CN112904354A - High-precision laser ranging distance simulation device - Google Patents
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- CN112904354A CN112904354A CN202110088653.XA CN202110088653A CN112904354A CN 112904354 A CN112904354 A CN 112904354A CN 202110088653 A CN202110088653 A CN 202110088653A CN 112904354 A CN112904354 A CN 112904354A
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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
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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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 high-precision laser ranging distance simulation device, wherein a laser pulse signal sent by an emitting end of a laser range finder enters a laser detector and an amplifying comparison circuit to be converted into an electric pulse signal, the generated pulse signal is divided into two paths and respectively sent to an FPGA module and a TDC module, the FPGA module sends control and communication information to the TDC module through an IO interface, the FPGA module sends a pulse driving signal to a laser diode and a driving circuit through the IO interface to enable the laser diode to emit light, the laser signal output by the laser diode is split through a light splitting prism, one path is sent to a receiving end of the laser range finder, the other path is sent to the laser detector, the FPGA module communicates with a communication module through the IO interface, and the communication module communicates with an upper computer through an RS232 interface. The invention improves the distance simulation precision of the device, enhances the reliability of the device and reduces the use and maintenance cost of the device.
Description
Technical Field
The invention belongs to the technical field of laser ranging distance simulation, and mainly relates to a high-precision laser ranging distance simulation device of a laser range finder.
Background
With the rapid development of laser ranging technology, pulse type laser ranging is widely applied to various fields such as military, aviation, aerospace and the like due to the characteristics of large measuring range, high precision and strong anti-interference capability. The distance measurement precision and the distance measurement range are two most important indexes of the laser distance measuring instrument, and the two indexes can change along with the change of the external environment and the increase of the use time in the use process of the laser distance measuring instrument, so that the laser distance measuring instrument is tested by a related ground detection method to become important work content in the production development and the later use process of the laser distance measuring instrument.
At present, the ground monitoring aiming at the parameters of the pulse type laser range finder mainly comprises a physical target method, an optical fiber delay method and a photoelectric delay method, wherein the physical delay method has higher requirements on a target and a field, is difficult to accurately calibrate the real distance of a measured target object and is also limited by factors such as atmospheric visibility, detection time and the like; the optical fiber delay method is simple to realize and high in precision, but the length of the optical fiber used for testing is only fixed with a plurality of groups of numerical values, the simulation distance cannot be adjusted in real time, and the distance simulation in a large dynamic range is difficult to meet; the delay time of the photoelectric delay method can be adjusted and controlled from the outside through an upper computer, dynamic adjustment of the simulation distance is realized, however, as the clock used by the FPGA in the photoelectric delay method is mostly nanosecond, the distance simulation precision of the photoelectric delay method is limited to a great extent, and along with the change of the external environment and the extension of the service time, the device parameters in optics and circuits can be changed to reduce the distance simulation precision, and the factors seriously restrict the distance simulation precision of the photoelectric delay method and the use in severe environment. The invention utilizes the beam splitter prism to split the output laser signal and measures the output laser signal through the time digital conversion module (TDC module), thereby improving the nanosecond precision to the picosecond grade and weakening the influence on the simulation distance precision of the photoelectric delay method due to the change of device parameters.
Disclosure of Invention
Technical problem to be solved
The invention solves two technical problems, namely, the uncertainty error caused by the FPGA clock of the common photoelectric laser ranging distance simulation device is in nanosecond level, and the simulation precision is poor; and secondly, the problem that the simulation distance precision is reduced because the parameters of devices in an optical circuit and an electric circuit are changed when the using environment of the common photoelectric laser ranging distance simulation device is changed or the using time is increased is solved.
(II) technical scheme
In order to solve the technical problems, the invention provides a high-precision laser ranging distance simulation device, which splits laser output by a laser diode through a splitting prism and measures an output laser signal through a TDC module with time measurement precision of picosecond, so that uncertainty error caused by a clock is improved from nanosecond level to picosecond level, delays generated on an optical path and a circuit are mutually offset, and accurate simulation distance can be obtained when the use environment is changed or the service life is longer.
