CN113238244A - FMCW laser ranging beat signal frequency estimation method and system - Google Patents
FMCW laser ranging beat signal frequency estimation method and system Download PDFInfo
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- CN113238244A CN113238244A CN202110565021.8A CN202110565021A CN113238244A CN 113238244 A CN113238244 A CN 113238244A CN 202110565021 A CN202110565021 A CN 202110565021A CN 113238244 A CN113238244 A CN 113238244A
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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
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S17/34—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
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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
- G01S7/491—Details of non-pulse systems
- G01S7/4912—Receivers
- G01S7/4913—Circuits for detection, sampling, integration or read-out
Abstract
An FMCW laser ranging beat signal frequency estimation method and system relate to the technical field of frequency modulation continuous wave laser ranging and compression sampling. The method aims to solve the problems of high sampling rate, low frequency resolving speed, large data processing calculation amount and low frequency resolution of the conventional beat signal frequency estimation method. An FMCW laser ranging beating signal frequency estimation system comprising: the device comprises a compression sampling module and a frequency estimation module; the compression sampling module comprises: the device comprises an analog circuit module, an analog-to-digital conversion module, a digital control module, a communication module and a trigger circuit; the frequency estimation module executes the steps of: firstly, roughly measuring the beat signal to obtain roughly measured signal frequency, then thinning the compressed beat signal to obtain thinned beat signal frequency, and finally combining the roughly measured signal frequency with the thinned signal frequency to obtain the final laser ranging beat signal accurate frequency. The invention is used for acquiring the frequency of the beat signal.
Description
Technical Field
The invention relates to the technical field of frequency modulation continuous wave laser ranging and compressive sampling, in particular to a frequency estimation method and a frequency estimation system for an FMCW laser ranging beat signal.
Background
In recent years, linear Frequency Modulated Continuous Wave (FMCW) laser ranging technology has the advantages of high automation, strong anti-interference performance and the like, so that the technology is widely applied to the fields of aerospace, industry, military and the like. In this technique, after the measurement light and the reference light interfere with each other, the frequency of the beat signal obtained by photoelectric conversion has a linear relationship with the measurement distance, and therefore, it is critical to perform laser ranging as to whether the frequency information of the beat signal can be accurately acquired. However, as the range is gradually expanded, the frequency of the beat signal is higher and higher, which brings certain difficulty to acquisition and frequency estimation of the beat signal.
The current beat signal frequency estimation method mainly adopts the Nyquist sampling principle to collect beat signals, and then utilizes Fast Fourier Transform (FFT) to extract the beat signal frequency information. However, the sampling rate required by the nyquist sampling theorem is often lower than that in practical application, and therefore, the current beat signal frequency estimation method also has the problems of high sampling rate, low frequency resolving speed, large data processing calculation amount and low frequency resolution due to high requirements of hardware acquisition, high cost, subsequent need of processing a large amount of data and the like.
Disclosure of Invention
The invention aims to solve the problems of high sampling rate, low frequency resolving speed, large data processing calculation amount and low frequency resolution of the conventional beat signal frequency estimation method, and provides an FMCW laser ranging beat signal frequency estimation method and system.
A FMCW laser ranging beat signal frequency estimation method comprises the following steps:
firstly, carrying out compression sampling on a beat signal to obtain a sampling value matrix after compression sampling;
inputting the sampling value matrix after compression sampling into an upper computer for data processing to obtain the estimated beat signal frequency, and the method comprises the following steps:
step two, roughly measuring a sampling value matrix after compression sampling to obtain roughly measured frequency of roughly measured positions on a frequency spectrum of an original beat signal;
secondly, thinning a sampling value matrix after compression sampling by using a CZT algorithm to obtain the frequency of a beat signal after thinning;
and step two, combining the roughly measured beat signal frequency with the refined beat signal frequency to obtain the final laser ranging beat signal accurate frequency.
