CN110221308A - A kind of method, relevant apparatus and the storage medium of coherent pulse laser ranging - Google Patents
A kind of method, relevant apparatus and the storage medium of coherent pulse laser ranging Download PDFInfo
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- CN110221308A CN110221308A CN201910159162.2A CN201910159162A CN110221308A CN 110221308 A CN110221308 A CN 110221308A CN 201910159162 A CN201910159162 A CN 201910159162A CN 110221308 A CN110221308 A CN 110221308A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The invention discloses method, relevant apparatus and the computer readable storage mediums of a kind of coherent pulse laser ranging, the present invention is by carrying out bi-phase modulated to laser firing signals, and the laser echo signal after returning to object to be measured is mixed with local oscillator optical signal in frequency mixer, by carrying out cross-correlation demodulation to received mixed frequency signal, the time point that signal maximum after demodulation occurs is denoted as the echo signal time, to carry out laser ranging calculating.That is, the present invention to obtain the echo signal time, and then improves coherent pulse precision of laser ranging by carrying out bi-phase modulated, and the mixed frequency signal progress cross-correlation demodulation to receiving to laser firing signals.
Description
Technical field
The present invention relates to field of computer technology, method, related dress more particularly to a kind of coherent pulse laser ranging
It sets and computer readable storage medium.
Background technique
For pulsed laser ranging method since the angle of divergence of laser is small, laser pulse duration is extremely short, and instantaneous power greatly (can
Up to megawatt or more), thus can make laser ranging system have good directionality, the high ranging of range accuracy is remote, strong antijamming capability, hidden
The advantages that covering property is good, to be widely used.
Pulsed laser ranging method has following items advantage:
First, under identical overall average optical power output condition, the measurable distance of pulsed light wave mode laser range finder
It to be grown more than continuous light wave type laser range finder；
Second, ranging fast speed；
Third, does not need cooperative target, and concealment and safety are good.
In laser coherence ranging, in order to measure larger distance information, the pulse width generallyd use is in us amount
Grade, for the pulse width compared to direct detection ns magnitude, range accuracy can reduce.
Summary of the invention
The present invention provides method, relevant apparatus and the computer readable storage medium of a kind of coherent pulse laser ranging,
Pulsed laser ranging precision to solve the problems, such as ns magnitude in the prior art is lower.
In a first aspect, the present invention provides a kind of methods of coherent pulse laser ranging, this method comprises:
Copped wave, frequency modulation(PFM) and enhanced processing carried out to laser seed source, and will treated laser signal is emitted to
Survey target；
The laser echo signal returned by object to be measured is mixed with local oscillator optical signal in frequency mixer, is mixed
Optical signal, and cross-correlation demodulation is carried out to the mixed frequency signal, the time point that signal maximum after demodulation occurs is denoted as target
Signal time；
Laser ranging calculating is carried out according to the echo signal time；
Preferably, copped wave, frequency modulation(PFM) and enhanced processing are carried out to laser seed source, comprising:
Copped wave is carried out to the laser seed source, obtains pulsed laser signal；
The sinusoidal signal of a preset frequency and predetermined amplitude is generated, the length of the sinusoidal signal is laser pulse width
Degree, preset frequency is Laser Modulation frequency, and changes the phase in the sinusoidal signal each period according to preset mode, most
Modulated signal is obtained eventually；
The modulated signal is loaded on pulsed laser signal, then processing is amplified to the pulsed laser signal.
Preferably, the bi-phase modulated value of the modulated signal is 169.
