CN111679293A - Laser radar quality control method - Google Patents
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Abstract
The invention provides a laser radar quality control method, which comprises the following steps: and (3) carrying out Rayleigh scattering fitting correction on the laser radar system: fitting the distance correction scattering signal with the Rayleigh scattering signal, and adjusting the laser radar system according to a fitting result; performing four-quadrant test on the laser radar system, and calibrating the positions of a transmitting optical axis of a transmitting device and a receiving optical axis of a receiving device of the laser radar system according to a test result; and correcting the echo signal of the laser radar system by using a geometric overlapping factor to obtain the corrected echo signal of the laser radar system. The method starts from fundamental factors such as equipment network access standard of the aerosol laser radar, quality control of networking observation data and the like, confirms key factors and key indexes of the quality control of the aerosol laser radar networking, and aims to enable the laser radar to receive high and accurate signals and improve inversion accuracy.
Description
Technical Field
The invention relates to the technical field of office equipment, in particular to a laser radar quality control method.
Background
The application of aerosol laser radar in the fields of meteorology and environmental protection is more and more emphasized by people. This is because the means of monitoring the distribution (spatial distribution, particle size distribution, species distribution, etc.) and the temporal and spatial evolution of the particles in the atmosphere by aerosol lidar are uneconomical and give spatially and temporally resolved measurements of the above distributions.
Currently, the EARLINET aerosol lidar network in europe has been in operation for more than 18 years (since 1998, the LACE98 project in germany) worldwide, using aerosol lidar to form a monitoring network on a continental scale. Because the application research of the laser radar in the meteorological and environmental protection departments of China is still in the beginning stage, most domestic equipment comes from scientific research institutes, and therefore, no unified standard and requirement exist in the aspects of industrialization, standardization and the like of the equipment. The laser radar is utilized abroad to carry out a great deal of research on cloud, aerosol and the like, but the research is basically focused on hardware systems, inversion methods, mechanisms and the like, the quality control of radar data is less, the accuracy requirement is met by default original data generally, only an inversion result is given, and the accuracy of the data cannot be guaranteed. The data accuracy is the fundamental guarantee of scientific research, so the quality control aiming at the laser radar is particularly important.
Disclosure of Invention
The invention provides a laser radar quality control method, which starts from fundamental elements such as equipment network access standard of an aerosol laser radar, quality control of networking observation data and the like, and starts from a general principle of laser radar data quality control, confirms quality control key factors and key indexes of the aerosol laser radar networking, wherein the main indexes comprise Rayleigh scattering fitting correction, four-quadrant (uniformity) test, geometric overlapping factor correction and the like, and aims to ensure that the laser radar receives higher and accurate signals and improve inversion precision.
In order to achieve the purpose, the invention provides the following technical scheme:
a laser radar quality control method comprises the following steps:
s1, carrying out Rayleigh scattering fitting correction on the laser radar system: fitting the distance correction scattering signal with the Rayleigh scattering signal, and adjusting the laser radar system according to a fitting result;
s2, performing four-quadrant test on the laser radar system, and calibrating the positions of a transmitting optical axis of a transmitting device and a receiving optical axis of a receiving device of the laser radar system according to the test result;
and S3, performing geometric overlapping factor correction on the echo signal of the laser radar system to obtain the echo signal corrected by the laser radar system.
Preferably, the step S1 specifically includes the following steps:
s11, fitting the received distance correction scattering signal X (r) and the Rayleigh scattering signal RCS (r, lambda) (taking logarithmic coordinates);
s12, obtaining a Rayleigh scattering signal RCS (r, lambda) by a laser radar equation:
where r is the distance, RCS (r, lambda) is the distance calibration signal, C is the lidar knowledge, alpham(r, lambda) is the extinction coefficient of atmospheric molecules,
βm(r, λ) is the back volume scattering coefficient;
s13, substituting equation (2) into equation (1) to obtain:
wherein λ is the wavelength of the laser light (nm), T (r) is the temperature, Pa(r) is pressure;
s14, obtaining distance correction scattering signal X (r) from American standard atmospheric molecular model, and subtracting background noise N from the original signal P (r)BTo obtainEffective photon signal Ps (r):
Ps(r)＝P(r)-NB
NBaveraging the last M values of the original signal P (r), wherein M is 50, and obtaining a distance correction scattering signal X (r):
X(r)＝Ps(r)*r*r；
s15, comparing the distance-corrected scattered signal X (r) with a rayleigh scattered signal RCS (r, λ), and when the distance-corrected scattered signal value is lower than the rayleigh scattered signal value, adjusting the transmitting and receiving optical axes until the distance-corrected scattered signal value is higher than the rayleigh scattered signal value.
