CN118033675A - Handheld laser wind-finding radar system - Google Patents
Handheld laser wind-finding radar system Download PDFInfo
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Abstract
The invention aims to provide the handheld laser wind-finding radar system which has the advantages of compact structure, small volume, light weight, long measurement distance, simple assembly and maintenance, portability and easy handheld operation. The invention comprises a photoelectric integrated module (1), a single-lens receiving and transmitting optical system (2), a digital signal acquisition and processing module (3), an attitude sensor (4), a communication module (5) and a touch screen (6); the digital signal acquisition and processing module (3) adopts a multi-core heterogeneous processing structure formed by combining an FPGA (field programmable gate array) and an ARM controller, the FPGA realizes data transmission, storage, conversion, analysis and output, and the ARM controller realizes wind speed inversion algorithm calculation. The method is applied to the technical field of laser radars.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a handheld laser wind-finding radar system.
Background
The laser emission and photoelectric conversion part in the existing wind-measuring laser radar generally adopts a split design of connecting optical devices, and has the defects of more optical module connectors and higher complexity of the whole machine; causing the problems of large volume, heavy weight and large power consumption. In addition, the existing laser wind-finding radar generally adopts a data communication interface or a communication module to connect with external equipment for observing measurement results, and has the defect of needing external display equipment, so that the problem of inconvenient real-time observation is caused. The existing wind-measuring laser radar generally needs functions of wind speed inversion algorithm, communication protocol control and the like operated by an industrial personal computer, and has the defects of large occupied space and high power consumption, so that the problems of low integration level, large weight and insufficient portability are caused.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and providing the handheld laser wind-finding radar system which has the advantages of compact structure, small volume, light weight, long measurement distance, simple assembly and maintenance, portability and easy handheld operation.
The technical scheme adopted by the invention is as follows:
the invention comprises the following steps:
The photoelectric integrated module is used for generating pulse laser and converting an echo signal into an electric signal after mixing the pulse laser with a reference optical signal;
The single-lens receiving and transmitting optical system is used for transmitting pulse laser and receiving a backward scattering echo optical signal of the pulse laser output by the amplifying-stage laser by aerosol particles in the atmosphere;
the digital signal acquisition and processing module is used for acquiring echo signals acquired by the single-lens transceiving optical system, calculating the wind speed by processing the electric signals output by the balance detector, integrating the functions of the industrial personal computer and controlling all the modules;
the touch screen is used for displaying measurement data information and radar state information and simultaneously setting and configuring all scanning parameters of the radar;
The system comprises a user, a radar system, a superior control center, a plurality of handheld laser wind-finding radar systems, a communication module and a control module, wherein the user is used as a medium for information interaction between the user and the radar system, communication between the superior control center and the plurality of handheld laser wind-finding radar systems is established, and the communication module of the radar networking system is established;
The hand-held laser wind-finding radar system calculates the azimuth angle and the pitch angle of a scanning point of the radar according to the azimuth angle and the pitch angle of the attitude sensor;
The digital signal acquisition and processing module adopts a multi-core heterogeneous processing structure formed by combining an FPGA and an ARM controller, the FPGA realizes data transmission, storage, conversion, analysis and output, and the ARM controller realizes wind speed inversion algorithm calculation.
Further, the digital signal acquisition and processing module comprises a power supply system, a storage module, an RTC clock module, an AD acquisition module, an SOC processor composed of an FPGA and an ARM controller, an external communication service module, a PWM timing output module, a synchronization module, a system communication control module, a temperature monitoring module and a state indicating module, wherein the power supply system supplies power to the whole digital signal acquisition and processing module, the AD acquisition module comprises an AD front end conditioning module and an AD analog-to-digital conversion module, the storage module, the RTC clock module, the external communication service module and the system communication control module are communicated with the SOC processor, the AD front end conditioning module and the AD analog-to-digital conversion module are connected, the SOC processor respectively carries out feedback control on the AD front end conditioning module, the AD analog-to-digital conversion module, the PWM timing output module and the state indicating module, and the synchronization module respectively carries out input on the SOC processor.
