CN113885040A - Laser Doppler velocimeter for medium and long distance velocity measurement - Google Patents

Laser Doppler velocimeter for medium and long distance velocity measurement Download PDF

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CN113885040A
CN113885040A CN202111166524.4A CN202111166524A CN113885040A CN 113885040 A CN113885040 A CN 113885040A CN 202111166524 A CN202111166524 A CN 202111166524A CN 113885040 A CN113885040 A CN 113885040A
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doppler velocimeter
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CN113885040B (en
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陈兰剑
周健
聂晓明
王�琦
程吉利
金世龙
黄荣
席崇宾
向志毅
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National University of Defense Technology
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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
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Abstract

The application relates to a laser Doppler velocimeter for measuring speed at medium and long distances. After the laser Doppler velocimeter determines the component parameters of the optical module according to detection requirements, the beam waist position of measuring light output by the optical module is adjusted by adjusting the distance between the positive lens group and the negative lens group in the optical module, then the light signal formed by interference of reference light and signal light is converted into a current signal containing Doppler frequency information, the current signal is processed by the signal processing system, the speed of an object to be measured is obtained, and medium-distance and long-distance speed measurement is realized. The laser Doppler velocimeter provided by the invention can break through the problem that the current velocimeter is short in measurement distance, and simultaneously ensures high precision and high signal-to-noise ratio of the measurement result in medium-distance and long-distance measurement.

Description

Laser Doppler velocimeter for medium and long distance velocity measurement
Technical Field
The application relates to the technical field of laser Doppler velocity measurement, in particular to a laser Doppler velocimeter for measuring velocity at medium and long distances.
Background
Since its birth, the laser doppler technology has been developed greatly in the aspects of theoretical research, optical structure design, measurement dimension, and the like, and can be widely used for measuring the velocity of solid surfaces and fluids. The technology has the characteristics of non-contact measurement, high precision, large measurement range and the like, so that the technology has wide application prospects in the fields of scientific research, industrial production and the like. It can be seen that the laser doppler velocity measurement technique has great potential for solving the above high-precision high-signal-to-noise ratio remote velocity measurement requirement.
The laser doppler technology development has developed mature products by many companies, such as mini LDV series of MSE in the united states, mu SPEED-SMART & SMART-ECO LDV of Elovis in germany, and FlexLDA system series of dante Dynamics, but when the products are used, the distance between the measuring system and the moving object to be measured is limited to 10m, and usually, the distance is fixed and cannot be flexibly controlled, and the requirement of remote SPEED measurement with variable working distance cannot be met.
Disclosure of Invention
Therefore, it is necessary to provide a laser doppler velocimeter for measuring velocity at medium and long distances, which can be applied to measuring velocity at medium and long distances.
A laser doppler velocimeter for measuring velocity at medium and long distances, comprising: the device comprises a laser, a beam splitter, a reflector, a photoelectric detector, an optical module and a signal processing system;
the laser is used for emitting continuous laser;
the light splitting sheet is used for splitting the continuous laser into a first laser and a second laser, and the first laser is reflected by the reflector and then reaches the surface of the photoelectric detector to form reference light;
the optical module comprises a beam expander, a negative lens group, a positive lens group, a fixed lens frame, a movable lens frame, a sliding rod, a stepping motor and a stepping motor controller; the positive lens group is arranged on the movable lens frame, and the stepping motor controller is used for driving the stepping motor to control the movable lens frame to move along the sliding rod; the optical module is used for outputting measurement light after the second laser sequentially passes through the beam expander, the biconcave lens and the biconvex lens, the measurement light enters the optical module after reaching the surface of an object to be measured and then is scattered, and the measurement light is reflected to the surface of the photoelectric detector through the optical splitter to form signal light;
the photoelectric detector is used for converting an optical signal formed by the interference of the reference light and the signal light into a current signal containing Doppler frequency information;
and the signal processing system is used for processing the current signal to obtain the speed of the object to be detected.
Further, the optical module is further configured to adjust a distance between the biconcave lens and the biconvex lens by moving the movable mirror holder, so that a beam waist position of the measuring light is transformed to the surface of the object to be measured.
Further, the output power of the laser is >50mW, and the laser line width is less than 10 Mhz.
Further, the splitting ratio of the splitting sheet is set to be 99: 1-90: 10, respectively.
