CN110018495B - Stripe pipe imaging laser radar laser emission random error measurement and compensation system - Google Patents
Stripe pipe imaging laser radar laser emission random error measurement and compensation system Download PDFInfo
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- CN110018495B CN110018495B CN201910358876.6A CN201910358876A CN110018495B CN 110018495 B CN110018495 B CN 110018495B CN 201910358876 A CN201910358876 A CN 201910358876A CN 110018495 B CN110018495 B CN 110018495B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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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
- G01S7/497—Means for monitoring or calibrating
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Abstract
A streak tube imaging laser radar laser emission random error measurement and compensation system comprises a streak tube laser radar laser emission random error measurement module, a streak camera and an image processing end. The laser light is projected to a target, and the time difference information is transmitted to an image processing end by a streak tube laser radar laser emission random error measurement module; the stripe camera collects laser reflected by a target and outputs an image to the image processing end, and the image processing end performs time compensation by combining time difference and the image, so that measurement errors caused by laser delay jitter are eliminated.
Description
Technical Field
The technology belongs to the field of radar measurement, and particularly relates to timing sequence measurement and synchronous correction of a laser radar system. Especially, the synchronous correction on the short-distance laser measurement greatly improves the measurement precision.
Background
With the progress and development of the related technology, the advantages of the streak tube imaging laser radar in the detection field are shown. In medium and long range measurements, the radar system can ignore the trigger delay of the streak camera. However, in the short-distance measurement, the fringe camera cannot capture the laser signal, and in addition, in a complex use environment, the laser may generate random emission errors, so that an auxiliary system is required to correct each trigger signal in real time.
Disclosure of Invention
Aiming at the random error of laser emission and the inherent response time of each part of the system, a large system error occurs in measurement, and even the situation that a camera cannot capture signals occurs. The invention provides a streak tube imaging laser radar laser emission random error measuring and compensating system which can coordinate each module of the system to work conveniently and efficiently and compensate system errors generated by laser jitter in real time.
In order to achieve the technical purpose, the technical scheme of the invention is as follows:
a streak tube imaging laser radar laser emission random error measurement and compensation system comprises a streak tube laser radar laser emission random error measurement module, a streak camera and an image processing end;
the streak tube laser radar laser emission random error measuring module comprises a laser trigger module, a laser emission module and a time measuring module, wherein the laser trigger module sends a laser Q-switching signal to the laser emission module, the laser emission module emits laser and transmits the laser to a target, and the time measuring module calculates the time difference between the receiving time of the laser Q-switching signal and the laser emergent time and transmits the time difference information to an image processing end;
the stripe camera collects laser reflected by a target and outputs an image to the image processing end, and the image processing end performs time compensation by combining time difference and the image, so that measurement errors caused by laser delay jitter are eliminated.
The horizontal pixels of the image output by the stripe camera represent time information, the vertical pixels represent space information, the coordinate image of the laser reflected by the target on the image is represented in the form of bright stripes, the physical meaning represented by the coordinates of the bright stripes is the round-trip time of the laser, and the distance of the target is determined by the coordinates of the shot bright stripes.
In the streak tube laser radar laser emission random error measurement module, a laser trigger module comprises a global time sequence synchronizer; the laser emission module comprises a laser power supply and a laser; the time measuring module comprises a high-precision time digital converter, a photoelectric converter and a spectroscope.
The global time sequence synchronizer sends a 1# digital pulse signal as a trigger signal for triggering the laser power supply, and the laser power supply provides power for the laser when receiving the trigger signal sent by the global time sequence synchronizer;
the global time sequence synchronizer sends a No. 2 digital pulse signal as a laser Q-switching signal to be transmitted to the high-precision time-to-digital converter and the laser, the laser emits laser when receiving the laser Q-switching signal, and the laser emitted by the laser is transmitted to a target through the laser transmitted by the spectroscope; laser emitted by the laser is transmitted to the photoelectric converter through laser reflected by the spectroscope, the photoelectric converter converts a laser signal into an electric signal and outputs a 3# digital pulse signal, the photoelectric converter outputs the 3# digital pulse signal to the high-precision time-to-digital converter, and the high-precision time-to-digital converter records the receiving time of the 3# digital pulse signal as laser light emitting time; the high-precision time-to-digital converter records the receiving time of the laser Q-switched signal and the laser emitting time, calculates the time difference between the laser emitting time and the receiving time of the laser Q-switched signal, and transmits the time difference information to the image processing end.
