FR3121232B1 - Procédé et dispositif de mesure de distance par calcul de temps de vol avec rebouclage - Google Patents

Procédé et dispositif de mesure de distance par calcul de temps de vol avec rebouclage Download PDF

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Publication number
FR3121232B1
FR3121232B1 FR2103215A FR2103215A FR3121232B1 FR 3121232 B1 FR3121232 B1 FR 3121232B1 FR 2103215 A FR2103215 A FR 2103215A FR 2103215 A FR2103215 A FR 2103215A FR 3121232 B1 FR3121232 B1 FR 3121232B1
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FR
France
Prior art keywords
loopback
distance
flight
feedback
determining
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR2103215A
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English (en)
Other versions
FR3121232A1 (fr
Inventor
Etienne Bossart
Ji Nan Li
Cedric Colombo
Thomas Perotto
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
STMicroelectronics Beijing R&D Co Ltd
STMicroelectronics Grenoble 2 SAS
ST MICROELECTRONICS Ltd
Original Assignee
STMicroelectronics Beijing R&D Co Ltd
STMicroelectronics Grenoble 2 SAS
ST MICROELECTRONICS Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by STMicroelectronics Beijing R&D Co Ltd, STMicroelectronics Grenoble 2 SAS, ST MICROELECTRONICS Ltd filed Critical STMicroelectronics Beijing R&D Co Ltd
Priority to FR2103215A priority Critical patent/FR3121232B1/fr
Priority to US17/655,118 priority patent/US20220308229A1/en
Publication of FR3121232A1 publication Critical patent/FR3121232A1/fr
Application granted granted Critical
Publication of FR3121232B1 publication Critical patent/FR3121232B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • 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
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • 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
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
    • G01S13/22—Systems for measuring distance only using transmission of interrupted, pulse modulated waves using irregular pulse repetition frequency
    • G01S13/227—Systems for measuring distance only using transmission of interrupted, pulse modulated waves using irregular pulse repetition frequency with repetitive trains of uniform pulse sequences, each sequence having a different pulse repetition frequency
    • 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
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G01S7/4863—Detector arrays, e.g. charge-transfer gates
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L31/00—Semiconductor devices sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof
    • H01L31/08—Semiconductor devices sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof in which radiation controls flow of current through the device, e.g. photoresistors
    • H01L31/10—Semiconductor devices sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof; Details thereof in which radiation controls flow of current through the device, e.g. photoresistors characterised by potential barriers, e.g. phototransistors
    • H01L31/101—Devices sensitive to infrared, visible or ultraviolet radiation
    • H01L31/102—Devices sensitive to infrared, visible or ultraviolet radiation characterised by only one potential barrier
    • H01L31/107—Devices sensitive to infrared, visible or ultraviolet radiation characterised by only one potential barrier the potential barrier working in avalanche mode, e.g. avalanche photodiodes

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Power Engineering (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

Procédé et dispositif de mesure de distance par calcul de temps de vol avec rebouclage La présente description concerne un procédé de mesure de la distance entre un dispositif et un objet comprenant les étapes de a) déterminer une première distance estimée (RANGE1) sur la base de temps de parcours de premières impulsions lumineuses ayant une première période (TE1) ; b) déterminer une deuxième distance estimée (RANGE2) sur la base de temps de parcours de deuxièmes impulsions lumineuses ayant une deuxième période différente de la première période (TE2) ; c) déterminer à partir de l'écart (ΔR1) entre les première et deuxième distances estimées si le dispositif est dans une plage de rebouclage parmi des plages de rebouclage (Z2, Z3, Z4, Z5) ; et d) si le dispositif est dans une plage de rebouclage parmi des plages de rebouclage, ajouter à la première distance estimée une compensation dont la valeur dépend de la plage de rebouclage déterminée à l'étape c). Figure pour l'abrégé : Fig. 6
FR2103215A 2021-03-29 2021-03-29 Procédé et dispositif de mesure de distance par calcul de temps de vol avec rebouclage Active FR3121232B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR2103215A FR3121232B1 (fr) 2021-03-29 2021-03-29 Procédé et dispositif de mesure de distance par calcul de temps de vol avec rebouclage
US17/655,118 US20220308229A1 (en) 2021-03-29 2022-03-16 Method and device of distance measurement by time-of-flight calculation with wraparound

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2103215 2021-03-29
FR2103215A FR3121232B1 (fr) 2021-03-29 2021-03-29 Procédé et dispositif de mesure de distance par calcul de temps de vol avec rebouclage

Publications (2)

Publication Number Publication Date
FR3121232A1 FR3121232A1 (fr) 2022-09-30
FR3121232B1 true FR3121232B1 (fr) 2023-03-31

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FR2103215A Active FR3121232B1 (fr) 2021-03-29 2021-03-29 Procédé et dispositif de mesure de distance par calcul de temps de vol avec rebouclage

Country Status (2)

Country Link
US (1) US20220308229A1 (fr)
FR (1) FR3121232B1 (fr)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT511310B1 (de) * 2011-04-07 2013-05-15 Riegl Laser Measurement Sys Verfahren zur entfernungsmessung
FR3034513A1 (fr) * 2015-04-02 2016-10-07 Stmicroelectronics (Grenoble 2) Sas
EP3267224B1 (fr) * 2016-07-06 2019-02-27 Riegl Laser Measurement Systems GmbH Procédé de télémétrie

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Publication number Publication date
US20220308229A1 (en) 2022-09-29
FR3121232A1 (fr) 2022-09-30

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