Still further, the optoelectronic integration module includes 1550nm laser seed source, first optical divider, first acousto-optic modulator, second acoustic modulator, optical fiber amplifier, optical fiber circulator, second optical divider, attenuator, optical coupler, balanced detector and power monitor, 1550nm laser seed source first optical divider first acousto-optic modulator second acoustic modulator optical fiber amplifier and optical fiber circulator connect gradually, second optical divider with first optical divider is connected, power monitor with second optical divider is connected, second optical divider attenuator optical coupler and balanced detector connects gradually, balanced detector with digital signal acquisition and processing module connects, optical fiber circulator respectively with optical coupler and single lens transceiver optical system is connected.
Still further, the single-lens transceiving optical system is a transceiving coaxial optical system and comprises a collimating mirror, a beam expander, a wedge-shaped mirror and a scanning motor which are connected in sequence,
The collimating mirror is used for collimating the pulse laser output by the optical fiber circulator;
the beam expander is used for compressing the divergence angle of the pulse laser beam after passing through the collimating lens, and the optical axis of the beam expander is vertical to the horizontal plane and coincides with the transmission direction of the pulse laser;
The wedge-shaped mirror is used for setting the light speed to point to different azimuth angles;
The scanning motor is used for changing the projection angle of the emergent optical axis of the wedge-shaped mirror on the horizontal plane, so as to realize detection of the pulse laser beams emitted by the wedge-shaped mirror on different azimuth angles.
In addition, the FPGA performs acquisition and spectrum estimation algorithm processing on the electric signals from the balance detector, clock generation and acquisition of conversion signals and analog-to-digital conversion signals are controlled according to the time sequence of the ADC, acquired data are serially converted into parallel and then written into a RAM in the FPGA, signals sent by the ARM controller are waited to read the data in the RAM, and spectrum analysis and calculation are performed on the electric signals to obtain the power spectrum of the difference frequency signals.
Further, the ARM controller is used for communication control, terminal data display and interaction module control, receives working instructions of the communication module and the touch screen, and respectively controls the scanning motor, the 1550nm laser seed source, the optical fiber amplifier, the balance detector, the touch screen, the communication module and the attitude sensor through the serial port switch module.
In addition, the communication module is a 4G, 5G or gigabit network communication module.
The power supply system provides 12V direct current, the storage module comprises an SSD hard disk, an SD card and an EEPROM, the FPGA part in the SOC processor is set to be a PL part, the ARM controller part is set to be a PS part, the external communication service module comprises an RS485 interface, a CAN interface, a 4G network port and a LAN interface, the system communication control module comprises six RS232 interfaces, two RS485 interfaces and an SPI input interface, and the SPI input interface is of RS422 level.
The beneficial effects of the invention are as follows: the invention comprises a photoelectric integrated module, a single-lens receiving and transmitting optical system, a digital signal acquisition and processing module, a touch screen, an attitude sensor and a communication module. The photoelectric integrated module is used for generating pulse laser and converting an echo signal into an electric signal after mixing the echo signal with a reference light signal; the single-lens transceiving optical system is a transceiving coaxial optical system and is used for receiving a backward scattering echo optical signal of pulse laser output by aerosol particles in the atmosphere to the optical fiber circulator, outputting the backward scattering echo optical signal to the optical fiber circulator and outputting the backward scattering echo optical signal from the optical fiber circulator to the optical coupler; the digital signal acquisition and processing module is a control center of the system and is used for acquiring the electric signals output by the balance detector, calculating the wind speed by processing the digital signals, and meanwhile, integrating the functions of a traditional industrial personal computer to control each module; the system sends a control instruction to the digital signal acquisition and processing module through a user, so as to control the data acquisition and power-on of the system; the system calculates the azimuth angle and the pitch angle of the scanning point according to the azimuth angle and the pitch angle of the attitude sensor, the attitude sensor is connected with the digital signal acquisition and processing module through serial communication, the