CN117706522A - Circuit acquisition processing device and method of laser radar speed measurement system - Google Patents
Circuit acquisition processing device and method of laser radar speed measurement system Download PDFInfo
- Publication number
- CN117706522A CN117706522A CN202311729370.4A CN202311729370A CN117706522A CN 117706522 A CN117706522 A CN 117706522A CN 202311729370 A CN202311729370 A CN 202311729370A CN 117706522 A CN117706522 A CN 117706522A
- Authority
- CN
- China
- Prior art keywords
- module
- data
- analog
- digital converter
- frequency
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012545 processing Methods 0.000 title claims abstract description 57
- 238000005259 measurement Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000005070 sampling Methods 0.000 claims abstract description 24
- 230000015572 biosynthetic process Effects 0.000 claims abstract description 14
- 238000003786 synthesis reaction Methods 0.000 claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 10
- 238000007405 data analysis Methods 0.000 claims abstract description 9
- 238000001228 spectrum Methods 0.000 claims description 68
- 238000012937 correction Methods 0.000 claims description 38
- 238000004364 calculation method Methods 0.000 claims description 14
- 238000001914 filtration Methods 0.000 claims description 7
- 239000000203 mixture Substances 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 5
- 230000003595 spectral effect Effects 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 2
- 230000008030 elimination Effects 0.000 claims 1
- 238000003379 elimination reaction Methods 0.000 claims 1
- 230000002457 bidirectional effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 238000004599 local-density approximation Methods 0.000 description 3
- 239000000443 aerosol Substances 0.000 description 2
- 230000003321 amplification Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 230000002194 synthesizing effect Effects 0.000 description 2
- 238000004220 aggregation Methods 0.000 description 1
- 230000002776 aggregation Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Landscapes
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention provides a circuit acquisition processing device and method of a laser radar speed measurement system, comprising a programmable gain module, an analog-to-digital converter sampling module, a programmable clock network module, a signal processing module, a data buffer synthesis module and a data analysis display module; the programmable gain module inputs analog signals, the other modules input and output digital signals, and the data cache synthesis module is connected with the high-speed communication cable of the data analysis display module. The invention can measure the medium speed at the short distance of the system and solve the problem of the traditional laser radar measurement blind area; the method can measure positive and negative bidirectional speed and accurately measure low speed, and solves the problem that the continuous laser radar end face is too strong in reflection to cause saturation of an analog-to-digital converter and the problem that the low speed cannot be measured.
Description
Technical Field
The invention belongs to the technical field of laser Doppler radar speed measurement, and particularly relates to a circuit acquisition processing device and method of a laser radar speed measurement system.
Background
In a laser Doppler radar speed measuring device, laser is irradiated to the atmosphere, scattered light from aerosol is received, doppler frequency shift generated by movement of the aerosol is obtained through heterodyne detection of local oscillation light and the scattered light, and the wind speed in the laser emitting direction is measured. The heterodyne detection signal is collected by an analog-to-digital converter (ADC), subjected to Fast Fourier Transform (FFT) processing, and velocity information is obtained according to the frequency of the spectrum peak value.
The common pulse laser Doppler radar has a measurement blind area due to the reflection of the end face of the optical fiber, and the wind speed of a near area cannot be measured. However, high-speed motion platforms, particularly in the field of airborne, require measurements of near body areas when measuring airspeed.
The continuous laser Doppler velocity measurement system can measure the medium velocity at any distance, and solves the problem of the traditional laser radar measurement blind area. But it has the problem of saturation of the high-speed acquisition circuit caused by too strong reflection of the light end face, as shown in fig. 1. The frequency spectrum obtained after the data is subjected to the fast fourier transform has a mixing phenomenon, so that the effective signal fs cannot be extracted, and the intermediate frequency signal f i is difficult to eliminate, as shown in fig. 2, resulting in the problem of inaccurate speed measurement.
Disclosure of Invention
The invention aims to provide a circuit acquisition processing device and method of a laser radar speed measurement system, aiming at the problems that the continuous laser radar end face is too strong to reflect, so that an analog-to-digital converter is saturated and low speed cannot be measured.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme.
