CN116794639A - Data calibration method and device for atmosphere detection laser radar - Google Patents

Data calibration method and device for atmosphere detection laser radar Download PDF

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Publication number
CN116794639A
CN116794639A CN202310538347.0A CN202310538347A CN116794639A CN 116794639 A CN116794639 A CN 116794639A CN 202310538347 A CN202310538347 A CN 202310538347A CN 116794639 A CN116794639 A CN 116794639A
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China
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laser radar
data
reflecting mirror
reflector
group
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CN202310538347.0A
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Chinese (zh)
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庄鹏
谢晨波
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Anhui Lanke Information Technology Co ltd
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Anhui Lanke Information Technology Co ltd
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Priority to CN202310538347.0A priority Critical patent/CN116794639A/en
Publication of CN116794639A publication Critical patent/CN116794639A/en
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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
    • G01S7/497—Means for monitoring or calibrating

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The application discloses a data calibration method and a device for an atmosphere detection laser radar, wherein the method comprises the following steps: a laser beam emitted by a laser radar; the laser beam irradiates on the reflector group and is reflected at least once; filling the atmospheric sample with the concentrated atmospheric sample according to the type of the calibrated laser radar; placing an atmospheric sample in a corresponding laser radar receiving area; and comparing the test data obtained by the laser radar with the data of the atmospheric sample. The application has novel structure, the height of the laser radar is replaced by the optical path after the light beam emitted by the radar is reflected for many times, and the atmospheric sample can be put in the determined position by replacing all modes of the height by the optical path after the reflection, and meanwhile, the atmospheric sample with known components and concentration is used for replacing the actual atmospheric environment, and the data inverted by the radar is directly compared with the sample data, so that the data is not compared with the test data of other devices, and the laser radar can be accurately calibrated.

