CN112711009A - Composite laser ranging method - Google Patents

Composite laser ranging method Download PDF

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Publication number
CN112711009A
CN112711009A CN202011521996.2A CN202011521996A CN112711009A CN 112711009 A CN112711009 A CN 112711009A CN 202011521996 A CN202011521996 A CN 202011521996A CN 112711009 A CN112711009 A CN 112711009A
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Prior art keywords
frequency
signal
signals
distance
frequencies
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CN202011521996.2A
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黄毅
李明远
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Suzhou Easy Electronic Technology Co Ltd
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Suzhou Easy Electronic Technology Co Ltd
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Priority to CN202011521996.2A priority Critical patent/CN112711009A/en
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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
    • 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
    • G01S17/08—Systems determining position data of a target for measuring distance only

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

Abstract

The invention discloses a composite laser ranging method, which comprises a frequency modulation ranging mode and a phase measurement mode, wherein the frequency modulation ranging mode and the phase measurement mode are included, firstly, the frequency modulation ranging mode is adopted to obtain a roughly measured distance, then, the phase measurement mode is adopted to measure the distance and combine the roughly measured distance of the frequency modulation ranging mode to obtain an accurate distance, and the two modes are combined to obtain an accurate distance; the invention has the advantages that the rough measurement distance is obtained through the frequency modulation distance measurement mode, the accurate distance is obtained through the phase measurement mode, the accurate distance measurement is realized, the precision and the speed can be considered, and the use by people is convenient.

