WO2017176172A1 - Dispositif optique pour déterminer une distance jusqu'à un objet - Google Patents

Dispositif optique pour déterminer une distance jusqu'à un objet Download PDF

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Publication number
WO2017176172A1
WO2017176172A1 PCT/RU2017/050017 RU2017050017W WO2017176172A1 WO 2017176172 A1 WO2017176172 A1 WO 2017176172A1 RU 2017050017 W RU2017050017 W RU 2017050017W WO 2017176172 A1 WO2017176172 A1 WO 2017176172A1
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Prior art keywords
input
output
signal
block
optical
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PCT/RU2017/050017
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English (en)
Russian (ru)
Inventor
Владимир Владиславович ИМШЕНЕЦКИЙ
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Владимир Владиславович ИМШЕНЕЦКИЙ
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Publication of WO2017176172A1 publication Critical patent/WO2017176172A1/fr

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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
    • G01S17/06—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
    • 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
    • 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
    • G01S17/14—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein a voltage or current pulse is initiated and terminated in accordance with the pulse transmission and echo reception respectively, e.g. using counters

Definitions

  • This invention relates to the field of measuring distances to an object using electromagnetic waves, and more particularly to optical devices for determining distances to an object, including a radiation source to the object of a modulated binary optical signal, a probe sequence generator, a clock signal generator, a photosensitive detection element the reflected optical signal from the object, the integration unit, the module for calculating the correlation of the emitted and reflected signals m a module for threshold detection of a signal, a module for calculating the distance to a detected object from the time delay of the reflected signal, a block for calculating the time delay of the reflected signal, and can be used, for example, in navigation, including unmanned aerial vehicles, as well as in laser location while operating multiple time synchronized similar systems.
  • CMOS complementary metal-oxide-semiconductor structure
  • English CMOS complementary metal-oxide-semiconductor
  • CMOS circuits have high speed and low power consumption.
  • LADAR a laser locator
  • laser radar an abbreviation for the Russian or English version of the "laser radar", where the radar from the English.
  • radar radio detection and ranging
  • LIDAR Light Identification Detection and Ranging - light detection and ranging
  • Lidar how the device is how minimum active rangefinder optical range. Usually in Russia, such devices are called laser rangefinders and laser locators.
  • Pseudo-random (pseudo-noise) sequences are completely deterministic digital sequences that they seem random to the outside observer.
  • Signal multiplexing - channel multiplexing i.e. transmission of several data signal streams on one channel.
  • VKF is a cross-correlation function.
  • Rxy () ⁇ x (t) y (t-z) dt, where [0, ⁇ ] is the integration interval, and
  • the duration of the reference signal y (t), as a rule, is significantly less than T.
  • the distance to objects is measured by sending an optical signal, for example, laser radiation, receiving a reflected signal, determining the delay time and calculating the distance from it.
  • an optical signal for example, laser radiation
  • the cell (pixel) of the receiving matrix contains one element generating a photocurrent (photo gate) and two structures (CMOS / MOS) capable of accumulating, holding and removing charge Q.
  • the photos enters through the transfer gate 1 to the charge storage device Qi, and during the period of time [ ⁇ - ⁇ + ⁇ 0 , ⁇ - ⁇ +2 * ⁇ 0 ] enters through the transfer gate 2 to the charge storage device Q 2 .
  • the charge stores act as integrators of the photocurrent on the To segments. Draining gates are used to quickly remove accumulated charges of Qi and 0 2 . The values of the accumulated charges Qi and Q 2 are used to determine dt by the following calculation:
  • This method is used to determine the distance to the surface of objects in those cases when Ti is less than, or at least in order of magnitude commensurate with T 0 values.
  • this method is called Time-Dependent Charge Detection *, which can be translated as charge detection, time-dependent flight (TOF).
