CN113156412A - Electromagnetic interference detection method and system of laser radar - Google Patents
Electromagnetic interference detection method and system of laser radar Download PDFInfo
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Abstract
The invention relates to an electromagnetic interference detection method and system of a laser radar, wherein the method comprises the following steps: obtaining initial ranging precision of a laser radar to be detected; constructing a multi-source radiation field, wherein the multi-source radiation field comprises a background interference signal, a radar signal and a communication signal; the signal type in the background interference signal exceeds the set number, and the signal intensity of the background interference signal is lower than the set intensity value; adjusting the signal type, the signal frequency and the signal field intensity of the multi-source radiation field to obtain the testing ranging precision of the laser radar to be detected under the conditions of different signal types, different signal frequencies and different signal field intensities, wherein each testing ranging precision is the number of error points of a circle of scanning of the laser radar to be detected on a set object at a set distance; the multi-source radiation field is a radiation field formed by a background interference signal, a radar signal and a communication signal; and judging the boundary performance of the electromagnetic interference of the laser radar to be detected through the testing ranging precision and the initial ranging precision. The invention improves the comprehensiveness and reliability of detection.
Description
Technical Field
The invention relates to the field of electromagnetic environment effect detection, in particular to an electromagnetic interference detection method and system of a laser radar.
Background
Lidar is an active imaging technology developed on the basis of photoelectric radiation detection and traditional radar. With the development of laser radar technology, the laser radar has wide application in the fields of terminal guidance, active laser search, camouflaged armored vehicle detection, automatic landing of a planetary detector, aircraft collision avoidance and the like.
Meanwhile, with the rapid development of science and technology, the frequency spectrums of various electronic devices such as radar electronic devices and communication electronic devices are wider and wider, the power is higher and higher, and the types of adopted signal patterns are more and more, so that the electromagnetic environment of the laser radar is more and more complex and changeable, and the laser radar needs to perform more rigorous tests under the complex and dynamically variable electromagnetic environment.
However, in the process of evaluating the electromagnetic environment effect of the laser radar in a complex electromagnetic environment, due to the fact that all electromagnetic signal parameter combinations cannot be exhausted, the problems that performance boundaries are not clear and a detection method is incomplete exist, and reliability of evaluating the electromagnetic environment effect of the laser radar is insufficient.
Disclosure of Invention
The invention aims to provide an electromagnetic interference detection method and system of a laser radar, which improve the comprehensiveness and reliability of detection.
In order to achieve the purpose, the invention provides the following scheme:
an electromagnetic interference detection method of a laser radar includes:
obtaining initial ranging precision of a laser radar to be detected; the initial ranging precision is the number of error points of a circle of scanning of the laser radar to be detected on a set object which is at a set distance;
constructing a multi-source radiation field, wherein the multi-source radiation field comprises a background interference signal, a radar signal and a communication signal; the signal types in the background interference signals exceed a set number, and the signal intensity of the background interference signals is lower than a set intensity value;
adjusting the signal type, the signal frequency and the signal field intensity of a multi-source radiation field to obtain the testing ranging precision of the laser radar to be detected under the conditions of different signal types, different signal frequencies and different signal field intensities, wherein each testing ranging precision is the number of error points of a circle scanned by the laser radar to be detected on a set object at a set distance; the multi-source radiation field is a radiation field formed by the background interference signal, the radar signal and the communication signal;
and judging the boundary performance of the electromagnetic interference of the laser radar to be detected according to the testing distance measurement precision and the initial distance measurement precision.
Optionally, the determining, by the test distance measurement accuracy and the initial distance measurement accuracy, the boundary performance of the electromagnetic interference of the laser radar to be detected specifically includes:
defining the number of error points of which the measuring distance precision exceeds the initial distance measuring precision as the measuring precision by the percentage of the total number of point clouds; the total point cloud points are points of a circle scanned by the laser radar to be detected on a set object with a set distance; recording a signal type, a signal frequency and a signal intensity corresponding to the percentage of the test accuracy lower than a first threshold as a first boundary, recording a signal type, a signal frequency and a signal intensity corresponding to the percentage of the test accuracy lower than a second threshold as a second boundary, and recording a signal type, a signal frequency and a signal intensity corresponding to the percentage of the test accuracy lower than a third threshold as a third boundary, wherein the first boundary represents that the performance of the laser radar to be detected is reduced to a set range, the second boundary represents that the laser radar to be detected is in an imaging error, and the third boundary represents that the laser radar equipment to be detected is damaged.
