CN112230238B - Laser intensity modulation distance and speed measuring method and system, terminal device and storage medium - Google Patents
Laser intensity modulation distance and speed measuring method and system, terminal device and storage medium Download PDFInfo
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- CN112230238B CN112230238B CN202011424694.3A CN202011424694A CN112230238B CN 112230238 B CN112230238 B CN 112230238B CN 202011424694 A CN202011424694 A CN 202011424694A CN 112230238 B CN112230238 B CN 112230238B
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- 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
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Abstract
The invention discloses a laser intensity modulation distance and speed measuring method and system, terminal equipment and a storage medium, wherein the laser intensity modulation distance and speed measuring method comprises the following steps: emitting laser with modulated light intensity towards a target to be measured; taking the transmitting time as a time starting point, dividing the received signal by the modulation signal, performing convolution according to the modulation duration, and storing the received signal according to the time exceeding the modulation time; acquiring the sending and receiving duration according to the position of the convolution maximum value; denoising the received signal after the sending and receiving duration to obtain denoised received light; acquiring a transmitted light normalization value of the transmitted light and a received light normalization value of the de-noised received light; obtaining the speed according to the functional relation among the emission light normalization value, the receiving light normalization value, the sending and receiving duration and the speed of the target to be measured; and obtaining the distance of the target to be measured according to the light speed and the sending and receiving duration. The invention realizes the simultaneous distance measurement and speed measurement of single pulse, and has strong anti-interference capability, good real-time performance and more accurate speed measurement.
Description
Technical Field
The invention belongs to the technical field of laser ranging and speed measuring, and particularly relates to a laser intensity modulation ranging and speed measuring method and system, terminal equipment and a storage medium.
Background
The traditional laser ranging method measures optical path time difference by using laser pulses, realizes speed measurement by using the linear relation between the optical path and the time difference, and realizes the speed measurement by using Doppler frequency shift or two-time ranging. The existing distance and speed measuring method has poor real-time performance, more emission frequencies, poor speed measuring precision and poor laser anti-jamming capability.
Therefore, a technical solution for laser ranging and velocity measurement with low transmission frequency, good real-time performance, strong anti-interference capability and more accurate velocity measurement is urgently needed to be provided by those skilled in the art.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides a laser intensity modulation distance measurement and speed measurement method and system, terminal equipment and a storage medium.
The invention discloses a laser intensity modulation distance and speed measurement method, which comprises the following steps:
s1, emitting laser with modulated light intensity towards the target to be measured;
s2, taking the emission time as a time starting point t0After dividing the received signal by the modulation signal, performing convolution according to the modulation time length delta t, and simultaneously storing the received signal according to the time exceeding the modulation time;
s3, obtaining the sending and receiving time length 2 delta t according to the convolution maximum value position0；
S4, for time length 2 Delta t of sending and receiving0Denoising the received signal to obtain denoised received light;
s5, acquiring a transmitted light normalization value of the transmitted light and a received light normalization value of the de-noised received light;
s6, according to the emitting light normalization value, the receiving light normalization value and the sending and receiving time length 2 delta t0And the velocity of the target to be measured
Is functionally related to obtain a rate
S7, according to the speed of light c and the length of transmission and reception time2Δt0And obtaining the distance S of the target to be measured.
Optionally, the functional relationship satisfies formula (1):
wherein the content of the first and second substances,
normalized to the received light;
normalizing the emitted light; the delta t 'is the time of delta t' after the reflected light is received as a timing starting point, the delta t 'and the delta t meet the formula (2), and when the speed of the target to be measured is far lower than the light speed, the delta t is approximately equal to the delta t';
at Δ t for the object to be measured0Average rate within.
Optionally, the envelope of the emitted light and the received light is normalized according to an initial value to obtain a normalized value of the emitted light
Received light normalization value
Wherein the emitted light has a normalized value
Satisfies the formula (3), and receives the normalized value of light
Satisfies formula (4);
wherein the content of the first and second substances,
is (t)0+ Δ t') modulated light intensity emitted at time instant;
is t0The intensity of light emitted at any moment; k is a coefficient;
and obtaining the quotient of the received light intensity and the transmitted light intensity after normalization processing according to the initial value, and then obtaining the derivative of the delta t' to obtain the functional relation.
Alternatively, the light speed c, the transmission/reception time 2 Δ t0The distance S satisfies formula (5):
s＝c·Δt0 (5)
optionally, step S4 specifically includes the steps of:
for transmitting and receiving time length 2 delta t0And denoising the received signal according to the modulation waveform characteristics to obtain denoised received light.