Description

Composite laser ranging method
Technical Field
The invention relates to the technical field of laser ranging, in particular to a composite laser ranging method.
Background
With the development of science and technology and the progress of technology, the manufacturing industries of high-end equipment such as aerospace equipment, ocean engineering equipment, high-technology ships, advanced rail transit equipment, high-grade numerical control machines, robot equipment and the like have strict requirements on the performances such as precision, range, measuring speed and the like of large-scale three-dimensional precision measurement; the existing laser scanning measurement technology needs to be matched with a mechanical scanning device to carry out point-by-point measurement on a target, so that measurement precision and measurement speed cannot be taken into consideration in the measurement process; in view of the defects in the prior art, a composite laser ranging method is designed, so that the requirements on precision and speed are met.
Disclosure of Invention
Because the existing distance measuring method cannot take the measurement precision and the measurement speed into consideration, the composite laser distance measuring method is designed on the basis of the defects of the prior art, the measurement precision is accurate, the measurement speed is high, and the composite laser distance measuring method is convenient for people to use.
The technical scheme of the invention is that the composite laser ranging method comprises a frequency modulation ranging mode and a phase measurement mode, wherein the frequency modulation ranging mode is firstly adopted to obtain a roughly measured distance, then the phase measurement mode is adopted to measure the distance and combine the roughly measured distance of the frequency modulation ranging mode to obtain an accurate distance, and the two modes are combined to obtain the accurate distance measurement.
In addition to the technical solution, the frequency modulation ranging mode includes the following steps:
(1) determining a PLL chip which has a fixed input clock signal, wherein a control signal of the PLL chip is controlled by an IIC or SPI communication protocol;
(2) the controller sets the PLL chip to be frequency required to be obtained through the control signal;
(3) outputting a frequency f0 after the signal in the step (2), and dividing the frequency into two frequencies with the same frequency and 90-degree phase difference by a frequency divider, wherein the two frequencies are respectively f1 and f 2;
(4) f1 is then divided into two sub-frequencies, one of which outputs a reference frequency f via the PARefInputting an I signal carrier at the other branch frequency, inputting a Q signal carrier at f2, carrying out modulation operation on IQ signals which are two low-frequency signals with the same frequency and 90-degree phase difference, respectively carrying out modulation operation on the other branch frequency of f1 and the other branch frequency of f2 and the IQ signals, modulating the other branch frequency of f1 and the other branch frequency of f2 by using the IQ signals, and accumulating the two paths of modulation signals to obtain fI+f2Then, the laser tube is driven to emit modulated laser through PA output;
(5) after laser emission, the light is reflected back by the object in a diffuse way and received by the APD, and a received signal f is analyzedI+f2Mixing the signal with a signal transmitted by the PA so as to obtain a frequency difference value;
(6) and obtaining a rough measurement distance according to the frequency difference.
To further supplement the technical solution, the phase measurement mode comprises the following working steps:
(1) determining a PLL chip which has a fixed input clock signal, wherein a control signal of the PLL chip is controlled by an IIC or SPI communication protocol;
(2) the controller sets the PLL chip to be frequency required to be obtained through the control signal;
(3) outputting a frequency f3 after the signal in the step (2), and dividing the frequency into two frequencies with the same frequency and 90-degree phase difference by a frequency divider, wherein the two frequencies are respectively f4 and f 5;
(4) f4 is then divided into two sub-frequencies, one of which outputs a reference frequency f via the PARef1Outputting to APD, inputting I signal carrier to another branch frequency, inputting Q signal carrier to f5, IQ signals are two low-frequency signals with same frequency and 90-degree phase difference, modulating another branch frequency of f4 and f5 with IQ signals respectively, modulating another branch frequency of f4 and f5 with IQ signals, accumulating two modulation signals to obtain fI4+f5Then, the laser tube is driven to emit modulated laser through PA output;
(5) after laser emission, the light is reflected back by the object and received by the APD, and f is modulated on the APDRef1Signal, returned signal fI4+f5And fRef1After multiplication of the signal, only f remainsI4The low frequency signal of (2);
(6) by calculating fI4And the phase difference of the I signal is combined with the roughly measured distance, so that the accurate distance is calculated.
In addition to the technical scheme, the clock signal adopts an active crystal oscillator or an external input or temperature compensation crystal.
The technical proposal is further supplemented, and the input frequency of IQ signals is 100Hz-10 MHz.
Further complementing the technical scheme, the clock signal input adopts a single sideband modulation method.
Further supplementing the technical scheme, the clock compensation value of the PLL is 0-5 GHZ.
The FMCW ranging and phase ranging can be realized through PLL + IQ single-side band modulation, the FMCW ranging and the phase ranging can be matched with the ranging in precision and speed measurement, the ranging is accurate, the precision is high, and the FMCW ranging and the phase ranging are practical; and the sine signal is directly output, a filter circuit is reduced, interference signals are reduced, and the use by people is facilitated.
Drawings
FIG. 1 is a flow chart of the operation of the present invention.
Detailed Description
In order to make the technical solution more clear to those skilled in the art, the technical solution of the present invention will be described in detail below with reference to fig. 1:
according to the invention, firstly, frequency modulation distance measurement is carried out, then phase distance measurement is adopted, and finally the two are combined and compared to obtain a more accurate distance; the technical scheme of the invention is detailed as follows:
a composite laser ranging method comprises a frequency modulation ranging mode and a phase measurement mode, wherein the frequency modulation ranging mode is adopted to obtain a roughly measured distance, then the phase measurement mode is adopted to range and combine the roughly measured distance of the frequency modulation ranging mode to obtain an accurate distance, and the two modes are combined to obtain the accurate ranging.
The frequency modulation distance measurement mode comprises the following working steps:
(1) determining a PLL chip which has a fixed input clock signal, wherein a control signal of the PLL chip is controlled by an IIC or SPI communication protocol;
(2) the controller sets the PLL chip to be frequency required to be obtained through the control signal;
(3) outputting a frequency f0 after the signal in the step (2), and dividing the frequency into two frequencies with the same frequency and 90-degree phase difference by a frequency divider, wherein the two frequencies are respectively f1 and f 2;
(4) f1 is then divided into two sub-frequencies, one of which outputs a reference frequency f via the PARefThe other branch frequency is input with an I signal carrier, the f2 is input with a Q signal carrier, the IQ signals are two low-frequency signals with the same frequency and 90-degree phase difference, the other branch frequency of the f1 and the f2 are respectively modulated with the IQ signals, the other branch frequency of the f1 and the f2 are modulated by the IQ signals, and the two paths of modulation signals are accumulated and then are input with the I signal carrierTo obtain fI+f2Then, the laser tube is driven to emit modulated laser through PA output;
(5) after laser emission, the light is reflected back by the object in a diffuse way and received by the APD, and a received signal f is analyzedI+f2Mixing the signal with a signal transmitted by the PA so as to obtain a frequency difference value;
(6) and obtaining a rough measurement distance according to the frequency difference.
The phase measurement mode comprises the following working steps:
(1) determining a PLL chip which has a fixed input clock signal, wherein a control signal of the PLL chip is controlled by an IIC or SPI communication protocol;
(2) the controller sets the PLL chip to be frequency required to be obtained through the control signal;
(3) outputting a frequency f3 after the signal in the step (2), and dividing the frequency into two frequencies with the same frequency and 90-degree phase difference by a frequency divider, wherein the two frequencies are respectively f4 and f 5;
(4) f4 is then divided into two sub-frequencies, one of which outputs a reference frequency f via the PARef1Outputting to APD, inputting I signal carrier to another branch frequency, inputting Q signal carrier to f5, IQ signals are two low-frequency signals with same frequency and 90-degree phase difference, modulating another branch frequency of f4 and f5 with IQ signals respectively, modulating another branch frequency of f4 and f5 with IQ signals, accumulating two modulation signals to obtain fI4+f5Then, the laser tube is driven to emit modulated laser through PA output;
(5) after laser emission, the light is reflected back by the object and received by the APD, and f is modulated on the APDRef1Signal, returned signal fI4+f5And fRef1After multiplication of the signal, only f remainsI4The low frequency signal of (2);
(6) by calculating fI4And the phase difference of the I signal is combined with the roughly measured distance obtained by the frequency modulation distance measurement mode, so that the accurate distance can be calculated, and the distance measurement accuracy is higher than any one of the I signal and the I signal.
The clock signal adopts an active crystal oscillator or an external input or temperature compensation crystal.
The input frequency of the IQ signal is further defined, and the input frequency of the IQ signal is 100Hz-10 MHz.
Further complementing the technical scheme, the clock signal input adopts a single sideband modulation method.
Wherein the clock compensation value of the PLL is 0-5 GHZ.
The technical solutions described above only represent the preferred technical solutions of the present invention, and some possible modifications to some parts of the technical solutions by those skilled in the art all represent the principles of the present invention, and fall within the protection scope of the present invention.

