CN112649812B - Non-matched filtering single-pulse multi-channel data processing method and device - Google Patents
Non-matched filtering single-pulse multi-channel data processing method and device Download PDFInfo
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
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- 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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Abstract
The invention discloses a non-matched filtering single-pulse multi-channel data processing method, a device and a laser ranging and speed measuring system adopting the device, wherein a V-shaped frequency modulation single pulse is adopted as a transmitting signal, an echo signal is mixed with a local oscillation signal after passing through multi-channel analog frequency shift, a detector with limited bandwidth is used for collecting, an obtained electric signal is filtered in a non-matched filtering mode, then a convolution result is sequenced and judged, the distance and speed information of a target are calculated at two peak moments obtained by the convolution result, and finally the real speed of the target is inverted to obtain the real radial movement speed and direction of the target. In the measurable range of the system, the invention can realize the speed measurement by utilizing the multichannel processing technology even if the frequency range of the echo is not (or exceeds) the transmitting frequency range, can enlarge the measurable speed range, quicken the speed of acquiring information and effectively reduce the bandwidth requirement on the detector.
Description
Technical Field
The invention belongs to the technical field of radar signal transmitting and receiving data processing, and particularly relates to a single-pulse multichannel 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 after the signal contacts a target, returning to a transmitting end after the time corresponding to the target distance, performing difference frequency with local oscillation light to obtain Doppler information of the target, and calculating to obtain the distance and speed information of the target. However, since a short pulse width is required for a high distance resolution, a long pulse width is required for increasing emission energy. Therefore, the method adopts the transmitted frequency modulation pulse signal in the radar field, improves the time bandwidth product (TB product) and solves the problem of coupling of the distance resolution and the transmission energy.
In the process of measuring the speed and the distance by using frequency modulation single pulse, a matched filtering method is adopted, and according to a fuzzy function diagram, the distance measurement error caused by the Doppler of the target can be found when the target is measured, and the distance measurement and the speed measurement function can not be accurately completed. The V-shaped frequency modulated pulse signal is utilized to carry out matched filtering, the output result does not cause a ranging error due to target Doppler, and meanwhile, the radial speed of the target can be obtained, but the radial speed direction cannot be obtained.
When the V-shaped frequency modulation is used for measuring the speed, the measured speed range is limited by the bandwidth of waveform modulation. The waveform bandwidth after the difference frequency of the echo and the local oscillation signal must be within the designed modulation bandwidth range, so that the measurable speed range becomes smaller.
Disclosure of Invention
The embodiment of the invention provides a non-matched filtering single-pulse multi-channel data processing method and device, which are used for solving the problems of small speed measuring range and low speed measuring efficiency in the conventional V-shaped frequency modulation speed measuring technology.
In a first aspect, an embodiment of the present invention provides a method for processing non-matched filtered single-pulse multi-channel data, including the following steps:
s1: receiving target return light;
s2: dividing the target return light into N groups, wherein N=Fd/B, B is 1/2 of the V-type frequency modulation bandwidth (-B- +B), and Fd is 1/2 of the system measurable Doppler change range (-Fd- +Fd);
s3: the N groups of optical signals respectively enter one channel of the multi-channel processing module, frequency shifters in each channel perform frequency shifting processing on the optical signals, and the m-th channel shiftsFrequency of frequencyWherein m=1, 2, …, N;
s4: the optical signals after frequency shift of each channel are respectively combined with local oscillation beams to perform heterodyne detection processing;
s5: the detector in each channel detects the combined optical signals to obtain the electric signal of the channel;
s6: carrying out non-matched filtering treatment on the electric signals of all the channels;
s7: sequencing and judging the convolution results, and extracting the time delta t when two peaks appear 1 ' and Δt 2 ' and judging the channel number of the effective electric signal;
s8: two peak moments deltat obtained by convolution result 1 ' and Δt 2 ' according toCalculating the distance of the target according to +.>Calculating to obtain the speed information of the target, wherein c is the speed of light, lambda is the wavelength, k is the absolute value of the V-shaped frequency modulation slope, and T is the half-period width;
s9: inversion is performed on the true velocity of the target. And solving the true radial movement speed v and direction of the target according to the channel number of the obtained effective electric signal.