The invention also discloses a laser intensity modulation distance and speed measurement system, which comprises:
the laser is used for emitting laser with modulated light intensity towards the target to be measured;
the APD detector is used for receiving reflected light of the laser after being reflected by the target to be detected;
the signal processing unit is respectively connected with the laser and the APD detector;
the laser is used for emitting laser with modulated light intensity towards a target to be measured;
the signal processing unit is used for taking the emission time as a time starting point t0After dividing the received signal by the modulated signal, the convolution is performed for a modulation time period Deltat and the convolution is performed for a time period exceeding the modulation time period DeltatStoring the received signal at a modulation time; acquiring sending and receiving time length 2 delta t according to convolution maximum value position0(ii) a For transmitting and receiving time length 2 delta t0Denoising the received signal to obtain denoised received light; acquiring a transmitted light normalization value of the transmitted light and a received light normalization value of the de-noised received light; according to the emitting light normalization value, the receiving light normalization value and the sending and receiving time length 2 delta t0And the velocity of the target to be measured
Is functionally related to obtain a rate
According to the speed of light c and the transmitting-receiving time 2 delta t0And obtaining the distance S of the target to be measured.
Optionally, the signal processing unit includes a convolution module, a storage module, a transceiver module, a de-noising module, a normalization value obtaining module and a calculation module;
the convolution module is used for taking the emission time as a time starting point t0After dividing the received signal by the modulation signal, performing convolution according to the modulation time length delta t;
the storage module is used for storing the received signal according to the exceeding modulation time;
the transmitting and receiving module is used for acquiring transmitting and receiving time length 2 delta t according to the position of the convolution maximum value0；
The de-noising module is used for controlling the sending and receiving time length 2 delta t0Denoising the received signal to obtain denoised received light;
the normalization value acquisition module is used for acquiring a transmitting light normalization value of transmitting light and a receiving light normalization value of de-noising receiving light;
the calculation module is used for calculating the transmitting time length 2 delta t according to the transmitting light normalization value, the receiving light normalization value and the transmitting-receiving time length0And the velocity of the target to be measured
Is functionally related to obtain a rate
According to the speed of light c and the transmitting-receiving time 2 delta t0And obtaining the distance S of the target to be measured.
The invention also discloses a terminal device, which comprises: the laser intensity modulation distance measurement and speed measurement method comprises a memory, a processor and a laser intensity modulation distance measurement and speed measurement program which is stored on the memory and can run on the processor, wherein the laser intensity modulation distance measurement and speed measurement program is configured to realize any one of the steps of the laser intensity modulation distance measurement and speed measurement method.
The invention also discloses a computer readable storage medium, wherein a laser intensity modulation distance and speed measuring program is stored on the computer readable storage medium, and when being executed by a processor, the laser intensity modulation distance and speed measuring program realizes the steps of any one of the laser intensity modulation distance and speed measuring methods.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
the invention realizes simultaneous distance measurement and speed measurement of single pulse by using laser intensity modulation, and the anti-interference capability can be enhanced due to the introduction of modulation. Because the distance measurement and the speed measurement are simultaneously realized by single detection, the emission frequency can be reduced, and the speed measurement is closer to the real-time speed; due to the introduction of modulation, the anti-interference performance of the system is improved while the distance measurement and speed measurement are realized. Therefore, the transmitting frequency of laser ranging and speed measuring is only once, the real-time performance is good, the anti-interference capability is strong, and the speed measuring is more accurate. Preferably, the received signals are denoised by the known quantity (modulation waveform characteristics), so that the speed measurement is more accurate and easy to realize, and meanwhile, the processing logic of the invention is reduced, so that the logic control and programming of the invention are easier to realize.
Drawings
FIG. 1 is a schematic flowchart of an embodiment of a method for measuring distance and speed by laser intensity modulation according to the present invention;
FIG. 2 is a schematic block diagram of the present invention;
fig. 3 is a schematic diagram of the principle algorithm of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In an embodiment of the present invention, as shown in fig. 1, a laser intensity modulation distance and speed measurement method includes the steps of:
s1, emitting laser with modulated light intensity towards the target to be measured;
s2, taking the emission time as a time starting point t0After dividing the received signal by the modulation signal, performing convolution according to the modulation time length delta t, and simultaneously storing the received signal according to the time exceeding the modulation time;
s3, obtaining the sending and receiving time length 2 delta t according to the convolution maximum value position0；
S4, for time length 2 Delta t of sending and receiving0Denoising the received signal to obtain denoised received light;
s5, acquiring a transmitted light normalization value of the transmitted light and a received light normalization value of the de-noised received light;
s6, according to the emitting light normalization value, the receiving light normalization value and the sending and receiving time length 2 delta t0And the velocity of the target to be measured
Is functionally related to obtain a rate
S7, according to the speed of light c and the transmitting-receiving time length 2 delta t0And obtaining the distance S of the target to be measured.
