CN205374743U - Relevant homodyne doppler of optics quadrature demodulation laser radar system that tests speed - Google Patents
Relevant homodyne doppler of optics quadrature demodulation laser radar system that tests speed Download PDFInfo
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- CN205374743U CN205374743U CN201520982956.6U CN201520982956U CN205374743U CN 205374743 U CN205374743 U CN 205374743U CN 201520982956 U CN201520982956 U CN 201520982956U CN 205374743 U CN205374743 U CN 205374743U
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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Abstract
The utility model discloses a relevant homodyne doppler of optics quadrature demodulation laser radar system that tests speed, it is applied to the coherent laser radar system. This patent includes coaxial receiving and dispatching telescope, optic fibre circulator, transmission photoswitch, receives the photoswitch, narrow linewidth laser instrument, 90 degrees optics bridges, balanced detector, high number ADC, digital signal processing module. Provided is a relevant homodyne doppler laser radar system that tests the speed directly obtains the difference size and the direction of echo signal frequency and local oscillator optical frequency based on the optics quadrature demodulation, obtains the target speed size and orientation of a plurality of direction timesharing.
Description
Technical field
This patent relates to laser radar technique, is specifically related to the coherent homodyne Doppler speed measuring laser radar system of a kind of optics quadrature demodulation.Solve the problem that Doppler speed measuring laser radar velocity attitude is difficult to differentiate.
Background technology
Existing relevant speed measuring laser radar is by local oscillator or launches whether signal is divided into heterodyne detection and zero-difference detection through fixing shift frequency.Heterodyne detection is by local oscillator or launches signal through a fixing shift frequency, obtains the size of echo-signal frequency change when echo reception is mixed, and this frequency values includes the shift frequency fixed, and deducts this fixed value and can obtain the size of Doppler frequency and positive and negative.But frequently with coaxial receive-transmit system in typical compact laser radar system, producing stronger optical signal reflection, heterodyne detection is readily obtained stronger intermediate frequency interference so that heterodyne detection is difficult to apply in small-sized speed measuring laser radar system.
The laser firing signals of zero-difference detection and reception signal are all without the shift frequency of extra fixed frequency, and in coaxial transmitting system, strong reflectance signal produces zero-frequency interference, can suppress this interference completely by AC coupled.But zero-difference detection can only extract the size of speed when signal processing, and can not extract the direction of speed.
The ALHAT of NASA Doppler lidar in the works carries out symmetric triangular chirped modulation to launching laser at frequency domain, and adopt Trend judgement, the differentiation to velocity magnitude and direction is realized with this, realize range measurement simultaneously, adopt Trend judgement, velocity magnitude and direction can be extracted to a certain extent, but there is also the point of more erroneous judgement.Shanghai Inst. of Technical Physics, Chinese Academy of Sciences is by modulating through " linear frequency modulation continuous wave " the transmitting signal in zero-difference detection system, achieve the differentiation in certain limit internal object speed and direction, but laser instrument is proposed higher requirement by modulation, and system time utilization rate is relatively low, it is impossible to realize the pulse accumulation of high frequency time.
Adopt coherent homodyne coaxially to receive and dispatch Detecting System, reduce the demand to laser instrument, and improve the time availability of system detection, it is achieved the detection to target velocity size and direction, significant.
Summary of the invention
The purpose of this patent is technical at existing coherent Doppler speed measuring laser radar, propose the coherent homodyne Doppler speed measuring laser radar system of a kind of optically-based quadrature demodulation, solve existing coherent Doppler speed measuring laser radar velocity attitude to be difficult to differentiate, and laser instrument is required higher, and the problem that operating distance is shorter.