(III) advantageous effects
The high-precision laser ranging distance simulation device provided by the technical scheme has the following beneficial effects.
According to the device and the method, the time difference between the split laser pulse signal received by the detector and the laser pulse signal sent by the laser range finder is measured through the TDC module, the time measurement precision of the TDC module can reach picosecond level at most, the nanosecond time precision is improved by 2-3 orders of magnitude relative to that of an FPGA, and the distance simulation precision of the laser range finding distance simulation device is improved.
The invention (II) splits the laser output by the laser diode through the splitting prism, one path of laser is sent to the receiving end of the laser range finder, the other path of laser is sent to the detector end of the device, and the time difference of two laser pulse signals is measured through the TDC module, so that the delay of signal transmission in a light path and a circuit is offset, the distance simulation precision of the device is improved, the reliability of the device is enhanced, and the use and maintenance cost of the device is reduced.
Drawings
Fig. 1 is a schematic block diagram of a laser ranging distance simulation apparatus according to the present invention.
Fig. 2 is a flow chart of the operation of the FGPA module of the laser ranging distance simulation apparatus of the present invention.
Detailed Description
In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.
As shown in fig. 1, the high-precision laser ranging distance simulation device of the invention comprises a laser range finder, a laser detector, an amplification comparison circuit, an FPGA module, a TDC module, a laser diode, a driving circuit, a beam splitter prism, a communication module and an upper computer; laser pulse signals emitted by an emitting end of the laser range finder enter the laser detector and the amplifying comparison circuit to be converted into electric pulse signals, the generated pulse signals are respectively sent to the FPGA module and the TDC module in two paths, the FPGA module sends control and communication information to the TDC module through an IO interface, the FPGA module sends pulse driving signals to the laser diode and the driving circuit through the IO interface to enable the laser diode to emit light, laser signals output by the laser diode are split through a light splitting prism, one path of laser signals are sent to a receiving end of the laser range finder, the other path of laser signals are sent to the laser detector, the FPGA module communicates with the communication module through the IO interface, and the communication module communicates with an upper computer through an RS232 interface.
Setting the time when the laser rangefinder transmitting end outputs laser as t1, the delay generated by the laser signal from the laser rangefinder transmitting end to the laser detector and the amplification comparison circuit as Δ t1, the delay generated by the laser detector and the amplification comparison circuit from the laser signal received to the pulse signal output as Δ t2, the delay generated by the laser detector and the amplification comparison circuit and the FPGA module, the laser detector and the amplification comparison circuit and the TDC module when wiring are adjacently arranged, the circuit delay can be ignored, the time when the FPGA module outputs the laser pulse driving signal as t2, the delay generated by the pulse driving signal from the FPGA module through the laser diode and the driving circuit until the laser signal is transmitted to the beam splitter prism as Δ t3, the delay generated by the laser signal from the beam splitter prism to the laser rangefinder receiving end as Δ t4, the delay generated by the laser signal from the beam splitter prism to the laser detector as Δ t5, the speed of light in air is c.
The moment when the laser detector receives the laser signal of the transmitting end of the laser range finder is
t1+△t1
The time when the laser signal of the laser range finder is output from the laser detector and the amplifying and comparing circuit is converted into the electric pulse signal is
t1+△t1+△t2
The time when the pulse signal output by the FPGA module is converted into the laser signal by the laser diode and the driving circuit until the laser signal is transmitted to the beam splitter prism is
t2+△t3
The moment when the output signal of the laser diode is sent to the receiving end of the laser range finder is
t2+△t3+△t4
The output signal of the laser diode is sent to the laser detector at the moment
t2+△t3+△t5
The output signal of the laser diode is output by the beam splitter prism, the laser detector and the amplifying and comparing circuit at the moment
t2+△t3+△t5+△t2
The time difference between the laser range finder emitting laser light and the laser light output by the receiving laser diode is
(t2+△t3+△t4)-t1＝t2-t1+△t3+△t4
The time difference between the time when the TDC module receives the laser signal sent by the laser diode and the time when the TDC module receives the laser signal sent by the laser range finder transmitting end is
(t2+△t3+△t5+△t2)-(t1+△t1+△t2)＝t2-t1+△t3+(△t5-△t1)
In order to make the time difference between the laser signal sent by the laser diode and the laser signal sent by the emitting end of the laser range finder measured by the TDC module equal to the time difference between the laser range finder emitting laser and receiving the laser output by the laser diode, that is, the device reports the analog distance of the upper computer equal to the analog distance measured by the laser range finder, then:
△t4＝△t5-△t1
namely:
c×△t5＝c×(△t4+△t1)
therefore, when the laser range finder is placed, the sum of the distance between the transmitting end of the laser range finder and the laser detector and the distance between the receiving end of the laser range finder and the beam splitter prism is equal to the distance between the beam splitter prism and the laser detector, so that higher distance simulation precision is obtained.