In this embodiment, utilize laser intensity modulation, realize that single pulse simultaneously range finding and speed measuring, and because the introduction of modulation can strengthen the interference killing feature. Because the distance measurement and the speed measurement are simultaneously realized by single detection, the emission frequency can be reduced, and the speed measurement is closer to the real-time speed; due to the introduction of modulation, the anti-interference performance of the system is improved while the distance measurement and speed measurement are realized. Therefore, the transmitting frequency of laser ranging and speed measuring is only once, the real-time performance is good, the anti-interference capability is strong, and the speed measuring is more accurate.
Optionally, the functional relationship satisfies formula (1):
wherein the content of the first and second substances,
normalized to the received light;
normalizing the emitted light; the delta t 'is the time of delta t' after the reflected light is received as a timing starting point, the delta t 'and the delta t meet the formula (2), and when the speed of the target to be measured is far lower than the light speed, the delta t is approximately equal to the delta t';
at Δ t for the object to be measured0Average rate within. It should be noted that since the laser beam is reflected immediately after striking the target object to be measured, Δ t is obtained0The time length from the emission of the laser to the target to be measured and the time length from the reflection of the laser from the target to be measured to the emission point are also included, so the receiving and transmitting time length of the laser is 2 delta t0And is obtained according to the position of convolution maximum value, in practical application, because laser modulation time is very short, its speed rate is low
And
can be regarded as equivalent, thus obtaining
Is equivalent to obtain
Optionally, the envelope of the emitted light and the received light is normalized according to an initial value to obtain a normalized value of the emitted light
Received light normalization value
Wherein the emitted light has a normalized value
Satisfies the formula (3), and receives the normalized value of light
Satisfies formula (4);
wherein the content of the first and second substances,
is (t)0+ Δ t') modulated light intensity emitted at time instant;
is t0The intensity of light emitted at any moment; k is a coefficient;
and obtaining the quotient of the received light intensity and the transmitted light intensity after normalization processing according to the initial value, and then obtaining the derivative of the delta t' to obtain the functional relation.
Alternatively, the light speed c, the transmission/reception time 2 Δ t0The distance S satisfies formula (5):
s＝c·Δt0 (5)
optionally, step S4 specifically includes the steps of:
for transmitting and receiving time length 2 delta t0And denoising the received signal according to the modulation waveform characteristics to obtain denoised received light.
Specifically, step S4 includes the steps of:
s41, acquiring a modulation waveform and extracting the modulation waveform characteristics of the modulation waveform;
s42, extracting the similar (same) sending and receiving time length 2 delta t according to the modulation waveform characteristics0And receiving the signal to obtain more than one de-noised received light.
Optionally, a step S43 is further included, in which the modulation waveform and the one or more denoised received lights are matched by a denoising algorithm to obtain a final denoised received light.
The invention also discloses a laser intensity modulation distance and speed measurement system, which comprises: the laser is used for emitting laser with modulated light intensity towards the target to be measured; the APD detector is used for receiving reflected light of the laser after being reflected by the target to be detected; the signal processing unit is respectively connected with the laser and the APD detector; the laser is used for emitting laser with modulated light intensity towards a target to be measured; the signal processing unit is used for taking the emission time as a time starting point t0After dividing the received signal by the modulation signal, performing convolution according to the modulation time length delta t, and simultaneously storing the received signal according to the time exceeding the modulation time; acquiring sending and receiving time length 2 delta t according to convolution maximum value position0(ii) a For transmitting and receiving time length 2 delta t0Denoising the received signal to obtain denoised received light; acquiring a transmitted light normalization value of the transmitted light and a received light normalization value of the de-noised received light; according to the emitting light normalization value, the receiving light normalization value and the sending and receiving time length 2 delta t0And the velocity of the target to be measured
Obtaining a functional relationship ofRate of speed
According to the speed of light c and the transmitting-receiving time 2 delta t0And obtaining the distance S of the target to be measured.
In practical application, the modulation duration Δ t may be selectively set by the signal processing unit, and may be set by the signal processing unit according to actual requirements or may be manually input.