Produce the coherent laser of the single-frequency of non-modulated such as Fig. 1 narrow linewidth laser, this coherent laser is divided into two parts according to a certain percentage through beam splitter, and wherein big energetic portions is used for launching, and little energetic portions is as local oscillator；Big energetic portions switches through Multichannel photoswitch timesharing, launch through circulator, coaxial transmitting-receiving telescope, echo laser receives through coaxial transmitting-receiving telescope, a road echo optical signal is become after circulator, photoswitch switching, finally enter 90 degree of optical bridging devices together with local oscillation signal, forming 4 tunnel output optical signals, wherein local oscillation signal has 90 degree of phase contrasts (0 °, 90 °, 180 °, 270 °)；Wherein 0 °, 180 ° enter a balanced detector and constitute I passage, and 90 °, 270 ° enter another balanced detector and constitute Q passage；I road, Q road balanced detector output enter high-speed ADC, convert digital signal to, form I road signal, Q road signal, enter and constituted digital signal processing module by DSP or FPGA or microprocessor；Formed plural number by I road signal and Q road signal, carry out complex signal process, draw echo light and local oscillator light frequency extent and direction, and then draw the size and Orientation of target velocity.
Laser is the same with sound wave, has Doppler effect, and wavelength is the laser of the narrow linewidth laser transmitting of λ, and being irradiated to laser direction of visual lines speed is to produce Doppler frequency shift f on the moving target of vd, the light velocity is c, Doppler frequency shift counter can release target velocity:
V=λ fd/2(1)
Narrow linewidth laser local oscillator light frequency is consistent with launching laser frequency, if angular frequency is ωLO, echo light is ω because of its angular frequency of Doppler effectS, wherein Doppler frequency fd=(ωS-ωLO)/(2π)。
Flashlight amplitude is set to ES, initial phase isCan be expressed asSame local oscillator light can also be expressed asWherein local oscillator light amplitude is ELO, initial phase
90 degree of optical bridging devices are 2 input 4 output devices, have multiple building mode, and its fundamental characteristics is as follows, and such as Fig. 2 therein, flashlight is divided into two and forms S1、S3Signal, the treated formation of local oscillator light has two signal S of 90 degree of phase contrasts2And S4.Flashlight and local oscillator light enter 2 × 2 bonders of 180 degree between two.2 × 2 bonders of local oscillation signal phase shift 0 degree constitute homophase I road signalling channel, two signal S of input1、S2Can be expressed as:
2 × 2 bonders of local oscillation signal phase shift 90 degree constitute orthorhombic phase Q road signalling channel, two signal S of input3、S4Can be expressed as:
The I passage of 90 degree of bridger outputs, Q passage optical signal form the signal of telecommunication after balanced detector opto-electronic conversion, and its characteristic can be expressed as:
WhereinFor photoelectric transformation efficiency, PSFor signal light power, PLOFor local oscillation optical power.The signal of two balanced detector outputs may be constructed complex signal V (t), complex signal is carried out Fourier transformation, will obtain the frequency of complex signal, and be the positive and negative frequency divided.
High-speed ADC is to VI(t)、VQT () carries out digital sample, inside digital signal processing module, carry out plural number combination, and carry out FFT process real-time, will obtain the signal spectrum of single peak value, and its mirror image frequency peak value is less.Signal peak place frequency is Doppler frequency (ωS-ωLO)/2 π, positive and negative divides, and is Doppler frequency fd, Doppler frequency can obtain target velocity.
Quick FFT adopts real time signal processing, can continue with the data in next sampling period after often having processed a sampling period.Because system launches signal without modulation, target velocity is in constant situation in short-term, and the signal spectrum obtained is consistent, it is possible to carrying out frequency spectrum and add up, signal is strengthened, and noise, due to uncorrelated, will not produce obvious reinforcement.Then which can be more weak in echo-signal, in low signal-to-noise ratio situation, signal carries out pulse accumulation, extracts small-signal, and then extracts target velocity.
In coaxial light path system, minute surface can reflect stronger optical signal, and circulator leakage simultaneously also can produce stronger optical signal, and both enters detector by echo channel.Non-modulated during due to Laser emission, both echo optical signals will produce stronger zero-frequency interference, can directly reject this interference by AC coupled.
