CN113050119A - Judgment method suitable for interference of optical flash three-dimensional imaging radar - Google Patents
Judgment method suitable for interference of optical flash three-dimensional imaging radar Download PDFInfo
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- CN113050119A CN113050119A CN202110291412.5A CN202110291412A CN113050119A CN 113050119 A CN113050119 A CN 113050119A CN 202110291412 A CN202110291412 A CN 202110291412A CN 113050119 A CN113050119 A CN 113050119A
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
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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
- G01S7/495—Counter-measures or counter-counter-measures using electronic or electro-optical means
Abstract
The invention discloses a method for judging interference of an optical flash three-dimensional imaging radar. The method can judge the interference of the short-term strong light incidence or the long-term direct background light entering the Flash imaging radar, realizes the definition of the distance range of the target according to a range gate gating method and a pulse rising edge and falling edge measuring method, and achieves the prejudgment of the imaging radar and the target interference. The method is simple and reliable, and can reduce the false alarm rate of the flash three-dimensional imaging radar.
Description
Technical Field
The invention belongs to the field of industry, and relates to a method for judging optical flash three-dimensional imaging interference.
Background
The basic principle of optical three-dimensional imaging technology is to collect reflected radiation from a probe scene using an illumination optical pulse. The optical active illumination is completely independent in daylight or night light environment conditions, so the image contrast is more robust in this respect.
The optical three-dimensional imaging technology has the advantages that: (1) the optical system is used as an illumination light source, does not depend on ambient light, can well avoid the influence of sunlight on a detection system, and realizes the all-day work. (2) The optics have excellent directivity and extremely high power density, so that the working distance of the high-precision imaging system can be enlarged. (3) The three-dimensional information of the target can be directly acquired without depending on the target characteristics, and the method can be better suitable for non-cooperative target imaging. (4) By using the distance information, optical interference and clutter can be filtered out. However, the traditional scanning type optical three-dimensional imaging is restricted by the imaging speed and has certain limitation, and the application of the focal plane array technology can greatly improve the imaging speed so as to achieve the index which is similar to that of the passive imaging technology.
Optical three-dimensional imaging technology has great application potential in many space applications due to its unique technical characteristics and advantages. The high-speed high-resolution three-dimensional data acquisition capability of the system enables the system to be used for short-range all-weather target detection, classification, identification and tracking on autonomous rendezvous and docking, high-resolution mapping to the ground, high-speed autonomous navigation guidance, automatic landing assistance \ tactical aircraft. And (3) completing a closed-loop fire control task: obstacle avoidance and terrain tracking for helicopters or low-altitude aircraft; optical radar guidance on cruise missiles: target and terrain detection, target resolution, identification and tracking. The method has unique advantages in the application fields of terrain following, obstacle avoidance, middle-segment route position correction, end-segment guidance and the like, and provides a reliable and effective detection mode for successful implementation of such tasks. As well as for viewing suspicious objects and areas, such as areas obscured by vegetation, camouflage netting, curtains, blinds or shaded windows. Unlike visible and near infrared light, optics are capable of penetrating windows of buildings and vehicles and can be used to detect and detect the presence of a person in a building or automobile. Other applications include topographical mapping, such as trees, roads, and buildings can be classified. The application in the field of automatic driving is wide and urgent at present.
The optical three-dimensional imaging technology is classified as follows: scanning and non-scanning three-dimensional imaging area array radars, optical flash three-dimensional imaging radars, structured light three-dimensional imaging radars and triangulation three-dimensional imaging radars. The optical Flash three-dimensional imaging radar measures the distance by adopting the phase proportion of the pulse width, and the distance error calculated when external short-time strong light is incident or long-time background light directly enters the Flash imaging radar is large and cannot be used as effective data, so that the judgment of the distance error is required to be realized by some means to ensure the effectiveness of the three-dimensional image data.
The working core calculation distance of the optical flash three-dimensional imaging radar is shown in figure 1, and the light emission pulse width is T0Pulse widths of phase pulse sequence 1 and phase pulse sequence 2 are T0Mutually differing in time by a light emission pulse width T0. Assume that the echo beam energy sampled by phase pulse sequence 1 is S0The energy of the sampled echo beam in the phase pulse sequence 2 is S1According to the principle of phase optical flash three-dimensional imaging radar, the time difference between pulse time sequence echo pulse and emission pulse of the third and fourth in figure 1
Obtaining the distance between the target and the radar
Where c is the free-space light velocity constant. As can be seen from the above formula, the background light interference will occur with the sampled echo beam energy S0And S1And thus the failure of the imaging. There is therefore a need for an efficient means for efficient determination of external disturbances.
In the prior art, no effective judgment method for external interference of the optical Flash imaging radar exists.
