CN1556393A - Vehicle carried biware length scattering laser radar - Google Patents
Vehicle carried biware length scattering laser radar Download PDFInfo
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- CN1556393A CN1556393A CNA2004100138747A CN200410013874A CN1556393A CN 1556393 A CN1556393 A CN 1556393A CN A2004100138747 A CNA2004100138747 A CN A2004100138747A CN 200410013874 A CN200410013874 A CN 200410013874A CN 1556393 A CN1556393 A CN 1556393A
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Abstract
The radar is composed of laser, receiving optical unit and followed optical unit, signal detection and data acquisition unit as well as system operation control unit. Frequency doubling head is setup on laser, and optical axis of receiving telescope is parallel to direction of laser light. Received optical signal on diaphragm in back of telescope through optical fiber is coupled to opening of holophote. Optical signal from fiber through spherical mirror is reflected to holophote. Then, four optical paths formed from installed dichroic beam splitter, dichroic mirror and beam splitter are received by photomultipliers. The said photomultipliers are connected to amplifiers, which are connected to A/D card or photon-counting card in industrial control computer. The invention can detect horizontal atmospheric visibility in day or night or detect optical properties of aerosol at 1064nm and 532nm wavelengths in day or night for different area in troposphere.
Description
Technical field
The present invention relates to a kind of laser radar, a kind of Mie scattering laser radar of saying so more specifically.
Background technology
Laser radar is to be light source with laser, and the radiation signal by exploring laser light and atmospheric interaction comes remote sensing atmosphere.The interaction of laser and atmosphere produces air inclusion molecule and particulate radiation signal for information about, utilizes the method for inverting just can therefrom obtain information about gas molecule and particulate.
At present, surveying aerocolloidal Mie scattering laser radar system has following several:
One, single wavelength Mie scattering laser radar;
Can only obtain the atmospheric aerosol extinction coefficient of single wavelength, can't inverting Angstrom coefficient etc. the dimensional properties of reaction gas sol particles, and on the method for inverting Aerosol Extinction, must set up all supposition.
Two, micro-pulse lidar;
Because micro-pulse lidar output energy is in μ J magnitude, rely on high-repetition-rate (thousands of Hz) to improve and survey signal to noise ratio (S/N ratio), therefore detection time is long, only survey daytime highly also about 6km, if its long how much overlap factors (about 4km) can not accurately be determined, bring bigger error can for the gasoloid result of detection.
Three, existing dual wavelength Mie scattering laser radar;
At present, the atmospheric aerosol of dual wavelength Mie scattering laser radar is surveyed and is confined to the following boundary layer of 5km mostly, is generally the ground formula, can only carry out the observation of the atmospheric aerosol of point of fixity, can't satisfy the requirement that the outfield operation is carried out in different regions.
Summary of the invention
The purpose of this invention is to provide a kind of vehicular dual wavelength Mie scattering laser radar (Dual WavelengthLidar is called for short DWL), can be used for carrying out at daytime and night the detection of atmospheric horizontal visibility; By day or night different regions 1064nm and the detection study of two wavelength optical properties of aerosol of 532nm, its effective investigative range has covered whole troposphere; By the Aerosol Extinction of different wave length can inverting reaction gas sol particles yardstick the Angstrom coefficient; On the method for inverting Aerosol Extinction, overcome the deficiency of all supposition that must set up when single wavelength is handled.
Technic relization scheme of the present invention is as follows:
Vehicular dual wavelength Mie scattering laser radar is made up of laser emission element, reception optics and follow-up optical unit, acquisition of signal and collecting unit and system's operation control module.It is characterized in that being equipped with on the laser instrument frequency multiplication head, laser instrument the place ahead is equipped with diaphragm, and the direction that laser is injected atmosphere through guiding device is parallel with the receiving telescope optical axis; Receiving telescope is installed in can do pitching scanning on the platform support, diaphragm is installed behind the receiving telescope, the atmospheric backscatter light signal of two wavelength that telescope receives enters optical fiber by fiber coupler, the light signal that comes out from optical fiber reflexes on the completely reflecting mirror through spherical mirror, the light signal that reflects from completely reflecting mirror, successively through being installed in the color separation beam splitter on the platform, dichronic mirror, beam splitter, final four road light signals that form, receive through photomultiplier respectively, connect amplifier behind the photomultiplier, amplifier connects A/D card or the photon counting card that places industrial computer.