Preferably, the step S2 specifically includes the following steps:
s21, performing four-quadrant division on the optical antenna of the laser radar to obtain four quadrants of the optical antenna receiving system;
s22, measuring according to the sequence of the first quadrant, the fourth quadrant and the first quadrant, and setting the average value of all echo intensity points of the three measured echo curves in the distance range of 2 km-3 km as X respectively11、
And
root mean square values of XRMS11、XRMS4And XRMS12When is coming into contact with
Then, the signal S of the first quadrant of the current measurement is stored1And signal S of the fourth quadrant4；
S23, measuring according to the sequence of the second quadrant, the third quadrant and the second quadrant, and setting the average values of all echo intensity points of the three measured echo curves in the distance range of 2 km-3 km as
And
root mean square values of XRMS21、XRMS3And XRMS22When is coming into contact with
Then, the second quadrant S of the measurement is saved2And signal S of the third quadrant3；
S24, setting overlap area of laser radar as LOFor non-coaxial lidar systems, at LO+1～LOThe first quadrant detection signal in the +4 distance range is S11、S12、……S1nThe fourth quadrant detection signal is S41、S42、……S4nCalculating the system difference M between the first quadrant signal and the fourth quadrant echo signal14And the standard deviation sigma of the first quadrant signal and the fourth quadrant echo signal14：
M14＝((S11-S41)+(S12-S42)+L+(S1n-S4n))/n (4)
S25, in the range of 0km to 3km, the second quadrant detection signal is S21、S22、……S2nThe third quadrant detection signal is S31、S32、……S3nCalculating the system difference M of the echo signals of the second quadrant and the third quadrant23And the standard deviation sigma of the echo signals of the second quadrant and the third quadrant23：
M23＝((S21-S31)+(S22-S32)+L+(S2n-S3n))/n (6)
S26, for the coaxial laser radar system, the first quadrant detection signal set in the distance range of 0 km-3 km is S11、S12、……S1nThe second quadrant detection signal is S21、S22、……S2nThe third quadrant detection signal is S31、S32、……S3nThe fourth quadrant detection signal is S41、S42、……S4nCalculating the system difference of the first quadrant and the fourth quadrant, the standard deviation of the first quadrant and the fourth quadrant, the system difference of echo signals of the second quadrant and the third quadrant and the standard deviation of echo signals of the second quadrant and the third quadrant;
s27, comparing the system difference of the first quadrant and the fourth quadrant with the standard difference of the first quadrant and the fourth quadrant, comparing the system difference of the second quadrant and the third quadrant echo signals with the standard difference of the second quadrant and the third quadrant echo signals, and adjusting the transmitting optical axis and the receiving optical axis according to the comparison result until the standard is met.
Preferably, the step S3 specifically includes the following steps:
s31, according to the lidar equation, the effective signal received by the lidar may be represented as:
wherein C is a laser radar system constant, alpha (r) is an atmospheric extinction coefficient, and beta (r) is a backscattering coefficient;
let r be r0The time laser emission visual field and the telescope receiving visual field are completely overlapped, at the time, Y (r) is 1, the natural logarithm is taken at two ends, and the following results are obtained:
ln[Ps(r)r2]＝ln(Cβ)-2αr
linear fitting of the form y-b + a-r using the least squares method yields:
a＝-2α
b＝ln(Cβ)
the geometric overlap factor of the lidar system can then be derived
The specific embodiment of the invention also provides a laser radar quality control method, which comprises the following steps:
s1, performing four-quadrant test on the laser radar system, and calibrating the positions of a transmitting optical axis of a transmitting device and a receiving optical axis of a receiving device of the laser radar system according to the test result;
s2, carrying out Rayleigh scattering fitting correction on the laser radar system: fitting the distance correction scattering signal with the Rayleigh scattering signal, and adjusting the laser radar system according to a fitting result;
and S3, performing geometric overlapping factor correction on the echo signal of the laser radar system to obtain the echo signal corrected by the laser radar system.
Preferably, the step S1 specifically includes the following steps:
s11, performing four-quadrant division on the optical antenna of the laser radar to obtain four quadrants of the optical antenna receiving system;
s12, measuring according to the sequence of the first quadrant, the fourth quadrant and the first quadrant, and setting the average value of all echo intensity points of the three measured echo curves in the distance range of 2 km-3 km as X respectively11、
And
root mean square values of XRMS11、XRMS4And XRMS12When is coming into contact with
Then, the signal S of the first quadrant of the current measurement is stored1And signal S of the fourth quadrant4；
S13, measuring according to the sequence of the second quadrant, the third quadrant and the second quadrant, and setting three lines of measurementThe average value of all echo intensity points of the echo curve in the distance range of 2km to 3km is respectively
And
root mean square values of XRMS21、XRMS3And XRMS22When is coming into contact with
Then, the second quadrant S of the measurement is saved2And signal S of the third quadrant3；
S14, setting overlap area of laser radar as LOFor non-coaxial lidar systems, at LO+1～LOThe first quadrant detection signal in the +4 distance range is S11、S12、……S1nThe fourth quadrant detection signal is S41、S42、……S4nCalculating the system difference M between the first quadrant signal and the fourth quadrant echo signal14And the standard deviation sigma of the first quadrant signal and the fourth quadrant echo signal14：
M14＝((S11-S41)+(S12-S42)+L+(S1n-S4n))/n (4)
S15, in the range of 0km to 3km, the second quadrant detection signal is S21、S22、……S2nThe third quadrant detection signal is S31、S32、……S3nCalculating the system difference M of the echo signals of the second quadrant and the third quadrant23And the standard deviation sigma of the echo signals of the second quadrant and the third quadrant23：
M23＝((S21-S31)+(S22-S32)+L+(S2n-S3n))/n (6)
S16, for the coaxial laser radar system, the first quadrant detection signal set in the distance range of 0 km-3 km is S11、S12、……S1nThe second quadrant detection signal is S21、S22、……S2nThe third quadrant detection signal is S31、S32、……S3nThe fourth quadrant detection signal is S41、S42、……S4nCalculating the system difference of the first quadrant and the fourth quadrant, the standard deviation of the first quadrant and the fourth quadrant, the system difference of echo signals of the second quadrant and the third quadrant and the standard deviation of echo signals of the second quadrant and the third quadrant;
s17, comparing the system difference of the first quadrant and the fourth quadrant with the standard difference of the first quadrant and the fourth quadrant, comparing the system difference of the second quadrant and the third quadrant echo signals with the standard difference of the second quadrant and the third quadrant echo signals, and adjusting the transmitting optical axis and the receiving optical axis according to the comparison result until the standard is met.
