CN110646779A - Phase coding unsaturated modulation method and device, laser radar ranging and speed measuring method and laser radar system - Google Patents
Phase coding unsaturated modulation method and device, laser radar ranging and speed measuring method and laser radar system Download PDFInfo
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- CN110646779A CN110646779A CN201910886491.7A CN201910886491A CN110646779A CN 110646779 A CN110646779 A CN 110646779A CN 201910886491 A CN201910886491 A CN 201910886491A CN 110646779 A CN110646779 A CN 110646779A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
- G01S17/50—Systems of measurement based on relative movement of target
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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
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
- G01S7/4873—Extracting wanted echo signals, e.g. pulse detection by deriving and controlling a threshold value
Abstract
The invention relates to a phase coding unsaturated modulation method, a phase coding unsaturated modulation device, a laser radar distance and speed measurement method and a laser radar system. The invention can simultaneously complete distance measurement and speed measurement, and has the advantages of high accuracy, small error, small calculated amount and low system complexity.
Description
Technical Field
The invention relates to the field of laser radars, in particular to a phase coding unsaturated modulation method and device, a laser radar distance and speed measuring method and a laser radar system.
Background
Pulse compression is an important system of modern radar, effectively solves the contradiction between radar distance resolution and average power, and is widely applied to the modern radar. Typical pulse compression signals are of three types: linear Frequency Modulation (LFM) signals, non-linear frequency modulation (NLFM) signals and phase coding (PSK) signals, wherein the phase coding signals have large main-to-auxiliary ratio and good compression performance under the condition of small time-bandwidth product, and are widely applied, and because the phase coding adopts pseudo-random sequence signals, the signal 'agility' is easy to realize, which is beneficial to improving the anti-interception capability of a radar system, but the defects are that the phase coding signals are subjected to Doppler modulation in the process of pulse compression on target echo signals, due to the change of the frequency of a target and a platform and the frequency of a seed laser carrier within the round trip time of the radar signals, matching filter functions become completely unmatched due to the existence of Doppler of relative motion between the platform and the target, the phase coding signals cannot obtain the relative distance information between the target and the platform through the pulse compression process, the phase encoding signal is sensitive to doppler, and when there is doppler shift in the echo signal, the pulse compression performance is seriously affected, so particularly in the case of a laser radar or the like where the carrier frequency is high, the doppler shift of the target relative motion is large, and the frequency stability of the seed laser is poor, it is necessary to perform compensation processing on doppler caused by the relative motion between the target and the platform. There is therefore a need to improve the prior art to effectively solve the doppler sensitivity problem of conventional phase encoded signals while enabling the measurement of the relative velocity of motion of the target.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a phase coding unsaturated modulation method, a phase coding unsaturated modulation device, a laser radar distance and speed measurement method and a laser radar system.
The technical scheme of the invention is as follows: a phase coding unsaturated modulation method is used for carrying out phase coding modulation on single-frequency laser, wherein the phase coding modulation form is two-phase or multi-phase, and the modulation depth is phase unsaturated modulation.
Further, when the phase encoding modulation form is a bi-phase code, the signal modulation form is:
wherein Sig (t) is the output laser modulation signal, A is the laser signal amplitude, f0Is the carrier frequency of the laser light,
is a phase modulation signal, n is an integer, and η is 0.2 to 0.8.
Further, η is 0.4 to 0.6.
Furthermore, the laser signal subjected to phase coding unsaturated modulation comprises a single-frequency spectrum component and a phase coding modulated broadband spectrum component, and the phase coding modulated broadband spectrum component is the phase coding spectrum component, and the energy proportion of the phase coding modulated broadband spectrum component and the phase coding modulated broadband spectrum component is the same or close to the energy proportion of the phase coding modulated broadband spectrum component and the phase coding modulated spectrum component.
Further, the energy content of the single-frequency spectrum component is 40% -60%.
The invention also provides a phase coding unsaturated modulation device, which is used for realizing the phase coding unsaturated modulation method and is characterized in that: including laser generator, laser phase modulator and signal generator, laser generator is used for sending the single-frequency laser of constant intensity, and laser generator's laser emission end connects the light input end of laser phase modulator, and signal generator is used for producing the phase code modulation signal of telecommunication, and signal generator's the signal input end of telecommunication output end connection laser phase modulator, single-frequency laser carries out the unsaturated modulation of phase code at laser phase modulator.
