CN112379388A - Three-dimensional vector velocity measurement system and method based on structured light field - Google Patents
Three-dimensional vector velocity measurement system and method based on structured light field Download PDFInfo
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Abstract
The invention discloses a three-dimensional vector velocity measuring system and a measuring method based on a structured light field, relates to the technical field of laser multi-dimensional velocity measurement, and aims to solve the problems that the measurement of three-dimensional vector velocity is complex, the precision is not high, and the real-time performance is poor in the prior art; after the receiving optical system adjusts the echo signal, the echo signal passes through the back surface of the unidirectional reflecting glass and is loaded to the array detector; and the local oscillator signal is aligned to the radial Doppler effect light spot at the center of the optical field of the echo structure; the array detector detects four transverse Doppler effect light spot areas and an overlapping area of the radial Doppler effect light spots and a local oscillator signal to obtain corresponding total light intensity at each moment; and the three-dimensional vector velocity of the moving target is calculated according to the total light intensity at each moment through a three-dimensional vector velocity calculating module.
Description
Technical Field
The invention relates to the technical field of laser multi-dimensional speed measurement, in particular to a three-dimensional vector speed measurement system and a three-dimensional vector speed measurement method based on an orbital angular momentum composite modulation structure light field.
Background
The three-dimensional vector velocity measurement has important significance in the fields of science and technology, and is not only in civil aspects such as meteorological detection and automatic driving, but also in military aspects such as early warning, navigation and fire control. In the prior art, the measurement of the three-dimensional vector velocity only depends on multi-equipment multi-point multi-angle measurement synthesis or image processing estimation, and the measurement method is complex, low in precision and poor in real-time performance and cannot well meet application requirements.
Disclosure of Invention
The invention aims to solve the problems of complex measurement, low precision and poor real-time performance of three-dimensional vector velocity in the prior art, and provides a three-dimensional vector velocity measurement system and a three-dimensional vector velocity measurement method based on a structured light field.
The three-dimensional vector velocity measuring system based on the structured light field comprises a laser, a single-mode fiber, a fiber beam splitter, a spatial light modulator, a 4F system, a transmitting optical system, a receiving optical system, a fiber collimator, a unidirectional reflecting glass, an array detector and a three-dimensional vector velocity resolving module;
the laser emits an emergent laser signal to a single-mode fiber, the single-mode fiber selects a single transverse mode Gaussian mode laser signal in the emergent laser signal to be incident to a fiber beam splitter, the fiber beam splitter divides the incident single transverse mode Gaussian mode laser signal into two paths, and one path of the single transverse mode Gaussian mode laser signal is incident to the spatial light modulator; the other path of single transverse mode Gaussian mode laser signal is used as a local oscillator signal to be incident to the optical fiber collimator;
the spatial light modulator carries out multi-order angular momentum complex modulation on an incident single transverse mode Gaussian mode laser signal to generate a modulation signal, and the modulation signal is incident to a 4F system;
the modulation signal is a light beam of-4 order, 0 order and 4 order multi-order orbital angular momentum superposition; the modulation structure light field is of a cross structure and comprises a radial Doppler effect light spot positioned in the center and four transverse Doppler effect light spots positioned around the radial Doppler effect light spot; modulating the structured light field to a structured light field of the modulation signal;
the 4F system screens out a 1-level modulation signal from the incident modulation signal and transmits the signal to the transmitting optical system;
the emitting optical system irradiates the 1-level modulation signal to a moving target to be detected, and the moving target to be detected reflects the 1-level modulation signal to generate an echo signal to be incident to the receiving optical system; the structure of the echo structure light field is the same as that of the modulation structure light field; the echo structure light field is a structure light field of an echo signal;
after the receiving optical system adjusts the echo signal, the echo signal passes through the back surface of the unidirectional reflecting glass and is loaded to the array detector;
the optical fiber collimator adjusts the incident local oscillation signal and transmits the adjusted local oscillation signal to the reflecting surface of the unidirectional reflecting glass; the local oscillation signal is loaded to the array detector after being reflected by the reflecting surface of the unidirectional reflecting glass, and the local oscillation signal is aligned to the radial Doppler effect light spot at the center of the optical field of the echo structure;
the array detector is used for detecting four transverse Doppler effect light spot areas of the echo structure light field and a superposition area of the radial Doppler effect light spots and the local oscillation signal to obtain corresponding total light intensity at each moment; sending the corresponding total light intensity at each moment to a three-dimensional vector speed resolving module;
and the three-dimensional vector velocity calculating module is connected with the array detector and is used for calculating the three-dimensional vector velocity of the moving target according to the corresponding total light intensity at each moment.
