CN111766598A - Recovery method of single photon detection time-intensity information - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
- G01S7/4873—Extracting wanted echo signals, e.g. pulse detection by deriving and controlling a threshold value
Abstract
The invention discloses a method for recovering single photon detection time-intensity information, which comprises the following steps: carrying out accumulative average on the photon numbers obtained by multiple detections; averaging the background photon noise numbers detected by the front x detection time interval units in the detection range gate; calculating a first estimated value of the total number of echo photons received in the detection range; calculating a second estimated value of the total number of the echo photons received in the detection range; carrying out weighted summation on the first estimation value and the second estimation value; obtaining an initial estimation value of the distribution probability of the echo intensity; carrying out recovery iterative estimation on the number of echo photons received in each detection time interval unit in the detection range; and calculating the total number of echo photons in the range gate; judging whether the total number of echo photons in the range gate is between a first threshold and a second threshold; a time-intensity probability distribution function of the recovered signal is obtained. The invention can recover the target depth echo information during single photon detection.
Description
Technical Field
The invention belongs to the technical field of laser radars, and particularly relates to a method for recovering single photon detection time-intensity information.
Background
The single photon laser radar has the advantages of high detection sensitivity, long effective action distance and the like, and has been developed greatly in recent years. At present, the main problems of the single-photon laser radar in target information acquisition are as follows:
(1) when the target information is acquired, a first photon imaging mode is mainly adopted, namely, the target distance information is determined by recording the arrival time of a first echo photon of the target, so that imaging is realized. When a depth target is detected, a target echo signal is represented by intensity distribution along a time dimension, and target depth information cannot be acquired only through first photon imaging. In addition, due to noise and echo photon randomness effects, random jitter is generated in the triggering time of the first photon, and accurate measurement of the target distance is influenced.
(2) The time-varying information of the number of the echo photons can be obtained through multiple photon counting signal accumulation, but due to the influence of the dead time of the single photon detector, the directly accumulated signal is distorted, the accurate time-intensity variation information of the target echo cannot be reflected, and the target depth information is difficult to accurately advance on the basis.
Disclosure of Invention
The invention aims to provide a method for recovering time-intensity information of single photon detection, which can accurately reflect the time-intensity change information of a target echo and can recover the target depth echo information during single photon detection.
In order to achieve the purpose, the invention adopts the following technical scheme:
a recovery method of single photon detection time-intensity information comprises the following steps:
step one, carrying out accumulative average on the photon number obtained by multiple detections to obtain an accumulative average signal in a single detection time interval unit;
step two, detecting the distance door inside and outsidexAveraging the background photon noise number detected by each detection time interval unit to obtain an average photon noise estimation value in each detection time interval unit;
calculating a first estimated value of the total number of the echo photons received in the detection range according to a photon radar equation;
step four, calculating a second estimated value of the total number of echo photons received in the detection range gate according to the average signal and the average photon noise estimated value accumulated in a single detection time interval unit;
step five, carrying out weighted summation on the first estimation value and the second estimation value to obtain a third estimation value of the total number of the echo photons received in the detection range;
step six, obtaining an initial estimation value of the distribution probability of the echo intensity according to the average signal, the average photon noise estimation value and the third estimation value accumulated in a single detection time interval unit;
step seven, according to the initial estimation value of the distribution probability of the echo intensity, the number of echo photons received in each detection time interval unit in the detection range gate is restored and iteratively estimated; calculating the total number of echo photons in the range finder according to the recovery iteration estimation result;
step eight, judging whether the total number of the echo photons in the range gate is between the first threshold and the second threshold, if so, updating a third estimated value, and entering the step nine; if not, updating the third estimation value, and returning to the sixth step;
and step nine, obtaining a time-intensity probability distribution function of the recovery signal according to the average signal accumulated in a single detection time interval unit, the average photon noise estimation value and the updated third estimation value.
Further, in the step one, the cumulative average signal in the single detection time interval unit is;
wherein the content of the first and second substances,N sum (d) Is as followsdAccumulating the average signal in units of detection time intervals;N i (d) Is as followsiSecond detectiondThe number of photons detected by each detection interval unit,d=1,2,3,...,W，i=1,2,3,...,M，Min order to detect the number of times,Wthe number of time interval units is detected in the detection range gate.
Further, in step two, the average photon noise estimation value in the single detection time interval unit is calculated according to the following formula:
wherein the content of the first and second substances,N n_even averaging photon noise estimates within a single detection time interval unit;N i (j) Is as followsiSecond detectionjThe number of photons detected by each detection time interval unit,i=1,2,3,...,M，Min order to detect the number of times,j=1,2,3,...,x,，xis less thanW，WThe number of time interval units is detected in the detection range gate.
Further, in step four, the second estimated value is:
wherein the content of the first and second substances,N s2is a second estimated value;N sum (d) Is as followsdAccumulating the average signal in units of detection time intervals;N n_even averaging photon noise estimates within a single detection time interval unit;d=1,2,3,...,W，Wthe number of time interval units is detected in the detection range gate.
Further, in step five, the third estimated value is:
wherein the content of the first and second substances,N s is a third estimated value;N s1andN s2a first estimated value and a second estimated value respectively;αthe correction coefficient is 0-1.
Further, in step six, the initial estimation value of the echo intensity distribution probability is:
wherein the content of the first and second substances,P(d) For detecting distance door insidedProbability of distribution of echo intensity in units of individual detection intervals
An initial estimation value;N sum (d) Is as followsdAccumulating the average signal in units of detection time intervals;N n_even averaging photon noise estimates within a single detection time interval unit;N s is a third estimated value;d=1,2,3,...,W，Wthe number of time interval units is detected in the detection range gate.
Further, in the seventh step, the number of echo photons received in each detection time interval unit in the detection range gate is restored and iteratively estimated according to the following formula:
wherein the content of the first and second substances,N(d) For detecting distance door insidedPhoton number estimated values received by each detection time interval unit;N'(d) For detecting distance from the door inside and outsided-1 total photon number received by a detection time interval unit;d=1,2,3,...,W，Win order to detect the number of time interval units in the range gate,N'(0)=0。
further, in the seventh step, the total number of echo photons in the range gate is:
wherein the content of the first and second substances,N' is the total number of echo photons within the range gate.
Further, in step eight, the updated third estimated value is:
wherein the content of the first and second substances,N' s is the updated third estimate.
Further, the specific implementation process of the ninth step is as follows:
step 91, calculating an echo intensity distribution probability value according to the following formula;
wherein the content of the first and second substances,P'(d) For detecting distance door insidedThe distribution probability value of the echo intensity in each detection time interval unit;
step 92, judgmentP'(d) AndP(d) Is less than a third threshold, if so, thenP'(d) For recovering lettersThe time-intensity probability distribution function of the number, end; if not, then orderP(d)=P'(d) And returning to the step seven.
The invention has the beneficial effects that:
according to the photon radar equation, the total number of the echo photons received in the detection range gate is estimated once; the secondary estimation of the total number of the echo photons received in the detection range gate is realized through the accumulated average signal and the average photon noise estimation value in a single detection time interval unit; the three-time estimation of the total number of the echo photons received in the detection range gate is realized by carrying out weighted summation on the results of the two-time estimation, so that the phenomenon that the number of the received photons greatly deviates from the number of the real target echo photons due to the response dead time effect of a detector is avoided, and an initial estimation value which is closer to the number of the real target echo photons is obtained; the method comprises the steps of obtaining an initial estimation value of echo intensity distribution probability by utilizing an average signal, an average photon noise estimation value and a third estimation result accumulated in a single detection time interval unit, finally recovering accurate time-intensity distribution information of a target echo through iterative estimation, avoiding ranging errors caused by noise, echo photon randomness and a detector dead time effect, and ensuring the accuracy of target depth direction information extraction through the recovered target echo information; according to the invention, the number of echo photons received in each detection time interval unit in the range finder is restored and iteratively estimated, the updated total number of echo photons in the range finder is used for judging signal restoration, and the time-intensity distribution information of the target echo is effectively restored on the basis of signal restoration judgment, so that the accuracy of extracting the target depth direction information is improved.