Described vehicular dual wavelength Mie scattering laser radar, it is characterized in that described completely reflecting mirror and color separation beam splitter angle are 90 degree, color separation beam splitter, dichronic mirror, beam splitter are parallel to each other, and the angle that the light that reflects from spherical mirror incides completely reflecting mirror is 45 degree.
Described vehicular dual wavelength Mie scattering laser radar, it is characterized in that described laser instrument the place ahead is equipped with a completely reflecting mirror, laser is after this completely reflecting mirror reflection, and through four completely reflecting mirror reflections that are parallel to each other successively, minute surface is relative, optical axis is parallel with receiving telescope again.
Described vehicular dual wavelength Mie scattering laser radar is characterized in that described laser instrument is the Nd:YAG laser instrument, and receiving telescope is the Cassegrain type, and the color separation beam splitter, sees through 1064nm light 10% 90% reflection of 1064nm light 532nm light full impregnated; Dichronic mirror is to 532nm light full impregnated, to the 1064nm light total reflection; Beam splitter sees through 532nm light 90%, to 10% reflection of 532nm light.
Described vehicular dual wavelength Mie scattering laser radar, it is characterized in that described color separation beam splitter, dichronic mirror, deielectric-coating has all been plated on the beam splitter surface, between color separation beam splitter and photomultiplier, in the light path optical filter is installed, lens, between dichronic mirror and photomultiplier, in the light path optical filter is installed, lens, attenuator, between beam splitter exit direction and photomultiplier, in the light path optical filter is installed, attenuator, between beam splitter transmission direction and photomultiplier, in the light path optical filter is installed, described optical filter is a spike interference filter, and is corresponding with the light path wavelength.
Described vehicular dual wavelength Mie scattering laser radar is characterized in that photon counting card and A/D card are inserted in the PCI slot of WS-855A industrial computer.
Laser radar of the present invention is made up of laser emission element, reception optics and follow-up optical unit, acquisition of signal and data acquisition unit and system's operation control module.Total system is placed on 1.2 meters long, the 1 meter wide optical table, and optical table is connected with the motor vehicle body base plate, can move with car.
Follow-up optical unit and acquisition of signal unit are fixed on being integral structure on the optical table.Receiving telescope and follow-up optical unit are coupled by optical fiber, so promptly can change telescopical pitch orientation easily, have guaranteed follow-up optical unit and acquisition of signal whole unit stability of structure again.
Nd:YAG laser instrument, receiving telescope, detector, amplifier, data acquisition unit and industrial computer are light weight type or modular construction, so that whole laser radar system compact conformation, suitable vehicle-mounted.
This laser radar is a biaxial system.Can do scanning on the pitch orientation with receiving telescope by the transmitter unit emitted laser, make laser radar can carry out the detection of dual wavelength atmospheric aerosol extinction coefficient vertical distribution, can carry out the detection of atmospheric level extinction coefficient and horizontal visibility again.
1064nm belongs to near-infrared band, atmospheric aerosol is little at the scattering cross-section of this wavelength, low, the dark hot-tempered sound of the quantum efficiency of photomultiplier is big, and the present invention selects for use the photomultiplier of band refrigeration to carry out the detection of signal, adopts Photoncounting methods to carry out the collection of signal.
Atmospheric aerosol is big at the scattering cross-section of 532nm wavelength, and photomultiplier is low at the quantum efficiency height of this wavelength, dark hot-tempered sound, and the present invention selects for use the photomultiplier of work under the normal temperature to carry out acquisition of signal and adopts D conversion method that detectable signal is gathered.
Use the present invention to carry out atmospheric seeing, the analog computation result shows in whole troposphere (ground is to 15km), and the dynamic range of 532nm and two wavelength atmosphere of 1064nm echoed signal reaches about 7 orders of magnitude, and ground layer atmosphere echoed signal is very strong.Satisfy the detection demand of whole troposphere atmosphere echoed signal great dynamic range by the method that adopts suitable how much overlap factors [7], two the high and low atmosphere backscattering echo of wavelength signals are surveyed simultaneously.
Compare with prior art, the present invention has outstanding advantage:
1, Du Te laser emission element, adopt small-sized full curing high power Nd: the YAG laser technology, the design of emission light path has guaranteed that emission of lasering beam can carry out luffing with receiving telescope, and the optical axis keeping parallelism of emission laser beam and receiving telescope.
2, receive optical telescope and follow-up optical unit and adopt the optical fiber coupling, can change the pitch orientation of receiving telescope easily, and that follow-up optical unit unit and acquisition of signal unit are fixed on the optical table is motionless, has satisfied that this laser radar carries out level and vertical direction is measured even the oblique a certain orientation measurement of journey.
3, acquisition of signal and data acquisition, the layering of high lower atmosphere layer is surveyed simultaneously, and the 1064nm wavelength adopts low temperature (30 ℃) PMT and photon counting technique; The 532nm wavelength adopts normal temperature PMT and analog to digital conversion (A/D).The unit has been realized the aerocolloidal detection in whole troposphere to the 15km altitude range near the ground.
4, light weight type and modular construction design, whole unit have been adopted light weight type and modularized laser device, have been scanned receiving telescope, detector and data acquisition unit.Overall optical block learn and acquisition of signal collection of units are formed on the optical table.
5, have fast, stablize the characteristics that reach round-the-clock detection, usually daytime and the night under the weather condition, the detect cycle of atmospheric horizontal visibility is 1.5 minutes, and the detect cycle of gasoloid and cirrus extinction coefficient Vertical Profile is 10 minutes; Adopt vehicle-mounted form, can conversion survey the place.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Fig. 2 is the another kind of structural representation of acquisition of signal and data acquisition unit.
Fig. 3 is the vertical extinction coefficient profile of the present invention when there was cirrus on October 8 in 2003.
Fig. 4 is the echoed signal (532nm) that the square distance of laser radar horizontal survey is proofreaied and correct.
Fig. 5 is two wavelength Aerosol Extinction Vertical Profile evening July 18 in 2003.
Fig. 6 is two wavelength Aerosol Extinction Vertical Profile daytime October 6 in 2003.
Fig. 7 is that two laser radars are surveyed the comparison that aerosol extinction is counted Vertical Profile.
Fig. 8 is an Angstrom coefficient Vertical Profile.
Fig. 9 is the working timing figure that this laser radar is surveyed 1064nm atmosphere echoed signal.
Embodiment
Referring to Fig. 1.The present invention is made up of following four unit:
1, dual-wavelength laser transmitter unit
The function of laser emission element is when receiving telescope carries out luffing, and laser beam can keep equidistant with the receiving telescope optical axis and be injected in the atmosphere along the direction parallel with optical axis.
Laser emission element comprises Nd:YAG laser instrument, diaphragm and the light-conducting system of being made up of 5 catoptrons.Laser instrument the place ahead is equipped with a diaphragm and completely reflecting mirror 1, and laser is after this completely reflecting mirror 1 reflection, and through four completely reflecting mirrors, 2,3,4,5 reflections that are parallel to each other, minute surface is relative, optical axis is parallel with receiving telescope again.
The Nd:YAG laser instrument is the Brill of French Quantel company.It exports the laser of fundamental frequency 1064nm and two frequency multiplication 532nm wavelength simultaneously, and the single pulse energy of two wavelength is respectively 400mJ and 300mJ, and the angle of divergence is 0.5mrad, and pulse recurrence rate is 20Hz.Laser instrument is fixed on the optical table.
In light-conducting system, catoptron 1 to 4 is fixed on the top of optical table by setting shown in Figure 1, and catoptron 5 is installed on the sidewall of receiving telescope pitching rotating shaft.By optical alignment, make by catoptron 4 laser light reflected light beams to overlap, and be injected in the atmosphere along the direction parallel with the receiving telescope optical axis by the minute surface center of catoptron 5 with the pitching rotating shaft of receiving telescope.After optical alignment was finished, whole light-conducting system adopted the pipe box sealing.
2, receive optics and follow-up optical unit
Receiving optics and follow-up optical unit will collect and import in the corresponding detector from the atmospheric backscatter light of two last wavelength of each distance.Receive optical unit and be that U.S. Meade company produces 10 " LX200GPS Cassegrain type telescope; the primary mirror diameter is that 250mm, relative aperture are f/10; the major-minor mirror all adopts the UHTC plated film; at first the lens surface high-temperature vacuum precipitates high purified aluminum, is that coating film thickness accurately is controlled at+alchlor (Al within/-1% again
2o
3), titania (Tio
2), magnesium fluoride (MgF
2) multicoating.Its bracing frame is installed on the optical table, and the electronic and worm gear drive mechanism in it can be controlled telescope and carry out luffing.The aperture of one variable-diameter places the combined focal place of receiving telescope, and the reception visual field of control receiving telescope is at 1～3mrad.
Because this laser radar is a biaxial system, emission laser beam enters in the reception visual field of laser radar step by step in atmosphere, and closely atmospheric backscatter light is not to be received fully, exists overlap factor how much.Using how much suitable overlap factors is favourable to the problem that solves laser radar detectable signal great dynamic range.For the reception optical unit of 532nm wavelength, to 0.75km place, the geometry overlap factors equal 1, for the reception optical unit of 1064nm wavelength then at the 1.25km place.
Use optical fiber that the atmospheric backscatter light that telescope receives is imported the follow-up optical unit that places on the platform.The fiber optic hub radius is 2mm, and numerical aperture is 0.37.The fibre-coupled mirrors group enters optical fiber with the optical convergence that telescope receives, and enters follow-up optical unit through becoming approximate directional light behind the optical fiber output collimator.Because the atmosphere echo of two wavelength all uses high low layer passage to measure simultaneously, therefore need follow-up optical unit is carried out color separation and beam splitting processing.It is made up of color separation/beam splitter, spike interference filter, attenuator and lens.Its topology layout as shown in Figure 2.
Color separation beam splitter 7 is 1064nm wavelength high anti-(reflectivity R=90%), and the 532nm wavelength is high saturating; Dichronic mirror 8 is all-trans (R＞97%) for the 1064nm wavelength, and the 532nm wavelength is high saturating.These two dichronic mirrors import the atmospheric backscatter light of 1064nm wavelength in the photomultiplier of high bottomside sounding respectively.9 pairs of 532nm wavelength of beam splitter reflect 10%, see through 90%, and it imports the atmospheric backscatter light of 532nm wavelength respectively in the photomultiplier of low high Layer Detection.In order to suppress sky background light, deielectric-coating has all been plated on the surface of color separation beam splitter 7, dichronic mirror 8, beam splitter 9.Before four photomultipliers, placed the spike interference filter of respective wavelength.
Optical filter, lens are installed in the light path between color separation beam splitter 7 and photomultiplier, optical filter, lens, attenuator are installed in the light path between dichronic mirror 8 and photomultiplier, between beam splitter 9 exit directions and photomultiplier, in the light path optical filter, attenuator are installed, between beam splitter transmission direction and photomultiplier, in the light path optical filter is installed, described optical filter is a spike interference filter, and is corresponding with the light path wavelength.