Preferably, bi-phase modulated value position is [1 111 1-1-1 1 1-1 1-1 11111 1-1
-1 1 1 -1 1 -1 1 1 1 1 1 1 -1 -1 1 1 -1 1 -1 1 1 1 1 1 1 -1 -1 1 1 -1 1 -1 1
1 11 1 1 -1 -1 1 1 -1 1 -1 1 -1 -1 -1 -1 -1 1 1 -1 -1 1 -1 1 -1 -1 -1 -1 -1 -
1 1 1 -1 -1 1 -1 1 -1 1 1 1 1 1 -1-1 1 1 -1 1 -1 1 1 1 1 1 1 -1 -1 1 1 -1 1 -
1 1-1 -1 -1 -1 -1 1 1 -1 -1 1 -1 1 -1 1 1 1 1 1 -1 -1 1 1 -1 1-1 1 -1 -1 -1 -
1 -1 1 1 -1 -1 1 -1 1 -1 1 1 1 1 1 -1 -1 1 1 -1 1 -1 1]
Preferably, the frequency of the modulated signal and the bandwidth of modulator match, and the amplitude V of the modulated signal is full
The range that sufficient modulator works normally.
Preferably, cross-correlation demodulation is carried out to the mixed frequency signal, the time point that signal maximum after demodulation is occurred is remembered
For the echo signal time, comprising:
Become mixing optical signal to be mixed electric signal, to this mixing electric signal amplification；
Amplified mixing electric signal is acquired in real time, the triggering timing and lasing fluorescence timing synchronization of acquisition, often
The electric signal acquired after the secondary primary triggering of analysis, does computing cross-correlation for the sinusoidal signal of bi-phase modulated and acquisition electric signal, obtains
As the corresponding echo signal time when to maximum value.
Preferably, amplified mixing electric signal is acquired in real time, the triggering timing of acquisition and lasing fluorescence moment
Electric signal that is synchronous, acquiring after the primary triggering of analysis every time, does cross-correlation for the sinusoidal signal of bi-phase modulated and acquisition electric signal
Operation, as the corresponding echo signal time when obtaining maximum value, comprising:
The sinusoidal signal that bi-phase modulated will be loaded with carries out digitized sampling, sample frequency and to mixed frequency signal sample frequency
It is worth identical, obtains the one-dimensional matrix value an of discretization, which indicates the range value of sampled signal, between two sampled values
Time interval indicate the sampling period；
The one-dimensional matrix of the range value for the sampled signal that processing obtains is subjected to left and right overturning, obtains new one-dimensional matrix；
New one-dimensional matrix and mixing electric signal are subjected to convolution algorithm, obtain corresponding sequence number N, root when value maximum
Echo signal time N/fs can be obtained according to sequence number, wherein fs is sample rate.
Second aspect, the present invention provides a kind of device of coherent pulse laser ranging, which includes:
Bi-phase modulated unit, for carrying out copped wave, frequency modulation(PFM) and enhanced processing to laser seed source, and by treated
Laser signal is emitted to object to be measured；
Processing unit, the laser echo signal and local oscillator optical signal for that will pass through object to be measured return are in frequency mixer progress
Mixing, obtain mixing optical signal, and to the mixed frequency signal carry out cross-correlation demodulation, by after demodulation signal maximum occur when
Between point be denoted as the echo signal time；
Computing unit, for carrying out laser ranging calculating according to the echo signal time.
The third aspect, the present invention provides a kind of coherent pulse laser ranging system, the system comprises processor and deposit
Storage device, the method for being stored with multiple instruction to realize coherent pulse laser ranging in the storage device, the processor are held
The multiple instruction of row is to realize:
Copped wave, frequency modulation(PFM) and enhanced processing carried out to laser seed source, and will treated laser signal is emitted to
Survey target；
The laser echo signal returned by object to be measured is mixed with local oscillator optical signal in frequency mixer, is mixed
Optical signal, and cross-correlation demodulation is carried out to the mixed frequency signal, the time point that signal maximum after demodulation occurs is denoted as target
Signal time；
Laser ranging calculating is carried out according to the echo signal time.
Fourth aspect, the present invention provides a kind of computer readable storage medium, the computer readable storage medium is deposited
The computer program of signal mapping is contained, it is any of the above-described to realize when the computer program is executed by least one processor
The method of coherent pulse laser ranging described in kind.
