CN115473578A - Communication, range finding and location integrated device based on four-quadrant detector - Google Patents
Communication, range finding and location integrated device based on four-quadrant detector Download PDFInfo
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- CN115473578A CN115473578A CN202211365023.3A CN202211365023A CN115473578A CN 115473578 A CN115473578 A CN 115473578A CN 202211365023 A CN202211365023 A CN 202211365023A CN 115473578 A CN115473578 A CN 115473578A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/112—Line-of-sight transmission over an extended range
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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
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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
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Abstract
The invention relates to a communication, distance measurement and positioning integrated device based on a four-quadrant detector, which comprises a first optical transceiver and a second optical transceiver, wherein the first optical transceiver and the second optical transceiver are placed in an atmospheric channel and keep a link free of shielding; the first optical transceiver and the second optical transceiver have the same structure and comprise modulators, lasers, optical power amplifiers, four-quadrant detectors, signal light modulation and demodulation measurement and control boards and optical systems; the first optical transceiver and the second optical transceiver receive optical signals sent by the other party and transmit signal light reflected by the other party, after receiving the optical signals, the first optical transceiver and the second optical transceiver calculate the received signal light through respective signal light modulation and demodulation measurement and control boards to obtain calculation results, wherein the calculation results are received communication information, positions and directions. The invention has simpler using equipment and method, and realizes the integration of communication, distance measurement and positioning on the premise of not increasing the complexity of the equipment.
Description
Technical Field
The invention relates to the technical field of space laser communication and laser radar positioning, in particular to a communication, ranging and positioning integrated device based on a four-quadrant detector.
Background
With the increasing use of high-speed internet, video conferencing, real-time streaming media, etc., in recent years, bandwidth and capacity demands have increased dramatically. The increasing demand for data and multimedia services has led to congestion of the traditionally used Radio Frequency (RF) spectrum, optical carriers with high bandwidth and large capacity without any spectrum license, etc., making spatial laser communication more and more popular. The laser radar can quickly and accurately acquire the depth information of the environment, has the advantages of strong anti-interference capability, small influence of environmental change, high resolution and low cost, and is widely applied to various fields in recent years. The four-Quadrant Detector (QD) is used as a receiving device, the four-quadrant detector is a photoelectric detector device formed by arranging four photodiodes with the same performance according to the rectangular coordinate requirement, the received light power can be converted into position information, and compared with other position detection devices, the four-quadrant detector has the advantages of high response speed, simplicity in data processing, high position resolution, high measurement accuracy and the like. In space laser communication, the received laser signals are restored into original signals according to the receiving power, and position information is calculated according to the output of four quadrants.
If the laser radar equipment only comprises the functions of beam scanning and ranging, when a plurality of laser radar equipment works in the same scene, the laser echo signals emitted by the radar can interfere with each other, so that each laser radar equipment has an identification address (IP) of each laser radar equipment, the laser radar can receive and identify the echo of the emitted signal without interference, and accurate ranging is realized. In addition, with the development of the internet of things, smart homes and the wide application of intelligent robots, the communication function between different laser radar devices also becomes very important, and under many complex communication scenes, the functions of a laser communication terminal are not limited to real-time communication, and the position of the communication device needs to be determined. Therefore, how to simply realize the integration of communication, ranging and positioning is a difficult problem.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to solve the defect that no integrated scheme of communication, distance measurement and positioning is realized at present, so that a device for integrating communication, distance measurement and positioning based on a four-quadrant detector is provided.
A communication, distance measurement and positioning integrated device based on a four-quadrant detector comprises a first optical transceiver and a second optical transceiver, wherein the first optical transceiver and the second optical transceiver are placed in an atmospheric channel and keep a link from being blocked;
the first optical transceiver and the second optical transceiver have the same structure and comprise modulators, lasers, optical power amplifiers, four-quadrant detectors, signal light modulation and demodulation measurement and control boards and optical systems;
the first optical transceiver and the second optical transceiver receive optical signals sent by the other party, after receiving the optical signals, the first optical transceiver and the second optical transceiver calculate the received optical signals through respective signal light modulation and demodulation measurement and control boards to obtain a calculation result, wherein the calculation result is received emission information, position and direction.