An FMCW laser ranging beating signal frequency estimation system comprising: the device comprises a compression sampling module and a frequency estimation module;
the frequency estimation module is used for realizing an FMCW laser ranging beat signal frequency estimation method;
the compression sampling module is used for carrying out compression sampling on the original beat signal; the method comprises the following steps: the device comprises an analog circuit module, an analog-to-digital conversion module, a digital control module, a communication module and a trigger circuit;
the analog circuit module consists of an x' path four-quadrant analog multiplier and an eight-order active low-pass filter and is used for mixing and intercepting a beat signal and a pseudorandom sequence;
the analog-to-digital conversion module is used for acquiring the beat signals compressed after being processed by the analog circuit module and converting the beat signals into digital signals;
the digital control module consists of an FPGA and an ARM and is used for generating a pseudo-random sequence, controlling sampling and temporarily storing data;
the communication module consists of an ARM and a network port and is used for communicating the digital signal converted by the analog-to-digital conversion module with an upper computer;
the trigger circuit is used for providing a trigger signal to the FPGA digital control module;
the trigger signal is a square wave formed by shaping an original signal and is used for providing control logic of the FPGA digital control module.
The invention has the beneficial effects that:
based on the characteristic of sparse beat signal frequency domain, the invention uses the compression sampling based on the modulation broadband converter (MWC) for the acquisition and frequency estimation of the beat signal of the laser ranging system, adopts the low sampling rate of 500kHz under the condition of being far lower than the Nyquist sampling rate to realize the accurate estimation of the beat signal frequency with the central frequency in the range of 0-40 MHz, compresses the high-frequency beat signal in a baseband through four paths of compression sampling, and then uses the ADC with low rate to realize the sampling of the high-frequency beat signal, thereby reducing the requirement of a hardware circuit, saving resources and improving the realizability and the cost performance of the hardware circuit. According to the invention, the frequency estimation is carried out by adopting a method of combining the compression sampling model OMP algorithm and the CZT algorithm, so that the complex reconstruction operation is avoided, the data processing amount is reduced, the frequency resolving speed is increased, and the frequency resolution is further improved.
Drawings
FIG. 1 is a block diagram of an FMCW laser ranging beat signal frequency estimation system;
FIG. 2 is a general scheme of FMCW laser ranging beat signal frequency estimation based on compressed sampling;
FIG. 3 is a block diagram of an overall scheme for compressive sampling;
FIG. 4 is a graph of a sample sequence versus the spectrum of an original signal;
fig. 5 is a flow chart of beat signal frequency estimation.
Detailed Description
The first embodiment is as follows: in this embodiment, taking four paths of beat signals as an example, a method for estimating the frequency of an FMCW laser ranging beat signal includes the following steps (fig. 2):
step one, performing compression sampling on the beat signal to obtain a sampling value matrix (fig. 3) after the compression sampling, including the following steps:
step one, a random sequence of 4 multiplied by 511 generated by Matlab is stored in ROM in FPGA, and then 4 different pseudo-random sequences (P) are output by FPGA1(t)、P2(t)、P3(t)、P4(t))；
Step two, mixing the generated pseudo-random sequence:
mixing a pseudo-random sequence output by the FPGA with four paths of beat signals by using a 4-path four-quadrant analog multiplier to achieve the purpose of spreading spectrum in a frequency domain;
step three, low-pass filtering the beat signal processed in the step two:
the frequency-mixed signal passes through an eighth-order Butterworth low-pass filter, and spectrum truncation is superposed on a baseband;
step four, performing ADC (analog to digital converter) sampling on the signals processed in the step three:
sampling by adopting a 4-channel synchronous ADC (analog to digital converter) with each sampling rate reaching 500kHz, and acquiring compressed beat signals, wherein the acquired digital beat signals are temporarily stored in an internal RAM (random access memory) of the FPGA;
the collected compressed beat signal is a sampling value matrix Y after compression sampling;
step two, reading beat signal data in an RAM inside the FPGA by using an FSMC bus of the ARM, and transmitting the beat signal data to an upper computer through a network port for data processing to obtain the accurate frequency of the laser ranging beat signal, wherein the method comprises the following steps (shown in figure 5):