The present invention has the beneficial effect that:
The present invention is by carrying out frequency modulation(PFM) to laser seed signal, and the laser echo signal after object to be measured is returned
It is mixed with local oscillator optical signal in frequency mixer, by carrying out cross-correlation demodulation to received mixed frequency signal, by signal after demodulation
The time point that maximum value occurs is denoted as the echo signal time, to carry out laser ranging calculating.That is, the present invention by pair
Laser firing signals carry out bi-phase modulated, and carry out cross-correlation demodulation to the mixed frequency signal received, to obtain echo signal
Time, and then improve coherent pulse precision of laser ranging.
Detailed description of the invention
Fig. 1 is a kind of flow diagram of the method for coherent pulse laser ranging that first embodiment of the invention provides；
Fig. 2 is the signal schematic representation for the seed light source that first embodiment of the invention provides；
Fig. 3 is the bi-phase modulated figure that first embodiment of the invention provides；
Fig. 4 is the signal by bi-phase modulated load in the sinusoidal signal of seed light source that first embodiment of the invention provides
Figure；
Fig. 5 is the schematic diagram of the signal in three periods that first embodiment of the invention provides；
Fig. 6 is the amplitude maximum point schematic diagram that first embodiment of the invention provides；
Fig. 7 is a kind of structural schematic diagram of the device for coherent pulse laser ranging that second embodiment of the invention provides.
Specific embodiment
Pulsed laser ranging precision in order to solve the problems, such as existing ns magnitude is lower, and it is relevant that the present invention provides one kind
The method of pulsed laser ranging, the present invention is by carrying out bi-phase modulated to laser seed signal, and to the mixed frequency signal received
Cross-correlation demodulation is carried out, the echo signal time is obtained, to improve coherent pulse precision of laser ranging.Below in conjunction with attached drawing with
And embodiment, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used to solve
The present invention is released, the present invention is not limited.
First embodiment of the invention provides a kind of method of coherent pulse laser ranging, referring to Fig. 1, this method comprises:
S101, copped wave, frequency modulation(PFM) and enhanced processing are carried out to laser seed source, and laser signal emits by treated
To object to be measured；
S102, the laser echo signal returned by object to be measured is mixed with local oscillator optical signal in frequency mixer, is obtained
Cross-correlation demodulation is carried out to mixing optical signal, and to the mixed frequency signal, the time point that signal maximum after demodulation is occurred is remembered
For the echo signal time；
S103, laser ranging calculating is carried out according to the echo signal time.
The present invention carries out cross-correlation solution to the mixed frequency signal received by carrying out frequency modulation(PFM) to laser firing signals
It adjusts, to obtain the echo signal time, and then improves coherent pulse precision of laser ranging.
It should be noted that the local oscillator optical signal of the embodiment of the present invention is a part separated from laser seed source
Laser signal.
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 there is echo-signal.In order to improve operating distance, generally by improving peak power to laser emitting source, reduce arteries and veins
Rush 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, so as to cause the use for being unable to satisfy practical application scene.
In order to solve this problem, the present invention in reception mode by using relevant heterodyne reception.It will be noise-containing
Ultra-weak electronic signal is mixed with another way reference electrical signal, carries out correlation intergal, uncorrelated to noise using useful signal
Property eliminate noise, useful signal detected.For this detection mode, improving operating distance can be by increasing laser energy
The method of amount, i.e., increase pulse width, also properly increase peak power, thus can laser average power ratio it is lesser
In the case of, operating distance is farther out.In this case the power consumption and volume of laser are all smaller.
But in the case where increasing pulse width, if range accuracy can be relatively low using conventional processing method.For
Raising range accuracy, the present invention is by carrying out a kind of improved modulation to laser firing signals, that is, believes laser firing pulses
Number bi-phase modulated improved, while cross-correlation demodulation is carried out to received mixed frequency signal, signal maximum occurs after demodulation
Time point be the echo signal time.