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FIG. 1 is a schematic flow chart of a single photon detection time-intensity information recovery method of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
The embodiment provides a method for recovering single photon detection time-intensity information, and referring to fig. 1, the method includes the following steps:
step one, carrying out accumulative average on the photon number obtained by multiple detections to obtain an accumulative average signal in a single detection time interval unit;
in this embodiment, the cumulative average signal in a single detection time interval unit is;
wherein the content of the first and second substances,N sum (d) Is as followsdAccumulating the average signal in units of detection time intervals;N i (d) Is as followsiSecond detectiondThe number of photons detected by each detection interval unit,d=1,2,3,...,W，i=1,2,3,...,M，Min order to detect the number of times,Wthe number of time interval units is detected in the detection range gate.
Step two, detecting the distance door inside and outsidexAveraging the background photon noise number detected by each detection time interval unit to obtain an average photon noise estimation value in each detection time interval unit;
in the detection range gate, before takingxThe detection signal in each detection time interval unit is regarded as background photon noise, and is processed by forward alignmentxAveraging echo signals in each detection interval to obtain an average photon noise estimation value in a single detection time interval unit, wherein the specific formula is as follows:
wherein the content of the first and second substances,N n_even averaging photon noise estimates within a single detection time interval unit;N i (j) Is as followsiSecond detectionjThe number of photons detected by each detection time interval unit,i=1,2,3,...,M，Min order to detect the number of times,j=1,2,3,...,x,，xis less thanW，WFor detecting time intervals in range gatesThe number of cells.
And step three, calculating a first estimated value of the total number of the echo photons received in the detection range according to a photon radar equation.
The photon radar equation in this example is as follows:
wherein the content of the first and second substances,N s1is a first estimated value;ρis the target reflectivity;Tsingle pass transmission for atmospheric transport η l And η r The optical efficiency of the transmitting and receiving systems, respectively;A t the projection area of the irradiated part of the target in the view field in the cross section direction of the laser emission beam;A l is the cross-sectional area of the laser beam at the target;A r the effective receiving area of the system; r is a detection distance;E t η being laser single pulse energy q Is the quantum efficiency of the photon detector;hupsilon is single photon energy;ρ、T、A t for the purpose of the estimation of the value,ρthe estimation can be performed according to the result of the echo solution of the adjacent target,Tthe estimation can be done according to empirical formulas based on the detection distance,A t when the target area is larger, is equal toA l And approximately equal to the target cross-sectional area when the target is small.
Step four, calculating a second estimated value of the total number of echo photons received in the detection range gate according to the average signal and the average photon noise estimated value accumulated in a single detection time interval unit;
in this embodiment, the second estimated value is:
wherein the content of the first and second substances,N s2is a second estimated value;N sum (d) Is as followsdCumulative mean signal in units of sounding intervalsNumber;N n_even averaging photon noise estimates within a single detection time interval unit;d=1,2,3,...,W，Wthe number of time interval units is detected in the detection range gate.
And fifthly, carrying out weighted summation on the first estimation value and the second estimation value to obtain a third estimation value of the total number of the echo photons received in the detection range.
In this embodiment, the third estimated value is:
wherein the content of the first and second substances,N s is a third estimated value;N s1andN s2a first estimated value and a second estimated value respectively;αthe correction coefficient is 0-1.
Step six, obtaining an initial estimation value of the distribution probability of the echo intensity according to the average signal, the average photon noise estimation value and the third estimation value accumulated in a single detection time interval unit;
in this embodiment, the initial estimation value of the echo intensity distribution probability is:
wherein the content of the first and second substances,P(d) For detecting distance door insidedProbability of distribution of echo intensity in units of individual detection intervals
An initial estimation value;N sum (d) Is as followsdAccumulating the average signal in units of detection time intervals;N n_even averaging photon noise estimates within a single detection time interval unit;N s is a third estimated value;d=1,2,3,...,W，Wthe number of time interval units is detected in the detection range gate.