A communication, ranging and positioning integrated method based on the communication, ranging and positioning integrated device based on the four-quadrant detector comprises the following steps:
s1, a first optical transceiver and a second optical transceiver are placed in an atmospheric channel and supply power to the device;
s2, starting data input, performing modulo two operation on input data and pseudo-random codes to obtain emission data, loading the emission data on a laser through a modulator in the first optical transceiver, and realizing conversion from an electric signal to an optical signal through external modulation by the laser;
s3, amplifying the optical signal converted by the laser in the first optical transceiver through an optical power amplifier, and transmitting the optical signal to a space through an optical system;
s4, after receiving the optical signal sent by the first optical transceiver, the second optical transceiver collects the optical signal to a four-quadrant detector of the second optical transceiver through an optical system in the second optical transceiver;
s5, outputting the received optical signal sent by the first optical transceiver and the optical signal reflected by the opposite side when the optical signal is transmitted by the four-quadrant detector of the second optical transceiver into electric signals, outputting the electric signals to a signal light modulation and demodulation measurement and control board, and performing related operation on the generated electric signals by the signal light modulation and demodulation measurement and control board to respectively calculate the distance and the direction of the first optical transceiver relative to the second optical transceiver and the information sent by the first optical transceiver;
similarly, the first optical transceiver receives an optical signal of the second optical transceiver, and calculates the distance and the direction of the second optical transceiver relative to the first optical transceiver and information sent by the second optical transceiver through the signal light modulation and demodulation control board in the second optical transceiver.
Further, the signal light modulation and demodulation measurement and control board resolves the received signal through an algorithm, which specifically comprises:
selecting a plurality of groups of PN codes of different types through different functions of ranging and communication, wherein the PN codes of different types are used as equipment address identifiers, and the same pseudo-random codes as those of a communication end are used in the communication function;
through the adjustment of a digital oscillator on frequency words, three groups of pseudo-random codes with different phases are generated by the selected PN codes, namely a phase advancing PN1 code, a phase current PN2 code and a phase lagging PN3 code;
the method comprises the steps of adding currents A, B, C and D output by a four-quadrant detector to obtain a total current value generated by optical power, carrying out correlation operation on a phase lead PN1 code, a phase current PN2 code and a phase lag PN3, comparing an output value of a current code correlator with a threshold value to capture a phase of a received optical signal, comparing an output value of the lead code correlator with an output value of the lag code correlator to track a phase of the received optical signal, completing dynamic phase tracking of input signal light, demodulating communication information according to an integral output value of the current code correlator, carrying out correlation operation on output currents A, B, C and D of the four-quadrant detector and the current code through a correlator P1, a correlator P2, a correlator P3 and a correlator P4 respectively, substituting an output integrator value into a position calculation formula of the four-quadrant detector to obtain the position of a light spot on the four-quadrant detector, and carrying out simple geometric calculation through the focal length of an optical system and the position of the light spot on the four-quadrant detector to obtain the position of a communication end.
Further, the formula of the correlation operation is:
；
wherein, P i，j (τ) is the correlation output value, c j (t + τ) is the photocurrent generated by the input optical signal, c i And (T) is a local pseudo code generated by the voltage-controlled oscillator, and T is a local pseudo code sequence period.
Further, after the relative position of the light spot on the four-quadrant detector is calculated, the real position of the light spot on the four-quadrant detector can be obtained by a center approximation method, and a specific light spot relative position calculation formula is as follows:
wherein Δ X is the relative position of the spot to the center of the four-quadrant detector on the X-axis, and Δ Y is the relative position of the spot to the center of the four-quadrant detector on the Y-axis, P nA 、P nB、 P nC and P nD output currents a, B, C and D, respectively indicated as four-quadrant detector, are correlated by corresponding correlators.
Further, the optical system is a set of lenses or an optical antenna.