  • TOF time-dependent flight
  • optical device for determining distances to an object, including:
  • the output of the signal correlation calculation module is connected to the input of the threshold signal detection module, the output of which is connected to
  • This device is the closest in technical essence and the achieved technical result and is selected as a prototype of the invention as a device.
  • the disadvantage of this prototype is that as soon as several such optical devices are used at the same time, each of which emits a modulated binary optical signal to the object, instead of fixing “its” reflected signal, a signal that is emitted by another device can be recorded. It can be, for example, optical devices mounted on dump trucks working in a quarry without access by people. Or it’s several robots leading an offensive or several optical devices installed on one vehicle means, while their sectors of vision intersect. All this leads to errors in determining the distance to the object.
  • the present invention mainly aims to provide an optical device for determining distances to an object, which allows at least smoothing at least one of the above disadvantages, namely, to maximize the suppression of the mutual influence of the probing signals of optical devices on their determination of ranges to probed objects in a group simultaneously operating on the same probed objects in the same frequency (optical) range of optical devices, which is supplied second technical problem.
  • an optical device for determining distances to an object further includes:
  • the output of the integration unit is connected to the input of an analog-to-digital signal converter from the photosensitive element to a digital signal, the output of which is connected to the input of the correlation calculation module of the emitted and reflected signals.
  • an analog-to-digital converter is not used, and the signals from the integration unit are fed directly to the discrete-analog signal processing device, which performs the function of the first accumulation unit and the unit for calculating the correlation of the emitted and reflected signals.
  • the discrete-analog signal processing device which performs the function of the first accumulation unit and the unit for calculating the correlation of the emitted and reflected signals.
  • An example of such a device is, for example, the 528XK1 integrated circuit developed in the late 80s, containing an analog discrete memory for 64 samples of the signal and could calculate the correlation with a pseudo-noise binary sequence of length 32. Due to the cascading of the IC, the length of the pseudo-noise sequence could be increased up to 1024.
  • the optical device for determining distances to the object further includes a second storage unit, the first input of which is connected to the output of the signal correlation calculation module, and the second input to the sampling and processing unit of the probing signals, and the output is connected to input of the threshold signal detection module.
  • the output of the analog-to-digital converter is connected to the input of the multiplexer, the output of which is connected to the input of the first storage unit, while the output of the second storage unit or the output of the signal correlation calculation module is connected to the input of the demultiplexer, the output of which is connected with the input of the threshold signal detection module.
  • a signal conjunction block one input of which is connected to the output of the module for calculating the distance to the detected object from the time delays of the reflected signal, and another input, which is connected to the output of the clock signal generator, and the output of the signal conjunction block is connected with the input of the integration unit, and with the input of the analog-to-digital converter, and with the input of the first storage unit.
  • the reference source of the exact time and frequency signals comprises a receiver of the exact time and frequency, receiving a signal from at least one other reference source located remotely, a unit for correcting the exact time at the location of the optical device, and a synchronization and frequency adjusting unit for the reference source of accurate time and frequency signals.
  • the photosensitive element for detecting the reflected optical signal or the optical device or the receiving path of the optical device is located on the gyro stabilization device.
  • the photosensitive element for detecting the reflected optical signal has a polarizing filter placed in front of the input of the optical signal to the photosensitive element. Due to this advantageous characteristic, it becomes possible to increase the signal-to-noise ratio and, therefore, increase the accuracy of measuring distances to reflecting objects.
  • figure 1 schematically depicts a functional diagram of the proposed optical device according to the invention
  • FIG. 8 depicts the pulses of the emitted binary optical signal and the pulses of the same signal reflected from the object, the results of processing the received signal reflected from the object at various stages of processing the received reflected signal.
