CN117930257A - Laser ranging method based on full-phase FFT (fast Fourier transform) double-sub-segment phase method - Google Patents
Laser ranging method based on full-phase FFT (fast Fourier transform) double-sub-segment phase method Download PDFInfo
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Abstract
The invention relates to the technical field of laser ranging, and provides a laser ranging method based on an all-phase FFT (fast Fourier transform) double-sub-segment phase method. The method is derived by an all-phase FFT method, and can finish high-precision phase discrimination by only taking out the first and the last sub-sections in N sub-data sections contained in the all-phase FFT and then synthesizing FFT spectrums of the two sub-sections to extract peak spectrum phase information. The system preprocesses the sampled signals, performs phase estimation by using an all-phase FFT (fast Fourier transform) double-sub-segment phase method, and calculates the target distance according to the phase difference. Through the verification of experimental and simulation results, the laser ranging method provided by the invention can improve the ranging precision. Under the condition of high signal-to-noise ratio, the phase discrimination precision of the method is superior to that of the full-phase FFT method, and reliable measurement data support is provided for laser ranging application.
Description
Technical Field
The invention relates to the technical field of laser ranging technology and signal processing, in particular to a laser ranging method based on an all-phase FFT (fast Fourier transform) double-sub-segment phase method.
Background
In recent years, with the continuous development of laser, detector and signal processing technology, laser ranging technology plays an important role in the fields of unmanned driving, three-dimensional reconstruction, radar navigation, unmanned aerial vehicle mapping and the like. The laser ranging methods commonly used at present are a pulse ranging method, a triangular ranging method, a frequency modulation continuous wave ranging method and a phase ranging method. The pulse ranging method has the advantages of long measuring distance, strong anti-interference capability and the like, and has the defects of low measuring precision, high cost and common centimeter-level precision; the triangular ranging method has the advantages of high precision, low cost, high measuring speed and the like, and the short-distance precision is in millimeter level, so that the precision is lower and lower along with the increase of the distance; the frequency modulation continuous wave ranging method has the advantages of high precision, measurable speed and the like, the precision is generally in millimeter level, and the defects are high cost and complex signal processing; compared with the laser ranging method, the phase ranging method has the advantages of high precision, low cost, high reliability and the like in the middle-short distance, and the precision is generally in millimeter level, so that the phase ranging method is the most commonly used laser ranging method in the middle-short distance at present.
The current method for improving the phase laser ranging precision comprises the steps of improving the frequency of a modulation signal and improving the phase discrimination precision. Increasing the frequency of the modulated signal increases the performance requirements of the circuit and also exacerbates the crosstalk between the signals. Therefore, the method for improving the phase laser ranging accuracy is mainly a phase discrimination method, and the phase discrimination method is divided into an analog method and a digital method. The simulation method usually adopts a large number of simulation circuits to measure the phase, and has the problems of serious temperature drift and zero drift, poor anti-interference capability and the like. The analog method has complex circuit realization, higher requirements on devices and is not ideal in stability and reliability. The common digital phase discrimination method includes automatic digital method, digital correlation method, digital synchronous demodulation method, spectrum analysis method, etc. The automatic digital phase discrimination method has higher requirements on echo signals and an amplifying and shaping circuit, and simultaneously, an automatic gain control circuit is required to adjust the amplitude of the echo signals, so that the received signals are ensured to be in a proper range. The digital correlation method can generate larger phase discrimination errors under the interference of harmonic signals with stronger correlation. The direct current signal in the digital synchronous demodulation method is greatly interfered by current noise, and the noise is not easy to filter, so that the phase discrimination precision is affected.
The spectrum analysis method has the advantages of small operation, easy realization, high precision and the like, and is suitable for high-speed and high-precision phase laser ranging. In practical phase-type laser ranging, because frequency source jitter or signal interference can cause random frequency offset of a measured signal, strict synchronous sampling cannot be achieved. Thus, spectral leakage occurs when spectral analysis phase discrimination is actually used. To suppress spectral leakage and improve phase discrimination accuracy, it is common practice to use full phase FFT spectral analysis (apFFT). The full-phase FFT has the advantages of good spectrum leakage suppression effect, phase invariance and small calculated amount.
However, in practical phase-type laser ranging, the spectrum analysis method is not required to have all the advantages, but is more focused on requiring high phase discrimination accuracy. Therefore, the FFT method and the full-phase FFT method still have the problem of low phase discrimination precision under the given sample number.