Specifically, in the embodiment of the present invention, copped wave, frequency modulation(PFM) and enhanced processing are carried out to laser seed source, comprising:
Copped wave is carried out to the laser seed source, obtains pulsed laser signal；
The sinusoidal signal of a preset frequency and predetermined amplitude is generated, the length of the sinusoidal signal is laser pulse width
Degree, preset frequency is Laser Modulation frequency, and makes the phase in the sinusoidal signal each period according to preset bi-phase modulated side
Formula variation, finally obtains modulated signal；
The modulated signal is loaded on pulsed laser signal, then processing is amplified to the pulsed laser signal.
That is, the embodiment of the present invention needs the pulsed laser signal by modulated signal to original laser seed source
Amplification is carried out, to increase pulse width.
In the embodiment of the present invention, the bi-phase modulated value that modulated signal is arranged is 169, and the specific bi-phase modulated value position that is arranged is
[1 1 1 1 1 -1 -1 1 1 -1 1 -1 1 1 1 1 1 1 -1-1 1 1 -1 1 -1 1 1 1 1 1 1 -1 -1 1
1 -1 1 -1 1 1 1 1 1 1 -1 -1 1 1 -1 1 -1 1 1 1 1 1 1 -1 -1 1 1-1 1-1 1 -1 -1 -
1 -1 -1 1 1 -1 -1 1-1 1 -1 -1 -1 -1 -1 -1 1 1 -1 -1 1 -1 1 -1 1 1 1 1 1 -1 -1
1 1 -1 1 -1 1 1 1 1 1 1 -1 -1 1 1 -1 1 -1 1 -1 -1 -1 -1 -1 1 1-1 -1 1 -1 1 -1
1 1 1 1 1 -1 -1 1 1 -1 1 -1 1 -1 -1 -1 -1 -1 1 1 -1 -1 1 -1 1 -1 1 1 1 1 1 -1
-1 1 1 -11 -1 1]。
On the whole, the embodiment of the present invention makes the sinusoidal signal each week by carrying out bi-phase modulated to sinusoidal signal
The phase of phase changes according to preset mode.
It should be noted that the frequency of modulated signal described in the embodiment of the present invention and the bandwidth of modulator match, and
The amplitude V of the modulated signal meets the range of modulator normal work.
When it is implemented, carrying out cross-correlation demodulation to the mixed frequency signal, most by signal after demodulation in the embodiment of the present invention
The time point that big value occurs is denoted as the echo signal time, comprising:
Become mixing optical signal to be mixed electric signal, to this mixing electric signal amplification；
Amplified mixing electric signal is acquired in real time, the triggering timing and lasing fluorescence timing synchronization of acquisition, often
The electric signal acquired after the secondary primary triggering of analysis, does computing cross-correlation for the sinusoidal signal of bi-phase modulated and acquisition electric signal, obtains
As the corresponding echo signal time when to maximum value.
Specifically, the embodiment of the present invention is will to be loaded with the sinusoidal signal progress digitized sampling of bi-phase modulated, sampling
Frequency and mixed frequency signal sample frequency is worth identical, obtains the one-dimensional matrix value an of discretization, which indicates sampling letter
Number range value, the time interval between two sampled values indicates the sampling period；
The one-dimensional matrix of the range value for the sampled signal that processing obtains is subjected to left and right overturning, obtains new one-dimensional matrix；
New one-dimensional matrix and mixing electric signal are subjected to convolution algorithm, obtain corresponding sequence number N, root when value maximum
Echo signal time N/fs can be obtained according to sequence number, wherein fs is sample rate.
The core concept of the embodiment of the present invention is exactly to be adjusted using a kind of improved bi-phase modulated to transmitting pulse signal
System, demodulates received mixed frequency signal using correlation method, to substantially increase range accuracy.
The invention proposes a kind of method for improving coherent pulse precision of laser ranging, this method uses improved frequency modulation
The big energy optical fiber laser of broad pulse is small in size, light-weight, low in energy consumption as laser source.Laser source passes through with other components
Optical fiber connection, local oscillator light utilize PIN type silicon photoelectricity two with after the echo-signal that target object reflects is mixed for continuous light
Pole pipe detects mixed frequency signal, carries out signal amplification, filtering, cross-correlation demodulation operation to the electric signal detected, then adjusts the distance
Information is resolved.
