CN115015953B - Microwave-driven FMCW laser radar detection device and detection method thereof - Google Patents
Microwave-driven FMCW laser radar detection device and detection method thereof Download PDFInfo
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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
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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
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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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
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
A microwave-driven FMCW laser radar detection device and method, the device includes: the device comprises a laser, a microwave modulation linear frequency modulation module, a transceiver and a frequency mixing detection module; the laser is used for outputting optical signals; the microwave modulation linear frequency modulation module is used for modulating an optical signal to generate a linear frequency modulation signal with carrier suppression sideband separation, wherein one sideband signal is used as a detection optical signal, and the other sideband signal is used as a local oscillation optical signal; the receiving and transmitting device is used for transmitting the detection optical signal to an object to be detected and receiving an echo optical signal reflected by the object to be detected; the frequency mixing detection module is used for carrying out frequency mixing detection on the echo optical signal and the local oscillator optical signal to obtain the distance and the radial speed of the object to be detected. The invention utilizes the separation and mixing of two side bands to avoid the detection error caused by signal jitter; the microwave signal frequency is accurately controlled by adopting an electric frequency synthesis technology; the light signal is driven through the stable microwave signal, the light wave frequency is controlled, and the detection precision is improved.
Description
Technical Field
The invention relates to the technical field of laser radar detection, in particular to a microwave-driven Frequency Modulated Continuous Wave (FMCW) laser radar detection device and a detection method thereof.
Background
The FMCW laser radar has the advantages of long detection distance, interference resistance, no need of high peak power and the like. Meanwhile, the baseband FMCW laser radar adopts optical coherent detection, so that the sensitivity of the receiver can be greatly improved. However, the baseband FMCW lidar needs to use a laser with narrow linewidth and high wavelength tuning precision to realize high-precision lidar detection.
Patent document No. CN107505626B discloses a laser measurement method and apparatus based on double-sideband modulation, which performs frequency mixing detection using a local oscillator signal and two sidebands (detection light). However, since the two sidebands and the local oscillator signal are mixed at the same time, jitter (jitter) is generated, resulting in inaccurate detection. The double Sideband signal generated in the document Dual-side band Linear FMCW Lidar with Homode Detection for Application in 3D Imaging has no carrier suppression, and generates signal jitter (jitter), which leads to inaccurate Detection.
Disclosure of Invention
The invention aims to solve the technical problem of a laser with high wavelength tuning precision, and provides a microwave-driven FMCW laser radar which drives an optical signal through a stable microwave signal to obtain a linear frequency modulation signal with carrier suppression and double-sideband separation, combines an electric frequency synthesis technology, accurately controls the frequency of the microwave signal and the frequency of the optical wave, and improves the detection precision.
The technical solution of the invention is as follows:
in one aspect, the present invention provides a microwave-driven FMCW lidar detection apparatus, comprising: the device comprises a laser, a microwave modulation linear frequency modulation module, a transceiver and a frequency mixing detection module;
the laser is used for outputting optical signals; the microwave modulation linear frequency modulation module is used for modulating the optical signal to generate a linear frequency modulation signal with carrier suppression sideband separation, wherein one side sideband signal is used as a detection optical signal, and the other side sideband signal is used as a local oscillation optical signal; the transceiver is used for transmitting the detection light signal to an object to be detected and receiving an echo light signal reflected by the object to be detected; and the frequency mixing detection module is used for carrying out frequency mixing detection on the echo optical signal and the local oscillator optical signal to obtain the distance and the radial speed of the object to be detected.
Further, the frequency difference of the two sideband signals is twice the sum of the sideband signal and the carrier signal frequency.
The two sideband signals are in opposite phase.
The distance r and the radial velocity v of the object to be detected r The formula is as follows:
where T is the period of the chirp signal, Δ f 0 Is the frequency amplitude, Δ f, of the chirp signal 1 And Δ f 2 The frequency difference of the first half period and the frequency difference of the second half period are respectively.
