CN112649812A - Single-pulse multi-channel data processing method and device for non-matched filtering - Google Patents

Single-pulse multi-channel data processing method and device for non-matched filtering Download PDF

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CN112649812A
CN112649812A CN202011326615.5A CN202011326615A CN112649812A CN 112649812 A CN112649812 A CN 112649812A CN 202011326615 A CN202011326615 A CN 202011326615A CN 112649812 A CN112649812 A CN 112649812A
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channel
target
speed
signal
frequency
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CN112649812B (en
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吴姿妍
刘波
颜子恒
眭晓林
赵晓龙
张浩然
周寿桓
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CETC 11 Research Institute
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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
    • G01S17/50—Systems of measurement based on relative movement of target
    • G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • 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
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The invention discloses a single-pulse multi-channel data processing method and device of non-matched filtering and a laser ranging and speed measuring system adopting the device. In the measurable range of the system, even if the frequency range of the echo is not within (or exceeds) the transmitting frequency range, the invention can realize speed measurement by utilizing the multi-channel processing technology, can enlarge the measurable speed range, quickens the speed of acquiring information and effectively reduces the bandwidth requirement on the detector.

Description

Single-pulse multi-channel data processing method and device for non-matched filtering
Technical Field
The invention belongs to the technical field of radar signal transmitting and receiving data processing, and particularly relates to a single-pulse multi-channel data processing technology based on V-shaped frequency modulation non-matched filtering.
Background
The traditional target speed measurement mainly comprises the steps of transmitting a single-frequency pulse signal, reflecting the signal after the signal contacts a target, returning the signal to a transmitting end after the time corresponding to the target distance, carrying out difference frequency on the signal and local oscillator light to obtain Doppler information of the target, and then obtaining the distance and speed information of the target through calculation. However, since high range resolution requires short pulse widths, increasing the emission energy requires long pulse widths. Therefore, in the field of radar, the frequency modulation pulse signal is transmitted, the time bandwidth product (TB product) is improved, and the problems of distance resolution and transmission energy coupling are solved.
In the process of measuring speed and distance by using frequency modulation monopulse, a matched filtering method is adopted, and according to a fuzzy function graph, the distance measurement error caused by target Doppler can be found when a target is measured, so that the function of measuring speed and distance can not be accurately completed. The pulse signal of V-shaped frequency modulation is utilized to carry out matched filtering, the output result can not cause the distance measurement error due to target Doppler, and simultaneously the radial velocity of the target can be obtained, but the radial velocity direction can not be obtained.
When the V-type frequency modulation is used for measuring speed, the measured speed range is restricted by the waveform modulation bandwidth. The bandwidth of the waveform after the difference frequency between the echo and the local oscillator signal must be within the designed modulation bandwidth range, so that the measurable speed range is reduced.
Disclosure of Invention
The embodiment of the invention provides a single-pulse multi-channel data processing method and device for non-matched filtering, and aims to solve the problems of small speed measurement range and low speed measurement efficiency in the conventional V-shaped frequency modulation speed measurement technology.
In a first aspect, an embodiment of the present invention provides a single-pulse multi-channel data processing method for non-matched filtering, including the following steps:
s1: receiving target return light;
s2: dividing the target return light into N groups, wherein N is Fd/B, B is 1/2 of V-type frequency modulation bandwidth (-B to + B), and Fd is 1/2 of measurable Doppler change range (-Fd to + Fd) of the system;
s3: n groups of optical signals respectively enter one channel of a multi-channel processing module, a frequency shifter in each channel performs frequency shift processing on the optical signals, and the frequency shift frequency of the mth channel is
Figure BDA0002794502390000021
Wherein m is 1, 2, …, N;
s4: combining the optical signals subjected to frequency shift of each channel with a local oscillator respectively to perform heterodyne detection processing;
s5: the detector in each channel detects the optical signal after combination to obtain the electric signal of the channel;
s6: carrying out non-matching filtering processing on the electric signals of each channel;
s7: sequencing and judging the convolution results, and extracting the time delta t when two peak values appear1' and Δ t2', and judging the channel number of the effective electric signal;
s8: two peak times Δ t obtained using convolution results1' and Δ t2', according to
Figure BDA0002794502390000022
Calculating the distance of the target according to
Figure BDA0002794502390000023
Calculating to obtain the speed information of the target, wherein c is the speed of light, lambda is the wavelength, and k is the absolute value of the V-type frequency modulation slopeFor values, T is the half-cycle width;
s9: and inverting the real speed of the target. And solving the real radial motion speed v and direction of the target according to the channel number of the obtained effective electric signal.
Alternatively, in the above step S1, the target return light may be subjected to an amplification process as necessary to solve the problem that the target return light is weak.
Optionally, in the non-matched filtering process in step S6, a triangular frequency modulation template symmetric to the V-shaped frequency modulation is used to perform convolution processing on the electrical signals of each channel.
Optionally, in the sorting judgment in the step S7, a constant false alarm detection method is used to judge whether the electrical signal of each channel is an effective signal, and for the channel of the effective signal, the time Δ t when two peaks appear is extracted1′、Δt2' and channel number.
Alternatively, in step S9, it is first determined whether the valid electrical signal is from the second
Figure BDA0002794502390000031
And obtaining the channels, and then carrying out corresponding solution according to the judgment result. If the valid electrical signal is from
Figure BDA0002794502390000032
Obtaining the actual radial motion speed v ═ v' of the target by each channel, and judging the direction of the radial speed of the target according to the positive and negative values of v, namely when v is positive or negative>When 0, the target Doppler is determined to be the forward direction, and when v<When 0, the target Doppler is determined to be reverse; if the valid electrical signal is not from the second
Figure BDA0002794502390000033
If each channel is obtained, the speed information v' subtracts the speed shift v corresponding to the channelrAnd obtaining the real radial motion speed v of the target, and judging the direction of the radial speed of the target according to the channel number. Optionally, the set valid electrical signal is from the r-th
Figure BDA0002794502390000034
Figure BDA0002794502390000035
The channel is obtained, and the real radial motion speed of the target is v ═ v' -vrWherein
Figure BDA0002794502390000036
Figure BDA0002794502390000037
When an effective electric signal is received from
Figure BDA0002794502390000038
When the channel of (2) is outputted, the target Doppler is determined to be positive, and when the effective electric signal is outputted
Figure BDA0002794502390000039
When the target doppler is output, the target doppler is determined to be the reverse direction.
In a second aspect, an embodiment of the present invention provides a single-pulse multi-channel data processing apparatus with non-matched filtering, including:
a first beam splitter for splitting the received target return light into N groups, where N is Fd/B, B is 1/2 of V-type frequency modulation bandwidth (-B to + B), and Fd is 1/2 of system measurable doppler change range (-Fd to + Fd);
the multi-channel processing module comprises N channels, and each channel comprises a frequency shifter, a beam combiner, a detector, a digital filter and a sequencing judgment unit which are sequentially connected. The frequency shifter is used for performing frequency shift processing on the target return light from the first beam splitter in the channel, and the frequency shift frequency of the mth channel is
Figure BDA00027945023900000310
Figure BDA00027945023900000311
Wherein m is 1, 2, …, N; the beam combiner is used for combining the target return light subjected to frequency shift in the channel with the local oscillator to perform heterodyne detectionProcessing; the detector is used for detecting the optical signal after being combined in the channel to obtain an electric signal of the channel; the digital filter is used for carrying out non-matched filtering processing on the electric signal of the channel; the sorting judgment unit is used for sorting and judging the convolution result and extracting the time delta t when two peak values appear1' and Δ t2', and judging the channel number of the effective electric signal;
a calculation unit for using the two peak time Δ t provided by the sorting determination unit1′、Δt2'and channel number information of the effective electric signal, calculating the distance L and the speed information v' of the target, and inverting the real speed of the target.
Optionally, the single-pulse multichannel data processing apparatus of this embodiment further includes an optical amplifier for performing amplification processing on the received target return light to solve the problem that the target return light is weak.
Optionally, the digital filter performs convolution processing on the electrical signals of each channel by using a triangular frequency modulation template symmetrical to the V-type frequency modulation.