  • the optical device for determining distances to the object includes a radiation source 1 to the object 2 of the modulated binary optical signal, the input of which is connected to the output of the generator 3 of the generator for generating a probing sequence, the input of which is connected with the output of the clock signal generator 4, the photosensitive element 5 for detecting the reflected optical signal from the object, the output of which is connected to the input of the integration unit 6, the output of which is connected to the input of the analog-to-digital converter 7 of the signal from the photosensitive element to a digital signal, and the output of the analog-to-digital converter 7 is connected to the input of the module 8 for calculating the correlation of the emitted and reflected signals, and the output of the module 8 for calculating the correlation of signals is connected to the input of the module 9 of the threshold detection signal detection, the output of which is connected to the input of the module 10 for calculating the distance to the detected object by the time delay of the reflected signal containing the block 1 1 for calculating the time delay of the reflected signal, the output
  • the optical device for determining distances to the object further includes: a first storage unit 12, the input of which is connected to the output of the analog-to-digital converter 7, and the output is connected to the input of the signal correlation calculation module 8, a reference source 14 of accurate time and frequency signals, an output which is connected to the input of the block 15 of the formation of the clock pulse at the beginning of the sensing cycle at the same time on different lidars, the second input of which is connected to the output of the clock generator 4, and the output is bl eye 15 is connected to the input of the block 16 for counting sounding cycles, the output of which is connected to the input of the block 17 for sampling and processing of sounding signals, the outputs of which are connected to the input of the generator 3 for creating modulation of the sounding optical signal, the input of the correlation calculation module 8, the input of the first accumulation block 12, s the input of the module 10 calculating the distance to the determined object by the time delay of the reflected signal.
  • the optical device for determining distances to the object may additionally include a second storage unit 13, the input of which is connected to the output of the signal correlation calculation module 8, and the output is connected to the input of the threshold detection module 9, the second input of which is connected to the output of the sampling and processing unit 17 sounding signals
  • the output of the analog-to-digital converter 7 can be connected to the input of the multiplexer 18, the output of which is connected to the input of the first storage unit 12, while the output of the second storage unit 13 is connected to the input demultiplexer 19, the output of which is connected to the input of module 9 of the threshold signal detection.
  • the optical device may optionally have a signal conjunction block 20, one input of which is connected to the output of the module 10 for calculating the distance to the detected object from the time delay of the reflected signal, and another input, which is connected to the output of the clock signal generator 4, and the output of the signal conjunction block is connected to the input unit 6 integration, and with the input of the analog-to-digital Converter 7, and with the input of the first accumulation unit 12.
  • a signal conjunction block 20 one input of which is connected to the output of the module 10 for calculating the distance to the detected object from the time delay of the reflected signal, and another input, which is connected to the output of the clock signal generator 4, and the output of the signal conjunction block is connected to the input unit 6 integration, and with the input of the analog-to-digital Converter 7, and with the input of the first accumulation unit 12.
  • the reference source 14 of the exact time and frequency signals may optionally have a unit 21 for correcting the exact time according to the location of the optical device, a unit 22 for adjusting the frequency of the reference source of the signals for the exact time and frequency, and unit 23 for receiving signals of the exact time and frequency from a remote radiation source of the exact time and frequency.
  • Block 6 integration can be connected to block 12 directly.
  • the photosensitive element for detecting the reflected optical signal or the optical device itself or the receiving path of the optical device is located on the gyroscopic stabilization device.
  • the photosensitive element for detecting the reflected optical signal may have a polarizing filter placed in front of the input of the optical signal to the photosensitive element.
  • the photosensitive element for detecting the reflected optical signal from the object can be made in the form of elements of the photosensitive matrix. Elements of the photosensitive matrix can be placed on the matrix together with integration devices, which are used as metal-dielectric-semiconductor structures integrating the photocurrent.
  • integration devices which are used as metal-dielectric-semiconductor structures integrating the photocurrent.
  • An optical device for determining distances to an object operates as follows. Here is the most comprehensive example of the invention, bearing in mind that this example does not limit the application of the invention. We show this with various examples. First, we give an example of additional sequences, which are D-codes.
  • i 1, 2,3 is the number of the corresponding
  • a cascade of a similar device cascade of calculators
  • the same device is also suitable for calculating the correlation with D codes read in the reverse order.To do this, the processed signal must be sent to the input of the device and the subtract slyaemuyu CCF.