And a global time sequence synchronizer in the fringe tube laser radar laser emission random error measurement module provides a laser Q-switched signal to the system, which is equivalent to an output switch of laser.
And a filter lens convenient to detach and replace is arranged on a lens of a photoelectric converter in the fringe tube laser radar laser emission random error measuring module.
The spectroscope in the fringe tube laser radar laser emission random error measurement module is positioned at a position where a laser light outlet and a vertical surface form an angle of 45 degrees.
A streak tube imaging laser radar laser emission random error compensation method comprises the following steps:
s1, one system period means that the global time sequence synchronizer sends out a laser Q-switching signal to the laser till the stripe camera finishes recording an image. In the ith system period, the high-precision time-to-digital converter records the sending time of the laser Q-switched signal, which is recorded as tQiAnd the laser light-emitting time is recorded as ttiAnd the time jitter between the laser light-emitting time and the laser Q-switched signal sending time is recorded as tiWherein i>When 0 and i is an integer, then ti＝tti-tQi；
S2. in the first period，t1＝tt1-tQ1Will t1Defining a standard time interval;
s3, in different periods, tiIs different, t is calculated in each periodiAnd the first period t1Time difference of (1), noted as Δ ti，Δti＝ti-t1；
S4, calculating the obtained delta tiThe time for compensation and correction is input to the image processing end, and the image processing end carries out compensation processing so as to eliminate measurement errors caused by laser delay jitter.
The method for performing the compensation processing by the image processing terminal in S4 is as follows:
s4.1, recognizing the coordinate position (X) of the bright stripe in the imagei,Yj) The index i, j is the pixel coordinate of the stripe camera, in which case the pixel coordinate XiThe physical meaning of (1) is the round trip time of the laser, and the distance D represented by the signal is calculated as the number of pixels of a bright stripe XiC, wherein C is the speed of light propagation in the medium;
s4.2, calculating the length d of compensation as C × Δ ti;
and S4.3, compensating the calculated D into the distance D, and calculating the actual distance S of the target to be D-D.
The beneficial technical effects of the invention are as follows:
in the short-distance measurement, the situation that the stripe camera cannot capture the laser signal is avoided. In addition, the problem that random errors occur in laser emission in a complex use environment is solved.
Drawings
FIG. 1 shows a schematic diagram of a fringe tube lidar laser emission random error measurement module;
fig. 2 shows a pulse timing analysis diagram.
Detailed Description
A streak tube imaging laser radar laser emission random error measurement and compensation system comprises a streak tube laser radar laser emission random error measurement module, a streak camera 6 and an image processing end 7 as shown in figure 1;
the streak tube laser radar laser emission random error measuring module comprises a laser trigger module, a laser emission module and a time measuring module, wherein the laser trigger module sends a laser Q-switched signal 10 to the laser emission module, the laser emission module emits laser and transmits the laser 13 to a target 14, and the time measuring module calculates the time difference between the receiving time of the laser Q-switched signal 10 and the laser light emitting time and transmits the time difference information to the image processing terminal 7;
the stripe camera 6 collects laser reflected by the target 14 and outputs an image 12 to the image processing end 7, and the image processing end 7 performs time compensation by combining the time difference and the image 12, so that measurement errors caused by laser delay jitter are eliminated.
The stripe camera 6 outputs horizontal pixels of the image 12 to represent time information, vertical pixels to represent space information, the coordinate image of the laser reflected by the target 14 on the image 12 is represented as a bright stripe, the physical meaning represented by the coordinates of the bright stripe is the round-trip time of the laser, and the coordinates of the shot bright stripe determine the distance of the target 14.
In the streak tube laser radar laser emission random error measurement module, a laser trigger module comprises a global timing synchronizer 1; the laser emission module comprises a laser power supply 2 and a laser 3; the time measuring module comprises a high-precision time digital converter 4, a photoelectric converter 5 and a spectroscope 8.
