths of signals by the cascade of N number of half-band filterNIt extracts again,
The N is natural number.
10. system according to claim 6 or 7, which is characterized in that further include: frequency modulation broad pulse optical fiber laser；
The frequency modulation broad pulse optical fiber laser, for generating the local oscillator optical signal.
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