  • the same correlation calculation device can be used to calculate correlation with discrete signals coming from several channels. So if it is necessary to carry out calculations from M channels in parallel, then the number of delay clocks in all delay lines used in the cascade computer in each of the cascades should be increased M times.
  • the signals in the cascade calculator are supplied through the multiplexer, and are read through the demultiplexer. This simplifies processing and reduces the amount of memory used for computing cells.
  • Optical devices (lidars) and probed objects can be in motion, which under certain conditions can lead to limitations on the ability to accumulate received and processed signals in the first and second signal storage devices.
  • L1 lidar carries out 256 sounding cycles without pauses.
  • the duration of the sensing cycle is 30 ⁇ s, which corresponds to a range of permitted ranges of 4.5 km.
  • the interval of integration of the photocurrent for obtaining floppy samples is also 0.05 ⁇ s.
  • a cascade calculator (see Fig. 2) is used, consisting of nine cascades in which delays are set at 128, 1, 64, 2, 32, 4, 16, 8, 256 cycles, respectively, and between the last and the penultimate connection cascade produced, so that the first output of the penultimate cascade is connected to the second input of the last cascade and the second output of the penultimate cascade is connected to the first input of the last cascade.
  • This VKF is shown in FIG. 3.
  • the ordinate axis shows the amplitude at the output of the cascade computer (Fig. 2), when its sequence X is fed to the input, the normalized time t / T 0 (or the clock number) is along the abscissa axis.
  • the cascade calculator functions as a correlation calculation device (block 8 of FIG. 1)
  • the cascade calculator functions as a correlation calculation device (block 8 of FIG. 1)
  • the level of the VCF lobes with respect to the amplitude of the correlation response obtained when a matched sequence (signal) is input is at the level of ⁇ 4 / (N / 2) 1 2 .
  • the disadvantages of the example of N ° 3 suppression include the fact that to increase the suppression depth (the ratio of the amplitude of the correlation response received at the output of the correlation calculation device 8) when a matched sequence with the number of positions N is supplied to its input, the maximum level of the side lobes of the FCF when feeding to its input of another random or pseudo-random sequence with the same number of positions and the same amplitude), it is necessary to increase N - the length of the sequence.
  • the sign “x” means that output 1 of one cascade is connected to input 2 of the subsequent cascade and output 2 is connected to input 1, respectively.
  • Code sequences K1, K2, KZ, K4 are used to modulate binary optical signals emitted by lidar as probing in series. Modulation is that according to a clock single with frequency f MOfl .
  • f MOfl frequency
  • the duration of the emitted binary optical signal modulated by a code sequence is 8T 0 , where 8 is the length of the code sequences K1, K2, KZ, K4.
  • K1, K2, KZ, K4 are emitted periodically with a period of T 30N d-
  • T 3 ond 2R MaK c- / C, where C is the speed of light, R Ma Kc- is the upper limit of the range of permitted ranges to the probed objects.
  • the figure 8 presents the clock (graph A of Fig. 8).
  • the emitted binary optical signal modulated by the sequence K1 (graph B, Fig. 8) and the same singal reflected from the object (graph C, Fig. 8).
  • FIG. 8 shows a discrete sequence obtained by integration.
  • the correlation calculation unit 8 the correlation between the discrete sample of length 8 of the corresponding sample D and read from the first block accumulation sequence.
  • the cascade calculator shown in FIG. 6 is used to calculate the discrete correlation, and the desired VKF is read from the output 1 of the device in FIG. 6
  • the discrete sequence from block 8 is synchronously recorded in the memory cells of the second accumulation block, and the accumulation cell number corresponds to the number of the discrete readout.
  • the correlation calculation unit 8 a correlation between a discrete sample of length 8 of the corresponding sample D and read from the first sequence accumulation unit is calculated.