step two, roughly measuring a sampling value matrix after compression sampling to obtain roughly measured frequency of roughly measured positions on a frequency spectrum of an original beat signal, and the method comprises the following steps:
step two, acquiring a sampling value matrix Y which is uploaded by the network port and is subjected to compression sampling;
step two, constructing a compression sampling model:
wherein, sampling value matrix Y is a matrix formed by known 4 paths of compressed beat signals transmitted to an upper computer after sampling, sampling matrix phi is a set of Fourier series coefficients of a periodic pseudo-random sequence, is a known item and can be obtained according to the pseudo-random sequence, X is an original signal of laser ranging, X (n) is an original four paths of beat signals and is an unknown matrix, Yi(n) is the sequence of the acquired four-way beat signals, ci,bIs the Fourier series coefficient of the periodic pseudo-random sequence of the ith row and the b th column in the sampling matrix phi, i belongs to [1,4 ]],b∈[0，M-1]M is the symbol number of the periodic pseudo-random sequence;
step two, step three, calculating the inner product of the transpose of the sampling value matrix Y and the sampling matrix phi by utilizing an OMP algorithm according to a compression sampling model, and finding the maximum non-zero row position of the original beat signal obtained after the inner product transformation of the sampling matrix and the sampling value matrix;
step two, step four, the beat signal frequency of the rough measurement is obtained according to the maximum non-zero row position of the original beat signal:
f＝kfp,-L0≤k≤L0
where f is the frequency of the coarsely measured beat signal, fpIs the frequency of the periodic pseudorandom sequence, k is the spectral coefficient;
wherein the row number l of the largest non-zero rowiThe spectral position from the original signal is fixed in numerical relation, which is denoted as k ═ li-L0-1; wherein L is0L is the length of the signal, and the length L of the signal is equal to the number of symbols of the pseudorandom sequence;
wherein f isp＝fsys/M；
In the formula (f)sysIn order to generate a system clock of a periodic pseudorandom sequence, M is the symbol number of the periodic pseudorandom sequence, namely M +/-1 pseudorandom sequences are generated in one period;
secondly, thinning the sampling value matrix after compression sampling by using a CZT algorithm to obtain the frequency of the beat signal after thinning, and comprising the following steps of:
step two, one, selecting any path of compressed signal y after samplingi(n) performing FFT operation to find yi(n) a frequency value corresponding to the maximum amplitude value;
step two, the collected compressed signal yi(n) as CZT signal input, yi(n) the frequency range of the refined beat signal is [ -f ] by taking the left and right points of the frequency value corresponding to the maximum amplitude of the frequency spectrum as the starting point and the ending point of the refinement, namely the refined beat signalp/2,fp/2]Refining [ -f [ ]p/2,fp/2]Inner compression signal yi(n) frequency to obtain refined beat signal frequency:
step1, y selected by step two or onei(n) obtaining a sampled signal f (n) and a linear system h (n):
the formula adopts an equation provided by Bluestein to carry out Z transformation to obtain a result, wherein n belongs to Z as the number of sampling points, and A, W is an arbitrary complex number;
a is generated by a DDS waveform table, and after calculation is completed, the result is stored to reduce operation;
step2, Fourier transform is carried out on the sampling signal f (n) obtained by step1 and the linear system h (n) to obtain a Fourier transformed sampling signal F (k) and a Fourier transformed linear system H (k), respectively;
step3, obtaining a frequency domain discrete sequence d (k) from the fourier transformed sampled signal f (k) and the fourier transformed linear system h (k):
D(k)＝F(k)×H(k)
step4, inverse Fourier transform is carried out on the frequency domain discrete sequence D (k) to obtain a circumferential convolution d (n) of f (n) and h (n);
step5, obtaining the frequency y (f) of the sample value matrix after compression sampling at [ -f [ ]p/2,fp/2]Refinement frequency y in the rangec；
The thinning frequency y of the sampling value matrix after compression samplingcIs the maximum of the absolute value of d (n);
said ycI.e. the original signal frequency z (f) is the refined frequency;
the y (f) is obtained by multiplying z (f) by a weight;
the weight is a sampling matrix phi;
wherein the frequency values corresponding to the frequency spectra of z (f) and y (f) (fig. 4) are identical and differ only in magnitude;
in the embodiment, the frequency refinement value of the beat signal is obtained by adopting a method of directly refining the compressed signal, so that complex reconstruction operation is avoided.
