CN110471046A - A kind of Differential Absorption Laser Radar System constant calibrating method - Google Patents
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Abstract
本发明涉及一种差分吸收激光雷达系统常数定标方法，属于激光雷达探测技术领域。该方法包括如下步骤：（1）在系统出射激光处分别放置第一光电探测器，吸收池和硬靶；调整吸收池位置，第一光电探测器放置在吸收池前端，作为监控信号和初始on，off能量监控；（2）吸收池使用真空泵抽真空，再冲入标准浓度为20000ppm的目标气体，记录下吸收池内的压强；（3）打开激光器，使用信号采集卡记录下第一光电探测器，第二光电探测器探测到的on和off信号；（3）根据采集到的数据确定雷达系统常数，撤掉吸收池和硬靶，进行正常的大气探测，使用改进后的反演公式，进行正常的气体浓度探测。本方法对激光的初始能量进行监测实施记录激光状态，提高数据可靠性。
The invention relates to a constant calibration method of a differential absorption laser radar system, belonging to the technical field of laser radar detection. The method includes the following steps: (1) respectively placing a first photodetector, an absorption cell and a hard target at the place where the system emits laser light; adjusting the position of the absorption cell, the first photodetector is placed at the front of the absorption cell as a monitoring signal and an initial on , off energy monitoring; (2) The absorption cell is evacuated by a vacuum pump, and then the target gas with a standard concentration of 20000ppm is charged, and the pressure in the absorption cell is recorded; (3) The laser is turned on, and the first photodetector is recorded by the signal acquisition card. , the on and off signals detected by the second photodetector; (3) Determine the radar system constant according to the collected data , remove the absorption cell and hard target, carry out normal atmospheric detection, and use the improved inversion formula to carry out Normal gas concentration detection. The method monitors the initial energy of the laser and records the state of the laser, thereby improving the reliability of the data.
Description
技术领域technical field
本发明涉及一种差分吸收激光雷达系统常数定标方法，属于激光雷达探测技术领域。The invention relates to a constant calibration method of a differential absorption laser radar system, belonging to the technical field of laser radar detection.
背景技术Background technique
激光雷达作为环境污染物监测的重要工具，具有抗干扰能力强、空间分辨率高、探测灵敏度高、测量光程长等优势，被广泛应用于气溶胶、臭氧、大气中各类污染气体的探测。差分吸收激光雷达作为激光雷达的一种，是近年来环境监测领域的新技术，被广泛应用于污染气体的浓度探测。它通过发射两束相同功率不同波长的激光，其中一束波长位于目标气体吸收谱线吸收峰附近，称之为on波长，另一束波长位于目标气体吸收谱线谷底，称之为off波长。目标气体对两束激光的吸收强度不同，使得大气散射回波信号衰减不同，通过检测这两束反射光的强度差就可计算出被测气体在大气中的浓度大小。差分吸收激光雷达系统的光源一般采用一台激光雷达交替发射两束激光或者两台激光器同时发射两束激光的方法，并且空间探测还需要用到三维转台等设备，相对于其他系统而言较为复杂。由于复杂的光路特点，以及差分吸收激光雷达两束激光的波长不一样，往往在实际探测中on波长和off波长激光的初始能量并不相同，并且on和off两路激光在实际探测时激光的合束不一定能达到完全重合的地步，特别是在紫外，红外等不可见波段进行探测时，由于激光不可见，光束质量合束效果都很难得到保证，这会使差分吸收激光雷达反演目标气体浓度造成一定误差，对于那些on波长和off波长能量相差较大的激光雷达将会直接导致其反演出错。As an important tool for monitoring environmental pollutants, lidar has the advantages of strong anti-interference ability, high spatial resolution, high detection sensitivity, and long measurement optical path. It is widely used in the detection of aerosol, ozone, and various polluting gases in the atmosphere. . Differential absorption lidar, as a kind of lidar, is a new technology in the field of environmental monitoring in recent years, and is widely used in the detection of the concentration of polluted gases. It emits two lasers with the same power and different wavelengths, one of which is located near the absorption peak of the target gas absorption line, called the on wavelength, and the other wavelength is located at the bottom of the target gas absorption line, called the off wavelength. The absorption intensity of the target gas to the two laser beams is different, so that the attenuation of the atmospheric scattering echo signal is different. By detecting the intensity difference between the two beams of reflected light, the concentration of the measured gas in the atmosphere can be calculated. The light source of the differential absorption lidar system generally adopts the method of one lidar emitting two laser beams alternately or two lasers emitting two laser beams at the same time, and the space detection also needs to use equipment such as a three-dimensional turntable, which is more complicated than other systems. . Due to the complex optical path characteristics and the different wavelengths of the two laser beams of the differential absorption lidar, the initial energies of the on-wavelength and off-wavelength lasers are often different in actual detection, and the on and off lasers are not the same in actual detection. The beam combination may not be completely coincident, especially when detecting in invisible bands such as ultraviolet and infrared, because the laser is invisible, the beam quality combination effect is difficult to guarantee, which will make the differential absorption lidar inversion. The target gas concentration causes a certain error. For those lidars with a large difference in energy between the on wavelength and the off wavelength, it will directly cause its inversion error.