The technical scheme is as follows:
a signal acquisition processing circuit of a continuous laser doppler velocimetry system, the circuit comprising: the system comprises a programmable gain module 1, an analog-to-digital converter sampling module 2, a signal processing module 3, a data buffer synthesis module 4, a data analysis display module 5 and a programmable clock network module 6;
the programmable gain module 1, the analog-to-digital converter sampling module 2, the signal processing module 3, the data buffer synthesis module 4 and the programmable clock network module 6 are respectively connected by high-speed PCB circuit lines; the data cache synthesis module 4 is connected with the data analysis display module 5 by a high-speed communication cable; full duplex communication is supported between the data buffer composition module 4 and the data analysis display module 5.
The programmable clock network module 6 provides a homologous high-speed clock for the programmable gain module 1, the analog-to-digital converter sampling module 2 and the signal processing module 3 respectively;
the programmable gain module 1, the analog-to-digital converter sampling module 2, the signal processing module 3, the data caching module and the programmable clock network are connected in a communication way;
the input end of the programmable clock network module 6 is connected with the output end of the signal processing module, and a plurality of clock output ends of the programmable clock network module 6 are respectively connected with the clock input ends of all channels of the programmable gain module 1 and the analog-digital converter sampling module 2;
the signal processing module 3 comprises a bias correction module 7, a frequency spectrum and phase spectrum calculation module 8, a discrete frequency spectrum correction module 9, a standard sine generation module 10, an intermediate frequency filtering module 11, an amplitude judging module 12 and a gain feedback processing module 13;
the offset correction module 7, the frequency spectrum and phase spectrum calculation module 8, the discrete frequency spectrum correction module 9, the standard sine generation module 10 and the intermediate frequency filtering module 11 are connected in sequence;
the offset correction module 7, the amplitude judgment module 12 and the gain feedback processing module 13 are connected in sequence;
the signal processing module 3 sequentially numbers sampling data of all analog/digital converter channels and outputs the data to the data buffer synthesis module 4; the data buffer composition module 4 performs buffer composition on the input data of the signal processing module 3 according to the serial number thereof to obtain system data Y (n).
The second technical scheme is as follows:
the method is realized by the acquisition processing circuit, and comprises the following steps: the offset correction module is used for correcting the amplitude offset of each channel analog-to-digital converter;
performing fast Fourier transform on the digital data sampled by the analog-to-digital converter of each channel to obtain a frequency spectrum and a phase spectrum;
correcting the frequency spectrum of the analog-to-digital converter data to obtain accurate frequency f i of the signal and further obtain initial phase psi corresponding to the frequency f i i ；
Setting the amplitude threshold value of the sampled data of the analog/digital converter of each channel as Th, and if the maximum amplitude Ai < T of the sampled data, synthesizing and outputting the system data; if Ai > T, resetting the gain coefficient;
performing gain feedback processing on the programmable gain modules according to the detection results of the amplitude judging modules, and performing gain coefficient adjustment on the programmable gain modules of all channels;
the intermediate frequency filtering and speed calculating module filters intermediate frequency signals to obtain the frequency spectrum of an actual signal, and further completes the speed calculation;
after bias error correction is carried out on sampling data of each path of ADC, the output data of each ADC channel is respectively processed by Fast Fourier Transform (FFT) to obtain a frequency spectrum and a phase spectrum, the frequency spectrum is subjected to frequency correction by a discrete frequency spectrum correction method to obtain accurate frequency and initial phase, a standard sinusoidal signal is further generated, an intermediate frequency signal is eliminated, the frequency spectrum of an actual signal is obtained, and an actual speed value is further calculated; and judging whether the maximum amplitude of the sampling data of the ADC channel is in a threshold range or not, generating a gain feedback adjustment instruction, and adjusting gain coefficients of all channels by a programmable gain module to eliminate the sampling saturation problem of an analog-to-digital converter caused by over-strong end surface reflection signals of the continuous laser speed measuring system. The invention can measure the medium speed at any distance of the system and solve the problem of the traditional laser radar measurement blind area; the method can measure positive and negative bidirectional speed and accurately measure low speed, and solves the problems that high-speed ADC acquisition saturation is caused by excessively strong reflection of the end face of the continuous laser radar and the low speed cannot be measured.
Drawings
FIG. 1 is a schematic diagram of high speed ADC sampling saturation for a continuous lidar;
FIG. 2 is a schematic diagram of a high-speed ADC sampling saturation spectrum of a continuous lidar;
FIG. 3 is a schematic diagram of a circuit acquisition scheme of a continuous lidar speed measurement system;
FIG. 4 is a schematic diagram of a signal processing module;
FIG. 5 is an illustration of spectral and phase spectral offset correction;
FIG. 6 is a graph of a spectrum of a signal useful for measuring speed;
fig. 7 is a data processing flow diagram of a continuous lidar speed measurement system.
Detailed Description
The technical scheme of the invention is described in detail below with reference to the accompanying drawings.
Example 1
The embodiment of the invention provides a signal acquisition processing circuit of a continuous laser Doppler velocimetry system, which is shown in figure 3. The circuit comprises: the system comprises a programmable gain module 1, an analog-to-digital converter sampling module 2, a signal processing module 3, a data buffer synthesis module 4, a data analysis display module 5 and a programmable clock network module 6.
The programmable gain module 1, the analog-to-digital converter sampling module 2, the signal processing module 3, the data buffer synthesis module 4 and the programmable clock network module 6 are connected through a high-speed PCB circuit in sequence; the data buffer module 4 and the data analysis display module 5 are connected by a high-speed communication cable.
Alternatively, the programmable gain module 1 may comprise a plurality of programmable gain modules; the analog-to-digital converter sampling module 2 may comprise a plurality of ADCs; the programmable clock network module 6 can output a plurality of homologous single-ended clocks and differential clocks, and the number, frequency and phase of the output clocks can be controlled by the signal processing module 3 in real time;
the signal processing module 3 sequentially numbers the sampling data of each channel and outputs the data to the data buffer synthesizing module 7; the data buffer synthesis module performs buffer synthesis on the input data of the signal processing module according to the serial number of the input data to obtain system data Y (n);
the signal processing module 3 sends the processed and corrected 4 channel analog-to-digital converter (ADC) sample data to the data buffer composition module 7 according to the numbers 1, 5, 9 …,2, 6, 10 …,3, 7, 11 …,4, 8, 12 …, respectively.
The data buffer composition module 4 completes the buffer and the reorder integration of the data of each channel processed by the signal processing module 3 to obtain the system data Y (n).
The data buffer module uses special memory hardware, which may be nonvolatile memory, ROM, SDRAM, etc.
The signal analysis display storage module 4 is constituted by, for example, a semiconductor aggregation circuit or a single chip microcomputer mounted with a CPU, and performs the following processing: and carrying out operation processing, display and instruction interaction on the system data output by the high-speed acquisition processing circuit module 3.