attitude sensor is horizontally arranged in the system, and the north direction is consistent with the origin azimuth angle of the emitted light beam; the communication module is used as a medium for information interaction between a user and the handheld radar, can establish communication between an upper control center and a plurality of handheld wind-measuring laser radars, and establishes a radar networking system so as to realize high-precision wind speed measurement in a larger coverage area; the touch screen is used for displaying measurement data information and radar state information in real time, and simultaneously can set and configure all scanning parameters of the radar in real time, and is connected with the digital signal acquisition and processing module through rich interfaces; the ARM controller is used for display control, measurement activities can be directly realized on a screen during handheld operation, a convenient and rapid operation mode greatly improves measurement efficiency, high precision, high speed, high integration and low power consumption of data acquisition and processing are realized, and the problems that a wind-measuring laser radar is inconvenient to observe in real time and is not portable are solved; the system supports the system power-on by remotely sending the instruction by the user, the system operates according to the default configuration parameters after the instruction is sent, and the user can also remotely or manually set the parameters, wherein the set parameters comprise the detected distance resolution, the detected distance, the working time and the like. After a user sends an instruction to start measurement, a 4G/gigabit network communication module receives the instruction and transmits the instruction to an ARM control system, an ARM respectively starts a laser, a collection card, a balance detector and a motor driver module through a serial port switch module, and a main control program running on the ARM waits for all the modules to be electrified successfully and has stable state (mainly, the laser energy is stable and requires a few seconds, after the laser is dependent on the laser, the collection card and the motor driver are set according to default collection parameters or the collection parameters which are manually set by the user through the 4G/gigabit network communication module or a touch screen, and after the result is obtained, the ARM end sends the result to the user through the 4G/gigabit network communication module, and a main control program running on the ARM control system realizes the automatic operation of system electrification.
Drawings
FIG. 1 is a simplified system block diagram of the present invention;
FIG. 2 is a simplified block diagram of the structure of the present invention;
FIG. 3 is a hardware system block diagram of the digital signal acquisition and processing module;
FIG. 4 is a simplified schematic circuit diagram of the digital signal acquisition and processing module;
fig. 5 is a simplified schematic diagram of the single lens transceiver optical system for implementing the deflection and scanning functions for the pulsed laser.
Detailed Description
As shown in fig. 1 to 5, the present invention includes
The photoelectric integrated module 1 is used for generating pulse laser and converting an echo signal into an electric signal after mixing the pulse laser with a reference light signal;
a single lens transceiver optical system 2 for transmitting pulse laser light and receiving a back-scattered echo optical signal of the pulse laser light output by the amplifier laser by aerosol particles in the atmosphere;
the digital signal acquisition and processing module 3 is used for acquiring echo signals acquired by the single-lens transceiving optical system, calculating the wind speed by processing the electric signals output by the balance detector, integrating the functions of the industrial personal computer and controlling all the modules;
a touch screen 6 for displaying measurement data information and radar status information while setting and configuring each scanning parameter of the radar;
The communication module 5 is used for acting as a medium for information interaction between a user and the radar system, establishing communication between an upper control center and a plurality of handheld laser wind-finding radar systems and establishing a radar networking system; the communication module 5 is a 4G, 5G or gigabit network communication module;
the attitude sensor 4 is in communication connection with the digital signal acquisition and processing module 3, and the hand-held laser wind-finding radar system calculates the azimuth angle and the pitch angle of a scanning point of the radar according to the azimuth angle and the pitch angle of the attitude sensor 4;
The SOC processor (System On Chip) of the digital signal acquisition and processing module 3 adopts a multi-core heterogeneous processing structure of a combination of an FPGA and an ARM controller, the FPGA realizes transmission, storage, conversion, analysis and output of data, and the ARM controller realizes calculation of a wind speed inversion algorithm.