Preferably, the step S2 specifically includes the following steps:
s21, fitting the received distance correction scattering signal X (r) and the Rayleigh scattering signal RCS (r, lambda) (taking logarithmic coordinates);
s22, obtaining a Rayleigh scattering signal RCS (r, lambda) by a laser radar equation:
where r is the distance, RCS (r, lambda) is the distance calibration signal, C is the lidar knowledge, alpham(r, lambda) is the extinction coefficient of atmospheric molecules,
βm(r, λ) is the back volume scattering coefficient;
s23, substituting equation (2) into equation (1) to obtain:
wherein λ is the wavelength of the laser light (nm), T (r) is the temperature, Pa(r) is the pressure intensity of the gas,
s24, obtaining distance correction scattering signal X (r) from American standard atmospheric molecular model, and subtracting background noise N from the original signal P (r)BObtaining an effective photon signal Ps (r):
Ps(r)＝P(r)-NB
NBaveraging the last M values of the original signal P (r), wherein M is 50, and obtaining a distance correction scattering signal X (r):
X(r)＝Ps(r)*r*r；
s25, comparing the distance-corrected scattered signal X (r) with a rayleigh scattered signal RCS (r, λ), and when the distance-corrected scattered signal value is lower than the rayleigh scattered signal value, adjusting the transmitting and receiving optical axes until the distance-corrected scattered signal value is higher than the rayleigh scattered signal value.
Preferably, the step S3 specifically includes the following steps:
s31, according to the lidar equation, the effective signal received by the lidar may be represented as:
wherein C is a laser radar system constant, alpha (r) is an atmospheric extinction coefficient, and beta (r) is a backscattering coefficient;
let r be r0The time laser emission visual field and the telescope receiving visual field are completely overlapped, at the time, Y (r) is 1, the natural logarithm is taken at two ends, and the following results are obtained:
ln[Ps(r)r2]＝ln(Cβ)-2αr
linear fitting of the form y-b + a-r using the least squares method yields:
a＝-2α
b＝ln(Cβ)
the geometric overlap factor of the lidar system can then be derived
Through implementing above technical scheme, have following technological effect: the laser radar quality control method provided by the invention provides a perfect solution for laser radar quality control, defines key factors and key indexes for laser radar quality control, provides reference basis for establishing data quality control standard for domestic laser radar business application, and improves the accuracy of laser radar data.
Drawings
FIG. 1 is a diagram of a method for dividing four quadrants of a telescope with a non-coaxial system laser position according to an embodiment of the present invention;
FIG. 2 is a diagram of a method for dividing the laser position of the coaxial system and four quadrants of the telescope according to an embodiment of the present invention;
FIG. 3 is a table of optical antenna signal uniformity detection criteria provided in accordance with an embodiment of the present invention;
fig. 4 is a schematic diagram of generation of geometric overlap factors of a lidar system according to an embodiment of the present invention.
Detailed Description
In order to better understand the technical scheme of the invention, the following detailed description of the embodiments provided by the invention is combined with the accompanying drawings 1-4.
A laser radar quality control method comprises the following steps:
s1, carrying out Rayleigh scattering fitting correction on the laser radar system: fitting the distance correction scattering signal with the Rayleigh scattering signal, and adjusting the laser radar system according to a fitting result;
s2, performing four-quadrant test on the laser radar system, and calibrating the positions of a transmitting optical axis of a transmitting device and a receiving optical axis of a receiving device of the laser radar system according to the test result;
and S3, performing geometric overlapping factor correction on the echo signal of the laser radar system to obtain the echo signal corrected by the laser radar system.