Optionally, the first threshold is 98% and the second threshold is 80%.
Optionally, generating a background interference signal by a background electromagnetic environment generating module; the background electromagnetic environment generating module comprises a first industrial personal computer, a first arbitrary signal generator, a first microwave signal source, a first frequency mixer, a first power amplifier, a first directional coupler, a first power meter and a first radiation antenna;
the first industrial personal computer is connected with the first arbitrary signal generator, the output end of the first arbitrary signal generator is connected with the intermediate frequency interface of the first frequency mixer, the output end of the first microwave signal source is connected with the local oscillator port of the first frequency mixer, the output end of the first frequency mixer is connected with the signal input end of the first power amplifier, the output end of the first power amplifier is connected with the input end of the first directional coupler, the output end of the first directional coupler is connected with the first radiation antenna, and the coupling end of the first directional coupler is connected with the monitoring probe of the first power meter; the first industrial personal computer is used for controlling the signal type, the signal frequency and the signal intensity of the signal generated by the first arbitrary signal generator.
Optionally, a radar signal is generated through a radar interference generating module, where the radar interference generating module includes a second industrial personal computer, a second arbitrary signal generator, a second microwave signal source, a second mixer, a second power amplifier, a second directional coupler, a second power meter, and a second radiation antenna;
the second industrial personal computer is connected with the second arbitrary signal generator, the output end of the second arbitrary signal generator is connected with the intermediate frequency interface of the second frequency mixer, the output end of the second microwave signal source is connected with the local oscillator port of the second frequency mixer, the output end of the second frequency mixer is connected with the signal input end of the second power amplifier, the output end of the second power amplifier is connected with the input end of the second directional coupler, the output end of the second directional coupler is connected with the second radiation antenna, and the coupling end of the second directional coupler is connected with the monitoring probe of the second power meter; the second industrial personal computer is used for controlling the signal type, the signal frequency and the signal intensity of the signal generated by the second arbitrary signal generator.
Optionally, a communication signal is generated through a communication interference generating module, where the communication interference generating module includes a third industrial personal computer, a third arbitrary signal generator, a third microwave signal source, a third mixer, a third power amplifier, a third directional coupler, a third power meter, and a third radiation antenna;
the third industrial personal computer is connected with the third arbitrary signal generator, the output end of the third arbitrary signal generator is connected with the intermediate frequency interface of the third mixer, the output end of the third microwave signal source is connected with the local oscillator port of the third mixer, the output end of the third mixer is connected with the signal input end of the third power amplifier, the output end of the third power amplifier is connected with the input end of the third directional coupler, the output end of the third directional coupler is connected with the third radiation antenna, and the coupling end of the third directional coupler is connected with the monitoring probe of the third power meter; and the third industrial personal computer is used for controlling the signal type, the signal frequency and the signal intensity of the signal generated by the third arbitrary signal generator.
The invention also discloses an electromagnetic interference detection system of the laser radar, which comprises the following components:
the initial ranging precision obtaining module is used for obtaining the initial ranging precision of the laser radar to be detected; the initial ranging precision is the number of error points of a circle of scanning of the laser radar to be detected on a set object which is at a set distance;
the multi-source radiation field construction module is used for constructing a multi-source radiation field, and the multi-source radiation field comprises a background interference signal, a radar signal and a communication signal; the signal types in the background interference signals exceed a set number, and the signal intensity of the background interference signals is lower than a set intensity value;
each testing and ranging precision obtaining module is used for adjusting the signal type, the signal frequency and the signal field intensity of the multi-source radiation field and obtaining the testing and ranging precision of the laser radar to be detected under the conditions of different signal types, different signal frequencies and different signal field intensities, and each testing and ranging precision is the number of error points of a circle scanned by the laser radar to be detected on a set object at a set distance; the multi-source radiation field is a radiation field formed by the background interference signal, the radar signal and the communication signal;
and the boundary performance judging module of the laser radar to be detected is used for judging the boundary performance of the electromagnetic interference of the laser radar to be detected through each testing distance measurement precision and the initial distance measurement precision.