A distance measurement and positioning method based on the communication, distance measurement and positioning integrated device based on the four-quadrant detector comprises the following steps:
t1: placing the first optical transceiver at a distance from the object to be measured to supply power to the device;
t2, starting data input, performing analog-to-two operation on input data and pseudo-random codes to serve as transmitting data, loading the transmitting data on a laser through a modulator, and realizing conversion from an electric signal to an optical signal through external modulation by the laser;
t3, amplifying the converted optical signal through an optical power amplifier and transmitting the optical signal to a space through an optical system;
t4, receiving the optical signal reflected from the measured object by the first optical transceiver, and converging the optical signal to the four-quadrant detector through the optical system;
t5: the four-quadrant detector outputs the received optical signals into electric signals, and outputs the electric signals to the signal light modulation and demodulation measurement and control board, and the signal light modulation and demodulation measurement and control board respectively carries out correlation operation on the signals and two groups of address identifiers, and settles the distance and the direction of the measured object relative to the first optical transceiver and the transmission information of the first optical transceiver;
in the same way, the second optical transceiver measures the distance and the direction to the measured object.
Further, the signal light modulation and demodulation measurement and control board resolves the received signal through an algorithm, which specifically comprises:
during ranging and positioning, the same PN code as that during transmission is used; through the adjustment of a digital oscillator on frequency words, three groups of pseudo-random codes with different phases are generated by the selected PN code, namely a phase lead PN4 code, a phase current PN5 code and a phase lag PN6 code;
when an optical signal touches an object to be detected, a reflected light spot is generated, the reflected light spot is collected on a four-quadrant detector through an optical system, currents output by the four-quadrant detector are added to obtain a total current value generated by optical power, the total current value generated by the optical power is compared with the phase current PN5 code, the flight time can be obtained, and the distance of the object to be detected can be obtained by adopting a flight time method;
and carrying out correlation operation on a total current value generated by optical power, the phase advanced PN4 code, the phase current PN5 code and the phase delayed PN6, comparing the output value of the current code correlator with a threshold value to capture the phase of a received optical signal, comparing the output value of the advanced code correlator with the output value of the delayed code correlator to track the phase of the received optical signal, thus completing dynamic phase tracking of the input signal light, carrying out correlation operation on the output currents A, B, C and D of the four-quadrant detector and the current code through the correlators P1, P2, P3 and P4 respectively, substituting the output integrator value into a position calculation formula of the four-quadrant detector to obtain the relative position of the light spot on the four-quadrant detector, obtaining the actual position of the reflected light spot on the four-quadrant detector according to a central approximation method, and carrying out simple geometric calculation on the focal length of an optical system and the position of the light spot on the four-quadrant detector to obtain the azimuth of the object to be detected.
Further, the specific formula of the time-of-flight method is as follows:
wherein, S is the distance between the optical transmitter and receiver and the object to be measured, T is the flight time, and V is the speed of light propagating in the air.
A computer readable storage medium storing computer instructions which, when executed by a processor, implement the steps of any of the above methods.
According to the technical scheme, the QD four-quadrant detector is utilized, communication, distance measurement and positioning with other communication terminals can be carried out in real time, compared with traditional radar equipment and laser radars, the QD four-quadrant detector is simple in equipment and method, and integration of communication, distance measurement and positioning is achieved on the premise that equipment complexity is not increased; the invention adopts the pseudo-random sequence, utilizes the good self-correlation and cross-correlation characteristics of the pseudo-random sequence, can well extract signals under the condition of low signal-to-noise ratio, improves the sensitivity, and can carry out communication, distance measurement and positioning functions in real time through the cross-correlation characteristics of the pseudo-random sequence; in addition, different pseudo code sequences give unique identification addresses to each laser communication device, so that mutual interference cannot be caused when a plurality of devices are used simultaneously.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of an integrated communication, ranging and positioning device based on a four-quadrant detector according to the present invention;
FIG. 2 is a schematic flow chart of an integrated communication, ranging and positioning method of the apparatus of the present invention;
description of reference numerals:
1-a first optical transmitter and receiver, 2-a modulator; 3-a laser;
4-a power amplifier; 5-four quadrant detector; 6-signal light modulation and demodulation measurement and control board;
7-an optical system; 8-second optical transceiver.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present 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.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, a communication, distance measurement and positioning integrated device based on a four-quadrant detector is characterized by comprising a first optical transceiver 1 and a second optical transceiver 8, wherein the first optical transceiver 1 and the second optical transceiver 8 are placed in an atmospheric channel and keep a link free from shielding;
the first optical transceiver 1 and the second optical transceiver 8 have the same structure, and both comprise a modulator 2, a laser 3, an optical power amplifier 4, a four-quadrant detector 5, a signal light modulation and demodulation measurement and control board 6 and an optical system 7;
the first optical transceiver 1 and the second optical transceiver 8 receive optical signals sent by the other party, and after the first optical transceiver 1 and the second optical transceiver 8 receive the optical signals, the received optical signals are resolved by the respective signal light modulation and demodulation measurement and control board 6 to obtain a resolving result, wherein the resolving result is received transmitting information, position and orientation.