Survey the dichronic mirror 8 of lower layer signal, the neutral attenuator of suitable transmitance (transmitance about about 10%) has all been installed in two photomultiplier fronts of beam splitter 9 back, is in order to prevent that closely very strong atmospheric backscatter light may make the saturated distortion that causes detectable signal of photomultiplier.Owing to survey the time pole-face smaller (diameter 1cm) of the photomultiplier of 1064nm wavelength, placed the convergent lens of short focal length in the optical filter back.Whole follow-up optical unit adopts the seal case structure, and inside surface has carried out blackout to be handled, and has dustproof, anti-light leak and anti-repeatedly catoptrical effect.
3, acquisition of signal and data acquisition unit
Acquisition of signal and data acquisition unit carry out opto-electronic conversion, amplification and data acquisition to the atmospheric backscatter light that laser radar receives, and it mainly comprises photodetector, amplifier, data acquisition unit and industrial computer etc.
Photon counting technique is adopted in detection for 1064nm wavelength echoed signal, mainly comprises R3236 photomultiplier (two are open type), C3350 high-voltage power supply, C4877 refrigerator (30 ℃), VT120 amplifier and the MCS-PCI photon counting card of band C5479-03 gate.
Adopt modulus conversion technique for the detection of 532nm wavelength echoed signal, consist predominantly of be used for the high-rise H7680-01 photomultiplier of measuring (closed type), be used for that low layer measures H7680 photomultiplier (open type), binary channels Phillips 777 prime amplifiers and binary channels GAGE1610 type A/D card.
Photon counting card and A/D card are inserted in the PCI slot of WS-855A industrial computer, under the control of working procedure, and reception in the time of four passage atmosphere of high low layer echoed signal of realization 1064nm and two wavelength of 532nm, amplification, data acquisition and storage.
4, operation control module
The function of operation control module is that assurance Laser emission, echoed signal detection, data acquisition, transmission and storage are worked harmoniously.It comprises gate controller, main wave controller and laser radar working procedure software.
It is that 50ns, frequency are that the pulse of 20Hz is to the gate controller that working procedure software instruction computing machine sends pulsewidth.To each pulse, the pulse of gate controller output two paths of signals, the one tunnel inputs to the C5479-03 gate, and the open type R3236 photomultiplier of surveying 1064nm wavelength upper atmosphere ' is closed '.Another road inputs to Nd:YAG xenon lamp of laser external trigger port, lights xenon lamp.Program software command calculations machine sends order by serial ports and produces laser to laser instrument simultaneously.Like this, before laser produced, the R3236 photomultiplier of detection upper atmosphere is shut the gate, promptly is in off position.And the H7680-01 photomultiplier of surveying 532nm wavelength upper atmosphere itself is exactly a closed type, promptly is in the off position of shut the gate always.Therefore, after the Laser emission, closely locate very strong atmospheric backscatter light and can not cause the saturated and even damage of two photomultiplier degree of depth surveying upper atmosphere.
The laser of the 532nm wavelength that high reflective mirror 2 sees through promptly produces main ripple signal after inciding main wave controller, and main ripple signal is input to the triggering port of photon counting card and A/D card simultaneously, as the zero distance point of their data acquisitions.Main ripple signal also inputs to the gate controller, be used for " open the door " reference signal of time of photomultiplier that upper atmosphere measures as two, by " opening the door " moment of adjusting gate controller and the time interval between the main ripple, make and in atmosphere, be transferred to after the certain distance when emitted laser, photomultiplier is just started working, and receives this distance with far beyond weak atmospheric backscatter light.And two photomultipliers of surveying the lower atmosphere layer signal of 1064nm and 532nm all are open type, and are promptly in running order always.Owing to neutral attenuator all has been installed in their front, reception be closely through the atmospheric backscatter light of attenuator decay.Laser radar repeats said process, has launched up to laser instrument till the laser pulse number of working procedure software set.Fig. 9 is the working timing figure that this laser radar is surveyed 1064nm atmosphere echoed signal.