Optionally, the signal processing unit includes a convolution module, a storage module, a transceiver module, a de-noising module, a normalization value obtaining module and a calculation module; the convolution module is used for taking the emission time as a time starting point t0After dividing the received signal by the modulation signal, performing convolution according to the modulation time length delta t; the storage module is used for storing the received signal according to the exceeding modulation time; the transmitting and receiving module is used for acquiring transmitting and receiving time length 2 delta t according to the position of the convolution maximum value0(ii) a The de-noising module is used for controlling the sending and receiving time length 2 delta t0Denoising the received signal to obtain denoised received light; the normalization value acquisition module is used for acquiring a transmitting light normalization value of transmitting light and a receiving light normalization value of de-noising receiving light; the calculation module is used for calculating the transmitting time length 2 delta t according to the transmitting light normalization value, the receiving light normalization value and the transmitting-receiving time length0And the velocity of the target to be measured
Is functionally related to obtain a rate
According to the speed of light c and the transmitting-receiving time 2 delta t0And obtaining the distance S of the target to be measured.
Specifically, the schematic block diagram of the present invention is shown in fig. 2, and the schematic algorithm is shown in fig. 3. Laser at t0The intensity of the emitted light at A is
Laser of (d) at (t)0+Δt0) Is reflected by the target to be measured at the point B at (t)0+2Δt0) Time of day reflected light at AReceived by the APD detector, the received light intensity is taken as
Comprises the following steps:
wherein alpha is the attenuation coefficient of laser propagation,
is at (t)0+Δt0) The distance of the object to be measured at the moment,
is at (t)0+Δt0) The reflection coefficient of the target to be measured at the moment.
Let the laser light intensity be E(t)Then receive the light intensity
Can be converted to the following formula:
wherein v is(t)The axial far-away speed of the target to be measured; and t is t0+Δt，
Is at (t)0+Δt0+ Δ t) time of the target.
Since the modulation time period Δ t is very short, the following assumption is made:
and a coefficient k is taken so as to satisfy:
it should be noted that, in practical application, the attenuation coefficient α of laser propagation is a known value, and the reflection coefficient of the target to be measured
Can be understood as a known number and is a constant value;
at Δ t for the object to be measured0Average velocity within, c is the speed of light, i.e., (t)0+Δt0) The light emitted at any moment is
Is received at all times, the received light intensity at the moment
Comprises the following steps:
the time for receiving the light intensity at this time is:
wherein, the time delta t 'is the time delta t' after the reflected light is received as the timing starting point;
therefore, the method comprises the following steps:
assuming that the far speed of the target to be measured is far lower than the light speed, the following steps are carried out:
the envelope of the emitted light and the received light is normalized according to an initial value, and then:
dividing the normalized received light intensity by the normalized input light intensity and deriving Δ t' to obtain:
in practical application, the value is normalized due to the emitted light
Received light normalization value
Speed of light c, Δ t0(Transmit-receive duration 2 Deltat0Half of the value) are known numbers, so the average speed of the target to be measured can be obtained according to the formula (1)
Meanwhile, the distance S can be obtained through a formula (5), so that simultaneous distance measurement and speed measurement of single pulse are realized, and the anti-interference capability can be enhanced due to the introduction of modulation.
The invention also discloses a terminal device, which comprises: the laser intensity modulation distance measurement and speed measurement method comprises a memory, a processor and a laser intensity modulation distance measurement and speed measurement program which is stored on the memory and can run on the processor, wherein the laser intensity modulation distance measurement and speed measurement program is configured to realize any one of the steps of the laser intensity modulation distance measurement and speed measurement method.
The invention also discloses a computer readable storage medium, wherein a laser intensity modulation distance and speed measuring program is stored on the computer readable storage medium, and when being executed by a processor, the laser intensity modulation distance and speed measuring program realizes the steps of any one of the laser intensity modulation distance and speed measuring methods.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. A laser intensity modulation distance measurement and speed measurement method is characterized by comprising the following steps:
s1, emitting laser with modulated light intensity towards the target to be measured;
s2, taking the emission time as a time starting point t0After dividing the received signal by the modulation signal, performing convolution according to the modulation time length delta t, and simultaneously storing the received signal according to the time exceeding the modulation time;
s3, obtaining the sending and receiving time length 2 delta t according to the convolution maximum value position0；
S4, for time length 2 Delta t of sending and receiving0Denoising the received signal to obtain denoised received light;
s5, acquiring a transmitted light normalization value of the transmitted light and a received light normalization value of the de-noised received light;
s6, according to the emitting light normalization value, the receiving light normalization value and the sending and receiving time length 2 delta t0And the velocity of the target to be measured
Is functionally related to obtain a rate
S7, according to the speed of light c and the transmitting-receiving time length 2 delta t0And obtaining the distance S of the target to be measured.