Further, the positive lens group is a single biconvex or plano-convex lens, or a biconjugated lens with a combined focal length equal to a preset focal length value of the positive lens group, or consists of a plurality of lenses.
Further, the negative lens group is a single biconcave or plano-concave lens, or a double cemented lens with a combined focal length equal to a preset focal length value of the negative lens group, or consists of a plurality of lens groups.
Furthermore, lens assemblies in the positive lens assembly and the negative lens assembly are plated with antireflection films corresponding to the laser wavelength of the laser, and the transmittance of the antireflection films is larger than or equal to 98%.
Further, the photodetector is an avalanche diode or a single photon detector.
Further, the signal processing system is also used for outputting a quality factor representing the signal-to-noise ratio of the laser Doppler velocimeter; the quality factor is the amplitude ratio of the measured doppler frequency to the average of all noise frequencies.
Further, the measuring distance of the laser Doppler velocimeter is 50-1000 m.
According to the laser Doppler velocimeter for measuring the speed at the medium and long distances, after the component parameters of the optical module are determined according to the detection requirements, the beam waist position of the measuring light output by the optical module is adjusted by adjusting the distance between the positive lens group and the negative lens group in the optical module, then the light signal formed by interference of the reference light and the signal light is converted into a current signal containing Doppler frequency information, the current signal is processed through the signal processing system, the speed of an object to be measured is obtained, and medium and long distance speed measurement is realized. The laser Doppler velocimeter provided by the invention can break through the problem that the current velocimeter is short in measurement distance, and simultaneously ensures high precision and high signal-to-noise ratio of the measurement result in medium-distance and long-distance measurement.
Drawings
FIG. 1 is a general structural framework of the present invention;
FIG. 2 is a graph showing the variation of the SNR of the present invention with the radius of the Gaussian beam waist transformed to the surface of the object to be measured;
FIG. 3 is a schematic representation of a Gaussian beam of the present invention passing through the example optical module;
FIG. 4 is a graph showing the relationship between the radius of the waist of the Gaussian beam transformed to the surface of the object to be measured and the radius of the waist of the Gaussian beam expanded by the beam expander.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
A laser doppler velocimeter for measuring velocity at medium and long distances, comprising: the device comprises a laser, a beam splitter, a reflector, a photoelectric detector, an optical module and a signal processing system;
the laser is used for emitting continuous laser;
the light splitting sheet is used for splitting the continuous laser into a first laser and a second laser, and the first laser reaches the surface of the photoelectric detector after being reflected by the reflector to form reference light;
the optical module comprises a beam expander, a negative lens group, a positive lens group, a fixed lens frame, a movable lens frame, a sliding rod, a stepping motor and a stepping motor controller; the positive lens group is arranged on the movable lens bracket, and the stepping motor controller is used for driving the stepping motor to control the movable lens bracket to move along the sliding rod; the optical module is used for outputting measurement light after the second laser sequentially passes through the beam expander, the biconcave lens and the biconvex lens, the measurement light enters the optical module along the original propagation path after reaching the surface of the object to be measured and then is scattered, and the measurement light is reflected to the surface of the photoelectric detector by the beam splitter to form signal light;
the photoelectric detector is used for converting an optical signal formed by interference of reference light and signal light into a current signal containing Doppler frequency information;
the signal processing system is used for processing the current signal to obtain the speed of the object to be measured.
According to the laser Doppler velocimeter for measuring the speed at the medium and long distances, after the component parameters of the optical module are determined according to the detection requirements, the beam waist position of the measuring light output by the optical module is adjusted by adjusting the distance between the positive lens group and the negative lens group in the optical module, then the light signal formed by interference of the reference light and the signal light is converted into a current signal containing Doppler frequency information, the current signal is processed through the signal processing system, the speed of an object to be measured is obtained, and medium and long distance speed measurement is realized. The laser Doppler velocimeter provided by the invention can break through the problem that the current velocimeter is short in measurement distance, and simultaneously ensures high precision and high signal-to-noise ratio of the measurement result in medium-distance and long-distance measurement.
In one embodiment, as shown in fig. 1, a laser doppler velocimeter for measuring velocity at a medium and long distance is provided, wherein the laser doppler velocimeter comprises: the device comprises a laser 1, a beam splitter 2, a reflector 3, a photoelectric detector 4, a signal processing system 5, a beam expander 6, a biconcave lens 7, a biconvex lens 8, a stepping motor 9, a stepping motor controller 10, a sliding rod 11, a movable lens frame 12, a fixed lens frame 13 and a beam expander fixing frame 14.
After passing through the beam splitter 2, the continuous laser emitted by the laser 1 is split into two beams of laser with different powers, namely a first laser and a second laser; the first laser is reflected by the reflector 3, then reaches the surface of the photoelectric detector 4 through the beam splitter 2 again to be used as reference light, and the second laser is output after passing through the beam expander 6, the biconcave lens 7 and the biconvex lens 8 in the optical module in sequence to be used as measuring light; after the measuring light reaches the surface of the object to be measured, the backscattered light of the measuring light enters the optical module as signal light along the original propagation path, passes through the biconvex lens 8, the biconcave lens 7 and the beam expander 6 again, is reflected to the surface of the photoelectric detector 4 through the beam splitter, and interferes with the reference light.
Wherein the reference light and the signal light are respectively expressed as:
Figure BDA0003291538080000041
Figure BDA0003291538080000042
wherein f is0And fdRespectively representing the frequency and doppler frequency corresponding to the lasing wavelength of the laser 1,
Figure BDA0003291538080000051
and
Figure BDA0003291538080000052
respectively represent ginsengPhase information carried by the reference light and the signal light, ERAnd ESThe electric field intensity amplitudes of the reference light and the signal light, respectively, are indicated, and t represents time.
The photodetector 4 converts the interfered optical signal into a current signal containing doppler frequency information, and the optical signal after interference and the current signal obtained by the photodetector 4 in response can be expressed as:
Figure BDA0003291538080000053
Figure BDA0003291538080000054
the signal processing system 5 collects the current signal, converts the current signal into a digital signal, performs Fourier transform on the digital signal to obtain frequency spectrum information, and can extract Doppler frequency f from the frequency spectrum informationdAnd then obtaining the velocity v of the measured object according to the Doppler velocity measurement principle, the invention further defines the information of a quality factor Q (used for representing the signal-to-noise ratio), and the velocity v and the quality factor Q can be expressed as:
Figure BDA0003291538080000055
Figure BDA0003291538080000056
wherein λ is the wavelength of the laser light output from the laser 1, PdAmplitude of Doppler frequency, piIs the amplitude of the ith noise frequency.
Further, the optical module is also used for adjusting the distance between the biconcave lens and the biconvex lens by moving the movable mirror frame, so that the beam waist position of the measuring light is converted to the surface of the object to be measured.
In the example of fig. 1, the relationship between the snr of the measured signal and the size of the waist of the gaussian beam transformed to the surface of the object to be measured is:
Figure BDA0003291538080000057
wherein, PTIs the power of the laser 1, λ is the wavelength of the laser output by the laser 1, β is the backscattering coefficient of the object to be measured, NEP is the noise equivalent power, L is the distance between the object to be measured and the exit of the optical module of the laser doppler velocimeter, ω is the radius of the waist of the gaussian beam transformed to the surface of the object to be measured. According to the relation, other parameters are set as constants, the change relation of the SNR (signal to noise ratio) converted to the Gaussian beam waist radius omega on the surface of the object to be measured along with the change of the SNR shown in the graph 2 can be drawn, and as can be known from the graph 2, the smaller the Gaussian beam waist radius omega converted to the surface of the object to be measured is, the higher the SNR of the speed signal measured by the method is, so that a proper numerical value which is as small as possible is selected at the same detection distance, and the determination principle of the converted Gaussian beam waist radius omega is adopted.
