WO2022095169A1 - 调频连续波激光雷达 - Google Patents

调频连续波激光雷达 Download PDF

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WO2022095169A1
WO2022095169A1 PCT/CN2020/132325 CN2020132325W WO2022095169A1 WO 2022095169 A1 WO2022095169 A1 WO 2022095169A1 CN 2020132325 W CN2020132325 W CN 2020132325W WO 2022095169 A1 WO2022095169 A1 WO 2022095169A1
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frequency
sideband
filter
circulator
sub
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PCT/CN2020/132325
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French (fr)
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梁伟
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苏州镭智传感科技有限公司
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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
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S17/34—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/50—Systems of measurement based on relative movement of target
    • G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems

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  • the present application relates to lidar technology, for example, to a frequency-modulated continuous wave lidar.
  • Frequency Modulated Continuous Wave (FMCW) system is an important type of radar; compared with traditional radar systems such as pulse radar and phase radar, it has high precision, anti-interference, no blind spots, direct speed measurement and It has the advantages of simple structure and so on, so it has good application prospects in many fields.
  • FMCW Frequency Modulated Continuous Wave
  • the frequency of the optical signal of the FM continuous wave lidar is linearly increased and decreased in order to perform triangular wave scanning.
  • a transmit waveform called a chirp
  • a chirp can be generated as a triangular wave using a combination of modulation that results in an increase in frequency (up chirp) and a decrease in frequency (down chirp).
  • the frequency offset during the up chirp and the frequency offset during the down chirp are used to determine the range and relative velocity of the target.
  • the present disclosure provides a frequency-modulated continuous wave laser radar, which can simultaneously transmit two laser signals, an up chirp and a down chirp, and the obtained return signal can be processed to obtain speed and distance information at the same time, without waiting for a triangular wave cycle to complete , can increase the measurement rate, simplify the system structure and reduce the cost.
  • An embodiment provides a frequency-modulated continuous wave laser radar, including a dual-wavelength frequency-modulated continuous wave laser module, a branching module, a scanning module, a receiving module, and a processing module.
  • the dual-wavelength frequency-modulated continuous laser module includes a single-frequency laser and a modulator, the single-frequency laser is used to output the continuous laser of the first frequency, and the modulator is set to be controlled by an external modulation signal to convert the continuous laser.
  • modulation into a plurality of first sidebands and second sidebands that are symmetric and chirp with respect to the first frequency;
  • the splitting module is configured to convert one of the first sidebands and one of the first sidebands that are symmetric about the first frequency
  • the second sideband is divided into a local oscillator beam and a measuring beam, and the local oscillator beam is directly transmitted to the receiving module, and the measuring beam is output by the scanning module and reflected by the target object and then transmitted to the receiving module. receive module.
  • the receiving module includes a first receiving unit and a second receiving unit, the first receiving unit is configured to receive the first interference signal of the local oscillator beam of the first sideband and the measuring beam, and the second receiving unit is configured for receiving the second interference signal of the local oscillator beam of the second sideband and the measurement beam.
  • the processing module is configured to calculate the distance and speed of the target object according to the first interference signal and the second interference signal.
  • Figure 1 is a schematic diagram of the principle of a frequency-modulated continuous wave lidar
  • FIG. 2 is a schematic diagram of the mathematical principle of the detection distance and speed of the frequency-modulated continuous wave lidar in FIG. 1;
  • FIG. 3 is a schematic structural diagram of a frequency-modulated continuous wave laser radar according to an embodiment of the present application
  • FIG. 4 is a schematic diagram of an output spectrum of a dual-wavelength frequency-modulated continuous wave laser module according to an embodiment of the present application
  • FIG. 5 is a schematic structural diagram of another frequency-modulated continuous wave laser radar provided by an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of another frequency-modulated continuous wave laser radar provided by an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of another frequency-modulated continuous wave laser radar provided by an embodiment of the present application.
  • FIG. 1 shows a schematic diagram of the principle of a frequency-modulated continuous wave laser radar.
  • the frequency-modulated continuous wave laser radar includes a laser 1, a beam splitter 2, a circulator 3, an angle scanning mechanism 4, a coupler 5, a balanced photodiode 6, a cross
  • the resistance differential amplifier 7 and the processor 8 the output beam of the laser 1 is divided into a local oscillator beam and a measurement beam by the beam splitter 2, the local oscillator beam directly enters the coupler 5, and the measurement beam exits through the circulator 3 and is transmitted by the angle scanning mechanism 4 Do a space scan.
  • the reflected echo of the target enters the coupler 5 after passing through the circulator 3, and interferes with another local oscillator beam through the coupler 5.
  • the interference signal is detected by the balanced photodiode 6, and is sampled and calculated by the processor 8 through the transimpedance differential amplifier 7 .
  • FIG. 2 is a schematic diagram of the mathematical principle of the detection distance and speed of the frequency-modulated continuous wave lidar in FIG. 1 .
  • the solid line is the outgoing radar signal, and the dotted line is the echo signal; there is a relative delay between the two
  • D is the distance between the radar and the target object, and c is the speed of light.
  • the difference frequency df between the radar signal and the echo signal is calculated by the mixer and through the fast Fourier transform FFT, so the distance information is obtained:
  • Figure 2(a) shows the situation where the radar and the target object are relatively stationary along the detection direction.
  • Figure 2(b) shows the situation where the radar and the target object have relative velocities in the radar measurement direction. Due to the Doppley effect, the echo frequency has a frequency shift relative to the transmitted wave.