The photoelectric integrated module 1 comprises 1550nm laser seed sources 1-1, a first optical splitter 1-2, a first acousto-optic modulator 1-3, a second optical splitter 1-4, an optical fiber amplifier 1-5 (EDFA), an optical fiber circulator 1-6, a second optical splitter 1-7, an attenuator 1-8, an optical coupler 1-9, a balance detector 1-10 and a power monitor 1-11, wherein the 1550nm laser seed sources 1-1, the first optical splitter 1-2, the first acousto-optic modulator 1-3, the second optical splitter 1-4, the optical fiber amplifier 1-5 (EDFA) and the optical fiber circulator 1-6 are sequentially connected, the second optical splitter 1-7 is connected with the first optical splitter 1-2, the power monitor 1-11 is connected with the second optical splitter 1-7, the attenuator 1-8, the detector 1-9 and the detector 1-10 are sequentially connected with the optical coupler 1-10, and the optical splitter 1-2 is sequentially connected with the optical coupler 1-10, and the optical coupler 1-2 is sequentially connected with the optical coupler 1-9.
The 1550nm laser seed source 1-1 is used for generating 1550nm laser with the output power more than or equal to 20mW, narrow linewidth (10 KHz) and low noise (SMSR more than or equal to 40 dB); the acousto-optic modulator (comprising a first acousto-optic modulator 1-3 and a second acousto-optic modulator 1-4) is used for modulating the generated laser light into pulse laser light with the pulse width of 200ns and the repetition frequency of 10 kHz; the optical fiber amplifier 1-5 (EDFA) is used for amplifying the power of the received pulse laser, improving the detection distance of the system, amplifying low-power seed light with the kHz magnitude to the output power with the average power of 200mw, well maintaining the spectral characteristics of input signal light, outputting the amplified pulse laser to the optical fiber circulator, and transmitting the amplified pulse laser to the single-lens receiving and transmitting optical system; the attenuator adjusts the attenuation of the local oscillation light, adjusts the power of the local oscillation light according to the actual measurement requirement, and avoids the saturation of the power on the detector or the introduction of excessive local oscillation light shot noise on the premise of ensuring the measurement precision; the optical fiber circulator transmits pulse laser output by the optical fiber amplifier 1-5 (EDFA) to a single-lens receiving and transmitting optical system, and transmits a back scattering echo optical signal received by the single-lens receiving and transmitting optical system to an optical coupler; the laser is transmitted to a first port of the optical fiber circulator 1-6, is transmitted to a second port, is transmitted to a detection point through a transmitting optical system, is focused to the detection point, and generates an echo signal through interaction between the laser signal and air of the detection point, is transmitted to the second port of the optical fiber circulator through a receiving optical system, is transmitted to an optical coupler through a third port, and is subjected to optical mixing with reference light; the power monitor is an InGaAs substrate detector capable of being connected with a tail fiber, and has the main functions of measuring partial scattered light of 1550nm laser transmitted from one end of the optical fiber circulator and monitoring the power stability of 1550nm laser of the wind-measuring laser radar according to the calibrated scattered light proportion; the balance detector is used for detecting the mixed optical signals and converting detection results into electric signals to output; the optical splitters (including the first optical splitter 1-2 and the second optical splitter 1-7) are optical fiber tandem devices having a plurality of input ends and a plurality of output ends, and are commonly used for coupling, branching and distributing optical signals, and when the optical splitters split normal links, the optical splitters are distributed to a plurality of split links according to the corresponding proportion of optical power, as shown in fig. 1, the first optical splitter 1-2 transmits 70% of laser light to the first acousto-optic modulator 1-3, 30% of laser light to the second optical splitter 1-7 (labeled as "30/70" in fig. 2), and the second optical splitter 1-7 transmits 1% of laser light to the power monitor 1-11, and 99% of laser light to the attenuator 1-8 (labeled as "1/99" in fig. 2); the optical couplers 1-9 are used for mixing continuous local oscillation light and backward scattering echo light signals, wherein the proportion of the local oscillation light to the backward scattering echo light signals is 50% and 50% (marked as '50/50' in fig. 2) respectively, and outputting the mixed light signals to the balance detector.
