WO2021036315A1 - Microwave and laser radar integration method and apparatus - Google Patents

Microwave and laser radar integration method and apparatus Download PDF

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Publication number
WO2021036315A1
WO2021036315A1 PCT/CN2020/087452 CN2020087452W WO2021036315A1 WO 2021036315 A1 WO2021036315 A1 WO 2021036315A1 CN 2020087452 W CN2020087452 W CN 2020087452W WO 2021036315 A1 WO2021036315 A1 WO 2021036315A1
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signal
lidar
microwave
radar
microwave radar
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PCT/CN2020/087452
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French (fr)
Chinese (zh)
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徐忠扬
张洪祥
潘时龙
赵家宁
赵昂然
张方正
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南京航空航天大学
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Publication of WO2021036315A1 publication Critical patent/WO2021036315A1/en

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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
    • 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
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/865—Combination of radar systems with lidar systems
    • 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
    • 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
    • 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
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • 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
    • G01S7/481—Constructional features, e.g. arrangements of optical elements

Definitions

  • the present invention relates to the field of radar technology, in particular to a method for integrating microwave and laser radar.
  • microwave radar and lidar have been widely used in many fields, such as remote sensing, ground safety and car driving. Both microwave radar and lidar emit electromagnetic waves and collect signals backscattered from the target to extract target information. The difference between them is that microwave radars usually transmit and detect radio frequency signals, while lidars transmit and detect optical signals. Therefore, an integrated system composed of microwave radar and lidar can simultaneously identify target characteristics in optical and radio frequency bands. Compared with discrete lidar and microwave radar, the integrated system of microwave radar and lidar has more advantages. For example, microwave radar lacks angular resolution, while lidar has higher directivity. Therefore, the integrated system of microwave radar and lidar can use microwave radar to quickly search for targets in a large range, and use lidar to accurately image the target. In addition, lidar is greatly affected by weather conditions, while microwave radar is susceptible to radio frequency interference. The integrated system of microwave radar and lidar will improve reliability in complex environments. Based on these advantages, the integrated system of microwave radar and lidar has been widely used.
  • the common method of constructing an integrated system of microwave radar and lidar is to use data fusion technology to fuse the data of lidar and microwave radar, but lidar and microwave radar are still separate, so the structure of the integrated system is still very complicated .
  • the low technical compatibility between microwave radar and lidar also makes it difficult to integrate lidar and microwave radar in the same system.
  • microwave radar needs to generate radio frequency signals
  • lidar needs to generate optical signals.
  • the current common FM continuous wave microwave radar uses chirp radio frequency signals, so it needs to chirp to obtain distance information.
  • the laser radar the most commonly used pulsed laser radar, because of the use of pulsed laser and time-of-flight technology, a timing device is required in the receiver.
  • the technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a microwave and lidar integration method and device, which has a simple structure and can perform real-time and accurate measurement of the distance and speed of the object to be measured, and realizes microwave radar and lidar Complementary advantages.
  • the linear frequency modulation electrical signal is modulated on a continuous optical carrier to generate a carrier suppressed double-sideband modulated optical signal;
  • the carrier suppressed double-sideband modulated optical signal is divided into four channels, and the first channel serves as the transmitter of the lidar Signal, the second channel is used as a microwave radar transmission signal after photoelectric conversion, and the other two channels are sent to the receiving end as a laser radar reference signal and a microwave radar reference signal respectively;
  • the receiving end perform photon de-skew on the microwave radar echo signal based on the microwave radar reference signal to obtain the microwave radar de-skew signal, and obtain the lidar de-skew signal by beating the lidar echo signal with the lidar reference signal; Data processing is performed on the microwave radar de-skew signal and the lidar de-skew signal to obtain target information.
  • the data processing is specifically: calculating the distance and speed information of the target according to the instantaneous frequency of the microwave radar de-skew signal and the lidar de-skew signal.
  • a dual-parallel Mach-Zehnder modulator is used to modulate the linear frequency modulation electrical signal on a continuous optical carrier to generate a carrier suppressed double-sideband modulated optical signal.
  • An integrated microwave and laser radar device including a transmitting end and a receiving end,
  • the transmitting end includes:
  • Light source used to generate continuous optical carrier
  • the optical modulation module is used to modulate the linear frequency modulation electrical signal on the continuous optical carrier to generate a carrier-suppressed double-sideband modulated optical signal, and divide the carrier-suppressed double-sideband modulated optical signal into four channels, two of which are Sent to the receiving end as the lidar reference signal and microwave radar reference signal;
  • the laser radar transmitting module is used to transmit the remaining one-channel carrier suppressed double-sideband modulated optical signal as the laser radar transmitting signal to the target;
  • Microwave radar transmitter module used for photoelectric conversion of the other side-band modulated optical signal suppressed by another carrier, and use it as the transmitter signal of the microwave radar to transmit to the target;
  • the receiving end includes:
  • the lidar receiving module is used to receive the lidar echo signal, and obtain the lidar de-skew signal by beating the lidar echo signal with the lidar reference signal;
  • the microwave radar receiving module is used to receive the microwave radar echo signal, and perform photon deskew on the microwave radar echo signal based on the microwave radar reference signal to obtain the microwave radar deskew signal;
  • the data processing module is used for data processing of microwave radar de-skew signals and lidar de-skew signals to obtain target information.
  • the data processing is specifically: calculating the distance and speed information of the target according to the instantaneous frequency of the microwave radar de-skew signal and the lidar de-skew signal.
  • the lidar transmitting module includes an optical amplifier and an optical lens connected in sequence.
  • the microwave radar transmitting module includes a photodetector, an electric amplifier, and a microwave antenna connected in sequence.
  • the lidar receiving module includes an optical lens, an optical amplifier and a photodetector which are connected in sequence.
  • the microwave radar receiving module includes a microwave antenna, an electric amplifier, a phase modulator, an optical filter and a photodetector which are connected in sequence.
  • the light modulation module includes:
  • a 90-degree electric bridge is used to divide the chirp electrical signal into two channels with a phase difference of 90 degrees;
  • a dual-parallel Mach-Zehnder modulator the two sub-Mach-Zehnder modulators are respectively driven by the two linear FM electrical signals with a phase difference of 90 degrees, and the two sub-Mach-Zehnder modulators are set to work at the maximum transmission point, The boom of the dual parallel Mach-Zehnder modulator is set to work at the minimum transmission point.
  • the invention cleverly integrates the frequency modulated continuous wave (FMCW) lidar and the microwave photonic radar, thereby greatly reducing the complexity of the system while improving the detection resolution; the invention shares a transmitting system and a data processing system, and has a simple structure.
  • the distance and speed of the object to be measured can be measured accurately in real time, and the advantages of microwave radar and lidar can be complemented.
  • Figure 1 is a schematic diagram of the basic structure of the integrated microwave and lidar device of the present invention.
  • Fig. 2 is a schematic structural diagram of a specific embodiment of the integrated microwave and lidar device of the present invention.
  • the idea of the present invention is to integrate the FMCW lidar and the microwave photonic radar, thereby greatly reducing the complexity of the system and improving the detection resolution.