  • the cascade calculator shown in FIG. 6 is used to calculate the discrete correlation, and the required VKF is read from the output 2 of the device in FIG. 6
  • the discrete sequence from block 8 is added to the values recorded in the memory cells of the second accumulation block, and the number of the memory cell corresponds to the number of the discrete readout.
  • the contents of the memory cell, containing, the result of addition is fed to the threshold detector 9 when the threshold is exceeded, the information about the number of memory cells whose contents exceeded the threshold is supplied to the block 10 for calculating the distance to the probed object.
  • Table 5 shows the amplitudes of the signals at the outputs of the L1 lidar blocks depending on the number of the clock pulse and the number of the sounding cycle, the number of memory cells of the first and second drives and are tied to the number of the clock pulse supplied to the integration unit 6 in each sounding cycle. Table 5. The amplitudes of the signals at the outputs of the blocks / modules of the L1 lidar, depending on the number of the clock pulse and the number of the sensing cycle.
  • the threshold detector detected an excess of the threshold at the output of the accumulation block (for example, let the threshold level of signal detection be equal to 1 .0). Define the delay of the received signal relative to the probing one. Roughly according to the number of the clock on which the threshold detection occurred. The number of this clock in this example is 14.
  • Block delay calculation accurately calculates block 1 1.
  • block 17 provides modulation of the binary optical signal in the first sensing cycle, the sequence K1, on the second K2, on the third short circuit and on the fourth K4, in addition, block 17 determines the order of actions with memory cells of the first and second drives, and the discrete values are discrete in the first sensing cycle counts from block 7 are recorded in the memory cells of the first drive, and on the second are subtracted from the contents of the memory cells, while the subtraction result is transmitted to block 8, and the calculation result from block 8 is transferred to the second storage Tel and so on.
  • Lidar L2 works simultaneously with lidar L1 with the same clock frequency of synchronization pulses; the beginning and end of the sounding cycles coincide in time.
  • Lidar L2 uses a different set of code sequences, let's call them L1, L2, L3, L4.
  • sequence C we form the sequence L1 by replacing “-1” with “0”, we also form the sequence L2 by replacing “1” with “0” and “-1” with “1”. Similarly, from the sequence C we form the sequences L3 and L4.
  • L4 0 0 1 0 1 0 0 0 0 0 0
  • the code sequences L1, L2, L3, L4 are used to modulate binary optical signals emitted by the lidar L2 as probing ones.
  • Table 8 shows the amplitudes of the singals at the outputs of the L1 lidar blocks when it receives the L2 lidar signal, depending on the number of the clock pulse and the number of sensing circuits.
  • Table 8 The amplitudes of the singals at the outputs of the L1 lidar blocks when they receive the L2 lidar signal, depending on the number of the clock pulse and the number of the sensing circuit.
  • the optical signal of the lidar L1 will also be suppressed in the receiving path of the lidar L2. Thanks to this, two lidars can work simultaneously, without interfering with each other's work.
  • the lidars L1 and L2 can mutually receive sounding signals from each other, which can be used, for example, to increase the accuracy of determining the coordinates of targets reflecting an optical signal.
  • Lidar L1 uses the code sequence X from Example 2, let's call it E1.
  • Lidar L2 uses the code sequence Y from Example 2, let's call it E2.
  • Lidar LZ uses the code sequence K1 from Example 3, let's call it EZ.
  • lidars also use ⁇ Goodgeschreibutztownnd*labortechnik ⁇ maneuvers to modulate probe optical singnals, which differ from E sequences by replacing units with zeros and zeros with units.
  • position 1 in the column corresponds to the code sequence E1
  • position "-1" corresponds to the code sequence E1.
  • the received reflected optical signals in the lidar L1 are synchronously detected, by integrating the photocurrent at the intervals T 0 and fed to the first storage unit 12, and on each probe cycle in accordance with the rule given in table 10, the sign of the sequence supplied to the first signal storage unit changes ( 12) negative (“-1” in table 9).
