CN116430365A - System and method for monitoring laser radar detection wavelength in real time based on echo signals - Google Patents
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 23
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- 238000012545 processing Methods 0.000 claims abstract description 10
- 229910052751 metal Inorganic materials 0.000 claims abstract description 8
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- 238000007781 pre-processing Methods 0.000 claims description 16
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- 238000012937 correction Methods 0.000 claims description 8
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- -1 atom ion Chemical class 0.000 description 13
- 230000006872 improvement Effects 0.000 description 8
- 229910052708 sodium Inorganic materials 0.000 description 5
- 125000004436 sodium atom Chemical group 0.000 description 5
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- SDIXRDNYIMOKSG-UHFFFAOYSA-L disodium methyl arsenate Chemical compound [Na+].[Na+].C[As]([O-])([O-])=O SDIXRDNYIMOKSG-UHFFFAOYSA-L 0.000 description 2
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- 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 invention relates to the technical field of laser radar detection wavelength monitoring, in particular to a system and a method for monitoring laser radar detection wavelength in real time based on echo signals. The system of the invention comprises: an echo signal acquisition subsystem and an echo signal analysis subsystem; the system comprises an echo signal acquisition subsystem, a signal acquisition subsystem and a signal processing subsystem, wherein the echo signal acquisition subsystem is used for acquiring echo signals generated by resonance of metal components with different frequencies in different directions and received by a high-level atmospheric Doppler detection laser radar; and the echo signal analysis subsystem is used for respectively processing and analyzing echo signals with different frequencies in each direction and judging whether the detection wavelength of the laser radar is accurate or not according to the analysis result. The method and the device utilize the echo signals of the medium-high atmospheric Doppler laser radar to judge the accuracy of the detection wavelength, and avoid inaccurate detection results caused by inaccurate detection wavelength due to the unlocking of the frequency locking system.
Description
Technical Field
The invention relates to the technical field of laser radar detection wavelength monitoring, in particular to a system and a method for monitoring laser radar detection wavelength in real time based on echo signals, which can also be used for monitoring the laser radar detection wavelength in high-medium-high atmospheric Doppler detection all the time.
Background
At present, the middle and high-rise atmospheric Doppler detection laser radar mostly uses sodium atoms as tracers, and not only can obtain the density profile of a high-altitude sodium layer and the evolution process thereof, but also can realize the detection of the temperature of the top area of the middle layer and the wind field. The detection principle is that the high-resolution detection of the Doppler broadening and Doppler frequency shift of the sodium atoms in the high altitude is realized, the echo signal intensities at three different frequencies at each altitude are detected respectively by transmitting three specific laser frequencies capable of being switched rapidly, and the atmospheric wind field and the temperature at each altitude can be reversely deduced by combining spectral line functions of the spectral structures of the sodium atoms.
The calibration of the wavelength of the emitted laser and the long-term stability of the wavelength are critical to the wind temperature laser radar, and the quality of echo signals, the atmospheric detection wind field and the accuracy of temperature detection can be directly influenced. At present, the locking of the wavelength of the emitted laser generally adopts a saturated absorption frequency stabilization technology to lock the wavelength of the laser at a sodium atom D 2 On the line hyperfine structural peak to meet the requirement of accurate atmospheric wind field detection. However, in a practical laser radar system, there are often abnormal situations, such as unstable continuous laser power entering a saturated absorption frequency stabilization system, which may cause D 2 The fineness of the line ultra-fine structure is not high, so that the frequency stabilizing unit does not lock the line ultra-fine structure on the ultra-fine structure peak; or because the laser wavelength entering the saturated absorption frequency stabilization system drifts or suddenly changes, the phenomenon that the ultra-fine structure peak cannot be found in a short time of the frequency stabilization unit to unlock the lock can occur; these conditions may prevent the frequency stabilizing unit from being relockedFixed D 2 Line hyperfine structure peaks, resulting in frequency shifts. If the wavelength of the emitted laser cannot be corrected in time at this time, the detected data will not only produce a large error, but even the acquired data will not be valid.
And according to the prior literature results (Krueger, joe She al., applied Optics, P9469-9489, 2015; xu Li, et al, geophysical journal, 2010), it is known that the wind temperature error is proportional to the frequency error, and for the wind temperature result error caused by the laser frequency error, a 1MHz error will produce a wind field error of 0.2K temperature and 0.67 m/s.