The Rayleigh scattering fitting effect on the laser radar is positive, so that the far field is prevented from overflowing, and the signal correctness and stability of the laser radar are guaranteed. The four-quadrant test is used to detect whether the assembly of the receiving system of the system meets design requirements and whether the backscattered signals from the near field and the far field can be correctly received. In this embodiment, the rayleigh scattering fitting validity or the sequence of the four-quadrant test is not limited, the rayleigh scattering fitting validity may be performed first, whether the geometric relationship between the laser radar emission beam and the receiving system at the far-field location meets the requirements or not is detected, and if not, the transmitting system and the receiving system of the laser radar are adjusted. And then, performing four-quadrant test on the radar system, detecting whether the laser divergence angle of the radar system is matched with the field angle of the telescope, and if not, adjusting. The position of the transmitting optical axis and the position of the receiving optical axis are preferably adjusted by adjusting the direction of the transmitting laser or the direction of the receiving optical axis of the telescope, and then the calibration is performed again to meet the calibration requirement. After Rayleigh scattering fitting correction and four-quadrant test, the laser radar system is subjected to overlap factor test, wherein the overlap factor is changed along with the distance and is defined as the ratio of the energy of a light beam falling into a field of view at a certain distance to the total energy of the light beam at the distance. The method is one of key factors for detecting the extinction coefficient of the aerosol at a close distance and the atmospheric visibility by the laser radar, corrects the signal near-field atmospheric condition by using the geometric overlapping factor, and obtains related atmospheric parameters conforming to the actual condition through inversion, so that the laser radar system can effectively receive higher and accurate signals, and the inversion precision is improved.
In the present embodiment, on the basis of the above-mentioned embodiments, the purpose of the rayleigh fitting is to check whether the geometrical relationship between the laser radar emission beam (collimation) at the far-field location and the receiving system meets the design requirements. If the emitted beam is not well collimated, it can result in excessive divergence of the laser beam in the far field "overspreading" the coverage of the receive field angle.
In this embodiment, it is preferable that the light beam is emitted vertically upwards in a sunny day after rain (vertical visibility is greater than 20 km), and the amount of aerosol in the air is small, so that the rayleigh scattering signal of the far end can be measured. The decision criterion is to fit (take logarithmic coordinates) the distance-corrected scattered signal X (r) to the rayleigh-scattered signal RCS (r, λ), X (r) should be slightly higher than the rayleigh-scattered signal RCS (r, λ), and if lower, it represents that the geometric relationship between system transmission and reception is incorrect and needs to be adjusted. Further, the step S1 specifically includes the following steps:
s11, fitting the received distance correction scattering signal X (r) and the Rayleigh scattering signal RCS (r, lambda) (taking logarithmic coordinates);
s12, obtaining a Rayleigh scattering signal RCS (r, lambda) by a laser radar equation:
where r is the distance, RCS (r, lambda) is the distance calibration signal, C is the lidar knowledge, alpham(r, lambda) is the extinction coefficient of atmospheric molecules,
βm(r, λ) is the back volume scattering coefficient;
s13, substituting equation (2) into equation (1) to obtain:
wherein λ is the wavelength of the laser light (nm), T (r) is the temperature, Pa(r) is pressure;
s14, obtaining distance correction scattering signal X (r) from American standard atmospheric molecular model, and subtracting background noise N from the original signal P (r)BObtaining an effective photon signal Ps (r):
Ps(r)＝P(r)-NB
NBaveraging the last M values of the original signal P (r), wherein M is 50, and obtaining a distance correction scattering signal X (r):
X(r)＝Ps(r)*r*r；
s15, comparing the distance-corrected scattered signal X (r) with a rayleigh scattered signal RCS (r, λ), and when the distance-corrected scattered signal value is lower than the rayleigh scattered signal value, adjusting the transmitting and receiving optical axes until the distance-corrected scattered signal value is higher than the rayleigh scattered signal value. The laser radar system is adjusted through adjusting a transmitting optical axis of the laser radar system and a receiving optical axis of the laser radar system, and the coincidence degree of light spot central points of the two optical axes and the size of the light spot are adjusted.
Preferably, the step S2 specifically includes the following steps:
s21, performing four-quadrant division on the optical antenna of the laser radar to obtain four quadrants of the optical antenna receiving system;
s22, measuring according to the sequence of the first quadrant, the fourth quadrant and the first quadrant, and setting the average value of all echo intensity points of the three measured echo curves in the distance range of 2 km-3 km as X respectively11、
And
root mean square values of XRMS11、XRMS4And XRMS12When is coming into contact with
Then, the signal S of the first quadrant of the current measurement is stored1And signal S of the fourth quadrant4；
S23, according to the second quadrant, the third quadrant and the second imageThe limited sequential measurement is that the average values of all echo intensity points of the three measured echo curves in the distance range of 2km to 3km are respectively set as
And
root mean square values of XRMS21、XRMS3And XRMS22When is coming into contact with
Then, the second quadrant S of the measurement is saved2And signal S of the third quadrant3；
S24, setting overlap area of laser radar as LOFor non-coaxial lidar systems, at LO+1～LOThe first quadrant detection signal in the +4 distance range is S11、S12、……S1nThe fourth quadrant detection signal is S41、S42、……S4nCalculating the system difference M between the first quadrant signal and the fourth quadrant echo signal14And the standard deviation sigma of the first quadrant signal and the fourth quadrant echo signal14：
M14＝((S11-S41)+(S12-S42)+L+(S1n-S4n))/n (4)
S25, in the range of 0km to 3km, the second quadrant detection signal is S21、S22、……S2nThe third quadrant detection signal is S31、S32、……S3nCalculating the system difference M of the echo signals of the second quadrant and the third quadrant23And the standard deviation sigma of the echo signals of the second quadrant and the third quadrant23：
M23＝((S21-S31)+(S22-S32)+L+(S2n-S3n))/n (6)
S26, for the coaxial laser radar system, the first quadrant detection signal set in the distance range of 0 km-3 km is S11、S12、……S1nThe second quadrant detection signal is S21、S22、……S2nThe third quadrant detection signal is S31、S32、……S3nThe fourth quadrant detection signal is S41、S42、……S4nCalculating the system difference of the first quadrant and the fourth quadrant, the standard deviation of the first quadrant and the fourth quadrant, the system difference of echo signals of the second quadrant and the third quadrant and the standard deviation of echo signals of the second quadrant and the third quadrant;
s27, comparing the system difference of the first quadrant and the fourth quadrant with the standard difference of the first quadrant and the fourth quadrant, comparing the system difference of the second quadrant and the third quadrant echo signals with the standard difference of the second quadrant and the third quadrant echo signals, and adjusting the transmitting optical axis and the receiving optical axis according to the comparison result until the standard is met.
Preferably, the step S3 specifically includes the following steps:
s31, according to the lidar equation, the effective signal received by the lidar may be represented as:
wherein C is a laser radar system constant, alpha (r) is an atmospheric extinction coefficient, and beta (r) is a backscattering coefficient;
let r be r0The time laser emission visual field and the telescope receiving visual field are completely overlapped, at the time, Y (r) is 1, the natural logarithm is taken at two ends, and the following results are obtained:
ln[Ps(r)r2]＝ln(Cβ)-2αr
linear fitting of the form y-b + a-r using the least squares method yields:
a＝-2α
b＝ln(Cβ)
the geometric overlap factor of the lidar system can then be derived
In this embodiment, the echo signal after being corrected by the laser radar system is obtained by dividing the range correction scattering signal X (r) of the radar system echo signal P by the geometric superposition factor.
The specific embodiment of the invention also provides a laser radar quality control method, which comprises the following steps:
s1, performing four-quadrant test on the laser radar system, and calibrating the positions of a transmitting optical axis of a transmitting device and a receiving optical axis of a receiving device of the laser radar system according to the test result;
s2, carrying out Rayleigh scattering fitting correction on the laser radar system: fitting the distance correction scattering signal with the Rayleigh scattering signal, and adjusting the laser radar system according to a fitting result;
and S3, performing geometric overlapping factor correction on the echo signal of the laser radar system to obtain the echo signal corrected by the laser radar system.
On the basis of the above embodiments, in other embodiments, further, in this embodiment, preferably, the optical antenna of the lidar is mainly a telescope, and as shown in fig. 1 to 3, the non-coaxial structure and the coaxial structure are divided differently. The method comprises the following steps: s121, four-quadrant division is carried out on the optical antenna of the laser radar to obtain four quadrants of an optical antenna receiving system;
in the non-coaxial mode, the optical axes of the laser transmitter system and the laser receiver system are parallel, as shown in fig. 4. The emitting visual field and the receiving visual field of the laser beam are gradually transited from complete separation to complete coincidence. The optical system structure enables the receiving telescope to receive only part of echo signals within a certain range, thereby causing larger errors of inversion results. Therefore, before the echo signals are subjected to inversion processing, the system geometric overlapping factor Y (r) must be calibrated.
As shown in fig. 4, the laser beam in the blind area is not in the receiving field of view, and no atmospheric echo signal Y (r) is received as 0; the laser beam in the cross area gradually enters a receiving view field, the echo signal is partially received by the telescope and gradually increases to meet the condition that Y (r) is more than or equal to 0 and less than or equal to 1; the transmitted laser beam in the overlapping area completely enters a receiving visual field, the telescope completely receives echo signals, and Y (r) is always equal to 1.
The step S1 specifically includes the following steps:
s11, performing four-quadrant division on the optical antenna of the laser radar to obtain four quadrants of the optical antenna receiving system;
s12, measuring according to the sequence of the first quadrant, the fourth quadrant and the first quadrant, and setting the average value of all echo intensity points of the three measured echo curves in the distance range of 2 km-3 km as X respectively11、
And
root mean square values of XRMS11、XRMS4And XRMS12When is coming into contact with
Then, the signal S of the first quadrant of the current measurement is stored1And signal S of the fourth quadrant4；
S13, measuring according to the sequence of the second quadrant, the third quadrant and the second quadrant, and setting the average values of all echo intensity points of the three measured echo curves in the distance range of 2 km-3 km as
And
root mean square values of XRMS21、XRMS3And XRMS22When is coming into contact with
Then, the second quadrant S of the measurement is saved2And signal S of the third quadrant3；
S14, setting overlap area of laser radar as LOFor non-coaxial lidar systems, at LO+1～LOThe first quadrant detection signal in the +4 distance range is S11、S12、……S1nThe fourth quadrant detection signal is S41、S42、……S4nCalculating the system difference M between the first quadrant signal and the fourth quadrant echo signal14And the standard deviation sigma of the first quadrant signal and the fourth quadrant echo signal14：
M14＝((S11-S41)+(S12-S42)+L+(S1n-S4n))/n (4)
S15, in the range of 0km to 3km, the second quadrant detection signal is S21、S22、……S2nThe third quadrant detection signal is S31、S32、……S3nCalculating the system difference M of the echo signals of the second quadrant and the third quadrant23And the standard deviation sigma of the echo signals of the second quadrant and the third quadrant23：
M23＝((S21-S31)+(S22-S32)+L+(S2n-S3n))/n (6)
S16, for the coaxial laser radar system, the first quadrant detection signal set in the distance range of 0 km-3 km is S11、S12、……S1nThe second quadrant detection signal is S21、S22、……S2nThe third quadrant detection signal is S31、S32、……S3nThe fourth quadrant detection signal is S41、S42、……S4nCalculating the system difference of the first quadrant and the fourth quadrant, the standard deviation of the first quadrant and the fourth quadrant, the system difference of echo signals of the second quadrant and the third quadrant and the standard deviation of echo signals of the second quadrant and the third quadrant;
s17, comparing the system difference of the first quadrant and the fourth quadrant with the standard difference of the first quadrant and the fourth quadrant, comparing the system difference of the second quadrant and the third quadrant echo signals with the standard difference of the second quadrant and the third quadrant echo signals, and adjusting the transmitting optical axis and the receiving optical axis according to the comparison result until the standard is met. The calibration method comprises the steps of checking whether the laser divergence angle of the radar system is matched with the field angle of a telescope or not, and adjusting if the laser divergence angle is not matched with the field angle of the telescope; the positions of the transmitting optical axis and the receiving optical axis are adjusted by adjusting the direction of the transmitting laser or the direction of the receiving optical axis of the telescope, and then the calibration is carried out again to meet the requirement of the calibration.