Based on the distance simulation apparatus, the FPGA module in this embodiment will operate according to the flow shown in fig. 2.
Firstly, after the system is powered on, the FPGA module completes initialization setting of the TDC module and frequency doubling setting of the FPGA module.
And secondly, the FPGA module waits for the upper computer to send the analog distance data, if the analog distance data sent by the upper computer is received, the next step is carried out, and if the analog distance data sent by the upper computer is not received, the FPGA module continues to wait.
And thirdly, the FPGA module converts the distance data into time data according to the relation between the distance and the light speed, converts the time data into clock numbers according to the clock frequency multiplied by the FPGA module, and takes the clock numbers as the initial values of the counter of the FPGA module.
And fourthly, the FPGA module waits for the external laser signal processed by the amplifying and comparing circuit, if the external laser signal is received, the next step is carried out, the counter starts to count reversely according to the clock after the frequency multiplication of the FPGA module, and if the external laser signal is not received, the counter continues to wait.
And fifthly, when the counter of the FPGA module counts to 0 reversely, the FPGA module sends a laser output signal to the driving circuit.
And sixthly, the FPGA module waits for a conversion completion signal of the TDC module, and if the conversion completion signal sent by the TDC module is received, the interval time of the two lasers measured by the TDC module is read, and the time information is converted into distance information and sent to an upper computer through an RS232 interface.
And seventhly, jumping back to the second step, and repeatedly executing the second step to the sixth step until power is off.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A high-precision laser ranging distance simulation device is characterized by comprising a laser range finder, a laser detector, an amplification comparison circuit, an FPGA module, a TDC module, a laser diode, a driving circuit, a beam splitter prism, a communication module and an upper computer; laser pulse signals emitted by an emitting end of the laser range finder enter the laser detector and the amplifying comparison circuit to be converted into electric pulse signals, the generated pulse signals are respectively sent to the FPGA module and the TDC module in two paths, the FPGA module sends control and communication information to the TDC module through an IO interface, the FPGA module sends pulse driving signals to the laser diode and the driving circuit through the IO interface to enable the laser diode to emit light, laser signals output by the laser diode are split through a light splitting prism, one path of laser signals are sent to a receiving end of the laser range finder, the other path of laser signals are sent to the laser detector, the FPGA module communicates with the communication module through the IO interface, and the communication module communicates with an upper computer through an RS232 interface.
2. The high precision laser range-finding simulator of claim 1 wherein the laser detector is arranged coaxially with the transmitting end of the laser range finder.
3. The apparatus according to claim 2, wherein the beam splitter prism is provided with a laser diode on one side, the laser signal output by the laser diode is split by the beam splitter prism, the reflective side is a laser detector, and the transparent side is a receiving end of the laser range finder.
4. The high-precision laser ranging distance simulation device according to claim 3, wherein the laser detector and the amplifying and comparing circuit are adjacently arranged with the FPGA module and the TDC module when the laser detector and the amplifying and comparing circuit are arranged with the FPGA module.
5. The high-precision laser ranging distance simulation device according to claim 4, wherein the sum of the distance from the emitting end of the laser ranging instrument to the laser detector and the distance from the receiving end of the laser ranging instrument to the beam splitter prism is equal to the distance from the beam splitter prism to the laser detector.