Optionally, the sorting determining unit determines whether the electrical signal of each channel is an effective signal by using a constant false alarm detection method, and extracts a time Δ t at which two peak values appear for the channel of the effective signal1′、Δt2' and channel number.
Optionally, the calculating unit utilizes two peak time Δ t provided by the sorting determining unit1' and Δ t2', according to
Figure BDA0002794502390000041
Calculating the distance of the target according to
Figure BDA0002794502390000042
And calculating to obtain the speed information of the target, wherein c is the light speed, lambda is the wavelength, k is the absolute value of the V-shaped frequency modulation slope, and T is the half-period width.
Optionally, when the computing unit inverts the real speed of the target, it is first determined whether the effective electrical signal is validFrom the first
Figure BDA0002794502390000043
And obtaining the channels, and then carrying out corresponding solution according to the judgment result. If the valid electrical signal is from
Figure BDA0002794502390000044
Obtaining the actual radial motion speed v ═ v' of the target by each channel, and judging the direction of the radial speed of the target according to the positive and negative values of v, namely when v is positive or negative>When 0, the target Doppler is determined to be the forward direction, and when v<When 0, the target Doppler is determined to be reverse; if the valid electrical signal is not from the second
Figure BDA0002794502390000045
If each channel is obtained, the speed information v' subtracts the speed shift v corresponding to the channelrAnd obtaining the real radial motion speed v of the target, and judging the direction of the radial speed of the target according to the channel number. Optionally, the set valid electrical signal is from the r-th
Figure BDA0002794502390000046
The channel is obtained, and the real radial motion speed of the target is v ═ v' -vrWherein
Figure BDA0002794502390000051
When an effective electric signal is received from
Figure BDA0002794502390000052
Figure BDA0002794502390000053
When the channel of (2) is outputted, the target Doppler is determined to be positive, and when the effective electric signal is outputted
Figure BDA0002794502390000054
When the target doppler is output, the target doppler is determined to be the reverse direction.
In a third aspect, an embodiment of the present invention provides a laser distance and speed measurement system using a single-pulse multi-channel data processing apparatus, including:
a laser source for providing a laser source for the system;
the second beam splitter is used for splitting laser emitted by the laser source into signal light and N beams of local oscillator light, and the N beams of local oscillator light are respectively used for combining with targets in N channels in the multi-channel processing module to form beams;
the chopping frequency modulator is used for carrying out V-shaped frequency modulation processing on the signal light provided by the second beam splitter;
the waveform transmitter is used for transmitting V-shaped frequency modulation pulse laser to irradiate a measured target;
a waveform receiver for receiving the target return light;
the structure of the single-pulse multichannel data processing device is described in the second aspect with respect to the single-pulse multichannel data processing device, and the structure is not described again here.
The embodiment of the invention provides a single-pulse multi-channel data processing method and device for non-matched filtering and a laser ranging and speed measuring system adopting the device. The embodiment of the invention can realize speed measurement by using a multi-channel processing technology in a measurable range of a system even if the frequency range of the echo is not within (or exceeds) the transmitting frequency range, thereby enlarging the measurable speed range, accelerating the speed of acquiring information and effectively reducing the bandwidth requirement on a detector.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. In the drawings:
FIG. 1 is a flow chart of a single-pulse multi-channel data processing method according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a transmit waveform according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating an echo convolution template according to an embodiment of the present invention;
FIG. 4 is a diagram of filter time-frequency analysis according to an embodiment of the present invention;
FIG. 5 is a diagram illustrating the processing results of filter simulation data according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a single-pulse multi-channel data processing apparatus according to a second embodiment of the present invention.