On the basis of the foregoing embodiment, in another embodiment, the step S2 specifically includes the following steps:
s21, fitting the received distance correction scattering signal X (r) and the Rayleigh scattering signal RCS (r, lambda) (taking logarithmic coordinates);
s22, obtaining a Rayleigh scattering signal RCS (r, lambda) by a laser radar equation:
where r is the distance, RCS (r, lambda) is the distance calibration signal, C is the lidar knowledge, alpham(r, lambda) is the extinction coefficient of atmospheric molecules,
βm(r, λ) is the back volume scattering coefficient;
s23, substituting equation (2) into equation (1) to obtain:
wherein λ is the wavelength of the laser light (nm), T (r) is the temperature, Pa(r) is the pressure intensity of the gas,
s24, obtaining distance correction scattering signal X (r) from American standard atmospheric molecular model, and subtracting background noise N from the original signal P (r)BObtaining an effective photon signal Ps (r):
Ps(r)＝P(r)-NB
NBaveraging the last M values of the original signal P (r), wherein M is 50, and obtaining a distance correction scattering signal X (r):
X(r)＝Ps(r)*r*r；
s25, comparing the distance-corrected scattered signal X (r) with a rayleigh scattered signal RCS (r, λ), and when the distance-corrected scattered signal value is lower than the rayleigh scattered signal value, adjusting the transmitting and receiving optical axes until the distance-corrected scattered signal value is higher than the rayleigh scattered signal value. The laser radar system is adjusted through adjusting a transmitting optical axis of the laser radar system and a receiving optical axis of the laser radar system, and the coincidence degree of light spot central points of the two optical axes and the size of the light spot are adjusted.
On the basis of the foregoing embodiment, in another embodiment, the step S3 specifically includes the following steps:
s31, according to the lidar equation, the effective signal received by the lidar may be represented as:
wherein C is a laser radar system constant, alpha (r) is an atmospheric extinction coefficient, and beta (r) is a backscattering coefficient;
let r be r0The time laser emission visual field and the telescope receiving visual field are completely overlapped, at the time, Y (r) is 1, the natural logarithm is taken at two ends, and the following results are obtained:
ln[Ps(r)r2]＝ln(Cβ)-2αr
linear fitting of the form y-b + a-r using the least squares method yields:
a＝-2α
b＝ln(Cβ)
the geometric overlap factor of the lidar system can then be derived
In this embodiment, the echo signal after being corrected by the laser radar system is obtained by dividing the range correction scattering signal X (r) of the radar system echo signal P by the geometric superposition factor.
According to the quality control method for the laser radar, provided by the embodiment of the invention, the Rayleigh scattering fitting correction is carried out on the laser radar, so that the far field is prevented from overflowing, and the signal correctness and stability of the laser radar are ensured. The four quadrant (uniformity) test is used to test whether the assembly of the receiving system (receiving objective, focusing lens, fiber optic or receiving probe) for the system meets design requirements and is able to properly receive backscattered signals from both the near field and the far field. This determines whether the overlay factor measurement is correct or not and whether the symmetry of the (dual axis) system is good or bad. And correcting the near-field atmospheric condition of the signals by using the geometric overlapping factor, and obtaining related atmospheric parameters which accord with the actual condition through inversion.
While the laser radar quality control method provided by the embodiment of the present invention has been described in detail, for those skilled in the art, the specific implementation and application scope may be changed according to the idea of the embodiment of the present invention, and in summary, the content of the present description should not be construed as limiting the present invention.
Claims (8)
1. A laser radar quality control method is characterized by comprising the following steps:
s1, carrying out Rayleigh scattering fitting correction on the laser radar system: fitting the distance correction scattering signal with the Rayleigh scattering signal, and adjusting the laser radar system according to a fitting result;
s2, performing four-quadrant test on the laser radar system, and calibrating the positions of a transmitting optical axis of a transmitting device and a receiving optical axis of a receiving device of the laser radar system according to the test result;
and S3, performing geometric overlapping factor correction on the echo signal of the laser radar system to obtain the echo signal corrected by the laser radar system.
2. The lidar quality control method according to claim 1, wherein the step S1 specifically comprises the steps of:
s11, fitting the received distance correction scattering signal X (r) and the Rayleigh scattering signal RCS (r, lambda) (taking logarithmic coordinates);
s12, obtaining a Rayleigh scattering signal RCS (r, lambda) by a laser radar equation:
where r is the distance, RCS (r, lambda) is the distance calibration signal, C is the lidar knowledge, alpham(r, lambda) is the extinction coefficient of atmospheric molecules,
βm(r, λ) is the back volume scattering coefficient;
s13, substituting equation (2) into equation (1) to obtain:
wherein λ is the wavelength of the laser light (nm), T (r) is the temperature, Pa(r) is pressure;
s14, obtaining distance correction scattering signal X (r) from American standard atmospheric molecular model, and subtracting background noise N from the original signal P (r)BObtaining an effective photon signal Ps (r):
Ps(r)＝P(r)-NB
NBaveraging the last M values of the original signal P (r), wherein M is 50, and obtaining a distance correction scattering signal X (r):
X(r)＝Ps(r)*r*r；
s15, comparing the distance-corrected scattered signal X (r) with a rayleigh scattered signal RCS (r, λ), and when the distance-corrected scattered signal value is lower than the rayleigh scattered signal value, adjusting the transmitting and receiving optical axes until the distance-corrected scattered signal value is higher than the rayleigh scattered signal value.
3. The lidar quality control method according to claim 1, wherein the step S2 specifically comprises the steps of:
s21, performing four-quadrant division on the optical antenna of the laser radar to obtain four quadrants of the optical antenna receiving system;
s22, measuring according to the sequence of the first quadrant, the fourth quadrant and the first quadrant, and setting the average value of all echo intensity points of the three measured echo curves in the distance range of 2 km-3 km as X respectively11、
And
root mean square values of XRMS11、XRMS4And XRMS12When is coming into contact with
Then, the signal S of the first quadrant of the current measurement is stored1And fourth quadrant ofSignal S4；
S23, measuring according to the sequence of the second quadrant, the third quadrant and the second quadrant, and setting the average values of all echo intensity points of the three measured echo curves in the distance range of 2 km-3 km as
And
root mean square values of XRMS21、XRMS3And XRMS22When is coming into contact with
Then, the second quadrant S of the measurement is saved2And signal S of the third quadrant3；
S24, setting overlap area of laser radar as LOFor non-coaxial lidar systems, at LO+1～LOThe first quadrant detection signal in the +4 distance range is S11、S12、……S1nThe fourth quadrant detection signal is S41、S42、……S4nCalculating the system difference M between the first quadrant signal and the fourth quadrant echo signal14And the standard deviation sigma of the first quadrant signal and the fourth quadrant echo signal14：
M14＝((S11-S41)+(S12-S42)+L+(S1n-S4n))/n (4)
S25, in the range of 0km to 3km, the second quadrant detection signal is S21、S22、……S2nThe third quadrant detection signal is S31、S32、……S3nCalculating the system difference M of the echo signals of the second quadrant and the third quadrant23And standard deviation of echo signals of the second quadrant and the third quadrantσ23：
M23＝((S21-S31)+(S22-S32)+L+(S2n-S3n))/n(6)
S26, for the coaxial laser radar system, the first quadrant detection signal set in the distance range of 0 km-3 km is S11、S12、……S1nThe second quadrant detection signal is S21、S22、……S2nThe third quadrant detection signal is S31、S32、……S3nThe fourth quadrant detection signal is S41、S42、……S4nCalculating the system difference of the first quadrant and the fourth quadrant, the standard deviation of the first quadrant and the fourth quadrant, the system difference of echo signals of the second quadrant and the third quadrant and the standard deviation of echo signals of the second quadrant and the third quadrant;
s27, comparing the system difference of the first quadrant and the fourth quadrant with the standard difference of the first quadrant and the fourth quadrant, comparing the system difference of the second quadrant and the third quadrant echo signals with the standard difference of the second quadrant and the third quadrant echo signals, and adjusting the transmitting optical axis and the receiving optical axis according to the comparison result until the standard is met.
4. The lidar quality control method according to claim 1, wherein the step S3 specifically comprises the steps of:
s31, according to the lidar equation, the effective signal received by the lidar may be represented as:
wherein C is a laser radar system constant, alpha (r) is an atmospheric extinction coefficient, and beta (r) is a backscattering coefficient;
let r be r0The time laser emission visual field and the telescope receiving visual field are completely overlapped, at the time, Y (r) is 1, the natural logarithm is taken at two ends, and the following results are obtained:
ln[Ps(r)r2]＝ln(Cβ)-2αr
linear fitting of the form y-b + a-r using the least squares method yields:
a＝-2α
b＝ln(Cβ)
the geometric overlap factor of the lidar system can then be derived
5. A laser radar quality control method is characterized by comprising the following steps:
s1, performing four-quadrant test on the laser radar system, and calibrating the positions of a transmitting optical axis of a transmitting device and a receiving optical axis of a receiving device of the laser radar system according to the test result;
s2, carrying out Rayleigh scattering fitting correction on the laser radar system: fitting the distance correction scattering signal with the Rayleigh scattering signal, and adjusting the laser radar system according to a fitting result;
and S3, performing geometric overlapping factor correction on the echo signal of the laser radar system to obtain the echo signal corrected by the laser radar system.