The invention discloses a measuring method of a three-dimensional vector velocity measuring system based on a structured light field, and the specific method for carrying out multi-order angular momentum complex modulation on an incident single transverse mode Gaussian mode laser signal by a spatial light modulator to generate a modulation signal is as follows:
step one, superposing-4 order, 0 order and 4 order phase diagrams into a composite phase diagram;
loading the composite phase diagram onto a spatial light modulator;
step three, when the single transverse mode Gaussian mode laser signal is incident to the spatial light modulator, the spatial light modulator modulates the incident single transverse mode Gaussian mode laser signal into a-4-order, 0-order and 4-order multi-order orbital angular momentum superposed light beam.
Further, the superposition area of the radial Doppler effect light spot of the echo structure light field and the local oscillator signal comprises a No. 1 light spot area, and the No. 1 light spot area corresponds to the Z direction of the three-dimensional vector velocity;
the four transverse Doppler effect light spot areas of the echo structure light field comprise a No. 2 light spot area, a No. 3 light spot area, a No. 4 light spot area and a No. 5 light spot area;
the No. 2 light spot area and the No. 4 light spot area are positioned on a transverse straight line passing through the No. 1 light spot area, and the No. 2 light spot area and the No. 4 light spot area respectively correspond to the Y positive direction and the Y negative direction of the three-dimensional vector speed;
no. 3 facula region and No. 5 facula region are located on a vertical straight line through No. 1 facula region, and No. 3 facula region and No. 5 facula region correspond to X positive direction and X negative direction of three-dimensional vector speed respectively.
Further, the specific method for the three-dimensional vector velocity calculating module to calculate the three-dimensional vector velocity of the moving target according to the corresponding total light intensity at each moment is as follows:
step two, performing Fourier transform on the time sequence signal of the total light intensity of the No. 1 light spot area at each moment, and extracting Doppler frequency shift quantity delta fzAnd obtaining a three-dimensional vector velocity component V by the following formulaz：
Δfz＝f0Vz/c
Wherein f is0The frequency of the emitted laser signal, and c is the speed of light;
step two, Fourier transform is carried out on the time sequence signals of the total light intensity of the No. 3 light spot area and the No. 5 light spot area at each moment, and Doppler frequency shift quantity delta f is extractedxAnd obtaining a three-dimensional vector velocity component V by the following formulax：
Δfy＝-sinα·f0Vy/c
Wherein, alpha is approximately equal to lambda l/2 pi r, lambda is the wavelength of the laser signal, l is the orbital angular momentum order of the corresponding light spot area, and r is the radius of the corresponding light spot area;
step two, performing Fourier transform on the time sequence signals of the total light intensity of the No. 2 light spot area and the No. 4 light spot area at each moment, and extracting Doppler frequency shift quantity delta fyAnd obtaining a three-dimensional vector velocity component V by the following formulay；
Δfx＝-sinα·f0Vx/c
Step two and four, three-dimensional vector velocity component Vx、VyAnd VzResolving and synthesizing three-dimensional vector velocity of moving target according to three-dimensional coordinate relation
The invention has the beneficial effects that:
according to the invention, multi-stage orbital angular momentum composite modulation is added on the basis of a laser Doppler velocity measurement technology with high precision and good real-time performance without depending on post-processing algorithms such as multi-equipment multi-point multi-angle measurement synthesis or image processing estimation, a special phase type structure light beam is realized through special superposition design on the basis of a spiral phase structure of the orbital angular momentum light beam, and spatial phase information is effectively increased, so that a transverse Doppler effect can be obtained in addition to the traditional linear Doppler effect, then, a plurality of characteristic points are detected and solved for a structural light field of a echo, and the radial Doppler effect and the transverse Doppler effect are fully utilized, so that the high-precision real-time laser three-dimensional vector velocity measurement is realized.
Drawings
FIG. 1 is a schematic structural diagram of a three-dimensional vector velocity measurement system based on a structured light field according to the present invention;
FIG. 2 is a schematic diagram of the structure of an echo structured light field according to the present invention;
FIG. 3 is a schematic diagram illustrating the principle of multi-point detection of an echo structured light field according to the present invention.