Disclosure of Invention
The technical problem solved by the invention is as follows: in the optical flash three-dimensional imaging radar, in order to seek to detect that the imaging distance is farther, the integration time of the flash radar is far longer than the pulse width, and the integration time is the accumulation of a plurality of pulses. The pulse light emission is divided into a light emitting time period and an idle period, the idle period of the light pulse is in the integration time, but no detection charge is accumulated, and the light emitting time period of the light pulse is in the integration time, and the detection charge is effectively accumulated. Therefore, the energy value error of the sampled echo light beam can occur due to stray light interference in the light pulse light-emitting time period, and further the imaging failure is influenced. There is therefore a need for effective means to reduce errors.
1. Aiming at the failure problem of imaging influenced by stray light, a single-point detection light beam is adopted to receive signals, and the calculation of the distance range is realized through the rising edge and the falling edge of a signal pulse, so that the minimum distance estimation of an imaging failure image is achieved.
2. At the present stage, the mutual interference identification or timing background stray light interference of a plurality of flash three-dimensional imaging radars can be avoided by adopting a time pulse coding method.
The invention is realized by the following technical scheme: the system comprises a space light signal emission source, an optical flash three-dimensional imaging phase pulse radar receiver, an optical single-point ranging radar receiver, a single-point ranging radar processor, a comprehensive signal and an output;
a method for judging interference of an optical flash three-dimensional imaging radar is characterized by comprising the following steps:
(1) and starting the work, wherein one path of the phase pulse radar for optical flash three-dimensional imaging starts to work, and the other path of the optical single-point ranging radar starts to work. The three-dimensional imaging phase pulse radar has the same field of view as the single-point range radar, and the transmitting optical source is the same source and starts working at the same time
(2) The optical flash three-dimensional imaging radar acquires data, and a three-dimensional image is calculated according to an optical flash three-dimensional imaging radar formula. Meanwhile, the optical single-point ranging radar acquires data, and the distance range of the target is defined according to a range gate gating method and a pulse rising edge and falling edge measuring method.
(3) In the detection result of the single-point ranging radar, when the detected pulse width is smaller than the emission pulse width T0The image can be output by feedback, but the distance information of the image is not real, and the distance between the target and the radar is considered as interferenceWhen the detected pulse width is equal to 2 times of the transmitted pulse width, the interference is considered to be strongly interfered, and a three-dimensional image can not be output to indicate other operations. When the detected pulse width T is between the two conditions, the distance of the output image is wrong, and the distance range of the single-point pulse is used as the real judgment of the distance between the target and the radar. And (4) returning to the step (2) and repeating and continuing.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention adopts a single-point detection radar to receive a wide field of view signal, realizes the calculation of the distance range through the rising edge and the falling edge of a signal pulse, measures the inverse measurement distance range by utilizing the pulse light and realizes the identification of interference by assisting the gating of a range gate. The problem that the optical flash three-dimensional imaging radar is easily interfered by the outside world in the long-time accumulation process is solved.
(2) The invention adopts a time pulse coding method, and can distinguish the interference among a plurality of imaging radars. The problem of interference among a plurality of flash three-dimensional imaging radars in the prior art is solved.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a schematic diagram of a flash three-dimensional imaging radar time sequence;
FIG. 2 is a block diagram of a three-dimensional imaging interference recognition system for optical flash according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a temporal pulse encoding method;
fig. 4 is a flow chart of a method of the present invention.
In the drawings, fig. 4 is an abstract drawing.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
As shown in fig. 2, the interference identification system suitable for optical flash three-dimensional imaging is characterized by comprising: the system comprises a space light signal emission source, an optical flash three-dimensional imaging radar receiver, an optical single-point ranging radar receiver, a single-point ranging radar processor, a comprehensive signal and output equipment. The space light signal emission source is pulse light output by the integrated signal, the light beam is subjected to time pulse coding and pulse width setting, and the time pulse coding is shown as a fifth chart in fig. 3. Pulse width of T0Pulse repetition time of TR+(n-1)T0And (n is 1,2.. 8), the value of n can be designed according to the system capacity, and n is 8. By the time pulse coding, whether the echo signal of the target is an interference signal can be distinguished through time gating in single-point ranging. The optical flash three-dimensional imaging radar receiver is used for receiving light energy and performing photoelectric conversion based on an optical flash phase pulse three-dimensional imaging principle. The optical single-point distance measuring radar receiver receives the light energy reflected by the space target from the space light signal emitting source, and performs photoelectric detection and amplification. The single-point range radar processor obtains the nearest distance between the target and the radar according to the pulse signal output by the optical single-point range radar receiver and the comparison between the rising edge of the pulse and the rising edge of the emission. And judging the farthest distance of the target according to the pulse falling edge and the pulse width, so as to obtain the distance range. The integrated signal and output equipment is accessed into flash three-dimensional imaging data and range data processed by the single-point range radar processor, and the range value of the flash three-dimensional imaging radar is compared with the range value of the single-point range radar.