The specific method is as follows:
1) single-frequency laser seed source is divided into two-way, and local oscillator light is directly entered frequency mixer all the way；In addition all the way by it
Copped wave and frequency modulation(PFM) are carried out, subsequently into pulse image intensifer then its power amplification is irradiated to object to be measured；Frequency
The method of modulation is as follows:
(1) generating a frequency first is f, and amplitude is that (f depends on the bandwidth of modulator to V, to match with modulator, V
Value can satisfy modulator normal work range) sinusoidal signal, the length of this sinusoidal signal is that pulse width is Tus
(T is laser pulse width, generally us magnitude).As shown in Fig. 2.
(2) modified bi-phase modulated value is generated, at most there was only 13 relative to traditional Bark code value, what the present invention used
There are 169, bi-phase modulated value increases so that the time extracted after cross-correlation demodulation is more accurate, to improve measurement accuracy；
This 169 place value position is [1 111 1-1-1 1 1-11-1 11111 1-1-1 1 1-1 1-1 111
1 1 1-1 -1 1 1 -1 1 -1 1 1 1 1 1 1 -1 -1 1 1 -1 1 -1 1 1 1 1 1 1 -1 -1 1 1 -1
1 -1 1 -1 -1 -1 -1 -1 1 1 -1 -1 1 -1 1 -1 -1 -1 -1 -1 -1 1 1 -1 -1 1 -1 1 -1
1 1 1 1 1 -1 -1 1 1 -1 1 -1 1 1 1 1 1 1 -1 -1 1 1 -1 1-1 1 -1 -1 -1 -1 -1 1 1
-1 -1 1 -1 1 -1 1 1 1 1 1 -1 -1 1 1 -1 1 -1 1 -1 -1 -1 -1 -1 1 1 -1 -1 1 -1 1
- 11111 1-1-1 1 1-1 1-1 1], this bi-phase modulated value is loaded into the phase of sine wave, so that each of which
The phase in period changes in the above manner, 1 corresponding phase invariant, and -1 corresponding phase changes 180 °, bi-phase modulated figure such as Fig. 3
It is shown.
As shown in figure 4, bi-phase modulated is loaded in sinusoidal signal for the embodiment of the present invention；
(3) signal enumerated above is that have the signal schematic representation of signal section in a laser emission period, final to add
The signal being downloaded on modulator is a cycle, the signal in specific three periods as shown in Figure 5.
(4) modulated signal is input to modulator (can be acousto-optic modulator), by laser firing signals according to being loaded
Signal on be modulated.
2) laser echo signal after object to be measured returns is mixed with local oscillator optical signal in frequency mixer, is mixed
Frequency optical signal, mixing optical signal are received by a detector；
3) detector will be mixed optical signal and become to be mixed electric signal, to this mixing electric signal amplification；
4) amplified mixing electric signal is acquired in real time, the triggering timing and lasing fluorescence timing synchronization of acquisition,
The electric signal acquired after the primary triggering of analysis every time, does cross-correlation for the sinusoidal signal of modified bi-phase modulated and acquisition electric signal
Operation obtains doing when maximum value corresponding time point, specific as follows:
(1) sinusoidal signal for being loaded with modified bi-phase modulated is also subjected to digitized sampling, sample frequency and to mixing
Signal sampling frequencies value is identical, obtains the one-dimensional matrix value an of discretization, which indicates the range value of sampled signal, and two
Time interval between a sampled value indicates the sampling period；
(2) the one-dimensional matrix of the range value of sampled signal obtained above is subjected to left and right overturning, obtains new one-dimensional square
Battle array；
(3) new one-dimensional matrix and mixing electric signal are subjected to convolution algorithm, obtain corresponding sequence number N when value maximum,
Temporal information N/fs (fs is sample rate) can be obtained according to sequence number, it is specific as shown in Figure 6.
5) according to obtained temporal information, as follows according to ranging formula: R=ct/2 obtains range information.