Detailed Description
In a first specific embodiment, the three-dimensional vector velocity measurement system based on the structured light field in this embodiment adopts the following technical scheme: the method is characterized in that a special phase type structural light beam is realized through a special superposition design on the basis of a spiral phase structure of the orbital angular momentum light beam, and space phase information is effectively increased, so that a transverse Doppler effect can be obtained besides the traditional linear Doppler effect, then a plurality of characteristic points are detected and solved for a structural light field of an echo, a transverse velocity component and a radial velocity component of a target are obtained at the same time, and the three-dimensional vector velocity of the target is reconstructed.
The method comprises the steps of designing a special structural light field by utilizing orbital angular momentum multi-order composite modulation, effectively increasing space phase information, enabling the designed structural light field to include both the traditional radial Doppler effect and the transverse Doppler effect, then carrying out detection and calculation on a plurality of characteristic points of the echo structural light field, obtaining the transverse velocity component and the radial velocity component of a target at the same time, and finally reconstructing the three-dimensional vector velocity of the target.
As shown in fig. 1, the system includes: the device comprises a laser 1, a single-mode fiber 2, a fiber beam splitter 3, a spatial light modulator, a 4F system 5, a transmitting optical system 6, a receiving optical system 7, a fiber collimator 8, a unidirectional reflecting glass 9, an array detector 10 and a three-dimensional vector velocity resolving module 11 (which can be configured as a computer).
In a first specific embodiment, a specific working method of the three-dimensional vector velocity measurement system based on the structured light field in this embodiment is as follows:
the laser 1 generates laser signals, and a good single transverse mode Gaussian mode can be obtained through the single-mode fiber 2, so that the modulation efficiency of a designed light field can be guaranteed. Then the laser signal is divided into two parts by the optical fiber beam splitter 3, one part is loaded with the designed structural optical field based on orbital angular momentum complex modulation by the spatial light modulator, and the other part is used as a local oscillation signal and transmitted to the optical fiber collimator 8 in the receiver. Then the modulated signals are selected to be the 1-level modulation signals with the highest signal purity through a 4F system, and then the signals are emitted through an emission optical system 6 to irradiate the moving target to be detected.
The spatial light modulator used in the system uses specially designed spatial phase modulation of (4 th order, 0 th order, 4 th order) multi-order orbital angular momentum superposition, and the obtained special structure light field is shown in figure 2, wherein the center of the special structure light field comprises a light spot corresponding to the traditional radial Doppler effect; the four sides of the device comprise four light spots corresponding to the lateral Doppler effect.
The single-mode fiber 2, the fiber beam splitter 3 and other fiber systems used in the system can obtain a better Gaussian mode from the laser 1, and can effectively improve the modulation efficiency of the designed structured light field.
The 4F system 5 used in the system can effectively select the 1-level modulation signal and obtain the structured light field modulation signal with higher purity. Wherein, the 1-order modulation signal is a 1-order diffraction modulation signal of the spatial light modulator.
The moving object has three-dimensional moving speed
(can be represented by a three-dimensional velocity component Vx，VyAnd VzComplete representation). After reflection by the moving object, a part of the signal returns to the receiving optical system 7 and is collected by the receiving optical system 7. The received structured light field is irradiated on the array detector 10 by the adjustment of the receiving optical system 7. The unidirectional reflection glass 9 has no influence on echo signals, and the unidirectional reflection glass 9 mainly plays a role in loading local oscillation signals adjusted by the optical fiber collimator 8 onto the array detector 10. It should be noted here that the local oscillator signal is only aligned to the central region of the optical field of the echo structure, not to the entire echo optical field. The reason is that due to the characteristics of the orbital angular momentum signal, the radius of the signal energy distribution is larger as the order of the orbital angular momentum is higher, so that the central region of the structured light field is mainly composed of orbital angular momentum components of 0 th order, and other superposed higher-order orbital angular momentum components are distributed in a region deviated from the center.
As shown in fig. 2, the structured light field is divided into 5 main regions according to energy distribution of the structured light field, a central spot region 1 is mainly composed of orbital angular momentum of 0 order, and other spot regions 2 to 5 are mainly composed of high-order orbital angular momentum, and through special structured light field design, the spot regions 2 to 5 are uniformly distributed and respectively correspond to a positive Y direction, a positive X direction, a negative Y direction and a negative X direction, so that the three-dimensional vector velocity can be conveniently resolved. Then, the signals detected by the array detector 10 are classified into 5 regions:
the detection of the echo structure light field adopts multi-feature point detection, wherein local oscillation signals separated by the optical fiber beam splitter are regulated and controlled by the collimator 8, only aim at the center of the echo structure light field, only are mixed with a central light spot, and other four light spots are independently detected.