发明内容SUMMARY OF THE INVENTION
本发明提出了一种差分吸收激光雷达系统常数定标方法，该方法可有效解决差分吸收激光雷达on波长和off波长激光能量不等，功率抖动，突变而引入的系统误差，并对激光的初始能量进行监测实施记录激光状态，提高数据可靠性。The present invention proposes a system constant calibration method for differential absorption laser radar, which can effectively solve the system errors introduced by differential absorption laser radar on wavelength and off wavelength laser energy unequal, power jitter, and sudden change, and has a negative impact on the initial laser energy. The energy is monitored and the laser state is recorded to improve the reliability of the data.
本发明为解决其技术问题采用如下技术方案：The present invention adopts following technical scheme for solving its technical problem:
一种差分吸收激光雷达系统常数定标方法，包括如下步骤：A method for constant calibration of a differential absorption lidar system, comprising the following steps:
(1)在系统出射激光处分别放置第一光电探测器，吸收池和硬靶；调整吸收池位置，第一光电探测器放置在吸收池前端，作为监控信号和初始on，off能量监控；(1) Place the first photodetector, the absorption cell and the hard target respectively at the laser output from the system; adjust the position of the absorption cell, and place the first photodetector at the front end of the absorption cell as a monitoring signal and initial on, off energy monitoring;
(2)吸收池使用真空泵抽真空，再冲入标准浓度为20000ppm的目标气体，记录下吸收池内的压强；(2) The absorption tank is evacuated by a vacuum pump, and then the target gas with a standard concentration of 20,000 ppm is charged, and the pressure in the absorption tank is recorded;
(3)打开激光器，使用信号采集卡记录下第一光电探测器，第二光电探测器探测到的on和off信号；(3) turn on the laser, use the signal acquisition card to record the on and off signals detected by the first photodetector and the second photodetector;
(4)根据采集到的数据确定雷达系统常数，撤掉吸收池和硬靶，进行正常的大气探测，使用改进后的反演公式，进行正常的气体浓度探测。(4) Determine the radar system constant according to the collected data, remove the absorption cell and hard target, carry out normal atmospheric detection, and use the improved inversion formula to carry out normal gas concentration detection.
所述激光器采用中红外激光器。The laser uses a mid-infrared laser.
所述第一光电探测器为中红外VIGO PVI-4TE型号的光电探测器。The first photodetector is a mid-infrared VIGO PVI-4TE type photodetector.
所述第二光电探测器为中红外VIGO PVI-4TE型号的光电探测器。The second photodetector is a mid-infrared VIGO PVI-4TE type photodetector.
所述硬靶采用高反射率的铝制硬板。The hard target adopts a high-reflectivity aluminum hard plate.