The high-speed acquisition processing circuit module 3 and the signal analysis display storage module 4 are in high-speed communication connection, support full duplex communication, and the communication protocol can be a network port, USB, PCIE, serial port and the like
FIG. 4 is a schematic diagram of a signal processing module
The offset correction module 7 is used for completing offset correction on AD acquisition data of each channel and eliminating respective direct current components;
the frequency spectrum and phase spectrum calculation module 8 respectively carries out fast Fourier operation (FFT) on the data of the complete offset correction of each channel to obtain respective frequency spectrum and phase spectrum;
the discrete frequency spectrum correction module 9 corrects the obtained frequency spectrum and phase spectrum to obtain the frequency fi with accurate signal, and then the initial phase psi corresponding to fi is obtained i 。
The standard sine generating module 10 generates a standard sine signal according to the obtained frequency fi and the initial phase psi i Generating a standard intermediate frequency signal according to the corresponding amplitude;
the intermediate frequency filtering and speed calculating module 11 finishes the difference calculation between the acquired signal spectrum and the generated standard intermediate frequency signal spectrum;
the amplitude judging module 12 completes the amplitude judgment of the ADC acquired data and judges whether the amplitude exceeds a threshold range;
the gain feedback processing module 13 completes the processing signal of the programmable gain module 1 according to the signal obtained by the amplitude judging module 12;
example 2
In this embodiment, as shown in fig. 5, fig. 6 and fig. 7, a data processing method of a continuous laser doppler velocimetry system is provided, and the method includes:
setting initial gain coefficients, for example, the gain coefficients are initially set to 1 or a maximum value N, for the programmable gain modules of the channels;
amplitude error correction is respectively carried out on data acquired by analog-to-digital converters (ADC) of all channels, and the correction method carries out average calculation on extracted partial data(wherein 0<i<M+1, M is the number of data), and the average value obtained by subtracting all data is used +.>(wherein j is a data number);
fast Fourier Transform (FFT) is performed on data acquired by an analog-to-digital converter (ADC) to obtain a frequency spectrum and a phase spectrum, respectively.
Further, a discrete spectrum correction algorithm is adopted to correct the frequency spectrum of each channel, so as to obtain accurate signal frequency f i. The discrete spectrum correction algorithm can be an energy gravity center method, an FT continuous refinement correction method, a spectral line interpolation method and the like.
As shown in fig. 5, the ADC output data is subjected to Fast Fourier Transform (FFT) to obtain a spectrum and a phase spectrum, and the signal spectrum is corrected by using a discrete spectrum correction method to obtain an accurate intermediate frequency signal frequency f i. Obtaining the initial signal according to the phase of the phase spectrum corresponding to the corrected intermediate frequency f iInitial phase psi i 。
Based on the frequency f i and the initial phase ψ of the resulting intermediate frequency signal i The amplitude generates a standard intermediate frequency signal;
after offset correction is completed on data acquired by an analog-to-digital converter (ADC), the generated standard intermediate frequency signal is subtracted;
next, performing Fast Fourier Transform (FFT) on the obtained signal to obtain a spectrum and a phase spectrum, as shown in fig. 6;
further, discrete spectrum correction is carried out on the frequency spectrum shown in fig. 6 to obtain the accurate frequency of an actual signal, and the actual speed of each channel is calculated;
as shown in fig. 7, the amplitude of the ADC data after offset correction is determined, whether the amplitude exceeds a preset threshold, and the determination result is output to the gain feedback processing module 13;
the gain feedback module completes control of the programmable gain module according to the obtained signal, if the amplitude Ai is larger than Th, the gain coefficient of the programmable gain module is reduced, and the amplification factor of the input analog photoelectric signal is reduced; if Ai is smaller than Th, amplifying the gain coefficient of the programmable gain module, and improving the amplification factor of the input analog photoelectric signal;
aiming at the problems that the continuous laser radar end surface reflection is too strong to cause the acquisition saturation of an analog-to-digital converter and the low speed cannot be measured, the invention provides a signal acquisition circuit and a data processing method of a continuous laser Doppler speed measurement system, which can realize the measurement of the medium speed at any distance and solve the problem of the traditional laser radar measurement blind area; the speed measuring device can measure positive and negative bidirectional speeds and accurately measure low speed. The method meets the measurement requirements of airspeed and wind speed of a high-speed operation platform, in particular to the field of airborne.
Claims (8)
1. A circuit acquisition processing device of a laser radar speed measurement system, the device comprising:
the system comprises a programmable gain module, an analog-to-digital converter sampling module, a signal processing module, a data buffer synthesis module, a data analysis display module and a programmable clock network module;
the programmable gain module inputs analog signals, an external analog signal is connected by adopting a radio frequency signal line, the analog/digital converter sampling module, the programmable clock network module, the signal processing module and the data buffer synthesis module are connected by circuits, and the input and the output of the programmable gain module are digital signals; the data buffer synthesis module is connected with the data analysis display module through a communication cable to support full duplex communication;
the clock output ends of the programmable clock network module are respectively connected with the clock input ends of the programmable gain modules, the clock input ends of the channels of the high-speed analog-to-digital converter sampling module and the clock input ends of the signal processing module.