In the measuring system of the invention, after the parameters of the optical module (the focal length value of the negative lens group and the focal length value of the positive lens group) are determined, the distance d between the negative lens group and the positive lens group has a one-to-one correspondence relationship with the position of the beam waist of the measuring light emitted by the optical module, and when the beam waist position of the measuring light is on the surface of an object to be measured, the signal-to-noise ratio of the system is highest. Therefore, knowing the distance of the object to be measured, by adjusting the distance between the negative lens group and the positive lens group, the waist position of the measuring beam can be positioned on the inner surface of the object to be measured, and the measurement with the highest signal-to-noise ratio can be realized. The specific principle is as follows:
in the example of fig. 1, the parameters of the beam expander 6, the biconcave lens 7 and the biconvex lens 8 in the optical module are determined according to the maximum detection distance required in practice and the gaussian beam waist size of the surface of the object to be measured at the maximum detection distance after the desired transformation; as shown in fig. 3, which is a schematic diagram of a gaussian light beam passing through an example optical module, the biconcave lens 7 and the biconvex lens 8 are simplified into a thin lens model, and after the gaussian light beam passes through the beam expander 6, the biconcave lens 7 and the biconvex lens 8 in sequence according to an optical transmission matrix method, an expression of a relationship between a distance from a beam waist position to an exit port of the optical module and a beam waist size is as follows:
Figure BDA0003291538080000061
Figure BDA0003291538080000062
Figure BDA0003291538080000063
Figure BDA0003291538080000064
Figure BDA0003291538080000065
wherein, ω is0Is the beam waist radius, l, of the Gaussian beam emitted by the laser 1 after being expanded by the beam expander 60Is the distance, omega, from the beam waist of the Gaussian beam emitted by the laser 1 after being expanded by the beam expander 6 to the center of the biconcave lens 71Is the beam waist radius of the Gaussian beam after being refracted by the biconcave lens 7, delta is the distance between the focal planes of the biconcave lens 7 and the biconvex lens 8, f1Is the focal length value, f, of the biconcave lens 72Is the focal length value, Z, of the lenticular lens 81And Z2For the intermediate calculation of the coefficients, L and ω are the same as defined above, wherein, according to (10), the present embodiment sets the detection distance to be the position of the measurement beam waist.
After the values of the upper measurement limits L and omega are selected according to actual requirements, the selected L and omega are used for determining optical module parameters, which is equivalent to determining the optical module parameters of the system by setting the upper measurement limit of the system. When specific values of L and ω are set, (10) and (11) are known on the left side, the simultaneous combination of (10) and (11) can be solved to obtain the biconcave lens 7 and the biconvex lens satisfying the conditionsFocal length value of mirror 8, i.e. determining optical module parameter f1And f2(ii) a The focal length value f1And f2The distance d ═ f between the biconcave lens 7 and the biconvex lens 8 can be obtained by performing calculations by substituting (8), (9), (10), (11), and (12)1+f2+ Δ as a function of the detection distance, wherein the detection distance is not greater than the value of the selected upper measurement limit L, i.e. the farthest detection distance; according to (10) and (11), when the detection distance is smaller than the farthest detection distance, the beam waist radius corresponding to the detection distance is also smaller than the selected upper limit of ω, and meanwhile, the propagation distance of the measurement light is shorter, the experienced loss is less, the laser power reaching the object to be measured is higher, and the backward scattering light serving as the signal light is stronger, so that the measurement with high precision and high signal-to-noise ratio can be realized in the farthest distance range.
The step motor controller 10 can control the step motor 9 to drive the movable mirror bracket 12 to move along the slide bar 11 to change the distance between the biconcave lens 7 and the biconvex lens 8 according to the functional relation between the distance d and the detection distance, so as to achieve the purpose of changing the measured Gaussian beam waist to different distances.
The beam expander 6 is used for expanding and collimating the laser beam emitted by the laser 1, and the principle of determining the beam expansion ratio can be explained as follows: double concave lens 7 with focal length f1Focal length f of biconvex lens 8 of-40 mm2The distance l from the beam waist of the Gaussian beam emitted by the laser 1 after being expanded by the beam expander 6 to the center of the biconcave lens 7 is 600mm0Taking the wavelength lambda of the laser output by the laser 1 being 532nm and the distance delta between the focal planes of the biconcave lens 7 and the biconvex lens 8 being 2mm as special examples of the embodiment, (8), (9), (11) and (12) are taken into to calculate the beam waist radius omega of the Gaussian beam waist radius omega converted to the surface of the object to be measured and expanded by the beam expander 6 along with the Gaussian beam emitted by the laser 10The trend of change of (c); as shown in fig. 4, with ω0The increasing omega of the speed signal is in a trend of continuously reducing, and the smaller the radius omega of the Gaussian beam waist transformed to the surface of the object to be measured is combined, the higher the signal-to-noise ratio of the speed signal measured by the method is, the determination principle that the beam expansion ratio of the beam expander 6 is: the aperture of the biconcave lens 7 and the aperture of the biconvex lens 8 are selected as much as possible under the condition of satisfying the apertureA large magnification beam expander.
In the example of fig. 1, the laser 1 has a narrow laser line width and a long coherence length, and different line widths can be selected according to different detection ranges to ensure that reference light and signal light can interfere in the detection ranges; the output power of the laser 1 is typically >50mW, the laser linewidth <10 Mhz.