Optionally, in the step S1, the target return light may be amplified as needed, so as to solve the problem that the target return light is weak.
Optionally, the non-matching filtering process in the step S6 is a convolution process of the electrical signals of each channel with a triangular frequency modulation template symmetrical to the V-type frequency modulation.
Optionally, the sorting judgment in the step S7 above uses a constant false alarm detection method to judge whether the electric signal of each channel is an effective signal, and extracts the time Δt when two peaks appear for the channel of the effective signal 1 ′、Δt 2 ' and channel number.
Optionally, in the above step S9, it is first determined whether the effective electrical signal is from the firstAnd obtaining channels, and then carrying out corresponding solving according to the judging result. If the effective electrical signal is from +.>The true radial movement speed v=v' of the target is obtained by the channels, and the direction of the radial speed of the target is judged according to the positive and negative of the v value, namely when v>0, determining that the target Doppler is forward, when v<0, determining that the target Doppler is reverse; if the effective electrical signal is not from +.>The corresponding speed movement v of the channel is subtracted from the speed information v' to obtain the channel r And obtaining the true radial movement speed v of the target, and judging the direction of the radial speed of the target according to the channel number. Optionally, the effective electrical signal is provided from r +.> The true radial movement speed of the target is v=v' -v r Wherein-> Effective electric signal from->When the channel of (a) outputs, it is determined that the target Doppler is forward, and the effective electric signal is from +.>And determining that the target doppler is backward when the channel output of (a) is in the same direction.
In a second aspect, an embodiment of the present invention provides a non-matched filtered single-pulse multi-channel data processing apparatus, including:
the first beam splitter is used for dividing received target return light into N groups, wherein N=Fd/B, B is 1/2 of V-shaped frequency modulation bandwidth (-B- +B), and Fd is 1/2 of the system measurable Doppler change range (-Fd- +Fd);
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 judging unit which are sequentially connected. The frequency shifter is used for performing frequency shifting treatment on the target return light from the first beam splitter in the channel, and the frequency shifting frequency of the mth channel is Wherein m=1, 2, …, N; the beam combiner is used for combining the target return light after moving in the channel with the local oscillator beam to perform heterodyne detection; the detector is used for detecting the optical signals after beam combination in the channel to acquire the electric signals 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 peaks appear 1 ' and Δt 2 ' and judging the channel number of the effective electric signal;
a calculating unit for utilizing the two peak time deltat provided by the sorting judging unit 1 ′、Δt 2 And 'and channel number information of the effective electric signal, calculating distance L and speed information v' of the target, and inverting the real speed of the target.
Optionally, the single-pulse multi-channel data processing device of the present embodiment further includes an optical amplifier, configured to amplify the received target return light, so as to solve the problem that the target return light is weak.
Optionally, the digital filter adopts a triangular frequency modulation template symmetrical to the V-shaped frequency modulation to carry out convolution processing on the electric signals of all channels.
Optionally, the sorting judgment unit adopts a constant false alarm detection method to judge whether the electric signal of each channel is an effective signal, and extracts the time deltat when two peaks appear for the channel of the effective signal 1 ′、Δt 2 ' and channel number.
Optionally, the calculating unit uses two peak moments Δt provided by the ranking judging unit 1 ' and Δt 2 ' according toCalculating the distance of the target according to +.>And calculating to obtain the speed information of the target, wherein c is the speed of light, 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 true speed of the target, it is first determined whether the effective electrical signal is from the firstAnd obtaining channels, and then carrying out corresponding solving according to the judging result. If the effective electrical signal is from the firstThe true radial movement speed v=v' of the target is obtained by the channels, and the direction of the radial speed of the target is judged according to the positive and negative of the v value, namely when v>0, determining that the target Doppler is forward, when v<0, determining that the target Doppler is reverse; if the effective electrical signal is not from +.>Obtained by subtracting the channel pair from the velocity information vThe corresponding speed is moved v r And obtaining the true radial movement speed v of the target, and judging the direction of the radial speed of the target according to the channel number. Optionally, the effective electrical signal is provided from r +.>The true radial movement speed of the target is v=v' -v r WhereinEffective electric signal from-> When the channel of (a) outputs, it is determined that the target Doppler is forward, and the effective electric signal is from +.>And determining that the target doppler is backward when the channel output of (a) is in the same direction.
