CN111670379A - Echo signal processing method, device and storage medium - Google Patents
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Abstract
An echo signal processing method, device and storage medium, the method comprising: emitting light pulses and acquiring a plurality of echo signals corresponding to the light pulses; determining an energy characteristic parameter and range data for each of the plurality of echo signals; and determining whether each echo signal is a noise echo signal generated by interference noise according to the energy characteristic parameter and the distance data of each echo signal. By the method, the noise echo signal generated by the interference noise in the currently acquired multiple echo signals can be accurately determined, so that the accuracy of the laser detection equipment in detecting the target can be effectively improved, and a foundation is provided for the safe movement of the movable platform.
Description
The embodiments of the present invention relate to the field of radar, and in particular, to an echo signal processing method, device, and storage medium.
In the prior art, a movable platform, such as a vehicle, a drone, a movable robot, etc., carries a laser detection device (e.g., a lidar) that can be used to detect objects (e.g., obstacles) around the movable platform.
In general, the environment in which the lidar is located has interference noise, such as objects like dust, rain, fog, haze, snow, etc. The laser radar emits an optical pulse signal to the outside, and the optical pulse signal may encounter a target and an interference noise, so that the laser detection device may receive a plurality of echo signals, where the echo signals include an echo signal generated (i.e., reflected) by the interference noise, i.e., a noise echo signal. The noise echo signal can affect the accurate detection of the laser radar to the target. However, in the prior art, when the noise echo signal received by the laser detection device is filtered, the echo signal generated by the target is easily filtered, which results in the accuracy of detecting the target by the laser radar being reduced.
Disclosure of Invention
The embodiment of the invention provides an echo signal processing method, echo signal processing equipment, an echo signal processing system and a storage medium, which are used for improving the accuracy of noise echo signal identification and further improving the accuracy of laser detection equipment in target detection.
A first aspect of an embodiment of the present invention provides an echo signal processing method, which is applied to a laser detection device, and is characterized by including:
emitting light pulses and acquiring a plurality of echo signals corresponding to the light pulses;
determining an energy characteristic parameter and range data for each of the plurality of echo signals;
and determining whether each echo signal is a noise echo signal generated by interference noise according to the energy characteristic parameter and the distance data of each echo signal.
A second aspect of an embodiment of the present invention provides a laser detection apparatus, including: a laser transmitter, a receiver and a processor;
the laser is used for emitting light pulses;
the receiver is used for acquiring a plurality of echo signals corresponding to the optical pulses;
the processor is configured to:
determining an energy characteristic parameter and range data for each of the plurality of echo signals;
and determining whether each echo signal is a noise echo signal generated by interference noise according to the energy characteristic parameter and the distance data of each echo signal.
A third aspect of an embodiment of the present invention is to provide a movable platform, including:
a body;
the power system is arranged on the machine body and used for providing power;
and a laser detection device as described in the second aspect.
A fourth aspect of embodiments of the present invention is to provide a computer-readable storage medium, on which a computer program is stored, the computer program being executed by a processor to implement the echo signal processing method according to the first aspect.
In the echo signal processing method, the echo signal processing device, and the storage medium provided in this embodiment, by obtaining a plurality of echo signals corresponding to the optical pulse, an energy characteristic parameter and distance data of each echo signal in the plurality of echo signals are determined, and whether each echo signal is a noise echo signal generated by an interference noise is determined according to the energy characteristic parameter and the distance data of each echo signal. By the method, the noise echo signal generated by the interference noise in the currently acquired multiple echo signals can be accurately determined, so that the accuracy of the laser detection equipment in detecting the target can be effectively improved, and a foundation is provided for the safe movement of the movable platform.