In the example of fig. 1, the splitting ratio of the splitting sheet 2 is set at 99: 1-90: 10, respectively. After light splitting, the power split by the first laser is smaller, and the power split by the second laser is larger.
In the example of fig. 1, the use of the lenticular lens 8 in the optical module is for explaining the present invention, and may be replaced by other lens combinations such as a single plano-convex lens with equal focal length, a double cemented lens with a combined focal length equal to the focal length of the lenticular lens 8, a three-lens group, or an N-lens group (N is an integer greater than 3); the use of the biconcave lens 7 in the optical module is for explaining the present invention, and may be replaced by other lens combinations such as a single plano-concave lens with the same focal length, a double cemented lens with a combined focal length equal to the focal length of the biconcave lens 7, a three-lens group, or an N-lens group (N is an integer greater than 3).
In the example of fig. 1, the beam expander 6, the biconcave lens 7 and the biconvex lens 8 in the optical module are coated with an antireflection film corresponding to the laser wavelength of the laser used in the present invention, and the transmittance is greater than or equal to 98%.
In the example of fig. 1, the photodetector 4 may be a high-sensitivity device such as an avalanche diode or a single photon detector, which can improve the detection efficiency of the signal light scattered back from a long distance.
In the example of fig. 1, the precision of the stepping motor 9 driving the moving frame 12 to move needs to reach 0.1mm for achieving more accurate light beam change.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A laser doppler velocimeter for measuring velocity at medium and long distances, comprising: the device comprises a laser, a beam splitter, a reflector, a photoelectric detector, an optical module and a signal processing system;
the laser is used for emitting continuous laser;
the light splitting sheet is used for splitting the continuous laser into a first laser and a second laser, and the first laser is reflected by the reflector and then reaches the surface of the photoelectric detector to form reference light;
the optical module comprises a beam expander, a negative lens group, a positive lens group, a fixed lens frame, a movable lens frame, a sliding rod, a stepping motor and a stepping motor controller; the positive lens group is arranged on the movable lens frame, and the stepping motor controller is used for driving the stepping motor to control the movable lens frame to move along the sliding rod; the optical module is used for outputting measurement light after the second laser sequentially passes through the beam expander, the biconcave lens and the biconvex lens, the measurement light enters the optical module after reaching the surface of an object to be measured and then is scattered, and the measurement light is reflected to the surface of the photoelectric detector through the optical splitter to form signal light;
the photoelectric detector is used for converting an optical signal formed by the interference of the reference light and the signal light into a current signal containing Doppler frequency information;
and the signal processing system is used for processing the current signal to obtain the speed of the object to be detected.
2. The laser doppler velocimeter of claim 1, wherein the optical module is further configured to adjust a distance between the biconcave lens and the biconvex lens by moving the movable frame, so that a beam waist position of the measuring light is transformed to the surface of the object to be measured.
3. Laser doppler velocimeter according to claim 1, wherein the output power of the laser is >50mW and the laser linewidth is <10 Mhz.
4. The laser doppler velocimeter of claim 1, wherein the splitting ratio of the splitting sheet is set at 99: 1-90: 10, respectively.
5. The laser doppler velocimeter of claim 1, wherein the positive lens group is a single biconvex or plano-convex lens, or a doublet lens with a combined focal length equal to the focal length of the preset positive lens group, or is composed of multiple lenses.
6. The laser doppler velocimeter of claim 5, wherein the negative lens group is a single biconcave or plano-concave lens, or a double cemented lens with a combined focal length equal to the focal length of the preset negative lens group, or is composed of multiple lens groups.
7. The laser Doppler velocimeter of claim 6, wherein lens components in the positive lens group and the negative lens group are plated with antireflection films corresponding to laser wavelengths of the laser, and the transmittance of the antireflection films is greater than or equal to 98%.
8. Laser doppler velocimeter according to claim 1, wherein the photodetector is an avalanche diode or a single photon detector.
9. The laser doppler velocimeter of claim 1, wherein the signal processing system is further configured to output a quality factor characterizing a signal-to-noise ratio of the laser doppler velocimeter; the quality factor is the amplitude ratio of the measured doppler frequency to the average of all noise frequencies.
10. The laser doppler velocimeter of any one of claims 1 to 9, wherein the measurement distance of the laser doppler velocimeter is 50-1000 m.
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