At present, the laser radar also comprises a medium-high layer wind temperature laser radar, and the wavelength real-time monitoring is realized by a wavelength meter. Monitoring with a wavemeter requires attention at several points: firstly, the method for monitoring the wavelength in real time by a wavemeter is to acquire the laser wavelength according to a multi-beam interferometry, and the measurement result is related to the state of incident laser, so that inaccurate factors exist in the test result; second, is the wavelength meter measuring wavelength accuracy able to reach the accuracy of the atomic ion formant required wavelength? Again, the wavemeter requires timing calibration at work, which increases experimental effort; finally, high-precision wavelength is expensive, and the experimental cost is greatly increased.
Disclosure of Invention
The invention aims to provide a real-time monitoring system and a method for the detection wavelength of a middle-high atmospheric Doppler laser radar, which can judge the accuracy of the detection wavelength of the laser radar in real time and improve the accuracy of wind field, temperature or speed detection results.
In order to achieve the above purpose, the present invention is realized by the following technical scheme.
The invention provides a system for monitoring laser radar detection wavelength in real time based on echo signals, which comprises: an echo signal acquisition subsystem and an echo signal analysis subsystem; wherein,,
the echo signal acquisition subsystem is used for acquiring echo signals generated by resonance of metal components with different frequencies in different directions and received by the high-rise atmospheric Doppler detection laser radar;
the echo signal analysis subsystem is used for respectively processing and analyzing echo signals of different frequencies in each direction and judging whether the detection wavelength of the laser radar is accurate or not according to analysis results.
As an improvement of the foregoing technical solution, the system further includes: the data preprocessing subsystem is used for preprocessing the acquired echo signals in different directions and different frequencies, and the preprocessing comprises the following steps: classifying, sorting and storing the echo signals, detecting the quality of the echo signals, and rejecting the echo signals according to the quality detection result.
As an improvement of the foregoing technical solution, the system further includes: and the central control subsystem is used for transmitting corresponding commands to the laser radar according to the laser radar transmitting wavelength judgment information provided by the echo signal analysis subsystem and adjusting the laser radar transmitting wavelength to the corresponding correct detection wavelength.
As one of the improvements of the above technical solution, the echo signal acquisition subsystem includes at least three data acquisition devices in different directions; the three different directions comprise zenith, zenith to the east or west and zenith to the north or south;
the data acquisition device in each direction is used for acquiring echo signals generated by resonance of at least three metal components with different frequencies in the respective direction; the three different frequencies include f 0 、f + ＝f 0 +δf、f - ＝f 0 - δf, where f 0 For the peak operating frequency, δf is the amount of frequency shift set by the lidar.
As one of the improvements of the above technical solutions, the processing procedure of the echo signal analysis subsystem specifically includes:
acquiring respective frequency echo photon signal count values N of at least three frequencies in each direction a ；
For N a Nonlinear correction is carried out to obtain echo photon signal count values N of at least three frequencies in each direction b ；
For N b Integrating the height and time to obtain an echo signal N c ；
For N c Background noise is subtracted to obtain an echo signal N after the background noise is subtracted e ；
For N e Normalizing the reference altitude Rayleigh signal to obtain each frequency normalized echo signal of at least three frequencies in each direction, wherein f 0 Is used for normalizing the echo signal N f0 ，f - Is used for normalizing the echo signal N f- ，f + Is used for normalizing the echo signal N f+ ；
Comparison N f0 、N f- And N f+ And judging whether the laser radar detection wavelength is accurate according to the comparison result.
As one of the improvements of the above technical solution, the background noise is 170-190km of echo signal average.
As one of the improvements of the above technical scheme, the comparison N f0 、N f- And N f+ Judging whether the laser radar detection wavelength is accurate according to the comparison result, specifically comprising:
if N f0 Maximum, and N f- And N f+ The detection wavelength of the laser radar is determined to be correct when the detection wavelength coincides with the detection height range of the trace metal component;
if N f0 Not the largest, or N f- And N f+ And if the detection wavelength is not coincident in the height range of the trace metal component detection, determining the laser radar detection wavelength offset.