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a structural diagram of a laser detection apparatus provided in an embodiment of the present invention;
fig. 2 is a flowchart of a processing method of an echo signal according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating the relationship between echo energy and echo distance data of echo signals generated by objects with different reflectivities according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of pulse width versus echo signal distance data for rain fog and dirt echo signals provided by an embodiment of the present invention;
fig. 5 is a distribution diagram of distances between interference noise points generating echo signals and a laser detection device according to an embodiment of the present invention;
FIG. 6 is a block diagram of a laser detection device according to an embodiment of the present invention;
FIG. 7 is a block diagram of a moveable platform provided by an embodiment of the present invention;
the technical solutions in the embodiments of the present invention will be described clearly below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. 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.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Fig. 1 is a schematic structural diagram of a laser detection device provided in an embodiment of the present invention, and for schematic illustration, a laser radar is taken as an example of the laser detection device for schematic illustration. As shown in fig. 1, the lidar may include a laser 101, a lens 102, a controller 103, a first motor 104, a second motor 105, a first prism 106, a second prism 107, a beam splitter 108, a receiver 109, and a Time of Flight (TOF) module 110, where the receiver 109 includes a photodiode, which may be, for example, an Avalanche Photodiode (APD). Taking the distance between the laser radar detection and the target 20 as an example, a laser of the laser radar changes an electric pulse signal into a divergent light pulse signal, a lens changes the divergent light pulse signal into a parallel light pulse signal and emits the parallel light pulse signal, a controller (arranged in a chip) respectively controls a first prism to rotate through a first motor, controls a second prism to rotate through a second motor, changes the direction of the light pulse signal emitted after passing through the first prism and the second prism by using differential rotation of the first prism and the second prism, the emitted light pulse signal reflects back after meeting the target, the reflected light pulse signal is an echo signal, the echo signal is split by a beam splitter and enters a receiver (including an APD), the receiver converts the APD echo signal into the electric pulse signal, and calculates the distance between the laser radar and the target through TOF (arranged in the chip), and generating point cloud data according to the distance between the laser radar and the target.
In general, the environment in which the lidar is located has interference noise, such as dust, rain fog, haze, snow, and other objects. The laser radar emits an optical pulse signal to the outside, and the optical pulse signal may encounter a target and an interference noise, so that the laser detection device may receive a plurality of echo signals, where the echo signals include an echo signal generated (i.e., reflected) by the interference noise, i.e., a noise echo signal. The noise echo signal may affect the accurate detection of the laser radar on the target, and needs to be filtered.
In the prior art, a first echo signal in a plurality of echo signals is determined as an effective echo signal or an echo signal with the largest energy in the plurality of echo signals is determined as an effective echo, and other echo signals are determined as noise echo signals. However, this approach is not accurate and it is highly likely that an echo signal generated by a target located far away will be determined as a noise echo signal, i.e. a target located far away will be determined as an interference noise. In order to solve the above technical problem, the present invention provides an echo signal processing method, an echo signal processing apparatus, and a storage medium.
Fig. 2 is a schematic flowchart of an echo signal processing method according to an embodiment of the present invention, where the method for processing a noise echo signal is applied to a laser detection device, as shown in fig. 2, the method includes:
in particular, as previously mentioned, the laser detection device comprises a laser and a receiver. The laser may emit a light pulse signal that reflects off of a target and/or interference noise to produce a plurality of echo signals, and the receiver may receive the plurality of echo signals corresponding to the light pulse.
in particular, the laser detection device may comprise a processor, wherein the processor may comprise one or more. The processor may determine an energy characteristic parameter corresponding to each of a plurality of echo signals received by the receiver. Wherein the energy characteristic parameter may include any information capable of indicating an energy characteristic parameter, which is determined according to at least one of echo energy, pulse width, height, and area of the echo signal. Further, the energy characteristic parameter may include at least one of an echo energy, a pulse width, a height, and an area of the echo signal. In addition, the processor may also calculate distance data corresponding to each echo signal according to the TOF as described above, wherein the distance data may be distance data between the laser detection device and an object generating the echo signal.
Specifically, after the energy characteristic parameter and the distance data of each echo signal, whether the echo signal is a noise echo signal generated by an interference noise is determined according to the energy characteristic parameter and the distance data of each echo signal, that is, the noise echo signal in the plurality of echo signals is screened out according to the energy characteristic parameter and the distance data of each echo signal.
In the echo signal processing method provided in this embodiment, a plurality of echo signals corresponding to the optical pulse are obtained, an energy characteristic parameter and distance data of each echo signal in the plurality of echo signals are determined, and whether each echo signal is a noise echo signal generated by an interference noise is determined according to the energy characteristic parameter and the distance data of each echo signal. By the method, the noise echo signal generated by the interference noise in the currently acquired multiple echo signals can be accurately determined, so that the accuracy of the laser detection equipment in detecting the target can be effectively improved, and a foundation is provided for the safe movement of the movable platform.
In some embodiments, the determining whether each echo signal is a noise echo signal according to the energy characteristic parameter and the distance data of each echo signal includes: determining a reference energy characteristic parameter of each echo signal according to the distance data of each echo signal; and determining whether each echo signal is a noise echo signal according to the energy characteristic parameter and the reference energy characteristic parameter of each echo signal.