  • microwave photonics technology has been used in radar systems to achieve high-resolution real-time imaging of the target to be measured. This not only improves the performance of the radar system, but also provides another way to build an integrated lidar system.
  • the optical signal is used to generate a chirped electrical signal. Since there are chirped optical signals in the radar system, microwave radar signals and lidar signals can be generated at the same time in the transmitting end, therefore, microwave radar and lidar can be combined in the same system.
  • chirp technology has been widely used in FMCW lidar, so FMCW lidar and microwave photonic radar can be selected for integrated design.
  • FMCW lidar uses signal processing similar to FMCW microwave radar, so that the radar and lidar in the integrated system can use the same data acquisition method. Moreover, compared with pulsed lidar, FMCW lidar can not only achieve high-resolution laser ranging, but also Doppler velocity measurement at the same time, so that more information can be extracted by FMCW lidar.
  • microwave and lidar integration method of the present invention is obtained, which is specifically as follows:
  • the linear frequency modulation electrical signal is modulated on a continuous optical carrier to generate a carrier suppressed double-sideband modulated optical signal;
  • the carrier suppressed double-sideband modulated optical signal is divided into four channels, and the first channel serves as the transmitter of the lidar Signal, the second channel is used as a microwave radar transmission signal after photoelectric conversion, and the other two channels are sent to the receiving end as a laser radar reference signal and a microwave radar reference signal respectively;
  • the receiving end perform photon de-skew on the microwave radar echo signal based on the microwave radar reference signal to obtain the microwave radar de-skew signal, and obtain the lidar de-skew signal by beating the lidar echo signal with the lidar reference signal; Data processing is performed on the microwave radar de-skew signal and the lidar de-skew signal to obtain target information.
  • the basic structure of the integrated microwave and lidar device of the present invention is shown in Figure 1, including a transmitting end and a receiving end.
  • the transmitting end includes a light source, an optical modulation module, a lidar transmitting module, and a microwave radar transmitting module;
  • the light source is used to generate a continuous optical carrier;
  • the optical modulation module is used to modulate the linear frequency modulation electrical signal on the continuous optical carrier
  • the carrier suppressed double-sideband modulated optical signal is generated, and the carrier suppressed double-sideband modulated optical signal is divided into four channels, two of which are sent to the receiving end as the Lidar reference signal and the microwave radar reference signal;
  • Lidar The transmitting module is used to transmit the remaining channel of carrier-suppressed double-sideband modulated optical signal to the target as a laser radar transmission signal;
  • the microwave radar transmitting module is used to perform photoelectric conversion on the remaining channel of carrier-suppressed double-sideband modulated optical signal, and Use it as the transmitting signal of the microwave radar to transmit to the target.
  • the receiving end includes a lidar receiving module, a microwave radar receiving module, and a data processing module;
  • the lidar receiving module is used to receive the lidar echo signal, and by combining the lidar echo signal with the lidar reference signal Obtain the lidar de-skew signal at high frequency;
  • the microwave radar receiving module is used to receive the microwave radar echo signal, and based on the microwave radar reference signal to perform photon de-skew on the microwave radar echo signal to obtain the microwave radar de-skew signal;
  • the data processing module is used to Data processing is performed on microwave radar de-skew signal and lidar de-skew signal to obtain target information.
  • the function of the laser radar transmitting module is to transmit the laser radar detection signal to the target, and according to actual needs, it can be composed of an optical amplifier and an optical lens connected in sequence.
  • the function of the microwave radar transmitting module is to transmit a microwave radar detection signal to the target, which can be composed of photodetectors, electric amplifiers, and microwave antennas connected in sequence.
  • the function of the lidar receiving module is to receive the lidar echo signal, and obtain the lidar de-skew signal by beating the lidar echo signal with the lidar reference signal, which can be connected in turn by optical lens, optical amplifier and photoelectric Detector composition.
  • the function of the microwave radar receiving module is to receive the microwave radar echo signal, and perform photon deskew on the microwave radar echo signal based on the microwave radar reference signal, which can be connected in sequence by a microwave antenna, an electric amplifier, a phase modulator, and an optical filter It is composed of a detector and a photodetector.
  • the function of the optical modulation module is to use linear frequency modulation electrical signals to perform carrier suppression double-sideband modulation on a continuous optical carrier.
  • Various existing carrier suppression double-sideband modulation methods can be used.
  • a Mach-Zehnder modulator MZM works at the minimum transmission point.
  • the output signal contains only odd-order sidebands, and the optical carrier and even-order sidebands are suppressed; make the Mach-Zehnder modulator (MZM) work at the maximum transmission point, and the output signal Only the optical carrier and even-order sidebands are included, the odd-order sidebands are suppressed, and the optical notch filter is used to filter the carrier to obtain a signal containing only the even-order sidebands, and the carrier suppression double-sideband modulation, etc. is achieved; the present invention is preferred A dual-parallel Mach-Zehnder modulator (DP-MZM) is adopted.
  • D-MZM dual-parallel Mach-Zehnder modulator
  • the optical modulation module of this realization mode specifically includes a 90-degree electric bridge and a dual-parallel Mach-Zehnder modulator.
  • the 90-degree electric bridge converts the linear frequency modulation electrical signal Divided into two channels with a phase difference of 90 degrees to drive the two sub-Mach-Zehnder modulators of the dual-parallel Mach-Zehnder modulator, and the two sub-Mach-Zehnder modulators are set to work at the maximum transmission point.
  • the boom of the modulator is set to work at the minimum transmission point.
  • the continuous optical carrier emitted by the light source is input to the electro-optic modulator, and the electro-optic modulator modulates the linear frequency modulation electrical signal output by the microwave source on the continuous optical carrier to generate a carrier suppressed double-sideband modulated optical signal; this optical signal
  • the optical beam splitter it is divided into four paths: the first path is used as the transmission signal of the lidar after passing through the optical amplifier; the second path enters the photodetector and generates an electrical signal through photoelectric conversion, and after the electrical amplifier is used as the transmission signal of the microwave radar;
  • the third path serves as the reference light signal of the lidar;
  • the fourth path serves as the reference light signal of the microwave radar; the transmission signal of the lidar and the transmission signal of the microwave radar are used as the detection signal to transmit to the target to be measured.
  • the echo light signal is received by the optical lens. After the signal received by the optical lens passes through the optical amplifier, it is combined with the laser radar reference light by the photosensor and beats in the photodetector to obtain the laser radar de-skew signal; the echo microwave signal is Microwave antenna reception, the signal received by the microwave antenna is used as a modulation signal after an electric amplifier, and the reference light of the microwave radar is used as the optical carrier of the phase modulator for modulation, and then the optical filter is beaten in the photodetector to obtain the microwave radar Deskew signal; the data processing module processes the lidar and microwave radar deskew signals separately to obtain the distance and speed information of the object to be measured.
  • Various existing data such as fusion methods can also be used to detect the lidar and microwave radar. The data is fused to further improve the detection performance of the system.
  • the optical modulation module based on the dual-parallel Mach-Zehnder modulator as an example, adjust the DC bias voltage of the sub-MZM to the maximum transmission point, and use the linear frequency modulation electrical signal as the modulation signal. After being split by a 90-degree bridge, they are used to drive them.