  • v is the relative radial velocity. In this way, v can be obtained by measuring the difference frequency signal of the rising and falling frequency of the triangular wave sweep.
  • the specific distance calculation formula is:
  • the speed calculation formula is:
  • a modulated laser frequency can be used to increase (up chirp) and decrease (down chirp) sequentially.
  • the frequency offset during the up chirp and the frequency offset during the down chirp are used in the return signal to determine the range and relative velocity of the target. In this way, a complete triangular wave cycle is required for each successive measurement.
  • FIG. 3 is a schematic structural diagram of a frequency-modulated continuous wave laser radar according to an embodiment of the present application.
  • the frequency-modulated continuous wave laser radar provided by this embodiment includes a dual-wavelength frequency-modulated continuous wave laser module 10, a branching module 20.
  • the local oscillator beam is directly transmitted to the receiving module 40, and the measurement beam is output by the scanning module 30 and reflected by the target object 60 and then transmitted to the receiving module 40.
  • the receiving module 40 includes a first receiving unit 41 and a second receiving unit 42, the first receiving unit 41 is configured to receive the first interference signal of the local oscillator beam of the first sideband and the measuring beam, and the second receiving unit 42
  • the processing module 50 is configured to receive the local oscillator beam of the second sideband and the second interference signal of the measurement beam; the processing module 50 is configured to calculate the distance and speed of the target object 60 according to the first interference signal and the second interference signal.
  • the single-frequency laser 11 is a narrow-linewidth fixed-frequency laser, and outputs a continuous laser with a frequency of the first frequency f1, such as a distributed feedback semiconductor laser, a distributed Bragg reflection semiconductor laser, an external cavity feedback semiconductor laser, and a grating feedback semiconductor laser.
  • a distributed feedback semiconductor laser such as a distributed feedback semiconductor laser, a distributed Bragg reflection semiconductor laser, an external cavity feedback semiconductor laser, and a grating feedback semiconductor laser.
  • a distributed feedback semiconductor laser such as a distributed feedback semiconductor laser, a distributed Bragg reflection semiconductor laser, an external cavity feedback semiconductor laser, and a grating feedback semiconductor laser.
  • a distributed feedback semiconductor laser such as a distributed Bragg reflection semiconductor laser, an external cavity feedback semiconductor laser, and a grating feedback semiconductor laser.
  • Semiconductor lasers are formed of semiconductor materials (such as InP, GaAs, etc.), and quantum dot lasers can be formed by doping quantum dots
  • the external control signal a can be a microwave FM signal, which is provided by a microwave signal source.
  • the microwave FM signal source can generate high repetition frequencies (eg, on the order of kHz to MHz), and a wide range (eg, hundreds of MHz to tens of GHz).
  • FIG. 4 shows a schematic diagram of the output spectrum of a dual-wavelength frequency-modulated continuous wave laser module provided by an embodiment of the present application. Referring to FIG. 4 , after the beam of the first frequency f1 is modulated, the A plurality of a series of first sidebands f1+fm, f1+2fm...
  • the symmetrical f1+fm and f1-fm, or f1+2fm and f1-2fm can be used for the two symmetrical up-chirp and down-chirp signals of this application, and the rate and range of the frequency sweep are symmetrical, which can be automatically Synchronization requirements are met.
  • Both the first receiving unit 41 and the second receiving unit 42 may be balanced photodiodes, respectively receiving up-chirped and down-chirped signals to improve measurement efficiency.
  • the single-frequency laser 11 in the dual-wavelength frequency-modulated continuous laser module 10 outputs the continuous laser of the first frequency
  • the modulator 12 modulates the continuous laser into a plurality of A frequency-symmetric and linearly modulated first sideband and a second sideband simultaneously generate an up-chirped frequency-modulated beam and a down-chirped frequency-modulated beam
  • a first sideband and a second sideband symmetrical about the first frequency are generated by the branching module 20
  • the second sideband is divided into a local oscillator beam and a measurement beam, the local oscillator beam is directly transmitted to the receiving module 40, the measurement beam is output by the scanning module 30 and reflected by the target object 60 and then transmitted to the receiving module 40;
  • the receiving unit 41 receives the first interference signal of the local oscillator beam of the first sideband and the measuring beam, and the second receiving unit 42 receives the second interference signal of the local oscillator beam of the second sideband and the measuring beam;
  • An interference signal and a second interference signal calculate the distance and velocity
  • the dual-wavelength frequency-modulated continuous wave laser module 10 simultaneously transmits two laser signals of up-chirp and down-chirp, the obtained return signal can be processed to obtain speed and distance information at the same time, without waiting for a triangular wave cycle to complete, which can increase the measurement rate , simplify the system structure and reduce the cost.
  • FIG. 5 shows a schematic structural diagram of another frequency-modulated continuous wave laser radar provided by an embodiment of the present application.
  • the dual-wavelength frequency-modulated continuous-wave laser module 10 further includes an amplifier 13.
  • the amplifier 13 Located at the output end of the modulator 12, it is set to amplify the output beam of the dual-wavelength frequency-modulated continuous laser module. By setting the amplifier 13, the required signal can be amplified to improve the performance of the radar.
  • the modulator 12 in this embodiment uses a carrier suppression intensity modulator.
  • the external modulation signal is a chirp microwave signal; the chirp microwave signal is generated by a voltage controlled oscillator, a phase locked loop or a direct digital synthesizer.