Important technological parameters of the present invention
Laser instrument
Operation wavelength/nm 532 1064
Pulse energy/mJ 300 400
Pulse repetition rate/Hz 20
Beam divergence angle/mrad 0.5
Pulse width/ns 20
Receive optical unit
Telescope Type C assegrain
Diameter/mm 250
Field angle/mrad 1～3
Interference filter
Centre wavelength/nm 532 1064
Bandwidth/nm 11
Transmitance/% 50 40
Optical fiber SPC2000/2150/2300N
Numerical aperture 0.37
Center radius 2000 μ m silica+/-2%
The acquisition of signal unit
Photomultiplier H7680 (01) R3236
Preposition amplification Phillips777 VT120
Gain 40 200
Bandwidth/MHz 200 350
Data acquisition unit
Type GAGE1610 MCS-Pci
Sampling rate/ns 100 100
Acquisition precision 16-bit 300MHz
Operation control module WS-855A industrial computer
Utilize apparatus of the present invention to carry out the model experiment result of atmospheric seeing:
One, horizontal visibility
Use slope method (slope) that the detection data on the horizontal direction of vehicular dual wavelength Mie scattering laser radar is handled and to obtain atmospheric horizontal visibility.
Fig. 4 provides the atmosphere echoed signal of 532nm channel distance square correction on July 12nd, 2003, and round dot is a measured value, and straight line is the result of linear fit.As can be seen, Ln (PR in horizontal range 3.0-9.0km
2) have better linearity relation with distance R, though along with the increase of distance, measured value has certain fluctuating, always near fitting a straight line.According to the slope of fitting a straight line, the horizontal visibility that calculates this day atmosphere is 18.17km.
Two, dual wavelength atmospheric aerosol extinction coefficient Vertical Profile and Angstrom index Vertical Profile
Fig. 5 has provided 1064nm and two wavelength atmospheric aerosols of the 532nm extinction coefficient Vertical Profile that night on July 18th, 2003, this laser radar was surveyed in somewhere, China southeast, and Fig. 6 is 14:00 two wavelength Aerosol Extinction Vertical Profiles that this laser radar is surveyed in the northern China somewhere on daytime on the 6th October in 2003.As a reference, provided air molecule extinction coefficient Vertical Profile (dotted line) among two figure in the lump.From two figure as can be seen, no matter it is daytime or night, in the scope of whole troposphere, the Aerosol Extinction of 532nm wavelength is big than the 1064nm wavelength, two wavelength Aerosol Extinction vertical distribution present the variation tendency of basically identical, even the microtexture of their Aerosol Extinction space distribution has also presented consistance preferably.Two delustring profiles reflection particulates among Fig. 5 mainly concentrate in the boundary layer below about 4km, and two wavelength Aerosol Extinction all sharply are reduced to the extinction coefficient less than air molecule more than 4km.
In order to check the reliability of vehicular dual wavelength Mie scattering laser radar detection data, near the ground formula dual-wavelength laser radar we are located at this laser radar and Japanese National Institute for Environmental Studies (NIES) has carried out the comparing and measuring of vertical distribution of two wavelength atmospheric aerosol extinction coefficients.Fig. 7 has provided comparative result.Can find out clearly that the Aerosol Extinction Vertical Profile of two laser radar detections meets better, even the microtexture of Aerosol Extinction space distribution has also presented consistance preferably in 300m to 4.5km altitude range.This shows that it is reliable that vehicular dual wavelength Mie scattering laser radar is surveyed the troposphere Aerosol Extinction.Two differences of system below 300m are because the atmosphere echoed signal of the dual-wavelength laser radar of NIES is not closely being carried out the cause that the geometry overlap factor is proofreaied and correct.Carry out the more comparatively difficulty of the above Aerosol Extinction Vertical Profile of 4.5km of two laser radars detections, the dual-wavelength laser radar of NIES is very big in the oscillation amplitude of this atmosphere echoed signal more than height, especially the 1064nm wavelength.The detection of the dual-wavelength laser radar of NIES highly is confined in the atmospheric boundary layer, and the detection of vehicular dual wavelength Mie scattering height can reach tropospheric middle and upper part.