  • Two sub MZM, the output electric field of the two sub MZM can be expressed as:
  • a 1 and A 2 are the amplitude of the output electric field of MZM1 and MZM2; ⁇ 0 +2kt is the instantaneous angular frequency of the chirp signal; ⁇ and ⁇ c are the modulation index and angular frequency of the optical carrier respectively; adjust the bias voltage of the boom If it is at the minimum transmission point, a modulation with only positive and negative second-order sidebands can be realized.
  • the output optical signal of DP-MZM can be expressed as
  • J 2 ( ⁇ ) is a Bessel function of order 2 of the first kind.
  • This optical signal is a carrier-suppressed double-sideband optical signal, which is divided into four parts by an optical beam splitter.
  • the first part is used as the transmission signal of the lidar.
  • the double-sideband lidar has been proven to be capable of measuring range and speed at the same time.
  • the second part introduces a photodetector to generate the transmission signal of the microwave radar.
  • the transmission signal of the microwave radar can be expressed as:
  • the transmission signal of this microwave radar is four times the frequency of the original chirp signal. Since the range resolution of the microwave radar depends on the bandwidth of the chirp signal, the range resolution of the microwave radar can be increased by 4 times:
  • the remaining two split-beam optical signals are used as reference lights for lidar and microwave radar, respectively.
  • the third optical signal and the reflected detection optical signal can be expressed as:
  • ⁇ is the time delay
  • ⁇ d is the angular frequency of the Doppler shift
  • the deskew signal After the reference light and the reflected light signal enter the beat frequency of the balanced detector, the deskew signal can be obtained, which can be expressed as:
  • the photocurrent is composed of two single-frequency signals, and the distance and speed of the target can be calculated according to the sum and difference of the frequencies of the two signals.
  • the reflected microwave signal is received by the antenna and amplified by the electric amplifier, and then used as the driving signal of the phase modulator to modulate the reference light, and finally the de-chirp signal can be obtained by the beat frequency of the photodetector, which can be expressed as:
  • the photocurrent only contains a single-frequency signal, and the distance of the target to be measured can be obtained according to the signal frequency, and the distance resolution is increased by four times.
  • the technical solution of the present invention can greatly reduce the complexity of the system while improving the detection resolution of the system, and it is a good realization of the complementary advantages of the FMCW lidar and the microwave photonic radar.

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Abstract

A microwave and laser radar integration method. At a transmitting end, a linear frequency-modulated electric signal is modulated on a continuous optical carrier to generate a carrier-suppressed double-sideband modulated optical signal, the double-sideband modulated optical signal is divided into four paths, a first path serves as a laser radar transmission signal, a second path is subjected to photoelectric conversion and then used as a microwave radar transmission signal, and the other paths are sent to a receiving end and used as a laser radar reference signal and a microwave radar reference signal; at the receiving end, a microwave radar echo signal is subjected to photon de-skewing on the basis of the microwave radar reference signal to obtain a microwave radar de-skew signal, and a laser radar echo signal and the laser radar reference signal are subjected to beating to obtain a laser radar de-skew signal; the microwave radar de-skew signal and the laser radar de-skew signal are subjected to data processing to obtain target information. Also disclosed is a microwave and laser radar integration apparatus. The detection resolution can be improved while the complexity of a system is greatly reduced.

Description

微波与激光雷达一体化方法及装置Microwave and laser radar integration method and device 技术领域Technical field
本发明涉及雷达技术领域，具体涉及一种微波与激光雷达一体化方法。The present invention relates to the field of radar technology, in particular to a method for integrating microwave and laser radar.
背景技术Background technique
微波雷达和激光雷达已被广泛应用于许多领域，如遥感、地面安全和汽车驾驶。微波雷达和激光雷达都发射电磁波，并采集目标反向散射的信号以提取目标信息。它们之间的区别在于微波雷达通常传输和检测射频信号，而激光雷达则传输和检测光信号。因此，由微波雷达和激光雷达组成的一体化系统，可同时识别光学和射频频段的目标特性。与分立的激光雷达和微波雷达相比，微波雷达与激光雷达一体化系统具有更多优势。例如，微波雷达缺乏角分辨率，而激光雷达具有更高的方向性。因此，微波雷达与激光雷达一体化系统能够利用微波雷达快速搜索大范围内的目标，并使用激光雷达精确地对目标成像。此外，激光雷达受天气条件的影响很大，而微波雷达很容易受到射频干扰。微波雷达与激光雷达一体化系统将提高在复杂环境下的可靠性。基于这些优点，微波雷达与激光雷达一体化系统已被广泛应用。Microwave radar and lidar have been widely used in many fields, such as remote sensing, ground safety and car driving. Both microwave radar and lidar emit electromagnetic waves and collect signals backscattered from the target to extract target information. The difference between them is that microwave radars usually transmit and detect radio frequency signals, while lidars transmit and detect optical signals. Therefore, an integrated system composed of microwave radar and lidar can simultaneously identify target characteristics in optical and radio frequency bands. Compared with discrete lidar and microwave radar, the integrated system of microwave radar and lidar has more advantages. For example, microwave radar lacks angular resolution, while lidar has higher directivity. Therefore, the integrated system of microwave radar and lidar can use microwave radar to quickly search for targets in a large range, and use lidar to accurately image the target. In addition, lidar is greatly affected by weather conditions, while microwave radar is susceptible to radio frequency interference. The integrated system of microwave radar and lidar will improve reliability in complex environments. Based on these advantages, the integrated system of microwave radar and lidar has been widely used.
构建微波雷达与激光雷达一体化系统的常用方法是使用数据融合技术，将激光雷达与微波雷达的数据进行融合，但激光雷达与微波雷达仍然是是分立的，因此一体化系统的构造依然很复杂。另一方面，微波雷达和激光雷达之间的较低的技术兼容性也使得难以将激光雷达和微波雷达集成在同一个系统中。例如，在发射器中，微波雷达需要产生射频信号，而激光雷达需要产生光学信号。在接收器中，目前常见的调频连续波微波雷达因为使用了线性调频的射频信号，所以需要去啁啾来获取距离信息。但是，在激光雷达中，最常使用的脉冲激光雷达，因为使用了脉冲激光和飞行时间技术，接收器中需要计时装置。The common method of constructing an integrated system of microwave radar and lidar is to use data fusion technology to fuse the data of lidar and microwave radar, but lidar and microwave radar are still separate, so the structure of the integrated system is still very complicated . On the other hand, the low technical compatibility between microwave radar and lidar also makes it difficult to integrate lidar and microwave radar in the same system. For example, in the transmitter, microwave radar needs to generate radio frequency signals, while lidar needs to generate optical signals. In the receiver, the current common FM continuous wave microwave radar uses chirp radio frequency signals, so it needs to chirp to obtain distance information. However, in the laser radar, the most commonly used pulsed laser radar, because of the use of pulsed laser and time-of-flight technology, a timing device is required in the receiver.