Fig. 7 is a schematic diagram of a laser ranging and speed measuring system using a single-pulse multi-channel data processing device according to a third embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
A first embodiment of the present invention provides a method for processing single-pulse multi-channel data with non-matched filtering, as shown in fig. 1, including the following steps:
s1: target return light is received. Because the Doppler frequency carried by the target return light signal exceeds the receiving bandwidth of the detector, the echo frequency cannot be measured, and therefore the method adopts a multi-channel data processing method for processing. In other embodiments, the target return light may be amplified as needed to solve the problem of weak target return light;
s2: dividing the target return light into N groups, wherein N is Fd/B, B is 1/2 of V-type frequency modulation bandwidth (-B to + B), and Fd is 1/2 of measurable Doppler change range (-Fd to + Fd) of the system;
s3: n groups of optical signals respectively enter one channel of the multi-channel processing module, and the frequency shifter in each channel performs frequency shifting processing on the optical signals. In this embodiment, the frequency shift frequency of channel 1 is
Figure BDA0002794502390000071
The frequency shift of channel 2 is
Figure BDA0002794502390000072
The frequency shift of the channel 3 is
Figure BDA0002794502390000073
By analogy, the frequency shift frequency of the channel m is
Figure BDA0002794502390000074
Wherein m is 1, 2, …, N. Setting the Doppler frequency of the target as unknown fd, then returning the target to the V-type frequency modulation with the optical frequency of (B + fd- — B + fd), after passing through each channel, each channel carries the difference frequency of
Figure BDA0002794502390000075
Figure BDA0002794502390000076
The optical signal of (a);
s4: combining the optical signals subjected to frequency shift of each channel with a local oscillator respectively to perform heterodyne detection processing;
s5: and the detectors in the channels detect the combined optical signals to obtain the electrical signals of the channel. Because the types of the photoelectric detectors of all the channels are consistent, the detection bandwidths are the same, and when the waveform carried frequency of a certain channel completely passes through the detector, only partial frequency of the adjacent channel can pass through or no echo can pass through. Therefore, after the signal waveform of only one channel is subjected to the detector and the filtering, an effective electric signal can be obtained.
S6: and carrying out non-matched filtering processing on the electric signals of each channel. In this embodiment, the digital filter performs convolution processing on the electrical signals of each channel by using a triangular frequency modulation template symmetrical to the V-type frequency modulation, a schematic diagram of a transmission waveform of the V-type frequency modulation is shown in fig. 2, and a schematic diagram of the triangular frequency modulation template is shown in fig. 3;
the transmitted frequency modulation pulse waveform is based on a V type, and the expression of a transmitted time domain is as follows:
Figure BDA0002794502390000077
the echo time domain expression is as follows:
Figure BDA0002794502390000081
the time-frequency analysis diagram of the digital filter is shown in fig. 4, and the time domain expression is as follows:
Figure BDA0002794502390000082
the output of the echo signal and the digital filter is:
Figure BDA0002794502390000083
the output result is mainly concentrated on the following two items without considering the influence of cross items
Figure BDA0002794502390000084
Figure BDA0002794502390000085
From the above analysis, it can be seen that the peak values of the filtering output results are respectively at fd-kΔt1' -kT-0 and fd+kΔt2' -kT ═ 0, i.e.:
Figure BDA0002794502390000086
Figure BDA0002794502390000087
Δt2' and Δ t1The' is a value with the same absolute value and opposite sign, which represents the distance measurement error caused by target Doppler, and the sum of the two values is 0, so that the error can be eliminated and the accurate target distance can be obtained. The filter simulation data processing results are shown in fig. 5;
s7: sequencing and judging the convolution results, and extracting the time delta t when two peak values appear1' and Δ t2', and determines the channel number where a valid electrical signal is present. In this embodiment, the convolution processing peak values of each channel are sorted from large to small, when the current two peak values exceed Q times of the average number of the convolution processing amplitude values at the back, the electrical signal of the channel is judged to be an effective signal, and the time delta t when the two peak values appear is extracted1' and Δ t2', the Q value is set by the user according to the actual situation. Of course, other constant false alarm detection methods can be adopted to determine whether the electrical signals of each channel are valid signals;
s8: two peak times Δ t obtained using convolution results1' and Δ t2', according to
Figure BDA0002794502390000091
Calculating the distance of the target according to