  • Voltage Controlled Oscillator is an oscillating circuit whose output frequency has a corresponding relationship with the input control voltage, and can output the chirp microwave signal required by the modulation unit.
  • a phase-locked loop is a method that detects the phase difference between the input signal and the output signal, and converts the detected phase difference signal into a voltage signal for output. The signal is filtered by a low-pass filter to form the control voltage of the voltage-controlled oscillator. , a device that controls the frequency of the oscillator output signal.
  • Direct Digital Synthesizer is a frequency synthesis technology that directly synthesizes the required waveform from the concept of phase. Combined with the wave multiplier mixer, it can output the chirp microwave signal required by the modulation unit.
  • the modulator includes any one of a phase modulator, an intensity modulator, an electro-absorption modulator, a carrier suppressed double sideband modulator or a micro-ring modulator, and the specific implementation can be flexibly selected according to actual conditions.
  • the dual-wavelength frequency-modulated continuous wave laser module, the branching module, the scanning module and the receiving module are optically coupled, free-space coupled or integrated on the same semiconductor chip.
  • all optical devices, as well as microwave radio frequency devices, are hybrid integrated in parallel on the semiconductor chip, which can greatly reduce size and cost, and take advantage of frequency-modulated continuous wave laser ranging.
  • FIG. 6 is a schematic structural diagram of another FM continuous wave lidar provided by an embodiment of the present application.
  • the splitting module 20 includes a first beam splitter 21 , a first circulator 22 , and a first coupler 23.
  • the output beam of the output end of the first beam splitter 21 is connected to the first end of the first circulator 22, the second output end is connected to the first input end of the first coupler 23, and the first beam splitter
  • the first output end of the first beam splitter 21 is configured to transmit the measurement beam to the first end of the first circulator 22, and the second output end of the first beam splitter 21 is configured to transmit the local oscillator beam to the first end of the first coupler 23.
  • the second end of the first circulator 22 is connected to the scanning module 30, the third end is connected to the second input end of the first coupler 23, and the second end of the first circulator 22 is set to transmit the measurement beam
  • the second input end of the first coupler 23 is configured to receive the measurement beam reflected by the target object 60, the scanning module 30, the second end of the first circulator 22, and the third end of the first circulator 22
  • the first output end of the first coupler 23 is connected to the input end of the first filter 24, the second output end of the first coupler 23 is connected to the input end of the second filter 25, and the first
  • the output end and the first output end of the second filter 25 are both connected to the first receiving unit 41, and the first filter 24 and the second filter 25 are set to transmit the interference signal of the first sub-sideband to the first receiving unit 41;
  • the second output end of the first filter 24 is connected to the input end of the third filter 26, the second output end of the second filter 25 is connected to the input end of the fourth filter 27, the third filter 26 and
  • the filter used in this embodiment may be a single-order filter formed by a single micro-ring based on a waveguide, a high-order filter coupled with multiple micro-rings based on a waveguide, a single-stage Mach-Zehnder filter, a cascade filter Either a Mach-Zehnder filter or a waveguide grating filter.
  • the first filter 24 and the second filter 25 may output a first subsideband
  • the third filter 26 and the fourth filter 27 may output a second subsideband.
  • the first subsideband and The second subsideband is a sideband adjacent to the first frequency, that is, the first subsideband includes f1+fm components, and the second subsideband includes f1-fm components.
  • the filter bandwidth must be at least larger than the frequency modulation range to ensure that the frequency-modulated sideband signals can pass through the filter.
  • the local oscillator and echo f1+fm signals filtered by the first filter 24 and the second filter 25 of the same frequency and bandwidth are sent to the first receiving unit 41, and the generated signals are sampled by the analog-to-digital converter ADC.
  • the local oscillator and echo f1-fm signals filtered by the third filter 26 and the fourth filter 27 of the same frequency and bandwidth are sent to the second receiving unit 42, and the generated signals are sampled by the ADC.
  • the signal sampled by the ADC is then analyzed by the processing module 50, and the frequency shift due to the Doppler effect and the linear sweep frequency change signal generated by the target distance delay can be obtained through FFT, so that the target speed and distance can be calculated.
  • FIG. 7 is a schematic structural diagram of another FM continuous wave lidar provided by an embodiment of the present application. Referring to FIG.
  • the branching module 20 includes a fifth filter 210 , a sixth filter 220 , and a second beam splitter 230, the third beam splitter 240, the second circulator 250, the third circulator 260, the second coupler 270, the third coupler 280 and the beam combiner 290; the input end of the fifth filter 210 is connected to the The output end of the modulator 12 is connected, and is set to receive the output beam of the output end of the modulator 12; the first output end of the fifth filter 210 is connected to the input end of the second beam splitter 230, and the second The output end is connected to the input end of the sixth filter 220, and the fifth filter 210 is set to transmit the third sub-sideband to the second beam splitter 230; the first output end of the second beam splitter 230 is connected to the second loop The first end of the beam splitter 250 is connected to the first end of the coupler 250, the second output end is connected to the first input end of the second coupler 270, and the first output end of the second beam
  • the modulated optical signal first passes through the fifth filter 210 to select the generated third sub-sideband, and enters the classical coherent measurement interferometer, that is, the second beam splitter 230 is used to separate the measurement beam and the local
  • the measuring beam passes through the second circulator 250 , the beam combining beam splitter 290 , and the scanning module 30 to reach the target object 60 .