As one of the improvements of the above technical scheme, the comparison N f0 、N f- And N f+ Judging whether the laser radar detection wavelength is accurate according to the comparison result, specifically comprising:
if the photon number ratio N f+ /N f- The ratio of the three-frequency relative spectral line intensity equal to the temperature set by the height detected by the trace metal components is used for judging that the detection wavelength of the laser radar is correct;
if the photon number ratio N f+ /N f- And if the ratio of the three-frequency relative spectral line intensity is not equal to the temperature set by the height of the trace metal component detection, judging the laser radar detection wavelength deviation.
As one of the improvements of the above technical solutions, the echo signal analysis subsystem includes: the daytime echo signal analysis device and/or the nighttime echo signal analysis device are respectively used for analyzing the echo signals with different frequencies in each direction collected in the daytime and/or at night, and judging whether the detection wavelength of the middle laser radar is accurate or not according to analysis results; the daytime echo signal analysis device is further used for correcting the transmittance of the echo photon signals after the nonlinear correction is finished.
The invention also provides a method for monitoring the detection wavelength of the laser radar in real time based on the echo signals, which is realized based on the system, and comprises the following steps:
collecting echo signals generated by resonance of metal components with different frequencies in different directions and received by a high-level atmospheric Doppler detection laser radar;
and processing and analyzing echo signals with different frequencies in each direction by using an echo signal analysis subsystem respectively, and judging whether the detection wavelength of the laser radar is accurate or not according to analysis results.
Compared with the prior art, the invention has the advantages that:
1. the invention provides the method for judging the accuracy of the detection wavelength by utilizing the echo signals of the middle-high-level atmospheric Doppler laser radar, thereby avoiding inaccurate detection results caused by inaccurate detection wavelength due to the unlocking of the frequency locking system;
2. compared with the existing wavelength meter detection method, the method has the advantages that the backward echo signals generated by atomic resonance are used for judging and monitoring, the accuracy is in atomic magnitude, the judging result is true and reliable, and the cost is saved;
3. the method can intuitively judge the accuracy of the detection wavelength of the medium-high atmospheric Doppler laser radar in real time, and improves the accuracy of the wind temperature detection result.
Drawings
FIG. 1 is a medium-high level atmospheric Doppler lidar detection wavelength monitoring system;
FIG. 2 is a system for monitoring the detection wavelength of a sodar layer wind temperature lidar throughout the day;
FIG. 3 is the result of a three-frequency night echo signal analysis device when the lidar is operating at night;
FIG. 4 is an adjusted night normalized three frequency echo signal;
fig. 5 is the result of the daytime three-frequency echo signal analysis device when the lidar is operating in the daytime.
Detailed Description
The technical scheme of the invention is described in detail below with reference to the accompanying drawings and examples.
Example 1
1. As shown in FIG. 1, the system is a real-time monitoring system for detecting the detection wavelength of the middle-high-rise atmospheric wind temperature detection laser radar, and can also be used for real-time monitoring of the detection wavelength of the middle-high-rise atmospheric wind temperature detection laser radar all the day time and randomly transmitting three-frequency laser to measure the atmospheric wind temperature detection laser radar system; the lidar shown in fig. 1 does not necessarily have all the functions of daytime and nighttime detection, so that both vi and vii are selected relationships, and one of them is selected to operate;
2. comprising the following steps: i: middle-high layer atmospheric wind temperature detection laser radar; II: zenith direction detection data acquisition device; III: east (west) detection data acquisition device; IV: a north (south) detection data acquisition device; v: a data preprocessing device; VI: a night three-frequency echo signal analysis device; VII: the daytime three-frequency echo signal analysis device; VIII: a central control system;
3. three-direction three-frequency echo signals received by the middle-high-rise atmospheric wind temperature detection laser radar are respectively collected by a II-day-top direction detection data collecting device, a III-east direction (western direction) detection data collecting device and a IV-north direction (southern direction) detection data collecting device;
4. v data preprocessing device: classifying, sorting and storing the data of the collected echo signals of the laser radars in different directions and different frequencies, and carrying out quality detection and bad data rejection on the data;
5. if the laser radar works at night, starting a VI night three-frequency echo signal analysis device, and transmitting the data processed by the data preprocessing system to the VI night three-frequency echo signal analysis device for signal condition analysis and judgment;
6. if the laser radar works in the daytime, starting the VII daytime three-frequency echo signal analysis device, and transmitting the data processed by the data preprocessing system to the VII daytime three-frequency echo signal analysis device for signal condition analysis and judgment;
7. the method for judging the detection wavelength by the night three-frequency echo signal analysis device comprises the following steps:
the echo signals in the zenith direction passing through the data preprocessing device enter a night three-frequency echo signal analysis device, and the three frequencies are f respectively 0 、f + ＝f 0 +δf、f - ＝f 0 δf, where δf is the amount of frequency shift set by the lidar.