6. The high-precision laser ranging distance simulation device according to claim 5, wherein the time when the laser signal is output from the laser rangefinder emission end is recorded as t1, the delay generated by the laser signal from the laser rangefinder emission end to the laser detector and amplification comparison circuit end is recorded as Δ t1, the delay generated by the laser detector and amplification comparison circuit from the time when the laser signal is received to the time when the laser signal is output is recorded as Δ t2, the time when the FPGA module outputs the laser pulse driving signal is recorded as t2, the delay generated by the pulse driving signal output from the FPGA module through the laser diode and the driving circuit until the laser signal is transmitted to the beam splitter prism is recorded as Δ t3, the delay generated by the laser signal from the beam splitter prism to the laser rangefinder receiving end is recorded as Δ t4, the delay generated by the laser signal from the beam splitter to the laser detector is recorded as Δ t5, and the light speed in the air is recorded as c;
then, the time when the laser detector receives the laser signal of the transmitting end of the laser range finder is as follows: t1 +. DELTA.t 1;
the time when the laser signal of the laser range finder output from the laser detector and the amplifying and comparing circuit is converted into the electric pulse signal is as follows: t1 +. DELTA.t 1 +. DELTA.t 2
The time when the pulse signal output by the FPGA module is converted into a laser signal through the laser diode and the driving circuit until the laser signal is transmitted to the beam splitter prism is as follows: t2 +. DELTA.t 3
The time when the laser diode output signal is sent to the receiving end of the laser range finder is as follows: t2 +. DELTA.t 3 +. DELTA.t 4
The time when the laser diode output signal is sent to the laser detector is as follows: t2 +. DELTA.t 3 +. DELTA.t 5
The time when the output signal of the laser diode is output by the beam splitter prism, the laser detector and the amplifying and comparing circuit is as follows: t2 +. DELTA.t 3 +. DELTA.t 5 +. DELTA.t 2
The time difference between the laser range finder and the laser diode from the emitting laser to the receiving laser is as follows: (t2 +. DELTA.t 3 +. DELTA.t 4) -t1 ═ t2-t1 +. DELTA.t 3 +. DELTA.t 4.
7. The high-precision laser ranging distance simulation device according to claim 6, wherein the time difference between the laser signal received by the TDC module and emitted by the laser diode and the laser signal received by the laser range finder emitting end is as follows:
(t2+△t3+△t5+△t2)-(t1+△t1+△t2)＝t2-t1+△t3+(△t5-△t1)。
8. the high-precision laser ranging distance simulation device according to claim 7, wherein the TDC module measures that a time difference between receiving the laser signal emitted by the laser diode and receiving the laser signal emitted by the emitting end of the laser range finder is equal to a time difference between the laser range finder emitting the laser and receiving the laser output by the laser diode, that is, the device reports that the simulated distance of the upper computer is equal to the simulated distance measured by the laser range finder, then:
△t4＝△t5-△t1
namely:
c×△t5＝c×(△t4+△t1)。
9. the high-precision laser ranging distance simulation device according to claim 8, wherein the working process of the FPGA module is as follows:
firstly, after a system is powered on, an FPGA module completes initialization setting of a TDC module and frequency doubling setting of the FPGA module;
secondly, the FPGA module receives the analog distance data sent by the upper computer, converts the distance data into time data according to the relation between the distance and the light speed, converts the time data into the number of clocks according to the clock frequency multiplied by the FPGA module, and takes the number of clocks as the initial value of the counter of the FPGA module;
thirdly, the FPGA module receives the external laser signal processed by the amplifying and comparing circuit, and the counter performs reverse counting according to the clock frequency-doubled by the FPGA module;
fifthly, when the counter of the FPGA module counts to 0 reversely, the FPGA module sends a laser output signal to the drive circuit;
and sixthly, the FPGA module receives a conversion completion signal sent by the TDC module, reads the interval time of the two lasers measured by the TDC module, converts the time information into distance information and sends the distance information to the upper computer through an RS232 interface.
10. Use of the high precision laser ranging distance simulation apparatus according to any one of claims 1 to 9 in the field of laser ranging distance simulation.
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