本发明的有益效果如下：The beneficial effects of the present invention are as follows:
1、检测通过吸收池前后的光信号的变化，来计算吸收池内的气体浓度，并与吸收池内气体浓度比较，确定激光雷达整个系统订正常数，在实际探测中引入该常数，对激光初始能量做归一化处理，有效降低激光初始能量不等，抖动等问题引起的误差。1. Detect the change of the optical signal before and after passing through the absorption cell to calculate the gas concentration in the absorption cell, and compare it with the gas concentration in the absorption cell to determine the fixed constant of the entire lidar system, and introduce this constant in the actual detection, and the initial laser energy Do normalization processing to effectively reduce the errors caused by laser initial energy unequal, jitter and other problems.
2、实时监控激光初始能量情况，记录下每束on和off能量，达到实时检测的效果。2. Monitor the initial energy of the laser in real time, record the on and off energy of each beam, and achieve the effect of real-time detection.
3、该方法特别适合用于紫外，红外等不可见波段差分吸收激光雷达的系统矫正，采用本方法可大大减小由于系统其本身不足而导致的反演误差。3. This method is especially suitable for system correction of differential absorption lidar in invisible wavelength bands such as ultraviolet and infrared. Using this method can greatly reduce the inversion error caused by the insufficiency of the system itself.
4、本方法通过在原有差分吸收激光雷达系统基础上额外安置一个初始激光探测器，一个临时吸收池，临时靶标，来确定整个激光雷达的系统常数，再通过改进的反演公式反演大气中目标气体的浓度。4. In this method, an initial laser detector, a temporary absorption cell, and a temporary target are additionally installed on the basis of the original differential absorption lidar system to determine the system constants of the entire lidar, and then the improved inversion formula is used to invert the atmosphere in the atmosphere. The concentration of the target gas.
5、本发明通过第一光电探测器监视初始的激光能量，并把初始激光能量引入到差分吸收激光雷达方程中，大大减小了由于激光初始能量不等，激光能量抖动等问题引起的反演误差，使的浓度反演结果更加准确。5. The present invention monitors the initial laser energy through the first photodetector, and introduces the initial laser energy into the differential absorption lidar equation, which greatly reduces the inversion caused by problems such as unequal initial laser energy and laser energy jitter. error, making the concentration inversion results more accurate.
附图说明Description of drawings
图1为改进后的系统结构图，其中，1是激光器，2是合束镜，3是第一光电探测器，4是吸收池，5是第一45°全反镜，6是第二45°全反镜，7是第三45°全反镜，8是第四45°全反镜，9是第五45°全反镜，10是硬靶，11是牛反式望远镜，12是第二光电探测器，13是信号采集卡，14是工控机。Figure 1 is the structure diagram of the improved system, wherein 1 is the laser, 2 is the beam combiner, 3 is the first photodetector, 4 is the absorption cell, 5 is the first 45° total mirror, 6 is the second 45 ° total reflex mirror, 7 is the third 45° total reflex mirror, 8 is the fourth 45° total reflex mirror, 9 is the fifth 45° total reflex mirror, 10 is the hard target, 11 is the cow trans telescope, 12 is the first Two photoelectric detectors, 13 is a signal acquisition card, 14 is an industrial computer.
图2为定标反演流程图。Figure 2 is a flow chart of calibration inversion.
具体实施方式Detailed ways
下面将结合附图对本发明做进一步详细说明。The present invention will be further described in detail below with reference to the accompanying drawings.
