CN112740066A - 一种多脉冲激光雷达系统抗干扰处理方法及装置 - Google Patents

一种多脉冲激光雷达系统抗干扰处理方法及装置 Download PDF

Info

Publication number
CN112740066A
CN112740066A CN202080004309.1A CN202080004309A CN112740066A CN 112740066 A CN112740066 A CN 112740066A CN 202080004309 A CN202080004309 A CN 202080004309A CN 112740066 A CN112740066 A CN 112740066A
Authority
CN
China
Prior art keywords
laser
pulse
pulses
echo
detection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202080004309.1A
Other languages
English (en)
Other versions
CN112740066B (zh
Inventor
罗斯特
刘夏
刘冬山
杨珺鹏
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suteng Innovation Technology Co Ltd
Original Assignee
Suteng Innovation Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201910468384.2A external-priority patent/CN110174664A/zh
Priority claimed from CN201910468936.XA external-priority patent/CN112014824B/zh
Application filed by Suteng Innovation Technology Co Ltd filed Critical Suteng Innovation Technology Co Ltd
Publication of CN112740066A publication Critical patent/CN112740066A/zh
Application granted granted Critical
Publication of CN112740066B publication Critical patent/CN112740066B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • 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
    • G01S7/484—Transmitters
    • 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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • 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
    • 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
    • G01S7/4876—Extracting wanted echo signals, e.g. pulse detection by removing unwanted signals
    • 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
    • G01S7/499—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using polarisation effects

Landscapes

  • 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

一种多脉冲抗干扰信号处理装置，多脉冲抗干扰信号处理装置包括：探测脉冲发送单元(10)以及脉冲接收单元(20)；探测脉冲发送单元(10)，用于在一个周期内按照预设发射间隔向目标对象发射多个激光脉冲(S101)；脉冲接收单元(20)，用于在一个周期内接收多个外部信号并获取任意两个外部信号的接收间隔，以及根据发射间隔和接收间隔，从多个外部信号中确定与发射的激光脉冲对应的回波信号(S102)。该装置有效地去除光电转换导致的假回波脉冲和其他雷达反馈回来的干扰回波脉冲，提高了目标回波脉冲的信噪比，有效解决了多部雷达之间的相互干扰问题，提高了雷达利用激光脉冲测距的精确度。

Description

PCT国内申请，说明书已公开。

Claims (24)

  1. PCT国内申请，权利要求书已公开。
CN202080004309.1A 2019-05-31 2020-05-29 一种多脉冲激光雷达系统抗干扰处理方法及装置 Active CN112740066B (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
CN201910468936X 2019-05-31
CN201910468384.2A CN110174664A (zh) 2019-05-31 2019-05-31 激光雷达系统和激光雷达回波信号的确定方法
CN2019104683842 2019-05-31
CN201910468936.XA CN112014824B (zh) 2019-05-31 2019-05-31 一种多脉冲抗干扰信号处理方法及装置
PCT/CN2020/093339 WO2020239084A1 (zh) 2019-05-31 2020-05-29 一种多脉冲激光雷达系统抗干扰处理方法及装置

Publications (2)

Publication Number Publication Date
CN112740066A true CN112740066A (zh) 2021-04-30
CN112740066B CN112740066B (zh) 2023-08-04

Family

ID=73553500

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080004309.1A Active CN112740066B (zh) 2019-05-31 2020-05-29 一种多脉冲激光雷达系统抗干扰处理方法及装置

Country Status (3)

Country Link
US (1) US20210333360A1 (zh)
CN (1) CN112740066B (zh)
WO (1) WO2020239084A1 (zh)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113759340A (zh) * 2021-11-10 2021-12-07 北京一径科技有限公司 回波信号处理方法及装置、激光雷达及存储介质
CN115902835A (zh) * 2021-09-30 2023-04-04 深圳市速腾聚创科技有限公司 一种雷达数据收发装置、测距方法及激光雷达
WO2023125321A1 (zh) * 2021-12-30 2023-07-06 武汉万集光电技术有限公司 激光雷达的信号处理方法、装置及存储介质

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112654879B (zh) * 2020-12-11 2022-04-15 华为技术有限公司 基于车载毫米波雷达的防干扰方法、装置、系统及车辆
WO2023279375A1 (zh) * 2021-07-09 2023-01-12 华为技术有限公司 一种探测控制方法及装置
CN114325722B (zh) * 2021-12-29 2024-04-12 南京世海声学科技有限公司 基于水下声信标信号多脉冲累积的高增益检测方法和系统
WO2023230763A1 (en) * 2022-05-30 2023-12-07 Telefonaktiebolaget Lm Ericsson (Publ) Method and apparatus for estimating time delay between excitation signal and stimulated signal
CN115390018B (zh) * 2022-07-26 2024-04-30 西安电子工程研究所 一种雷达脉冲式干扰的定向方法
CN115015875A (zh) * 2022-08-08 2022-09-06 探维科技(北京)有限公司 一种点云数据的处理方法、装置及电子设备
CN116774164B (zh) * 2023-08-15 2023-11-24 西安电子科技大学 基于阵元-脉冲-脉内三重编码的mimo雷达抗干扰方法