Specifically, after acquiring distance data corresponding to each echo signal in a plurality of echo signals, the laser detection device may determine a reference energy characteristic parameter corresponding to each echo signal according to the distance data of each echo signal, where the reference energy characteristic parameter may be used to indicate an energy characteristic parameter of an echo signal generated by an interference noise point when the interference noise point is at a distance indicated by the distance data. After the energy characteristic parameter corresponding to each echo signal is determined, a relationship between the echo energy characteristic parameter and the reference energy reference information corresponding to the echo energy characteristic parameter can be determined according to the energy characteristic parameter and the reference energy characteristic parameter of each echo signal, and whether each echo signal is a noise echo signal or not is determined according to the relationship.
Further, the determining whether each echo signal is a noise echo signal according to the energy characteristic parameter of each echo signal and the reference energy characteristic parameter includes: and when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, determining the echo signal as a noise echo signal.
Specifically, the energy characteristic parameter of the echo signal is the echo energy of the echo signal, and the reference energy characteristic information is the reference echo energy. The echo energy of an echo signal received by a receiver of a lidar detection device is determined primarily by the range data of the echo signal and the reflectivity of the object producing the echo signal, for example:
Eintensity＝k*r/R2(1)
wherein E isintensityIs the echo energy of the echo signal, R is the reflectivity of the object producing the echo signal, RK is a scale factor for range data of the echo signal.
Referring to fig. 3, objects of different reflectivity have the following echo energy versus distance data. As can be seen from fig. 3, the echo energy is positively correlated with the reflectance of the object and negatively correlated with the square of the distance indicated by the distance data, and the echo energy of the echo signal generated by the object increases as the reflectance of the object increases at the same distance. In general, the reflectivity of the interference noise is very low compared to the reflectivity of the target, for example, the reflectivity of the interference noise is generally lower than a preset reflectivity threshold, for example, 3.2 as shown in the figure, and an object with a reflectivity lower than the preset reflectivity threshold can be considered as the interference noise, and the preset reflectivity threshold is taken as 3.2 for example. Therefore, it is considered that when a position point formed by the distance data of the echo signal and the echo energy of the echo signal is below a curve (hatched portion in the figure) corresponding to r of 3.2 in fig. 3, the echo signal is highly likely to be an echo signal generated by an interference noise point. Further, the echo energy corresponding to each distance data on the curve (which may be referred to as a noise filtering curve) corresponding to r ═ 3.2 is the reference echo energy corresponding to the distance data, where the reference echo energy may be used to indicate the echo energy of an echo signal generated by an interference noise when the interference noise is at the distance indicated by the distance data. After the detection device acquires the distance data and the echo energy of each echo signal, reference echo energy corresponding to the distance data can be determined according to the distance data of each echo signal, and when the echo energy of the echo signal is less than the reference echo energy, the echo signal can be determined to be an echo signal generated by an interference noise point.
The energy characteristic parameter of the echo signal is taken as the pulse width of the echo signal, and the reference energy characteristic parameter is taken as the reference pulse width. Considering the aspect of calculation in engineering practice, the following formula (2) can be obtained by converting the formula (1):
wherein Pw is the pulse width of the echo signal, k is a scale factor, R is the reflectivity, R is the detection distance of the radar, g-1Is a transfer function.
As can be seen from equation (2), the pulse width of the echo signal is positively correlated with the reflectivity of the object and negatively correlated with the square of the distance indicated by the distance data, and the larger the reflectivity of the object is, the larger the pulse width of the echo signal generated by the object is at the same distance. As mentioned above, the reflectivity of the interference noise is low compared to the reflectivity of the target, for example, the reflectivity of the interference noise is generally lower than a predetermined reflectivity threshold, for example, the predetermined reflectivity threshold may be the reflectivity of rain fog or dust, and an object with a reflectivity less than the predetermined reflectivity threshold may be considered as the interference noise. Referring to fig. 4, fig. 4 shows a relationship curve (which may be referred to as a filtering curve) of pulse widths of echo signals generated by rain fog and dust and corresponding distance data of the echo signals determined by equation (2), and it may be considered that the echo signal is highly likely to be an echo signal generated by an interference noise point when a position point formed by the distance data of the echo signal and echo energy of the echo signal is below the filtering curve of rain fog or the filtering curve of dust in fig. 4. Further, the pulse width corresponding to each distance data on the filtering curve of the rain fog or the filtering curve of the dust is the reference pulse width corresponding to the distance data, wherein the reference pulse width can be used for indicating the pulse width of the echo signal generated by the interference noise when the interference noise is at the distance indicated by the distance data. After the detection device acquires the distance data and the pulse width of each echo signal, a reference pulse width corresponding to the distance data can be determined according to the distance data of each echo signal, and when the pulse width of the echo signal is smaller than the reference pulse width, the echo signal can be determined to be an echo signal generated by interference noise.