2. The laser intensity modulation distance and speed measuring method according to claim 1, characterized in that:
the functional relationship satisfies formula (1):
wherein the content of the first and second substances,
normalized to the received light;
normalizing the emitted light; the delta t 'is the time of delta t' after the reflected light is received as a timing starting point, the delta t 'and the delta t meet the formula (2), and when the speed of the target to be measured is far lower than the light speed, the delta t is approximately equal to the delta t';
at Δ t for the object to be measured0Average rate within.
3. The laser intensity modulation distance and speed measuring method according to claim 2, characterized in that:
normalization processing is carried out on the envelopes of the emitted light and the received light according to an initial value to obtain an emitted light normalization value
Received light normalization value
Wherein the emitted light has a normalized value
Satisfies the formula (3), and receives the normalized value of light
Satisfies formula (4);
wherein the content of the first and second substances,
is (t)0+ Δ t') modulated light intensity emitted at time instant;
is t0The intensity of light emitted at any moment; k is a coefficient;
and obtaining the quotient of the received light intensity and the transmitted light intensity after normalization processing according to the initial value, and then obtaining the derivative of the delta t' to obtain the functional relation.
4. The laser intensity modulation distance and speed measuring method according to claim 1, characterized in that:
light speed c, transmission/reception time 2 Δ t0The distance S satisfies formula (5):
s＝c·Δt0 (5)。
5. the laser intensity modulation distance and speed measuring method according to any one of claims 1-4, wherein the step S4 specifically includes the steps of:
for transmitting and receiving time length 2 delta t0And denoising the received signal according to the modulation waveform characteristics to obtain denoised received light.
6. The utility model provides a laser intensity modulation range finding system of testing speed which characterized in that includes:
the laser is used for emitting laser with modulated light intensity towards the target to be measured;
the APD detector is used for receiving reflected light of the laser after being reflected by the target to be detected;
the signal processing unit is respectively connected with the laser and the APD detector;
the signal processing unit is used for taking the emission time as a time starting point t0After dividing the received signal by the modulation signal, performing convolution according to the modulation time length delta t, and simultaneously storing the received signal according to the time exceeding the modulation time; acquiring sending and receiving time length 2 delta t according to convolution maximum value position0(ii) a For transmitting and receiving time length 2 delta t0Denoising the received signal to obtain denoised received light; acquiring a transmitted light normalization value of the transmitted light and a received light normalization value of the de-noised received light; according to the emitting light normalization value, the receiving light normalization value and the sending and receiving time length 2 delta t0And the velocity of the target to be measured
Is functionally related to obtain a rate
According to the speed of light C and the transmitting-receiving time 2 delta t0And obtaining the distance S of the target to be measured.
7. The laser intensity modulation distance and speed measurement system according to claim 6, wherein:
the signal processing unit comprises a convolution module, a storage module, a transmitting and receiving module, a de-noising module, a normalization value acquisition module and a calculation module;
the convolution module is used for taking the emission time as a time starting point t0After dividing the received signal by the modulation signal, performing convolution according to the modulation time length delta t;
the storage module is used for storing the received signal according to the exceeding modulation time;
the transmitting and receiving module is used for acquiring transmitting and receiving time length 2 delta t according to the position of the convolution maximum value0；
The de-noising module is used for controlling the sending and receiving time length 2 delta t0Denoising the received signal to obtain denoised received light;
the normalization value acquisition module is used for acquiring a transmitting light normalization value of transmitting light and a receiving light normalization value of de-noising receiving light;
the calculation module is used for calculating the transmitting time length 2 delta t according to the transmitting light normalization value, the receiving light normalization value and the transmitting-receiving time length0And the velocity of the target to be measured
Is functionally related to obtain a rate
According to the speed of light c and the transmitting-receiving time 2 delta t0And obtaining the distance S of the target to be measured.
8. A terminal device, characterized in that the terminal device comprises: the laser intensity modulation distance measurement and speed measurement method comprises a memory, a processor and a laser intensity modulation distance measurement and speed measurement program which is stored on the memory and can run on the processor, wherein the laser intensity modulation distance measurement and speed measurement program is configured to realize the steps of the laser intensity modulation distance measurement and speed measurement method according to any one of claims 1-5.
9. A computer-readable storage medium, wherein a laser intensity modulation distance and speed measurement program is stored on the computer-readable storage medium, and when executed by a processor, the laser intensity modulation distance and speed measurement program implements the steps of the laser intensity modulation distance and speed measurement method according to any one of claims 1 to 5.
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