本发明以一套通用差分吸收激光雷达系统为例，该激光雷达系统主要包括激光雷达发射系统，激光雷达接收系统以及主控系统；其中，激光雷达发射系统包括激光器1、合束镜2、第一45°全反镜5、第二45°全反镜6，第三45°全反镜7，第四45°全反镜8，第五45°全反镜9，其中第三45°全反镜7，第四45°全反镜8，第五45°全反镜9构成一个三维转台和硬靶10；激光雷达接收系统包括牛反式望远镜11、第一光电探测器3、第二光电探测器12和信号采集卡13；主控系统使用工控机14分别与激光器1、三维转台、信号采集卡13连接，保存信号采集卡13采集到第一光电探测器3，第二光电探测器12的实验数据。如图1所示为改进后的系统结构，第一光电探测器3，第二光电探测器12分别记录下激光初始能量信号和激光回波信号。The present invention takes a set of general differential absorption laser radar system as an example. The laser radar system mainly includes a laser radar transmitting system, a laser radar receiving system and a main control system; wherein, the laser radar transmitting system includes a laser 1, a beam combiner 2, a first laser A 45° all-round mirror 5, a second 45° all-round mirror 6, a third 45° all-round mirror 7, a fourth 45° all-round mirror 8, a fifth 45° all-round mirror 9, of which the third 45° all-round mirror 9 The mirror 7, the fourth 45° all-reflective mirror 8, and the fifth 45° all-reflective mirror 9 constitute a three-dimensional turntable and a hard target 10; the lidar receiving system includes a cattle trans telescope 11, a first photodetector 3, a second The photodetector 12 and the signal acquisition card 13; the main control system uses the industrial computer 14 to connect with the laser 1, the three-dimensional turntable, and the signal acquisition card 13 respectively, and save the signal acquisition card 13 to collect the first photodetector 3, the second photodetector 12 experimental data. Figure 1 shows the improved system structure, the first photodetector 3 and the second photodetector 12 record the laser initial energy signal and the laser echo signal respectively.
整个系统常数标定流程为，首先在激光合束位置末端放置一个内部冲入已知浓度目标气体的吸收池4，在系统盲区外放置一硬靶10，通过第一光电探测器3记录下激光初始信号，第二光电探测器12记录下回波信号，再使用差分吸收激光雷达公式反演气体浓度与实际吸收池内气体浓度对比确定系统常数C，最后撤走吸收池4和硬靶10，使用第一光电探测器3，和第二光电探测器12，系统常数C进行正常的气体浓度探测。The entire system constant calibration process is as follows: first, place an absorption cell 4 at the end of the laser beam combining position, which is flushed with a known concentration of target gas, and place a hard target 10 outside the blind area of the system. The first photodetector 3 records the initial laser light. Signal, the second photodetector 12 records the echo signal, and then uses the differential absorption lidar formula to invert the gas concentration and the actual gas concentration in the absorption cell to determine the system constant C, and finally remove the absorption cell 4 and the hard target 10. A photodetector 3, and a second photodetector 12, the system constant C performs normal gas concentration detection.
反演方法改进：Inversion method improvements:
根据差分吸收激光雷达方程，单脉冲回波功率Pon,off可以表示为：According to the differential absorption lidar equation, the single pulse echo power P on,off can be expressed as:
方程中A是望远镜的面积，Pt为峰值功率，c是光速，η为接收系统效率，β(R)为大气后向散射系数，α(R)为大气消光系数，N(R)为气体浓度分布，σon,of为气体的差分吸收截面，R为目标物与探测器的距离，τ为激光雷达系统透过率。In the equation, A is the area of the telescope, P t is the peak power, c is the speed of light, η is the efficiency of the receiving system, β(R) is the atmospheric backscattering coefficient, α(R) is the atmospheric extinction coefficient, and N(R) is the gas Concentration distribution, σ on,of is the differential absorption cross section of the gas, R is the distance between the target and the detector, and τ is the transmittance of the lidar system.
首先对on与off回波信号强度比值求对数，再通过路径求出目标气体的浓度信息，最后根据阿伏加德罗常数和气体分子质量把目标气体的浓度转化到国际标准浓度单位。由于两束激光的波长较为接近，所以忽略其他修正项，最后整个路径上目标气体浓度可以表示为：First, the logarithm of the ratio of the on and off echo signal strengths is obtained, and then the concentration information of the target gas is obtained through the path. Finally, the concentration of the target gas is converted into the international standard concentration unit according to the Avogadro constant and the gas molecular mass. Since the wavelengths of the two laser beams are relatively close, other correction terms are ignored, and the final target gas concentration on the entire path can be expressed as:
其中ΔR为光束通过的整个路径长度，Δσ为on和off的差分吸收截面，Poff1为off激光初始能量，Pon1为on激光初始能量，Poff2为off激光照射到硬目标后回波信号，Pon2为on激光照射到硬目标后回波信号，以往的差分吸收激光雷达只记录Pon2，Poff2的信号，一般认为Poff1，Pon1的能量相等而不加入考虑，普遍认为的比值为恒定为1，但是这种做法会对目标气体浓度反演引入较大误差，特别是当on和off的初始激光能量不等或能量不稳抖动过大，本方法将有效解决该问题。where ΔR is the entire path length of the beam passing through, Δσ is the differential absorption cross-section of on and off, P off1 is the initial energy of the off laser, P on1 is the initial energy of the on laser, and P off2 is the echo signal after the off laser irradiates the hard target, P on2 is the echo signal after the on laser irradiates the hard target. The previous differential absorption lidar only records the signals of P on2 and P off2 . It is generally considered that the energy of P off1 and P on1 are equal and do not take into account. It is generally believed that The ratio is constant at 1, but this method will introduce a large error in the inversion of the target gas concentration, especially when the initial laser energy on and off is not equal or the energy jitter is too large, this method will effectively solve this problem. .