The central spot area 1 is mainly composed of 0 order orbital angular momentum, the echo of the spot area 1 is mixed with local oscillation signals, Fourier transform is carried out after detection, Doppler frequency shift quantity is extracted, and the frequency shift quantity corresponds to the traditional linear Doppler frequency shift delta fz＝f0VzC, the radial velocity, i.e. the three-dimensional velocity component V, can be solvedz；
The No. 2 light spot area and the No. 4 light spot area are also respectively detected and then classified, and Doppler frequency shift quantity delta f is extracted after Fourier transformationy＝-sinα·f0VyC, the three-dimensional velocity component V can be solvedy(ii) a (where α ≈ λ l/2 π r, is a parameter related to wavelength λ, orbital angular momentum order l, spot radius r);
respectively detecting the No. 3 light spot area and the No. 5 light spot area, then classifying, performing Fourier transform, and extracting Doppler frequency shift quantity delta fx＝-sinα·f0VxC, the three-dimensional velocity component V can be solvedx。
Wherein the spot area No. 2 and the spot area No. 4 are on the x-axis, but the three-dimensional velocity component V in the y-direction is measuredySimilarly, spot area No. 3 and spot area No. 5 are on the y-axis, but the x-direction velocity component V is measuredx。
The Fourier transformation is carried out on a time sequence signal, signals of a light spot area (3 or 5) and the same light spot area are superposed together, the total light intensity at each moment corresponding to the light spot area is measured, the light intensity can be transformed along with the time, and then the Doppler frequency shift quantity is extracted after the time sequence signal with the changed intensity is subjected to Fourier transformation.
The multi-point detection calculation process is shown in FIG. 2, and the radial velocity component V is calculated according to the linear Doppler effect of the region 1z(ii) a From the regions 3 and 5, the velocity component V is solvedx(ii) a From the regions 2 and 4, the velocity component V is solvedy. Finally according to the obtained Vx，VyAnd VzAnd reconstructing the three-dimensional true vector velocity.
And finally, resolving and synthesizing the three-dimensional vector speed to be detected according to the three-dimensional coordinate relation.
Claims (4)
1. The three-dimensional vector velocity measuring system based on the structural light field is characterized by comprising a laser (1), a single-mode fiber (2), a fiber beam splitter (3), a spatial light modulator (4), a 4F system (5), a transmitting optical system (6), a receiving optical system (7), a fiber collimator (8), a one-way reflecting glass (9), an array detector (10) and a three-dimensional vector velocity calculating module (11);
the laser device (1) emits an emergent laser signal to a single-mode fiber (2), the single-mode fiber (2) selects a single transverse mode Gaussian mode laser signal in the emergent laser signal to be incident to a fiber beam splitter (3), the fiber beam splitter (3) divides the incident single transverse mode Gaussian mode laser signal into two paths, and one path of single transverse mode Gaussian mode laser signal is incident to the spatial light modulator (4); the other path of single transverse mode Gaussian mode laser signal is used as a local oscillation signal to be incident to the optical fiber collimator (8);
the spatial light modulator (4) performs multi-order angular momentum complex modulation on the incident single transverse mode Gaussian mode laser signal to generate a modulation signal, and the modulation signal is incident to a 4F system (5);
the modulation signal is a light beam formed by superposition of-4, 0 and 4 orders of multi-order orbital angular momentum; the modulation structure light field is of a cross structure and comprises a radial Doppler effect light spot positioned in the center and four transverse Doppler effect light spots positioned around the radial Doppler effect light spot; the modulated structured light field is a structured light field of a modulated signal;
the 4F system (5) screens out 1-level modulation signals from the incident modulation signals to be transmitted to the transmitting optical system (6);
the emitting optical system (6) irradiates the 1-level modulation signal to a moving target to be detected, and the moving target to be detected reflects the 1-level modulation signal to generate an echo signal to be incident to a receiving optical system (7); the structure of the echo structure light field is the same as that of the modulation structure light field; the echo structured light field is a structured light field of an echo signal;
the receiving optical system (7) adjusts the echo signal and then enables the echo signal to pass through the back surface of the one-way reflecting glass (9) to be loaded to the array detector (10);
the optical fiber collimator (8) adjusts the incident local oscillation signal and transmits the adjusted local oscillation signal to the reflecting surface of the unidirectional reflecting glass (9); the local oscillation signal is reflected by a reflecting surface of the unidirectional reflecting glass (9) and then loaded to the array detector (10), and the local oscillation signal is aligned to a radial Doppler effect light spot at the center of the optical field of the echo structure;
the array detector (10) is used for detecting four transverse Doppler effect light spot areas of an echo structure light field and a superposition area of a radial Doppler effect light spot and a local oscillation signal to obtain corresponding total light intensity at each moment; and sending the corresponding total light intensity at each moment to a three-dimensional vector velocity calculating module (11);
and the three-dimensional vector velocity calculating module (11) is connected with the array detector (10) and is used for calculating the three-dimensional vector velocity of the moving target according to the corresponding total light intensity at each moment.
