CN113811792A - 基于连续波的测距方法、装置和激光雷达 - Google Patents

基于连续波的测距方法、装置和激光雷达 Download PDF

Info

Publication number
CN113811792A
CN113811792A CN202080004388.6A CN202080004388A CN113811792A CN 113811792 A CN113811792 A CN 113811792A CN 202080004388 A CN202080004388 A CN 202080004388A CN 113811792 A CN113811792 A CN 113811792A
Authority
CN
China
Prior art keywords
ranging
ranging result
linear
time
time adjustment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN202080004388.6A
Other languages
English (en)
Other versions
CN113811792B (zh
Inventor
何一雄
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Suteng Innovation Technology Co Ltd
Original Assignee
Suteng Innovation Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Suteng Innovation Technology Co Ltd filed Critical Suteng Innovation Technology Co Ltd
Publication of CN113811792A publication Critical patent/CN113811792A/zh
Application granted granted Critical
Publication of CN113811792B publication Critical patent/CN113811792B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Theoretical Computer Science (AREA)
  • Databases & Information Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Mathematical Physics (AREA)
  • Data Mining & Analysis (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

一种基于连续波的测距方法、装置(13，14)和激光雷达。根据测距场景设置目标测距区间，根据目标测距区间和测量量程中的位置确定时间调节量，通过时间调节量延迟或提前发射信号的发射时间，以达到目标测距区间全部落在线性区内，从而提高测距的精度。

Description

PCT国内申请，说明书已公开。

Claims (15)

  1. PCT国内申请，权利要求书已公开。
CN202080004388.6A 2020-03-27 2020-03-27 基于连续波的测距方法、装置和激光雷达 Active CN113811792B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/081736 WO2021189438A1 (zh) 2020-03-27 2020-03-27 基于连续波的测距方法、装置和激光雷达

Publications (2)

Publication Number Publication Date
CN113811792A true CN113811792A (zh) 2021-12-17
CN113811792B CN113811792B (zh) 2023-08-04

Family

ID=77890775

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080004388.6A Active CN113811792B (zh) 2020-03-27 2020-03-27 基于连续波的测距方法、装置和激光雷达

Country Status (2)

Country Link
CN (1) CN113811792B (zh)
WO (1) WO2021189438A1 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023235404A1 (en) * 2022-05-31 2023-12-07 Preact Technologies, Inc. Use of time-integrated samples of return waveforms to enable a software defined continuous wave lidar
CN117607884A (zh) * 2024-01-24 2024-02-27 中国科学院长春光学精密机械与物理研究所 基于互相关算法的激光雷达系统的测距方法及测距系统

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1187882A (zh) * 1995-06-20 1998-07-15 迈克尔·简·莫洛斯基 Fmcw测量距离的方法
CN101111780A (zh) * 2004-12-23 2008-01-23 罗伯特·博世有限公司 用于监视不同距离范围内目标的雷达系统
EP2128561A1 (de) * 2008-05-28 2009-12-02 Leica Geosystems AG Interferometrisches Distanzmessverfahren mit verzögertem Chirp-Signal und ebensolche Vorrichtung
US20100045964A1 (en) * 2008-08-21 2010-02-25 Jinhua Lanhai Photoelectricity Technology Co.,Ltd. Apparatus and Method for Laser Ranging
CN102378920A (zh) * 2009-02-27 2012-03-14 松下电工株式会社 测距设备
CN106772414A (zh) * 2016-10-14 2017-05-31 北醒（北京）光子科技有限公司 一种提高tof相位法测距雷达测距精度的方法
CN110488595A (zh) * 2019-08-29 2019-11-22 北京理工大学 一种用于调频连续波雷达时差测距的时间数字转换器
CN110749898A (zh) * 2019-10-18 2020-02-04 深圳奥锐达科技有限公司 一种激光雷达测距系统及其测距方法
CN110764074A (zh) * 2019-10-30 2020-02-07 湖南迈克森伟电子科技有限公司 Fmcw调频源信号产生模块及延时控制方法

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5515056A (en) * 1993-08-11 1996-05-07 Intelsat Burst tone range processing system and method
CN102590808B (zh) * 2012-01-12 2013-12-18 重庆大学 基于载波调制原理的多测尺微波相位测距方法
CN102650689A (zh) * 2012-05-17 2012-08-29 中国路桥工程有限责任公司 一种步进频率脉冲雷达位移测量方法
US9506739B2 (en) * 2012-12-21 2016-11-29 Magiq Technologies, Inc. Distance measurement by beating a varying test signal with reference signal having absolute frequency value predetermined with a specified accuracy
CN105738890B (zh) * 2016-02-25 2017-12-08 深圳承泰科技有限公司 一种提升雷达的测量范围和测量精度的方法以及雷达
CN110596726B (zh) * 2019-11-18 2020-03-03 深圳市迈测科技股份有限公司 一种通过激光测量待测目标距离的方法和装置

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1187882A (zh) * 1995-06-20 1998-07-15 迈克尔·简·莫洛斯基 Fmcw测量距离的方法
CN101111780A (zh) * 2004-12-23 2008-01-23 罗伯特·博世有限公司 用于监视不同距离范围内目标的雷达系统
EP2128561A1 (de) * 2008-05-28 2009-12-02 Leica Geosystems AG Interferometrisches Distanzmessverfahren mit verzögertem Chirp-Signal und ebensolche Vorrichtung
US20100045964A1 (en) * 2008-08-21 2010-02-25 Jinhua Lanhai Photoelectricity Technology Co.,Ltd. Apparatus and Method for Laser Ranging
CN102378920A (zh) * 2009-02-27 2012-03-14 松下电工株式会社 测距设备
CN106772414A (zh) * 2016-10-14 2017-05-31 北醒（北京）光子科技有限公司 一种提高tof相位法测距雷达测距精度的方法
CN110488595A (zh) * 2019-08-29 2019-11-22 北京理工大学 一种用于调频连续波雷达时差测距的时间数字转换器
CN110749898A (zh) * 2019-10-18 2020-02-04 深圳奥锐达科技有限公司 一种激光雷达测距系统及其测距方法
CN110764074A (zh) * 2019-10-30 2020-02-07 湖南迈克森伟电子科技有限公司 Fmcw调频源信号产生模块及延时控制方法

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023235404A1 (en) * 2022-05-31 2023-12-07 Preact Technologies, Inc. Use of time-integrated samples of return waveforms to enable a software defined continuous wave lidar
CN117607884A (zh) * 2024-01-24 2024-02-27 中国科学院长春光学精密机械与物理研究所 基于互相关算法的激光雷达系统的测距方法及测距系统
CN117607884B (zh) * 2024-01-24 2024-04-02 中国科学院长春光学精密机械与物理研究所 基于互相关算法的激光雷达系统的测距方法及测距系统

Also Published As

Publication number Publication date
CN113811792B (zh) 2023-08-04
WO2021189438A1 (zh) 2021-09-30

Similar Documents

Publication Publication Date Title
CN108957470B (zh) 飞行时间测距传感器及其测距方法
EP2894492B1 (en) A method for driving a time-of-flight system
US7924411B2 (en) 3-D imaging system
CN108712245B (zh) 飞行时间成像设备和用于调节参考频率的方法
CN107018295B (zh) 用于产生深度图像的方法和装置
CN113811792B (zh) 基于连续波的测距方法、装置和激光雷达
CN111025315B (zh) 一种深度测量系统及方法
US11393115B2 (en) Filtering continuous-wave time-of-flight measurements, based on coded modulation images
KR20210033545A (ko) 명확한 범위 토글링에 의해 비행 시간 시스템의 범위를 증가시키기 위한 방법 및 시스템
KR102610830B1 (ko) 거리 정보를 획득하는 방법 및 디바이스
CN111208490A (zh) 用于lidar系统的干扰检测与缓解
CN111830489B (zh) 一种多台tof相机抗干扰方法及系统
US11675061B2 (en) Apparatuses and methods for determining depth motion relative to a time-of-flight camera in a scene sensed by the time-of-flight camera
EP3552044B1 (en) Time-of-flight imaging apparatus and method
KR102466677B1 (ko) 라이다 및 그 동작방법
US11808890B2 (en) Distance measuring device and method of measuring distance by using the same
US10746878B2 (en) Method of measuring distance by using 3D depth sensor including optical shutter
KR102500863B1 (ko) 거리 정보 추출 장치 및 광학 기기
KR102111539B1 (ko) TOF(Time-Of-Flight) 카메라를 이용한 거리 측정 장치 및 방법
JP2020008483A (ja) 撮像装置および撮像装置の制御方法
US11947016B2 (en) Object detection device and method of operating the same
CN116097306A (zh) 电子装置及其控制方法
US20220326360A1 (en) Multipath and noise reduction for time-of-flight cameras
US20220317270A1 (en) Time-of-Flight Imaging System and Method and Computer Program for Operating a Time-of-Flight Imaging System
CN112051559A (zh) 用于补偿场景中的物体引起的杂散光的方法和装置

Legal Events

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