Optionally, the boundary performance determining module of the laser radar to be detected specifically includes:
the boundary performance judging unit of the laser radar to be detected is used for defining the number of error points of which the testing ranging precision exceeds the initial ranging precision and the percentage of the total number of point clouds as the testing precision; the total point cloud points are points of a circle scanned by the laser radar to be detected on a set object with a set distance; recording a signal type, a signal frequency and a signal intensity corresponding to the percentage of the test accuracy lower than a first threshold as a first boundary, recording a signal type, a signal frequency and a signal intensity corresponding to the percentage of the test accuracy lower than a second threshold as a second boundary, and recording a signal type, a signal frequency and a signal intensity corresponding to the percentage of the test accuracy lower than a third threshold as a third boundary, wherein the first boundary represents that the performance of the laser radar to be detected is reduced to a set range, the second boundary represents that the laser radar to be detected is in an imaging error, and the third boundary represents that the laser radar equipment to be detected is damaged.
Optionally, the first threshold is 98% and the second threshold is 80%.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the method comprises the steps of constructing a multi-source radiation field, and obtaining the testing and ranging precision of the laser radar to be detected under the conditions of different signal types, different signal frequencies and different signal field strengths by adjusting the signal types, the signal frequencies and the signal field strengths of the multi-source radiation field; and the boundary performance of the electromagnetic interference of the laser radar to be detected is judged through the testing distance measurement precision and the initial distance measurement precision, so that the detection comprehensiveness and reliability are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic flow chart of an electromagnetic interference detection method for a laser radar according to the present invention;
FIG. 2 is a schematic diagram of an electromagnetic interference detection system of a laser radar according to the present invention;
FIG. 3 is a schematic diagram of a multi-source radiation field structure according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide an electromagnetic interference detection method and system of a laser radar, which improve the comprehensiveness and reliability of detection.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic flow chart of an electromagnetic interference detection method of a laser radar according to the present invention, and as shown in fig. 1, the electromagnetic interference detection method of the laser radar includes:
step 101: obtaining initial ranging precision of a laser radar to be detected; the initial ranging precision is the number of error points of a circle of scanning of the laser radar to be detected on a set object which is at a set distance;
step 102: constructing a multi-source radiation field, wherein the multi-source radiation field comprises a background interference signal, a radar signal and a communication signal; the signal types in the background interference signals exceed a set number, and the signal intensity of the background interference signals is lower than a set intensity value;
step 103: adjusting the signal type, the signal frequency and the signal field intensity of a multi-source radiation field to obtain the testing ranging precision of the laser radar to be detected under the conditions of different signal types, different signal frequencies and different signal field intensities, wherein each testing ranging precision is the number of error points of a circle scanned by the laser radar to be detected on a set object at a set distance; the multi-source radiation field is a radiation field formed by the background interference signal, the radar signal and the communication signal;
step 104: and judging the boundary performance of the electromagnetic interference of the laser radar to be detected according to the testing distance measurement precision and the initial distance measurement precision.
The boundary performance of the laser radar electromagnetic interference to be detected is judged through the testing distance measurement precision and the initial distance measurement precision, and the method specifically comprises the following steps:
defining the number of error points of which the measuring distance precision exceeds the initial distance measuring precision as the measuring precision by the percentage of the total number of point clouds; the total point cloud points are points of a circle scanned by the laser radar to be detected on a set object with a set distance; recording a signal type, a signal frequency and a signal intensity corresponding to the percentage of the test accuracy lower than a first threshold as a first boundary, recording a signal type, a signal frequency and a signal intensity corresponding to the percentage of the test accuracy lower than a second threshold as a second boundary, and recording a signal type, a signal frequency and a signal intensity corresponding to the percentage of the test accuracy lower than a third threshold as a third boundary, wherein the first boundary represents that the performance of the laser radar to be detected is reduced to a set range, the second boundary represents that the laser radar to be detected is in an imaging error, and the third boundary represents that the laser radar equipment to be detected is damaged.