Description

Data calibration method and device for atmosphere detection laser radar
Technical Field
The application relates to the technical field of laser radars, in particular to a data calibration method and a device for an atmosphere detection laser radar.
Background
The laser radar uses laser as a light source, and the atmosphere is remotely sensed by detecting a radiation signal of interaction between the laser and the atmosphere, so that the atmosphere components and parameter profiles are inverted in real time, and the accuracy of the laser radar for detecting the atmosphere is improved, the detection precision is improved, and the laser radar is required to be calibrated. The main method for calibrating the laser radar at present comprises a comparison method and a sounding balloon method, wherein the comparison method is to compare the measurement result of the laser radar with other measurement equipment, the calibration precision of the comparison method is mainly influenced by factors such as absolute measurement precision of other measurement equipment, random measurement error of the laser radar, a comparison calibration method and the like, the sounding balloon method is limited by time and space, is a disposable observation means and is greatly influenced by meteorological conditions and human factors, the laser radar is used as an optical remote sensing equipment, when the emitted laser beam is used for detecting the atmosphere, the laser radar cannot be calibrated at high altitude artificially, and due to uncertainty and unknown of the real atmosphere environment, the accuracy of radar detection data cannot be verified, so the data calibration method and the device for the atmospheric detection laser radar are provided.
Disclosure of Invention
The application aims to provide a data calibration method and device for an atmosphere detection laser radar, which are used for solving the problems in the background technology.
In order to achieve the above purpose, the present application provides the following technical solutions: a data calibration method of an atmosphere detection laser radar comprises the following steps:
s1: the laser radar emits laser beams;
s2: the laser beam irradiates on the reflector group and is reflected at least once;
s3: filling the atmospheric sample with the concentrated atmospheric sample according to the type of the calibrated laser radar;
s4: placing an atmospheric sample in a corresponding laser radar receiving area;
s5: comparing test data obtained by the laser radar with data of an atmospheric sample;
s6: if the data are consistent, the laser radar detection is accurate, and the calibration and calibration work is completed; if the data are inconsistent, the parameters of the laser radar system are required to be modified until the detected data are consistent with the data of the atmospheric sample, and then the calibration and calibration work is completed.
As a further scheme of the application: s1, the divergence angle of a laser beam emitted by a laser radar is alpha, and the diameter of a light spot is d 1 After the optical path phi, the diameter of the light spot is d 2 At this time, α= (d) 2 -d 1 )/Φ。
As a further scheme of the application: the reflecting mirror group is composed of a plurality of groups of first reflecting mirrors and second reflecting mirrors with the distance of l, the angles of the plurality of groups of first reflecting mirrors and the second reflecting mirrors relative to the horizontal direction are theta, and the range of the values of the angles theta is as follows: the optical path through a group of first reflecting mirror plates and second reflecting mirror plates which are arranged oppositely is l+l/cos theta, and the optical path through n groups of first reflecting mirror plates and second reflecting mirror plates is n (l+l/cos theta).
As a further scheme of the application: the diameter of the first reflecting mirror plate contacted with the laser beam is required to be larger than alpha l+d 1 The diameter of the second reflecting mirror plate which is in contact with the laser beam is required to be larger than alpha (l+l/cos theta) +d 1 The diameter of the n groups of first reflecting mirrors is required to be larger than alpha (nl+ (n-1) l/cos theta]+d 1 The diameter of the n groups of second reflecting mirrors is required to be larger than alpha n (l+l/cos theta) +d 1 。
As a further scheme of the application: when the angle of the laser radar relative to the horizontal direction is gamma, the range of the angle gamma is as follows: the reflector group is a plurality of groups of third reflector and fourth reflector which are arranged in parallel face to face with the distance l, the optical path length passing through one group of third reflector and fourth reflector is l/sin gamma, the optical path length passing through n groups of third reflector and fourth reflector is nl/sin gamma, and the diameter of the third reflector which is contacted with the laser beam firstly needs to be larger than alpha (l/sin gamma) +d 1 The diameter of the third or fourth reflecting mirror after n times of contact with the laser beam is larger than alpha (nl/sin gamma) +d 1 。