The global timing synchronizer 1 sends a 1# digital pulse signal as a trigger signal 9 for triggering the laser power supply 2, and the laser power supply 2 provides power for the laser 3 after receiving the trigger signal 9 sent by the global timing synchronizer 1;
the global time sequence synchronizer 1 sends a 2# digital pulse signal as a laser Q-switching signal 10 to be transmitted to the high-precision time digital converter 4 and the laser 3, the laser 3 emits laser when receiving the laser Q-switching signal 10, and the laser emitted by the laser 3 is transmitted to a target 14 through the laser transmitted by the spectroscope 8; laser emitted by the laser 3 is transmitted to the photoelectric converter 5 through laser reflected by the spectroscope 8, the photoelectric converter 5 converts a laser signal into an electric signal and outputs a 3# digital pulse signal 11, the photoelectric converter 5 outputs the 3# digital pulse signal 11 to the high-precision time-to-digital converter 4, and the high-precision time-to-digital converter 4 records the receiving time of the 3# digital pulse signal 11 as laser light emitting time; the high-precision time-to-digital converter 4 records the receiving time of the laser Q-switched signal 10 and the laser emitting time, calculates the time difference between the laser emitting time and the receiving time of the laser Q-switched signal 10, and transmits the time difference information to the image processing terminal 7.
The global time sequence synchronizer 1 in the fringe tube laser radar laser emission random error measurement module provides a laser Q-switched signal 10 to the system, which is equivalent to an output switch of laser.
And a filter lens convenient to detach and replace is arranged on a lens of the photoelectric converter 5 in the fringe tube laser radar laser emission random error measuring module.
The spectroscope 8 in the fringe tube laser radar laser emission random error measurement module is positioned at a position where a laser light outlet and a vertical surface form an angle of 45 degrees.
A streak tube imaging laser radar laser emission random error compensation method comprises the following steps:
s1, a system cycle means that the global timing synchronizer 1 starts to send a laser Q-switched signal 10 to the laser 3 until the stripe camera 6 finishes recording an image 12. As shown in FIG. 2, in the ith system period, the high-precision time-to-digital converter 4 records the sending time of the laser Q-switched signal 10, which is denoted as tQiAnd the laser light-emitting time is recorded as ttiThe time jitter between the laser emitting time and the sending time of the laser Q-switched signal 10 is recorded as tiWherein i>When 0 and i is an integer, then ti＝tti-tQi；
S2. in the first period, t1＝tt1-tQ1Will t1Defining a standard time interval;
s3, in different periods, tiIs different, t is calculated in each periodiAnd the first period t1Time difference of (1), noted as Δ ti，Δti＝ti-t1；
S4, calculating the obtained delta tiAs time for compensation correction, the time is inputted to the image processing terminal 7The image processing end 7 carries out compensation processing so as to eliminate measurement errors caused by laser delay jitter.
The method for the image processing terminal 7 to perform the compensation processing in S4 is as follows:
s4.1, recognizing the coordinate position (X) of the bright stripe in the image 12i,Yj) The index i, j is the pixel coordinate of the streak camera 6, in this case the pixel coordinate XiThe physical meaning of (1) is the round trip time of the laser, and the distance D represented by the signal is calculated as the number of pixels of a bright stripe XiC, wherein C is the speed of light propagation in the medium;
s4.2, calculating the length d of compensation as C × Δ ti;
and S4.3, compensating the calculated D into the distance D, and calculating the actual distance S of the target 14 to be D-D.