The first threshold is 98% and the second threshold is 80%.
The method further comprises the following steps: generating a background interference signal through a background electromagnetic environment generating module; the background electromagnetic environment generating module comprises a first industrial personal computer, a first arbitrary signal generator, a first microwave signal source, a first frequency mixer, a first power amplifier, a first directional coupler, a first power meter and a first radiation antenna;
the first industrial personal computer is connected with the first arbitrary signal generator, the output end of the first arbitrary signal generator is connected with the intermediate frequency interface of the first frequency mixer, the output end of the first microwave signal source is connected with the local oscillator port of the first frequency mixer, the output end of the first frequency mixer is connected with the signal input end of the first power amplifier, the output end of the first power amplifier is connected with the input end of the first directional coupler, the output end of the first directional coupler is connected with the first radiation antenna, and the coupling end of the first directional coupler is connected with the monitoring probe of the first power meter; the first industrial personal computer is used for controlling the signal type, the signal frequency and the signal intensity of the signal generated by the first arbitrary signal generator.
The method further comprises the following steps: generating a radar signal through a radar interference generating module, wherein the radar interference generating module comprises a second industrial personal computer, a second arbitrary signal generator, a second microwave signal source, a second frequency mixer, a second power amplifier, a second directional coupler, a second power meter and a second radiation antenna;
the second industrial personal computer is connected with the second arbitrary signal generator, the output end of the second arbitrary signal generator is connected with the intermediate frequency interface of the second frequency mixer, the output end of the second microwave signal source is connected with the local oscillator port of the second frequency mixer, the output end of the second frequency mixer is connected with the signal input end of the second power amplifier, the output end of the second power amplifier is connected with the input end of the second directional coupler, the output end of the second directional coupler is connected with the second radiation antenna, and the coupling end of the second directional coupler is connected with the monitoring probe of the second power meter; the second industrial personal computer is used for controlling the signal type, the signal frequency and the signal intensity of the signal generated by the second arbitrary signal generator.
The method further comprises the following steps: generating a communication signal through a communication interference generating module, wherein the communication interference generating module comprises a third industrial personal computer, a third arbitrary signal generator, a third microwave signal source, a third mixer, a third power amplifier, a third directional coupler, a third power meter and a third radiation antenna;
the third industrial personal computer is connected with the third arbitrary signal generator, the output end of the third arbitrary signal generator is connected with the intermediate frequency interface of the third mixer, the output end of the third microwave signal source is connected with the local oscillator port of the third mixer, the output end of the third mixer is connected with the signal input end of the third power amplifier, the output end of the third power amplifier is connected with the input end of the third directional coupler, the output end of the third directional coupler is connected with the third radiation antenna, and the coupling end of the third directional coupler is connected with the monitoring probe of the third power meter; and the third industrial personal computer is used for controlling the signal type, the signal frequency and the signal intensity of the signal generated by the third arbitrary signal generator.
The invention discloses a laser radar electromagnetic environment testing system for a laboratory, which is based on the laser radar electromagnetic interference detection system method, and comprises the following steps: the device comprises a background electromagnetic environment generating module, a radar interference generating module, a communication interference generating module and a field intensity monitoring module. The background electromagnetic environment generating module, the radar interference generating module, and the communication interference generating module all include any signal generator, a radio frequency signal source (microwave signal source), a mixer, a power amplifier, a directional coupler, a power meter, a field strength meter, a radiation antenna, and the like, as shown in fig. 3.