As a further scheme of the application: when the angle of the laser radar 1 relative to the horizontal direction is gamma, the range of the angle gamma is as follows: the distance between the reflecting mirror group and the fifth reflecting mirror is l < gamma < 90, the optical path of the light beam emitted by the laser radar is l/sin gamma after each time of reflection, the optical path of the light beam after n times of reflection is nl/sin gamma, and the diameters of the fifth reflecting mirror and the sixth reflecting mirror are larger than alpha (nl/sin gamma) +d after n times of reflection 1 。
As a further scheme of the application: an apparatus for using the foregoing method, comprising a lidar and an atmospheric sample, wherein a mirror group for changing the angle of reflection of the laser beam is provided between the lidar and the atmospheric sample, and the change of the angle of the mirror group is adjusted by an adjusting group.
As a further scheme of the application: the adjusting group comprises a first adjusting frame and a second adjusting frame, and the first adjusting frame and the second adjusting frame are respectively connected with the reflecting lenses in the reflecting mirror group.
Compared with the prior art, the application has the beneficial effects that: the application has novel structure, the height of the laser radar is replaced by the optical path after the light beam emitted by the radar is reflected for many times, and the atmospheric sample can be put in the determined position by replacing all modes of the height by the optical path after the reflection, and meanwhile, the atmospheric sample with known components and concentration is used for replacing the actual atmospheric environment, and the data inverted by the radar is directly compared with the sample data, so that the data is not compared with the test data of other devices, and the laser radar can be accurately calibrated.
Drawings
FIG. 1 is a schematic representation of a first embodiment of the application;
FIG. 2 is a side view of a second embodiment of the application;
FIG. 3 is a schematic representation of a third embodiment of the application;
in the figure: 1. a laser radar; 2. a first reflecting mirror; 3. a first adjusting frame; 4. a second adjusting frame; 5. an atmospheric sample; 6. a second reflecting mirror; 7. a third reflective lens; 8. a fourth reflecting mirror; 9. a fifth reflecting mirror; 10. and a sixth reflecting mirror.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1, in an embodiment of the present application, a data calibration method for an atmospheric detection laser radar includes the following steps:
s1: a laser beam emitted by the laser radar 1;
s2: the laser beam irradiates on the reflector group and is reflected at least once;
s3: filling the atmospheric sample 5 with the concentrated atmospheric sample according to the type of the calibrated laser radar 1;
s4: placing an atmospheric sample 5 in a corresponding receiving area of the laser radar 1;
s5: comparing the test data obtained by the laser radar 1 with the data of the atmospheric sample 5;
s6: if the data are consistent, the laser radar detection is accurate, and the calibration and calibration work is completed; if the data are inconsistent, the parameters of the laser radar system are required to be modified until the detected data are consistent with the data of the atmospheric sample 5, and then the calibration and calibration work is completed.
In this embodiment, the laser radar 1 emits in a vertical direction, and the first reflecting mirror plates 2 and the second reflecting mirror plates 6 are all arranged in an inclined manner, so that an included angle is formed between the laser radar 1 and the first reflecting mirror plates 2 and the second reflecting mirror plates 6.
In one embodiment, in order to facilitate the laser beam emitted by the laser radar 1 to irradiate the mirror groups, in this embodiment, it is preferable that the adjustment group adjusts the angle of the mirror groups so that the laser beam emitted by the laser radar 1 is incident on the center position of each of the mirror groups.
Referring to fig. 1, in this embodiment, in order to obtain the optical path length of the mirror group conveniently, it is preferable that the divergence angle of the laser beam emitted by the laser radar 1 in S1 is α, and the spot diameter is d 1 After the optical path phi, the diameter of the light spot is d 2 At this time, α= (d) 2 -d 1 ) And/phi. The reflector group is composed of a plurality of groups of first reflector plates 2 and second reflector plates 6 with the distance l, the angles of the plurality of groups of first reflector plates 2 and second reflector plates 6 relative to the horizontal direction are theta, and the range of the angle theta is as follows: the optical path through a group of oppositely arranged first reflecting mirror plates 2 and second reflecting mirror plates 6 is l+l/cos theta, and through n groupsThe optical paths of the first mirror plate 2 and the second mirror plate 6 are n (l+l/cos θ).
Referring to fig. 1, in the present embodiment, it is preferable that the first mirror plate 2 and the second mirror plate 6 have a diameter larger than αl+d of the first mirror plate 2 that is contacted with the laser beam 1 The diameter of the second reflecting mirror 6, which is then in contact with the laser beam, needs to be larger than a (l+l/cos θ) +d 1 The diameter of the n groups of first reflecting mirrors 2 is required to be larger than alpha (nl+ (n-1) l/cos theta]+d 1 The diameter of the n sets of second reflecting mirrors 6 is required to be larger than αn (l+l/cos θ) +d 1 。