发明内容Summary of the invention
本发明所要解决的技术问题在于克服现有技术不足，提供一种微波与激光雷达一体化方法及装置，其结构简单，可对待测物体距离和速度进行实时准确的测量，实现微波雷达与激光雷达的优势互补。The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a microwave and lidar integration method and device, which has a simple structure and can perform real-time and accurate measurement of the distance and speed of the object to be measured, and realizes microwave radar and lidar Complementary advantages.
本发明具体采用以下技术方案解决上述技术问题：The present invention specifically adopts the following technical solutions to solve the above technical problems:
一种微波与激光雷达一体化方法，An integrated method of microwave and lidar,
在发射端，将线性调频电信号调制于连续光载波上，生成载波抑制的双边带调制光信号；将所述载波抑制的双边带调制光信号分为四路，第一路充当激光雷达的发射信号，第二路进行光电转换后作为微波雷达发射信号，另外两路送至接收端分别作为激光雷达参考信号和微波雷达参考信号；At the transmitting end, the linear frequency modulation electrical signal is modulated on a continuous optical carrier to generate a carrier suppressed double-sideband modulated optical signal; the carrier suppressed double-sideband modulated optical signal is divided into four channels, and the first channel serves as the transmitter of the lidar Signal, the second channel is used as a microwave radar transmission signal after photoelectric conversion, and the other two channels are sent to the receiving end as a laser radar reference signal and a microwave radar reference signal respectively;
在接收端，基于微波雷达参考信号对微波雷达回波信号进行光子去斜，得到微波雷达去斜信号，并通过将激光雷达回波信号与激光雷达参考信号拍频获得激光雷达去斜信号；对微波雷达去斜信号和激光雷达去斜信号进行数据处理，得到目标信息。At the receiving end, perform photon de-skew on the microwave radar echo signal based on the microwave radar reference signal to obtain the microwave radar de-skew signal, and obtain the lidar de-skew signal by beating the lidar echo signal with the lidar reference signal; Data processing is performed on the microwave radar de-skew signal and the lidar de-skew signal to obtain target information.
优选地，所述数据处理具体为：根据微波雷达去斜信号和激光雷达去斜信号的瞬时频率计算出目标的距离和速度信息。Preferably, the data processing is specifically: calculating the distance and speed information of the target according to the instantaneous frequency of the microwave radar de-skew signal and the lidar de-skew signal.
优选地，在发射端，利用双平行马赫曾德尔调制器将线性调频电信号调制于连续光载波上，生成载波抑制的双边带调制光信号。Preferably, at the transmitting end, a dual-parallel Mach-Zehnder modulator is used to modulate the linear frequency modulation electrical signal on a continuous optical carrier to generate a carrier suppressed double-sideband modulated optical signal.
根据相同的发明思路还可以得到以下技术方案：According to the same inventive idea, the following technical solutions can also be obtained:
一种微波与激光雷达一体化装置，包括发射端和接收端，An integrated microwave and laser radar device, including a transmitting end and a receiving end,
所述发射端包括：The transmitting end includes:
光源，用于生成连续光载波；Light source, used to generate continuous optical carrier;
光调制模块，用于将线性调频电信号调制于所述连续光载波上，生成载波抑制的双边带调制光信号，并将所述载波抑制的双边带调制光信号分为四路，其中两路送至接收端分别作为激光雷达参考信号和微波雷达参考信号；The optical modulation module is used to modulate the linear frequency modulation electrical signal on the continuous optical carrier to generate a carrier-suppressed double-sideband modulated optical signal, and divide the carrier-suppressed double-sideband modulated optical signal into four channels, two of which are Sent to the receiving end as the lidar reference signal and microwave radar reference signal;
激光雷达发射模块，用于将剩余的一路载波抑制的双边带调制光信号作为激光雷达的发射信号向目标发射；The laser radar transmitting module is used to transmit the remaining one-channel carrier suppressed double-sideband modulated optical signal as the laser radar transmitting signal to the target;
微波雷达发射模块，用于对剩余的另一路载波抑制的双边带调制光信号进行光电转换，并以其作为微波雷达的发射信号向目标发射；Microwave radar transmitter module, used for photoelectric conversion of the other side-band modulated optical signal suppressed by another carrier, and use it as the transmitter signal of the microwave radar to transmit to the target;
所述接收端包括：The receiving end includes:
激光雷达接收模块，用于接收激光雷达回波信号，并通过将激光雷达回波信号与激光雷达参考信号拍频获得激光雷达去斜信号；The lidar receiving module is used to receive the lidar echo signal, and obtain the lidar de-skew signal by beating the lidar echo signal with the lidar reference signal;
微波雷达接收模块，用于接收微波雷达回波信号，并基于微波雷达参考信号对微 波雷达回波信号进行光子去斜，得到微波雷达去斜信号；The microwave radar receiving module is used to receive the microwave radar echo signal, and perform photon deskew on the microwave radar echo signal based on the microwave radar reference signal to obtain the microwave radar deskew signal;
数据处理模块，用于对微波雷达去斜信号和激光雷达去斜信号进行数据处理，得到目标信息。The data processing module is used for data processing of microwave radar de-skew signals and lidar de-skew signals to obtain target information.
优选地，所述数据处理具体为：根据微波雷达去斜信号和激光雷达去斜信号的瞬时频率计算出目标的距离和速度信息。Preferably, the data processing is specifically: calculating the distance and speed information of the target according to the instantaneous frequency of the microwave radar de-skew signal and the lidar de-skew signal.
优选地，所述激光雷达发射模块包括依次连接的光放大器、光学镜头。Preferably, the lidar transmitting module includes an optical amplifier and an optical lens connected in sequence.
优选地，所述微波雷达发射模块包括依次连接的光电探测器、电放大器、微波天线。Preferably, the microwave radar transmitting module includes a photodetector, an electric amplifier, and a microwave antenna connected in sequence.
优选地，所述激光雷达接收模块包括依次连接的光学镜头、光放大器和光电探测器。Preferably, the lidar receiving module includes an optical lens, an optical amplifier and a photodetector which are connected in sequence.
优选地，所述微波雷达接收模块包括依次连接的微波天线、电放大器、相位调制器、光滤波器和光电探测器。Preferably, the microwave radar receiving module includes a microwave antenna, an electric amplifier, a phase modulator, an optical filter and a photodetector which are connected in sequence.
优选地，所述光调制模块包括：Preferably, the light modulation module includes:
90度电桥，用于将所述线性调频电信号分为相位相差90度的两路；A 90-degree electric bridge is used to divide the chirp electrical signal into two channels with a phase difference of 90 degrees;
双平行马赫曾德尔调制器，其两个子马赫曾德尔调制器分别被所述相位相差90度的两路线性调频电信号驱动，且两个子马赫曾德尔调制器被设置为工作于最大传输点，双平行马赫曾德尔调制器的大臂被设置为工作于最小传输点。A dual-parallel Mach-Zehnder modulator, the two sub-Mach-Zehnder modulators are respectively driven by the two linear FM electrical signals with a phase difference of 90 degrees, and the two sub-Mach-Zehnder modulators are set to work at the maximum transmission point, The boom of the dual parallel Mach-Zehnder modulator is set to work at the minimum transmission point.