Figure BDA0002794502390000092
Calculating to obtain the speed information of the target, wherein c is the speed of light, lambda is the wavelength, and k is the absolute value of V-type frequency modulation slope, that is
Figure BDA0002794502390000093
T is the half-period width;
s9: and inverting the real speed of the target. Because each channel is subjected to frequency shifting processing, the radial velocity obtained after filtering needs to be recalculated. And solving the real radial motion speed v and direction of the target according to the channel number of the obtained effective electric signal. In this embodiment, first, it is determined whether the valid electrical signal is from the second
Figure BDA0002794502390000094
And obtaining the channels, and then carrying out corresponding solution according to the judgment result. If the valid electrical signal is from
Figure BDA0002794502390000095
Obtaining the actual radial motion speed v ═ v' of the target by each channel, and judging the direction of the radial speed of the target according to the positive and negative values of v, namely when v is positive or negative>When 0, the target Doppler is determined to be the forward direction, and when v<When 0, the target Doppler is determined to be reverse; if the valid electrical signal is not from the second
Figure BDA0002794502390000096
If each channel is obtained, the speed information v' subtracts the speed shift v corresponding to the channelrAnd obtaining the real radial motion speed v of the target, and judging the direction of the radial speed of the target according to the channel number. Provided that the effective electric signal is from the r-th
Figure BDA0002794502390000097
The channel is obtained, and the real radial motion speed of the target is v ═ v' -vrWherein
Figure BDA0002794502390000098
When an effective electric signal is received from
Figure BDA0002794502390000099
Figure BDA00027945023900000910
When the channel of (2) is outputted, the target Doppler is determined to be positive, and when the effective electric signal is outputted
Figure BDA00027945023900000911
Figure BDA00027945023900000912
When the target doppler is output, the target doppler is determined to be the reverse direction.
A second embodiment of the present invention provides a non-matched filtering monopulse multichannel data processing apparatus, as shown in fig. 6, which specifically includes a first beam splitter, a multichannel processing module, and a computing unit. The first beam splitter is used for dividing the received target return light into N groups, wherein N is Fd/B, B is 1/2 of the V-type frequency modulation bandwidth (-B to + B), and Fd is 1/2 of the measurable Doppler change range (-Fd to + Fd) of the system.
The multichannel processing module comprises N channels, and each channel comprises a frequency shifter, a beam combiner, a detector, a digital filter and a sequencing judgment unit which are sequentially connected. The frequency shifter is used for performing frequency shift processing on the target return light from the first beam splitter in the channel, and in the embodiment, the frequency shift frequency of the channel 1 is
Figure BDA0002794502390000101
The frequency shift of channel 2 is
Figure BDA0002794502390000102
The frequency shift of the channel 3 is
Figure BDA0002794502390000103
Figure BDA0002794502390000104
By analogy, the frequency shift frequency of the channel m is
Figure BDA0002794502390000105
Wherein m is 1, 2, …, N. Setting the Doppler frequency of the target as unknown fd, then returning the target to the V-type frequency modulation with the optical frequency of (B + fd- — B + fd), after passing through each channel, each channel carries the difference frequency of
Figure BDA0002794502390000106
Figure BDA0002794502390000107
The optical signal of (a); the beam combiner is used for combining the target return light subjected to frequency shift in the channel with a local oscillator to perform heterodyne detection processing; the detector is used for detecting the optical signal after the beam combination in the channel and acquiring the electric signal of the channel. Because the types of the photoelectric detectors of all the channels are consistent, the detection bandwidths are the same, and when the waveform carried frequency of a certain channel completely passes through the detector, only partial frequency of the adjacent channel can pass through or no echo can pass through. Therefore, after the signal waveform of only one channel is subjected to detector and filtering, an effective electric signal can be obtained; the digital filter is used for carrying out non-matched filtering processing on the electric signals of the channel. In this embodiment, the digital filter performs convolution processing on the electrical signals of each channel by using a triangular frequency modulation template symmetrical to the V-type frequency modulation, a schematic diagram of a transmission waveform of the V-type frequency modulation is shown in fig. 2, a schematic diagram of the triangular frequency modulation template is shown in fig. 3, and a time-frequency analysis diagram of the digital filter is shown in fig. 4. After calculation, the peak values of the filtering output results are respectively at fd-kΔt1' -kT-0 and fd+kΔt2' -kT-0, i.e.