In a third aspect, an embodiment of the present invention provides a laser ranging and speed measuring system using the single-pulse multi-channel data processing device of the present invention, including:
a laser source for providing a laser source for the system;
a second beam splitter for splitting laser light emitted by the laser source into signal light and N Shu Benzhen light, the N Shu Benzhen light being respectively used for returning light beams to the targets in the N channels in the multi-channel processing module;
the chopper frequency modulator is used for carrying out V-shaped frequency modulation treatment on the signal light provided by the second beam splitter;
the waveform transmitter is used for transmitting V-shaped frequency modulation pulse laser and irradiating the V-shaped frequency modulation pulse laser to a measured target;
a waveform receiver for receiving the target return light;
the structure of the single-pulse multi-channel data processing device is referred to the description of the single-pulse multi-channel data processing device in the second aspect, and is not further described herein.
The method and the device for processing the non-matched filtering single-pulse multi-channel data and the laser ranging and speed measuring system adopting the device adopt V-shaped frequency modulation single pulse as a transmitting signal, echo signals are mixed with local oscillation signals after passing through multi-channel analog frequency shifting, the echo signals are collected by a detector with limited bandwidth, the obtained electric signals are filtered by adopting a non-matched filtering mode, then sequencing and judging are carried out on convolution results, distance and speed information of a target are calculated at two peak values obtained by the convolution results, and finally the real speed of the target is inverted to obtain the real radial movement speed and direction of the target. In the system measurable range, the embodiment of the invention can realize speed measurement by utilizing the multichannel processing technology even if the frequency range of the echo is not (or exceeds) the transmitting frequency range, thereby enlarging the measurable speed range, accelerating the speed of acquiring information and effectively reducing the bandwidth requirement of the detector.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
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 schematic diagram of an echo convolution template according to an embodiment of the present disclosure;
FIG. 4 is a diagram of a time-frequency analysis of a filter according to an embodiment of the present invention;
FIG. 5 is a diagram showing the result of filter simulation data processing 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 employing 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 non-matched filtered single-pulse multi-channel data processing method, as shown in fig. 1, including the following steps:
s1: target return light is received. Because the Doppler frequency carried by the target return optical signal exceeds the receiving bandwidth of the detector, the echo frequency cannot be measured, and therefore the invention adopts a multichannel data processing method for processing. In other embodiments, the target return light can be amplified as needed to solve the problem of weak target return light;
s2: dividing the target return light into N groups, wherein N=Fd/B, B is 1/2 of the V-type frequency modulation bandwidth (-B- +B), and Fd is 1/2 of the system measurable Doppler change range (-Fd- +Fd);
s3: the N groups of optical signals respectively enter one channel of the multi-channel processing module, and frequency shifters in all the channels perform frequency shifting processing on the optical signals. In this embodiment, the frequency shift frequency of the channel 1 isThe frequency shift frequency of the channel 2 isThe shift frequency of channel 3 is +.>By analogy, the frequency shift of channel m isWhere m=1, 2, …, N. If the Doppler frequency of the target is unknown fd, the target returns to V-shaped frequency modulation with the optical frequency of (B+fd to-B+fd), and after each channel, each channel carries a difference frequency of Is a light signal of (a);
s4: the optical signals after frequency shift of each channel are respectively combined with local oscillation beams to perform heterodyne detection processing;
s5: the detector in each channel detects the combined optical signals to obtain the electric signals of the channel. Because the photoelectric detectors of all channels are identical in model, the detection bandwidths are identical, and when the waveform carrying frequency of one channel completely passes through the detector, only partial frequencies of adjacent channels can pass through, or no echo passes through. Therefore, only one channel of signal waveform is subjected to the detector and the filter, and then an effective electric signal can be obtained.