Background electromagnetic environment generation module: an industrial personal computer (a first industrial personal computer) (also can be a computer provided with a program for controlling any signal generator) is connected with any signal generator (a first any signal generator) by a network cable (GPIB cable), the program controls any signal generator to generate one (or a plurality of different signals which are mixed together) with variable signal types, variable frequencies and adjustable intensities, the output of any signal generator is connected with an intermediate frequency interface of a mixer (a first mixer) by a coaxial line, a radio frequency signal source (a first microwave signal source) is connected with a local oscillator port of the mixer by the coaxial line, the output end of the mixer is connected with the signal input end of a low-power amplifier (a first power amplifier) of the corresponding frequency band by the coaxial line, the output end of the power amplifier is connected with the input end of a coupler (a first coupler) of the corresponding frequency band by the coaxial line, connecting the output end coaxial line of the coupler with a radiation antenna (a first radiation antenna), and radiating the background interference signal through the radiation antenna; in addition, the coupling end of the coupler is connected with a monitoring probe of a dual-channel power meter (a first power meter), and the forward power and the backward power are monitored by the power meter so as to judge whether the power amplifier works normally.
A radar interference generating module: the industrial personal computer (the first industrial personal computer) (or a computer provided with a program for controlling any signal generator) is connected with any signal generator (the second any signal generator) by a network cable (GPIB cable), the desired radar interference signal is generated by controlling any signal generator through programming, the output of any signal generator is connected with the intermediate frequency interface of the mixer (the second mixer) through a coaxial cable, the radio frequency signal source (the second microwave signal source) is connected with the local oscillator port of the mixer through a coaxial cable, the output end of the mixer is connected with the signal input end of the high-power amplifier (the second power amplifier) of the corresponding frequency band through the coaxial cable, the output end of the power amplifier is connected with the input end of the coupler (the second coupler) of the corresponding frequency band through the coaxial cable, the coaxial cable of the output end of the coupler is connected with the radiation antenna (the second radiation antenna), radiating the intentional radar interference signal through an antenna; in addition, the coupling end of the coupler is connected with a monitoring probe of a double-channel power meter (a second power meter), and the forward power and the backward power are monitored by the power meter so as to judge whether the power amplifier works normally.
A communication interference generating module: the industrial personal computer (the first industrial personal computer) (also can be a computer with a program for controlling any signal generator) is connected with any signal generator (a third any signal generator) by a network cable (GPIB cable), the desired communication interference signal is generated by programming the any signal generator, the output of the any signal generator is connected with the intermediate frequency interface of the mixer (the third mixer) by a coaxial cable, the radio frequency signal source (the third microwave signal source) is connected with the local oscillator port of the mixer by the coaxial cable, the output end of the mixer is connected with the signal input end of the high-power amplifier (the third power amplifier) of the corresponding frequency band by the coaxial cable, the output end of the power amplifier is connected with the input end of the coupler (the third coupler) of the corresponding frequency band by the coaxial cable, the coaxial cable of the output end of the coupler is connected with the radiation antenna (the third radiation antenna), radiating the intentional communication interference signal through an antenna; in addition, the coupling end of the coupler is connected with a monitoring probe of a dual-channel power meter (a third power meter), and the forward power and the backward power are monitored by the power meter so as to judge whether the power amplifier works normally.
The field intensity monitoring module: the field intensity meter is connected with a display provided with field intensity monitoring software through an optical fiber, and the signal type, the signal frequency and the signal intensity are displayed through the display.
Under the condition of no electromagnetic interference, the testing effect of the laser radar depends on the testing precision of the point cloud, namely the greater the testing precision, the more vivid the point cloud testing effect. The testing precision is not the ranging precision, the ranging precision is used as the evaluation index of the performance of the laser radar in the technical parameters of the laser radar, but when the radar is determined, the ranging precision is a fixed value, and the testing precision of the laser radar is defined as the percentage of the number of points of the laser radar with the testing error exceeding the ranging precision to the total number of points of the point cloud.