Suppose that three-frequency echo photon signal count value N in zenith direction passes through V data preprocessing device a In the night three-frequency echo signal analysis device, the data is subjected to nonlinear correction of main hardware (such as a photoelectric tube and the like) to obtain an echo photon signal count value N of any frequency in the zenith direction b ；
For this echo signal N b Integrating the height and time to obtain an echo signal N of the trace atom ion c ；
Then deducting noise, selecting the echo signal average at 170-190km as high altitude background noise, deducting the echo signal N of trace atom ion after background noise e ；
Then for N e Normalization of the reference altitude Rayleigh signal is carried out, and a normalized echo signal N of any frequency in the zenith direction of the trace atom ion is obtained f ，f 0 Is used for normalizing the echo signal N f0 ，f - Is used for normalizing the echo signal N f- ，f + Is used for normalizing the echo signal N f+ ；
Comparing the normalized night three-frequency echo signal values, if N f0 Maximum, and N f- And N f+ In trace atom ion detectionThe measured height ranges basically coincide, or the laser radar detection wavelength can be judged to be correct according to the ratio of the photon number to the three-frequency relative spectral line intensity of the temperature set by the height of trace atom ion detection; otherwise, the laser radar detection wavelength is shifted and needs to be corrected;
8. the method for judging the detection wavelength by the daytime three-frequency echo signal analysis device comprises the following steps:
the echo signals in the zenith direction passing through the data preprocessing device enter a daytime three-frequency echo signal analysis device, and the three frequencies are f respectively 0 、f + ＝f 0 +δf、f - ＝f 0 δf, where δf is the amount of frequency shift set by the lidar.
Suppose that three-frequency echo photon signal count value N in zenith direction passes through V data preprocessing device a In a daytime three-frequency echo signal analysis device, the data is subjected to nonlinear correction of main hardware, and correction processing of the transmissivity of a filter in a system is required to be added, so that an obtained zenith direction any frequency echo photon signal count value N b ’；
For this echo signal N b ' integrating the height and time to obtain the echo signal N of trace atom ion c ’；
Then deducting noise, selecting the echo signal average at 170-190km as high altitude background noise, deducting the echo signal N of trace atom ion after background noise e ’；
Then for N e’ Normalization of the reference altitude Rayleigh signal is carried out, and a normalized echo signal N of any frequency in the zenith direction of the trace atom ion is obtained f ，f 0 Is used for normalizing the echo signal N f0 ，f - Is used for normalizing the echo signal N f- ，f + Is used for normalizing the echo signal N f+ ；
Comparing the normalized night three-frequency echo signal values, if N f0 Maximum, and N f- And N f+ Substantially coincident in the height range of trace atom ion detection, or may be smaller than trace atom ion detection based on photon number ratioThe ratio of the three-frequency relative spectral line intensities of the measured height set temperature can determine that the detection wavelength of the laser radar is correct; otherwise, the laser radar detection wavelength is shifted and needs to be corrected;
9. VIII: and the central control system sends a command to a device wavelength adjusting device corresponding to the laser radar through the VIII central control system after judging the information of the laser radar emission wavelength according to the VI night three-frequency echo signal analyzing device or the VII daytime three-frequency echo signal analyzing device, and adjusts the wavelength to the correct detection wavelength.
Fig. 2 is a block diagram of a system for monitoring the detection wavelength of a sodar layer wind temperature laser radar in the embodiment of the invention. The system of fig. 2 is provided with both daytime and nighttime detection functions, so that both vi and vii are connected.
