CN110865390B - Laser radar variable frequency scanning method based on voice coil motor - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a laser radar variable frequency scanning method based on a voice coil motor. The laser radar variable frequency scanning method based on the voice coil motor comprises the following steps: scanning a certain initial amplitude and frequency according to the probability distribution condition of the target in a certain area; if the target is not captured, the scanning amplitude is continuously increased, the scanning frequency is reduced for scanning, and the scanning is stopped until the target is successfully captured; if the scanning amplitude reaches the set termination value and the target cannot be captured, scanning is conducted again with the initial amplitude and the frequency. The amplitude and the frequency are the frequency and the amplitude of a track equation when the laser radar performs Li Saru graph scanning, and reflect the scanning times and the scanning range of the laser radar in a certain time. The frequency and the amplitude of each field of scanning equation are changed, so that the distribution of the scanning light spots of the laser radar is consistent with the distribution of the occurrence probability of the targets, the capturing probability of the laser radar on the targets is improved, and the practicability is good.
Description
Technical Field
The invention relates to the technical field of laser detection, in particular to a laser radar variable frequency scanning method based on a voice coil motor.
Background
Compared with the traditional microwave radar, the laser radar has the advantages of small size, high measurement precision, strong anti-interference capability and the like, has the advantages of capturing low-altitude, small and slow stealth targets, and has better application prospect. However, since the laser beam is narrow, the irradiation area is small, and the detection area is limited, the scanning of the laser beam is usually realized by a scanning device, so that the detection range is enlarged, and the capturing probability of the target is improved.
Common radar scanning methods include Li Saru-shaped scanning, spiral scanning, raster scanning, hexagonal scanning and the like, for example, document "analysis and simulation of single pulse radar scanning mode" (volume 33 of System engineering and electronic technology, 2 nd phase, article No. 1001-506X (2011) 02-0468-05) simulates and analyzes the target capturing probability of several scanning methods, and the spiral scanning is provided with the best capturing performance. However, the actual conditions of different scanning devices are not considered in the analysis of the scanning method, and scanning vibration can impact the structure of the optical machine to influence the scanning pattern for the scanning devices with larger inertia such as voice coil motors. In addition, the scanning methods are all repeated by using the same scanning parameters, the distribution situation of the occurrence probability of the target is not fully considered, the scanning frequency and the amplitude are fixed, the acceleration performance of the device is not fully utilized, and the capturing probability of the target is relatively low.
For example, in the existing scanning method, li Saru-shaped scanning light spots are distributed in a middle sparse mode and a dense edge mode, the general target occurrence probability is in Gaussian distribution in the middle dense mode and the sparse edge mode, and the capturing probability of a scanning system on the target is low; the spiral scanning light spots are distributed densely in the middle and sparse at the edges, but the scanning speed is low, the acceleration performance of the scanning device cannot be fully utilized for scanning, and the scanning times in unit time are small; the raster scan and the hexagon scan need to be started to scan in one direction after the scanning in the other direction is stopped, the speed change is not smooth, and the optical machine can be tied to form impact when scanning at a larger speed, so that the scanning method has certain defects in practical application, and the capturing probability of targets is lower when the scanning method is applied to the laser radar based on the voice coil motor.
Disclosure of Invention
The invention solves the problems that: the laser radar variable frequency scanning method based on the voice coil motor has the advantages of stable scanning process and high target capturing probability, and improves the target detection capability of the laser radar based on the voice coil motor.
The technical proposal of the invention is as follows:
a laser radar variable frequency scanning method based on a voice coil motor comprises the following steps:
step 1: at an initial amplitude A 1 And an initial frequency f 1 Scanning the area where the target appears; the initial amplitude A 1 And an initial frequency f 1 The frequency and the amplitude of a track equation set are the frequency and the amplitude of the laser radar during scanning; initial amplitude A 1 Calculating a probability distribution curve of the occurrence of the target; initial frequency f 1 The calculation formula of the values containing two directions is as follows:
wherein a is max Maximum acceleration allowed for the scanning device;
step 2, stopping scanning if the target is captured during scanning at the initial amplitude and the initial frequency; if the target cannot be captured, increasing the scanning amplitude, and reducing the scanning frequency to scan the next field; the amplitude change amount delta A is determined according to the target probability distribution condition, and delta A= (1/2) 1 )A 1 Increased scan amplitude A 2 ＝A 1 +ΔA＝(3/2)A 1 The method comprises the steps of carrying out a first treatment on the surface of the The value after the change of the scanning frequency is calculated by the frequency calculation formulas (1), (2) and A in the step 1 2 Is calculated by the value of (2);
step 3, stopping scanning if the target is captured after the steps 1 and 2, continuously increasing the scanning amplitude if the target is not captured, and reducing the scanning frequency to perform the next field of scanning until the target is successfully captured; if the scanning amplitude reaches the limit of the angle travel of the voice coil motor and the target cannot be captured, the process is repeated from the step 1 to scan until the target is successfully captured.