Step two, combining the roughly measured beat signal frequency with the refined beat signal frequency to obtain the final laser ranging beat signal accurate frequency:
fc＝f+yc
the second embodiment is as follows: an FMCW laser ranging beating signal frequency estimation system comprising: the device comprises a compression sampling module and a frequency estimation module;
the frequency estimation module is used for executing a first specific implementation mode;
the compression sampling module is used for performing compression sampling on the original beat signal, and comprises: the device comprises an analog circuit module, an analog-to-digital conversion module, a digital control module, a communication module and a trigger circuit;
the analog circuit module consists of 4 paths of four-quadrant analog multipliers and an eight-order active low-pass filter (H (s)), and is used for mixing and intercepting the beat signals and the pseudo-random sequence to achieve the purposes of spreading the beat signals and weighting and superposing the spread beat signals to a baseband;
the analog-to-digital conversion module is used for acquiring the beat signals compressed after being processed by the analog circuit module at a low sampling rate and converting the beat signals into digital signals;
the digital control module consists of an FPGA and an ARM and is used for generating a pseudo-random sequence, controlling sampling and temporarily storing data;
the communication module consists of an ARM and a network port and is used for communicating the digital signal converted by the analog-to-digital conversion module with an upper computer;
the ARM is used for temporarily storing the acquired digital beat signals;
some clear and enable in FPGA internal logic circuit are controlled by ARM, and ARM's most important function is its FSMC bus communication, can be with the data parallel transmission who exists in RAM temporarily in FPGA, and ARM can connect the net gape, write the TCPIP agreement of net gape and communicate with host computer.
The network port is used for transmitting the digital beat signals stored in the RAM inside the FPGA to an upper computer;
the upper computer is used for processing the digital beat signals stored in the RAM, and the accurate frequency of the laser ranging beat signals can be obtained after the processing;
the trigger circuit is used for providing a trigger signal to the control module;
the trigger signal is a square wave formed by shaping an original signal and is used for providing a control logic of the FPGA digital control module; the digital control module consists of an FPGA and an ARM and is used for generating a pseudo-random sequence, controlling sampling and temporarily storing data.
Sampling is carried out in the analog-to-digital conversion module at a frequency far less than 40MHz, the sampling rate in the prior art can not lose information until reaching more than 100MHz, and the information of the original central frequency at 0-40 MHz signals can be obtained by sampling at a sampling frequency lower than 1MHz after the compression of the application.
When four paths of signals are subjected to compression sampling, the effect is better in hardware design.
Wherein, the selection of four hardware channels: according to basic parameter setting of MWC compression sampling principle, the number of channels is larger than or equal to 2N, N is the frequency band number, the beat signal applied by the method is a single-frequency signal, N is 1, but noise exists, the beat signal cannot be a single frequency on a frequency spectrum, and the channel number is 4.
Example (b):
in practical application, the invention realizes frequency estimation of the center frequency of the beat signal in the range of 0-40 MHz, and 4 paths of compressed samples are the same as the hardware analog circuit. Wherein, setting symbol number M of periodic pseudo-random sequence as 511, generating system clock f of periodic pseudo-random sequencesysAt 80MHz, the frequency of the periodic pseudorandom sequence is fp＝fsys156.556kHz, and the cut-off frequency of the low-pass filter is fc＝3fp234.833kHz, the sampling rate f of each channels≥2fc469.667kHz, compressed sampling of the beat signal of 0-40 MHz can be realized at the rate of each channel ADC of 500kHz, and then the frequency of the original beat signal is estimated according to the compressed and sampled beat signal to obtain the frequency of the beat signal. FIG. 1 shows a system block diagram of beat signal frequency estimation generated by FMCW laser ranging, wherein a light beam emitted by a tunable laser is divided into two paths, one path is used as a measuring light and reflected back to a light loop through an object to be measured, and the other path is used as a reference light and interfered with the returned measuring light, and then the two paths are converted into a frequency domain by photoelectricityTo form a beat signal having a frequency fbAccording to the formula
And calculating to obtain the distance R to be measured, wherein B is the modulation bandwidth of the laser, T is the scanning period of the modulation wave, and c' is the laser light speed, and the final distance to be measured can be obtained according to the obtained beat signal frequency.
Claims (10)
1. A FMCW laser ranging beat signal frequency estimation method is characterized in that: the method comprises the following specific steps:
firstly, carrying out compression sampling on a beat signal to obtain a sampling value matrix after compression sampling;
inputting the sampling value matrix after compression sampling into an upper computer for data processing to obtain the accurate frequency of the laser ranging beat signal, and the method comprises the following steps:
step two, roughly measuring a sampling value matrix after compression sampling to obtain roughly measured frequency of roughly measured positions on a frequency spectrum of an original beat signal;
secondly, thinning a sampling value matrix after compression sampling by using a CZT algorithm to obtain the frequency of a beat signal after thinning;
and step two, combining the roughly measured beat signal frequency with the refined beat signal frequency to obtain the final laser ranging beat signal accurate frequency.
2. The FMCW laser ranging beating signal frequency estimation method as claimed in claim 1, wherein: in the first step, the beat signal is compressed and sampled to obtain a sampling value matrix after compression sampling, and the method comprises the following steps:
step one, mixing the generated pseudo-random sequence with a beat signal;
step two, low-pass filtering is carried out on the beat signals processed in the step one by one;
step three, sampling the signals processed in the step two by adopting an x-way channel synchronous ADC (analog to digital converter), and collecting compressed beat signals;
and the acquired compressed beat signal is a sampling value matrix Y after compression sampling.
3. The FMCW laser ranging beating signal frequency estimation method of claim 1 or 2, wherein: in the second step, the sampling value matrix after compression sampling is roughly measured to obtain the rough measurement frequency of the original beat signal, and the method comprises the following steps:
step two, acquiring a sampling value matrix Y;
step two, constructing a compression sampling model:
wherein the sampling value matrix Y is a known compressed beat signal transmitted to an upper computer after sampling, the sampling matrix phi is a set of Fourier series coefficients of a periodic pseudo-random sequence and is a known item, X is an original signal of laser ranging, X (n) is an original X' path beat signal and is an unknown matrix, Yi(n) is the acquired beat signal sequence, ci,bIs the Fourier series coefficient of the periodic pseudo-random sequence of the ith row and the b th column in the sampling matrix phi, x 'is the total path number of the original beat signal, x' is a positive integer, b belongs to [0, M-1 ]]M is a symbol number of a periodic pseudorandom sequence, i ∈ [1, x']；
Step two, step three, calculating the inner product of the transpose of the sampling value matrix Y and the sampling matrix phi by utilizing an OMP algorithm according to a compression sampling model, and finding the maximum non-zero row position of the original beat signal obtained after the inner product transformation of the sampling matrix and the sampling value matrix;
step two, step four, the beat signal frequency of the rough measurement is obtained according to the maximum non-zero row position of the original beat signal:
f＝kfp,-L0≤k≤L0
where f is the frequency of the coarsely measured beat signal, fpIs the frequency of a periodic pseudorandom sequence, k ═ li-L0-1 is the frequency spectrumCoefficient, L0(L-1)/2, L being the length of the signal, LiIs the row number of the largest non-zero row.
4. The FMCW laser ranging beating signal frequency estimation method of claim 3, wherein: f in the second step, the first step and the second stepp＝fsys/M
In the formula (f)sysTo generate a system clock of a periodic pseudo-random sequence.
5. The FMCW laser ranging beating signal frequency estimation method as claimed in claim 4, wherein: in the second step, the CZT algorithm is used for thinning the sampling value matrix after compression sampling to obtain the frequency of the beat signal after thinning, and the method comprises the following steps:
step two, one, selecting any path of compressed signal y after samplingi(n) performing FFT operation to find yi(n) a frequency value corresponding to the maximum amplitude value;
step two, the collected compressed signal yi(n) as CZT signal input, yi(n) the left and right points of the frequency value corresponding to the maximum amplitude of the frequency spectrum are used as the starting point and the ending point of the refinement, namely, the frequency range of the refined beat signal is [ -f [ ]p/2,fp/2]Refining [ -f [ ]p/2,fp/2]Inner compression signal yiThe frequency of (n) is the refined beat signal frequency.
6. The FMCW laser ranging beating signal frequency estimation method as claimed in claim 5, wherein: the second step two is to collect the compressed signal yi(n) as CZT signal input, yi(n) the frequency range of the refined beat signal is [ -f ] by taking the left and right points of the frequency value corresponding to the maximum amplitude of the frequency spectrum as the starting point and the ending point of the refinement, namely the refined beat signalp/2,fp/2]Refining [ -f [ ]p/2,fp/2]Inner compression signal yi(n) obtaining a refined beat signal frequency, comprising the steps of:
step1, LiY selected by step two or onei(n) obtaining a sampling signal f (n) and a linear system h (n);
step2, Fourier transform is carried out on the sampling signal f (n) obtained by step1 and the linear system h (n) to obtain a Fourier transformed sampling signal F (k) and a Fourier transformed linear system H (k), respectively;
step3, obtaining a frequency domain discrete sequence D (k) according to the sampling signal F (k) after Fourier transform and a linear system H (k) after Fourier transform;
step4, inverse Fourier transform is carried out on the frequency domain discrete sequence D (k) to obtain a circumferential convolution d (n) of f (n) and h (n);
step5, obtaining the frequency y (f) of the sample value matrix after compression sampling at [ -f [ ]p/2,fp/2]Refinement frequency y in the rangec；
The thinning frequency y of the sampling value matrix after compression samplingcIs the maximum of the absolute value of d (n);
said ycI.e. the original signal frequency z (f) is the refined frequency;
the y (f) is obtained by multiplying z (f) by a weight;
the weight is the sampling matrix Φ.
7. The FMCW laser ranging beating signal frequency estimation method as claimed in claim 6, wherein: y in step1 using step two or one selectioni(n) obtaining the sampled signal f (n) and the linear system h (n) comprises the steps of:
where n ∈ Z is the number of sample points, A is generated from the DDS waveform table, and A, W is an arbitrary complex number.
8. The FMCW laser ranging beating signal frequency estimation method as claimed in claim 7, wherein: in step3, a frequency domain discrete sequence d (k) is obtained according to the fourier transformed sampled signal f (k) and the fourier transformed linear system h (k), and the method comprises the following steps:
D(k)＝F(k)×H(k)。
9. the FMCW laser ranging beating signal frequency estimation method as claimed in claim 8, wherein: in the second step, the coarsely measured beat signal frequency is combined with the refined beat signal frequency to obtain the final laser ranging beat signal accurate frequency, and the method comprises the following steps of:
fc＝f+yc。
10. an FMCW laser ranging beat signal frequency estimation system, characterized by: the system comprises: the device comprises a compression sampling module and a frequency estimation module;
the compression sampling module is used for performing compression sampling on the original beat signal, and comprises: the device comprises an analog circuit module, an analog-to-digital conversion module, a digital control module, a communication module and a trigger circuit;
the analog circuit module consists of an x' path four-quadrant analog multiplier and an eight-order active low-pass filter and is used for mixing and intercepting a beat signal and a pseudorandom sequence;
the analog-to-digital conversion module is used for acquiring the beat signals compressed after being processed by the analog circuit module and converting the beat signals into digital signals;
the digital control module consists of an FPGA and an ARM and is used for generating a pseudo-random sequence, controlling sampling and temporarily storing data;
the communication module consists of an ARM and a network port and is used for communicating the digital signal converted by the analog-to-digital conversion module with an upper computer;
the trigger circuit is used for providing a trigger signal to the FPGA digital control module;
the trigger signal is a square wave formed by shaping an original signal and is used for providing a control logic of the FPGA digital control module;
the frequency estimation module performs frequency estimation on the compressively sampled signal by performing an FMCW laser ranging beating signal frequency estimation method as set forth in one of claims 1 to 9.
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