Disclosure of Invention
Aiming at the problem that the phase discrimination precision of the FFT method and the full-phase FFT method still needs to be improved under the given sample number in the phase type laser ranging, the invention provides a laser ranging method based on the full-phase FFT double-subsection phase method. The phase discrimination precision of the method is higher than that of the full-phase FFT method under the condition of high signal-to-noise ratio, so that the phase discrimination precision is improved, and the method has certain engineering application value.
The invention solves the technical problems by adopting the scheme that:
For a phase laser ranging system, a laser emits an amplitude modulated continuous wave laser that is typically modulated to a sine wave having a particular frequency. The emitted laser reaches the target object and then is reflected, the reflected light is converted into an echo signal through the photoelectric detector and the analog-to-digital converter, and the echo signal is a discrete digital sequence. The discrete sequence contains the phase information of the laser, the microprocessor extracts the phase information of the echo signal and the reference signal through an all-phase FFT double-subsection phase method, and finally the distance of the target object is calculated through the phase difference.
A laser ranging method based on an all-phase FFT (fast Fourier transform) double-sub-segment phase method comprises the following steps:
Step one, sampling 2N-1 sampling points of an echo signal to obtain a discrete sequence X (N) of the echo signal, wherein n+1 is less than or equal to N and less than or equal to N-1, N is an integer, N different subsections are taken out from the 2N-1 sampling points, each subsection contains a central sampling point X (0), the number of sampling points of the subsections is N, the central sampling point X (0) is taken as a starting point, and X (N-1) is taken as an end point to be taken as a1 st subsection X 0; starting with X (-1), ending with X (N-2) as the 2 nd subsection X 1; similarly, starting with X (-N+1), and ending with X (0) as the nth subsection X N-1. I.e. N subsections can be represented as:
X0＝[x(0)，x(1)，…，x(N-2)，x(N-1)]
X1＝[x(-1)，x(0)，…，x(N-3)，x(N-2)]
…
XN-2＝[x(-N+2)，x(-N+3)，…，x(0)，x(1)]
XN-1＝[x(-N+1)，x(-N+2)，…，x(-1)，x(0)]
Step two, the sample point of each sub-segment is shifted left, the left shift amount is m, and m is 0,1,2, … and N-1 respectively from the 1 st sub-segment to the N th sub-segment, namely N sub-segments after the left shift can be expressed as:
X0＝[x(0)，x(1)，…，x(N-2)，x(N-1)]
X1＝[x(0)，x(1)，…，x(N-2)，x(-1)]
…
XN-2＝[x(0)，x(1)，x(-N+2)，…，x(-1)]
XN-1＝[x(0)，x(-N+1)，…，x(-2)，x(-1)]
Taking the 1 st subsection X 0 and the N th subsection X N-1 as a first subsection and a tail subsection, respectively performing discrete Fourier transform on the first subsection and the tail subsection, and respectively solving the phases of the first subsection and the tail subsection according to the transformation result;
step four, the phases of the first subsection and the tail subsection are added and averaged, and the average value is the phase of the echo signal;
performing the operations from the first step to the fourth step on the reference signal to obtain the phase of the reference signal;
And (3) carrying out difference on the phases of the echo signal and the reference signal, wherein the difference is the phase difference, and further calculating a distance value through the phase difference.
The invention has the beneficial effects that:
The invention also provides a laser ranging method based on the full-phase FFT double-sub-segment phase method, which firstly samples the laser reference signal and the echo signal to obtain the original data, then carries out phase estimation by using the full-phase FFT double-sub-segment phase method, finally obtains an accurate ranging result by phase difference calculation, and realizes the high-precision ranging function. Under the condition of higher signal-to-noise ratio, the phase discrimination precision of the full-phase FFT double-sub-segment phase method is higher than that of the full-phase FFT method, and the system and the method can improve the precision of phase type laser ranging and provide more reliable ranging data support for various application scenes.
Drawings
FIG. 1 is a block diagram of a laser ranging system based on an all-phase FFT two-sub-segment phase method in an embodiment of the invention;
FIG. 2 is a flow chart of an authentication procedure based on the full-phase FFT two-sub-segment phase method in an embodiment of the invention;
FIG. 3 is a comparison graph of phase-discrimination root mean square error simulation curves of three methods of an FFT method, an all-phase FFT method and an all-phase FFT double-sub-segment phase method under the influence of different frequency leakage under the simulation condition in the embodiment;
FIG. 4 is a comparison graph of phase-discrimination root mean square error simulation curves of three methods of an FFT method, an all-phase FFT method and an all-phase FFT double-sub-segment phase method under the influence of different Gaussian white noise under the simulation condition in the embodiment;
FIG. 5 is a graph showing phase discrimination root mean square error simulation curves of three methods of FFT method, full-phase FFT method and full-phase FFT double-sub-segment phase method under the joint influence of simulated Gaussian white noise and different frequency spectrum leakage in the embodiment;
FIG. 6 is a graph showing comparison of phase discrimination root mean square error curves of three methods of FFT method, full-phase FFT method and full-phase FFT double-sub-segment phase method under the distance of 300mm-1800mm measured by laser in air in the embodiment.