In summary, after the energy characteristic parameter and the reference energy characteristic parameter of the echo signal are acquired, the laser detection device may compare the magnitude relationship between the energy characteristic parameter and the reference energy characteristic parameter, and when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, determine that the echo signal is a noise echo signal.
Further, the determining whether each echo signal is a noise echo signal according to the energy characteristic parameter of each echo signal and the reference energy characteristic parameter includes: and when the energy characteristic parameter of the echo signal is greater than the reference energy characteristic parameter of the echo signal, determining that the echo signal is a valid echo signal, namely determining that the echo signal is an echo signal generated by a target.
In some embodiments, the determining the reference energy characteristic parameter of each echo signal according to the distance data of each echo signal comprises: and substituting the distance data of the echo signal into a noise point echo filtering curve to determine a reference energy characteristic parameter of the echo signal.
Specifically, after obtaining the distance data of the echo signal, the lidar detection device may substitute the distance data into a noise echo filtering curve, where the noise echo filtering curve is used to indicate a reflectivity of an interference noise, energy information of the multiple echo signals generated by the interference noise, and a relationship between the energy information and the distance data corresponding to the energy information. For example, the distance data of the echo signal may be substituted into a filtering curve corresponding to r ═ 3.2 as shown in fig. 3, a rain fog filtering curve as shown in fig. 4, or a dust filtering curve as shown in fig. 4, so as to determine the reference energy characteristic parameter of the echo signal, and further, the method as described above may be adopted to determine whether the echo signal is a noise echo signal generated by interference noise according to the energy characteristic parameter of the echo signal and the reference energy characteristic parameter.
In some embodiments, the noise echo filtering curve is obtained by calibrating a plurality of distance data corresponding to the reflectivity of the interference noise, the energy characteristic parameters of a plurality of echo signals generated by the interference noise, and the energy characteristic parameters of the plurality of echo signals.
In particular, to obtain a noise point filter curveThe method comprises the steps of obtaining a plurality of echo signals generated by interference noise points in an experimental mode, and obtaining energy information of the echo signals and distance data corresponding to the energy information. For example, with continued reference to fig. 4, the noise filtering curve may be a curve corresponding to equation (2) when r is r0, where r0 is the reflectivity of the interference noise and further r0 is the reflectivity of the rain fog or dust. In the process of calibrating the noise filtering curve, the pulse widths of the echo signals generated by the interference noise and the distance data corresponding to the pulse widths can be obtained, wherein the pulse widths of the echo signals and the distance data corresponding to the pulse widths form a plurality of position points as shown in fig. 4, and the g in the formula (2) can be determined by performing polynomial fitting on the formula (2) according to the reflectivity of the interference noise, the energy characteristic parameters of the echo signals generated by the interference noise and the distance data corresponding to the energy characteristic parameters of the echo signals-1And k, completing the calibration of the noise filtering curve when r is r 0.
In some embodiments, the noise echo filter curve is selected based on a user specified type of interference noise.
In particular, the noise echo filtering curve may be stored in a memory device of the lidar detection device, which may include a variety of types in some cases. For example a dust filtration curve or a rain and fog filtration curve as shown in figure 4. The user can select the corresponding noise filtering curve according to the environment condition of the laser detection device. For example, when the laser detection device is used in a rain and fog environment, the user may select a rain and fog filtering curve as shown in FIG. 4; when the laser detection device is used in a gray-bed rich environment, the user may select a dust filter curve as shown in fig. 4.
In some embodiments, the noise echo filter curve may be selected by the laser detection device based on the identified type of environment.
Specifically, the laser detection device may identify the type of environment in which the laser detection device is located, for example, whether the laser detection device is in a rain and fog environment or in a dust environment, and select different types of noise echo filtering curves according to the identified type of environment, for example, when the laser detection device is identified as being in a rain and fog environment, the rain and fog filtering curve shown in fig. 4 is selected, and when the laser detection device is identified as being in a dust environment, the dust filtering curve shown in fig. 4 is selected.
In some embodiments, the determining that the echo signal is a noisy echo signal when the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal includes: when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, determining whether the distance data of the echo signal is smaller than reference distance data; and if so, determining the echo signal as a noise echo signal.