Second embodiment of the invention provides a kind of device of coherent pulse laser ranging, and referring to Fig. 7, which includes:
Bi-phase modulated unit, for carrying out copped wave, frequency modulation(PFM) and enhanced processing to laser seed source, and by treated
Laser signal is emitted to object to be measured；
Processing unit, the laser echo signal and local oscillator optical signal for that will pass through object to be measured return are in frequency mixer progress
Mixing, obtain mixing optical signal, and to the mixed frequency signal carry out cross-correlation demodulation, by after demodulation signal maximum occur when
Between point be denoted as the echo signal time；
Computing unit, for carrying out laser ranging calculating according to the echo signal time.
The present invention believes the mixing received by carrying out copped wave, frequency modulation(PFM) and enhanced processing to laser seed source
Number carry out cross-correlation demodulation, to obtain the echo signal time, and then improve coherent pulse precision of laser ranging.
In order to improve range accuracy under big pulse width, the laser signal of Laser emission is modulated, this
Invention is modulated transmitting pulse signal using a kind of improved bi-phase modulated signal, using correlation method to received mixing
Signal is demodulated, to substantially increase range accuracy.
Specific implementation, the bi-phase modulated unit of the embodiment of the present invention are to carry out copped wave to the laser seed source, obtain arteries and veins
Impulse optical signal；The sinusoidal signal of a preset frequency and predetermined amplitude is generated, the length of the sinusoidal signal is laser pulse
Width, preset frequency is Laser Modulation frequency, and changes the phase in the sinusoidal signal each period according to preset mode,
Finally obtain modulated signal；The modulated signal is loaded on pulsed laser signal, then the pulsed laser signal is put
Big processing.
In the embodiment of the present invention, the bi-phase modulated value that modulated signal is arranged is 169, and the specific bi-phase modulated value position that is arranged is
[1 1 1 1 1 -1 -1 1 1 -1 1 -1 1 1 1 1 1 1 -1 -1 1 1 -1 1 -1 1 1 1 1 1 1 -1 -1
1 1 -1 1 -1 1 1 1 1 1 1 -1 -1 1 1 -1 1 -1 1 1 1 1 1 1 -1 -1 1 1 -1 1 -1 1 -1
-1 -1 -1 -1 1 1 -1 -1 1 -1 1 -1 -1 -1 -1 -1 -1 1 1 -1 -1 1 -1 1 -1 1 1 1 1 1
-1 -1 1 1 -1 1 -1 1 1 1 1 1 1 -1 -1 1 1 -1 1 -1 1 -1 -1 -1 -1 -1 1 1 -1 -1 1
-1 1 -1 1 1 1 1 1 -1 -1 1 1 -1 1 -1 1 -1 -1-1 -1 -1 1 1 -1 -1 1 -1 1 -1 1 1 1
1 1 -1 -1 1 1 -1 1 -1 1]。
On the whole, the embodiment of the present invention carries out bi-phase modulated to sinusoidal signal, makes the sinusoidal signal each period
Phase changes according to preset mode.
It should be noted that the frequency of modulated signal described in the embodiment of the present invention and the bandwidth of modulator match, and
The amplitude V of the modulated signal meets the range of modulator normal work.
The processing unit of the embodiment of the present invention is also used to, and is carried out cross-correlation demodulation to the mixed frequency signal, will be believed after demodulation
The time point that number maximum value occurs is denoted as the echo signal time, comprising:
Become mixing optical signal to be mixed electric signal, to this mixing electric signal amplification；
Amplified mixing electric signal is acquired in real time, the triggering timing and lasing fluorescence timing synchronization of acquisition, often
The electric signal acquired after the secondary primary triggering of analysis, does computing cross-correlation for the sinusoidal signal of bi-phase modulated and acquisition electric signal, obtains
As the corresponding echo signal time when to maximum value.