Claims (7)
1. The utility model provides a stripe pipe formation of image laser radar laser emission random error measurement and compensating system which characterized in that:
the system comprises a streak tube imaging laser radar laser emission random error measurement module, a streak camera and an image processing end; in the streak tube laser radar laser emission random error measurement module, a laser trigger module comprises a global time sequence synchronizer; the laser emission module comprises a laser power supply and a laser; the time measuring module comprises a high-precision time digital converter, a photoelectric converter and a spectroscope;
the streak tube laser radar laser emission random error measuring module comprises a laser trigger module, a laser emission module and a time measuring module, wherein the laser trigger module sends a laser Q-switching signal to the laser emission module, the laser emission module emits laser and transmits the laser to a target, and the time measuring module calculates the time difference between the receiving time of the laser Q-switching signal and the laser emergent time and transmits the time difference information to an image processing end;
the stripe camera collects laser reflected by a target and outputs an image to the image processing end, and the image processing end performs time compensation by combining time difference and the image to eliminate measurement errors caused by laser delay jitter;
the global time sequence synchronizer sends a 1# digital pulse signal as a trigger signal for triggering the laser power supply, and the laser power supply provides power for the laser when receiving the trigger signal sent by the global time sequence synchronizer;
the global time sequence synchronizer sends a No. 2 digital pulse signal as a laser Q-switching signal to be transmitted to the high-precision time-to-digital converter and the laser, the laser emits laser when receiving the laser Q-switching signal, and the laser emitted by the laser is transmitted to a target through the laser transmitted by the spectroscope; laser emitted by the laser is transmitted to the photoelectric converter through laser reflected by the spectroscope, the photoelectric converter converts a laser signal into an electric signal and outputs a 3# digital pulse signal, the photoelectric converter outputs the 3# digital pulse signal to the high-precision time-to-digital converter, and the high-precision time-to-digital converter records the receiving time of the 3# digital pulse signal as laser light emitting time; the high-precision time-to-digital converter records the receiving time of the laser Q-switched signal and the laser emitting time, calculates the time difference between the laser emitting time and the receiving time of the laser Q-switched signal, and transmits the time difference information to the image processing end.
2. The system of claim 1, wherein the system comprises:
the horizontal pixels of the image output by the stripe camera represent time information, the vertical pixels represent space information, the coordinate image of the laser reflected by the target on the image is represented in the form of bright stripes, the physical meaning represented by the coordinates of the bright stripes is the round-trip time of the laser, and the distance of the target is determined by the coordinates of the shot bright stripes.
3. The system of claim 1, wherein the system comprises:
and a global time sequence synchronizer in the fringe tube laser radar laser emission random error measurement module provides a laser Q-switched signal to the system, which is equivalent to an output switch of laser.
4. The system of claim 1, wherein the system comprises:
and a filter lens convenient to detach and replace is arranged on a lens of a photoelectric converter in the fringe tube laser radar laser emission random error measuring module.
5. The system of claim 1, wherein the system comprises:
the spectroscope in the fringe tube laser radar laser emission random error measurement module is positioned at a position where a laser light outlet and a vertical surface form an angle of 45 degrees.
6. A streak tube imaging laser radar laser emission random error compensation method is characterized by comprising the following steps: the implementation of the system for measuring and compensating for random errors in laser emission of a streak tube imaging lidar according to any of the preceding claims, comprising the steps of:
s1, in the ith system period, the high-precision time-to-digital converter records the sending time of the laser Q-switched signal, and records the sending time as tQiAnd the laser light-emitting time is recorded as ttiAnd the time jitter between the laser light-emitting time and the laser Q-switched signal sending time is recorded as tiWherein i>When 0 and i is an integer, then ti＝tti-tQi；
S2. in the first period, t1＝tt1-tQ1Will t1Defining a standard time interval;
s3, in different periods, tiIs different, t is calculated in each periodiAnd the first period t1Time difference of (1), noted as Δ ti，Δti＝ti-t1；
S4, calculating the obtained delta tiThe time for compensation and correction is input to the image processing end, and the image processing end carries out compensation processing so as to eliminate measurement errors caused by laser delay jitter.
7. The streak tube imaging lidar laser emission random error compensation method of claim 6, wherein:
the method for performing the compensation processing by the image processing terminal in S4 is as follows:
s4.1, recognizing the coordinate position (X) of the bright stripe in the imagei,Yj) The index i, j is the pixel coordinate of the stripe camera, in which case the pixel coordinate XiThe physical meaning of (1) is the round trip time of the laser, and the distance D represented by the signal is calculated as the number of pixels of a bright stripe XiC, wherein C is the speed of light propagation in the medium;
s4.2, calculating the length d of compensation as C × Δ ti;
and S4.3, compensating the calculated D into the distance D, and calculating the actual distance S of the target to be D-D.
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