  • the sixth filter 220 selects the fourth sub-sideband, and after passing through a similar coherent measurement interferometer, the measurement beam also passes through the beam combiner 290 and exits together with the up-chirped measurement light.
  • the third sub-sideband and the fourth sub-sideband are sidebands adjacent to the first frequency. That is, the third sub-sideband includes f1+fm components, and the fourth sub-sideband includes f1-fm components.
  • the beam combiner and splitter 290 may be a wavelength-division multiplexing beam combiner or a polarization beam combiner and splitter.
  • the beam combiner beam splitter 290 is a polarization beam splitter beam combiner, only one of the signals needs to be polarized and rotated by 90 degrees using a glass slide or a Faraday rotator, and then the beam can be combined with the other signal through the polarization beam combiner. can be selected according to the actual situation.

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Abstract

一种调频连续波激光雷达，该调频连续波激光雷达包括双波长调频连续波激光模块（10）、分路模块（20）、扫描模块（30）、接收模块（40）及处理模块（50）；双波长调频连续激光模块（10）包括单频激光器（11）和调制器（12），单频激光器（11）设置为输出连续激光，调制器（12）设置为将连续激光调制为线性调频的第一边带和第二边带；分路模块（20）设置为将第一边带和第二边带分为本振光束和测量光束，并将本振光束直接传输至接收模块（40），测量光束经过扫描模块（30）输出并被目标物体（60）反射后传输至接收模块（40）；处理模块（50）设置为计算目标物体（60）的距离和速度。

Description

调频连续波激光雷达
本申请要求申请日为2020年11月06日、申请号为202011229458.6的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请涉及激光雷达技术，例如涉及一种调频连续波激光雷达。
背景技术
调频连续波(Frequency Modulated Continuous Wave，FMCW)体制是一种重要的雷达类型；相比于脉冲雷达、相位雷达等传统雷达体制而言，具有精度高、抗干扰、无距离盲区、能直接测速及结构简单等优势，因而在很多领域具有良好的应用前景。
调频连续波激光雷达通常为了将目标速度引起的多普勒频移和距离去耦合，调频连续波激光雷达的光信号的频率以线性依次增加和降低做三角波扫描的。在相干激光雷达系统中，可以使用导致频率增加(上啁啾)和频率降低(下啁啾)的调制的组合将被称为线性调频脉冲的发射波形生成为三角波。在返回信号中，利用上啁啾期间的频率偏移和下啁啾期间的频率偏移来确定目标的距离和相对速度。每完成依次测量，需要一个完整的三角波周期，效率有待于进一步提升。
发明内容
本公开提供了一种调频连续波激光雷达，该雷达能够同时发射上啁啾和下啁啾两个激光信号，得到的返回信号将可以同时处理得到速度和距离信息，而无需等待一个三角波周期完成，能够增加测量的速率，简化系统结构，降低成本。
一实施例提供了一种调频连续波激光雷达，包括双波长调频连续波激光模块、分路模块、扫描模块、接收模块以及处理模块。
所述双波长调频连续激光模块包括单频激光器和调制器，所述单频激光器用于输出第一频率的连续激光，所述调制器设置为在外部调制信号的控制下，将所述连续激光调制为多个关于所述第一频率对称且线性调频的第一边带和第 二边带；所述分路模块设置为将关于所述第一频率对称的一个所述第一边带和一个所述第二边带分为本振光束和测量光束，并将所述本振光束直接传输至所述接收模块，所述测量光束经过所述扫描模块输出并被目标物体反射后传输至所述接收模块。
所述接收模块包括第一接收单元和第二接收单元，所述第一接收单元设置为接收所述第一边带的本振光束和测量光束的第一干涉信号，所述第二接收单元设置为接收所述第二边带的本振光束和测量光束的第二干涉信号。
所述处理模块设置为根据所述第一干涉信号和所述第二干涉信号计算所述目标物体的距离和速度。
附图说明
图1是一种调频连续波激光雷达的原理示意图；
图2是图1中调频连续波激光雷达探测距离速度的数学原理示意图；