In this embodiment, the optical coupler is a single-mode polarization-maintaining equal-proportion output optical fiber, two input ends are respectively connected with the attenuator and the optical fiber circulator, and after the backward-scattered echo optical signal of the aerosol particles in the atmosphere and the reference continuous local oscillator light are mixed in the optical coupler, a difference frequency signal of the backward-scattered echo optical signal and the continuous local oscillator light is obtained, and after the difference frequency signal is split in equal proportion through an output port of the optical coupler, the difference frequency signal is output to the balanced detector. More preferably, the balanced detector is configured to convert a difference frequency signal between a backscattered echo optical signal and a continuous local oscillation optical signal into a difference frequency electrical signal, and output the difference frequency electrical signal to the digital signal acquisition and processing module.
The single-lens transceiving optical system is a transceiving coaxial optical system and is used for transmitting pulse laser and receiving a backward scattering echo optical signal of the pulse laser output by the amplifying-stage laser by aerosol particles in the atmosphere, and the backward scattering echo optical signal is coupled to the optical coupler. It comprises a collimating mirror 2-1, a beam expander 2-2, a wedge-shaped mirror 2-3 and a scanning motor 2-4 which are connected in sequence,
The collimating lens 2-1 is used for collimating the pulse laser output by the optical fiber circulator 1-6;
the beam expander 2-2 is used for compressing the divergence angle of the pulse laser beam after passing through the collimating lens 2-1, and the optical axis of the beam expander 2-2 is vertical to the horizontal plane and coincides with the transmission direction of the pulse laser;
the wedge-shaped mirror 2-3 is used for setting the light speed to point to different azimuth angles;
the scanning motor 2-4 is used for changing the projection angle of the emergent optical axis of the wedge-shaped mirror 2-3 on the horizontal plane, so as to realize detection of the pulse laser beams emitted by the wedge-shaped mirror 2-3 on different azimuth angles;
The beam expander expands the pulse light output by the photoelectric integrated module; the optical system further compresses the beam divergence angle; the wedge scan mirror deflects the beam by 20 and when the wedge scan mirror scans, the beam can be directed at different azimuth angles. The system adopts a receiving-transmitting coaxial optical system, and echo signals can be coupled into the optical fiber circulator according to the light path reversibility principle; the beam expander 2-2 is connected with the second port of the optical fiber circulator 1-6, and the optical axis of the beam expander is vertical to the horizontal plane and coincides with the transmission direction of the pulse laser.
In this embodiment, the wedge-shaped mirror is mounted on the scan motor, and is used for deflecting the input optical axis, an included angle of 15 ° to 40 ° exists between the deflected optical axis and the vertical direction, and the projection angle on the horizontal plane is consistent with the origin angle of the scan motor, i.e. is consistent with the north direction of the electronic compass, and when the scan motor rotates, the projection angle of the optical axis on the horizontal plane is also changed, so as to realize detection on different azimuth angles; the scanning motor is connected with the ARM processor 3-3, controls and reads the scanning angle of the pulse laser beam emitted by the transceiver optical system, and sends the scanning angle of the pulse laser beam emitted by the transceiver optical system to the ARM processor in the digital signal acquisition and processing module.
The digital signal acquisition and processing module 3 comprises a power supply system, a storage module, an RTC clock module, an AD acquisition module 3-1, an SOC processor consisting of an FPGA3-2 and an ARM controller 3-3, an external communication service module, a PWM timing output module, a synchronization module, a system communication control module, a temperature monitoring module and a state indicating module, wherein the power supply system supplies power to the whole digital signal acquisition and processing module 3, the AD acquisition module comprises an AD front end conditioning module and an AD analog-to-digital conversion module (high-speed acquisition), the storage module, the RTC clock module, the external communication service module and the system communication control module are communicated with the SOC processor, the AD front end conditioning module is connected with the AD analog-to-digital conversion module, the AD analog-to-digital conversion module is connected with the SOC processor, the SOC processor respectively performs feedback control on the AD front end conditioning module, the AD analog-to-digital conversion module, the PWM timing output module and the state indicating module, and the synchronization module respectively inputs the temperature monitoring module to the SOC processor. The power supply system provides 12V direct current, the storage module comprises an SSD hard disk, an SD card and an EEPROM, the FPGA part in the SOC processor is set to be a PL part (Progarmmable Logic, programmable logic), the ARM controller part is set to be a PS part (Processing System ), the external communication service module comprises an RS485 interface, a CAN interface, a 4G network interface and a LAN interface (such as RS485, CAN, 4G and LAN shown in figure 3), the system communication control module comprises six RS232 (serial communication interface standard) interfaces (including RS232_1, RS232_2, RS232_3, RS232_4, RS232_5 and RS 232_6), two RS485 (serial communication interface standard) interfaces (including RS485_1, RS 485_2) and SPI (SERIAL PERIPHERAL INTERFACE ) input interfaces (SPI_RS 422 bus interface), and the SPI input interfaces are in RS422 level, as shown in figure 3.