Preferably, the microwave modulation chirp module includes: a Mach-Zehnder modulator and a beam splitter; after being split by the beam splitter, optical signals emitted from the laser respectively enter the Mach-Zehnder modulators; loading microwave signals to the electro-optical modulators on the two arms of the Mach-Zehnder modulator for modulation to generate two paths of carrier suppression double-sideband linear frequency modulation signals, wherein the phases of one side sidebands of the two paths of carrier suppression double-sideband linear frequency modulation signals are opposite; the two paths of carrier suppression double-sideband linear frequency modulation signals are divided into two paths of single-sideband linear frequency modulation signals through the beam splitter.
Preferably, the microwave modulation chirp module includes: an electro-optic modulator, a phase modulator and a beam splitter;
the optical signal emitted from the laser is divided into two paths of optical signals by the beam splitter, wherein one path of optical signal is divided into two paths of optical signals again by the beam splitter and modulated by the electro-optical modulator to form two paths of carrier single-sideband linear frequency modulation signals with opposite sideband phases, and the two paths of carrier single-sideband linear frequency modulation signals and the other path of optical signal are cross-modulated by the phase modulator to form two paths of carrier suppression sideband separated linear frequency modulation signals.
Preferably, the frequency mixing detection module includes a multi-mode interferometer (MMI) or a Directional Coupler (DC) and a Balanced Photodetector (BPD), the local oscillator optical signal and the echo optical signal are input into the multi-mode interferometer (MMI) or the Directional Coupler (DC), the output direction of the multi-mode interferometer (MMI) or the Directional Coupler (DC) is the Balanced Photodetector (BPD), and the frequency mixing detection module outputs the frequency mixing electrical signal after being converted by the Balanced Photodetector (BPD).
On the other hand, the invention also provides a microwave-driven FMCW lidar detection method, which is characterized by comprising the following steps of:
modulating an optical signal to generate a linear frequency modulation signal with carrier suppression and sideband separation, wherein one sideband signal is used as a detection optical signal, and the other sideband signal is used as a local oscillation optical signal;
emitting a detection light signal to an object to be detected;
receiving an echo optical signal reflected by an object to be detected;
and mixing the local oscillator optical signal and the echo optical signal to obtain the distance and the radial speed of the object to be detected.
Further, the detection optical signal and the local oscillator optical signal are single-sideband linear frequency modulation signals, and the sideband phases of the detection optical signal and the local oscillator optical signal are opposite.
Compared with the prior art, the invention has the following beneficial effects:
1) The detection error caused by signal jitter is avoided by utilizing the separation and frequency mixing of two side bands;
2) The microwave signal frequency is accurately controlled by adopting an electric frequency synthesis technology, the light signal is driven by a stable microwave signal, the light wave frequency is controlled, and the detection precision is improved.
3) One sideband is adopted for transmitting, and the other sideband is used as a local oscillator, so that the energy utilization efficiency is improved, a filter with a narrow line width is not required, and the hardware requirement is reduced.
Drawings
FIG. 1 is a schematic diagram of a microwave driven FMCW lidar of the present invention;
FIG. 2 is a diagram of an echo optical signal and a local oscillator optical signal on a frequency mixing detection module according to the present invention;
FIG. 3 is a schematic diagram of a typical structure of a Mach-Zehnder modulator, where a is a multimode interferometer (MMI) and b is a Directional Coupler (DC);
FIG. 4 is a schematic structural diagram of embodiment 1 of the microwave-driven FMCW lidar of the present invention
FIG. 5 is a spectrum diagram of signals at respective stages in example 1;
FIG. 6 is a schematic diagram of embodiment 1 of the frequency mixing detection module in the present invention
FIG. 7 is a schematic configuration of embodiment 2 of the microwave-driven FMCW lidar of the present invention;
FIG. 8 is a spectrum diagram of signals at respective stages in example 2;
fig. 9 is a schematic diagram of embodiment 2 of the frequency mixing detection module in the present invention.