图3是本申请一实施例提供的一种调频连续波激光雷达的结构示意图；
图4是本申请一实施例一种双波长调频连续波激光模块的输出光谱示意图；
图5是本申请一实施例提供的另一种调频连续波激光雷达的结构示意图；
图6是本申请一实施例提供的又一种调频连续波激光雷达的结构示意图；
图7是本申请一实施例提供的又一种调频连续波激光雷达的结构示意图。
具体实施方式
图1所示为一种调频连续波激光雷达的原理示意图，该调频连续波激光雷达包括激光器1、分束器2、环行器3、角度扫描机构4、耦合器5、平衡光电二极管6、跨阻差分放大器7以及处理器8，激光器1的输出光束通过分束器2分为本振光束和测量光束，本振光束直接进入耦合器5，测量光束通过环行器3出射并由角度扫描机构4做空间扫描。目标反射回波经过环行器3之后进入耦合器5，与另一路本振光束通过耦合器5合束干涉，干涉信号由平衡光电二极管6检测，并经过跨阻差分放大器7由处理器8采样计算。
图2所示为图1中调频连续波激光雷达探测距离速度的数学原理示意图。激光信号的频率以三角波的方式线性变化，即三角波的上行扫描和下行扫描分别为f＝f 0+at和f＝f 0-at；其中f为激光信号频率，f 0为初始频率，a为频率变化速率，t为时间。图2中，实线为出射雷达信号，虚线为回波信号；两者之间产生相 对延时
Figure PCTCN2020132325-appb-000001
其中D为雷达和目标物体的距离，c为光速。雷达信号与回波信号的差频df通过混频器并经过快速傅里叶变换FFT计算得出，于是得到距离信息：
Figure PCTCN2020132325-appb-000002
图2(a)所示为雷达与目标物体沿探测方向相对静止的情形，上述差频df在三角波上行扫描和下行扫描部分均相同，即df +＝df -＝a·dt。
图2(b)所示为雷达与目标物体在雷达测量方向上存在相对速度的情形，由于多普雷效应回波频率相对发射波有一个频移
Figure PCTCN2020132325-appb-000003
其中v为相对径向速度。这样测量三角波扫频上升和下降的差频信号可以得到v。具体距离计算公式为：
Figure PCTCN2020132325-appb-000004
速度计算公式为：
Figure PCTCN2020132325-appb-000005
其中，df +＝a·dt-Δf，df -＝a·dt+Δf。
由此可以看出，为了将目标速度引起的多普勒频移和距离去耦合，在相干激光雷达系统中，可以使用激光频率依次增加(上啁啾)和降低(下啁啾)的调制的组合(被称为线性调频脉冲三角波)，在返回信号中，利用上啁啾期间的频率偏移和下啁啾期间的频率偏移来确定目标的距离和相对速度。如此每完成依次测量，需要一个完整的三角波周期。相关技术中若要实现上啁啾和下啁啾脉冲同时发射，需要两套激光源，复杂度和成本均会增加，而且要使用两个线性调频激光，要保证两者调频速率一致和同步，这对于μs级的调制周期难度进一步提高。
有鉴于此，本申请一实施例提供一种可以提高测量效率的调频连续波激光雷达。图3所示为本申请一实施例提供的一种调频连续波激光雷达的结构示意图，参考图3，本实施例提供的调频连续波激光雷达包括双波长调频连续波激光模块10、分路模块20、扫描模块30、接收模块40以及处理模块50；双波长调频连续激光模块10包括单频激光器11和调制器12，单频激光器11设置为输出第一频率f 1的连续激光，调制器12设置为在外部调制信号a的控制下，将连续激光调制为多个关于第一频率f 1对称且线性调频的第一边带和第二边带；分路模块20设置为将 关于第一频率f 1对称的一个第一边带和一个第二边带分为本振光束和测量光束，本振光束直接传输至接收模块40，测量光束经过扫描模块30输出并被目标物体60反射后传输至接收模块40；接收模块40包括第一接收单元41和第二接收单元42，第一接收单元41设置为接收第一边带的本振光束和测量光束的第一干涉信号，第二接收单元42设置为接收第二边带的本振光束和测量光束的第二干涉信号；处理模块50设置为根据第一干涉信号和第二干涉信号计算目标物体60的距离和速度。
其中，单频激光器11为窄线宽固定频率激光器，输出一个频率为第一频率f 1的连续激光，例如可以为分布反馈半导体激光器、分布布拉格反射半导体激光器、外腔反馈半导体激光器、光栅反馈半导体激光器、微环反馈半导体激光器或量子点激光器的任意一种。半导体激光器采用半导体材料(例如InP、GaAs等)形成，量子点激光器可以通过在Si材料中掺杂量子点形成，这些激光器体积小，有利于集成于光学芯片中，分布反馈(DFB)半导体激光器、分布布拉格反射(DBR)半导体激光器、外腔反馈(例如F-P腔)半导体激光器、光栅反馈半导体激光器以及微环反馈半导体激光器具有良好的单频性能，可以有效提高信号质量。外部控制信号a可以为一种微波调频信号，由一微波信号源提供，微波调频信号源可以产生高重复频率(例如kHz到MHz量级)，大范围(例如数百MHz到数十GHz)的线性调频微波信号，在外部控制信号a的控制下，将连续激光调制为多个关于第一频率f 1对称且线性调频的第一边带和第二边带。在一实施例中，图4所示为本申请一实施例提供的一种双波长调频连续波激光模块的输出光谱示意图，参考图4，经过对第一频率f 1的光束经过调制后，产生多个关于第一频率f 1对称的一系列第一边带f1+fm，f1+2fm……和第二边带f1-fm，f 1-2f m……，fm为随时间做线性变化的调制微波信号频率。其中对称的f1+fm和f1-fm，或f1+2fm和f1-2fm，都可以用于本申请的两个对称上啁啾和下啁啾信号，且扫频的速率和范围对称，可以自动满足同步性要求。第一接收单元41和第二接收单元42均可以为平衡光电二极管，分别接收上啁啾和下啁啾的信号，提高测量效率。