Fig. 4 is a schematic circuit diagram of a digital signal acquisition and processing module corresponding to fig. 3, in which an analog signal input channel 1 receives an analog signal input from a balance detector, and an SMA (SubMiniature version A coaxial cable) is used as a connector and is transmitted to an AD conversion chip through an impedance matching circuit, and the impedance matching circuit includes circuit elements such as an operational amplifier circuit, a voltage follower circuit, a low-pass filter circuit, and a zero-ohm resistor (0R). The digital signal acquisition and processing module can process two paths of input signals at the same time, the analog signal input channel 2 is used as a backup, and the circuit design of the analog signal input channel 2 input to the AD chip is the same as that of the analog signal input channel 1. The trigger signal input 1 and the trigger signal input 2 are used for receiving acquisition control signals transmitted by the synchronous module; the trigger signal output 1 and the trigger signal output 2 output signals are used as working signals for triggering the acousto-optic modulator. Wherein Ref is a reference voltage, VCXO is a voltage controlled crystal oscillator, 0R is zero ohm resistance, REFCLK is a reference clock, AGND is analog ground, SPI is serial communication, SSD is hard disk, 4G is 4G network port, RJ45 is gigabit network port, USB is USB port, SD is SD card, EEPROM (Electrically Erasable Programmable read only memory) is charged erasable programmable read-only memory, T (Temperature) is a temperature sensor, and ADC is analog-to-digital converter.
The FPGA processes the electric signals from the balance detectors 1-10 through acquisition and a spectrum estimation algorithm, clock generation and acquisition of conversion signals and analog-to-digital conversion signals are controlled according to the time sequence of the ADC, acquired data are written into a RAM in the FPGA after being serially converted into parallel, signals sent by the ARM controller are waited to read the data in the RAM, and spectrum analysis and calculation are carried out on the electric signals, so that the power spectrum of a difference frequency signal is obtained. The ARM controller is used for communication control, terminal data display and interaction module control, receives working instructions of the communication module 5 and the touch screen 6, and respectively controls the scanning motor 2-4, the 1550nm laser seed source 1-1, the optical fiber amplifier 1-5, the balance detector 1-10, the touch screen 6, the communication module 5 and the attitude sensor 4 through the serial port switch module.
The analog-to-digital converter ADC synchronously outputs sampling data to the data source after sampling, and the ADC sampling precision and sampling frequency can be analyzed and selected according to the technical indexes of specific measurement tasks, and the common types are 14bit and 500MSPS; the digital signal processing acquisition and processing module FPGA adopts the solution of ZYNQ of XILINX, and adopts the SOC technology of FPGA+ARM to integrate ARM and FPGA on one chip, so that a hardware circuit system replaces a traditional industrial personal computer, a large amount of space and power consumption are saved, and the miniaturization and the light weight of the laser wind-finding radar are realized; the signal processing FPGA chip only carries out parallel hardware implementation (namely PL part) of a power spectrum estimation algorithm, acquires electric signals from the balance detector and carries out spectrum estimation algorithm processing, clock generation and acquisition of conversion signals and analog-to-digital conversion signals are controlled according to the time sequence of the ADC, acquired data are serially converted and parallel and then written into an internal RAM of the FPGA, signals sent by an ARM controller (namely PS part) wait for reading data in the RAM and carrying out a spectrum analysis algorithm on the electric signals, and a power spectrum of a difference frequency signal is obtained.