Detailed Description
In order that those skilled in the art will better understand the disclosure, reference will now be made in detail to the embodiments of the disclosure as illustrated in the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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 terms "first," "second," "third," "fourth," and the like in the description and claims of this application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements but may include other steps or elements not expressly listed.
Referring first to fig. 1 and 2, fig. 1 is a schematic diagram of a microwave-driven FMCW lidar according to the present invention, in which a dotted line represents a propagation direction of an optical signal in a line. FIG. 2 is a diagram of an echo optical signal and a local oscillator optical signal on a frequency mixing detection module according to the present invention. As shown in the figure, a microwave-driven FMCW lidar includes a laser, a microwave chirp module, a transceiver, and a mixing detection module. The microwave linear frequency modulation module is arranged along the optical signal output direction of the laser, modulates the optical signal input from the laser to form a linear frequency modulation signal with carrier suppression sideband separation, one sideband signal is used as a detection optical signal, and the other sideband signal is used as a local oscillation optical signal.
The direction of the local oscillator optical signal output by the microwave linear frequency modulation module is the frequency mixing detection module, the direction of the detection optical signal output by the microwave linear frequency modulation module is the transceiver, the transceiver sends the detection optical signal to form an echo optical signal through the reflection of an object to be detected, the echo optical signal is received by the transceiver and then input into the frequency mixing detection module, and the echo optical signal and the local oscillator optical signal are subjected to frequency mixing detection in the frequency mixing detection module to obtain the distance r and the radial velocity v of the object to be detected r The information is as follows:
where T is the period of the chirp signal, Δ f 0 Is the frequency amplitude, Δ f, of the chirp signal 1 And Δ f 2 Respectively the frequency difference of the first half period and the frequency difference of the second half period;
the direction of the object to be measured is determined by the direction of the signal transmitted by the transceiver.
Example 1
Sideband and sideband separation mode: the two sidebands are used as local oscillation optical signals and detection signals, the intensity is close, the frequency difference of the two sideband signals is twice of that of the sideband signals and carrier signals, and the measurement is more accurate.
As shown in fig. 4, the optical signal emitted by the laser is split into two parts, referred to as a first part and a second part, by a first beam splitter 1:
the first partial optical signal is split into a third part and a fourth part by the second beam splitter 2; wherein the third part of the optical signal and the first radio frequency signal enter a first Mach-Zehnder Modulator (MZM), a first output port of the first MZM1 is connected to the first detector 1 to monitor the output power, a second output port of the first MZM1 outputs the first modulated optical signal, as shown in fig. 4 and a in fig. 5, a horizontal axis of a spectrum diagram provided by the embodiment of the present invention represents a wavelength, a vertical axis represents an optical intensity, and a spectrum of the first modulated optical signal includes a carrier and two sidebands. The fourth optical signal passes through the first phase modulator 1 and interferes with the first optical signal to form a second modulated optical signal, the spectrum of which includes two sidebands, as shown in fig. 4 and b in fig. 5.
The second MZM2 modulates a second part of optical signals according to a second radio frequency signal, one path of output carrier signal is input into the second detector 2, and output power is monitored; the other output sideband signal is passed through the second phase modulator 2 to form a third modulated optical signal having a spectrum comprising two sidebands, as shown at c in fig. 4 and 5, one of which is in phase opposition to one of the sidebands of the second modulated optical signal.
The second optical signal and the third optical signal interfere with each other and pass through the eighth beam splitter 8, and the first chirp signal and the second chirp signal are output. The spectrum of the first chirp signal includes a sideband as shown at d in fig. 4 and 5. And transmitting the first linear frequency modulation signal serving as a detection light signal to an object to be detected through a transmitting device. The spectrum of the second chirp includes a sideband that is in phase opposition to the sideband of the first chirp as shown at e in fig. 4 and 5. And mixing the second linear frequency modulation signal serving as a local oscillation optical signal with an echo optical signal of the object to be detected received by the receiving device through a frequency mixing detection module to obtain the distance and speed information of the object to be detected. The transmitting device and the receiving device can be arranged separately or integrated together.