本实施例的技术方案，通过双波长调频连续激光模块10中的单频激光器11输出第一频率的连续激光，通过调制器12在外部调制信号的控制下，将连续激光调制为多个关于第一频率对称且线性调频的第一边带和第二边带，同时产生上啁啾调频光束和下啁啾调频光束；通过分路模块20将关于第一频率对称的一个第一边带和一个第二边带分为本振光束和测量光束，本振光束直接传输至接 收模块40，测量光束经过扫描模块30输出并被目标物体60反射后传输至接收模块40；通过接收模块40的第一接收单元41接收第一边带的本振光束和测量光束的第一干涉信号，第二接收单元42接收第二边带的本振光束和测量光束的第二干涉信号；通过处理模块50根据第一干涉信号和第二干涉信号计算目标物体的距离和速度。由于双波长调频连续波激光模块10同时发射上啁啾和下啁啾两个激光信号，得到的返回信号将可以同时处理得到速度和距离信息，而无需等待一个三角波周期完成，可以增加测量的速率，简化系统结构，降低成本。
在上述技术方案的基础上，图5所示为本申请一实施例提供的另一种调频连续波激光雷达的结构示意图，参考图5，双波长调频连续激光模块10还包括放大器13，放大器13位于调制器12的输出端，设置为放大双波长调频连续激光模块的输出光束。通过设置放大器13，可以对需要的信号进行放大，提高雷达的性能。在一实施例中，为了抑制激光载波f 1成分，本实施例中的调制器12使用载波抑制强度调制器。
在一实施例中，外部调制信号为线性调频微波信号；线性调频微波信号由压控振荡器产生、锁相环产生或直接数字合成器产生。
压控振荡器(VCO)是一种输出频率与输入控制电压有对应关系的振荡电路，可以输出调制单元所需的线性调频微波信号。锁相环(PLL)是一种检测输入信号和输出信号的相位差，并将检测出的相位差信号转换成电压信号输出，该信号经低通滤波器滤波后形成压控振荡器的控制电压，对振荡器输出信号的频率实施控制的器件。直接数字合成器(DDS)是一种从相位概念出发直接合成所需要波形的一种频率合成技术，与波倍频混频器结合可以输出调制单元所需的线性调频微波信号。
在一实施例中，调制器包括相位调制器、强度调制器、电吸收调制器、载波抑制双边带调制器或微环调制器中的任意一种，具体实施是可以根据实际情况灵活选择。
在一实施例中，本申请一实施例中，双波长调频连续波激光模块、分路模块、扫描模块以及接收模块采用光纤耦合、自由空间耦合或集成于同一半导体芯片上。在一实施例中，所有的光学器件，以及微波射频器件，都在半导体芯片上并行的实现混合集成，可以大大降低尺寸和成本，发挥出调频连续波激光测距的优势。
图6所示为本申请一实施例提供的又一种调频连续波激光雷达的结构示意 图，参考图6，分路模块20包括第一分束器21、第一环行器22、第一耦合器23、第一滤波器24、第二滤波器25、第三滤波器26以及第四滤波器27；第一分束器21的输入端与调制器12的输出端连接，设置为收调制器12的输出端的输出光束；第一分束器21的第一输出端与第一环行器22的第一端连接，第二输出端与第一耦合器23的第一输入端连接，第一分束器21的第一输出端设置为将测量光束传输至第一环行器22的第一端，第一分束器21的第二输出端设置为将本振光束传输至第一耦合器23的第一输入端；第一环行器22的第二端与扫描模块30连接，第三端与第一耦合器23的第二输入端连接，第一环行器22的第二端设置为将测量光束传输至扫描模块30，第一耦合器23的第二输入端设置为接收经过目标物体60反射、扫描模块30、第一环行器22的第二端、第一环行器22的第三端的测量光束；第一耦合器23的第一输出端与第一滤波器24的输入端连接，第一耦合器23的第二输出端与第二滤波器25的输入端连接，第一滤波器24的第一输出端和第二滤波器25的第一输出端均与第一接收单元41连接，第一滤波器24和第二滤波器25设置为将第一子边带的干涉信号传输至第一接收单元41；第一滤波器24的第二输出端与第三滤波器26的输入端连接，第二滤波器25的第二输出端与第四滤波器27的输入端连接，第三滤波器26和第四滤波器27的输出端均与第二接收单元42连接，第三滤波器26和第四滤波器27设置为将第二子边带的干涉信号传输至第二接收单元42；其中，第一子边带为第一边带中的一个边带，第二子边带为第二边带中的一个边带，第一子边带和第二子边带关于第一频率对称。
其中，本实施例中所用的滤波器可以为基于波导的单个微环形成的单阶滤波器、基于波导的多个微环耦合的高阶滤波器、单级马赫-曾德尔滤波器、级联马赫-曾德尔滤波器或波导光栅滤波器的任意一种。第一滤波器24和第二滤波器25可以输出第一子边带，第三滤波器26和第四滤波器27可以输出第二子边带，在一实施例中，第一子边带和第二子边带为与第一频率相邻的边带，即第一子边带包括f1+fm成分，第二子边带包括f1-fm成分，由于fm随时间线性变化，例如调频范围为1GHz，则滤波器带宽需至少大于该调频范围以保证调频的边带信号都能通过滤波器。通过相同频率和带宽的第一滤波器24和第二滤波器25滤波的本振和回波f1+fm信号送往第一接收单元41，所产生的信号被模数转换器ADC采样。同样的，通过相同频率和带宽的第三滤波器26和第四滤波器27滤波的本振和回波f1-fm信号送往第二接收单元42，所产生的信号被ADC采样。ADC采样的信号再由处理模块50分析，通过FFT可以得到由于多普勒效应产生的频移和目标距 离延时产生的线性扫频频率变化信号，如此可以推算出目标速度和距离。