Figure BDA0002794502390000108
Figure BDA0002794502390000109
As can be seen, Δ t2' and Δ t1' are the same absolute value, opposite sign values, representing the Doppler cause of the targetThe sum of the distance measurement error and the distance measurement error is 0, so that the error can be eliminated, and the accurate target distance can be obtained; the filter simulation data processing results are shown in fig. 5. The sorting judgment unit is used for sorting and judging the convolution result and extracting the time delta t when two peak values appear1' and Δ t2', and determines the channel number where a valid electrical signal is present. In this embodiment, the convolution processing peak values of each channel are sorted from large to small, when the current two peak values exceed Q times of the average number of the convolution processing amplitude values at the back, the electrical signal of the channel is judged to be an effective signal, and the time delta t when the two peak values appear is extracted1' and Δ t2', the Q value is set by the user according to the actual situation. Of course, other constant false alarm detection methods may also be used to determine whether the electrical signal of each channel is a valid signal.
The calculation unit is used for utilizing the two peak time deltat provided by the sequencing judgment unit1′、Δt2'and channel number information of the effective electric signal, calculating the distance L and the speed information v' of the target, and inverting the real speed of the target. In this embodiment, the calculating unit utilizes the two peak time Δ t provided by the sorting and determining unit1' and Δ t2', according to
Figure BDA0002794502390000111
Calculating the distance of the target according to
Figure BDA0002794502390000112
Figure BDA0002794502390000113
And calculating to obtain the speed information of the target, wherein c is the light speed, lambda is the wavelength, k is the absolute value of the V-shaped frequency modulation slope, and T is the half-period width. Because each channel is subjected to frequency shifting processing, the radial velocity obtained after filtering needs to be recalculated. When the calculating unit inverts the real speed of the target, firstly, whether the effective electric signal is from the second place or not is judged
Figure BDA0002794502390000114
And obtaining the channels, and then carrying out corresponding solution according to the judgment result. If the valid electrical signal is from
Figure BDA0002794502390000115
Obtaining the actual radial motion speed v ═ v' of the target by each channel, and judging the direction of the radial speed of the target according to the positive and negative values of v, namely when v is positive or negative>When 0, the target Doppler is determined to be the forward direction, and when v<When 0, the target Doppler is determined to be reverse; if the valid electrical signal is not from the second
Figure BDA0002794502390000116
If each channel is obtained, the speed information v' subtracts the speed shift v corresponding to the channelrAnd obtaining the real radial motion speed v of the target, and judging the direction of the radial speed of the target according to the channel number. Optionally, the set valid electrical signal is from the r-th
Figure BDA0002794502390000117
The channel is obtained, and the real radial motion speed of the target is v ═ v' -vrWherein
Figure BDA0002794502390000118
When an effective electric signal is received from
Figure BDA0002794502390000119
When the channel of (2) is outputted, the target Doppler is determined to be positive, and when the effective electric signal is outputted
Figure BDA00027945023900001110
When the target doppler is output, the target doppler is determined to be the reverse direction.
A third embodiment of the present invention provides a laser distance and speed measuring system using the single-pulse multi-channel data processing apparatus of the present invention, as shown in fig. 7, specifically including:
a laser source for providing a laser source for the system;
and the second beam splitter is used for splitting laser emitted by the laser source into signal light and N beams of local oscillator light, wherein N is Fd/B, B is 1/2 of a V-type frequency modulation bandwidth (-B to + B), and Fd is 1/2 of a measurable Doppler change range (-Fd to + Fd) of the system. The N beams of local oscillator light are respectively used for combining with the targets in the N channels in the multi-channel processing module;
the chopping frequency modulator is used for carrying out V-shaped frequency modulation processing on the signal light provided by the second beam splitter;
the waveform transmitter is used for transmitting V-shaped frequency modulation pulse laser to irradiate a measured target, and a schematic diagram of a transmitting waveform is shown in figure 2;
a waveform receiver for receiving the target return light;
the structure of the single-pulse multichannel data processing device is described in the second embodiment with reference to the single-pulse multichannel data processing device, and the structure is not described again here.