The single pass process that tests the speed is very of short duration, the laser launched by Multichannel photoswitch synchronism switching and the echo laser of reception, it is possible to timesharing realizes the doppler velocity of multiple directions and measures.
Therefore, this patent proposes Doppler's coherent homodyne speed measuring laser radar system of a kind of optically-based quadrature demodulation, such as Fig. 1,
System includes coaxially receiving and dispatching telescope 1, optical fiber circulator 2, launches photoswitch 3, receives photoswitch 4, narrow linewidth laser 5,90 degree of optical bridging devices 6, balanced detector 7, high-speed ADC 8, digital signal processing modules 9, wherein:
Narrow linewidth laser 5 produces the coherent laser of the single-frequency of non-modulated, is used for launching through laser beam splitter rear portion, and another part is used as local oscillation signal；
Laser realizes coaxial transmitting-receiving by coaxial transmitting-receiving telescope 1 and optical fiber circulator 2, realizes multichannel timesharing speed detection via transmitting photoswitch 3 with receiving photoswitch 4 switching；
Echo laser and local oscillator laser enter 90 degree of optical bridging devices 6 and carry out optical signal prosessing, form I path, Q channel signal, and convert the signal of telecommunication to via two balanced detector 7, obtain orthogonal two paths of data through two high-speed ADC 8 digitizeds；
I path, Q channel signal enter digital signal processing module 9 and process, and treated obtain target velocity size and Orientation.
90 degree of optical bridging devices 6 are built with optical fiber, free space various ways, the local oscillation signal of input is split as by certain means two signals with 90 degree of phase contrasts, and couple with flashlight respectively, its internal structure is respectively as follows: 1.50:50 beam splitter, 2.90 degree of phase-shifters, can be realized by number of ways during actual design；
The specific works flow process of the coherent homodyne speed measuring laser radar data processing method of optically-based quadrature demodulation is as follows:
1. digital signal processing module controls the photoswitch of Laser emission and reception, makes both be switched to identical a certain passage, and digital signal processing module triggers narrow linewidth laser transmitting simultaneously.
2. digital signal processing module receives the Serial No. from I passage, Q passage, is formed the data that real part is synchronization I passage of sequence of complex numbers V, V, and imaginary part is the data of synchronization Q passage.
3. pair sequence of complex numbers is according to certain sampling period, if every N=8192 point is a sampling period, carries out quick real-time FFT, and each sampling period carries out sampling and the signal processing of a new round after terminating immediately.The frequency spectrum obtained after each FFT is processed adds up in real time.
4. optically-based orthogonal demodulation method will obtain the frequency spectrum of only single spectral peak except zero-frequency, the mirror image bin magnitudes of spectral peak is only small, frequency spectrum cumulative process is found spectrum peak position in real time, when namely spectral peak amplitude thinks after reaching certain threshold value that spectral peak is signal, corresponding frequency is the Doppler frequency that speed is brought, and then obtains target velocity；Do not obtain effective spectral peak yet when accumulative frequency reaches certain threshold value, namely think that this detection is without effective echo-signal.Two kinds of situations meet any, namely terminate the detection of current channel.
5. transmitting photoswitch, reception photoswitch are changed to another one passage by digital signal processing module again, carry out the detection of the target velocity of a new tunnel new round simultaneously, are namely recycled to step 1 and carry out the operation of a new round.
The advantage of native system is:
1 simple in construction, laser, without modulation, reduces the demand to laser instrument.
2 by orthogonal zero-difference detection, and the signal spectrum obtained is clean, it is possible to simple and effective extract target velocity and direction.
3 laser non-modulated, adopt homodyne system, it is possible to avoid direct reflection in coaxial light path by AC coupled, and circulator leaks the interference brought.
4 laser non-modulated, it is possible to carry out in real time quick FFT process go forward side by side horizontal pulse accumulation, it is possible to effectively detect small-signal, reach detection range farther out.
Accompanying drawing explanation
Fig. 1 is the theory diagram of the coherent homodyne Doppler speed measuring laser radar system of optically-based quadrature demodulation, and wherein each several part is: 1. coaxially receive and dispatch telescope；2. optical fiber circulator；3. launch photoswitch；4. receive photoswitch；5. narrow linewidth laser；6.90 degree of optical bridging devices；7. balanced detector；8. high-speed ADC；9. digital signal processing module, DSP or FPGA or microprocessor.
Fig. 2 is the output of 90 degree of optical bridging devices, output schematic diagram.
Fig. 3 is typical Doppler velocity signals frequency spectrum.
Fig. 4 is the speed data that coherent homodyne Doppler speed measuring laser radar measurement is arrived.
Detailed description of the invention
Being embodied as of the coherent homodyne Doppler speed measuring laser radar system of optically-based quadrature demodulation includes:
1) digital signal processing module 9 switching is launched photoswitch 3, is received photoswitch 4 to the 1st identical passage, and triggers narrow linewidth laser 5 and launch.Digital signal processing module adopts the FPGA of XilinxVirtex4XC4VSX55, launch photoswitch 3 and select 1 input, the magneto-optic shutter of 3 outputs, receive photoswitch 4 and select 3 inputs, the magneto-optic shutter of 1 output, narrow linewidth laser 5 is narrow cable and wide optical fiber laser, wavelength 1550nm, live width is less than 30kHz, and for the high-power 3W launched, the small-power for local oscillator is 3mW.
2) laser is through 1 port input of circulator 2, export transmitting-receiving telescope 1 from 2 ports to launch, echo laser returns to 2 ports of circulator from transmitting-receiving telescope, exports reception photoswitch from 3 ports, then becomes 1 road echo optical signal 90 degree of optical bridging devices 6 of entrance.Circulator 2 is typical optical fiber circulator, has the device of 3 ports, inputs from 1 port, receives and dispatches from 2 ports, exports from 3 ports.90 degree of optical bridging devices 6 are optical-fiber 90 degree optical bridging device, adopt Kylia company COH24 device.
3) echo light enters the signal end of 90 degree of optical bridging devices, local oscillator light enters the local oscillator end of 90 degree of optical bridging devices, 90 degree of bridgers export 4 road optical signals, form I road, Q road signal, respectively enter two balanced detector 7 and convert the signal of telecommunication to, the signal of telecommunication carries out analog digital conversion then through high-speed ADC, generates two groups of Serial No.s.Balanced detector is the balanced detector of typical case's 1550nm wavelength response, and photoelectric transformation efficiency is 40kV/W.High-speed ADC adopts TI company ADS5463, and output bit wide is 12, and sampling clock is 200MHz.
4) Serial No. of 12 bit wides of two-way of high-speed ADC output form plural V in digital signal processing module, and real part is from synchronization I passage adc data, and imaginary part is from synchronization Q passage adc data.To the complex data V continuously acquired, every N=8192 point, as a sampling period, carries out real-time FFT process, it is thus achieved that signal spectrum, is added up in real time by the signal spectrum of acquisition.
5) optically-based orthogonal demodulation method obtains the frequency spectrum of only single spectral peak except zero-frequency, the mirror image bin magnitudes of spectral peak is only small, frequency spectrum cumulative process is found spectrum peak position in real time, when namely spectral peak amplitude thinks after reaching certain threshold value that spectral peak is signal, corresponding frequency is the Doppler frequency that speed is brought, and then obtains target velocity；Do not obtain effective spectral peak yet when accumulative frequency reaches certain threshold value, namely think that this detection is without effective echo-signal.Two kinds of situations meet any, namely terminate the detection of current channel.
Fig. 3 is typical signal spectrum, it it is negative velocity, target is away from laser radar, Y-axis is the amplitude of each frequency after FFT processes, and spectrum signal includes zero-frequency and signal peak, and zero frequency signal causes avoiding because of high-speed ADC direct current biasing, zero frequency signal is directly ignored during signal extraction, signal causes because of Doppler frequency shift, and in figure, doppler shifted signal is-11.57MHz, corresponding to negative velocity.
Fig. 4 is the actual partial velocity data measured of this laser radar, and positive-negative velocity is clear and legible.Laser radar, aboard to ground location, the real-time Laser Measurement radar speed to ground, is the data of part point in figure；For the sampling clock of 200MHz, the spectrum analysis of 8192, frequency resolution is 24.414kHz, and in conjunction with wavelength 1550nm, velocity resolution corresponding to this frequency resolution is 0.0189m/s, has higher velocity resolution.
6) current channel measurement terminates, and namely carries out the measurement of the speed of a new passage, transmitting magneto-optic shutter, reception magneto-optic shutter is switched to the 2nd passage, starts the measurement of the 2nd passage, repeat step 1) circulation operation.
Claims (1)
1. the coherent homodyne Doppler speed measuring laser radar system of an optics quadrature demodulation, including coaxially receiving and dispatching telescope (1), optical fiber circulator (2), launch photoswitch (3), receiving photoswitch (4), narrow linewidth laser (5), 90 degree of optical bridging devices (6), balanced detector (7), high-speed ADC (8), digital signal processing modules (9), it is characterised in that:
Narrow linewidth laser (5) produces the coherent laser of the single-frequency of non-modulated, is used for launching through laser beam splitter rear portion, and another part is used as local oscillation signal；
Laser passes through coaxially to receive and dispatch telescope (1) and the coaxial transmitting-receiving of optical fiber circulator (2) realization, switches via transmitting photoswitch (3) and reception photoswitch (4) and realizes multichannel timesharing speed detection；
Echo laser and local oscillator laser enter 90 degree of optical bridging devices (6) and carry out optical signal prosessing, form I path, Q channel signal, and convert the signal of telecommunication to via two balanced detector (7), obtain orthogonal two paths of data through two high-speed ADC (8) digitizeds；
I path, Q channel signal enter digital signal processing module (9) and process, and treated obtain target velocity size and Orientation.
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| CN105372670A (en) * | 2015-09-22 | 2016-03-02 | 中国科学院上海技术物理研究所 | Coherent homodyne Doppler speed measurement laser radar system on the basis of optics quadrature demodulation |
| CN107045129A (en) * | 2017-05-04 | 2017-08-15 | 哈尔滨工业大学 | Laser radar system based on the low small slow target of laser micro-Doppler effect Tracking Recognition |
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| WO2019184790A1 (en) * | 2018-03-26 | 2019-10-03 | Huawei Technologies Co., Ltd. | Coherent lidar method and apparatus |
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| US20050083513A1 (en) * | 2002-12-20 | 2005-04-21 | Rogers Philip L. | Quadrature processed lidar system |
| US8401405B2 (en) * | 2009-05-28 | 2013-03-19 | Freedom Photonics, Llc. | Monolithic widely-tunable coherent receiver |
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| CN202661624U (en) * | 2012-06-25 | 2013-01-09 | 中国科学院上海技术物理研究所 | Signal processor of laser Doppler radar based on FPGA |
| CN102736074A (en) * | 2012-06-25 | 2012-10-17 | 中国科学院上海技术物理研究所 | Signal processor of laser Doppler radar based on FPGA (field programmable gate array) and processing method |
| CN105372670B (en) * | 2015-09-22 | 2018-08-14 | 中国科学院上海技术物理研究所 | Coherent homodyne Doppler speed measuring laser radar system based on optics quadrature demodulation |
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- 2015-12-01 CN CN201510864318.9A patent/CN105372670B/en active Active
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| CN105372670A (en) * | 2015-09-22 | 2016-03-02 | 中国科学院上海技术物理研究所 | Coherent homodyne Doppler speed measurement laser radar system on the basis of optics quadrature demodulation |
| CN105372670B (en) * | 2015-09-22 | 2018-08-14 | 中国科学院上海技术物理研究所 | Coherent homodyne Doppler speed measuring laser radar system based on optics quadrature demodulation |
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