Claims (7)

1. A composite laser ranging method is characterized by comprising a frequency modulation ranging mode and a phase measurement mode, wherein the frequency modulation ranging mode is adopted to obtain a roughly measured distance, then the phase measurement mode is adopted to range and combine the roughly measured distance of the frequency modulation ranging mode to obtain an accurate distance, and the two modes are combined to obtain the accurate ranging.
2. A composite laser ranging method according to claim 1, characterized in that said frequency modulated ranging mode comprises the following operative steps:
(1) determining a PLL chip which has a fixed input clock signal, wherein a control signal of the PLL chip is controlled by an IIC or SPI communication protocol;
(2) the controller sets the PLL chip to be frequency required to be obtained through the control signal;
(3) outputting a frequency f0 after the signal in the step (2), and dividing the frequency into two frequencies with the same frequency and 90-degree phase difference by a frequency divider, wherein the two frequencies are respectively f1 and f 2;
(4) f1 is then divided into two sub-frequencies, one of which outputs a reference frequency f via the PARefThe other branch frequency is input with an I signal carrier, the f2 is input with a Q signal carrier, the I Q signal is two low-frequency signals with the same frequency and 90-degree phase difference, the other branch frequency of f1 and the f2 are respectively modulated with an IQ signal, the other branch frequency of f1 and the f2 are modulated by the IQ signal, and the two paths of modulation signals are accumulated to obtain the carrier wave of the I signalfI+f2Then, the laser tube is driven to emit modulated laser through PA output;
(5) after laser emission, the light is reflected back by the object in a diffuse way and received by the APD, and a received signal f is analyzedI+f2Mixing the signal with a signal transmitted by the PA so as to obtain a frequency difference value;
(6) and obtaining a rough measurement distance according to the frequency difference.
3. A composite laser ranging method according to claim 2, characterized in that said phase measurement mode comprises the following operative steps:
(1) determining a PLL chip which has a fixed input clock signal, wherein a control signal of the PLL chip is controlled by an IIC or SPI communication protocol;
(2) the controller sets the PLL chip to be frequency required to be obtained through the control signal;
(3) outputting a frequency f3 after the signal in the step (2), and dividing the frequency into two frequencies with the same frequency and 90-degree phase difference by a frequency divider, wherein the two frequencies are respectively f4 and f 5;
(4) f4 is then divided into two sub-frequencies, one of which outputs a reference frequency f via the PARef1Outputting to APD, inputting I signal carrier to another branch frequency, inputting Q signal carrier to f5, IQ signals are two low-frequency signals with same frequency and 90-degree phase difference, modulating another branch frequency of f4 and f5 with IQ signals respectively, modulating another branch frequency of f4 and f5 by I Q signals, accumulating two modulation signals to obtain fI4+f5Then, the laser tube is driven to emit modulated laser through PA output;
(5) after laser emission, the light is reflected back by the object and received by the APD, and f is modulated on the APDRef1Signal, returned signal fI4+f5And fRef1After multiplication of the signal, only f remainsI4The low frequency signal of (2);
(6) by calculating fI4And the phase difference of the I signal is combined with the roughly measured distance, so that the accurate distance is calculated.
4. The composite laser ranging method as claimed in claim 1, wherein the clock signal is an active crystal oscillator or an external input or temperature compensated crystal.
5. The composite laser ranging method as claimed in claim 1, wherein the input frequency of the IQ signal is 100Hz to 10 MHz.
6. The composite laser ranging method as claimed in claim 1, wherein the clock signal input adopts a single sideband modulation method.
7. The composite laser ranging method as claimed in claim 1, wherein the clock compensation value of the PLL is 0-5 GHZ.
CN202011521996.2A 2020-12-21 2020-12-21 Composite laser ranging method Pending CN112711009A (en)