The embodiment of the invention provides a single-pulse multi-channel data processing method and device for non-matched filtering and a laser ranging and speed measuring system adopting the device. The embodiment of the invention can realize speed measurement by using a multi-channel processing technology in a measurable range of a system even if the frequency range of the echo is not within (or exceeds) the transmitting frequency range, thereby enlarging the measurable speed range, accelerating the speed of acquiring information and effectively reducing the bandwidth requirement on a detector.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. A single-pulse multi-channel data processing method of non-matched filtering is characterized by comprising the following steps:
s1: receiving target return light;
s2: dividing the target return light into N groups, wherein N is Fd/B, B is 1/2 of V-type frequency modulation bandwidth (-B to + B), and Fd is 1/2 of measurable Doppler change range (-Fd to + Fd) of the system;
s3: n groups of optical signals respectively enter one channel of a multi-channel processing module, a frequency shifter in each channel performs frequency shift processing on the optical signals, and the frequency shift frequency of the mth channel is
Figure FDA0002794502380000011
Wherein m is 1, 2, …, N;
s4: combining the optical signals subjected to frequency shift of each channel with a local oscillator respectively to perform heterodyne detection processing;
s5: the detector in each channel detects the optical signal after combination to obtain the electric signal of the channel;
s6: carrying out non-matching filtering processing on the electric signals of each channel;
s7: sequencing and judging the convolution results, and extracting the time delta t when two peak values appear1' and Δ t2', and judging the channel number of the effective electric signal;
s8: two peak times Δ t obtained using convolution results1' and Δ t2', according to
Figure FDA0002794502380000012
Calculating the distance of the target according to
Figure FDA0002794502380000013
Calculating to obtain speed information of the target, wherein c is the light speed, lambda is the wavelength, k is the absolute value of a V-shaped frequency modulation slope, and T is the half-period width;
s9: and inverting the real speed of the target, and solving the real radial motion speed v and direction of the target according to the channel number of the obtained effective electric signal.
2. The single-pulse multi-channel data processing method according to claim 1, wherein in step S1, the target return light is subjected to amplification processing as necessary;
in the non-matching filtering processing in step S6, a triangular frequency modulation template symmetrical to the V-type frequency modulation is used to perform convolution processing on the electrical signals of each channel.
3. The single-pulse multi-channel data processing method as claimed in claim 2, wherein the sorting determination in step S7 is performed by determining whether the electrical signal of each channel is a valid signal by using a constant false alarm detection method, and extracting the time Δ t at which two peaks appear for the channels of the valid signal1′、Δt2' and channel number.
4. As claimed in claims 1 to3, the method of processing monopulse multichannel data is characterized in that the step S9 first judges whether the valid electrical signal is from the second
Figure FDA0002794502380000021
Obtaining each channel, and then carrying out corresponding solution according to a judgment result;
if the valid electrical signal is from
Figure FDA0002794502380000022
Obtaining the actual radial motion speed v ═ v' of the target by each channel, and judging the direction of the radial speed of the target according to the positive and negative values of v, namely when v is positive or negative>When 0, the target Doppler is determined to be the forward direction, and when v<When 0, the target Doppler is determined to be reverse; if the valid electrical signal is not from the second
Figure FDA0002794502380000023
If each channel is obtained, the speed information v' subtracts the speed shift v corresponding to the channelrAnd obtaining the real radial motion speed v of the target, and judging the direction of the radial speed of the target according to the channel number.
5. The single-pulse multi-channel data processing method of claim 4, wherein the set-up effect signal is selected from the group consisting of
Figure FDA0002794502380000024
The channel is obtained, and the real radial motion speed of the target is v ═ v' -vrWherein
Figure FDA0002794502380000025
When an effective electric signal is received from
Figure FDA0002794502380000026
When the channel of (2) is output, the target Doppler is determined to be the forward direction; when an effective electric signal is received from
Figure FDA0002794502380000027
When the target doppler is output, the target doppler is determined to be the reverse direction.