The invention also comprises a communication, ranging and positioning integrated method of the communication, ranging and positioning integrated device based on the four-quadrant detector, which comprises the following steps:
s1, a first optical transceiver 1 and a second optical transceiver 8 are placed in an atmospheric channel and supply power to the device;
s2, starting data input, performing modulo two operation on input data and pseudo-random codes to serve as transmitting data, loading the transmitting data on a laser 3 through a modulator 2 in the first optical transceiver 1, and realizing conversion from an electric signal to an optical signal through external modulation by the laser 3;
s3, amplifying an optical signal converted by the laser 3 in the first optical transceiver 1 through an optical power amplifier 4, and transmitting the optical signal to a space through an optical system 7;
s4, after receiving the optical signal sent by the first optical transceiver 1, the second optical transceiver 2 collects the optical signal to a four-quadrant detector 5 of the second optical transceiver 2 through an optical system 7 in the second optical transceiver 2;
s5, outputting the received optical signal sent by the first optical transceiver 1 and the optical signal which is transmitted by the second optical transceiver 8 and reflected by the opposite side as electric signals by the four-quadrant detector 5, outputting the electric signals to the signal light modulation and demodulation measurement and control board 6, and performing related operation on the generated electric signals by the signal light modulation and demodulation measurement and control board 6 to respectively calculate the distance and the direction of the first optical transceiver 1 relative to the second optical transceiver 8 and the information sent by the first optical transceiver 1;
similarly, the first optical transceiver 1 receives an optical signal of the second optical transceiver 8, and calculates the distance and the direction of the second optical transceiver 8 relative to the first optical transceiver 1 and information sent by the second optical transceiver 8 through the signal light modulation and demodulation measurement and control board 6 in the second optical transceiver 8.
Referring to fig. 2, the signal light modulation and demodulation measurement and control board 6 resolves the received signal through an algorithm, specifically:
selecting a plurality of groups of PN codes of different types through different functions of ranging and communication, wherein the PN codes of different types are used as equipment address identifiers, and the pseudo-random codes which are the same as those of a communication end are used in the communication function;
through the adjustment of a digital oscillator on frequency words, three groups of pseudo-random codes with different phases are generated by the selected PN code, namely a phase lead PN1 code, a phase current PN2 code and a phase lag PN3 code;
the method comprises the steps of carrying out correlation operation on a total current value generated by light power obtained by adding currents A, B, C and D output by a four-quadrant detector 5, the phase advanced PN1 code, the phase current PN2 code and the phase delayed PN3, comparing the output value of the current code correlator with a threshold value to capture the phase of a received light signal, comparing the output value of the advanced code correlator with the output value of the delayed code correlator to track the phase of the received light, and completing dynamic phase tracking of the input signal light, demodulating communication information according to the integral output value of the current code correlator, carrying out correlation operation on output currents A, B, C and D of the four-quadrant detector 5 and the current code through a correlator P1, a correlator P2, a correlator P3 and a correlator P4 respectively, substituting the output integrator value into a position calculation formula of the four-quadrant detector 5 to obtain the position of a light spot on the four-quadrant detector 5, and carrying out simple geometric calculation on the position of the light spot on the four-quadrant detector 5 through the focal length of an optical system 7 and the position of the light spot on the four-quadrant detector 5 to obtain the position of a communication terminal.
The formula of the correlation operation is as follows:
；
wherein, P i，j (τ) is the correlation output value, c j (t + τ) is the photocurrent generated by the input optical signal, c i And (T) is a local pseudo code generated by the voltage-controlled oscillator, and T is a local pseudo code sequence period.