  • Table 10 is also constructed from the Hadamard matrix by discarding the first column of the Hadamard marina. In the first probe cycle, the sequence from block 6 (through block 7) is recorded in the corresponding cells of the first accumulation block, and in subsequent cycles, the corresponding discrete samples obtained from block 6 (through block 7) are added taking into account the sign determined by the rule of Table 10.
  • Table 10 The rule for changing the sign of the sequences supplied to the first accumulation block depending on the sensing cycle and lidar number.
  • the abscissa axis shows the number of the sync pulse from the initial moment of sounding in the lidar L1.
  • graphs A - D of FIG. 9 shows the sequences E1, -E1, E1, -E1 supplied to the first signal storage unit 12, on the first (graph A of Fig. 9), second (graph B of Fig. 9), the third and fourth sensing cycles.
  • sequence change sign block in accordance with the rule given in table 10 in the diagram of FIG. 1 is not specified since actually change sign is equivalent to subtracting discrete samples from the contents of the corresponding memory cells of the first block of accumulation of a discrete signal. In the present and subsequent example, it is introduced to simplify graphical explanations.
  • graph D of FIG. 9 shows a sequence (discrete signal) read from the memory cells of the first accumulation unit 12 and supplied to the discrete correlation calculation unit 8, in the particular case it can be implemented as a cascade computer.
  • block 8 is implemented as a cascade calculator, as in Example 2, then the reading was performed from output 2.
  • the output of the cascade calculator we get a signal with a correlation peak at 2900 clock from the start of sounding (clocks are calculated for each probe cycle, as in Example N ° 4).
  • graphs A - D show the sequences E2, -E2, E2, -E2 (created by the lidar L2) supplied to the accumulation unit 12 of the lidar L1, on the first (graph A, Fig. 10), second (graph B, FIG. 10), the third graph B, FIG. 10), and the fourth graph G, FIG. 10), sounding cycles.
  • the abscissa axis shows the numbers of sync pulses on each probe cycle of the L1 lidar.
  • FIG. 10 shows a sequence (discrete signal) read from the first accumulation unit 12 of lidar L1 and supplied to the correlation calculation unit 8 of lidar L1.
  • the signal read from the first accumulation unit 12 of the lidar L1 is zero. Schedule D, FIG. 10. Accordingly, the L2 lidar will not interfere with further processing of the accumulated signal in the correlation calculation unit 8 of the L1 lidar.
  • FIG. 1 1 on graphs A - D, the sequences EZ, -EOZ, EOZ, -EZ (created by the lidar LZ) are shown, which are supplied to the first block of lidar accumulation L1, on the first (graph A, Fig. 1 1), second (graph B, Fig. 1 1), the third (graph C, Fig. 1 1), and the fourth (graph D, Fig. 1 1), sensing cycles.
  • the abscissa axis shows the numbers of the sync pulses on each probe cycle of lidar 1.
  • FIG. 1 1 shows the sequence (discrete signal) read from the first storage unit 12 of the lidar L1 and supplied to the correlation calculation unit 8 of the lidar L1.
  • the first four sensing cycles of lidars L1, L2, LZ are no different from those given in the example ⁇ ° 5.
  • additional codes to the codes E and E are used for sensing.
  • sequences from E2, E2, and EOZ, EOZ are formed from the sequence from the additional output of the cascade computer.
  • Table 12 The rule for changing the sign of sequences supplied to the first accumulation block depending on the sensing cycle and lidar number.
  • Example N ° 2 uses a receive matrix containing
  • 300X200 60,000 elements that convert the optical signal into a photocurrent and integrate this photocurrent on segments T 0 .
  • Optical signals containing 256 code positions are used to probe reflective objects.
  • the accumulation of a diskette signal, before applying to the cascade computer is carried out for 256 cycles.
  • a processor with a productivity of 0.1 teraflops is required.
  • each lidar has a time to start work.