Specifically, when the laser detection device determines that the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, further determination may be performed. For example, considering that the interference noise is generally a tiny particle object in the environment, the probability that the laser detection device receives the echo signal generated by the interference noise located at a far distance is relatively small. Therefore, the distance data of the echo signal can be further compared with a reference distance threshold value to determine whether the distance data of the echo signal is smaller than the reference distance data, if so, the echo signal is determined to be a noise echo signal, and if not, the echo signal is determined to be an effective echo signal.
Further, the reference distance data is determined from a distance distribution between interfering noise producing noise echo signals and the laser detection device.
In particular, it is known from theoretical analysis that the distance between the interfering noise generating the noise echo signal and the laser detection device may obey a certain distance distribution, e.g. a poisson distribution or a gaussian distribution. Taking the distribution of the distance between the interference noise generating the noise echo signal and the laser detection device as poisson distribution as an example, the distance between the interference noise generating the noise echo signal and the laser detection device follows the following distribution:
said λ takes different values according to different types of interference noise, for example, if said interference noise is rain fog, said λ may be selected to be 3.5, so as to obtain the distance distribution graph between the interference noise generating noise echo signal and said laser detection device as shown in fig. 5. Observing the distance distribution diagram, the interference noise points are mainly distributed within a range of 10 meters away from the laser detection equipment. Further, a reference distance threshold may be determined according to the distance distribution, for example, the reference distance threshold may be 10 meters, and it is determined whether the distance data of the echo signal is less than 10 meters; and if so, determining the echo signal as a noise echo signal. If not, the echo signal can be determined to be a valid echo signal.
In some cases, the type of distance distribution may be determined based on a user-specified type of interference noise.
In particular, the distances of noise echo signals generated by different types of interference noise may be subject to different types of distance distributions, which may make the reference distance data different. For example, the distance data of echo signals generated by rain fog may follow a poisson distribution, and the distance data of echo signals generated by dust may follow a gaussian distribution. The laser detection device may determine the type of distance distribution corresponding to the type of interference noise specified by the user according to the type of interference noise.
In some cases, one or more parameters in the distance distribution are determined based on a user-specified type of interference noise.
In particular, the parameters in the distance distribution between the different types of interference noise and the laser detection device may be different, different parameters may make the reference distance data different, and one or more parameters in the distance distribution are determined according to the type of interference noise specified by the user. For example, the distance distribution between the rain fog generating the noise echo signal and the laser detection device and the distance distribution between the dust generating the noise echo signal and the laser detection device are both poisson distributions, and the parameter λ in the poisson distribution corresponding to the rain fog may be different from the parameter λ in the poisson distribution corresponding to the dust. The laser detection device may determine, according to the type of interference noise specified by the user, one or more parameters in the type of distance distribution corresponding to the type of interference noise. For example, the laser detection device may determine the parameter λ in the poisson distribution based on the type of interference noise selected by the user.
In some embodiments, the determining that the echo signal is a noisy echo signal when the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal includes: when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, determining the probability corresponding to the distance data according to the distance data and the distance distribution between an interference noise point generating noise point echo and the laser detection equipment; and when the probability is determined to be larger than a preset probability threshold value, if so, determining that the echo signal is a noise echo signal, and if not, determining that the echo signal is an effective echo signal.
Specifically, when the laser detection device determines that the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, further determination may be performed. Considering that the interference noise is generally a tiny particle object in the environment, the probability that the laser detection device receives the echo signal generated by the interference noise located far away is relatively small. Therefore, the probability corresponding to the distance data can be further determined from the distance data and the distance distribution between the interference noise point generating the noise echo and the laser detection device. As mentioned above, it is known from theoretical analysis that the distance between the interfering noise generating the noise echo signal and the laser detection device may obey a certain distance distribution, e.g. the distance distribution obeys a poisson distribution or a gaussian distribution.
Here, taking as an example that the distance distribution between the interference noise generating the noise echo signal and the laser detection device follows a poisson distribution, that is, the distance between the interference noise generating the noise echo signal and the laser detection device follows the following distribution:
said λ takes different values according to different types of interference noise, for example, if said interference noise is rain fog, said λ may be selected to be 3.5, so as to obtain the distance distribution graph between the interference noise generating noise echo signal and said laser detection device as shown in fig. 5. As can be seen from fig. 5, when the distance data of the echo signal generated by the interference noise is within the range of 0 to 10 meters, and the probability of the distance data in the poisson distribution is high, it indicates that the interference noise is mainly distributed within the range of 1 to 10 meters, and when the distance data of the echo signal generated by the interference noise is outside the range of 10 meters, the probability of the distance data in the poisson distribution is low, and it indicates that the interference noise is unlikely to be distributed within the range of 10 meters. Therefore, the laser detection device may determine a probability corresponding to the distance data according to the distance data and a distance distribution (e.g., poisson distribution) between an interference noise point generating a noise echo and the laser detection device, where the probability corresponding to the distance data may include a probability corresponding to a distance region of the distance data, and the size of the distance region may be selected by a person skilled in the art as needed. And when the probability is determined to be larger than a preset probability threshold (for example, 0.2 or 0.25 and the like), if so, determining that the echo signal is a noise echo signal, and if not, determining that the echo signal is a valid echo signal.