As shown in fig. 6, the frequency mixing detection module includes a multi-mode interferometer MMI or a directional coupler DC and a balanced photodetector BPD, where a local oscillator optical signal and an echo optical signal are input to the multi-mode interferometer MMI or the directional coupler DC, the output direction of the multi-mode interferometer MMI or the directional coupler DC is the balanced photodetector BPD, the MMI or the DC is used to perform frequency mixing, and the output direction is converted into a frequency mixing electrical signal through the BPD, so as to obtain spatial position and speed information of an object to be detected.
Example 2
The sideband and sideband separation method is also adopted, and microwave signals only need to be loaded on two photoelectric phase modulators and do not need to be loaded on two arms of two MZMs.
As shown in fig. 7, the optical signal emitted by the laser is split into two parts by the first beam splitter 1, which are referred to as a first part optical signal and a second part optical signal:
the first part of optical signal is divided into two parts by the second beam splitter 2, namely a third part of optical signal and a fourth part of optical signal; wherein the first electro-optical phase modulator 1 modulates the third part of the optical signal according to the first radio frequency signal and outputs a first modulated optical signal, the spectrum of which comprises a carrier and two sidebands with opposite phases, as shown at a in fig. 7 and 8. The first modulated optical signal is modulated by the first phase modulator 1, and then the second modulated optical signal with a changed phase is output, as shown at b in fig. 7 and 8. The second electro-optical phase modulator 2 modulates the fourth part of the optical signal according to the second radio frequency signal and outputs a third modulated optical signal, the spectrum of which comprises a carrier and two sidebands, and the phase of the two sidebands is the same as the phase of one sideband of the second modulated optical signal, as shown at c in fig. 7 and 8. The second modulated optical signal and the third modulated optical signal interfere with each other through the third beam splitter 3, the first output terminal of the third beam splitter 3 outputs the fourth optical signal (as shown at d in fig. 7 and 8), and the second output terminal of the third beam splitter 3 outputs the fifth optical signal (as shown at e in fig. 7 and 8).
The second part of the optical signal is split into a fifth and a sixth part by a fourth beam splitter 4; the fifth part of optical signals interfere with the optical signals modulated by the fourth optical signals through the first phase modulator 1, and the fifth beam splitter separates and outputs chirp signals (shown as f in fig. 7 and 8) of sidebands on the carrier suppression side as probe optical signals; the optical signal of the sixth optical signal modulated by the second phase modulator 2 is mixed with the fifth optical signal by interference, and the sixth beam splitter 6 separates and outputs the chirp signal of the other side band (as shown in g in fig. 7 and 8) as the local oscillation optical signal. The detection light signal is transmitted out to the object to be detected through the transceiver device, and the echo light signal reflected by the object to be detected is input into the frequency mixing detection module after being received by the transceiver device, and is subjected to difference frequency with the local oscillator light signal, so that a distance signal and a speed signal of the object to be detected are obtained.
The frequency mixing detection module is shown in fig. 9 and comprises a dual-polarization optical mixer OH, a first balanced photodetector BPD1, a second balanced photodetector BPD Heng Guang photodetector BPD2, an electric addition device and an electric frequency mixer. The local oscillator optical signal and the echo optical signal are input into the dual-polarization optical mixer OH for IQ frequency mixing, the frequency-mixed optical signal is respectively converted into an electrical signal through the first balanced photoelectric detector BPD1 and the second balanced photoelectric detector BPD 78, the electrical signals output from the first balanced photoelectric detector BPD1 and the second balanced photoelectric detector BPD2 are added through the electrical adder to obtain an electrical signal, the electrical signal and the local oscillator electrical signal are electrically mixed by the electrical frequency mixer and then output a frequency-mixed electrical signal, and spatial position and speed information of an object to be detected is obtained.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A microwave driven FMCW lidar detection device, comprising: the device comprises a laser, a microwave modulation linear frequency modulation module, a transceiver and a frequency mixing detection module;
the laser is used for outputting optical signals; the microwave modulation linear frequency modulation module is used for modulating the optical signal to generate a linear frequency modulation signal with carrier suppression sideband separation, wherein one side sideband signal is used as a detection optical signal, and the other side sideband signal is used as a local oscillation optical signal; the transceiver is used for transmitting the detection light signal to an object to be detected and receiving an echo light signal reflected by the object to be detected; and the frequency mixing detection module is used for carrying out frequency mixing detection on the echo optical signal and the local oscillator optical signal to obtain the distance and the radial speed of the object to be detected.