Example 2
Referring to fig. 2, compared with the technical solution of embodiment 1, the difference is that the mirror group is disposed in a horizontal direction in the present embodiment, and the lidar 1 is disposed in an inclined manner, so that a certain angle is formed between the mirror group and the lidar.
When the angle of the laser radar 1 relative to the horizontal direction is gamma, the range of the angle gamma is as follows: the reflector group is a plurality of groups of third reflector 7 and fourth reflector 8 which are arranged in parallel face to face with a distance of l, the optical path passing through one group of third reflector 7 and fourth reflector 8 is l/sin gamma, the optical path passing through n groups of third reflector 7 and fourth reflector 8 is nl/sin gamma, and the diameter of the third reflector 7 which is contacted with the laser beam firstly needs to be larger than alpha (l/sin gamma) +d 1 The diameter of the third reflecting mirror 7 or the fourth reflecting mirror 8, which is in contact with the laser beam n times, is required to be larger than alpha (nl/sin gamma) +d 1 。
Example 3
Referring to fig. 3, compared with the technical solution of embodiment 1, the difference is that the mirror group in this embodiment adopts two fifth mirror plates 9 and sixth mirror plates 10 that are horizontally arranged, and the optical paths of different paths reflected between the fifth mirror plates 9 and the sixth mirror plates 10 are ensured by changing the inclination angle of the laser radar 1.
When the angle of the laser radar 1 relative to the horizontal direction is gamma, the range of the angle gamma is as follows: the distance of the reflecting mirror group is l, the optical path of the light beam emitted by the laser radar 1 after each reflection is l/sin, and the gamma is less than 90, and the reflecting mirror group is a fifth reflecting mirror 9 and a sixth reflecting mirror 10 with the distance of lThe optical path of gamma after n times of reflection is nl/sin gamma, and the diameters of the fifth reflecting mirror 9 and the sixth reflecting mirror 10 after n times of reflection are all larger than alpha (nl/sin gamma) +d 1 。
When the laser radar 1 test data and the data in the atmospheric sample 5 are inconsistent, the staff is required to consider whether the test data is adopted or not.
Referring to fig. 1, an apparatus using the foregoing method is preferred in this embodiment, the apparatus includes a laser radar 1 and an atmosphere sample 5, all components of the atmosphere including atmospheric aerosol, haze, dust, particles, mist, ozone, water vapor, CO2, NO2 and other polluted gases, all items detectable by the laser radar 1 such as temperature, humidity, air pressure, visibility, wind speed, wind direction and the like are contained in the atmosphere sample 5, a mirror group for changing the reflection angle of the laser beam is provided between the laser radar 1 and the atmosphere sample 5, and the change of the angle of the mirror group is adjusted by adding an adjusting group.
Referring to fig. 1, in one embodiment, the adjusting set preferably includes a first adjusting frame 3 and a second adjusting frame 4, the first adjusting frame 3 and the second adjusting frame 4 are respectively connected with the mirror set, and the position and the angle of the mirror set can be adjusted by setting the first adjusting frame 3 and the second adjusting frame 4.
The working principle and the using flow of the application are as follows: firstly, an adjusting group is used for adjusting the angle of a reflecting mirror group, and a laser beam emitted by the laser radar 1; so that the laser beam irradiates the central part of the reflector group and is reflected at least once; filling the atmospheric sample 5 with the concentrated atmospheric sample according to the type of the calibrated laser radar 1; placing an atmospheric sample 5 in a corresponding receiving area of the laser radar 1; comparing the test data obtained by the laser radar 1 with the data of the atmospheric sample 5, judging whether the obtained data are consistent by a worker, and if so, indicating that the laser radar 1 detects accurately and finishing calibration work; if the data are inconsistent, the parameters of the laser radar 1 system are required to be modified until the detection data are consistent with the data of the atmospheric sample 5, namely, the calibration and calibration work is completed, and finally, the calibration data of the laser radar 1 are obtained.
Although the present disclosure describes embodiments, not every embodiment is described in terms of a single embodiment, and such description is for clarity only, and one skilled in the art will recognize that the embodiments described in the disclosure as a whole may be combined appropriately to form other embodiments that will be apparent to those skilled in the art.
Therefore, the above description is not intended to limit the scope of the application; all changes which come within the meaning and range of equivalency of the claims are to be embraced within their scope.