Detailed Description
The present invention will now be described in detail with reference to the drawings and examples of which are shown in the accompanying drawings and are illustrative of the embodiments described in the drawings and are intended to be illustrative of the invention and not to be construed as limiting the invention.
Examples:
the laser ranging method based on the full-phase FFT double-sub-segment phase method provided by the embodiment of the invention is described below with reference to the accompanying drawings.
As shown in fig. 1, a laser ranging system based on an all-phase FFT two-sub-segment phase method includes:
A laser for generating laser light, the laser comprising a semiconductor green laser diode which functions to emit laser light having a wavelength of 520 nm;
The signal generator is of a model SI5351A-B-GTR and can generate a high-frequency sinusoidal signal with high precision and stability; the method has the function of respectively outputting two paths of sinusoidal signals with similar frequencies as a main vibration signal and a local vibration signal; the main vibration signal is used for modulating the amplitude of laser, and becomes a reflected signal when modulated laser reaches a target object and is reflected back; the local oscillation signal is used for mixing frequency processing and is mixed with the main oscillation signal and the reflected signal respectively to generate a reference signal and an echo signal;
the mixer is composed of a triode, a capacitor, an inductor and a resistor thereof and is used for mixing a main vibration signal, a local oscillation signal, a reflection signal and the local oscillation signal to generate a reference signal and an echo signal, wherein the reference signal and the echo signal are low-frequency signals; the mixer only keeps the low frequency part, thereby realizing the reduction of the high frequency signal into the low frequency signal; the low-frequency signal has only frequency change and no phase change, so that the sampling rate of the subsequent analog-to-digital converter is reduced;
The driving circuit can provide stable high-voltage bias for the photoelectric detector to maintain the working state of the photoelectric detector, so that the photoelectric detector is at a proper working point to obtain optimal performance and sensitivity;
a receiving lens, which is a PMMA (polymethyl methacrylate) optical lens, and which functions to focus the laser beam diffusely reflected by the object onto the photodetector;
the photoelectric detector is an avalanche photodiode, has the model of AD500-8 and is used for receiving the diffuse reflection laser beam of the target object and converting the optical signal into a weak current signal by utilizing the photoelectric effect;
An optoelectronic IV-conversion amplifier which functions to convert a weak current signal into a voltage signal and amplify the converted voltage signal;
An analog-to-digital converter (ADC) which is an ADC built in the microcontroller STM32 and is used for carrying out analog-to-digital conversion on the reference signal and the echo signal and converting the continuous analog signal into a discrete digital signal for subsequent digital signal processing;
The microcontroller is of the model STM32F103RCT6 and is used for controlling each component of the laser ranging device, and performing full-phase FFT (fast Fourier transform) double-sub-segment phase estimation on the discrete sequence subjected to analog-to-digital conversion to obtain the phase difference of the reference signal and the echo signal; converting the phase difference into original measurement data of laser ranging, screening and calibrating the measurement data, and transmitting the measurement result to an upper computer through a communication interface; which are connected to the laser, the signal generator, the mixer, the photodetector drive, and the photo IV-conversion amplifier, respectively; the high-voltage bias unit is used for outputting an electric signal with adjustable voltage to form bias voltage, communicating with the signal generator to generate a sine signal, and sampling an echo signal output by the photoelectric IV conversion amplifier;
When the microcontroller receives a weaker echo signal, the microcontroller reduces the voltage of the electric signal to improve the bias voltage; when the microcontroller receives the echo signal stronger, the microcontroller increases the voltage of the electric signal to reduce the bias voltage;
The laser is sequentially connected with the signal generator, the microcontroller, the analog-to-digital converter, the photoelectric IV converter and the photoelectric detector, the signal generator is connected with the analog-to-digital converter through the mixer, the photoelectric detector is connected with the photoelectric detector, and the power supply module is connected with all devices; the receiving lens is disposed in front of the photodetector.