In some embodiments, the type of distance distribution may be determined based on a user-specified type of interference noise.
In particular, the distances of noise echo signals generated by different types of interference noise may be subject to different types of distance distributions, which may cause the preset probability threshold to be different. For example, the distance data of echo signals generated by rain fog may follow a poisson distribution, and the distance data of echo signals generated by dust may follow a gaussian distribution. The laser detection device may determine the type of distance distribution corresponding to the type of interference noise specified by the user according to the type of interference noise.
In some embodiments, one or more parameters of the distance distribution are determined based on a user-specified type of interference noise.
Specifically, parameters in the distance distribution between the different types of interference noise and the laser detection device may be different, the preset probability threshold may be made different by the different parameters, and one or more parameters in the distance distribution are determined according to the type of the interference noise specified by the user. For example, the distance distribution between the rain fog generating the noise echo signal and the laser detection device and the distance distribution between the dust generating the noise echo signal and the laser detection device both obey a poisson distribution, and the parameter λ in the poisson distribution corresponding to the rain fog may be different from the parameter λ in the poisson distribution corresponding to the dust. The laser detection device may determine the type of distance distribution corresponding to the type of interference noise specified by the user according to the type of interference noise. The laser detection device may determine the parameter λ in the poisson distribution according to the type of interference noise selected by the user.
In certain embodiments, the method further comprises: and when the echo signal is determined to be a noise echo signal, filtering the noise echo signal.
Fig. 6 is a schematic structural diagram of a laser detection apparatus according to an embodiment of the present invention, and as shown in fig. 6, the movable platform 600 includes: a laser 601, a receiver 602, and a processor 603, wherein,
the laser 601 is used for emitting light pulses;
the receiver 602 is configured to acquire a plurality of echo signals corresponding to the light pulses;
the processor 603 is configured to:
determining an energy characteristic parameter and range data for each of the plurality of echo signals;
and determining whether each echo signal is a noise echo signal generated by interference noise according to the energy characteristic parameter and the distance data of each echo signal.
In certain embodiments, the energy characterizing parameter is determined from at least one of echo energy, pulse width, height, area of the echo signal.
In some embodiments, when the processor 603 determines whether each echo signal is a noise echo signal according to the energy characteristic parameter and the distance data of each echo signal, the processor is specifically configured to:
determining a reference energy characteristic parameter of each echo signal according to the distance data of each echo signal, wherein the reference energy characteristic parameter can be used for indicating the energy characteristic parameter of the echo signal generated by the interference noise point when the interference noise point is at the distance indicated by the distance data;
and determining whether each echo signal is a noise echo signal according to the energy characteristic parameter and the reference energy characteristic parameter of each echo signal.
In some embodiments, when the processor 603 determines whether each echo signal is a noise echo signal according to the energy characteristic parameter of each echo signal and the reference energy characteristic parameter, the processor is specifically configured to:
and when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, determining the echo signal as a noise echo signal.
In some embodiments, when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, the processor 603 is specifically configured to:
when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, determining whether the distance data of the echo signal is smaller than reference distance data;
and if so, determining the echo signal as a noise echo signal.
In certain embodiments, the reference range data is determined from a distribution of distances between interfering noise producing noise echo signals and the laser detection device.
In certain embodiments, the distance distribution follows a poisson distribution or a gaussian distribution.
In some embodiments, one or more parameters of the distance distribution are determined based on a user-specified type of interference noise.
In some embodiments, when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, the processor 603 is specifically configured to:
when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, determining the probability corresponding to the distance data according to the distance data and the distance distribution between an interference noise point generating noise point echo and the laser detection equipment;
and when the probability is greater than a preset probability threshold value, determining the echo signal as a noise echo signal.
In certain embodiments, the distance distribution follows a poisson distribution or a gaussian distribution.
In some embodiments, one or more parameters of the distance distribution are determined based on a user-specified type of interference noise.