The embodiment of the invention provides a method for judging interference of optical flash three-dimensional imaging, aiming at the problem of failure of imaging influenced by stray light, a single-point detection light beam is adopted to receive a signal, and the calculation of a distance range is realized through the rising edge and the falling edge of a signal pulse, so that the minimum distance estimation of an imaging failure image is realized. The method has the advantages that the mutual interference identification or timing background stray light interference of a plurality of flash three-dimensional imaging radars can be realized, and the interference can be avoided by adopting a time pulse coding method. The specific implementation steps are as follows:
(1) the operation starts, and as shown in fig. 2, the spatial light signal emission source does not emit pulsed light according to the integrated signal and the time pulse code time sequence given by the output device. The time pulse encoding method is shown as (v) in FIG. 3, where the pulse width is T0With a pulse interval of TRThe 1 st pulse starts at 0 and goes through TRFor the 2 nd pulse transmission start time, TR+T0The starting time T of the nth pulse is obtained by analogy with the starting time T of the 3 rd pulseR+(n-2)T0(n 2, 3.. 8) the value of n here can be designed according to the system capacity, and this implementation n is 8, so that the 9 th pulse start time is TR+7T0Through TRThe start time is transmitted for the 10 th pulse, thus a pulse code repetition. Similarly, in fig. 3, (+) is time-coded phase pulse time sequence 1, which is identical to time-coded transmit pulse time sequence, and in fig. 3, (+) is time-coded phase pulse time sequence 2, which is delayed by 1 time pulse width T relative to time-coded transmit pulse time sequence0The temporal coding format is the same. In fig. 3, the received time sequence of the time-coded single-point ranging is related to the same time-coding format.
(2) The optical flash three-dimensional imaging radar receiver is used for receiving light energy and performing photoelectric conversion based on an optical flash three-dimensional imaging principle. The optical single-point distance measuring radar receiver receives the light energy reflected by the space target from the space light signal emitting source, and performs photoelectric detection and amplification. According to the principle of phase pulse flash three-dimensional imaging radar, such as the time difference between pulse time sequence echo pulse and transmitting pulse of the third and fourth in figure 1
Obtaining the distance between the target and the radar
(3) Meanwhile, as shown in fig. 2, the optical single-point ranging radar receiver acquires data and implements a range boundary of a target according to a pulse.
First, the range gate is selected, and the distance L selected by the range gate is the optical flight distance of the pulse width time of the pulse emission start time, so that the time window width corresponding to the range gate is 2T0＝4L/c。
Secondly, the distance between a specific target and the radar is measured according to a pulse rising edge and falling edge measuring method. Assuming that the pulse width detected by the optical single-point ranging radar is T and the stray light interference time is T, the following identification relation can be obtained by combining the stray light interference:
performing pulse width discrimination when the detected pulse width T is less than the transmitted pulse width T0The interference is considered, so that the pulse width T can be set to 0, and when the detected pulse width T is equal to 2 times of the transmission pulse width, the interference is considered to be strong interference. When the detected pulse width T is between the above two cases, it can be determined according to the time difference tau between the rising edge of the pulse and the rising edge of the emission pulse1Calculating the minimum distance L between the target and the radar1＝0.5cτ1According to the time difference tau between the falling edge of the detection pulse and the rising edge of the emission pulse2Calculating the maximum distance L between the target and the radar2＝0.5c(τ2-T0)。
(4) As shown in FIG. 2, the interference situation of the three-dimensional image is judged through the integrated processing and output device, when the detected pulse width T is smaller than the emission pulse width T0The image is three-dimensionally output, but the distance information of the image is considered as interferenceThe information is not true, and the distance between the target and the radar has no risk prejudgment conclusion of collision; when the detected pulse width T is equal to 2 times the transmitted pulse width, the interference is considered to be strongly interfering, and a three-dimensional image may not be output, indicating other operations. When the detected pulse width T is between the two conditions, the distance of the output image is wrong, and the distance range of the single-point pulse is used as the real judgment of the distance between the target and the radar.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (1)
1. A method for judging interference of an optical flash three-dimensional imaging radar is characterized by comprising the following steps:
(1) starting the work, wherein one path of the optical flash three-dimensional imaging radar starts to work, and the other path of the optical single-point ranging radar starts to work; the field of view of the three-dimensional imaging radar is the same as that of the single-point ranging radar, and the transmitting optical source starts to transmit pulsed light;
(2) the method comprises the steps that an optical flash three-dimensional imaging radar acquires data, a three-dimensional image is calculated according to an optical flash three-dimensional imaging radar formula, meanwhile, the optical single-point ranging radar acquires the data, and the distance range of a target is defined according to a range gate gating method and a pulse rising edge and falling edge measuring method;
(3) in the detection result of the single-point ranging radar, when the detected pulse width is smaller than the emission pulse width T0When the interference is considered, the feedback image can be output, but the distance information of the image is not real, the distance between the target and the radar has no risk of collision, and when the pulse width is detectedIf the degree is equal to 2 times of the width of the transmitted pulse, the interference is considered to be strongly interfered, and a three-dimensional image can not be output to indicate other operations; when the detected pulse width T is between the two conditions, the distance of the output image is wrong, and when the distance range of the single-point pulse is used as the real judgment of the distance between the target and the radar; and (4) returning to the step (2) and repeating and continuing.
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