The power module is used for converting an external input power supply into working power supplies such as a laser, a signal generator, a microcontroller and the like, providing stable power supply input for each device and ensuring the normal operation of the device;
The upper computer is a serial port debugging assistant and is used for displaying and storing the received measurement data in real time; the upper computer is connected with the microcontroller.
The laser is sequentially connected with the signal generator, the microcontroller, the analog-to-digital converter, the photoelectric IV converter and the photoelectric detector, the microcontroller is connected with the upper computer, the signal generator is connected with the analog-to-digital converter through the mixer, the photoelectric detector is connected with the photoelectric detector in a driving way, and the power supply module is connected with all devices; the receiving lens is disposed in front of the photodetector.
As shown in fig. 2, a laser ranging method based on an all-phase FFT double sub-segment phase method includes the following steps:
step 1, a laser emits amplitude-modulated laser, the laser is incident to a target object and returns through diffuse reflection, the reflected light enters a receiving lens and reaches an analog-to-digital converter through a photoelectric detector and a photoelectric IV converter, and the analog-to-digital converter samples echo signals and reference signals;
Sampling 2N-1 points on an echo signal and a reference signal respectively, wherein N=500 is taken in the invention to obtain a discrete sequence X (N) and y (N) of the echo signal, wherein n+1 is less than or equal to N and is less than or equal to N-1, N is an integer, N different subsections are taken out from the 2N-1 points, each subsection contains a center point X (0), the number of the sample points of the subsections is N, the center point X (0) is taken as a starting point, and X (N-1) is taken as an end point to be a1 st subsection X 0; starting with X (-1), ending with X (N-2) as the 2 nd subsection X 1; similarly, starting at X (-n+1), and ending at X (0) as the nth sub-segment X N-1, i.e., the N sub-segments of the echo signal can be expressed as:
X0＝[x(0)，x(1)，…，x(N-2)，x(N-1)]
X1＝[x(-1)，x(0)，…，x(N-3)，x(N-2)]
…
XN-2＝[x(-N+2)，x(-N+3)，…，x(0)，x(1)]
XN-1＝[x(-N+1)，x(-N+2)，…，x(-1)，x(0)]
similarly, the N subsections of the reference signal y (N) may be represented as:
Y0＝[y(0)，y(1)，…，y(N-2)，y(N-1)]
Y1＝[y(-1)，y(0)，…，y(N-3)，y(N-2)]
…
YN-2＝[y(-N+2)，y(-N+3)，…，y(0)，y(1)]
YN-1＝[y(-N+1)，y(-N+2)，…，y(-1)，y(0)]
step 2, performing left shift on the sample point of each sub-segment, wherein the left shift amount is m, and m is 0,1,2, … and N-1 respectively from the 1 st sub-segment to the N th sub-segment, namely N sub-segments of the echo signal after the left shift can be expressed as:
X0＝[x(0)，x(1)，…，x(N-2)，x(N-1)]
X1＝[x(0)，x(1)，…，x(N-2)，x(-1)]
…
XN-2＝[x(0)，x(1)，x(-N+2)，…，x(-1)]
XN-1＝[x(0)，x(-N+1)，…，x(-2)，x(-1)]
similarly, the N subsections of the reference signal y (N) may be represented as:
Y0＝[y(0)，y(1)，…，y(N-2)，y(N-1)]
Y1＝[y(0)，y(1)，…，y(N-2)，y(-1)]
…
YN-2＝[y(0)，y(1)，y(-N+2)，…，y(-1)]
YN-1＝[y(0)，y(-N+1)，…，y(-2)，y(-1)]
step 3, taking the 1 st subsection X 0 and the N th subsection X N-1 of the echo signal as a first subsection and a last subsection, respectively performing discrete Fourier transform on the first subsection and the last subsection, selecting the maximum values of spectral lines in two groups of discrete sequences according to the transformation result, respectively determining the positions of two groups of spectral lines by using the maximum values of the two groups of spectral lines, and respectively solving the phases of the first subsection and the last subsection according to the positions of the two groups of spectral lines; similarly, taking the 1 st subsection Y 0 and the N th subsection Y N-1 as a first subsection and a last subsection for the reference signal, respectively performing discrete Fourier transform on the first subsection and the last subsection, and respectively solving the phases of the first subsection and the last subsection according to the transformation result;
step 4, adding phases of the first subsection and the tail subsection of the echo signal to average, wherein the average value is the phase of the echo signal; similarly, the phase of the reference signal can be obtained;
And (3) carrying out difference on the phases of the echo signal and the reference signal, wherein the difference is the phase difference, and further calculating a distance value through the phase difference.