The system fills the gap of the hand-held coherent wind lidar system and provides a set of 1.55 mu m hand-held laser wind lidar. The system is mainly characterized in that: the device has the advantages of small volume, light weight, low power consumption, convenient operation, simple and compact structure, easy replacement of the module and suitability for single person carrying and deployment; the pulse laser is positioned in a human eye safety wave band; direct observation and configuration can be performed through a touch screen; the remote configuration can be carried out through the 4G/gigabit network communication module to obtain vector wind field data with different detection heights and different height resolutions, the vector wind field data is also transmitted remotely through the 4G/gigabit network communication module, and the radar networking is formed by establishing a connection between a plurality of hand-held laser wind measuring radars and a control center, so that high-precision wind speed measurement in a coverage area is realized.
It should be emphasized that the above description is only a preferred embodiment of the present invention, and not intended to limit the present invention, and it should be understood by those skilled in the art that various changes and modifications such as the number of laser radar beams, the pointing angle of the beams, etc. can be made without departing from the spirit and principles of the present invention, and any modifications, equivalent substitutions, improvements, etc. are intended to be included in the scope of the present invention.
Claims (8)
1. A hand-held lidar system, the system comprising
The photoelectric integrated module (1) is used for generating pulse laser, mixing an echo signal with a reference light signal and then converting the mixed signal into an electric signal;
A single lens receiving and transmitting optical system (2) for transmitting pulse laser and receiving backward scattering echo optical signals of the pulse laser output by the amplifying laser by aerosol particles in the atmosphere;
The digital signal acquisition and processing module (3) is used for acquiring echo signals acquired by the single-lens transceiving optical system, calculating the wind speed by processing the electric signals output by the balance detector, integrating the functions of the industrial personal computer and controlling all the modules;
a touch screen (6) for displaying measurement data information and radar status information, and simultaneously setting and configuring each scanning parameter of the radar;
The communication module (5) is used for acting as a medium for information interaction between a user and the radar system, establishing communication between an upper control center and a plurality of handheld laser wind-finding radar systems and establishing a radar networking system;
the attitude sensor (4) is in communication connection with the digital signal acquisition and processing module (3), and the hand-held laser wind-finding radar system calculates the azimuth angle and the pitch angle of a scanning point of the radar according to the azimuth angle and the pitch angle of the attitude sensor (4);
The digital signal acquisition and processing module (3) adopts a multi-core heterogeneous processing structure formed by combining an FPGA (field programmable gate array) and an ARM controller, the FPGA realizes data transmission, storage, conversion, analysis and output, and the ARM controller realizes wind speed inversion algorithm calculation.
2. The hand-held laser wind-finding radar system according to claim 1, wherein the digital signal acquisition and processing module (3) comprises a power supply system, a storage module, an RTC clock module, an AD acquisition module (3-1), an SOC processor composed of an FPGA (3-2) and an ARM controller (3-3), an external communication service module, a PWM timing output module, a synchronization module, a system communication control module, a temperature monitoring module, and a status indication module, the power supply system supplies power to the whole digital signal acquisition and processing module (3), the AD acquisition module comprises an AD front end conditioning module and an AD analog-to-digital conversion module, the storage module, the external communication service module, and the system communication control module are all in communication with the SOC processor, the AD front end conditioning module and the AD analog-to-digital conversion module are connected with the SOC processor, and the SOC processor respectively perform SOC feedback control on the AD front end conditioning module, the AD analog-digital conversion module, the PWM timing output module, and the status indication module respectively perform the temperature feedback processing to the SOC controller.