使用的反演方程可表示为：The inversion equation used can be expressed as:
其中C为整个雷达系统常数，也就是我们使用硬靶吸收实验计算反演的结果。我们将按照已下方法确定系统常数C。where C is the constant of the entire radar system, which is the result of calculation and inversion using the hard target absorption experiment. We will determine the system constant C as described below.
如图2所示为整个标定方案的步骤。Figure 2 shows the steps of the entire calibration scheme.
第一步：在整套系统合适位置分别放置第一光电探测器3，吸收池4，硬靶10；调整吸收池4位置，使系统光路完整通过吸收池4内部，打到硬靶标，保证拿放吸收池4前后光路位置不发生变化第一探测器3放置在吸收池4前端，作为监控信号和初始on，off能量监控。Step 1: Place the first photodetector 3, the absorption cell 4, and the hard target 10 at the appropriate positions of the entire system; adjust the position of the absorption cell 4 so that the optical path of the system completely passes through the interior of the absorption cell 4 and hits the hard target to ensure handling The position of the optical path before and after the absorption cell 4 does not change. The first detector 3 is placed at the front end of the absorption cell 4 as a monitoring signal and initial on and off energy monitoring.
第二步：吸收池4使用真空泵抽真空，再冲入标准浓度为20000ppm的目标气体，记录下吸收池4内的压强。The second step: the absorption tank 4 is evacuated by a vacuum pump, and then the target gas with a standard concentration of 20,000 ppm is injected, and the pressure in the absorption tank 4 is recorded.
第三步：打开激光器1，使用信号采集卡13记录下第一光电探测器3，第二光电探测器12探测到的on和off信号。The third step: turn on the laser 1, and use the signal acquisition card 13 to record the on and off signals detected by the first photodetector 3 and the second photodetector 12.
第四步：根据采集到的数据确定常数C，首先根据气体状态方程Step 4: Determine the constant C according to the collected data, first according to the gas state equation
PV＝NRT (4)PV=NRT (4)
其中P为吸收池内压强，V为吸收池体积，R为气体常数，T为环境温度，N为吸收池内目标气体的浓度，也是需要求得的物理量。Among them, P is the pressure in the absorption cell, V is the volume of the absorption cell, R is the gas constant, T is the ambient temperature, and N is the concentration of the target gas in the absorption cell, which is also a physical quantity that needs to be obtained.
第五步：根据公式(4)计算得到的N再带入公式(3)中，ΔσΔR都已知，Pon1，Poff1为第一探测器3探测数据，Pon2，Poff2为第二探测器12探测到的回波信号，此时公式(3)唯一的未知量只有常数系统常数C，通过公式(3)可计算得到系统常数C。Step 5: N calculated according to formula (4) is brought into formula (3), ΔσΔR is known, P on1 , P off1 are the detection data of the first detector 3, P on2 , P off2 are the second detection data The echo signal detected by the detector 12, at this time, the only unknown quantity in the formula (3) is only the constant system constant C, and the system constant C can be calculated by the formula (3).
第六步：撤掉吸收池4和硬靶10，进行正常的大气探测，使用改进后的反演公式(3)，即可进行正常的浓度反演。Step 6: Remove the absorption cell 4 and the hard target 10, carry out normal atmospheric detection, and use the improved inversion formula (3) to carry out normal concentration inversion.
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