After the relative position of the light spot on the four-quadrant detector 5 is calculated, the real position of the light spot on the four-quadrant detector 5 can be obtained by a center approximation method, and the specific calculation formula of the relative position of the light spot is as follows:
wherein DeltaX is the X axis of the light spot relative to the center of the four-quadrant detector 5Where ay is the relative position of the spot on the Y-axis with respect to the center of the four-quadrant detector 5, P nA 、P nB、 P nC and P nD the output currents a, B, C and D, respectively indicated as four-quadrant detector 5, are correlated by corresponding correlators.
The optical system 7 is a set of lenses or an optical antenna.
The invention also comprises a distance measuring and positioning method based on the communication, distance measuring and positioning integrated device based on the four-quadrant detector, which comprises the following steps:
t1: placing the first optical transceiver 1 at a distance from the object to be measured to supply power to the device;
t2, starting data input, performing modulo two operation on input data and pseudo-random codes to obtain emission data, loading the emission data on a laser 3 through a modulator 2, and realizing conversion from an electric signal to an optical signal through external modulation by the laser 3;
t3, amplifying the converted optical signal by an optical power amplifier 4 and transmitting the optical signal to a space by an optical system 7;
t4, the first optical transceiver 1 receives the optical signal reflected from the object to be measured and collects the optical signal to the four-quadrant detector 5 through the optical system 7;
t5: the four-quadrant detector 5 outputs the received optical signal as an electrical signal, and outputs the electrical signal to the signal light modulation and demodulation measurement and control board 6, the signal light modulation and demodulation measurement and control board 6 performs related operation on the signal and two groups of address identifiers respectively, and the distance and the direction of the object to be measured relative to the first optical transceiver 1 and the transmission information of the first optical transceiver 1 are settled;
similarly, the second optical transceiver 8 measures the distance and the orientation to the object to be measured.
The signal light modulation and demodulation measurement and control board 6 resolves the received signal through an algorithm, which specifically comprises the following steps:
during ranging and positioning, the same PN code as that during transmission is used; through the adjustment of a digital oscillator on frequency words, three groups of pseudo-random codes with different phases are generated by the selected PN codes, namely a phase advancing PN4 code, a phase current PN5 code and a phase lagging PN6 code;
when an optical signal touches an object to be detected, a reflected light spot is generated, the reflected light spot is collected on a four-quadrant detector 5 through an optical system 7, currents output by the four-quadrant detector 5 are added to obtain a total current value generated by optical power, the total current value generated by the optical power is compared with the current phase PN5 code to obtain flight time, and the distance of the object to be detected can be obtained by adopting a flight time method;
and performing correlation operation on a total current value generated by optical power and the phase lead PN4 code, the phase current PN5 code and the phase lag PN6, comparing the output value of the current code correlator with a threshold value to capture the phase of a received optical signal, comparing the output value of the lead code correlator with the output value of the lag code correlator to track the phase of the received optical signal, namely completing dynamic phase tracking of input signal light, performing correlation operation on the output currents A, B, C and D of the four-quadrant detector 5 and the current code through the correlators P1, P2, P3 and P4 respectively, substituting the output integrator value into a position calculation formula of the four-quadrant detector 5 to obtain the relative position of a light spot on the four-quadrant detector 5, obtaining the actual position of a reflected light spot on the four-quadrant detector 5 according to a central approximation method, and performing simple geometric calculation on the focal length of an optical system and the position of the light spot on the four-quadrant detector 5 to obtain the azimuth of the object to be detected.
The specific formula of the flight time method is as follows:
wherein, S is the distance between the optical transmitter and receiver and the object to be measured, T is the flight time, and V is the speed of light propagating in the air.
The invention also includes a computer readable storage medium for storing computer instructions which, when executed by a processor, implement the steps of any of the methods described above.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a Digital Video Disc (DVD)), or a semiconductor medium (e.g., a Solid State Disc (SSD)), among others.
In implementation, the steps of the above method may be performed by instructions in the form of integrated logic circuits of hardware or software in a processor. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in a processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor. To avoid repetition, it is not described in detail here.
It should be noted that the processor in the embodiments of the present application may be an integrated circuit chip having signal processing capability. In implementation, the steps of the above method embodiments may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The processor described above may be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of the invention may be made without departing from the spirit or scope of the invention.