Fig. 3 is a comparison graph of phase-discrimination root mean square error simulation curves of three methods of an FFT method, an all-phase FFT method and an all-phase FFT double-sub-segment phase method under the influence of different frequency leakage under the simulation condition. Fig. 4 is a comparison graph of phase-discrimination root mean square error simulation curves of three methods, namely an FFT method, an all-phase FFT method and an all-phase FFT double-sub-segment phase method under the influence of different white gaussian noise under the simulation condition. Fig. 5 is a comparison graph of phase-discrimination root mean square error simulation curves of three methods of an FFT method, an all-phase FFT method and an all-phase FFT double-sub-segment phase method under the joint influence of simulated Gaussian white noise and different frequency spectrum leakage.
FIG. 6 is a graph showing phase discrimination root mean square error curves of three methods of FFT method, full-phase FFT method and full-phase FFT double-sub-segment phase method under the distance of 300mm-1600mm measured by laser in air. It can be seen that the full phase FFT two-sub-segment phase method has the smallest mean square error value compared with the theoretical phase difference value at a distance of 300mm-1800 mm. Under the condition of high signal-to-noise ratio, the phase discrimination precision of the full-phase FFT double-sub-segment phase method is higher than that of the FFT method and the full-phase FFT method, and the method can improve the phase discrimination precision of a laser ranging system.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (3)
1. The laser ranging method based on the full-phase FFT double-sub-segment phase method is characterized by comprising the following steps of:
Step one, sampling 2N-1 sampling points of an echo signal to obtain a discrete sequence X (N) of the echo signal, wherein n+1 is less than or equal to N and less than or equal to N-1, N is an integer, N different subsections are taken out from the 2N-1 sampling points, each subsection contains a central sampling point X (0), the number of sampling points of the subsections is N, the central sampling point X (0) is taken as a starting point, and X (N-1) is taken as an end point to be taken as a1 st subsection X 0; starting with X (-1), ending with X (N-2) as the 2 nd subsection X 1; similarly, starting with X (-N+1), and ending with X (0) as the nth subsection X N-1. I.e. N subsections can be represented as:
X0＝[x(0)，x(1)，…，x(N-2)，x(N-1)]
X1＝[x(-1)，x(0)，…，x(N-3)，x(N-2)]
…
XN-2＝[x(-N+2)，x(-N+3)，…，x(0)，x(1)]
XN-1＝[x(-N+1)，x(-N+2)，…，x(-1)，x(0)]；
Step two, the sample point of each sub-segment is shifted left, the left shift amount is m, and m is 0,1,2, … and N-1 respectively from the 1 st sub-segment to the N th sub-segment, namely N sub-segments after the left shift can be expressed as:
X0＝[x(0)，x(1)，…，x(N-2)，x(N-1)]
X1＝[x(0)，x(1)，…，x(N-2)，x(-1)]
…
XN-2＝[x(0)，x(1)，x(-N+2)，…，x(-1)]
XN-1＝[x(0)，x(-N+1)，…，x(-2)，x(-1)]；
Taking the 1 st subsection X 0 and the N th subsection X N-1 as a first subsection and a tail subsection, respectively performing discrete Fourier transform on the first subsection and the tail subsection, and respectively solving the phases of the first subsection and the tail subsection according to the transformation result;
step four, the phases of the first subsection and the tail subsection are added and averaged, and the average value is the phase of the echo signal;
performing the operations from the first step to the fourth step on the reference signal to obtain the phase of the reference signal;
And (3) carrying out difference on the phases of the echo signal and the reference signal, wherein the difference is the phase difference, and further calculating a distance value through the phase difference.
2. The laser ranging method based on the full-phase FFT dual sub-segment phase method as claimed in claim 1, wherein the step one comprises:
The laser emits amplitude-modulated laser, the laser is incident to a target object and returns through diffuse reflection, the reflected light enters a receiving lens and reaches an analog-to-digital converter through a photoelectric detector and a photoelectric IV converter, and the analog-to-digital converter samples echo signals and reference signals.
3. The laser ranging method based on the full-phase FFT dual sub-segment phase method as set forth in claim 1, wherein the third step includes:
Taking the 1 st subsection X 0 and the N th subsection X N-1 of the echo signal as a first subsection and a last subsection, respectively performing discrete Fourier transform on the first subsection and the last subsection, selecting the maximum values of spectral lines in two groups of discrete sequences according to the transformation result, respectively determining the positions of two groups of spectral lines by using the maximum values of the two groups of spectral lines, and respectively solving the phases of the first subsection and the last subsection according to the positions of the two groups of spectral lines.
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