The invention also provides a laser radar distance and speed measurement method, which is based on the phase coding unsaturated modulation method and comprises the following steps:
step S1, carrying out phase coding unsaturated modulation on the single-frequency laser;
step S2, emitting the laser signal which is subjected to phase coding unsaturated modulation and amplification, and carrying out heterodyne mixing and photoelectric conversion on the echo laser reflected by the target and the single-frequency laser to obtain an intermediate-frequency electric signal after heterodyne;
step S3, processing the intermediate frequency electric signal and converting the signal into an intermediate frequency complex signal; (ii) a
Step S4, Fourier transform is carried out on the intermediate frequency complex signal to obtain a signal frequency spectrum;
and step S5, performing data processing on the signal frequency spectrum and the intermediate frequency complex signal obtained after Fourier transform to obtain speed information and distance information, thereby completing the ranging and speed measurement of the laser radar.
Further, step S1 includes performing pulse width modulation on the single-frequency laser, where the laser signal is in the form of a continuous wave, a quasi-continuous wave, or a pulse wave after the pulse width modulation, and the laser frequency may be shifted during the modulation process.
Further, in step S3, the complex signal conversion process is implemented by a hardware structure or by a data processing algorithm.
Further, the step S4 further includes the following steps:
s41, comparing a single-frequency spectrum component obtained after Fourier transformation of the intermediate-frequency complex signal with a frequency signal intensity threshold value to obtain a single-frequency peak point array with the intensity greater than the frequency signal intensity threshold value, so as to obtain the Doppler size and direction of relative movement between the laser radar and the target;
s42, obtaining a speed array by processing the single-frequency peak point array, wherein the speed array not only reflects speed information;
s43, constructing a matched filter function by using the single-frequency peak point array, performing pulse compression on the matched filter function and the phase coding frequency spectrum component in the intermediate-frequency complex signal, comparing the compressed data information with a distance signal intensity threshold value, forming a distance array by points larger than the distance signal intensity threshold value, and reflecting the distance information by the distance array;
and S44, outputting a speed array and a distance array.
The invention also provides a laser radar system for executing the laser radar distance and speed measurement method, which comprises the following steps: the laser device comprises a laser generator, a laser phase modulator, a laser amplifier, a laser demodulator, a photoelectric detector, a data acquisition and processor and a signal generator, wherein the laser generator is used for emitting single-frequency laser, the laser emitting end of the laser generator is connected with the optical input end of the laser demodulator and the optical input end of the laser phase modulator, the signal generator is used for generating phase coding modulation electric signals, the electric signal output end of the signal generator is connected with the signal input end of the laser phase modulator, the optical output end of the laser phase modulator is connected with the optical input end of the laser amplifier, the optical output end of the laser amplifier is connected with a receiving and transmitting optical path, the receiving and transmitting optical path emits the laser output by the laser amplifier, simultaneously introduces the received target anti-reflection echo signal into the optical input end of the laser demodulator, and the optical output end of the laser, the photoelectric detector is connected with a data acquisition and processor.
Furthermore, a pulse width modulator can be arranged, the width modulator is arranged between the laser generator and the laser phase modulator, and the pulse width modulator can also have a function of frequency shift of laser signals.
Further, a circulator may be further provided, the circulator being disposed between the laser amplifier and the transmitting and receiving optical path.
The invention has the following beneficial effects:
1) relative motion speed and distance information between the target and the platform can be obtained simultaneously by utilizing the phase coding unsaturated modulation signal, and compared with the existing phase coding technology, speed/Doppler dimension detection can be obtained, so that the Doppler tolerance of the existing phase coding modulation technology is further improved;
2) the technical scheme of the invention can also obtain the target movement speed information under the condition that the echo signal has extremely low signal-to-noise ratio (<0dB), and compared with the scheme of detecting the movement speed by multiplying the intermediate frequency orthogonal phase coding signal in the prior art, the detection sensitivity of the system is higher;
3) the signal form of unsaturated modulation is in the dimension of speed measurement and distance measurement, the signal has the same carrier wave, generation time and propagation path, so the Doppler and environment errors are completely the same as the errors caused by the distance measurement-speed measurement signal component, and are common mode errors which can be eliminated by a signal processing means subsequently;
4) the phase coding unsaturated modulation mode can obtain the target relative motion Doppler frequency by only performing Fourier transform on the echo signal once, does not need a complex iterative signal processing process, and effectively reduces the system calculation amount;
5) the technical scheme of the invention adopts an unsaturated modulation mode, and can finish unsaturated phase coding unsaturated modulation by only adopting a primary modulator, so that the complexity of the system is greatly reduced.
Drawings
Fig. 1 is a time domain signal form after phase encoded unsaturated modulation heterodyne.
Fig. 2 is a frequency domain signal form after phase encoded unsaturated modulation heterodyne.
Fig. 3 is a system schematic of a phase encoded unsaturated modulation device.
FIG. 4 is a flow chart of a laser radar ranging and speed measuring method based on phase coding unsaturated modulation.
Fig. 5 is a schematic diagram of a laser radar ranging and speed measuring system.
Wherein the figures include the following reference numerals: 1. a single-frequency spectral component; 2. phase-encoded spectral components; 3. single-frequency laser; 4. echo laser; 5. intermediate frequency electrical signals; 6. an intermediate frequency complex signal; 7. a signal spectrum; 8. a frequency signal strength threshold; 9. a single-frequency peak point array; 10. matching a filter function; 11. pulse compression; 12. a distance signal strength threshold; 13. a velocity array; a distance array; 15. circulating operation; 16. a laser generator; 17. a modulator; 18. a laser phase modulator; 19. a laser amplifier; 20. a circulator; 21. a transmit-receive optical path; 22. a laser demodulator; 23. a photodetector; 24. a data acquisition and processor; a signal generator.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1-2, a phase-coded unsaturated modulation method includes: the method comprises the following steps of carrying out phase coding modulation on single-frequency laser output by a laser generator 16, wherein the phase coding modulation form is two-phase or multi-phase, the modulation depth is phase unsaturated modulation, and when the phase coding form is two-phase code, the signal modulation form of the phase unsaturated modulation is as follows:
wherein Sig (t) is the output laser modulation signal, A is the laser signal amplitude, f0Is the carrier frequency of the laser light,for the phase modulation signal, n is an integer (e.g., -1, 0, 1 …), η is 0.2 to 0.8 (preferably 0.4 to 0.6).
The laser signal subjected to phase coding unsaturated modulation comprises a single-frequency spectrum component 1 and a phase coding modulated broadband spectrum component, wherein the phase coding modulated broadband spectrum component is a phase coding spectrum component 2, the energy proportion of the phase coding modulated broadband spectrum component and the phase coding modulated broadband spectrum component is the same or close to each other, and the energy proportion of the single-frequency spectrum component 1 is 40% -60%.
Example 2
Referring to fig. 3, a phase coding unsaturated modulation device includes a laser generator 16, a laser phase modulator 18 and a signal generator 25, the laser generator 16 is configured to emit a single-frequency laser with a constant intensity, a laser emission end of the laser generator 16 is connected to an optical input end of the laser phase modulator 18, the signal generator 25 is configured to generate a phase coding modulation electrical signal, an electrical signal output end of the signal generator 25 is connected to the signal input end of the laser phase modulator 18, the single-frequency laser performs phase coding unsaturated modulation on the laser phase modulator 18, the laser signal subjected to the phase coding unsaturated modulation includes a single-frequency spectral component and a broadband spectral component subjected to the phase coding modulation, and the energy ratios of the two components are the same or close to each other.
Example 3
Referring to fig. 4, a method for measuring distance and speed by using a laser radar specifically includes the following steps:
step S1, carrying out phase coding unsaturated modulation on the single-frequency laser output by the laser generator 16 by using the method in the embodiment 1;
step S1 further includes pulse width and frequency modulating the single frequency laser output by the laser generator 16.
Step S2, emitting the laser signal which is subjected to phase coding unsaturated modulation and amplification, and carrying out heterodyne mixing and photoelectric conversion on the echo laser 4 reflected by the target and the single-frequency laser 3 to obtain an out-of-range intermediate-frequency electric signal 5; processing the intermediate frequency electric signal and converting the intermediate frequency electric signal into an intermediate frequency complex signal 6;
the laser demodulation 5 process can be realized by adopting a hardware structure such as an orthogonal demodulator, or can be realized by combining a 3dB coupler with a data processing algorithm such as Hilbert transform;
step S3, Fourier transform is carried out on the intermediate frequency complex signal 6 to obtain a signal frequency spectrum 7;
and step S4, performing data processing on the signal frequency spectrum 7 and the intermediate frequency complex signal 6 obtained after Fourier transform to obtain speed information and distance information, thereby completing the ranging and speed measurement of the laser radar.
The data processing in step S4 specifically includes the following steps:
step S41, comparing single-frequency spectrum components in a signal spectrum 7 obtained after the laser signal is subjected to Fourier transform with a frequency signal intensity threshold value 8 to obtain a single-frequency peak point array 9 with the intensity greater than the frequency signal intensity threshold value 8, so as to obtain the Doppler size and direction of relative movement between the laser radar and a target;
step S42, obtaining a speed array 13 by processing the single-frequency peak point array 9, wherein the speed array 13 embodies speed information;
step S43, constructing a matched filter function 10 by using each element in the single-frequency peak point array 9, performing pulse compression 11 on the matched filter function 10 and the phase encoding frequency spectrum component of the intermediate-frequency complex signal 6, comparing the compressed data information with a distance signal intensity threshold value 12, forming a distance array 14 by points larger than the distance signal intensity threshold value 12, and reflecting distance information by the distance array 14;
and step S44, outputting the speed array 13 and the distance array 14.
Example 4
Referring to fig. 5, a lidar system for performing the lidar distance and speed measurement method according to embodiment 3 specifically includes the following components: a laser generator 16, a laser phase modulator 18, a laser amplifier 19, a transmitting-receiving light path 21, a laser demodulator 22, a photoelectric detector 23, a data acquisition and processor 24 and a signal generator 25;
The optical output end of the laser phase modulator 18 is connected with the optical input end of the laser amplifier 19, the optical output end of the laser amplifier 19 is connected with the transceiving optical path 21, the transceiving optical path 21 transmits a laser signal generated by the laser amplifier 19, meanwhile, a received target reflection echo signal 4 is introduced into the optical input end of the laser demodulator 22, the optical output end of the laser demodulator 22 is connected with the photoelectric detector 23, the photoelectric detector 23 is connected with the data acquisition and processor 24, and the transceiving optical path 21 is used for a device for transmitting laser and receiving echo laser.
The laser radar system may further comprise a modulator 17, wherein the modulator 17 is arranged between the laser generator 16 and the laser phase modulator 18, or between the laser generator 16 and the laser demodulator 22.
The modulator 17 is a pulse width modulator, and the laser signal is in a continuous wave, quasi-continuous wave or pulse wave form after pulse width modulation; or the modulator 17 is a pulse frequency modulator, and can perform frequency modulation on the input laser signal; alternatively, the modulator 17 is a pulse width frequency modulator, and can simultaneously perform pulse width and frequency modulation on the input laser signal.
The lidar system may further be provided with a circulator 20, wherein the circulator 20 is arranged between the laser amplifier 19 and the transmitting/receiving optical path 21.
The laser demodulator 22 may obtain 4 channels of optical mixing signals with a phase difference of 90 ° by using a quadrature demodulation method, or obtain 2 channels of optical mixing signals with a phase difference of 180 ° by using a 3dB coupling method.
If the laser demodulator 22 is a quadrature demodulator, two photodetectors 23 are required to be connected, signals with a phase difference of 0 ° and 180 ° entering one detector, and signals with a phase difference of 90 ° and 270 ° entering the other detector.
If the laser demodulator 22 is a 3dB coupler, a photodetector 23 is required.
The laser generator 16 outputs single-frequency laser, the single-frequency laser is modulated by the pulse width/frequency modulator 17 and then enters the laser phase modulator 18 for phase coding unsaturated modulation, a laser signal which is subjected to phase coding unsaturated modulation enters the circulator 20 through the laser amplifier 19, the circulator 20 is connected with the transmitting and receiving light path 21 for laser emission, a target echo received by the transmitting and receiving light path 21 is connected with the circulator 20 to form echo laser 4, the single-frequency laser 3 and the echo laser 4 enter the laser demodulator 22 for heterodyne demodulation, and the demodulated laser signal enters the photoelectric detector 23 and the data acquisition and processor 24 for signal processing.
In the heterodyne demodulation process, the laser demodulator 22 may obtain four optical signals with a phase difference of 90 ° by using a quadrature demodulator, or obtain two optical signals with a phase difference of 180 ° by using a 3dB coupler.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (17)
1. A phase coding unsaturated modulation method is used for carrying out phase coding modulation on single-frequency laser, and is characterized in that: the phase coding modulation form is two-phase or multi-phase, and the modulation depth is phase unsaturated modulation.
2. A phase coded unsaturated modulation method according to claim 1, characterized by: when the phase coding modulation form is a two-phase code, the signal modulation form is as follows:
wherein Sig (t) is the output laser modulation signal, A is the laser signal amplitude, f0Is the carrier frequency of the laser light,
is a phase modulation signal, n is an integer, and η is 0.2 to 0.8.
3. A phase coded unsaturated modulation method according to claim 2, characterized in that: eta is 0.4 to 0.6.
4. A phase coded unsaturated modulation method according to claim 1, characterized by: the laser signal after unsaturated modulation by phase coding comprises a single-frequency spectrum component and a broadband spectrum component modulated by phase coding, wherein the broadband spectrum component modulated by phase coding, namely the phase coding spectrum component, has the same or close energy proportion.
5. A phase coded unsaturated modulation method according to claim 4, characterized in that: the energy proportion of the single-frequency spectrum component is 40% -60%.
6. A phase-coded unsaturated modulation apparatus for implementing a phase-coded unsaturated modulation method according to any one of claims 1 to 5, characterized in that: including laser generator, laser phase modulator and signal generator, laser generator is used for launching single-frequency laser, and laser generator's laser emission end connects laser phase modulator's light input end, and signal generator is used for producing the phase code modulation signal of telecommunication, and laser phase modulator's signal input part is connected to signal generator's the signal output of telecommunication end, single-frequency laser carries out the unsaturated modulation of phase code at laser phase modulator.
7. A laser radar ranging and speed measuring method based on the phase coding unsaturated modulation method of any one of claims 1 to 5, characterized in that: the method comprises the following steps:
step S1, carrying out phase coding unsaturated modulation on the single-frequency laser;
step S2, emitting the laser signal which is subjected to phase coding unsaturated modulation and amplification, and carrying out heterodyne mixing and photoelectric conversion on the echo laser reflected by the target and the single-frequency laser to obtain an out-of-range intermediate-frequency electric signal; processing the intermediate frequency electric signal and converting the intermediate frequency electric signal into an intermediate frequency complex signal;
step S3, Fourier transform is carried out on the intermediate frequency complex signal to obtain a signal frequency spectrum;
and step S4, performing data processing on the signal frequency spectrum and the intermediate frequency complex signal obtained after Fourier transform to obtain speed information and distance information, thereby completing the ranging and speed measurement of the laser radar.
8. The laser radar ranging and speed measuring method according to claim 7, wherein: in step S1, the method further includes pulse width modulating the single-frequency laser, where the laser signal is in the form of a continuous wave, a quasi-continuous wave, or a pulse wave after pulse width modulation.
9. The laser radar ranging and speed measuring method according to claim 7, wherein: in step S1, frequency modulation is performed on the single-frequency laser, and a frequency difference exists between the laser signal and the original single-frequency laser after the frequency modulation.
10. The laser radar ranging and speed measuring method according to claim 7, wherein: in step S2, the process of obtaining the intermediate frequency complex signal is implemented by using a hardware optical path structure or by using a data processing algorithm.
11. The laser radar ranging and speed measuring method according to claim 7, wherein:
the step S4 further includes the following steps:
s41, comparing the single-frequency spectrum component in the signal spectrum with a frequency signal intensity threshold value to obtain a single-frequency peak point array with the intensity greater than the frequency signal intensity threshold value, thereby obtaining the Doppler size and direction of the relative movement between the laser radar and the target;
s42, obtaining a speed array by processing the single-frequency peak point array, wherein the speed array not only reflects speed information;
s43, constructing a matched filter function by using the single-frequency peak point array, performing pulse compression on the matched filter function and the phase coding frequency spectrum component in the intermediate-frequency complex signal, comparing the compressed data information with a distance signal intensity threshold value, forming a distance array by points larger than the distance signal intensity threshold value, and reflecting the distance information by the distance array;
and S44, outputting a speed array and a distance array.