Specifically, the processing unit of the embodiment of the present invention is to digitize the sinusoidal signal for being loaded with bi-phase modulated
Sampling, sample frequency and to mixed frequency signal sample frequency be worth it is identical, obtain the one-dimensional matrix value an of discretization, the matrix value table
Show the range value of sampled signal, the time interval between two sampled values indicates the sampling period；The sampled signal that processing is obtained
The one-dimensional matrix of range value carry out left and right overturning, obtain new one-dimensional matrix；By new one-dimensional matrix and mixing electric signal into
Row convolution algorithm obtains corresponding sequence number N when value maximum, echo signal time N/fs can be obtained according to sequence number, wherein fs
For sample rate.
In simple terms, the core concept of the embodiment of the present invention is exactly using a kind of improved bi-phase modulated signal to transmitting arteries and veins
It rushes signal to be modulated, received mixed frequency signal be demodulated using correlation method, to substantially increase range accuracy.
The related content of the embodiment of the present invention can be found in embodiment of the method part and be understood, the embodiment of the present invention to this not
It is described in detail.
Third embodiment of the invention provides a kind of computer readable storage medium, which is characterized in that the computer can
The computer program that storage medium is stored with coherent pulse laser ranging is read, the computer program is held by least one processor
When row, to realize following method:
Copped wave, frequency modulation(PFM) and enhanced processing carried out to laser seed source, and will treated laser signal is emitted to
Survey target；
The laser echo signal returned by object to be measured is mixed with local oscillator optical signal in frequency mixer, is mixed
Optical signal, and cross-correlation demodulation is carried out to the mixed frequency signal, the time point that signal maximum after demodulation occurs is denoted as target
Signal time；
Laser ranging calculating is carried out according to the echo signal time.
The related content of the embodiment of the present invention can be found in embodiment of the method part and be understood, the embodiment of the present invention to this not
It is described in detail.
Fourth embodiment of the invention provides a kind of coherent pulse laser ranging system the system comprises processor and deposits
Storage device, the method for being stored with multiple instruction to realize coherent pulse laser ranging in the storage device, the processor are held
The multiple instruction of row is to realize:
Copped wave, frequency modulation(PFM) and enhanced processing carried out to laser seed source, and will treated laser signal is emitted to
Survey target；
The laser echo signal returned by object to be measured is mixed with local oscillator optical signal in frequency mixer, is mixed
Optical signal, and cross-correlation demodulation is carried out to the mixed frequency signal, the time point that signal maximum after demodulation occurs is denoted as target
Signal time；
Laser ranging calculating is carried out according to the echo signal time.
The related content of the embodiment of the present invention can be found in embodiment of the method part and be understood, the embodiment of the present invention to this not
It is described in detail.
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 method of coherent pulse laser ranging characterized by comprising
Copped wave, frequency modulation(PFM) and enhanced processing are carried out to laser seed source, and laser signal is emitted to mesh to be measured by treated
Mark；
The laser echo signal returned by object to be measured is mixed with local oscillator optical signal in frequency mixer, mixing light letter is obtained
Number, and cross-correlation demodulation is carried out to the mixed frequency signal, the time point that signal maximum after demodulation occurs is denoted as echo signal
Time；
Laser ranging calculating is carried out according to the echo signal time.
2. the method according to claim 1, wherein carrying out copped wave, frequency modulation(PFM) and amplification to laser seed source
Processing, comprising:
Copped wave is carried out to the laser seed source, obtains pulsed laser signal；
The sinusoidal signal of a preset frequency and predetermined amplitude is generated, the length of the sinusoidal signal is laser pulse width, in advance
Determining frequency is Laser Modulation frequency, and changes the phase in the sinusoidal signal each period according to preset mode, final
To modulated signal；
The modulated signal is loaded on pulsed laser signal, then processing is amplified to the pulsed laser signal.
3. according to the method described in claim 2, it is characterized in that,
The bi-phase modulated value of the modulated signal is 169.