相比现有技术，本发明技术方案具有以下有益效果：Compared with the prior art, the technical solution of the present invention has the following beneficial effects:
本发明巧妙地将调频连续波(FMCW)激光雷达与微波光子雷达进行一体化设计，从而在大幅降低系统复杂度的同时提高探测分辨率；本发明共用一个发射系统和数据处理系统，结构简单，可对待测物体的距离与速度进行实时准确的测量，实现微波雷达与激光雷达的优势互补。The invention cleverly integrates the frequency modulated continuous wave (FMCW) lidar and the microwave photonic radar, thereby greatly reducing the complexity of the system while improving the detection resolution; the invention shares a transmitting system and a data processing system, and has a simple structure. The distance and speed of the object to be measured can be measured accurately in real time, and the advantages of microwave radar and lidar can be complemented.
附图说明Description of the drawings
图1为本发明微波与激光雷达一体化装置的基本结构示意图；Figure 1 is a schematic diagram of the basic structure of the integrated microwave and lidar device of the present invention;
图2为本发明微波与激光雷达一体化装置一个具体实施例的结构示意图。Fig. 2 is a schematic structural diagram of a specific embodiment of the integrated microwave and lidar device of the present invention.
具体实施方式detailed description
针对现有技术所存在的不足，本发明的思路是将FMCW激光雷达与微波光子雷达进行一体化设计，从而在大幅降低系统复杂度的同时提高探测分辨率。In view of the deficiencies in the prior art, the idea of the present invention is to integrate the FMCW lidar and the microwave photonic radar, thereby greatly reducing the complexity of the system and improving the detection resolution.
近年来，微波光子技术已被用于雷达系统，可以实现待测目标的高分辨率实时成像，这不仅提高了雷达系统的性能，而且提供了另一种构建激光雷达一体化系统的方法。在雷达系统的发射器中，光信号用于产生线性调频的电信号。由于在雷达系统中存在线性调频的光信号微波雷达信号和激光雷达信号可以在发射端中同时产生，因此，可以在同一个系统中组合微波雷达和激光雷达。此外，线性调频技术已经广泛用于FMCW激光雷达，故可选择FMCW激光雷达与微波光子雷达进行一体化设计。此外，FMCW激光雷达使用类似于FMCW微波雷达的信号处理，使得一体化系统中的雷达和激光雷达可以使用相同的数据采集方法。并且，与脉冲激光雷达相比，FMCW激光雷达不仅可以实现高分辨率激光测距，还可以同时实现多普勒测速，这样通过FMCW激光雷达就可以提取更多信息。In recent years, microwave photonics technology has been used in radar systems to achieve high-resolution real-time imaging of the target to be measured. This not only improves the performance of the radar system, but also provides another way to build an integrated lidar system. In the transmitter of a radar system, the optical signal is used to generate a chirped electrical signal. Since there are chirped optical signals in the radar system, microwave radar signals and lidar signals can be generated at the same time in the transmitting end, therefore, microwave radar and lidar can be combined in the same system. In addition, chirp technology has been widely used in FMCW lidar, so FMCW lidar and microwave photonic radar can be selected for integrated design. In addition, FMCW lidar uses signal processing similar to FMCW microwave radar, so that the radar and lidar in the integrated system can use the same data acquisition method. Moreover, compared with pulsed lidar, FMCW lidar can not only achieve high-resolution laser ranging, but also Doppler velocity measurement at the same time, so that more information can be extracted by FMCW lidar.
基于以上发明思路得到本发明的微波与激光雷达一体化方法，具体如下：Based on the above inventive ideas, the microwave and lidar integration method of the present invention is obtained, which is specifically as follows:
在发射端，将线性调频电信号调制于连续光载波上，生成载波抑制的双边带调制光信号；将所述载波抑制的双边带调制光信号分为四路，第一路充当激光雷达的发射信号，第二路进行光电转换后作为微波雷达发射信号，另外两路送至接收端分别作为激光雷达参考信号和微波雷达参考信号；At the transmitting end, the linear frequency modulation electrical signal is modulated on a continuous optical carrier to generate a carrier suppressed double-sideband modulated optical signal; the carrier suppressed double-sideband modulated optical signal is divided into four channels, and the first channel serves as the transmitter of the lidar Signal, the second channel is used as a microwave radar transmission signal after photoelectric conversion, and the other two channels are sent to the receiving end as a laser radar reference signal and a microwave radar reference signal respectively;
在接收端，基于微波雷达参考信号对微波雷达回波信号进行光子去斜，得到微波雷达去斜信号，并通过将激光雷达回波信号与激光雷达参考信号拍频获得激光雷达去斜信号；对微波雷达去斜信号和激光雷达去斜信号进行数据处理，得到目标信息。At the receiving end, perform photon de-skew on the microwave radar echo signal based on the microwave radar reference signal to obtain the microwave radar de-skew signal, and obtain the lidar de-skew signal by beating the lidar echo signal with the lidar reference signal; Data processing is performed on the microwave radar de-skew signal and the lidar de-skew signal to obtain target information.
本发明微波与激光雷达一体化装置的基本结构如图1所示，包括发射端和接收端。The basic structure of the integrated microwave and lidar device of the present invention is shown in Figure 1, including a transmitting end and a receiving end.
如图1所示，发射端包括光源、光调制模块、激光雷达发射模块和微波雷达发射模块；光源用于生成连续光载波；光调制模块用于将线性调频电信号调制于所述连续光载波上，生成载波抑制的双边带调制光信号，并将所述载波抑制的双边带调制光信号分为四路，其中两路送至接收端分别作为激光雷达参考信号和微波雷达参考信号；激光雷达发射模块用于将剩余的一路载波抑制的双边带调制光信号作为激光雷达的发射信号向目标发射；微波雷达发射模块用于对剩余的另一路载波抑制的双边带调制光信号进行光电转换，并以其作为微波雷达的发射信号向目标发射。As shown in Figure 1, the transmitting end includes a light source, an optical modulation module, a lidar transmitting module, and a microwave radar transmitting module; the light source is used to generate a continuous optical carrier; the optical modulation module is used to modulate the linear frequency modulation electrical signal on the continuous optical carrier On the above, the carrier suppressed double-sideband modulated optical signal is generated, and the carrier suppressed double-sideband modulated optical signal is divided into four channels, two of which are sent to the receiving end as the Lidar reference signal and the microwave radar reference signal; Lidar The transmitting module is used to transmit the remaining channel of carrier-suppressed double-sideband modulated optical signal to the target as a laser radar transmission signal; the microwave radar transmitting module is used to perform photoelectric conversion on the remaining channel of carrier-suppressed double-sideband modulated optical signal, and Use it as the transmitting signal of the microwave radar to transmit to the target.