Step seven, according to the initial estimation value of the distribution probability of the echo intensity, the number of echo photons received in each detection time interval unit in the detection range gate is restored and iteratively estimated; calculating the total number of echo photons in the range finder according to the recovery iteration estimation result;
in this embodiment, each detection time interval unit in the detection range gate is inscribed according to the following formula
And (3) carrying out recovery iterative estimation on the number of received echo photons:
wherein the content of the first and second substances,N(d) For detecting distance door insidedPhoton number estimated values received by each detection time interval unit;N'(d) For detecting distance from the door inside and outsided-1 total photon number received by a detection time interval unit;d=1,2,3,...,W，Win order to detect the number of time interval units in the range gate,N'(0)=0。
in this embodiment, the total number of echo photons in the range gate is:
wherein the content of the first and second substances,N' is the total number of echo photons within the range gate.
Step eight, judging whether the total number of the echo photons in the range gate is between the first threshold and the second threshold, if so, updating a third estimated value, and entering the step nine; if not, updating the third estimation value, and returning to the sixth step;
in this embodiment, the updated third estimated value is:
wherein the content of the first and second substances,N' s is the updated third estimate.
And step nine, obtaining a time-intensity probability distribution function of the recovery signal according to the average signal accumulated in a single detection time interval unit, the average photon noise estimation value and the updated third estimation value.
The specific implementation process of the step is as follows:
step 91, calculating an echo intensity distribution probability value according to the following formula;
wherein the content of the first and second substances,P'(d) For detecting distance door insidedThe distribution probability value of the echo intensity in each detection time interval unit;
step 92, judgmentP'(d) AndP(d) Is less than a third threshold, if so, thenP'(d) Ending for a time-intensity probability distribution function of the recovered signal; if not, then orderP(d)=P'(d) And returning to the step seven.
According to the photon radar equation, the total number of the echo photons received in the detection range gate is estimated once; the secondary estimation of the total number of the echo photons received in the detection range gate is realized through the accumulated average signal and the average photon noise estimation value in a single detection time interval unit; the three-time estimation of the total number of the echo photons received in the detection range gate is realized by carrying out weighted summation on the results of the two-time estimation, so that the phenomenon that the number of the received photons greatly deviates from the number of the real target echo photons due to the response dead time effect of a detector is avoided, and an initial estimation value which is closer to the number of the real target echo photons is obtained; the method comprises the steps of obtaining an initial estimation value of echo intensity distribution probability by utilizing an average signal, an average photon noise estimation value and a third estimation result accumulated in a single detection time interval unit, finally recovering accurate time-intensity distribution information of a target echo through iterative estimation, avoiding ranging errors caused by noise, echo photon randomness and a detector dead time effect, and ensuring the accuracy of target depth direction information extraction through the recovered target echo information; in the embodiment, the number of echo photons received in each detection time interval unit in the range finder is restored and iteratively estimated, the updated total number of echo photons in the range finder is used for judging signal restoration, and the time-intensity distribution information of the target echo is effectively restored on the basis of the judgment of the signal restoration, so that the accuracy of extracting the target depth direction information is improved.
Although the embodiments of the present invention have been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the embodiments of the present invention.
Claims (10)
1. A recovery method of single photon detection time-intensity information is characterized by comprising the following steps:
step one, carrying out accumulative average on the photon number obtained by multiple detections to obtain an accumulative average signal in a single detection time interval unit;
step two, detecting the distance door inside and outsidexAveraging the background photon noise number detected by each detection time interval unit to obtain an average photon noise estimation value in each detection time interval unit;
calculating a first estimated value of the total number of the echo photons received in the detection range according to a photon radar equation;
step four, calculating a second estimated value of the total number of echo photons received in the detection range gate according to the average signal and the average photon noise estimated value accumulated in a single detection time interval unit;
step five, carrying out weighted summation on the first estimation value and the second estimation value to obtain a third estimation value of the total number of the echo photons received in the detection range;
step six, obtaining an initial estimation value of the distribution probability of the echo intensity according to the average signal, the average photon noise estimation value and the third estimation value accumulated in a single detection time interval unit;
step seven, according to the initial estimation value of the distribution probability of the echo intensity, the number of echo photons received in each detection time interval unit in the detection range gate is restored and iteratively estimated; calculating the total number of echo photons in the range finder according to the recovery iteration estimation result;
step eight, judging whether the total number of the echo photons in the range gate is between the first threshold and the second threshold, if so, updating a third estimated value, and entering the step nine; if not, updating the third estimation value, and returning to the sixth step;
and step nine, obtaining a time-intensity probability distribution function of the recovery signal according to the average signal accumulated in a single detection time interval unit, the average photon noise estimation value and the updated third estimation value.