In the step 1, the initial amplitude A 1 According to the probability distribution curve of the target, the calculation method comprises the following steps: the point with the highest probability of occurrence of the target is taken as the center of a circular area, the radius of the area is adjusted, and when the probability of occurrence of the target in the circular area is 1/2, the radius is taken as the initial amplitude A 1 。
In the step 1, the frequency f x1 、f y1 Integer is taken, and the frequency ratio f x1 /f y1 Taking f as the simplest integer ratio to make the frequencies in two directions approximately equal y1 ＝f x1 -1。
In the step 2, the change amount of the scanning amplitude is represented by the formula Δa= (1/2) 1 )A 1 ，A 2 ＝A 1 +ΔA＝(3/2)A 1 And (3) performing calculation, wherein the frequency calculation method is calculated by formulas (1) and (2).
In the step 3, the end value of the scanning amplitude is determined by the travel limit of the scanning device, so that the scanning device is not damaged, the scanning end amplitude is smaller than the travel, and 95% of the scanning travel is taken.
Compared with the prior art, the technical scheme provided by the invention has the following advantages:
by the scanning method for changing the frequency, the distribution of the scanning light spots of the laser radar is consistent with the probability distribution of the occurrence of the target, namely, in the area with high occurrence probability of the target, the scanning light spots are distributed more, the scanning density is high, and in the area with low occurrence probability of the target, the scanning light spots are distributed less, and the scanning density is low, so that the probability of capturing the target is improved. When the method is adopted, each field of scanning is performed by using a Li Saru graph with the maximum acceleration, the scanning times in unit time are more, the scanning speed change is smoother than that of other scanning modes, and the impact on the optical structure is avoided.
The prior methods of grating shape, hexagon, spiral shape and Li Saru shape are all to scan each field with the same pattern, and the scanning range and frequency are unchanged. The grid-shaped scanning and the hexagonal scanning need to be started to scan in one direction after the scanning in the other direction is stopped, the speed change is not smooth, the impact is caused to an optical system when the scanning is performed at a higher speed, the scanning pattern is easy to deform or damage a device, the scanning acceleration is reduced, the scanning times are reduced, and the probability of capturing a target is reduced. The time of scanning the edge area is long when the spiral scanning is performed, so that the target capturing probability is low. The scanning equation of the Li Saru graph comprises a trigonometric function, accords with the stress change condition of the voice coil motor, and has small impact on the structure of the optical engine; however, the light spots of the Li Sharu pattern are distributed in a sparse middle and dense edges, and the capturing probability of the targets is low when targets of Gaussian distribution type are scanned in the same pattern in each field.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a schematic flow chart of a laser radar variable frequency scanning method according to an embodiment of the present invention;
fig. 2 shows a schematic diagram of a scanning pattern of a variable frequency scanning method of a laser radar according to an embodiment of the present invention; the upper graph 100 is a schematic diagram of the pattern of the scanned spot, and the lower graph 200 is a probability distribution function graph of the occurrence of the target;
fig. 3 shows a schematic diagram of a laser radar variable frequency scanning method applied to a target capturing scene according to an embodiment of the present invention.
Main symbol description:
f i 、A i (i=1, 2 … n), frequency and amplitude at the time of the ith field sweep; a is that stop Terminating the amplitude; s10, starting; s20, scanning the 1 st field; s30, scanning the 2 nd field; s40, nth fieldScanning; s50, ending; 100. a pattern diagram of the scanning light spot; 200. a probability distribution function diagram of the occurrence of the target; 201. a shadow area, wherein the size of the shadow area is the probability of the target appearing in the shadow area; 30. a laser radar; 40. an aircraft; s21, scanning at an initial frequency; s31, reducing the frequency and scanning.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present invention.
The invention provides a laser radar variable frequency scanning method, which comprises the following steps: at an initial amplitude A 1 And an initial frequency f 1 A small range high frequency scan is performed of the area where the target may appear. The initial amplitude A 1 And an initial frequency f 1 The amplitude and the frequency of a laser radar scanning track time equation set reflect the scanning range of the laser radar and the scanning times in a certain time; the scanning frequency f 1 Denoted as f in the two scan equations, respectively 1x And f 1y The two values are relatively close so that the scanning frequency and range in the two perpendicular directions are approximately the same, but cannot be equal, otherwise the scan pattern is changed to a circle. The scan trajectory equation set is as follows:
x＝A 1 sin(2πf 1x t+θ)
y＝A 1 cos(2πf 1y t+θ)
wherein x and y are the central track of the scanning light spot, t is time, θ is phase, A 1 Is the amplitude.