2. The circuit acquisition processing device of the laser radar speed measurement system according to claim 1, wherein the signal processing module comprises an offset correction module, a frequency spectrum and phase spectrum calculation module, a discrete frequency spectrum correction module, a standard sine generation module, an intermediate frequency filtering and speed calculation module, an amplitude judgment module and a gain feedback processing module;
the offset correction module, the frequency spectrum and phase spectrum calculation module, the discrete frequency spectrum correction module, the standard sine generation module, the intermediate frequency filtering module and the speed calculation module are connected in sequence;
the bias correction module, the amplitude judgment module and the gain feedback processing module are connected in sequence;
the output end of the gain feedback processing module is connected to the input end of the programmable gain module.
3. The circuit acquisition processing device of the laser radar speed measurement system according to claim 1, wherein the signal processing module processes the sampled data of each analog-to-digital converter to obtain the maximum amplitude of the channel data of each analog-to-digital converter, and generates a gain feedback adjustment instruction, and the gain feedback adjustment instruction is used for indicating the gain coefficient of the programmable gain module;
the signal processing module sequentially numbers sampling data of all analog/digital converter channels and outputs the data to the data buffer synthesis module; the data buffer composition module performs buffer composition on the input data of the signal processing module according to the serial number of the input data to obtain system data Y (n).
4. The circuit acquisition processing device of the laser radar speed measurement system according to claim 2, wherein the offset correction module is used for performing amplitude error correction on the sampled data of the analog-to-digital converter;
the frequency spectrum and phase spectrum calculation module is used for performing fast Fourier transform on the data output by the offset correction module to obtain a frequency spectrum and a phase spectrum;
the discrete spectrum correction module is used for correcting the frequency spectrum of the data output by the frequency spectrum and phase spectrum calculation module to obtain the accurate frequency fi of the signal, and further obtain the initial phase psi corresponding to the frequency fi i ；
The standard sine generating module corrects the frequency fi and the initial phase psi which are obtained by the module according to the discrete frequency spectrum i Generating a standard intermediate frequency sinusoidal signal;
the intermediate frequency filtering and speed calculating module is used for correspondingly subtracting the sampling data of the analog-to-digital converter and the generated intermediate frequency sinusoidal signal to finish the elimination of the intermediate frequency signal and obtain an actual effective signal;
the amplitude judging module is used for judging whether the maximum amplitude of the sampling data of the analog-to-digital converter is in a set threshold range or not;
the gain feedback processing module is used for carrying out amplitude feedback on the programmable gain module according to the detection result of the amplitude judging module, and completing adjustment on gain coefficients of all channels.
5. The circuit acquisition processing device of the laser radar speed measurement system according to claim 4, wherein the discrete spectrum correction module corrects the frequency spectrum of the data output by the frequency spectrum and phase spectrum calculation module according to a discrete spectrum correction algorithm to obtain a frequency fi with accurate signal, and further obtain an initial phase psi corresponding to the frequency fi; the discrete spectrum correction algorithm is an energy gravity center method, an FT continuous refinement correction method or a spectral line interpolation method algorithm.
6. The circuit acquisition processing device of a laser radar speed measurement system according to claim 5, wherein a maximum amplitude threshold of sampling data of each analog-to-digital converter is set to be Th, a minimum amplitude threshold is set to be Tl, if Ai > Th or Ai < Th, a gain feedback adjustment command is generated, a gain coefficient of a gain module is adjusted in real time, and Ai is an amplitude of sampling data of the analog-to-digital converter.