6. The lidar quality control method according to claim 5, wherein the step S1 specifically comprises the steps of:
s11, performing four-quadrant division on the optical antenna of the laser radar to obtain four quadrants of the optical antenna receiving system;
s12, measuring according to the sequence of the first quadrant, the fourth quadrant and the first quadrant, and setting the average value of all echo intensity points of the three measured echo curves in the distance range of 2 km-3 km as X respectively11、
And
root mean square values of XRMS11、XRMS4And XRMS12When is coming into contact with
Then, the signal S of the first quadrant of the current measurement is stored1And signal S of the fourth quadrant4；
S13, measuring according to the sequence of the second quadrant, the third quadrant and the second quadrant, and setting the average values of all echo intensity points of the three measured echo curves in the distance range of 2 km-3 km as
And
root mean square values of XRMS21、XRMS3And XRMS22When is coming into contact with
Then, the second quadrant S of the measurement is saved2And signal S of the third quadrant3；
S14, setting overlap area of laser radar as LOFor non-coaxial lidar systems, at LO+1～LOThe first quadrant detection signal in the +4 distance range is S11、S12、……S1nThe fourth quadrant detection signal is S41、S42、……S4nCalculating the first quadrant signal and the fourth quadrant signalSystematic difference M of wave signals14And the standard deviation sigma of the first quadrant signal and the fourth quadrant echo signal14：
M14＝((S11-S41)+(S12-S42)+L+(S1n-S4n))/n (4)
S15, in the range of 0km to 3km, the second quadrant detection signal is S21、S22、……S2nThe third quadrant detection signal is S31、S32、……S3nCalculating the system difference M of the echo signals of the second quadrant and the third quadrant23And the standard deviation sigma of the echo signals of the second quadrant and the third quadrant23：
M23＝((S21-S31)+(S22-S32)+L+(S2n-S3n))/n (6)
S16, for the coaxial laser radar system, the first quadrant detection signal set in the distance range of 0 km-3 km is S11、S12、……S1nThe second quadrant detection signal is S21、S22、……S2nThe third quadrant detection signal is S31、S32、……S3nThe fourth quadrant detection signal is S41、S42、……S4nCalculating the system difference of the first quadrant and the fourth quadrant, the standard deviation of the first quadrant and the fourth quadrant, the system difference of echo signals of the second quadrant and the third quadrant and the standard deviation of echo signals of the second quadrant and the third quadrant;
s17, comparing the system difference of the first quadrant and the fourth quadrant with the standard difference of the first quadrant and the fourth quadrant, comparing the system difference of the second quadrant and the third quadrant echo signals with the standard difference of the second quadrant and the third quadrant echo signals, and adjusting the transmitting optical axis and the receiving optical axis according to the comparison result until the standard is met.
7. The lidar quality control method according to claim 5, wherein: the step S2 specifically includes the following steps:
s21, fitting the received distance correction scattering signal X (r) and the Rayleigh scattering signal RCS (r, lambda) (taking logarithmic coordinates);
s22, obtaining a Rayleigh scattering signal RCS (r, lambda) by a laser radar equation:
where r is the distance, RCS (r, lambda) is the distance calibration signal, C is the lidar knowledge, alpham(r, lambda) is the extinction coefficient of atmospheric molecules,
βm(r, λ) is the back volume scattering coefficient;
s23, substituting equation (2) into equation (1) to obtain:
wherein λ is the wavelength of the laser light (nm), T (r) is the temperature, Pa(r) is the pressure intensity of the gas,
s24, obtaining distance correction scattering signal X (r) from American standard atmospheric molecular model, and subtracting background noise N from the original signal P (r)BObtaining an effective photon signal Ps (r):
Ps(r)＝P(r)-NB
NBaveraging the last M values of the original signal P (r), wherein M is 50, and obtaining a distance correction scattering signal X (r):
X(r)＝Ps(r)*r*r；
s25, comparing the distance-corrected scattered signal X (r) with a rayleigh scattered signal RCS (r, λ), and when the distance-corrected scattered signal value is lower than the rayleigh scattered signal value, adjusting the transmitting and receiving optical axes until the distance-corrected scattered signal value is higher than the rayleigh scattered signal value.
8. The lidar quality control method according to claim 5, wherein the step S3 specifically comprises the steps of:
s31, according to the lidar equation, the effective signal received by the lidar may be represented as:
wherein C is a laser radar system constant, alpha (r) is an atmospheric extinction coefficient, and beta (r) is a backscattering coefficient;
let r be r0The time laser emission visual field and the telescope receiving visual field are completely overlapped, at the time, Y (r) is 1, the natural logarithm is taken at two ends, and the following results are obtained:
ln[Ps(r)r2]＝ln(Cβ)-2αr
linear fitting of the form y-b + a-r using the least squares method yields:
a＝-2α
b＝ln(Cβ)
the geometric overlap factor of the lidar system can then be derived
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