Initial amplitude A 1 The calculation method of (2) is as follows: aiming at a target with the probability of occurrence being Gaussian distribution type, calculating according to an occurrence probability distribution curve, taking the point with the maximum probability of occurrence of the target as the center of a circular area, adjusting the radius of the area, and taking the radius as an initial amplitude A when the probability of occurrence of the target in the circular area is 1/2 1 。
Taking a scanning equation in the x direction as an example, solving the second derivative of time t on two sides of the equation to obtain the light spot track acceleration as follows:
when sin (2 pi f) 1x When t+θ) =1, the maximum scan acceleration is obtained as:
a＝4π 2 f 1x 2 A 1
the frequency can be expressed as:
the larger the scanning acceleration is, the more the scanning times in unit time are, the larger the capturing probability of the target is, but the acceleration value cannot be larger than the maximum acceleration a allowed by the scanning device due to the limitation of the acceleration performance of the scanning device max Therefore, the initial frequency should be smaller than
And as close as possible to this value. In addition, when the scanning pattern is a closed Li Saru pattern, the scanning line density is the greatest, so the frequency f 1x 、f 1y The integer is needed, and the frequency ratio f 1x /f 1y Taking f as the simplest integer ratio to make the frequencies in two directions approximately equal 1y ＝f 1x -1。
Initial frequency f 1 The rule of the values in two directions is as follows:
where ROUND () represents rounding down.
And step 2, if the target is captured during scanning with the initial amplitude and the initial frequency, stopping scanning, and if the target is not captured, increasing the scanning amplitude, and reducing the scanning frequency to perform the next field scanning. The step size deltaa of the amplitude change is determined according to the target probability distribution, and deltaa= (1/2) 1 )A 1 So the scan amplitude A after the increase 2 ＝A 1 +ΔA＝(3/2)A 1 Similarly, the value after the change of the scanning frequency is calculated by the frequency calculation formula and A in the step 1 2 Is calculated from the values of (2).
And step 3, stopping scanning if the target is captured after the steps, continuously increasing the scanning amplitude and reducing the scanning frequency to perform the next field scanning if the target is not captured, and stopping scanning until the target is successfully captured. If the scanning amplitude reaches the limit of the angle travel of the voice coil motor and the target cannot be captured, the process is repeated from the step 1 to scan until the target is successfully captured.
As shown in fig. 1, an embodiment of the present invention provides a laser radar variable frequency scanning method based on a voice coil motor, which includes:
s10, starting.
Illustratively, this step may include pre-scan operation of the lidar, self-test, setup, etc., which is not limited in accordance with embodiments of the present invention.
S20, with initial amplitude A 1 And an initial frequency f 1 Performing small-range high-frequency scanning on the possible area of the target, and initiating amplitude A 1 And an initial frequency f 1 The value of (2) is determined by the probability distribution of the occurrence of the target. As shown in fig. 2, the upper graph 100 is a laser radar scanning spot profile, and the lower graph 200 is a probability distribution function graph of the occurrence of a target. The parameter calculation method comprises the following steps: randomly setting the radius of the scanning area, i.e. A 0 And B 0 Position (A) 0 And B 0 Symmetric about the center of the region), under the curve in the calculation map 200The size of the shadow area 201, which is the target in the range A 0 To B 0 Probability of occurrence between inner parts, adjust A 0 And B 0 When the area of the shadow area is 1/2 of the total area under the curve, the initial amplitude A is taken 1 ＝|A 0 B 0 I, at this time the laser beam is at A 0 And B 0 And scanning in between.
Then the laser radar initial frequency f is calculated by the following formula 1 Components in two directions:
where ROUND () represents rounding down.
Exemplary, a voice coil motor is used as a scanning device, and the maximum acceleration a thereof max ＝5000rad/s 2 The parameters are obtained according to the calculation method: f (f) 1x ＝161，f 1y ＝160，A 1 =0.28°. According to the parameter setting, the scanning of the airspace with the range of 4 multiplied by 0.28 degrees can be realized, and the scanning frequency is about 160 times per second.
S30, if the target cannot be captured through the steps, the scanning range is further increased, and the frequency is reduced to perform scanning. Take Δa= (1/2) 1 )A 1 Therefore A 2 ＝A 1 +ΔA＝(3/2)A 1 . F can be obtained by the scanning frequency calculation method in step 1 2x ＝131，f 2y ＝130，A 2 =0.42°, if scanning with this parameter succeeds in capturing the target, the scanning is stopped.
And S40, if the target cannot be captured through the steps, the scanning range is further increased, the frequency is reduced for scanning until the target is successfully captured, or the scanning amplitude reaches the stroke limit of the voice coil motor. In this embodiment, the stroke of the voice coil motor is limited to 1.5 °, and the scanning termination amplitude is slightly smaller than the stroke in order not to damage the scanning device, and is set to 95% of the scanning stroke in this embodiment, which is set to a stop =1.44°, f is obtained according to the frequency calculation method in S20 nx ＝70，f ny =69. When scanning according to the parameter still fails to capture the target, repeating the step of S20 to continue scanning, and stopping scanning if the target is captured.
S50, ending. Illustratively, this step may include the scanning device stopping scanning, the lidar system transitioning from a search capture state to a tracking state, and other steps after the scanning is completed as known to those skilled in the art, as embodiments of the present invention are not limited in this respect.
F in FIG. 1 i 、A i (i=1, 2 …%) represents the frequency and amplitude at the nth field scan, a stop To terminate the amplitude.
Fig. 3 is a schematic diagram of a laser radar variable frequency scanning method applied to capturing an aircraft according to the present embodiment. Wherein S21 is a step of performing high-frequency scanning at an initial frequency on a center area where the probability of occurrence of the target is high, S31 is a step of scanning by failing to capture the target, decreasing the scanning frequency and increasing the scanning area in the scanning process of S21, 30 is a laser radar, and 40 is an aircraft. According to the variable frequency laser radar scanning method provided by the embodiment of the invention, the scanning frequency is changed so as to change the distribution of scanning light spots, so that a region with high probability of occurrence of a target obtains higher scanning density, and the probability of capturing the target is improved.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the corresponding technical solutions. Are intended to be encompassed within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (4)
1. A laser radar variable frequency scanning method based on a voice coil motor is characterized by comprising the following steps:
step 1: at an initial amplitude
And initial frequency->
Scanning the area where the target appears; said initial amplitude +.>
And initial frequency->
The frequency and the amplitude of a track equation set are the frequency and the amplitude of the laser radar during scanning; initial amplitude->
Calculating a probability distribution curve of the occurrence of the target; initial frequency->
The calculation formula of the values containing two directions is as follows:
wherein,,
maximum acceleration allowed for the scanning device, +.>
Representing a downward rounding;
step 2, stopping scanning if the target is captured during scanning at the initial amplitude and the initial frequency; if the target cannot be captured, increasing the scanning amplitude, and reducing the scanning frequency to scan the next field; amplitude change amount
According to the target probability distribution, taking +.>
Increased scanning amplitude +.>
The method comprises the steps of carrying out a first treatment on the surface of the The values after the change of the scanning frequency are calculated by the frequency calculation formulas (1), (2) and +.>
Is calculated by the value of (2);
step 3, stopping scanning if the target is captured after the steps 1 and 2, continuously increasing the scanning amplitude if the target is not captured, and reducing the scanning frequency to perform the next field of scanning until the target is successfully captured; if the scanning amplitude reaches the limit of the angle travel of the voice coil motor and the target cannot be captured yet, repeating the process from the step 1 until the target is successfully captured;
in the step 1, the initial amplitude value
According to the probability distribution curve of the target, the calculation method comprises the following steps: the point with the highest probability of occurrence of the target is taken as the center of the circular area, the radius of the area is adjusted, and when the probability of occurrence of the target in the circular area is 1/2, the radius is taken as the initial amplitude +.>
。
2. The base of claim 1The laser radar variable frequency scanning method of the voice coil motor is characterized by comprising the following steps of: in the step 1, the frequency
、/>
Integer and frequency ratio->
To make the frequencies in both directions approximately equal, the ratio of the simplest integers is +.>
。
3. The voice coil motor-based lidar variable frequency scanning method as claimed in claim 1, wherein: in the step 2, the change amount of the scanning amplitude is represented by the formula
，/>
And (3) performing calculation, wherein the frequency calculation method is calculated by formulas (1) and (2).
4. The voice coil motor-based lidar variable frequency scanning method as claimed in claim 1, wherein: in the step 3, the end value of the scanning amplitude is determined by the travel limit of the scanning device, so that the scanning device is not damaged, the scanning end amplitude is smaller than the travel, and 95% of the scanning travel is taken.
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