如图1所示，接收端包括激光雷达接收模块、微波雷达接收模块及数据处理模块；激光雷达接收模块用于接收激光雷达回波信号，并通过将激光雷达回波信号与激光雷达参考信号拍频获得激光雷达去斜信号；微波雷达接收模块用于接收微波雷达回波信号，并基于微波雷达参考信号对微波雷达回波信号进行光子去斜，得到微波雷达去斜信号；数据处理模块用于对微波雷达去斜信号和激光雷达去斜信号进行数据处理，得到目标信息。As shown in Figure 1, the receiving end includes a lidar receiving module, a microwave radar receiving module, and a data processing module; the lidar receiving module is used to receive the lidar echo signal, and by combining the lidar echo signal with the lidar reference signal Obtain the lidar de-skew signal at high frequency; the microwave radar receiving module is used to receive the microwave radar echo signal, and based on the microwave radar reference signal to perform photon de-skew on the microwave radar echo signal to obtain the microwave radar de-skew signal; the data processing module is used to Data processing is performed on microwave radar de-skew signal and lidar de-skew signal to obtain target information.
所述激光雷达发射模块的作用是向目标发射激光雷达探测信号，根据实际需要，可由依次连接的光放大器和光学镜头组成。The function of the laser radar transmitting module is to transmit the laser radar detection signal to the target, and according to actual needs, it can be composed of an optical amplifier and an optical lens connected in sequence.
所述微波雷达发射模块的作用是向目标发射微波雷达探测信号，其可由依次连接的光电探测器、电放大器、微波天线构成。The function of the microwave radar transmitting module is to transmit a microwave radar detection signal to the target, which can be composed of photodetectors, electric amplifiers, and microwave antennas connected in sequence.
所述激光雷达接收模块的作用是接收激光雷达回波信号，并通过将激光雷达回波信号与激光雷达参考信号拍频获得激光雷达去斜信号，其可由依次连接的光学镜头、光放大器和光电探测器构成。The function of the lidar receiving module is to receive the lidar echo signal, and obtain the lidar de-skew signal by beating the lidar echo signal with the lidar reference signal, which can be connected in turn by optical lens, optical amplifier and photoelectric Detector composition.
所述微波雷达接收模块的作用是接收微波雷达回波信号，并基于微波雷达参考信号对微波雷达回波信号进行光子去斜，其可由依次连接的微波天线、电放大器、相位调制器、光滤波器和光电探测器构成。The function of the microwave radar receiving module is to receive the microwave radar echo signal, and perform photon deskew on the microwave radar echo signal based on the microwave radar reference signal, which can be connected in sequence by a microwave antenna, an electric amplifier, a phase modulator, and an optical filter It is composed of a detector and a photodetector.
所述光调制模块的作用是用线性调频电信号对连续光载波进行载波抑制的双边带调制，其可采用现有的各种载波抑制双边带调制方法，例如，可使马赫曾德尔调制器(MZM)工作在最小传输点，此时输出信号中只包含奇数次边带，光载波和偶数次边带受到抑制；使马赫曾德尔调制器(MZM)工作在最大传输点，此时输出信号中只包含光载波和偶数次边带，奇数次边带受到抑制，再用光陷波滤波器滤除载波即可获得只包含偶数次边带的信号，实现载波抑制双边带调制等；本发明优选采用双平行马赫曾德尔调制器(DP-MZM)的实现方式，该实现方式的光调制模块具体包括90度电桥和双平行马赫曾德尔调制器，90度电桥将所述线性调频电信号分为相位相差90度的两路来分别驱动双平行马赫曾德尔调制器的两个子马赫曾德尔调制器，且两个子马赫曾德尔调制器被设置为工作于最大传输点，双平行马赫曾德尔调制器的大臂被设置为工作于最小传输点。The function of the optical modulation module is to use linear frequency modulation electrical signals to perform carrier suppression double-sideband modulation on a continuous optical carrier. Various existing carrier suppression double-sideband modulation methods can be used. For example, a Mach-Zehnder modulator ( MZM) works at the minimum transmission point. At this time, the output signal contains only odd-order sidebands, and the optical carrier and even-order sidebands are suppressed; make the Mach-Zehnder modulator (MZM) work at the maximum transmission point, and the output signal Only the optical carrier and even-order sidebands are included, the odd-order sidebands are suppressed, and the optical notch filter is used to filter the carrier to obtain a signal containing only the even-order sidebands, and the carrier suppression double-sideband modulation, etc. is achieved; the present invention is preferred A dual-parallel Mach-Zehnder modulator (DP-MZM) is adopted. The optical modulation module of this realization mode specifically includes a 90-degree electric bridge and a dual-parallel Mach-Zehnder modulator. The 90-degree electric bridge converts the linear frequency modulation electrical signal Divided into two channels with a phase difference of 90 degrees to drive the two sub-Mach-Zehnder modulators of the dual-parallel Mach-Zehnder modulator, and the two sub-Mach-Zehnder modulators are set to work at the maximum transmission point. The boom of the modulator is set to work at the minimum transmission point.
为便于公众理解，下面以本发明微波与激光雷达一体化装置的一个具体实施例来对本发明技术方案进行进一步详细说明：In order to facilitate the public's understanding, a specific embodiment of the integrated microwave and lidar device of the present invention is used to further describe the technical solution of the present invention in detail:
如图2所示，光源发出的连续光载波输入电光调制器，电光调制器将微波源输出的线性调频电信号调制于连续光载波上，产生载波抑制的双边带调制光信号；将此光信号经过光分束器分为四路：第一路经过光放大器后充当激光雷达的发射信号；第二路进入光电探测器，通过光电转换产生电信号，经过电放大器后充当微波雷达的发射信号；第三路充当激光雷达的参考光信号；第四路充当微波雷达的参考光信号；以所述激光雷达的发射信号与微波雷达的发射信号作为探测信号向待测目标发射。As shown in Figure 2, the continuous optical carrier emitted by the light source is input to the electro-optic modulator, and the electro-optic modulator modulates the linear frequency modulation electrical signal output by the microwave source on the continuous optical carrier to generate a carrier suppressed double-sideband modulated optical signal; this optical signal After the optical beam splitter, it is divided into four paths: the first path is used as the transmission signal of the lidar after passing through the optical amplifier; the second path enters the photodetector and generates an electrical signal through photoelectric conversion, and after the electrical amplifier is used as the transmission signal of the microwave radar; The third path serves as the reference light signal of the lidar; the fourth path serves as the reference light signal of the microwave radar; the transmission signal of the lidar and the transmission signal of the microwave radar are used as the detection signal to transmit to the target to be measured.
回波光信号被光学镜头接收，光学镜头接收的信号经过光放大器后，与激光雷达参考光经光合束器合束后在光电探测器中拍频，获得激光雷达去斜信号；回波微波信号被微波天线接收，微波天线接收的信号经过电放大器后作为调制信号，以微波雷达的参考光作为相位调制器的光载波进行调制，再经过光滤波器后在光电探测器中拍频，获得微波雷达去斜信号；数据处理模块对激光雷达和微波雷达去斜信号分别进行处理，得到待测物体的距离和速度信息，也可采用现有的各种数据如融合方法将激光雷达和微波雷达的探测数据进行融合，以进一步提高系统的探测性能。The echo light signal is received by the optical lens. After the signal received by the optical lens passes through the optical amplifier, it is combined with the laser radar reference light by the photosensor and beats in the photodetector to obtain the laser radar de-skew signal; the echo microwave signal is Microwave antenna reception, the signal received by the microwave antenna is used as a modulation signal after an electric amplifier, and the reference light of the microwave radar is used as the optical carrier of the phase modulator for modulation, and then the optical filter is beaten in the photodetector to obtain the microwave radar Deskew signal; the data processing module processes the lidar and microwave radar deskew signals separately to obtain the distance and speed information of the object to be measured. Various existing data such as fusion methods can also be used to detect the lidar and microwave radar. The data is fused to further improve the detection performance of the system.