Claims (10)
1. A communication, ranging and positioning integrated device based on a four-quadrant detector is characterized by comprising a first optical transceiver (1) and a second optical transceiver (8), wherein the first optical transceiver (1) and the second optical transceiver (8) are placed in an atmospheric channel and a link is kept free of shielding;
the first optical transceiver (1) and the second optical transceiver (8) have the same structure and comprise a modulator (2), a laser (3), an optical power amplifier (4), a four-quadrant detector (5), a signal light modulation and demodulation measurement and control board (6) and an optical system (7);
the first optical transceiver (1) and the second optical transceiver (8) receive optical signals sent by the other side, after the first optical transceiver (1) and the second optical transceiver (8) receive the optical signals, the received optical signals are resolved through respective signal light modulation and demodulation measurement and control boards (6) to obtain resolving results, and the resolving results are received transmitting information, positions and directions.
2. The communication, ranging and positioning integrated method based on the four-quadrant detector-based communication, ranging and positioning integrated device of claim 1, characterized by comprising the following steps:
s1, a first optical transceiver (1) and a second optical transceiver (8) are placed in an atmospheric channel and supply power to the device;
s2, starting data input, performing modulo two operation on input data and pseudo-random codes to serve as transmitting data, loading the transmitting data on a laser (3) through a modulator (2) in the first optical transceiver (1), and realizing conversion from an electric signal to an optical signal through external modulation by the laser (3);
s3, amplifying an optical signal converted by the laser (3) in the first optical transceiver (1) through an optical power amplifier (4) and transmitting the optical signal to a space through an optical system (7);
s4, after receiving the optical signal sent by the first optical transceiver (1), the second optical transceiver (2) collects the optical signal to a four-quadrant detector (5) of the second optical transceiver (2) through an optical system (7) in the second optical transceiver (2);
s5, outputting the received optical signal sent by the first optical transceiver (1) and the optical signal which is transmitted by the second optical transceiver (8) and reflected by the opposite side to an electric signal by a four-quadrant detector (5), outputting the electric signal to a signal light modulation and demodulation measurement and control board (6), and carrying out correlation operation on the generated electric signal by the signal light modulation and demodulation measurement and control board (6) to respectively calculate the distance and the direction of the first optical transceiver (1) relative to the second optical transceiver (8) and the information sent by the first optical transceiver (1);
similarly, the first optical transceiver (1) receives the optical signal of the second optical transceiver (8), and calculates the distance and the direction of the second optical transceiver (8) relative to the first optical transceiver (1) and the information sent by the second optical transceiver (8) through the signal light modulation and demodulation measurement and control board (6) in the second optical transceiver (8).
3. The method according to claim 2, characterized in that the signal light modulation and demodulation measurement and control board (6) resolves the received signal by an algorithm, specifically:
selecting a plurality of groups of PN codes of different types through different functions of ranging and communication, wherein the PN codes of different types are used as equipment address identifiers, and the same pseudo-random codes as those of a communication end are used in the communication function;
through the adjustment of a digital oscillator on frequency words, three groups of pseudo-random codes with different phases are generated by the selected PN code, namely a phase lead PN1 code, a phase current PN2 code and a phase lag PN3 code;
the method comprises the steps of carrying out correlation operation on a total current value generated by light power obtained by adding currents A, B, C and D output by a four-quadrant detector (5), a phase advanced PN1 code, a phase current PN2 code and a phase delayed PN3, comparing an output value of a current code correlator with a threshold value to capture a phase of a received light signal, comparing an output value of the advanced code correlator with an output value of a delayed code correlator to track a phase of the received light, and then completing dynamic phase tracking of input signal light, demodulating communication information according to an integral output value of the current code correlator, carrying out correlation operation on output currents A, B, C and D of the four-quadrant detector (5) and a current code through a correlator P1, a correlator P2, a correlator P3 and a correlator P4 respectively, carrying out correlation operation on the output integrator value into a position calculation formula of the four-quadrant detector (5) to obtain the position of a light spot on the four-quadrant detector (5), and carrying out simple geometric calculation on the light spot position on the light through the focal length of an optical system (7) and the position of the four-quadrant detector (5) to obtain the position of a communication end position.