图6所示的实施例中，分路模块20先分束，最后进入接收单元之前才分离上啁啾和下啁啾信号，在其他实施例中，也可以先将上啁啾和下啁啾信号分离。图7所示为本申请一实施例提供的又一种调频连续波激光雷达的结构示意图，参考图7，分路模块20包括第五滤波器210、第六滤波器220、第二分束器230、第三分束器240、第二环行器250、第三环行器260、第二耦合器270、第三耦合器280以及合束分束器290；第五滤波器210的输入端与调制器12的输出端连接，设置为接收调制器12的输出端的输出光束；第五滤波器210的第一输出端与第二分束器230的输入端连接，第五滤波器210的第二输出端与第六滤波器220的输入端连接，第五滤波器210设置为将第三子边带传输至第二分束器230；第二分束器230的第一输出端与第二环行器250的第一端连接，第二输出端与第二耦合器270的第一输入端连接，第二分束器230的第一输出端设置为将第三子边带的测量光束传输至第二环行器250的第一端，第二分束器230的第二输出端设置为将第三子边带的本振光束传输至第二耦合器270的第一输入端；第二环行器250的第二端与合束分束器290的第一端连接，第二环行器250的第三端与第二耦合器270的第二输入端连接，合束分束器290的第二端与扫描模块30连接，第二耦合器270的第二输入端设置为接收经过目标物体60反射、扫描模块30、合束分束器290的第二端、合束分束器290的第一端、第二环行器250的第二端、第二环行器250的第三端的第三子边带的测量光束；第二耦合器270的第一输出端和第二输出端均与第一接收单元41连接，设置为将第三子边带的本振光束和测量光束的干涉信号传输至第一接收单元41；第六滤波器220的输出端与第三分束器240的输入端连接，第六滤波器220设置为将第四子边带传输至第三分束器240；第三分束器240的第一输出端与第三环行器260的第一端连接，第三分束器240的第二输出端与第三耦合器280的第一输入端连接，第三分束器240的第一输出端设置为将第四子边带的测量光束传输至第三环行器260的第一端，第三分束器240的第二输出端设置为将第四子边带的本振光束传输至第三耦合器280的第一输入端；第三环行器260的第二端与合束分束器290的第三端连接，第三环行器260的第三端与第三耦合器280的第二输入端连接，第三耦合器280的第二输入端设置为接收经过目标物体60反射、扫描模块30、合束分束器290的第二端、合束分束器290的第三端、第三环行器260的第二端、第三环行器260的第三端的第四子边带的测量光束；第三耦合器280的第一输出端和第二输出端均与第二接收单元42连接， 并设置为将第四子边带的本振光束和测量光束的干涉信号传输至第二接收单元42；其中，第三子边带为第一边带中的一个边带，第四子边带为第二边带中的一个边带，第三子边带和第四子边带关于第一频率对称。
本实施例中，调制过后的光信号首先经过第五滤波器210将产生的第三子边带选出，进入经典的相干测量干涉仪，即通过第二分束器230分为测量光束和本振光束，测量光束经过第二环行器250、合束分束器290、扫描模块30达到目标物体60。第六滤波器220选出第四子边带，经过类似的相干测量干涉仪，测量光束也通过合束分束器290，与上啁啾的测量光一起出射。如此的，采用两套独立的干涉测量光路，上啁啾和下啁啾信号在调制器12后分离分别进入该两套独立的干涉测量光路，最后又通过合束分束器290将两上啁啾和下啁啾信号的测量光束合束，同时也将回波中的上啁啾和下啁啾信号分束。如此两套分立的干涉测量光路分别获得上啁啾和下啁啾调频连续波测量信号，可以去耦合解调出速度与距离信息。在一实施例中，第三子边带和第四子边带为与第一频率相邻的边带。即第三子边带包括f1+fm成分，第四子边带包括f1-fm成分。
在一实施例中，合束分束器290可以为波分复用合束分束器或偏振合束分束器。当合束分束器290为偏振分束合束器时，只需将其中一个信号偏振使用玻片或法拉第旋转镜旋转90度，即可与另一个信号通过偏振合束器合束，具体实施时可以根据实际情况选择。

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  1. 一种调频连续波激光雷达，包括双波长调频连续波激光模块、分路模块、扫描模块、接收模块以及处理模块；
    所述双波长调频连续激光模块包括单频激光器和调制器，所述单频激光器设置为输出第一频率的连续激光，所述调制器设置为在外部调制信号的控制下，将所述连续激光调制为多个关于所述第一频率对称且线性调频的第一边带和第二边带；
    所述分路模块设置为将关于所述第一频率对称的一个所述第一边带和一个所述第二边带分为本振光束和测量光束，并将所述本振光束直接传输至所述接收模块，所述测量光束经过所述扫描模块输出并被目标物体反射后传输至所述接收模块；
    所述接收模块包括第一接收单元和第二接收单元，所述第一接收单元设置为接收所述第一边带的本振光束和测量光束的第一干涉信号，所述第二接收单元设置为接收所述第二边带的本振光束和测量光束的第二干涉信号；
    所述处理模块设置为根据所述第一干涉信号和所述第二干涉信号计算所述目标物体的距离和速度。
  2. 根据权利要求1所述的调频连续波激光雷达，其中，所述分路模块包括第一分束器、第一环行器、第一耦合器、第一滤波器、第二滤波器、第三滤波器以及第四滤波器；
    所述第一分束器的输入端与所述调制器的输出端连接，并设置为接收所述调制器的输出端的输出光束；