S6: and carrying out unmatched filtering processing on the electric signals of the channels. In this embodiment, the digital filter performs convolution processing on the electrical signal of each channel by using a triangular frequency modulation template symmetrical to the V-type frequency modulation, the schematic diagram of the emission waveform of the V-type frequency modulation is shown in fig. 2, and the schematic diagram of the triangular frequency modulation template is shown in fig. 3;
the emission is based on V-shaped frequency modulation pulse waveform, and the emission time domain expression is:
the echo time domain expression is:
the time-frequency analysis chart of the digital filter is shown in fig. 4, and the time domain expression is:
the outputs of the echo signal and the digital filter are:
the output result is mainly concentrated on the following two items without considering the influence of the cross item
From the above analysis, the peak values of the filtering output result are respectively at f d -kΔt 1 ' kt=0 and f d +kΔt 2 At' -kt=0, i.e.:
Δt 2 ' and Δt 1 ' is the value with the same absolute value and opposite sign, represents the range error caused by the Doppler of the target, and the sum of the absolute value and the opposite sign is 0, so that the error can be eliminated, and the accurate target distance can be obtained. The filter simulation data processing result is shown in fig. 5;
s7: sequencing and judging the convolution results, and extracting the time delta t when two peaks appear 1 ' and Δt 2 ' and the channel number of the effective electrical signal is determined. In this embodiment, the convolution processing peaks of each channel are sorted from large to small, when the two front peaks exceed the average value of the convolution processing amplitudes at the back by a factor Q, the electrical signal of the channel is judged to be an effective signal, and the time Δt when the two peaks appear is extracted 1 ' and Δt 2 ' 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 judge whether the electric signals of the channels are effective signals;
s8: two peak moments deltat obtained by convolution result 1 ' and Δt 2 ' according toCalculating the distance of the target according to +.>Calculating 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-shaped frequency modulation slope, namely +.>T is the half cycle width;
s9: inversion is performed on the true velocity of the target. The radial velocity obtained after filtering needs to be recalculated because each channel is subjected to frequency shifting treatment. And solving the true radial movement speed v and direction of the target according to the channel number of the obtained effective electric signal. In this embodiment, it is first determined whether the effective electrical signal is from the first' ShutongAnd obtaining the channel, and then carrying out corresponding solving according to the judging result. If the effective electrical signal is from +.>The true radial movement speed v=v' of the target is obtained by the channels, and the direction of the radial speed of the target is judged according to the positive and negative of the v value, namely when v>0, determining that the target Doppler is forward, when v<0, determining that the target Doppler is reverse; if the effective electrical signal is not from +.>The corresponding speed movement v of the channel is subtracted from the speed information v' to obtain the channel r And obtaining the true radial movement speed v of the target, and judging the direction of the radial speed of the target according to the channel number. The effective electric signal is from the r->The true radial movement speed of the target is v=v' -v r Wherein->Effective electric signal from-> When the channel of (a) outputs, the Doppler of the target is judged to be positive, and the effective electric signal is output from the channel And determining that the target doppler is backward when the channel output of (a) is in the same direction.
A second embodiment of the present invention provides a non-matched filtered single-pulse multi-channel data processing apparatus, as shown in fig. 6, specifically including a first beam splitter, a multi-channel processing module, and a computing unit. The first beam splitter is configured to divide received target return light into N groups, where n=fd/B, B is 1/2 of a V-type fm modulation bandwidth (-B to +b), and Fd is 1/2 of a 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 judging unit which are sequentially connected. The frequency shifter is configured to shift the frequency of the target return light from the first beam splitter in the present channel, where in this embodiment, the frequency shift frequency of the channel 1 isThe frequency shift frequency of the channel 2 isThe shift frequency of channel 3 is +.> By analogy, the frequency shift of channel m isWhere m=1, 2, …, N. If the Doppler frequency of the target is unknown fd, the target returns to V-shaped frequency modulation with the optical frequency of (B+fd to-B+fd), and after each channel, each channel carries a difference frequency of Is a light signal of (a); the beam combiner is used for combining the target return light after moving in the channel with the local oscillator beam to perform heterodyne detection; the detector is used for detecting the optical signals after beam combination in the channel to acquire the electric signals of the channel. Due to the photodetectors of the channelsThe model is consistent, the detection bandwidths are the same, and when the waveform carrying frequency of one channel completely passes through the detector, the adjacent channels only can pass through partial frequencies or can pass through without echo. Therefore, only one channel of signal waveform is subjected to detector and filter to obtain effective electric signals; the digital filter is used for carrying out non-matched filtering processing on the electric signal 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, the schematic diagram of the transmission waveform of the V-type frequency modulation is shown in fig. 2, the schematic diagram of the triangular frequency modulation template is shown in fig. 3, and the time-frequency analysis diagram of the digital filter is shown in fig. 4. The peak values of the filtering output results are respectively at f after calculation d -kΔt 1 ' kt=0 and f d +kΔt 2 ' kt=0, i.e. & gt> It can be seen that Δt 2 ' and Δt 1 ' is the value with the same absolute value and opposite sign, represents the range error caused by the Doppler of the target, and the sum of the absolute value and the opposite sign is 0, so that the error can be eliminated, and the accurate target distance is 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 peaks appear 1 ' and Δt 2 ' and the channel number of the effective electrical signal is determined. In this embodiment, the convolution processing peaks of each channel are sorted from large to small, when the two front peaks exceed the average value of the convolution processing amplitudes at the back by a factor Q, the electrical signal of the channel is judged to be an effective signal, and the time Δt when the two peaks appear is extracted 1 ' and Δt 2 ' the Q value is set by the user according to the actual situation. Of course, other constant false alarm detection methods can also be used to determine whether the electrical signals of each channel are valid signals.
The calculating unit is used for utilizing the two peak time deltat provided by the sorting judging unit 1 ′、Δt 2 ' sumAnd calculating the distance L and the speed information v' of the target according to the channel number information of the effective electric signal, and inverting the real speed of the target. In this embodiment, the calculating unit uses two peak moments Δt provided by the sorting judging unit 1 ' and Δt 2 ' according toCalculating the distance of the target according to +.> And calculating to obtain the speed information of the target, wherein c is the speed of light, lambda is the wavelength, k is the absolute value of the V-shaped frequency modulation slope, and T is the half-period width. The radial velocity obtained after filtering needs to be recalculated because each channel is subjected to frequency shifting treatment. When the computing unit inverts the true speed of the target, firstly judging whether the effective electric signal is from the +.>And obtaining channels, and then carrying out corresponding solving according to the judging result. If the effective electrical signal is from +.>The true radial movement speed v=v' of the target is obtained by the channels, and the direction of the radial speed of the target is judged according to the positive and negative of the v value, namely when v>0, determining that the target Doppler is forward, when v<0, determining that the target Doppler is reverse; if the effective electrical signal is not from +.>The corresponding speed movement v of the channel is subtracted from the speed information v' to obtain the channel r And obtaining the true radial movement speed v of the target, and judging the direction of the radial speed of the target according to the channel number. Optionally, the effective electrical signal is provided from r +.>The true radial movement speed of the target is v=v' -v r Wherein->Effective electric signal from->When the channel of (a) outputs, it is determined that the target Doppler is forward, and the effective electric signal is from +.>And determining that the target doppler is backward when the channel output of (a) is in the same direction.
A third embodiment of the present invention provides a laser ranging and speed measuring system using the single pulse multi-channel data processing device of the present invention, as shown in FIG. 7, specifically comprising:
a laser source for providing a laser source for the system;
and the second beam splitter is used for dividing laser emitted by the laser source into signal light and N Shu Benzhen light, wherein N=Fd/B, B is 1/2 of V-shaped frequency modulation bandwidth (-B- +B), and Fd is 1/2 of the system measurable Doppler change range (-Fd- +Fd). The N Shu Benzhen light is respectively used for returning light beams to the targets in N channels in the multi-channel processing module;
the chopper frequency modulator is used for carrying out V-shaped frequency modulation treatment 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 the measured target, and the transmission waveform schematic diagram is shown in figure 2;
a waveform receiver for receiving the target return light;
the structure of the single-pulse multi-channel data processing device is that the received target return light is split and shifted, and then is combined with the local oscillator provided by the second beam splitter to be detected, non-matched filtered, sequenced, judged and calculated, and finally the ranging and speed measuring result is output, and the description of the single-pulse multi-channel data processing device in the second embodiment is referred to, and will not be repeated here.
The method and the device for processing the non-matched filtering single-pulse multi-channel data and the laser ranging and speed measuring system adopting the device adopt V-shaped frequency modulation single pulse as a transmitting signal, echo signals are mixed with local oscillation signals after passing through multi-channel analog frequency shifting, the echo signals are collected by a detector with limited bandwidth, the obtained electric signals are filtered by adopting a non-matched filtering mode, then sequencing and judging are carried out on convolution results, distance and speed information of a target are calculated at two peak values obtained by the convolution results, and finally the real speed of the target is inverted to obtain the real radial movement speed and direction of the target. In the system measurable range, the embodiment of the invention can realize speed measurement by utilizing the multichannel processing technology even if the frequency range of the echo is not (or exceeds) the transmitting frequency range, thereby enlarging the measurable speed range, accelerating the speed of acquiring information and effectively reducing the bandwidth requirement of the 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are to be protected by the present invention.
Claims (6)
1. A method of non-matched filtered single pulse multi-channel data processing, the method comprising the steps of:
s1: receiving target return light;
s2: dividing the target return light into N groups, wherein N=Fd/B, B is 1/2 of V-type frequency modulation bandwidth-B- +B, and Fd is 1/2 of system measurable Doppler change range-Fd- +Fd;
s3: the N groups of optical signals respectively enter one channel of the multi-channel processing module, the frequency shifter in each channel carries out frequency shifting processing on the optical signals, and the frequency shifting frequency of the mth channel is thatWherein m=1, 2, …, N;
s4: the optical signals after frequency shift of each channel are respectively combined with local oscillation beams to perform heterodyne detection processing;
s5: the detector in each channel detects the combined optical signals to obtain the electric signal of the channel;
s6: carrying out non-matched filtering treatment on the electric signals of all the channels;
s7: sequencing and judging the convolution results, and extracting the time delta t when two peaks appear 1 ' and Δt 2 ' and judging the channel number of the effective electric signal;
s8: two peak moments deltat obtained by convolution result 1 ' and Δt 2 ' according toCalculating the distance of the target according to +.>Calculating the speed information of the target, wherein c is the speed of light, lambda is the wavelength, k is the absolute value of the V-shaped frequency modulation slope, and T isHalf cycle width;
s9: inverting the real speed of the target, and solving the real radial movement speed v and direction of the target according to the channel number of the obtained effective electric signal;
wherein the step S9 first judges whether the effective electric signal is from the firstObtaining a plurality of channels, and then carrying out corresponding solving according to the judging result;
if the effective electrical signal is from the firstThe true radial movement speed v=v' of the target is obtained by the channels, and the direction of the radial speed of the target is judged according to the positive and negative of the v value, namely when v>0, determining that the target Doppler is forward, when v<0, determining that the target Doppler is reverse; if the effective electrical signal is not from +.>The corresponding speed movement v of the channel is subtracted from the speed information v' to obtain the channel r Obtaining the true radial movement speed v of the target, and judging the direction of the radial speed of the target according to the channel number;
the effective electric signal is obtained from the (r) th channel, and the true radial movement speed of the target is v=v' -v r Wherein, the method comprises the steps of, wherein,
from an active electrical signalWhen the channel of (a) outputs, determining that the target Doppler is forward; effective electric signal from->When the channel of (a) outputs, judgeThe target doppler is the reverse direction.
2. The method for processing single pulse multi-channel data according to claim 1, wherein in the step S1, the target return light is amplified as needed;
and (3) performing non-matched filtering processing in the step S6, and performing convolution processing on the electric signals of all channels by adopting a triangular frequency modulation template symmetrical to the V-shaped frequency modulation.
3. The method for processing single pulse multi-channel data as claimed in claim 2, wherein said step S7 of sorting judgment adopts a constant false alarm detection method to judge whether the electric signal of each channel is an effective signal, and for the channel of the effective signal, extracts the time Δt at which two peaks appear 1 '、Δt 2 ' and channel number.
4. A non-matched filtered single pulse multi-channel data processing apparatus, comprising:
the first beam splitter is used for dividing received target return light into N groups, wherein N=Fd/B, B is 1/2 of V-shaped frequency modulation bandwidths-B- +B, and Fd is 1/2 of a system measurable Doppler change range-Fd- +Fd;
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 judging unit which are sequentially connected; the frequency shifter is used for performing frequency shifting treatment on the target return light from the first beam splitter in the channel, and the frequency shifting frequency of the mth channel is Wherein m=1, 2, …, N; the beam combiner is used for combining the target return light after moving in the channel with the local oscillator beam to perform heterodyne detection; the detector is used for detecting the optical signals after beam combination in the channel to obtainThe electrical signal of the present 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 peaks appear 1 ' and Δt 2 ' and judging the channel number of the effective electric signal;
a calculating unit for utilizing the two peak time deltat provided by the sorting judging unit 1 '、Δt 2 'and channel number information of the effective electric signal, calculating to obtain distance L and speed information v' of the target, and inverting the real speed of the target;
wherein the calculating unit uses the two peak time deltat provided by the sorting judging unit 1 ' and Δt 2 ' according toCalculating the distance of the target according to +.>Calculating to obtain the speed information of the target, wherein c is the speed of light, lambda is the wavelength, k is the absolute value of the V-shaped frequency modulation slope, and T is the half-period width;
when the computing unit inverts the real speed of the target, firstly judging whether the effective electric signal is from the firstObtaining a plurality of channels, and then carrying out corresponding solving according to the judging result: if the effective electrical signal is from +.>The true radial movement speed v=v' of the target is obtained by the channels, and the direction of the radial speed of the target is judged according to the positive and negative of the v value, namely when v>0, determining that the target Doppler is forward, when v<0, determining that the target Doppler is reverse; if the effective electrical signal is not from +.>The corresponding speed movement v of the channel is subtracted from the speed information v' to obtain the channel r Obtaining the true radial movement speed v of the target, and judging the direction of the radial speed of the target according to the channel number;
the effective electric signal is obtained from the (r) th channel, and the true radial movement speed of the target is v=v' -v r Wherein
From an active electrical signalWhen the channel of (a) outputs, determining that the target Doppler is forward; effective electric signal from->And determining that the target doppler is backward when the channel output of (a) is in the same direction.
5. The single pulse multi-channel data processing apparatus as claimed in claim 4, further comprising an optical amplifier for amplifying the received target return light;
the digital filter carries out convolution processing on the electric signals of all channels by adopting a triangular frequency modulation template which is symmetrical to the V-shaped frequency modulation;
the sorting judgment unit adopts a constant false alarm detection method to judge whether the electric signals of all channels are effective signals, and extracts the time delta t when two peaks appear for the channels of the effective signals 1 '、Δt 2 ' and channel number.
6. A laser ranging and speed measuring system employing the single pulse multi-channel data processing device of claim 5, wherein the laser ranging and speed measuring system further comprises:
a laser source for providing a laser source for the system;
a second beam splitter, configured to split laser light emitted by a laser source into signal light and N Shu Benzhen light, where the N Shu Benzhen light is used to return light beams to the targets in N channels in the multi-channel processing module;
the chopper frequency modulator is used for carrying out V-shaped frequency modulation treatment on the signal light provided by the second beam splitter;
the waveform transmitter is used for transmitting V-shaped frequency modulation pulse laser;
and a waveform receiver for receiving the target return light.
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