以基于双平行马赫曾德尔调制器的光调制模块为例，调节子MZM的直流偏置电压至最大传输点，线性调频电信号作为调制信号，经过90度电桥分束后，分别用于驱动两个子MZM，两个子MZM的输出电场可以表示为：Take the optical modulation module based on the dual-parallel Mach-Zehnder modulator as an example, adjust the DC bias voltage of the sub-MZM to the maximum transmission point, and use the linear frequency modulation electrical signal as the modulation signal. After being split by a 90-degree bridge, they are used to drive them. Two sub MZM, the output electric field of the two sub MZM can be expressed as:
Figure PCTCN2020087452-appb-000001
Figure PCTCN2020087452-appb-000001
Figure PCTCN2020087452-appb-000002
Figure PCTCN2020087452-appb-000002
其中A 1和A 2为MZM1和MZM2输出电场的振幅；ω 0+2kt为线性调频信号的瞬时角频率；β和ω c分别为光载波的调制指数和角频率；调节大臂的偏置电压使其处于最小传输点，即可实现只含有正负2阶边带的调制，则DP-MZM的输出光信号可表示为： Among them, A 1 and A 2 are the amplitude of the output electric field of MZM1 and MZM2; ω 0 +2kt is the instantaneous angular frequency of the chirp signal; β and ω c are the modulation index and angular frequency of the optical carrier respectively; adjust the bias voltage of the boom If it is at the minimum transmission point, a modulation with only positive and negative second-order sidebands can be realized. The output optical signal of DP-MZM can be expressed as
Figure PCTCN2020087452-appb-000003
Figure PCTCN2020087452-appb-000003
利用贝塞尔展开公式，则可表示为：Using the Bessel expansion formula, it can be expressed as:
E DP-MZM∝J 2(β)cos[ω ct+2(ω 0+kt)t]+J 2(β)cos[ω ct-2(ω 0+kt)t] E DP-MZM ∝J 2 (β)cos[ω c t+2(ω 0 +kt)t]+J 2 (β)cos[ω c t-2(ω 0 +kt)t]
其中J 2(β)为2阶第一类贝塞尔函数。 Among them, J 2 (β) is a Bessel function of order 2 of the first kind.
此光信号为载波抑制的双边带光信号，通过光分束器将其分为四个部分，第 一部分用作激光雷达的发射信号，双边带激光雷达已被证实可以同时测距测速。第二部分引入光电探测器用来产生微波雷达的发射信号，微波雷达发射信号可表示为：This optical signal is a carrier-suppressed double-sideband optical signal, which is divided into four parts by an optical beam splitter. The first part is used as the transmission signal of the lidar. The double-sideband lidar has been proven to be capable of measuring range and speed at the same time. The second part introduces a photodetector to generate the transmission signal of the microwave radar. The transmission signal of the microwave radar can be expressed as:
E Radar∝[J 2(β)] 2cos[4(ω 0+kt)t] E Radar ∝[J 2 (β)] 2 cos[4(ω 0 +kt)t]
此微波雷达发射信号为原线性调频信号的四倍频率，由于微波雷达的距离分辨率取决于线性调频信号的带宽，因此可将微波雷达测距分辨率提高4倍：The transmission signal of this microwave radar is four times the frequency of the original chirp signal. Since the range resolution of the microwave radar depends on the bandwidth of the chirp signal, the range resolution of the microwave radar can be increased by 4 times:
在接收端，剩余两束分束的光信号分别用作激光雷达和微波雷达的参考光。At the receiving end, the remaining two split-beam optical signals are used as reference lights for lidar and microwave radar, respectively.
对于激光雷达，第三路光信号和反射的探测光信号可分别表示为：For lidar, the third optical signal and the reflected detection optical signal can be expressed as:
E LO∝J 2(β)cos[ω ct+2(ω 0+kt)t]+J 2(β)cos[ω ct-2(ω 0+kt)t] E LO ∝J 2 (β)cos[ω c t+2(ω 0 +kt)t]+J 2 (β)cos[ω c t-2(ω 0 +kt)t]
E lidar∝J 2(β)cos[(ω c+ω d+2ω 0+2k(t-τ))(t-τ)] E lidar ∝J 2 (β)cos[(ω c +ω d +2ω 0 +2k(t-τ))(t-τ)]
+J 2(β)cos[(ω c+ω d-2ω 0-2k(t-τ))(t-τ)] +J 2 (β)cos[(ω c +ω d -2ω 0 -2k(t-τ))(t-τ)]
其中，τ为时延，ω d为多普勒频移的角频率。 Among them, τ is the time delay, and ω d is the angular frequency of the Doppler shift.
参考光和反射光信号进入平衡探测器拍频后即可获得去斜信号，可表示为：After the reference light and the reflected light signal enter the beat frequency of the balanced detector, the deskew signal can be obtained, which can be expressed as:
I lidar∝J 2(β)cos(ω dt+4kτt)+J 2(β)cos(ω dt-4kτt) I lidar ∝J 2 (β)cos(ω d t+4kτt)+J 2 (β)cos(ω d t-4kτt)
光电流由两个单频信号组成，根据两信号频率的和与差即可计算出目标的距离与速度。The photocurrent is composed of two single-frequency signals, and the distance and speed of the target can be calculated according to the sum and difference of the frequencies of the two signals.
对于微波雷达，反射微波信号由天线接收并经过电放大器后放大，然后作为相位调制器的驱动信号调制参考光，最后经过光电探测器拍频即可获得去啁啾信号，可表示为：For microwave radar, the reflected microwave signal is received by the antenna and amplified by the electric amplifier, and then used as the driving signal of the phase modulator to modulate the reference light, and finally the de-chirp signal can be obtained by the beat frequency of the photodetector, which can be expressed as:
I radar∝cos(ω dt+8kτt) I radar ∝cos(ω d t+8kτt)
光电流只包含一个单频信号，根据信号频率即可得到待测目标的距离，并且距离分辨率提高了四倍。The photocurrent only contains a single-frequency signal, and the distance of the target to be measured can be obtained according to the signal frequency, and the distance resolution is increased by four times.
综上可知，本发明技术方案可在大幅降低系统复杂度的同时提高系统的探测分辨率，很好实现了FMCW激光雷达与微波光子雷达的优势互补。In summary, the technical solution of the present invention can greatly reduce the complexity of the system while improving the detection resolution of the system, and it is a good realization of the complementary advantages of the FMCW lidar and the microwave photonic radar.