12. A lidar system configured to perform the lidar ranging and velocity measuring method of claim 7, wherein: the method comprises the following steps: the laser phase modulator comprises a laser generator (16), a laser phase modulator (18), a laser amplifier (19), a laser demodulator (22), a photoelectric detector (23), a data acquisition and processor (24) and a signal generator (25), wherein the laser generator (16) is used for emitting single-frequency laser, the laser emitting end of the laser generator (16) is connected with the light input end of the laser demodulator (22) and the light input end of the laser phase modulator (18), the signal generator (25) is used for generating a phase coding modulation electric signal, the electric signal output end of the signal generator (25) is connected with the signal input end of the laser phase modulator (18), the single-frequency laser carries out phase coding unsaturated modulation in the laser phase modulator (18), the light output end of the laser phase modulator (18) is connected with the light input end of the laser amplifier (19), and the light output end of the laser amplifier (19) is connected with a transceiving light path (21), the receiving and transmitting optical path (21) transmits a laser signal generated by the laser amplifier (19), and simultaneously introduces a received target reflection echo signal (4) into an optical input end of a laser demodulator (22), an optical output end of the laser demodulator (22) is connected with a photoelectric detector (23), and the photoelectric detector (23) is connected with a data acquisition and processor (24).
13. A lidar system according to claim 12, wherein: the laser demodulator (22) is a quadrature demodulator and is simultaneously connected to two photodetectors (23).
14. A lidar system according to claim 12, wherein: the laser demodulator (22) is a 3dB coupler and is connected with a photoelectric detector (23).
15. A lidar system according to claim 12, wherein: a modulator (17) may also be provided, the modulator (17) being arranged between the laser generator (16) and the laser phase modulator (18) or between the laser generator (16) and the laser demodulator (22).
16. A lidar system according to claim 15, wherein: the modulator (17) is one of a pulse width modulator, a pulse frequency modulator and a pulse width frequency modulator.
17. A lidar system according to claim 12, wherein: a circulator (20) may also be provided, the circulator (20) being disposed between the laser amplifier (19) and the transmit-receive optical path (21).
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910886491.7A CN110646779A (en) | 2019-09-19 | 2019-09-19 | Phase coding unsaturated modulation method and device, laser radar ranging and speed measuring method and laser radar system |
| PCT/CN2019/107358 WO2021051423A1 (en) | 2019-09-19 | 2019-09-23 | Phase encoding unsaturated modulation method and device, laser radar ranging and speed measurement method and laser radar system |
| EP19945633.6A EP4024085A4 (en) | 2019-09-19 | 2019-09-23 | Phase encoding unsaturated modulation method and device, laser radar ranging and speed measurement method and laser radar system |
| US17/655,029 US20220206127A1 (en) | 2019-09-19 | 2022-03-16 | Phase-coded unsaturated modulation method, apparatus, lidar distance and velocity measurement method and lidar system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021175227A1 (en) * | 2020-03-06 | 2021-09-10 | 上海禾赛科技股份有限公司 | Laser radar, and method for ranging using laser radar |
| CN114184734A (en) * | 2021-10-11 | 2022-03-15 | 兰州大学 | Combined measuring device capable of distinguishing frozen swelling capacity and salt swelling capacity of saline soil |
| US20220260681A1 (en) * | 2020-10-19 | 2022-08-18 | Aeva, Inc. | Techniques for using matched filtering in coherent lidar systems |
| CN115508859A (en) * | 2022-11-11 | 2022-12-23 | 武汉光谷航天三江激光产业技术研究院有限公司 | Laser three-dimensional imaging method and system based on single balanced detector |
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2019
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021175227A1 (en) * | 2020-03-06 | 2021-09-10 | 上海禾赛科技股份有限公司 | Laser radar, and method for ranging using laser radar |
| US20220260681A1 (en) * | 2020-10-19 | 2022-08-18 | Aeva, Inc. | Techniques for using matched filtering in coherent lidar systems |
| CN114184734A (en) * | 2021-10-11 | 2022-03-15 | 兰州大学 | Combined measuring device capable of distinguishing frozen swelling capacity and salt swelling capacity of saline soil |
| CN115508859A (en) * | 2022-11-11 | 2022-12-23 | 武汉光谷航天三江激光产业技术研究院有限公司 | Laser three-dimensional imaging method and system based on single balanced detector |
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