6. A single-pulse multi-channel data processing apparatus with unmatched filtering, comprising:
a first beam splitter for splitting the received target return light into N groups, where N is Fd/B, B is 1/2 of V-type frequency modulation bandwidth (-B to + B), and Fd is 1/2 of system measurable doppler change range (-Fd to + Fd);
the multi-channel processing module comprises N channels, and each channel comprises a frequency shifter, a beam combiner, a detector, a digital filter and a sequencing judgment unit which are sequentially connected; the frequency shifter is used for performing frequency shift processing on the target return light from the first beam splitter in the channel, and the frequency shift frequency of the mth channel is
Figure FDA0002794502380000031
Figure FDA0002794502380000032
Wherein m is 1, 2, …, N; the beam combiner is used for combining the target return light subjected to frequency shift in the channel with a local oscillator to perform heterodyne detection processing; the detector is used for detecting the optical signal after being combined in the channel to obtain an electric signal of the channel; the digital filter is used for carrying out non-matched filtering processing on the electric signal of the channel; the sorting judgment unit is used for sorting and judging the convolution result and extracting the time delta t when two peak values appear1' and Δ t2', and judging the channel number of the effective electric signal;
a calculation unit for using the two peak time Δ t provided by the sorting determination unit1′、Δt2'and channel number information of the effective electric signal, calculating the distance L and the speed information v' of the target, and inverting the real speed of the target.
7. The single-pulse multi-channel data processing apparatus according to claim 6, further comprising an optical amplifier for amplifying the received target return light;
the digital filter adopts a triangular frequency modulation template symmetrical to V-shaped frequency modulation to carry out convolution processing on the electric signals of each channel;
the sequencing judging unit adopts a constant false alarm detection method to judge whether the electric signals of each channel are effective signals, and extracts the time delta t when two peak values appear for the channels of the effective signals1′、Δt2' and channel number.
8. The monopulse multichannel data processing device as claimed in claim 6 or 7, characterized in that said calculation unit uses the two peak time instants Δ t provided by the sorting decision unit1' and Δ t2', according to
Figure FDA0002794502380000033
Figure FDA0002794502380000034
Calculating the distance of the target according to
Figure FDA0002794502380000035
Calculating to obtain speed information of the target, wherein c is the light speed, lambda is the wavelength, k is the absolute value of a V-shaped frequency modulation slope, and T is the half-period width;
when the calculating unit inverts the real speed of the target, firstly, whether the effective electric signal is from the second place or not is judged
Figure FDA0002794502380000036
Obtaining each channel, and then carrying out corresponding solving according to a judgment result: if the valid electrical signal is from
Figure FDA0002794502380000037
One channel is obtained for the purpose ofThe target real radial motion speed v ═ v', and the direction of the target radial speed is judged according to the positive and negative of the v value, namely when v is positive and negative>When 0, the target Doppler is determined to be the forward direction, and when v<When 0, the target Doppler is determined to be reverse; if the valid electrical signal is not from the second
Figure FDA0002794502380000041
Figure FDA0002794502380000042
If each channel is obtained, the speed information v' subtracts the speed shift v corresponding to the channelrAnd obtaining the real radial motion speed v of the target, and judging the direction of the radial speed of the target according to the channel number.
9. The single-pulse multi-channel data processing apparatus of claim 8, wherein the set-up effect electrical signal is selected from the group consisting of
Figure FDA0002794502380000043
The channel is obtained, and the real radial motion speed of the target is v ═ v' -vrWherein
Figure FDA0002794502380000044
When an effective electric signal is received from
Figure FDA0002794502380000045
When the channel of (2) is output, the target Doppler is determined to be the forward direction; when an effective electric signal is received from
Figure FDA0002794502380000046
When the target doppler is output, the target doppler is determined to be the reverse direction.
10. A laser distance and speed measuring system using the single-pulse multi-channel data processing device as claimed in claim 9, wherein the laser distance and speed measuring system further comprises:
a laser source for providing a laser source for the system;
the second beam splitter is used for splitting laser emitted by the laser source into signal light and N beams of local oscillator light, and the N beams of local oscillator light are respectively used for combining with targets in N channels in the multi-channel processing module to form beams;
the chopping frequency modulator is used for carrying out V-shaped frequency modulation processing on the signal light provided by the second beam splitter;
the waveform transmitter is used for transmitting the V-shaped frequency modulation pulse laser;
and a waveform receiver for receiving the target return light.
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