    所述第一分束器的第一输出端与所述第一环行器的第一端连接，所述第一分束器的第二输出端与所述第一耦合器的第一输入端连接，所述第一分束器的第一输出端设置为将测量光束传输至所述第一环行器的第一端，所述第一分束器的第二输出端设置为将所述本振光束传输至所述第一耦合器的第一输入端；
    所述第一环行器的第二端与所述扫描模块连接，所述第一环行器的第三端与所述第一耦合器的第二输入端连接，所述第一环行器的第二端设置为将所述测量光束传输至所述扫描模块，所述第一耦合器的第二输入端用于设置为接收经过所述目标物体反射、所述扫描模块、所述第一环行器的第二端、所述第一环行器的第三端的所述测量光束；
    所述第一耦合器的第一输出端与所述第一滤波器的输入端连接，所述第一耦合器的第二输出端与所述第二滤波器的输入端连接，所述第一滤波器的第一 输出端和所述第二滤波器的第一输出端均与所述第一接收单元连接，所述第一滤波器和所述第二滤波器设置为将第一子边带的干涉信号传输至所述第一接收单元；
    所述第一滤波器的第二输出端与所述第三滤波器的输入端连接，所述第二滤波器的第二输出端与所述第四滤波器的输入端连接，所述第三滤波器的输出端和所述第四滤波器的输出端均与所述第二接收单元连接，所述第三滤波器和所述第四滤波器设置为将第二子边带的干涉信号传输至所述第二接收单元；
    其中，所述第一子边带为所述第一边带中的一个边带，所述第二子边带为所述第二边带中的一个边带，所述第一子边带和所述第二子边带关于所述第一频率对称。
  3. 根据权利要求2所述的调频连续波激光雷达，其中，所述第一子边带和所述第二子边带为与所述第一频率相邻的边带。
  4. 根据权利要求1所述的调频连续波激光雷达，其中，所述分路模块包括第五滤波器、第六滤波器、第二分束器、第三分束器、第二环行器、第三环行器、第二耦合器、第三耦合器以及合束分束器；
    所述第五滤波器的输入端与所述调制器的输出端连接，并设置为接收所述调制器的输出端的输出光束；
    所述第五滤波器的第一输出端与所述第二分束器的输入端连接，第二输出端与所述第六滤波器的输入端连接，所述第五滤波器设置为将第三子边带传输至所述第二分束器；
    所述第二分束器的第一输出端与所述第二环行器的第一端连接，所述第二分束器的第二输出端与所述第二耦合器的第一输入端连接，所述第二分束器的第一输出端用设置为将所述第三子边带的测量光束传输至所述第二环行器的第一端，所述第二分束器的第二输出端设置为将所述第三子边带的本振光束传输至所述第二耦合器的第一输入端；
    所述第二环行器的第二端与所述合束分束器的第一端连接，第三端与所述第二耦合器的第二输入端连接，所述合束分束器的第二端与所述扫描模块连接，所述第二耦合器的第二输入端设置为接收经过所述目标物体反射、所述扫描模块、所述合束分束器的第二端、所述合束分束器的第一端、所述第二环行器的第二端、所述第二环行器的第三端的第三子边带的测量光束；
    所述第二耦合器的第一输出端和第二输出端均与所述第一接收单元连接， 设置为将所述第三子边带的本振光束和测量光束的干涉信号传输至所述第一接收单元；
    所述第六滤波器的输出端与所述第三分束器的输入端连接，所述第六滤波器设置为将第四子边带传输至所述第三分束器；
    所述第三分束器的第一输出端与所述第三环行器的第一端连接，第二输出端与所述第三耦合器的第一输入端连接，所述第三分束器的第一输出端设置为将所述第四子边带的测量光束传输至所述第三环行器的第一端，所述第三分束器的第二输出端设置为将所述第四子边带的本振光束传输至所述第三耦合器的第一输入端；
    所述第三环行器的第二端与所述合束分束器的第三端连接，所述第三环行器的第三端与所述第三耦合器的第二输入端连接，所述第三耦合器的第二输入端设置为接收经过所述目标物体反射、所述扫描模块、所述合束分束器的第二端、所述合束分束器的第三端、所述第三环行器的第二端、所述第三环行器的第三端的第四子边带的测量光束；
    所述第三耦合器的第一输出端和第二输出端均与所述第二接收单元连接，设置为将所述第四子边带的本振光束和测量光束的干涉信号传输至所述第二接收单元；
    其中，所述第三子边带为所述第一边带中的一个边带，所述第四子边带为所述第二边带中的一个边带，所述第三子边带和所述第四子边带关于所述第一频率对称。
  5. 根据权利要求4所述的调频连续波激光雷达，其中，所述第三子边带和所述第四子边带为与所述第一频率相邻的边带。
  6. 根据权利要求4所述的调频连续波激光雷达，其中，所述合束分束器为波分复用合束分束器或偏振合束分束器。
  7. 根据权利要求1所述的调频连续波激光雷达，其中，所述双波长调频连续激光模块还包括放大器，所述放大器位于所述调制器的输出端，设置为放大所述双波长调频连续激光模块的输出光束。
  8. 根据权利要求1所述的调频连续波激光雷达，其中，所述外部调制信号为线性调频微波信号；
    所述线性调频微波信号由压控振荡器产生、锁相环产生或直接数字合成器产生。
  9. 根据权利要求1所述的调频连续波激光雷达，其中，所述调制器包括相位调制器、强度调制器、电吸收调制器、载波抑制双边带调制器或微环调制器中的任意一种。
  10. 根据权利要求1所述的调频连续波激光雷达，其中，所述双波长调频连续波激光模块、所述分路模块、所述扫描模块以及所述接收模块采用光纤耦合、自由空间耦合或集成于同一半导体芯片上。
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