2. The microwave driven FMCW lidar detection device of claim 1, wherein the difference between the two sideband signal frequencies is twice the sum of the sideband signal and the carrier signal frequencies.
3. The microwave-driven FMCW lidar detection device of claim 1 or 2, wherein the two sideband signals are in opposite phase.
4. Microwave-driven FMCW lidar detection device according to claim 1 or 2, wherein the distance r and radial velocity v of the object to be detected r The formula is as follows:
where T is the period of the chirp signal, Δ f 0 Is the frequency amplitude, Δ f, of the chirp signal 1 And Δ f 2 The frequency difference of the first half period and the frequency difference of the second half period are respectively.
5. The microwave-driven FMCW lidar detection device of claim 1 or 2, wherein the microwave modulation chirp module comprises: two Mach-Zehnder modulators and a beam splitter; after being split by the beam splitter, optical signals emitted from the laser respectively enter the two Mach-Zehnder modulators; loading microwave signals to the electro-optical modulators on two arms of the Mach-Zehnder modulator for modulation to generate two paths of carrier suppression double-sideband linear frequency modulation signals, wherein the phases of one side sidebands of the two paths of carrier suppression double-sideband linear frequency modulation signals are opposite; the two paths of carrier suppression double-sideband linear frequency modulation signals are divided into two paths of single-sideband linear frequency modulation signals through the beam splitter.
6. The microwave-driven FMCW lidar detection device of claim 1 or 2, wherein the microwave modulation chirp module comprises: an electro-optic modulator, a phase modulator and a beam splitter;
the optical signal emitted from the laser is divided into two paths of optical signals by the beam splitter, wherein one path of optical signal is divided into two paths of optical signals again by the beam splitter and modulated by the electro-optical modulator to form two paths of carrier single-sideband linear frequency modulation signals with opposite sideband phases, and the two paths of carrier single-sideband linear frequency modulation signals and the other path of optical signal are cross-modulated by the phase modulator to form two paths of carrier suppression sideband separated linear frequency modulation signals.
7. The microwave-driven FMCW lidar detection device of claim 1 or 2, wherein the mixing detection module includes a multi-mode interferometer MMI or a Directional Coupler (DC) and a Balanced Photodetector (BPD), the local oscillator optical signal and the echo optical signal are input to the multi-mode interferometer MMI or the Directional Coupler (DC), the output direction of the multi-mode interferometer MMI or the Directional Coupler (DC) is the Balanced Photodetector (BPD), and the mixing signal is output after being converted by the Balanced Photodetector (BPD).
8. A microwave driven FMCW lidar detection method, comprising:
modulating an optical signal to generate a linear frequency modulation signal with carrier suppression and sideband separation, wherein one sideband signal is used as a detection optical signal, and the other sideband signal is used as a local oscillation optical signal;
emitting a detection light signal to an object to be detected;
receiving an echo optical signal reflected by an object to be detected;
and mixing the local oscillator optical signal and the echo optical signal to obtain the distance and the radial speed of the object to be detected.
9. The microwave-driven FMCW lidar detection method of claim 8, wherein the probe optical signal and the local oscillator optical signal are single sideband chirps and have opposite sideband phases.
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