1. All-day sodium layer wind temperature laser radar detection wavelength real-time monitoring system includes: i: all-day sodium layer wind temperature laser radar; II: zenith direction detection data acquisition device; III: the east detection data acquisition device; IV: the north detection data acquisition device; v: a data preprocessing system; VI: a night three-frequency echo signal analysis system; VII: the daytime three-frequency echo signal analysis system; VIII: a central control system;
2. three-direction three-frequency echo signals received by the all-day sodium layer wind-temperature laser radar are respectively collected by a II-day top direction detection data collecting device, a III east direction detection data collecting device and a IV north direction detection data collecting device;
3. the collected echo signals of the laser radars in different directions enter a data preprocessing device to carry out classified sorting and storage on the data;
4. for example, when the lidar works at night, the result of analyzing the VI night three-frequency echo signal analyzing device is shown in FIG. 3 to obtain N f0 Greater than N f- And N f+ And at this time N f- And N f+ The ratio of the photon numbers is smaller than the ratio of the intensity of the three-frequency relative spectral line of the high temperature detected by the sodium atoms, so that the detection wavelength deviation of the laser radar can be judged;
5. according to the laser radar emission wavelength judgment information given by the VI night three-frequency echo signal analysis device, a command is sent to a corresponding equipment wavelength adjustment device of the laser radar through the VIII central control system, and the wavelength is adjusted to the correct detection wavelength. The adjusted night normalized three-frequency echo signal is shown in fig. 4.
6. For example, when the laser radar is working in daytime, the result of analyzing VII the daytime three-frequency echo signal analysis device is shown in FIG. 5 to obtain N f0 Greater than N f- And N f+ And N f- And N f+ Misalignment, at this time, the laser radar detects wavelength shift;
in summary, the invention provides a system and a method for identifying the laser frequency emitted by the middle-high-level atmosphere Doppler detection laser radar in real time by utilizing echo signals, which can more intuitively and accurately judge whether the laser frequency is on a metal atom or ion formant. The requirements of accurate measurement of wind field, speed and temperature on data precision are met.
Example 2
The invention discloses a method for monitoring a middle-high layer Doppler laser radar in real time based on echo signals, which is realized based on a system of the invention and comprises the following steps:
the echo signal acquisition subsystem is used for acquiring echo signals of different frequencies in different directions received by the high-rise atmospheric Doppler detection laser radar;
processing and analyzing echo signals of different frequencies in each direction by using an echo signal analysis subsystem respectively, and judging whether the detection wavelength of the laser radar is accurate or not according to analysis results;
in the echo signal analysis subsystem, echo signals of three frequencies in each direction are processed and analyzed, and whether the detection wavelength of the laser radar is accurate or not is judged according to an analysis result, and the method specifically comprises the following steps:
acquiring echo photon signal count values N of three frequencies in each direction a ；
For N a Nonlinear correction is carried out to obtain the count value N of echo photon signals with three frequencies in each direction b ；
For N b Integrating the height and time to obtain an echo signal N of the trace atom ion c ；
For N c Background noise is subtracted to obtain an echo signal N of trace atom ions after the background noise is subtracted e ；
For N e Normalizing the reference altitude Rayleigh signal to obtain a normalized echo signal of any frequency in the zenith direction of the trace atom ion, wherein f 0 Is used for normalizing the echo signal N f0 ，f - Is used for normalizing the echo signal N f- ，f + Is used for normalizing the echo signal N f+ ；
Comparison N f0 、N f- And N f+ And judging whether the laser radar detection wavelength is accurate according to the comparison result.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and are not limiting. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the present invention, which is intended to be covered by the appended claims.
Claims (10)
1. A system for monitoring laser radar detection wavelength in real time based on echo signals, the system comprising: an echo signal acquisition subsystem and an echo signal analysis subsystem; wherein,,
the echo signal acquisition subsystem is used for acquiring echo signals generated by resonance of metal components with different frequencies in different directions and received by the high-rise atmospheric Doppler detection laser radar;
the echo signal analysis subsystem is used for respectively processing and analyzing echo signals of different frequencies in each direction and judging whether the detection wavelength of the laser radar is accurate or not according to analysis results.
2. The system for monitoring laser radar detection wavelength in real time based on echo signals according to claim 1, wherein the system further comprises: the data preprocessing subsystem is used for preprocessing the acquired echo signals in different directions and different frequencies, and the preprocessing comprises the following steps: classifying, sorting and storing the echo signals, detecting the quality of the echo signals, and rejecting the echo signals according to the quality detection result.