  • L1 lidar probes for 2 ⁇ s, every 10 ⁇ s.
  • Lidar L2 probes for 2 ⁇ s, every 10 ⁇ s, but with a delay in the start time of sounding by 2 ⁇ s with respect to the lidar L1, etc.
  • This mode of joint it is advisable to use the work to review the space directly adjacent to the lidar.
  • the use of the first accumulation block is optional.
  • the proposed optical device for determining distances to the object can be carried out by a specialist in practice and, when implemented, ensure the implementation of the declared purpose, which allows us to conclude that the criterion of "industrial applicability" for the invention is met.
  • the goal is achieved - to ensure maximum suppression of the mutual influence of the probing signals of optical devices on their determination of the distances to the probed objects in the group simultaneously working on the same probed objects in the same frequency (optical) range of optical devices.

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  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
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  • Optical Radar Systems And Details Thereof (AREA)

Abstract

La présente invention concerne le domaine de la mesure de distances jusqu'à un objet au moyen d'ondes électromagnétiques et notamment des dispositifs optiques pour déterminer la distance jusqu'à un objet qui comprennent une source de rayonnement d'un signal optique binaire modulé jusqu'à l'objet, un générateur de formation d'une séquence de balayage, un élément photosensible, un générateur de signal de temps, un élément photosensible, de détection du module optique réfléchi contre l'objet, un unité d'intégration, une unité de calcul de la corrélation des signaux émis et réfléchi, un module de détection de seuil du signal, un module de calcul de distance jusqu'à l'objet examiné sur la base d'un retard temporel du signal réfléchi, une unité de calcul du retard temporel du signal réfléchi, et peut être utilisée, par exemple, dans la navigation, y compris pour des aéronefs sans pilote ainsi que dans la localisation laser dans des conditions de fonctionnement simultané de plusieurs systèmes synchronisés dans le temps. Selon l'invention, le dispositif comprend en outre une première unité de stockage, une source lumineuse de signaux d'échantillonnage d'heure et de fréquence exactes, une unité de formation d'impulsion synchronisée au moment du cycle de balayage lors du même moment du temps sur des dispositifs optiques différents, une unité de comptage de cycles de balayage, une unité de sélection et de traitement des signaux de balayage. Le résultat technique consiste à assurer une suppression maximale de l'influence réciproque des signaux de balayage des dispositifs optiques sur la portée jusqu'aux objets examinés dans un groupe de dispositifs optiques fonctionnant dans une gamme fréquentielle (optique) et examinant par balayage les mêmes objets.
PCT/RU2017/050017 2016-04-07 2017-03-28 Dispositif optique pour déterminer une distance jusqu'à un objet WO2017176172A1 (fr)

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JPS58180970A (ja) * 1982-04-16 1983-10-22 Mitsubishi Electric Corp 測距装置
US5963308A (en) * 1996-02-20 1999-10-05 Canon Kabushiki Kaisha Distance measuring apparatus
RU2560011C1 (ru) * 2014-06-09 2015-08-20 Открытое акционерное общество "Научно-исследовательский институт "Полюс" им. М.Ф. Стельмаха" Лазерный дальномер
RU2577079C1 (ru) * 2014-12-29 2016-03-10 Владимир Владиславович Имшенецкий Оптическое устройство для определения расстояний до объекта

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58180970A (ja) * 1982-04-16 1983-10-22 Mitsubishi Electric Corp 測距装置
US5963308A (en) * 1996-02-20 1999-10-05 Canon Kabushiki Kaisha Distance measuring apparatus
RU2560011C1 (ru) * 2014-06-09 2015-08-20 Открытое акционерное общество "Научно-исследовательский институт "Полюс" им. М.Ф. Стельмаха" Лазерный дальномер
RU2577079C1 (ru) * 2014-12-29 2016-03-10 Владимир Владиславович Имшенецкий Оптическое устройство для определения расстояний до объекта

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