Claims (10)

  1. 一种微波与激光雷达一体化方法，其特征在于，An integrated method of microwave and lidar, which is characterized in that:
    在发射端，将线性调频电信号调制于连续光载波上，生成载波抑制的双边带调制光信号；将所述载波抑制的双边带调制光信号分为四路，第一路充当激光雷达的发射信号，第二路进行光电转换后作为微波雷达发射信号，另外两路送至接收端分别作为激光雷达参考信号和微波雷达参考信号；At the transmitting end, the linear frequency modulation electrical signal is modulated on a continuous optical carrier to generate a carrier suppressed double-sideband modulated optical signal; the carrier suppressed double-sideband modulated optical signal is divided into four channels, and the first channel serves as the transmitter of the lidar Signal, the second channel is used as a microwave radar transmission signal after photoelectric conversion, and the other two channels are sent to the receiving end as a laser radar reference signal and a microwave radar reference signal respectively;
    在接收端，基于微波雷达参考信号对微波雷达回波信号进行光子去斜，得到微波雷达去斜信号，并通过将激光雷达回波信号与激光雷达参考信号拍频获得激光雷达去斜信号；对微波雷达去斜信号和激光雷达去斜信号进行数据处理，得到目标信息。At the receiving end, perform photon de-skew on the microwave radar echo signal based on the microwave radar reference signal to obtain the microwave radar de-skew signal, and obtain the lidar de-skew signal by beating the lidar echo signal with the lidar reference signal; Data processing is performed on the microwave radar de-skew signal and the lidar de-skew signal to obtain target information.
  2. 如权利要求1所述微波与激光雷达一体化方法，其特征在于，所述数据处理具体为：根据微波雷达去斜信号和激光雷达去斜信号的瞬时频率计算出目标的距离和速度信息。The microwave and lidar integration method according to claim 1, wherein the data processing is specifically: calculating the distance and speed information of the target based on the microwave radar de-skew signal and the instantaneous frequency of the lidar de-skew signal.
  3. 如权利要求1所述微波与激光雷达一体化方法，其特征在于，在发射端，利用双平行马赫曾德尔调制器将线性调频电信号调制于连续光载波上，生成载波抑制的双边带调制光信号。The microwave and lidar integration method according to claim 1, characterized in that, at the transmitting end, a dual-parallel Mach-Zehnder modulator is used to modulate the chirp electrical signal on a continuous optical carrier to generate carrier-suppressed double-sideband modulated light signal.
  4. 一种微波与激光雷达一体化装置，包括发射端和接收端，其特征在于，An integrated microwave and laser radar device, comprising a transmitting end and a receiving end, characterized in that:
    所述发射端包括：The transmitting end includes:
    光源，用于生成连续光载波；Light source, used to generate continuous optical carrier;
    光调制模块，用于将线性调频电信号调制于所述连续光载波上，生成载波抑制的双边带调制光信号，并将所述载波抑制的双边带调制光信号分为四路，其中两路送至接收端分别作为激光雷达参考信号和微波雷达参考信号；The optical modulation module is used to modulate the linear frequency modulation electrical signal on the continuous optical carrier to generate a carrier-suppressed double-sideband modulated optical signal, and divide the carrier-suppressed double-sideband modulated optical signal into four channels, two of which are Sent to the receiving end as the lidar reference signal and microwave radar reference signal;
    激光雷达发射模块，用于将剩余的一路载波抑制的双边带调制光信号作为激光雷达的发射信号向目标发射；The laser radar transmitting module is used to transmit the remaining one-channel carrier suppressed double-sideband modulated optical signal as the laser radar transmitting signal to the target;
    微波雷达发射模块，用于对剩余的另一路载波抑制的双边带调制光信号进行光电转换，并以其作为微波雷达的发射信号向目标发射；Microwave radar transmitter module, used for photoelectric conversion of the other side-band modulated optical signal suppressed by another carrier, and use it as the transmitter signal of the microwave radar to transmit to the target;
    所述接收端包括：The receiving end includes:
    激光雷达接收模块，用于接收激光雷达回波信号，并通过将激光雷达回波信号与 激光雷达参考信号拍频获得激光雷达去斜信号；The lidar receiving module is used to receive the lidar echo signal, and obtain the lidar de-skew signal by beating the lidar echo signal with the lidar reference signal;
    微波雷达接收模块，用于接收微波雷达回波信号，并基于微波雷达参考信号对微波雷达回波信号进行光子去斜，得到微波雷达去斜信号；The microwave radar receiving module is used to receive the microwave radar echo signal, and perform photon deskew on the microwave radar echo signal based on the microwave radar reference signal to obtain the microwave radar deskew signal;
    数据处理模块，用于对微波雷达去斜信号和激光雷达去斜信号进行数据处理，得到目标信息。The data processing module is used for data processing of microwave radar de-skew signals and lidar de-skew signals to obtain target information.
  5. 如权利要求4所述微波与激光雷达一体化装置，其特征在于，所述数据处理具体为：根据微波雷达去斜信号和激光雷达去斜信号的瞬时频率计算出目标的距离和速度信息。5. The microwave and lidar integrated device according to claim 4, wherein the data processing is specifically: calculating the distance and speed information of the target based on the microwave radar de-skew signal and the instantaneous frequency of the lidar de-skew signal.
  6. 如权利要求4所述微波与激光雷达一体化装置，其特征在于，所述激光雷达发射模块包括依次连接的光放大器、光学镜头。The integrated microwave and lidar device of claim 4, wherein the lidar transmitting module includes an optical amplifier and an optical lens connected in sequence.
  7. 如权利要求4所述微波与激光雷达一体化装置，其特征在于，所述微波雷达发射模块包括依次连接的光电探测器、电放大器、微波天线。The integrated microwave and lidar device of claim 4, wherein the microwave radar transmitting module includes a photodetector, an electric amplifier, and a microwave antenna connected in sequence.
  8. 如权利要求4所述微波与激光雷达一体化装置，其特征在于，所述激光雷达接收模块包括依次连接的光学镜头、光放大器和光电探测器。The integrated microwave and lidar device of claim 4, wherein the lidar receiving module includes an optical lens, an optical amplifier, and a photodetector connected in sequence.
  9. 如权利要求4所述微波与激光雷达一体化装置，其特征在于，所述微波雷达接收模块包括依次连接的微波天线、电放大器、相位调制器、光滤波器和光电探测器。The integrated microwave and lidar device of claim 4, wherein the microwave radar receiving module includes a microwave antenna, an electric amplifier, a phase modulator, an optical filter, and a photodetector, which are sequentially connected.
  10. 如权利要求4所述微波与激光雷达一体化装置，其特征在于，所述光调制模块包括：The integrated microwave and lidar device of claim 4, wherein the light modulation module comprises:
    90度电桥，用于将所述线性调频电信号分为相位相差90度的两路；A 90-degree electric bridge is used to divide the chirp electrical signal into two channels with a phase difference of 90 degrees;
    双平行马赫曾德尔调制器，其两个子马赫曾德尔调制器分别被所述相位相差90度的两路线性调频电信号驱动，且两个子马赫曾德尔调制器被设置为工作于最大传输点，双平行马赫曾德尔调制器的大臂被设置为工作于最小传输点。A dual-parallel Mach-Zehnder modulator, in which two sub-Mach-Zehnder modulators are respectively driven by two linear FM electrical signals with a phase difference of 90 degrees, and the two sub-Mach-Zehnder modulators are set to work at the maximum transmission point, The boom of the dual parallel Mach-Zehnder modulator is set to work at the minimum transmission point.
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