3. The system for monitoring laser radar detection wavelength in real time based on echo signals according to claim 1, wherein the system further comprises: and the central control subsystem is used for transmitting corresponding commands to the laser radar according to the laser radar transmitting wavelength judgment information provided by the echo signal analysis subsystem and adjusting the laser radar transmitting wavelength to the corresponding correct detection wavelength.
4. The system for monitoring the detection wavelength of the lidar based on the echo signal in real time according to claim 1, wherein the echo signal acquisition subsystem comprises at least three data acquisition devices in different directions; the three different directions comprise zenith, zenith to the east or west and zenith to the north or south;
the data acquisition device in each direction is used for acquiring echo signals generated by resonance of at least three metal components with different frequencies in the respective direction; the three different frequencies include f 0 、f + ＝f 0 +δf、f - ＝f 0 - δf, where f 0 For the peak operating frequency, δf is the amount of frequency shift set by the lidar.
5. The system for monitoring the detection wavelength of the lidar based on the echo signal in real time according to claim 4, wherein the processing procedure of the echo signal analysis subsystem specifically comprises:
acquiring respective frequency echo photon signal count values N of at least three frequencies in each direction a ；
For N a Nonlinear correction is carried out to obtain echo photon signal count values N of at least three frequencies in each direction b ；
For N b Integrating the height and time to obtain an echo signal N c ；
For N c Background noise is subtracted to obtain an echo signal N after the background noise is subtracted e ；
For N e Normalizing the reference altitude Rayleigh signal to obtain each frequency normalized echo signal of at least three frequencies in each direction, wherein f 0 Is used for normalizing the echo signal N f0 ，f - Is used for normalizing the echo signal N f- ，f + Is used for normalizing the echo signal N f+ ；
Comparison N f0 、N f- And N f+ And judging whether the laser radar detection wavelength is accurate according to the comparison result.
6. The system for monitoring laser radar detection wavelength in real time based on echo signals according to claim 5, wherein the background noise is an echo signal average of 170-190 km.
7. The system for monitoring laser radar detection wavelength in real time based on echo signals according to claim 5, wherein the comparison N f0 、N f- And N f+ Judging whether the laser radar detection wavelength is accurate according to the comparison result, specifically comprising:
if N f0 Maximum, and N f- And N f+ The detection wavelength of the laser radar is determined to be correct when the detection wavelength coincides with the detection height range of the trace metal component;
if N f0 Not the largest, or N f- And N f+ And if the detection wavelength is not coincident in the height range of the trace metal component detection, determining the laser radar detection wavelength offset.
8. The system for monitoring laser radar detection wavelength in real time based on echo signals according to claim 5, wherein the comparison N f0 、N f- And N f+ And judging the laser radar detection according to the comparison resultThe method for measuring the wavelength is accurate, and specifically comprises the following steps:
if the photon number ratio N f+ /N f- The ratio of the three-frequency relative spectral line intensity equal to the temperature set by the height detected by the trace metal components is used for judging that the detection wavelength of the laser radar is correct;
if the photon number ratio N f+ /N f- And if the ratio of the three-frequency relative spectral line intensity is not equal to the temperature set by the height of the trace metal component detection, judging the laser radar detection wavelength deviation.
9. The system for monitoring laser radar detection wavelength in real time based on echo signals according to claim 5, wherein the echo signal analysis subsystem comprises: the daytime echo signal analysis device and/or the nighttime echo signal analysis device are respectively used for analyzing the echo signals with different frequencies in each direction collected in the daytime and/or at night, and judging whether the detection wavelength of the middle laser radar is accurate or not according to analysis results; the daytime echo signal analysis device is further used for correcting the transmittance of the echo photon signals after the nonlinear correction is finished.
10. A method of monitoring a detection wavelength of a lidar in real time based on an echo signal, the method being implemented based on the system of one of claims 1-9, the method comprising:
collecting echo signals generated by resonance of metal components with different frequencies in different directions and received by a high-level atmospheric Doppler detection laser radar;
and processing and analyzing echo signals with different frequencies in each direction by using an echo signal analysis subsystem respectively, and judging whether the detection wavelength of the laser radar is accurate or not according to analysis results.
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