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Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0921871A (en) * 1995-07-06 1997-01-21 Mitsubishi Heavy Ind Ltd Semiconductor laser distance measuring device
US20100245156A1 (en) * 2007-10-19 2010-09-30 Nireco Corporation Distance measuring apparatus and distance measuring method
CN201876545U (en) * 2010-09-02 2011-06-22 淄博职业学院 Pulse phase type laser distance measuring instrument
CN102608606A (en) * 2012-03-22 2012-07-25 河海大学 Effective method for accurately detecting multiple targets by automobile blind zone monitoring radar
CN103533651A (en) * 2013-10-30 2014-01-22 成都航天通信设备有限责任公司 Coherent pseudo code ranging method based on MSK (minimum shift keying) spread spectrum modulation mode
CN105891840A (en) * 2016-06-29 2016-08-24 长春理工大学 Laser ranging system
US20160259039A1 (en) * 2015-03-02 2016-09-08 Kabushiki Kaisha Topcon Electro-Optical Distance Meter
CN205608186U (en) * 2016-04-15 2016-09-28 中国科学院上海技术物理研究所 Laser rangefinder based on synchronous sampling and multiple phase are measured
CN110456375A (en) * 2019-09-10 2019-11-15 上海无线电设备研究所 A kind of range-measurement system of high precision online measuring

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0921871A (en) * 1995-07-06 1997-01-21 Mitsubishi Heavy Ind Ltd Semiconductor laser distance measuring device
US20100245156A1 (en) * 2007-10-19 2010-09-30 Nireco Corporation Distance measuring apparatus and distance measuring method
CN201876545U (en) * 2010-09-02 2011-06-22 淄博职业学院 Pulse phase type laser distance measuring instrument
CN102608606A (en) * 2012-03-22 2012-07-25 河海大学 Effective method for accurately detecting multiple targets by automobile blind zone monitoring radar
CN103533651A (en) * 2013-10-30 2014-01-22 成都航天通信设备有限责任公司 Coherent pseudo code ranging method based on MSK (minimum shift keying) spread spectrum modulation mode
US20160259039A1 (en) * 2015-03-02 2016-09-08 Kabushiki Kaisha Topcon Electro-Optical Distance Meter
CN205608186U (en) * 2016-04-15 2016-09-28 中国科学院上海技术物理研究所 Laser rangefinder based on synchronous sampling and multiple phase are measured
CN105891840A (en) * 2016-06-29 2016-08-24 长春理工大学 Laser ranging system
CN110456375A (en) * 2019-09-10 2019-11-15 上海无线电设备研究所 A kind of range-measurement system of high precision online measuring

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* Cited by examiner, † Cited by third party
Title
杨万全: "《现代通信技术》", 31 March 2000 *

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Application publication date: 20210427

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