Claims (8)

1. The data calibration method of the atmosphere detection laser radar is characterized by comprising the following steps of:
s1: the laser radar emits laser beams;
s2: the laser beam irradiates on the reflector group and is reflected at least once;
s3: filling the atmospheric sample with the concentrated atmospheric sample according to the type of the calibrated laser radar;
s4: placing an atmospheric sample in a corresponding laser radar receiving area;
s5: comparing test data obtained by the laser radar with data of an atmospheric sample;
s6: if the data are consistent, the laser radar detection is accurate, and the calibration and calibration work is completed; if the data are inconsistent, the parameters of the laser radar system are required to be modified until the detected data are consistent with the data of the atmospheric sample, and then the calibration and calibration work is completed.
2. The data calibration method of the atmosphere detection laser radar according to claim 1, wherein the laser beam emitted by the laser radar in S1A divergence angle alpha and a spot diameter d 1 After the optical path phi, the diameter of the light spot is d 2 At this time, α= (d) 2 -d 1 )/Φ。
3. The data calibration method of the atmospheric detection laser radar according to claim 2, wherein the reflecting mirror group is composed of a plurality of groups of first reflecting mirrors and second reflecting mirrors with a distance of l, the angles of the plurality of groups of first reflecting mirrors and the second reflecting mirrors relative to the horizontal direction are θ, and the range of the angle θ is: the optical path through a group of first reflecting mirror plates and second reflecting mirror plates which are arranged oppositely is l+l/cos theta, and the optical path through n groups of first reflecting mirror plates and second reflecting mirror plates is n (l+l/cos theta).
4. The data calibration method of atmospheric detection laser radar according to claim 3, wherein the first reflecting mirror plate and the second reflecting mirror plate have a diameter larger than αl+d for the first reflecting mirror plate to be contacted with the laser beam 1 The diameter of the second reflecting mirror plate which is in contact with the laser beam is required to be larger than alpha (l+l/cos theta) +d 1 The diameter of the n groups of first reflecting mirrors is required to be larger than alpha (nl+ (n-1) l/cos theta]+d 1 The diameter of the n groups of second reflecting mirrors is required to be larger than alpha n (l+l/cos theta) +d 1 。
5. The data calibration method of the atmosphere detection laser radar according to claim 2, wherein when the angle of the laser radar relative to the horizontal direction is γ, the range of the angle γ is: the reflector group is a plurality of groups of third reflector and fourth reflector which are arranged in parallel face to face with the distance l, the optical path length passing through one group of third reflector and fourth reflector is l/sin gamma, the optical path length passing through n groups of third reflector and fourth reflector is nl/sin gamma, and the diameter of the third reflector which is contacted with the laser beam firstly needs to be larger than alpha (l/sin gamma) +d 1 The diameter of the third or fourth reflecting mirror after n times of contact with the laser beam is larger than alpha (nl/sin gamma) +d 1 。
6. The data calibration method of the atmosphere detection laser radar according to claim 2, wherein when the angle of the laser radar relative to the horizontal direction is γ, the range of the angle γ is: the distance of the reflecting mirror group is l, the optical path of the light beam emitted by the laser radar is l/sin gamma after once reflection, the optical path of the light beam after n times reflection is nl/sin gamma, and the diameters of the fifth reflecting mirror and the sixth reflecting mirror are larger than alpha (nl/sin gamma) +d after n times reflection 1 。
7. An apparatus for using the foregoing method, comprising a laser radar and an atmospheric sample, wherein a mirror group for changing the reflection angle of a laser beam is disposed between the laser radar and the atmospheric sample, and the change of the angle of the mirror group is adjusted by an adjusting group.
8. The apparatus for using the previous method according to claim 7, wherein the adjustment group comprises a first adjustment frame and a second adjustment frame, the first and second adjustment frames being respectively connected to the mirror plates in the mirror group.
CN202310538347.0A 2023-05-11 2023-05-11 Data calibration method and device for atmosphere detection laser radar Pending CN116794639A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310538347.0A CN116794639A (en) 2023-05-11 2023-05-11 Data calibration method and device for atmosphere detection laser radar

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310538347.0A CN116794639A (en) 2023-05-11 2023-05-11 Data calibration method and device for atmosphere detection laser radar

Publications (1)

Publication Number Publication Date
CN116794639A true CN116794639A (en) 2023-09-22

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ID=88038296

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310538347.0A Pending CN116794639A (en) 2023-05-11 2023-05-11 Data calibration method and device for atmosphere detection laser radar

Country Status (1)

Country Link
CN (1) CN116794639A (en)

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