2. The recovery method according to claim 1, wherein in step one, the cumulative average signal in the single detection time interval unit is;
wherein the content of the first and second substances,N sum (d) Is as followsdAccumulating the average signal in units of detection time intervals;N i (d) Is as followsiSecond detectiondThe number of photons detected by each detection interval unit,d=1,2,3,...,W，i=1,2,3,...,M，Min order to detect the number of times,Wthe number of time interval units is detected in the detection range gate.
3. The recovery method according to claim 1, wherein in step two, the average photon noise estimation value in the single detection time interval unit is calculated according to the following formula:
wherein the content of the first and second substances,N n_even averaging photon noise estimates within a single detection time interval unit;N i (j) Is as followsiSecond detectionjThe number of photons detected by each detection time interval unit,i=1,2,3,...,M，Min order to detect the number of times,j=1,2,3,...,x,，xis less thanW，WThe number of time interval units is detected in the detection range gate.
4. The recovery method according to any one of claims 1 to 3, wherein in step four, the second estimated value is:
wherein the content of the first and second substances,N s2is a second estimated value;N sum (d) Is as followsdAccumulating the average signal in units of detection time intervals;N n_even averaging photon noise estimates within a single detection time interval unit;d=1,2,3,...,W，Wthe number of time interval units is detected in the detection range gate.
5. The recovery method according to any one of claims 1 to 3, wherein in step five, the third estimated value is:
wherein the content of the first and second substances,N s is a third estimated value;N s1andN s2a first estimated value and a second estimated value respectively;αthe correction coefficient is 0-1.
6. The recovery method according to claim 5, wherein in step six, the initial estimation value of the echo intensity distribution probability is:
wherein the content of the first and second substances,P(d) For detecting distance door insidedProbability of distribution of echo intensity in units of individual detection intervals
An initial estimation value;N sum (d) Is as followsdAccumulating the average signal in units of detection time intervals;N n_even averaging photon noise estimates within a single detection time interval unit;N s is a third estimated value;d=1,2,3,...,W，Wthe number of time interval units is detected in the detection range gate.
7. The recovery method according to claim 6, wherein in step seven, the iterative estimation of the recovery is performed for the number of echo photons received in each detection time interval unit in the detection range gate according to the following formula:
wherein the content of the first and second substances,N(d) For detecting distance door insidedPhoton number estimated values received by each detection time interval unit;N'(d) For detecting distance from the door inside and outsided-1 total photon number received by a detection time interval unit;d=1,2,3,...,W，Win order to detect the number of time interval units in the range gate,N'(0)=0。
8. the recovery method according to claim 7, wherein in step seven, the total number of echo photons in the range gate is:
wherein the content of the first and second substances,N' is the total number of echo photons within the range gate.
9. The recovery method according to claim 8, wherein in step eight, the updated third estimated value is:
wherein the content of the first and second substances,N' s is the updated third estimate.
10. The recovery method according to claim 9, wherein the concrete implementation procedure of step nine is:
step 91, calculating an echo intensity distribution probability value according to the following formula;
wherein the content of the first and second substances,P'(d) For detecting distance door insidedThe distribution probability value of the echo intensity in each detection time interval unit;
step 92, judgmentP'(d) AndP(d) Is less than a third threshold, if so, thenP'(d) Ending for a time-intensity probability distribution function of the recovered signal; if not, then orderP(d)=P'(d) And returning to the step seven.
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| CN116626650B (en) * | 2023-07-26 | 2023-11-10 | 中国人民解放军国防科技大学 | Single photon detection moving target full waveform recovery method and system |
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