2. The measurement method of the structural light field-based three-dimensional vector velocity measurement system according to claim 1, wherein the spatial light modulator (4) performs multi-order angular momentum complex modulation on the incident single transverse mode gaussian mode laser signal to generate the modulation signal according to the following specific method:
step one, superposing-4 order, 0 order and 4 order phase diagrams into a composite phase diagram;
step two, loading the composite phase diagram on a spatial light modulator (4);
step three, when the single transverse mode Gaussian mode laser signal is incident to the spatial light modulator (4), the spatial light modulator (4) modulates the incident single transverse mode Gaussian mode laser signal into a-4-order, 0-order and 4-order multi-order light beam with superposed orbital angular momentum.
3. The measurement method according to claim 2,
the superposition area of the radial Doppler effect light spot of the echo structure light field and the local oscillator signal comprises a No. 1 light spot area, and the No. 1 light spot area corresponds to the Z direction of the three-dimensional vector velocity;
the four transverse Doppler effect light spot areas of the echo structure light field comprise a No. 2 light spot area, a No. 3 light spot area, a No. 4 light spot area and a No. 5 light spot area;
the No. 2 light spot area and the No. 4 light spot area are positioned on a transverse straight line passing through the No. 1 light spot area, and the No. 2 light spot area and the No. 4 light spot area respectively correspond to the Y positive direction and the Y negative direction of the three-dimensional vector speed;
no. 3 facula region and No. 5 facula region are located on a vertical straight line through No. 1 facula region, and No. 3 facula region and No. 5 facula region correspond to X positive direction and X negative direction of three-dimensional vector speed respectively.
4. The measurement method according to claim 3, wherein the three-dimensional vector velocity calculation module (11) calculates the three-dimensional vector velocity of the moving object according to the total light intensity at each corresponding time as follows:
step two, performing Fourier transform on the time sequence signal of the total light intensity of the No. 1 light spot area at each moment, and extracting Doppler frequency shift quantity delta fzAnd obtaining a three-dimensional vector velocity component V by the following formulaz：
Δfz＝f0Vz/c
Wherein f is0The frequency of the emitted laser signal, and c is the speed of light;
step two, Fourier transform is carried out on the time sequence signals of the total light intensity of the No. 3 light spot area and the No. 5 light spot area at each moment, and Doppler frequency shift quantity delta f is extractedxAnd obtaining a three-dimensional vector velocity component V by the following formulax：
Δfy＝-sinα·f0Vy/c
Wherein, alpha is approximately equal to lambda l/2 pi r, lambda is the wavelength of the laser signal, l is the orbital angular momentum order of the corresponding light spot area, and r is the radius of the corresponding light spot area;
step two, performing Fourier transform on the time sequence signals of the total light intensity of the No. 2 light spot area and the No. 4 light spot area at each moment, and extracting Doppler frequency shift quantity delta fyAnd obtaining a three-dimensional vector velocity component V by the following formulay；
Δfx＝-sinα·f0Vx/c
Step two and four, three-dimensional vector velocity component Vx、VyAnd VzResolving and synthesizing three-dimensional vector velocity of moving target according to three-dimensional coordinate relation
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| CN115963289A (en) * | 2023-03-01 | 2023-04-14 | 哈尔滨工业大学 | Transverse velocity measuring method and system based on dual-mode vortex light beam |
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Cited By (2)
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