7. A method for circuit acquisition and processing of a laser radar speed measurement system, characterized in that the method is implemented by using the circuit acquisition device according to any one of claims 1 to 6, and the method comprises: the offset correction module is used for correcting the amplitude offset of each channel analog-to-digital converter;
performing fast Fourier transform on the data output by the offset correction module to obtain a frequency spectrum and a phase spectrum;
correcting the frequency spectrum of the data output by the frequency spectrum and phase spectrum calculation module to obtain the accurate frequency fi of the signal, and further obtaining the initial phase psi corresponding to the frequency fi i ；
Detecting the data of each analog-to-digital converter to judge the maximum amplitude Ai, and comparing the data with a preset maximum amplitude threshold value Th and a preset minimum amplitude threshold value Tl;
and carrying out gain feedback processing on the programmable gain module according to the detection result of the amplitude judging module, and carrying out gain coefficient adjustment on the programmable gain module of each channel.
8. The method according to claim 7, wherein the amplitude threshold value of the sampled data of the analog/digital converter of each channel is set to be Th and the minimum amplitude threshold value is set to be Tl, and if the maximum amplitude Ai < T or Ai < Th of the sampled data, the gain coefficient of the programmable gain module is adjusted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311729370.4A CN117706522A (en) | 2023-12-15 | 2023-12-15 | Circuit acquisition processing device and method of laser radar speed measurement system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311729370.4A CN117706522A (en) | 2023-12-15 | 2023-12-15 | Circuit acquisition processing device and method of laser radar speed measurement system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117706522A true CN117706522A (en) | 2024-03-15 |
Family
ID=90149289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311729370.4A Pending CN117706522A (en) | 2023-12-15 | 2023-12-15 | Circuit acquisition processing device and method of laser radar speed measurement system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117706522A (en) |
-
2023
- 2023-12-15 CN CN202311729370.4A patent/CN117706522A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9347773B2 (en) | Highly accurate distance measurement device | |
| EP2198323B1 (en) | Time delay estimation | |
| US20190129031A1 (en) | Distance measurement system and method using lidar waveform matching | |
| US10018517B2 (en) | Optical fiber temperature distribution measuring device | |
| WO2018076501A1 (en) | Optical power and gain detection apparatus and method for optical amplifier in burst mode | |
| CN114637021B (en) | Sub-centimeter-level full-waveform laser radar ranging method and device | |
| CN105549027B (en) | A kind of distance measuring method and system based on laser pulse shape leading edge detection | |
| CN110308463B (en) | Wind-finding radar system with data acquisition card and working method thereof | |
| CN117706522A (en) | Circuit acquisition processing device and method of laser radar speed measurement system | |
| CN113114243B (en) | TIADC system mismatch error correction method and system | |
| CN114526831A (en) | Dew point frost point temperature sensor and measuring method thereof | |
| CN109459611B (en) | Anti-interference spectrum measurement method of terahertz short pulse signal based on interferometer | |
| CN110113018B (en) | Automatic gain control system based on underwater background intensity | |
| CN113484618A (en) | Pulse amplitude acquisition device and pulse amplitude acquisition method | |
| CN111980853B (en) | Pitch control method and device and computer readable storage medium | |
| JP5150814B2 (en) | Triangulation distance detection circuit | |
| CN112558107A (en) | Direct current baseline adjusting device and method for increasing instantaneous dynamic state of laser radar | |
| CN114513842B (en) | Digital automatic gain control implementation method in pulse signal receiver | |
| CN105606213A (en) | Laser micro pulse peak power test device | |
| CN110850427A (en) | Amplifying circuit for laser radar, laser radar and control method | |
| CN114994639B (en) | Method for realizing sub-centimeter-level measurement precision by laser scanning radar | |
| Nissinen et al. | Wide dynamic range CMOS receivers for a pulsed time-of-flight laser range finder | |
| RU2421740C2 (en) | Method of determining frequency of radio signals in acousto-optic receiver-frequency metre in linear operation mode of photodetector | |
| CN113310400B (en) | Laser interferometry synchronous dynamic gain compensation method for closed-loop control | |
| RU2794928C1 (en) | Noise automatic threshold adjustment method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |