CN208013435U - The encrypted laser ranging system of pulse parameter - Google Patents

Abstract

The utility model is related to a kind of encrypted laser ranging system of pulse parameter,Including laser detector,Impulse ejection system,Laser pulse receives system,Microcontroller,Time-interval-unit and impulse modulation code device,Laser pulse receives system and is used to before the pulse echo of detection target reflection enters laser detector be received and be handled,Microcontroller controls laser detector respectively,Impulse ejection system,Laser pulse receives system and is calculated and handled,Impulse modulation code device is under microcontroller control to the laser firing pulses frequency of impulse ejection system,Width or peak power Stochastic Modulation coding send and receive demodulation,Time-interval-unit is used for timing,Microcontroller is in demodulation according to the time of time-interval-unit record and laser firing pulses frequency,Width or peak value demodulation go out corresponding reception laser,Measure required data.The system can effectively eliminate interference, anti-blinding, lure inclined ability strong.

Description

The encrypted laser ranging system of pulse parameter

Technical field

The utility model is related to laser scanner technique fields, and in particular to a kind of encrypted laser ranging system of pulse parameter System.

Background technology

With the development of laser technology, laser scanner technique is applied to measurements, traffic more and more widely, drive assist and The fields such as unmanned plane, mobile robot and military affairs.Existing laser radar is generally fabricated to this height, and structure is complex, has It is a little then be that volume and quality are all larger, it is unfavorable in laser radar in driving assistance system, Unmanned Systems and mobile machine The application of people, UAV avoidance and navigation field.

Laser ranging is progress ranging using laser as light source, currently, it is different according to the mode of laser work, it can be divided into Continuous wave laser and pulse laser.The gas lasers such as He-Ne, argon ion, krypton cadmium work in continuous output state, are used for phase Position formula laser ranging；Double heterogeneous gallium arsenide semiconductor lasers are used for infrared distance measurement；The solid state lasers such as ruby, neodymium glass, For pulse type laser ranging.

Pulse type laser ranging mostly be applied to measure tens of range measurements to hundreds of meters in, have far measuring distance, The high feature of data accurate rate, measurement accuracy commonly reach centimetres.For example, pulsed laser ranging is missile-borne near field over the ground The main means of ranging, the problem of false-alarm is led to due to the interference of inside and outside generation, especially in adverse circumstances such as sun The environment such as light, snow, rainwater, flue dust and other airborne particulates descend, and interference effect is larger, keep missile-borne pulsed laser ranging precision serious Decline, causes to play quick-fried lethality over the ground and seriously weaken.Therefore, the internal or external interference generated how is effectively eliminated as working as One of the problem of prepulse formula laser ranging.

Utility model content

In view of this, can effectively eliminate false-alarm interference it is necessary to provide a kind of, strong antijamming capability and anti-blinding, lure inclined energy Power by force and the encrypted laser ranging system of pulse parameter with high accuracy.

A kind of encrypted laser ranging system of pulse parameter, including laser detector, impulse ejection system, laser pulse connect Receipts system, microcontroller, time-interval-unit and impulse modulation code device, the impulse ejection system is for emitting arteries and veins Impulse light, the laser pulse receive system and are used to before the pulse echo of detection target reflection enters laser detector be connect It receives and processing, the microcontroller receives system with laser detector, impulse ejection system, laser pulse and connect and provide respectively Corresponding control signal, is calculated and is handled to read corresponding measurement data, the impulse modulation code device respectively with Microcontroller connection, the connection of impulse ejection system, and to the laser firing pulses of impulse ejection system under microcontroller control Frequency, width or peak power Stochastic Modulation coding send and receive demodulation, the time-interval-unit and microcontroller And the connection of impulse modulation code device, it is used for instant recording laser firing pulses frequency, width or peak power Stochastic Modulation Time of coding, timing end point simultaneously feed back to microcontroller, and the microcontroller is in demodulation according to time-interval-unit The time and laser firing pulses frequency of record, width or peak value demodulation go out corresponding reception laser, measure required data.

Further, the impulse modulation code device includes impulse generating unit and pulse modulation unit, the pulse Generating unit is connect with impulse ejection system, and required modulated pulse signal, the pulse are provided for laser emission element Modulation unit is connect with impulse generating unit, to be modulated to pulse signal.

Further, the impulse ejection system includes semiconductor laser, LD bias voltage generators, LD driving electricity Road, the LD bias voltage generators are connect with semiconductor laser, to provide the bias voltage needed for work and be loaded onto LD In driving circuit, driving semiconductor laser shines, and the impulse generating unit is connect with LD driving circuits, is LD driving circuits Modulated pulse signal needed for providing.

Further, it includes APD driving circuits, APD bias generators and bias voltage control that the laser pulse, which receives system, Circuit, controllable gain amplifying circuit, moment discrimination circuit, the APD bias generators are connect with APD driving circuits, to provide Bias voltage is loaded onto in APD driving circuits, and the controllable gain amplifying circuit is connect with APD driving circuits, the APD drivings Circuit is sent in controllable gain amplifying circuit and is amplified for reading the pulse echo reflected by detection target, described Controllable gain amplifying circuit is connect with moment discrimination circuit, for the result of amplification to be differentiated by moment discrimination circuit, and will Time identification result is sent into time-interval-unit, as timing end point.

Further, the controllable gain amplifying circuit includes controllable gain amplifier, peak detection circuit, gain control Circuit, the controllable gain amplifier connect with APD driving circuits it is signal to be amplified to receive, the gain control circuit with can Gain amplifier connection is controlled to carry out gain control to it, the peak detection circuit is connected to controllable gain amplifier, is used for Examination is detected to the result of amplification, and is sent in microcontroller and carries out analyzing processing.

Further, the time-interval-unit includes that timing chip TDC/GP2 and peripheral circuit (specifically refer to assorted Functional circuit), the time-interval-unit provides the time difference measurement less than 65ps for system, makes the precision of measurement up to most Small resolution ratio is 1cm or less.

Further, the impulse modulation code device simultaneously to laser firing pulses frequency, width and peak power into Mobile state Stochastic Modulation encodes, and the laser firing pulses frequency is that dynamic random is encrypted, the laser firing pulses width The dynamic random modulating-coding within the scope of 5ns~100ns, the laser firing pulses peak power are moved within the scope of 10w~80w State Stochastic Modulation encodes, laser firing pulses frequency, width and the peak power of the microcontroller record dynamic random modulation And the corresponding time, and receive when to corresponding laser firing pulses frequency, width and peak power and it is corresponding when Between be identified and handle.

Further, system further includes Power Management Unit, and the Power Management Unit is for being converted to externally fed The required voltage of system components is to power, and the microcontroller is connect with Power Management Unit, with to Power Management Unit It is controlled, independent shutdown is carried out to each section in encryption system, point independent shutdown of progress.

Further, the impulse generating unit is connect with time-interval-unit, is sending out pulse signal to pulse When emission system makes it emit laser, timing signal is sent to time-interval-unit.

Further, system further includes optical system, and the optical system includes collimation lens and by plus lens, respectively Transmitting is converged to measured object, by the laser echo signal received after laser alignment for generating semiconductor laser On the photosurface of laser detector.

The above-mentioned encrypted laser ranging system of pulse parameter controls impulse modulation code device by microcontroller and adjusts at random Laser firing pulses frequency, width or the peak power of coded pulse emission system processed, in demodulation, since microcontroller is recorded The pulse parameter of modulation will targetedly filter out the laser of corresponding parameter, and binding time interval measurement unit records Time, analyze and be accurately calculated the relative distance of practical detected target, precise and high efficiency.Moreover, by joining to pulse Number carries out Stochastic Modulation, and outside is difficult that interference is obscured, and thus, it is possible to be effectively prevented from external interference or lure partially, improves anti-interference energy Power and anti-blinding lure inclined ability, and can eliminate the interference effect of external environment, the false-alarm interference of impedance air microparticle object etc.. Based on These characteristics, the above-mentioned encrypted laser ranging system of pulse parameter can be widely used in missile-borne near field ranging field over the ground, Apply also for the ADAS of such as automobile, machine people's air defense hinders on civilian installation.

Description of the drawings

Fig. 1 is the circuit theory schematic diagram of the encrypted laser ranging system of pulse parameter of the utility model embodiment.

Ranging process step when Fig. 2 is the application of the encrypted laser ranging system of pulse parameter of the utility model embodiment Schematic diagram.

Specific implementation mode

The utility model is described in detail below with reference to specific embodiments and the drawings.

Embodiment Fig. 1 is please referred to, a kind of encrypted laser ranging system 100 of pulse parameter provided in this embodiment is shown, System 20, microcontroller 30, time-interval-unit are received including laser detector, impulse ejection system 10, laser pulse (abbreviation TDC) 40 and impulse modulation code device 50, the impulse ejection system 10 are used for emission pulse laser, the laser arteries and veins Reception system 20 is rushed to be used to before the pulse echo of detection target reflection enters laser detector be received and be handled, it is described micro- Controller 30 receives system 20 with laser detector, impulse ejection system 10, laser pulse and connects and provide corresponding control respectively Signal processed is calculated and is handled to read corresponding measurement data, the impulse modulation code device 50 respectively with microcontroller The connection of device 30, impulse ejection system 10 connect, and to the Laser emission arteries and veins of impulse ejection system 10 under the control of microcontroller 30 It rushes frequency, width or peak power Stochastic Modulation coding and sends and receives demodulation, the time-interval-unit 40 and micro-control Device 30 and impulse modulation code device 50 connection processed, is used for instant recording laser firing pulses frequency, width or peak power The time of Stochastic Modulation coding and feeds back to microcontroller 30 at timing end point, and the microcontroller 30 is in demodulation according to the time The time and laser firing pulses frequency of interval measurement unit record, width or peak value demodulation go out corresponding reception laser, measure Required data.

Specifically, as shown in Figure 1, the impulse modulation code device 50 includes impulse generating unit 51 and impulse modulation list Member 52, the impulse generating unit 51 is connect with impulse ejection system 10, is provided for laser emission element required modulated Pulse signal, the pulse modulation unit 52 are connect with impulse generating unit 51, to be modulated to pulse signal.In addition, arteries and veins It rushes generating unit 51 and is also connected to time-interval-unit 40, time-interval-unit 40 1 is just given in pulsing Initial signal, time-interval-unit 40 start timing.The modulating-coding of pulse modulation unit 52 is encoded using dynamic random, The external world can not decode at all, moreover, the parameter of laser firing pulses frequency, width or peak power and environment through ovennodulation is not Together, external interference is avoided.Specifically, by taking pulse width as an example, the utility model people of the application is by modulating Laser emission arteries and veins Width is rushed, laser emitting power periodically-varied is made, propagation attenuation is theoretical in an atmosphere for laser by, establishes polyalgorithm mould Type.It calculates under same period same distance and object, different pulse transmission power pad values, after testing and verification, shape At pad value typical case library model under the conditions of the multiple laser firing pulses power grades of near field ranging, pulse tune is established based on this Range processed.

The impulse ejection system 10 includes semiconductor laser 11, LD bias voltage generators 12, LD driving circuits 13, The LD bias voltage generators 12 are connect with semiconductor laser, are driven with providing the bias voltage needed for work and being loaded onto LD In dynamic circuit 13, driving semiconductor laser shines, and the impulse generating unit 51 is connect with LD driving circuits 13, is driven for LD Circuit 13 provides required modulated pulse signal.Semiconductor laser preferably uses the laser light of 905nmr laser diodes Source, photopeak value algorithm for power modulation range is in 10w~80w.Preferably, semiconductor laser be LD driving circuits 13 provide 5ns~ Narrow pulse signal modulated 100ns.

Further, it includes APD driving circuits 21, APD bias generators 22 and partially that the laser pulse, which receives system 20, Press control circuit 23, controllable gain amplifying circuit, moment discrimination circuit 26.The APD bias generators 22 and APD driving circuits 21 connections, are loaded onto with providing bias voltage in APD driving circuits 21, the controllable gain amplifying circuit and APD driving circuits 21 connections, the APD driving circuits 21 are sent to controllable gain amplification for reading the pulse echo reflected by detection target It is amplified in circuit, the controllable gain amplifying circuit is connect with moment discrimination circuit 26, for passing through the result of amplification Moment discrimination circuit 26 differentiates, and time identification result is sent into time-interval-unit 40, as timing end point.

Specifically, the controllable gain amplifying circuit includes controllable gain amplifier 24, peak detection circuit 25, gain control Circuit 28 processed, the controllable gain amplifier 24 connect, the gain control signal to be amplified to receive with APD driving circuits 21 Circuit 28 is connect with controllable gain amplifier 24 to carry out gain control to it, and the peak detection circuit 25 is connected to controllable increasing Beneficial amplifier 24 is detected examination for the result to amplification, and is sent in microcontroller 30 and carries out analyzing processing.Its In, gain control circuit 28 is controlled according to the instruction of microcontroller 30.Specifically, in gain control circuit 28 and microcontroller A digital analog converter 27 (abbreviation DAC) is connected between device 30, by microcontroller 30 according to digital independent and demodulation The needs of coding are supplied to gain control circuit 28 with the analog signal of required gain, then feed back to controllable gain amplifier 24 In pulse echo is amplified.There are one analog-digital converters for connection between peak detection circuit 25 and microcontroller 30 29 (abbreviation ADC), will amplify and the parameter signals such as the laser peak by differentiating detection are by analog-to-digital conversion, feed back to microcontroller Device 30 carries out Data Analysis Services by microcontroller 30.

The time-interval-unit 40 includes timing chip TDC/GP2 and peripheral circuit, the time interval measurement Unit 40 provides the time difference measurement less than 65ps for system, and it is 1cm or less so that the precision of measurement is reached minimum resolution.Peripheral circuit Including register control circuit, register circuit, SPI interface circuitry, ALU circuitry, decoder circuit etc..Further, described Impulse generating unit 51 is connect with time-interval-unit 40, so that its transmitting is swashed to impulse ejection system sending out pulse signal Light time sends timing signal to time-interval-unit 40, it is made to start timing.

Preferably, the impulse modulation code device 50 simultaneously to laser firing pulses frequency, width and peak power into Mobile state Stochastic Modulation encodes, and the laser firing pulses frequency is that dynamic random is encrypted, the laser firing pulses width The dynamic random modulating-coding within the scope of 5ns~100ns, the laser firing pulses peak power are moved within the scope of 10w~80w State Stochastic Modulation encodes, and the microcontroller 30 records laser firing pulses frequency, width and the peak work of dynamic random modulation Rate and corresponding time, and when receiving to corresponding laser firing pulses frequency, width and peak power and corresponding Time is identified and handles.

Further, which further includes Power Management Unit 60 and optical system, and Power Management Unit 60 is used for will Externally fed is converted to the required voltage of system components to power, and the microcontroller 30 connects with Power Management Unit 60 It connects, to control Power Management Unit 60, independent shutdown is carried out to each section in encryption system.Optical system is located at APD (photodetector) front end has collimation lens, will first be emitted after laser alignment that semiconductor laser generates with collimation lens To measured object；Optical system converges to received laser echo signal on the photosurface of APD, to improve opto-electronic receiver The detectivity of device.The optical system of the present embodiment receives emergent pupil bore 18mm, the ray machine of focal length 40mm using transmitting so that Whole system 100 is small, light-weight, and low in energy consumption, high-low temperature resistant.

Microcontroller 30 mainly uses microprocessor, it is preferred to use FBGA (fine-pitch ball grid array) passes through microcontroller 30 data handled well are exported by serial ports 32, for example, TTL serial ports or RS422 serial ports can be used.Microcontroller 30 is mainly system The normal work of 100 each sections provides control signal, and by SPI mouthfuls of configuration TDC/GP2 chips, and reads and measure knot accordingly Fruit is calculated and is handled, and sending to being sent to serial ports for completion is handled.

In practical application, the encrypted laser ranging system of above-mentioned pulse parameter 100 can be used for ranging, it is used for example in and drives Auxiliary system, Unmanned Systems and mobile robot, UAV avoidance and navigation field are sailed, bullet is particularly applied to Carry pulsed laser ranging.Incorporated by reference to Fig. 1 referring to Fig.2, the distance measuring method of the system 100 includes the following steps：

Step S01：Impulse ejection system 10 and impulse modulation code device 50 are controlled by microcontroller 30, pulse is made to send out Penetrate system 10 and emit laser, and control 50 dynamic random of impulse modulation code device modulation laser firing pulses frequency, width or Peak power makes laser emitting parameter change；

Step S02：It is modulated and is compiled by time-interval-unit recording impulse modulating-coding device 50 while modulation The time of code simultaneously feeds back to microcontroller 30；

Step S03：After the pulse laser emission of modulating-coding to detection target, system 20 is received by laser pulse and is connect It receives and handles, handling result feeds back to microcontroller 30, while recording timing end point by time-interval-unit；

Step S04：Microcontroller 30 receives the pulse signal and time interval survey that system 20 is fed back according to laser pulse The temporal information for measuring unit feedback demodulates laser signal, analyzes calculation processing, and detection target information is obtained.

In being described such as the preceding structure to system 100 it is found that in step S01,30 impulse modulation code device of microcontroller 50 are modulated coding, and specifically pulse modulation unit 52 is modulated coding, mainly needle to impulse generating unit 51 in order to control Pulse parameter is modulated, the present embodiment is preferably carried out at the same time modulation to laser firing pulses frequency, width and peak power, Anti-interference is improved, then pulse signal is forced in impulse ejection system 10, Laser emission to detection by impulse generating unit 51 In target.

In step S02, while modulating-coding, impulse generating unit 51 forces pulse signal in impulse ejection system Start timing at the time of 10, at this moment laser also begins to emit, and originates timing, and feed back to microcontroller 30.

In step S03, after the pulse laser emission of modulating-coding to detection target, through reflection, connect by laser pulse Receipts system 20 receives and processes.Specifically, APD bias generators 22 are provided for APD with bias control circuit 23 and are accurately biased In voltage-drop loading to APD driving circuits 21 (being put before as APD), when APD receives the pulse echo reflected by detection target, APD driving circuits 21 are read out, and are sent into controllable gain amplifying circuit and be amplified, and the result of amplification is sent into peak detection Moment examination is carried out in circuit 25, and the result differentiated constantly is sent into time-interval-unit 40, as timing end point (stop1 signals).

In step S04, after microcontroller 30 receives digital signal, the pulse that system 20 is fed back is received according to laser pulse The temporal information of signal and time-interval-unit feedback, demodulates laser signal, analyzes calculation processing, visited Survey target information.That is, calculating the relative position of detection target by laser distance measuring principle.

In actually measuring application, detection and typical library are carried out over the ground with the pulse of the multiple power grades of measurement period Comparison is corrected, and is obtained one group of distance value, then after being analyzed its discreteness by algorithm, is obtained accurate single measurement distance Value.

The encrypted laser ranging system 100 of above-mentioned pulse parameter and method pass through microcontroller 30 and control impulse modulation and compile Laser firing pulses frequency, width or the peak power of code 50 Stochastic Modulation coded pulse emission system 10 of device, in demodulation, Since microcontroller 30 describes the pulse parameter of modulation, when by targetedly filtering out the laser of corresponding parameter, and combine Between interval measurement unit record time, analyze and be accurately calculated the relative distance of practical detected target, precise and high efficiency. Moreover, by pulse parameter carry out Stochastic Modulation, outside be difficult interference obscure, thus, it is possible to be effectively prevented from external interference or It lures partially, improves anti-interference ability and anti-blinding, lures inclined ability, and the interference effect of external environment can be eliminated, micro- of impedance air The false-alarm interference of grain object etc..Based on These characteristics, the above-mentioned encrypted laser ranging system of pulse parameter can be widely used in missile-borne Near field ranging field over the ground applies also for the ADAS of such as automobile, machine people's air defense hinders on civilian installation.

It should be noted that the utility model is not limited to the above embodiment, creation essence according to the present utility model God, those skilled in the art can also make other variations, these variations done according to the creative spirit of the utility model, all It should be within the scope of the utility model be claimed.

Claims (10)

1. a kind of encrypted laser ranging system of pulse parameter, which is characterized in that including laser detector, impulse ejection system, Laser pulse receives system, microcontroller, time-interval-unit and impulse modulation code device, the impulse ejection system For emission pulse laser, the laser pulse receives system and is used to enter laser acquisition in the pulse echo of detection target reflection It is received and is handled before device, the microcontroller receives system with laser detector, impulse ejection system, laser pulse respectively Corresponding control signal is connected and provided, is calculated and is handled to read corresponding measurement data, the impulse modulation coding Device is connect with microcontroller respectively, impulse ejection system connects, and is swashed to impulse ejection system under microcontroller control Light emitting pulse frequency, width or peak power Stochastic Modulation coding send and receive demodulation, the time-interval-unit It is connect with microcontroller and impulse modulation code device, is used for instant recording laser firing pulses frequency, width or peak work The time of rate Stochastic Modulation coding and feeds back to microcontroller at timing end point, and the microcontroller is in demodulation according between the time Go out corresponding reception laser every the time and laser firing pulses frequency of measuring unit record, width or peak value demodulation.

2. the encrypted laser ranging system of pulse parameter as described in claim 1, which is characterized in that the impulse modulation coding Device includes impulse generating unit and pulse modulation unit, and the impulse generating unit is connect with impulse ejection system, is laser Transmitter unit provides required modulated pulse signal, and the pulse modulation unit is connect with impulse generating unit, with to arteries and veins Signal is rushed to be modulated.

3. the encrypted laser ranging system of pulse parameter as claimed in claim 2, which is characterized in that the impulse ejection system Including semiconductor laser, LD bias voltage generators, LD driving circuits, the LD bias voltage generators and semiconductor laser Device connects, and to provide the bias voltage needed for work and be loaded onto in LD driving circuits, driving semiconductor laser shines, described Impulse generating unit is connect with LD driving circuits, and required modulated pulse signal is provided for LD driving circuits.

4. the encrypted laser ranging system of pulse parameter as described in claim 1, which is characterized in that the laser pulse receives System includes APD driving circuits, APD bias generators and bias control circuit, controllable gain amplifying circuit, moment discriminating electricity Road, the APD bias generators are connect with APD driving circuits, are loaded onto in APD driving circuits with providing bias voltage, described Controllable gain amplifying circuit is connect with APD driving circuits, and the APD driving circuits are for reading the pulse reflected by detection target Echo, and be sent in controllable gain amplifying circuit and be amplified, the controllable gain amplifying circuit connects with moment discrimination circuit It connects, time-interval-unit is sent into for differentiating the result of amplification by moment discrimination circuit, and by time identification result, As timing end point.

5. the encrypted laser ranging system of pulse parameter as claimed in claim 4, which is characterized in that the controllable gain amplification Circuit includes controllable gain amplifier, peak detection circuit, gain control circuit, and the controllable gain amplifier drives with APD Circuit connection is signal to be amplified to receive, and the gain control circuit is connect with controllable gain amplifier to carry out gain control to it System, the peak detection circuit are connected to controllable gain amplifier, are detected examination for the result to amplification, and be sent to Analyzing processing is carried out in microcontroller.

6. the encrypted laser ranging system of pulse parameter as claimed in claim 5, which is characterized in that the time interval measurement Unit includes timing chip TDC/GP2 and peripheral circuit, the time-interval-unit for system provide less than 65ps when Difference measurements, it is 1cm or less so that the precision of measurement is reached minimum resolution.

7. the encrypted laser ranging system of pulse parameter as claimed in claim 6, which is characterized in that the impulse modulation coding Device carries out dynamic random modulating-coding, the Laser emission arteries and veins to laser firing pulses frequency, width and peak power simultaneously It is that dynamic random is encrypted to rush frequency, and laser firing pulses width dynamic random modulation within the scope of 5ns~100ns is compiled Code, laser firing pulses peak power dynamic random modulating-coding within the scope of 10w~80w, the microcontroller record Laser firing pulses frequency, width and the peak power of dynamic random modulation and corresponding time, and when receiving to corresponding Laser firing pulses frequency, width and peak power and the corresponding time be identified and handle.

8. the encrypted laser ranging system of pulse parameter as described in claim 1, which is characterized in that further include power management list Member, the Power Management Unit are used to externally fed being converted to the required voltage of system components to power, the micro-control Device processed is connect with Power Management Unit, and to control Power Management Unit, independent pass is carried out to each section in encryption system It is disconnected, point independent shutdown of progress.

9. the encrypted laser ranging system of pulse parameter as claimed in claim 2, which is characterized in that the impulse generating unit Connect with time-interval-unit, send out pulse signal to impulse ejection system make its emit laser when, send timing letter Number give time-interval-unit.

10. the encrypted laser ranging system of pulse parameter as described in claim 1, which is characterized in that further include optical system, The optical system includes collimation lens and by plus lens, is respectively used to send out after laser alignment that semiconductor laser generates It is incident upon on measured object, converges to the laser echo signal received on the photosurface of laser detector.