In some embodiments, when the processor 603 determines whether each echo signal is a noise echo signal according to the energy characteristic parameter of each echo signal and the reference energy characteristic parameter, the processor is specifically configured to:
and when the energy characteristic parameter of the echo signal is larger than the reference energy characteristic parameter of the echo signal, determining the echo signal as a valid echo signal.
In some embodiments, when the processor 603 determines the reference energy characteristic parameter of each echo signal according to the distance data of each echo signal, it is specifically configured to:
and substituting the distance data of the echo signals into a noise point echo filtering curve to determine a reference energy characteristic parameter of the echo signals, wherein the noise point echo filtering curve is used for indicating the reflectivity of interference noise points, and the relationship between the energy information of the echo signals generated by the interference noise points and the distance data corresponding to the energy information.
In some embodiments, the noise echo filtering curve is obtained by calibrating the reflectivity of the interference noise, a plurality of energy characteristic parameters of the interference noise, and a plurality of distance data of the interference noise corresponding to the plurality of energy characteristic parameters.
In some embodiments, the noise echo filter curve is determined based on a user specified type of interference noise.
Fig. 7 is a schematic structural diagram of a movable platform according to a ninth embodiment of the present invention, and as shown in fig. 7, the movable platform 700 includes:
a body 701;
a power system 702 mounted on the fuselage 701 for providing power, wherein the power system includes one or more of a motor, an engine, a propeller, and an electric power conditioner;
and a laser detection device 703 as described in any of the embodiments above.
In addition, the present embodiment also provides a computer-readable storage medium on which a computer program is stored, the computer program being executed by a processor to implement the echo signal processing method described in the above embodiment.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the above-mentioned division of the functional modules is merely used as an example, and in practical applications, the above-mentioned functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above-mentioned functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (32)
- A method for processing a noise echo signal is applied to laser detection equipment, and is characterized by comprising the following steps:emitting light pulses and acquiring a plurality of echo signals corresponding to the light pulses;determining an energy characteristic parameter and range data for each of the plurality of echo signals;and determining whether each echo signal is a noise echo signal generated by interference noise according to the energy characteristic parameter and the distance data of each echo signal.
- The method of claim 1, wherein the energy characterizing parameter is determined from at least one of echo energy, pulse width, height, and area of the echo signal.
- The method according to claim 1 or 2,the determining whether each echo signal is a noise echo signal according to the energy characteristic parameter and the distance data of each echo signal includes:determining a reference energy characteristic parameter of each echo signal according to the distance data of each echo signal, wherein the reference energy characteristic parameter can be used for indicating the energy characteristic parameter of the echo signal generated by the interference noise point when the interference noise point is at the distance indicated by the distance data;and determining whether each echo signal is a noise echo signal according to the energy characteristic parameter and the reference energy characteristic parameter of each echo signal.
- The method of claim 3, wherein determining whether each echo signal is a noisy echo signal according to the energy characteristic parameter of each echo signal and a reference energy characteristic parameter comprises:and when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, determining the echo signal as a noise echo signal.
- The method of claim 4, wherein determining that the echo signal is a noisy echo signal when the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal comprises:when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, determining whether the distance data of the echo signal is smaller than reference distance data;and if so, determining the echo signal as a noise echo signal.
- The method of claim 5, wherein the reference range data is determined from a distribution of distances between interfering noise producing noise echo signals and the laser detection device.
- The method of claim 6, wherein the distance distribution comprises a Poisson distribution or a Gaussian distribution.
- The method according to claim 6 or 7, wherein one or more parameters of the distance distribution are determined based on a user-specified type of interference noise.
- The method of claim 4, wherein determining that the echo signal is a noisy echo signal when the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal comprises:when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, determining the probability corresponding to the distance data according to the distance data and the distance distribution between an interference noise point generating noise point echo and the laser detection equipment;and when the probability is greater than a preset probability threshold value, determining the echo signal as a noise echo signal.
- The method of claim 9, wherein the distance distribution comprises a poisson distribution or a gaussian distribution.
- The method of claim 10, wherein one or more parameters of the distance distribution are determined based on a type of interference noise specified by a user.
- The method according to any one of claims 3 to 11,determining whether each echo signal is a noise echo signal according to the energy characteristic parameter and the reference energy characteristic parameter of each echo signal comprises:and when the energy characteristic parameter of the echo signal is larger than the reference energy characteristic parameter of the echo signal, determining the echo signal as a valid echo signal.
- The method according to any one of claims 3-12, wherein said determining a reference energy characteristic parameter of each echo signal from the range data of each echo signal comprises:and substituting the distance data of the echo signals into a noise point echo filtering curve to determine a reference energy characteristic parameter of the echo signals, wherein the noise point echo filtering curve is used for indicating the reflectivity of interference noise points, and the relationship between the energy information of the echo signals generated by the interference noise points and the distance data corresponding to the energy information.