Fig. 8 provides the Angstrom coefficient Vertical Profile on night July 18 (solid line) in 2003 and daytime October 6 in 2003 (dotted line).Generally between 0-2,0 shows that gasoloid mainly is molecular by macrosome to its value, and 2 show that aerocolloidal principal ingredient is a dust root nuclear
[11]As can be seen from Figure 8, at night July 18, in this altitude range, Angstrom coefficient mean value is 0.87 from ground to 10km; Daytime October 6, the sustained height scope, the mean value of Angstrom coefficient is 1.21, they with by the northern middle latitude summer mode
[12]Result calculated 0.92 (dot-and-dash line) is all more approaching.In the atmospheric boundary layer below 4km, the Angstrom coefficient at night July 18 is big than the value on 6 daytime of October, illustrates that the shared weight of small-particle in the atmosphere in boundary layer in this bigger relatively in evening.
To be this laser radar survey the result that obtain in the northern somewhere of China on October 8th, 2003 during 15:46 to Fig. 3, as can be seen from the figure this day atmosphere the boundary layer near 2.5km, gasoloid is relatively simple for structure, and it is thin cirrus about 1.0km that a layer thickness is arranged at the 8.4km place simultaneously.
Claims (6)
1, vehicular dual wavelength Mie scattering laser radar, form by laser emission element, reception optics and follow-up optical unit, acquisition of signal and collecting unit and system's operation control module, it is characterized in that being equipped with on the laser instrument frequency multiplication head, laser instrument the place ahead is equipped with diaphragm, and the direction that laser is injected atmosphere through guiding device is parallel with the receiving telescope optical axis; Receiving telescope is installed in can do pitching scanning on the platform support, diaphragm is installed behind the receiving telescope, the atmospheric backscatter light signal of two wavelength that telescope receives enters optical fiber by fiber coupler, the light signal that comes out from optical fiber reflexes on the completely reflecting mirror through spherical mirror, the light signal that reflects from completely reflecting mirror, successively through being installed in the color separation beam splitter on the platform, dichronic mirror, beam splitter, final four road light signals that form, receive through photomultiplier respectively, connect amplifier behind the photomultiplier, amplifier connects A/D card or the photon counting card that places industrial computer.
2, vehicular dual wavelength Mie scattering laser radar according to claim 1, it is characterized in that described completely reflecting mirror and color separation beam splitter angle are 90 degree, color separation beam splitter, dichronic mirror, beam splitter are parallel to each other, and the angle that the light that reflects from spherical mirror incides completely reflecting mirror is 45 degree.
3, vehicular dual wavelength Mie scattering laser radar according to claim 1, it is characterized in that described laser instrument the place ahead is equipped with a completely reflecting mirror, laser is after this completely reflecting mirror reflection, through four completely reflecting mirror reflections that are parallel to each other successively, minute surface is relative, optical axis is parallel with receiving telescope again.
4, vehicular dual wavelength Mie scattering laser radar according to claim 1, it is characterized in that described laser instrument is the Nd:YAG laser instrument, receiving telescope is the Cassegrain type, and the color separation beam splitter is to 532nm light full impregnated, to 90% reflection of 1064nm light, 1064nm light 10% is seen through; Dichronic mirror is to 532nm light full impregnated, to the 1064nm light total reflection; Beam splitter sees through 532nm light 90%, to 10% reflection of 532nm light.
5, vehicular dual wavelength Mie scattering laser radar according to claim 4, it is characterized in that described color separation beam splitter, dichronic mirror, deielectric-coating has all been plated on the beam splitter surface, between color separation beam splitter and photomultiplier, in the light path optical filter is installed, lens, between dichronic mirror and photomultiplier, in the light path optical filter is installed, lens, attenuator, between beam splitter exit direction and photomultiplier, in the light path optical filter is installed, attenuator, between beam splitter transmission direction and photomultiplier, in the light path optical filter is installed, described optical filter is a spike interference filter, and is corresponding with the light path wavelength.
6, vehicular dual wavelength Mie scattering laser radar according to claim 1 is characterized in that photon counting card and A/D card are inserted in the PCI slot of WS-855A industrial computer.
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