Performance boundary division: according to the effect phenomenon of the laser radar electromagnetic interference test, three boundaries can be defined as three levels of performance degradation, imaging error and equipment damage according to the imaging state of the laser radar under the electromagnetic interference. The performance degradation is expressed as the state that the point cloud testing precision measured by the laser radar is just lower than 98% because the laser radar is influenced by electromagnetic interference; the imaging error is represented as a state that the point cloud testing precision measured by the laser radar is just lower than 80% because the laser radar is influenced by electromagnetic interference; the equipment damage is represented as a state in which the lidar cannot normally operate due to the influence of electromagnetic interference on the lidar.
The method for testing the electromagnetic interference performance boundary for the laser radar comprises the following steps:
step 1: according to the connection of a dynamic multi-source electromagnetic environment effect test system (the electromagnetic interference detection system of the laser radar), the tested equipment or system is placed in front of an antenna.
Step 2: according to experimental needs, parameters of a background electromagnetic environment generation module are set, signals (including signal patterns, amplitudes, frequencies and the like) generated by any signal generator and microwave signal sources (including signals) are set through programming, signals (including signal patterns, amplitudes, frequencies and the like) generated by the microwave signal sources are set, and background interference signals generated by gains of power amplifiers are set.
Step 3: according to experimental needs, parameters of a radar interference generation module are set, signals (including signal patterns, amplitudes, frequencies and the like) generated by any signal generator and radio frequency signal sources (including signals) are set through programming, signals (including signal patterns, amplitudes, frequencies and the like) generated by the radio frequency signal sources are set, and radar interference signals generated by gains of power amplifiers are set.
Step 4: according to experimental needs, parameters of a communication interference generation module are set, signals (including signal patterns, amplitudes, frequencies and the like) generated by any signal generator and radio frequency signal sources (including signals) are set through programming, signals (including signal patterns, amplitudes, frequencies and the like) generated by the radio frequency signal sources are set, and communication interference signals generated by gains of power amplifiers are set.
Step 5: and all the background interference signals, the radar signals and the communication signals are output to form a multi-source radiation field.
Step 6: and adjusting the type, frequency and field intensity of a radiation field signal, testing the laser radar, and finding out the type, the sensitive frequency range and the field intensity of a sensitive signal of the laser radar by monitoring the point cloud testing precision of the laser radar under different interferences.
Step 7: and repeating Step2-6 according to the sensitive signal of the laser radar found at Step6, and finding out the signal type, frequency and field intensity of which the laser radar can not normally work and the accuracy of the laser radar ranging is 98% and 80%, wherein the signal type, frequency and field intensity are used as performance boundaries of the laser radar under electromagnetic interference.
Fig. 2 is a schematic structural diagram of an electromagnetic interference detection system of a laser radar of the present invention, and as shown in fig. 2, the present invention further discloses an electromagnetic interference detection system of a laser radar, including:
an initial ranging accuracy obtaining module 201, configured to obtain an initial ranging accuracy of a laser radar to be detected; the initial ranging precision is the number of error points of a circle of scanning of the laser radar to be detected on a set object which is at a set distance;
the multi-source radiation field construction module 202 is used for constructing a multi-source radiation field, wherein the multi-source radiation field comprises a background interference signal, a radar signal and a communication signal; the signal types in the background interference signals exceed a set number, and the signal intensity of the background interference signals is lower than a set intensity value;
each test ranging precision obtaining module 203 is used for adjusting the signal type, the signal frequency and the signal field intensity of the multi-source radiation field to obtain the test ranging precision of the laser radar to be detected under the conditions of different signal types, different signal frequencies and different signal field intensities, and each test ranging precision is the number of error points of a circle scanned by the laser radar to be detected on a set object at a set distance; the multi-source radiation field is a radiation field formed by the background interference signal, the radar signal and the communication signal;
and the boundary performance judging module 204 of the laser radar to be detected is used for judging the boundary performance of the electromagnetic interference of the laser radar to be detected through each testing distance measurement precision and the initial distance measurement precision.