- The method of claim 13, wherein the noise echo filter curve is calibrated based on a reflectivity of an interference noise, a plurality of energy characterizing parameters of the interference noise, and a plurality of distance data of the interference noise corresponding to the plurality of energy characterizing parameters.
- A method according to claim 13 or 14, characterized in that said noise echo filtering curve is determined on the basis of the type of interference noise specified by the user.
- A laser detection apparatus, comprising: a laser, a receiver, and a processor, wherein,the laser is used for emitting light pulses;the receiver is used for acquiring a plurality of echo signals corresponding to the optical pulses;the processor is configured to:determining an energy characteristic parameter and range data for each of the plurality of echo signals;and determining whether each echo signal is a noise echo signal generated by interference noise according to the energy characteristic parameter and the distance data of each echo signal.
- The apparatus of claim 16, wherein the energy characterizing parameter is determined from at least one of echo energy, pulse width, height, and area of the echo signal.
- The apparatus according to claim 16 or 17,the processor is specifically configured to, when determining whether each echo signal is a noise echo signal according to the energy characteristic parameter and the distance data of each echo signal:determining a reference energy characteristic parameter of each echo signal according to the distance data of each echo signal, wherein the reference energy characteristic parameter can be used for indicating the energy characteristic parameter of the echo signal generated by the interference noise point when the interference noise point is at the distance indicated by the distance data;and determining whether each echo signal is a noise echo signal according to the energy characteristic parameter and the reference energy characteristic parameter of each echo signal.
- The apparatus according to claim 18, wherein the processor is configured to, when determining whether each echo signal is a noisy echo signal according to the energy characteristic parameter of each echo signal and the reference energy characteristic parameter, in particular:and when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, determining the echo signal as a noise echo signal.
- The apparatus according to claim 19, wherein the processor, when determining that the echo signal is a noisy echo signal when the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal, is specifically configured to:when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, determining whether the distance data of the echo signal is smaller than reference distance data;and if so, determining the echo signal as a noise echo signal.
- The apparatus of claim 20, wherein said reference range data is determined from a distribution of distances between interfering noise producing noise echo signals and said laser detection apparatus.
- The apparatus of claim 21, wherein the distance distribution comprises a poisson distribution or a gaussian distribution.
- The apparatus of claim 21 or 22, wherein one or more parameters of the distance distribution are determined based on a user-specified type of interference noise.
- The apparatus according to claim 19, wherein the processor, when determining that the echo signal is a noisy echo signal when the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal, is specifically configured to:when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, determining the probability corresponding to the distance data according to the distance data and the distance distribution between an interference noise point generating noise point echo and the laser detection equipment;and when the probability is greater than a preset probability threshold value, determining the echo signal as a noise echo signal.
- The apparatus of claim 24, wherein the distance distribution comprises a poisson distribution or a gaussian distribution.
- The apparatus of claim 25, wherein one or more parameters in the distance distribution are determined based on a type of interference noise specified by a user.
- The apparatus of any one of claims 18-26,when the processor determines whether each echo signal is a noise echo signal according to the energy characteristic parameter and the reference energy characteristic parameter of each echo signal, the processor is specifically configured to:and when the energy characteristic parameter of the echo signal is larger than the reference energy characteristic parameter of the echo signal, determining the echo signal as a valid echo signal.
- The device according to any of claims 18 to 27, wherein the processor, when determining the reference energy characteristic parameter of each echo signal from the distance data of each echo signal, is configured to:and substituting the distance data of the echo signals into a noise echo filtering curve to determine a reference energy characteristic parameter of the echo signals, wherein the noise echo filtering curve is used for indicating the reflectivity of interference noise, the energy information of the echo signals generated by the interference noise and the relation between the distance data corresponding to the energy information.
- The apparatus of claim 28, wherein said noise echo filter curve is calibrated based on a reflectivity of an interference noise, a plurality of energy characterizing parameters of the interference noise, and a plurality of distance data of the interference noise corresponding to the plurality of energy characterizing parameters.
- The apparatus of claim 28 or 29, characterized in that said noise echo filtering curve is determined according to the type of interference noise specified by the user.
- A movable platform, comprising:a body;the power system is arranged on the machine body and used for providing power;and a laser detection device as claimed in any one of claims 16 to 30.
- A computer-readable storage medium, having stored thereon a computer program for execution by a processor to perform the method of any one of claims 1-15.
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