4. The method of claim 3, wherein the correlation operation is formulated as:
；
wherein, P i，j (τ) is the correlation output value, c j (t + τ) is the photocurrent generated by the input optical signal, c i And (T) is a local pseudo code generated by the voltage-controlled oscillator, and T is a local pseudo code sequence period.
5. The method according to claim 4, wherein after calculating the relative position of the light spot on the four-quadrant detector (5), the real position of the light spot on the four-quadrant detector (5) can be obtained by a central approximation method, and the specific relative position of the light spot is calculated according to the following formula:
wherein DeltaX is the relative position of the light spot on the X axis relative to the center of the four-quadrant detector (5), deltaY is the relative position of the light spot on the Y axis relative to the center of the four-quadrant detector (5), P nA 、P nB、 P nC and P nD output currents A, B, C and D respectively expressed as four-quadrant detector (5) are correlated by corresponding correlators.
6. The device according to claim 1, characterized in that the optical system (7) is a set of lenses or an optical antenna.
7. A distance measuring and positioning method based on the four-quadrant detector communication, distance measuring and positioning integrated device as claimed in claim 1, comprising the steps of:
t1: placing a first optical transmitter and receiver (1) at a distance from an object to be measured to supply power to the device;
t2, starting data input, carrying out modulo two operation on input data and pseudo-random codes to obtain emission data, loading the emission data on a laser (3) through a modulator (2), and realizing the conversion from an electric signal to an optical signal through external modulation by the laser (3);
t3, amplifying the converted optical signal through an optical power amplifier (4) and transmitting the optical signal into space through an optical system (7);
t4, receiving the optical signal reflected from the measured object by the first optical transceiver (1), and collecting the optical signal to the four-quadrant detector (5) through the optical system (7);
t5: the four-quadrant detector (5) outputs the received optical signals as electric signals, and outputs the electric signals to the signal light modulation and demodulation measurement and control board (6), the signal light modulation and demodulation measurement and control board (6) respectively carries out correlation operation on the signals and two groups of address identifiers, and the distance and the direction of the object to be measured relative to the first optical transceiver (1) and the transmission information of the first optical transceiver (1) are settled;
in the same way, the second optical transceiver (8) measures the distance and the direction to the measured object.
8. The method according to claim 7, characterized in that the signal light modulation and demodulation measurement and control board (6) resolves the received signal by an algorithm, specifically:
during ranging and positioning, the same PN code as that during transmission is used; through the adjustment of a digital oscillator on frequency words, three groups of pseudo-random codes with different phases are generated by the selected PN code, namely a phase lead PN4 code, a phase current PN5 code and a phase lag PN6 code;
when an optical signal touches an object to be detected, a reflected light spot is generated, the reflected light spot is collected on a four-quadrant detector (5) through an optical system (7), the currents output by the four-quadrant detector (5) are added to obtain a total current value generated by optical power, the total current value generated by the optical power is compared with the current phase PN5 code to obtain the flight time, and the distance of the object to be detected can be obtained by adopting a flight time method;
the method comprises the steps of carrying out correlation operation on a total current value generated by optical power and a phase lead PN4 code, a phase current PN5 code and a phase lag PN6, comparing an output value of a current code correlator with a threshold value to capture the phase of a received optical signal, comparing an output value of the lead code correlator with an output value of a lag code correlator to track the phase of the received optical signal, and then completing dynamic phase tracking of input signal light, carrying out correlation operation on output currents A, B, C and D of a four-quadrant detector (5) through a correlator P1, a correlator P2, a correlator P3 and the current code of the correlator P4 respectively, substituting an output integrator value into a position calculation formula of the four-quadrant detector (5) to obtain the relative position of a light spot on the four-quadrant detector (5), obtaining the actual position of a reflected light spot on the four-quadrant detector (5) according to a central approximation method, and carrying out simple geometric calculation through the focal length of an optical system and the position of the light spot on the four-quadrant detector (5) to obtain the azimuth of an object to be detected.
9. The method according to claim 8, wherein the time-of-flight method is specifically formulated as:
wherein S is the distance between the optical transmitter and receiver and the object to be measured, T is the flight time, and V is the speed of light propagating in the air.
10. A computer readable storage medium storing computer instructions, which when executed by a processor, perform the steps of the method of any one of claims 2 to 5.
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