The boundary performance determining module 204 of the laser radar to be detected specifically includes:
the boundary performance judging unit of the laser radar to be detected is used for defining the number of error points of which the testing ranging precision exceeds the initial ranging precision and the percentage of the total number of point clouds as the testing precision; the total point cloud points are points of a circle scanned by the laser radar to be detected on a set object with a set distance; recording a signal type, a signal frequency and a signal intensity corresponding to the percentage of the test accuracy lower than a first threshold as a first boundary, recording a signal type, a signal frequency and a signal intensity corresponding to the percentage of the test accuracy lower than a second threshold as a second boundary, and recording a signal type, a signal frequency and a signal intensity corresponding to the percentage of the test accuracy lower than a third threshold as a third boundary, wherein the first boundary represents that the performance of the laser radar to be detected is reduced to a set range, the second boundary represents that the laser radar to be detected is in an imaging error, and the third boundary represents that the laser radar equipment to be detected is damaged.
The first threshold is 98% and the second threshold is 80%.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. An electromagnetic interference detection method of a laser radar, comprising:
obtaining initial ranging precision of a laser radar to be detected; the initial ranging precision is the number of error points of a circle of scanning of the laser radar to be detected on a set object which is at a set distance;
constructing a multi-source radiation field, wherein the multi-source radiation field comprises a background interference signal, a radar signal and a communication signal; the signal types in the background interference signals exceed a set number, and the signal intensity of the background interference signals is lower than a set intensity value;
adjusting the signal type, the signal frequency and the signal field intensity of a multi-source radiation field to obtain the testing ranging precision of the laser radar to be detected under the conditions of different signal types, different signal frequencies and different signal field intensities, wherein each testing ranging precision is the number of error points of a circle scanned by the laser radar to be detected on a set object at a set distance; the multi-source radiation field is a radiation field formed by the background interference signal, the radar signal and the communication signal;
and judging the boundary performance of the electromagnetic interference of the laser radar to be detected according to the testing distance measurement precision and the initial distance measurement precision.
2. The method according to claim 1, wherein the step of determining the boundary performance of the electromagnetic interference of the laser radar to be detected through each test ranging accuracy and the initial ranging accuracy specifically comprises:
defining the number of error points of which the measuring distance precision exceeds the initial distance measuring precision as the measuring precision by the percentage of the total number of point clouds; the total point cloud points are points of a circle scanned by the laser radar to be detected on a set object with a set distance; recording a signal type, a signal frequency and a signal intensity corresponding to the percentage of the test accuracy lower than a first threshold as a first boundary, recording a signal type, a signal frequency and a signal intensity corresponding to the percentage of the test accuracy lower than a second threshold as a second boundary, and recording a signal type, a signal frequency and a signal intensity corresponding to the percentage of the test accuracy lower than a third threshold as a third boundary, wherein the first boundary represents that the performance of the laser radar to be detected is reduced to a set range, the second boundary represents that the laser radar to be detected is in an imaging error, and the third boundary represents that the laser radar equipment to be detected is damaged.
3. The method of claim 2, wherein the first threshold is 98% and the second threshold is 80%.
4. The method of claim 1, wherein the background electromagnetic environment generating module generates a background interference signal; the background electromagnetic environment generating module comprises a first industrial personal computer, a first arbitrary signal generator, a first microwave signal source, a first frequency mixer, a first power amplifier, a first directional coupler, a first power meter and a first radiation antenna;
the first industrial personal computer is connected with the first arbitrary signal generator, the output end of the first arbitrary signal generator is connected with the intermediate frequency interface of the first frequency mixer, the output end of the first microwave signal source is connected with the local oscillator port of the first frequency mixer, the output end of the first frequency mixer is connected with the signal input end of the first power amplifier, the output end of the first power amplifier is connected with the input end of the first directional coupler, the output end of the first directional coupler is connected with the first radiation antenna, and the coupling end of the first directional coupler is connected with the monitoring probe of the first power meter; the first industrial personal computer is used for controlling the signal type, the signal frequency and the signal intensity of the signal generated by the first arbitrary signal generator.
5. The electromagnetic interference detection method of the laser radar according to claim 1, wherein a radar signal is generated by a radar interference generating module, and the radar interference generating module comprises a second industrial personal computer, a second arbitrary signal generator, a second microwave signal source, a second mixer, a second power amplifier, a second directional coupler, a second power meter and a second radiation antenna;
the second industrial personal computer is connected with the second arbitrary signal generator, the output end of the second arbitrary signal generator is connected with the intermediate frequency interface of the second frequency mixer, the output end of the second microwave signal source is connected with the local oscillator port of the second frequency mixer, the output end of the second frequency mixer is connected with the signal input end of the second power amplifier, the output end of the second power amplifier is connected with the input end of the second directional coupler, the output end of the second directional coupler is connected with the second radiation antenna, and the coupling end of the second directional coupler is connected with the monitoring probe of the second power meter; the second industrial personal computer is used for controlling the signal type, the signal frequency and the signal intensity of the signal generated by the second arbitrary signal generator.
6. The electromagnetic interference detection method of the laser radar, according to claim 1, is characterized in that a communication signal is generated by a communication interference generating module, wherein the communication interference generating module comprises a third industrial personal computer, a third arbitrary signal generator, a third microwave signal source, a third mixer, a third power amplifier, a third directional coupler, a third power meter and a third radiation antenna;
the third industrial personal computer is connected with the third arbitrary signal generator, the output end of the third arbitrary signal generator is connected with the intermediate frequency interface of the third mixer, the output end of the third microwave signal source is connected with the local oscillator port of the third mixer, the output end of the third mixer is connected with the signal input end of the third power amplifier, the output end of the third power amplifier is connected with the input end of the third directional coupler, the output end of the third directional coupler is connected with the third radiation antenna, and the coupling end of the third directional coupler is connected with the monitoring probe of the third power meter; and the third industrial personal computer is used for controlling the signal type, the signal frequency and the signal intensity of the signal generated by the third arbitrary signal generator.
7. An electromagnetic interference detection system for a lidar comprising:
the initial ranging precision obtaining module is used for obtaining the initial ranging precision of the laser radar to be detected; the initial ranging precision is the number of error points of a circle of scanning of the laser radar to be detected on a set object which is at a set distance;
the multi-source radiation field construction module is used for constructing a multi-source radiation field, and the multi-source radiation field comprises a background interference signal, a radar signal and a communication signal; the signal types in the background interference signals exceed a set number, and the signal intensity of the background interference signals is lower than a set intensity value;
each testing and ranging precision obtaining module is used for adjusting the signal type, the signal frequency and the signal field intensity of the multi-source radiation field and obtaining the testing and ranging precision of the laser radar to be detected under the conditions of different signal types, different signal frequencies and different signal field intensities, and each testing and ranging precision is the number of error points of a circle scanned by the laser radar to be detected on a set object at a set distance; the multi-source radiation field is a radiation field formed by the background interference signal, the radar signal and the communication signal;
and the boundary performance judging module of the laser radar to be detected is used for judging the boundary performance of the electromagnetic interference of the laser radar to be detected through each testing distance measurement precision and the initial distance measurement precision.
8. The system according to claim 7, wherein the boundary performance determining module of the lidar to be detected specifically includes:
the boundary performance judging unit of the laser radar to be detected is used for defining the number of error points of which the testing ranging precision exceeds the initial ranging precision and the percentage of the total number of point clouds as the testing precision; the total point cloud points are points of a circle scanned by the laser radar to be detected on a set object with a set distance; recording a signal type, a signal frequency and a signal intensity corresponding to the percentage of the test accuracy lower than a first threshold as a first boundary, recording a signal type, a signal frequency and a signal intensity corresponding to the percentage of the test accuracy lower than a second threshold as a second boundary, and recording a signal type, a signal frequency and a signal intensity corresponding to the percentage of the test accuracy lower than a third threshold as a third boundary, wherein the first boundary represents that the performance of the laser radar to be detected is reduced to a set range, the second boundary represents that the laser radar to be detected is in an imaging error, and the third boundary represents that the laser radar equipment to be detected is damaged.
9. The system of claim 8, wherein the first threshold is 98% and the second threshold is 80%.
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