4. according to the method described in claim 3, it is characterized in that,
Bi-phase modulated value position is [1 111 1-1-1 1 1-1 1-1 11111 1-1-1 1 1-1 1
-1 1 1 1 1 1 1 -1 -1 1 1 -1 1 -1 1 1 1 1 1 1 -1 -1 1 1 -1 1 -1 1 1 1 1 1 1 -1
-1 1 1 -1 1 -1 1 -1 -1 -1 -1 -1 1 1 -1 -1 1 -1 1 -1 -1 -1 -1 -1 -1 1 1 -1 -1
1 -1 1 -1 1 1 1 1 1 -1 -1 1 1 -1 1 -1 1 1 1 1 1 1 -1 -1 1 1 -1 1 -1 1 -1 -1-1
-1 -1 1 1 -1 -1 1 -1 1 -1 1 1 1 1 1 -1 -1 1 1 -1 1 -1 1 -1 -1 -1 -1 -1 1 1 -1
-1 1 -1 1 -1 1 1 1 1 1 -1 -1 1 1 -1 1 -1 1]。
5. according to the method described in claim 3, it is characterized in that,
The frequency of the modulated signal and the bandwidth of modulator match, and the amplitude V of the modulated signal is meeting modulator just
The range often to work.
6. method described in any one of -5 according to claim 1, which is characterized in that carry out cross-correlation to the mixed frequency signal
The time point that signal maximum after demodulation occurs is denoted as the echo signal time by demodulation, comprising:
Become mixing optical signal to be mixed electric signal, to this mixing electric signal amplification；
Amplified mixing electric signal is acquired, the triggering timing and lasing fluorescence timing synchronization of acquisition in real time, is divided every time
The sinusoidal signal of bi-phase modulated and acquisition electric signal are done computing cross-correlation, obtained most by the electric signal acquired after the primary triggering of analysis
As the corresponding echo signal time when big value.
7. according to the method described in claim 6, adopting it is characterized in that, acquired in real time to amplified mixing electric signal
The triggering timing and lasing fluorescence timing synchronization of collection, the electric signal acquired after the primary triggering of analysis every time, just by bi-phase modulated
String signal and acquisition electric signal do computing cross-correlation, as the corresponding echo signal time when obtaining maximum value, comprising:
The sinusoidal signal that bi-phase modulated will be loaded with carries out digitized sampling, sample frequency and to mixed frequency signal sample frequency value phase
Together, obtain the one-dimensional matrix value an of discretization, which indicates the range value of sampled signal, between two sampled values when
Between the time interval sampling period；
The one-dimensional matrix of the range value for the sampled signal that processing obtains is subjected to left and right overturning, obtains new one-dimensional matrix；
New one-dimensional matrix and mixing electric signal are subjected to convolution algorithm, corresponding sequence number N when value maximum is obtained, according to sequence
Number echo signal time N/fs can be obtained, wherein fs is sample rate.
8. a kind of device of coherent pulse laser ranging characterized by comprising
Bi-phase modulated unit, for carrying out copped wave, frequency modulation(PFM) and enhanced processing to laser seed source, and will treated laser
Signal is emitted to object to be measured；
Processing unit, for mixing the laser echo signal for passing through object to be measured return in frequency mixer with local oscillator optical signal
Frequently, mixing optical signal is obtained, and cross-correlation demodulation is carried out to the mixed frequency signal, the time that signal maximum after demodulation is occurred
Point is denoted as the echo signal time；
Computing unit, for carrying out laser ranging calculating according to the echo signal time.
9. a kind of coherent pulse laser ranging system, which is characterized in that described to deposit the system comprises processor and storage device
The method that multiple instruction is stored in storage device to realize coherent pulse laser ranging, the processor execute the multiple instruction
To realize:
Copped wave, frequency modulation(PFM) and enhanced processing are carried out to laser seed source, and laser signal is emitted to mesh to be measured by treated
Mark；
The laser echo signal returned by object to be measured is mixed with local oscillator optical signal in frequency mixer, mixing light letter is obtained
Number, and cross-correlation demodulation is carried out to the mixed frequency signal, the time point that signal maximum after demodulation occurs is denoted as echo signal
Time；
Laser ranging calculating is carried out according to the echo signal time.
10. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage has signal mapping
Computer program, the computer program by least one processor execute when, to realize any one of claim 1-7
The method of the coherent pulse laser ranging.
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