3. The system of claim 1, wherein the optoelectronic integration module (1) comprises a 1550nm laser seed source (1-1), a first optical splitter (1-2), a first acousto-optic modulator (1-3), a second optical splitter (1-4), an optical fiber amplifier (1-5), an optical fiber circulator (1-6), a second optical splitter (1-7), an attenuator (1-8), an optical coupler (1-9), a balance detector (1-10) and a power monitor (1-11), the 1550nm laser seed source (1-1), the first optical splitter (1-2), the first acousto-optic modulator (1-3), the second optical splitter (1-4), the optical fiber amplifier (1-5) and the optical fiber circulator (1-6) are sequentially connected, the second optical splitter (1-7) is connected with the first optical splitter (1-2), the power monitor (1-11) is sequentially connected with the second optical splitter (1-7), the balance detector (1-10) and the optical splitter (1-8), the balance detector (1-10) is connected with the digital signal acquisition and processing module (3), and the optical fiber circulator (1-6) is respectively connected with the optical coupler (1-9) and the single-lens transceiving optical system (2).
4. A hand-held laser wind-finding radar system according to claim 3, wherein the single lens receiving and transmitting optical system is a receiving and transmitting coaxial optical system, comprising a collimating lens (2-1), a beam expander (2-2), a wedge-shaped lens (2-3) and a scanning motor (2-4) which are connected in sequence,
The collimating mirror (2-1) is used for collimating the pulse laser output by the optical fiber circulator (1-6);
The beam expander (2-2) is used for compressing the divergence angle of the pulse laser beam after passing through the collimating lens (2-1), and the optical axis of the beam expander (2-2) is perpendicular to the horizontal plane and coincides with the transmission direction of the pulse laser;
the wedge-shaped mirror (2-3) is used for setting the light speed to point to different azimuth angles;
the scanning motor (2-4) is used for changing the projection angle of the emergent optical axis of the wedge-shaped mirror (2-3) on the horizontal plane, so as to realize detection of the pulse laser beams emitted by the wedge-shaped mirror (2-3) on different azimuth angles.
5. A hand-held laser wind-finding radar system according to claim 3, characterized in that the FPGA processes the electric signals from the balance detector (1-10) by acquisition and spectrum estimation algorithm, generates clock and conversion signals according to the time sequence of ADC, controls the acquisition of analog-digital conversion signals, writes the acquired data into RAM inside the FPGA after serial-parallel conversion, waits for the signal sent by the ARM controller to read the data in RAM and performs spectrum analysis calculation on the electric signals, and obtains the power spectrum of the difference frequency signal.
6. The hand-held laser wind-finding radar system according to claim 4, wherein the ARM controller is used for communication control, terminal data display and interaction module control, receives working instructions of the communication module (5) and the touch screen (6), and respectively controls the scanning motor (2-4), the 1550nm laser seed source (1-1), the optical fiber amplifier (1-5), the balance detector (1-10), the touch screen (6), the communication module (5) and the attitude sensor (4) through a serial port switch module.
7. A hand-held lidar system according to claim 4, characterized in that the communication module (5) is a 4G, 5G or gigabit network communication module.
8. The hand-held laser wind-finding radar system according to claim 2, wherein the power supply system provides 12V direct current, the storage module comprises an SSD hard disk, an SD card and an EEPROM, the FPGA part in the SOC processor is set to be a PL part, the ARM controller part is set to be a PS part, the external communication service module comprises an RS485 interface, a CAN interface, a 4G network interface and a LAN interface, the system communication control module comprises six RS232 interfaces, two RS485 interfaces and an SPI input interface, and the SPI input interface is an RS422 level.
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| CN111766609A (en) * | 2020-07-08 | 2020-10-13 | 哈尔滨工业大学（深圳） | Mobile split type laser radar |
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| CN105549006A (en) * | 2015-12-16 | 2016-05-04 | 武汉大学 | FPGA & SOC based handheld ground penetrating radar (GPR) system |
| CN107045130A (en) * | 2017-03-07 | 2017-08-15 | 北京理工大学 | A kind of Portable type full-automatic micropulse anemometry laser radar system |
| CN210487989U (en) * | 2019-07-05 | 2020-05-08 | 珠海光恒科技有限公司 | Wind measurement laser radar system |
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