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102176004A (zh) * 2011-02-22 2011-09-07 南京理工大学 基于多通道时延估计的激光飞行时间测量装置及其方法
CN102269908A (zh) * 2011-07-12 2011-12-07 南昌航空大学 连续泵浦合束镜前置的受激布里渊散射发生装置及方法
CN103885065A (zh) * 2014-03-21 2014-06-25 中国科学院上海光学精密机械研究所 双波长双脉冲的无模糊激光测距装置
CN104765040A (zh) * 2014-12-31 2015-07-08 西南技术物理研究所 单脉冲波形识别提取方法
CN106546993A (zh) * 2016-11-04 2017-03-29 武汉万集信息技术有限公司 一种提高脉冲式激光测距精度的测距装置及测距方法
CN106932767A (zh) * 2017-04-17 2017-07-07 浙江神州量子网络科技有限公司 基于压缩光的量子雷达以及雷达探测方法
CN107884780A (zh) * 2016-09-30 2018-04-06 比亚迪股份有限公司 测距方法、激光雷达及车辆
CN109683171A (zh) * 2017-10-19 2019-04-26 上海禾赛光电科技有限公司 激光雷达及其测距方法
CN109799512A (zh) * 2019-01-07 2019-05-24 北京工业大学 脉冲激光测距仪

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017209643A1 (de) * 2017-06-08 2018-12-13 Robert Bosch Gmbh Betriebsverfahren und Steuereinheit für ein LiDAR-System, LiDAR-System und Arbeitsvorrichtung
CN110174664A (zh) * 2019-05-31 2019-08-27 深圳市速腾聚创科技有限公司 激光雷达系统和激光雷达回波信号的确定方法

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102176004A (zh) * 2011-02-22 2011-09-07 南京理工大学 基于多通道时延估计的激光飞行时间测量装置及其方法
CN102269908A (zh) * 2011-07-12 2011-12-07 南昌航空大学 连续泵浦合束镜前置的受激布里渊散射发生装置及方法
CN103885065A (zh) * 2014-03-21 2014-06-25 中国科学院上海光学精密机械研究所 双波长双脉冲的无模糊激光测距装置
CN104765040A (zh) * 2014-12-31 2015-07-08 西南技术物理研究所 单脉冲波形识别提取方法
CN107884780A (zh) * 2016-09-30 2018-04-06 比亚迪股份有限公司 测距方法、激光雷达及车辆
CN106546993A (zh) * 2016-11-04 2017-03-29 武汉万集信息技术有限公司 一种提高脉冲式激光测距精度的测距装置及测距方法
CN106932767A (zh) * 2017-04-17 2017-07-07 浙江神州量子网络科技有限公司 基于压缩光的量子雷达以及雷达探测方法
CN109683171A (zh) * 2017-10-19 2019-04-26 上海禾赛光电科技有限公司 激光雷达及其测距方法
CN109799512A (zh) * 2019-01-07 2019-05-24 北京工业大学 脉冲激光测距仪

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115902835A (zh) * 2021-09-30 2023-04-04 深圳市速腾聚创科技有限公司 一种雷达数据收发装置、测距方法及激光雷达
CN115902835B (zh) * 2021-09-30 2024-02-27 深圳市速腾聚创科技有限公司 一种雷达数据收发装置、测距方法及激光雷达
CN113759340A (zh) * 2021-11-10 2021-12-07 北京一径科技有限公司 回波信号处理方法及装置、激光雷达及存储介质
WO2023125321A1 (zh) * 2021-12-30 2023-07-06 武汉万集光电技术有限公司 激光雷达的信号处理方法、装置及存储介质

Also Published As

Publication number Publication date
CN112740066B (zh) 2023-08-04
US20210333360A1 (en) 2021-10-28
WO2020239084A1 (zh) 2020-12-03

Similar Documents

Publication Publication Date Title
CN112740066B (zh) 一种多脉冲激光雷达系统抗干扰处理方法及装置
EP3457177B1 (en) Distance measurement apparatus
CA3017735C (en) Integrated illumination and detection for lidar based 3-d imaging
US10345434B2 (en) Time-of-flight measurement apparatus and time-of-flight measurement method with ambiguity resolution in real time
US20180259620A1 (en) Radar data buffering
CN112014824B (zh) 一种多脉冲抗干扰信号处理方法及装置
US20160377721A1 (en) Beat signal bandwidth compression method, apparatus, and applications
US20190361098A1 (en) Parallel Photon Counting
CN110174664A (zh) 激光雷达系统和激光雷达回波信号的确定方法
WO2019200833A1 (zh) 一种测距方法、装置、测距传感器以及传感阵列
WO2020037167A1 (en) Methods and systems for increasing the range of time-of-flight systems by unambiguous range toggling
US20200241141A1 (en) Full waveform multi-pulse optical rangefinder instrument
US11486980B2 (en) Lidar receiver with dual analog-to-digital converters
CN111257910A (zh) 激光雷达系统和激光雷达探测方法
CN109212544B (zh) 一种目标距离探测方法、装置及系统
CN114185057A (zh) 一种探测方法、装置和终端
CN110662984A (zh) 用于对象检测的方法和设备以及激光雷达系统
WO2020142948A1 (zh) 一种激光雷达设备、专用集成电路及测距装置
US20210396876A1 (en) Optical distance measurement apparatus
US20210302588A1 (en) Time of flight ranging system using multi-valued signals
CN212694051U (zh) 激光雷达系统
CN111164379A (zh) 用于激光测距的方法和装置
CN111929662B (zh) 感测装置
WO2022089464A1 (zh) 一种探测方法及探测系统
US20230315555A1 (en) Data stream watchdog injection

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant