CN103616696A - Laser imaging radar device and distance measurement method thereof - Google Patents
Laser imaging radar device and distance measurement method thereof Download PDFInfo
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- CN103616696A CN103616696A CN201310609371.5A CN201310609371A CN103616696A CN 103616696 A CN103616696 A CN 103616696A CN 201310609371 A CN201310609371 A CN 201310609371A CN 103616696 A CN103616696 A CN 103616696A
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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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
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S17/14—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein a voltage or current pulse is initiated and terminated in accordance with the pulse transmission and echo reception respectively, e.g. using counters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S17/18—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
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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
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S17/26—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein the transmitted pulses use a frequency-modulated or phase-modulated carrier wave, e.g. for pulse compression of received signals
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a laser imaging radar device and a distance measurement method thereof. The laser imaging radar device and the distance measurement method thereof aims at the problem that an existing distance range gate laser imaging radar is low in distance resolution. The laser imaging radar device comprises a laser device, a laser modulation unit, an optical antenna unit, a detecting unit, a data processing unit and an image processing unit, wherein the detecting unit is composed of a counter, a gate controller and an array detector, and the data processing unit is composed of an accumulator and a correlator. According to the distance measurement method, an information loading process is carried out on laser signals with constant amplitude by using a phase code pulse amplitude modulation mode. The laser imaging radar device and the distance measurement method thereof have the advantages that the equipment and the method combine the advantages of long detecting distances of the distance ranging gate layer imaging radar and the advantage of high distance measurement resolution of the pulse phase coding mode, and meanwhile the detect of low distance measurement resolution of the distance ranging gate layer imaging radar and the detect of low imaging speed of the pulse phase coding mode are avoided.
Description
Technical field
The present invention relates to laser radar field, particularly a kind of method of laser imaging radar device and range finding thereof.The method can break through the restriction of detector sampling time to radar system range resolution.
Background technology
Range gating laser imaging radar adopts laser active illumination mode, utilize rangerate-gate technique, by surveying, in section, whether there is laser echo signal specific time delay after signal transmitting, judge whether target exists target in the corresponding distance segment of section time delay, and according to the priority of time delay, obtain the echoed signal of the target of different distance, thereby obtain the 3D image-forming information of target.The range resolution of range gating laser imaging radar, first depends on range gating interval, is secondly the impact of the fluctuation of range gate and laser pulse signal, and narrow pulse width and short sampling interval can make radar reach higher range resolution.Conventionally improve the range resolution of range gating laser imaging radar, need to shorten laser pulse width and sampling interval, and improve Laser emission peak power, this will propose harsh requirement to laser instrument and receiving system, and concrete implementation exists a lot of difficulties.And when range gating imaging laser radar carries out imaging to distant object, the restriction of the peak power transmitting due to laser instrument, system need to be widened pulse width to strengthen signal energy, and this is the range resolution of a step reduction laser radar system nearly.Due to what adopt, be monopulse system, target range has limited the repetition frequency of laser pulse signal, thereby has limited the imaging speed of laser radar system simultaneously.
Phase encoding laser radar carries out phase modulation according to code source to light wave CF signal, then transmitter, phase coding laser pulse signal.Target reflection laser pulse coded signal, through the received machine of transmission delay, receive and be converted into echo coded electrical signal by detector, phase encoding echoed signal and Laser emission phase-coded signal are sent into computing machine through data acquisition and are completed related operation, through signal, process again, finally provide the distance parameter of target.But the detection of phase-coded signal needs high speed detector to carry out quick sampling to signal, and detector array is subject to the restriction of detector array manufacture craft to the sample rate of laser signal, can not meet the rate request of large face battle array phase encoding laser radar to signal sampling, therefore restrict the application of phase encoding system aspect laser imaging radar.
M sequence phase coding has good pseudo-randomness, outstanding auto-correlation and their cross correlation.But conventional m sequence phase coding ranging radar needs each subpulse of detection sequence,
.Then subpulse detection being obtained and reference signal pulse
carry out related operation, the correlation peak location of two sequences is of the cycle
position, represents echo sequence
with reference signal
between phase differential be
thereby judgement target location is
.
The benefit of this method is that broad pulse is modulated, and phase information is added in broad pulse, has improved measuring distance and the resolution of system.But being system, its shortcoming need to obtain each subpulse of sequence, this is very difficult for adopting the laser radar system of detector array, because the non-constant width of sampling time width of detector array, the subpulse width broadening that causes sequence, the range resolution of laser radar system is extremely low, can not meet the requirement of laser radar system.
As a rule the sample frequency of detector array is below 40kHz, and the sampling time of detector array need be greater than 25 like this
, this causes the pulse width of system transmitting need to be greater than 25
, could be recovered by detector array the pulse train of laser instrument transmitting.According to theoretical analysis, the resolution of ranging of system is decided by pulse width, that is to say 25
pulse width determined system resolution of ranging lower than 3750 meters, this is unacceptable for imaging laser radar system.
Summary of the invention
For the low problem of the range resolution of existing range gating laser imaging radar, the invention provides a kind of a kind of method that laser imaging radar device and photoimaging radar installations are found range, the mode that adopts reverse m sequence phase coding range gating, realizes the super-resolution imaging to target.Concrete hardware configuration and distance-finding method are as follows respectively:
The object of the present invention is achieved like this:
A laser imaging radar device, comprises laser instrument 1, Laser Modulation unit 2, optical antenna unit 3, probe unit 4, data processing unit 5 and graphics processing unit 6; Wherein, Laser Modulation unit 2 is comprised of modulator 21, m train pulse signal source 22 and pulse signal generator 23; Optical antenna unit 3 is comprised of optical transmitting antenna 31 and optical receiver antenna 32; Probe unit 4 comprises storbing gate controller 42 and detector array 43; Data processing unit 5 comprises a correlator 52; Graphics processing unit 6 is comprised of scrambler 61 and computing machine 62;
Pulse signal generator 23 clockings are also exported to respectively m train pulse signal source 22 and probe unit 4 by clock signal; The pulse train that m train pulse signal source 22 produces according to clock signal also inputs to respectively modulator 21 and data processing unit 5 by pulse train; Modulator 21 by the pulse train of m train pulse signal source 22 as modulation signal, data processing unit 5 by the pulse train of m train pulse signal source 22 as forward reference signal;
Correlator 52 is responsible for the computing of data, and the result of data operation is exported to scrambler 61, is judged the distance of target by scrambler 61 according to the phase differential of echoed signal and reference signal, and by computing machine 62, is completed the output of the three-dimensional distance image of target; In addition: in probe unit 4, be provided with a counter 41; In data processing unit 5, be provided with a totalizer 51; The laser signal of laser instrument 1 transmitting is constant amplitude; The width of the clock signal that pulse signal generator 23 produces is
; The subcode width of the pulse train that signal source 22 produces is
, Cycle Length is
and put in order as the pulse train of m sequence, i.e. the pulse train of forward m sequence; The pulse train of this forward m sequence is exported to respectively modulator 21 and totalizer 51; Modulator 21 be take the pulse train of forward m sequence and laser signal is modulated as modulation signal, and the laser signal after modulation for putting in order as m sequence, subcode width is
and Cycle Length is
laser pulse sequence signal;
Correlator 52 carries out related operation by the accumulation signal that the reference signal of the echoed signal of detector 43 outputs and totalizer 51 outputs is exported for detector 43 each pixel, and result is exported to scrambler 61;
Scrambler 61 judges the distance of target according to the phase differential of echoed signal and reference signal, and by computing machine 62, is completed the output of the three-dimensional distance image of target.
The method that adopts laser imaging radar device of the present invention to find range, carry out as follows:
Step 1: the laser signal of laser instrument 1 transmitting constant amplitude, laser signal passes to Laser Modulation unit 2;
Step 2: pulse signal generator 23 produces pulse clock signal, and the pulse width of this pulse clock signal is
, and send to respectively m train pulse signal source 22 sum counters 41;
Step 3: m train pulse signal source 22 converts pulse clock signal to m train pulse signal
and transfer to respectively modulator 21 and totalizer 51; Wherein, the sequence period length of described m train pulse signal is
; This m train pulse signal is used as modulation signal and is sent to modulator 21; This m train pulse signal is used as pulse width and is
narrow sequence forward reference signal
be sent to totalizer 51;
Step 4: modulator 21 receives after m train pulse signal, laser signal that launch to laser instrument 1, that have constant amplitude is modulated, and obtains m train pulse sequence string; This m train pulse sequence string is delivered to optical transmitting antenna 31;
Step 5: 31 pairs of m train pulse sequence strings of optical transmitting antenna carry out shaping, and are radiated on target object;
Step 6: counter 41 paired pulses clock signals are counted, and count results is exported to storbing gate controller 42;
Step 7: storbing gate controller 42, according to count results, controls the unlatching of the detector array 43 being connected with storbing gate controller 42 or cuts out; The gating time of storbing gate controller 42 is made as
;
Step 8: optical receiver antenna 32 is collected the m train pulse sequence string that target object reflects, and this m train pulse sequence string is gathered on detector array 43; Detector array 43 is converted to detectable signal by the m train pulse sequence string receiving
, wherein, detectable signal
the deration of signal be
;
Step 9: when storbing gate controller 42 is opened, detector array 43 accumulation detectable signals
; When storbing gate controller 42 cuts out, detector array 43 is by the detectable signal of accumulation
export to correlator 52, wherein, detectable signal
the deration of signal be
;
Step 10: the narrow sequence reference signal of 51 pairs of m train pulse signal sources of totalizer, 22 outputs
add up, cumulative
the burst pulse forward reference signal of position, obtains broad pulse back-reference burst
, circulation is carried out, and exports broad pulse back-reference burst
give correlator (52);
Step 11: correlator 52 calculates the deration of signal of being exported by detector array 43 and is
accumulation detectable signal
with wide sequence reference signal
between correlation, the correlation peak location obtaining is
, i.e. phase differential
, and by phase differential
export to scrambler 61;
Step 12: scrambler 61 is according to formula
calculate laser echo signal
with reference signal
between phase differential be
, the distance of the detection of a target
, and distance value corresponding to each pixel of detector array sent to computing machine, because sampling time of radar system is
, the width in its sampling time, the accumulation detection time of detector array, is broad pulse width
, and then resolve the range resolution that obtains narrow pulse width and be;
Step 13: computing machine 62, according to the distance value of scrambler 61 transmissions, is the stereo image of target object.
advantage of the present invention is:
1. equipment is simple: native system is to reform on the basis of typical phase encoding laser radar, and the hardware device of employing is approximate with typical phase encoding laser radar, and the hardware device of increase can adopt goods shelf products on the market.The innovation of system is the algorithm reform based on device property.Therefore equipment is simple;
2. range finding speed is fast: because adopt phase encoding method, the detect cycle of system is no longer limited to the flight time of laser, has shortened the detect cycle of system;
3. signal to noise ratio (S/N ratio) is high: (width is system transmitting wide laser pulse signal
), signal energy is large.Because adopt gating mode to receive signal, system does not receive ground unrest and the atmospheric scattering noise outside gating interval, thereby has reduced noise energy.Because system adopts m sequence phase, coded system is modulated signal again, adopts related operation during reception, can greatly improve Signal-to-Noise;
4. finding range (is found range non-fuzzy distance greatly) greatly: (width is system transmitting wide laser pulse signal
), signal energy is large, thereby the measurement range of system is increased.Owing to using phase encoding mode, carry out the large scale of distance and measure, can change by changing sequence length the fuzzy distance of range finding;
5. good in anti-interference performance: because adopt phase encoding mode, encoding law is near random series, and m sequence has good auto-correlation and their cross correlation, possesses good interference free performance;
6. resolution of ranging is high: because adopt phase encoding method modulated laser signal, make the resolution of ranging of system reach signal subcode width
, far below the width in the gating interval of traditional range gating laser imaging radar system.Owing to adopting reverse m sequence Detection Techniques, the resolution of ranging of system equals sequence subpulse width, far above the sampling time width of system.
The resolution of classic method is system pulse width.When not adopting mode of the present invention, the reaction velocity of establishing detector is 40kHz, and systematic sampling time width is 25 microseconds, sequence subcode width can not be less than 25 microseconds, system time resolution is exactly 25 microseconds, is converted into distance, and the resolution of ranging of system is lower than 3750 meters.But adopt method of the present invention, the reaction velocity of detector remains 40kHz, sampling time width is 25 microseconds, but when subcode length is 1023, subcode width reaches 24.5ns, and the resolution of the subcode width obtaining after resolving is 24.5ns, and the resolution of ranging of system is 3.675 meters, and resolution of ranging is significantly improved.
Accompanying drawing explanation
Fig. 1 is the electricity structure schematic diagram of present device.
Fig. 2 is reverse m retrieval method schematic diagram.
Fig. 3 is the true echoed signal in confirmatory experiment.
Fig. 4 is the signal waveform of detector accumulation output in confirmatory experiment.
Fig. 5 is the signal waveform and the related operation value that accumulates the reference signal obtaining of detector accumulation output.
Embodiment
Now be described with reference to the accompanying drawings structural principle of the present invention.
Referring to Fig. 1, a kind of laser imaging radar device, comprises laser instrument 1, Laser Modulation unit 2, optical antenna unit 3, probe unit 4, data processing unit 5 and graphics processing unit 6; Wherein, Laser Modulation unit 2 is comprised of modulator 21, m train pulse signal source 22 and pulse signal generator 23; Optical antenna unit 3 is comprised of optical transmitting antenna 31 and optical receiver antenna 32; Probe unit 4 comprises storbing gate controller 42 and detector array 43; Data processing unit 5 comprises a correlator 52; Graphics processing unit 6 is comprised of scrambler 61 and computing machine 62;
Pulse signal generator 23 clockings are also exported to respectively m train pulse signal source 22 and probe unit 4 by clock signal; The pulse train that m train pulse signal source 22 produces according to clock signal also inputs to respectively modulator 21 and data processing unit 5 by pulse train; Modulator 21 by the pulse train of m train pulse signal source 22 as modulation signal, data processing unit 5 by the pulse train of m train pulse signal source 22 as forward reference signal; Modulator 21 forms laser pulse sequence signal after the laser signal that is excited generation by laser instrument 1 is modulated, and is irradiated on target object through optical transmitting antenna 31; Laser pulse sequence signal reflects to form laser echo pulse signal at target object;
Correlator 52 is responsible for the computing of data, and the result of data operation is exported to scrambler 61, is judged the distance of target by scrambler 61 according to the phase differential of echoed signal and reference signal, and by computing machine 62, is completed the output of the three-dimensional distance image of target; In addition: in probe unit 4, be provided with a counter 41; In data processing unit 5, be provided with a totalizer 51; The laser signal of laser instrument 1 transmitting is constant amplitude; The width of the clock signal that pulse signal generator 23 produces is
; The subcode width of the pulse train that signal source 22 produces is
, Cycle Length is
and put in order as the pulse train of m sequence, i.e. the pulse train of forward m sequence; The pulse train of this forward m sequence is exported to respectively modulator 21 and totalizer 51;
Correlator 52 carries out related operation by the accumulation signal that the reference signal of the echoed signal of detector 43 outputs and totalizer 51 outputs is exported for detector 43 each pixel, and result is exported to scrambler 61.
Scrambler 61 judges the distance of target according to the phase differential of echoed signal and reference signal, and by computing machine 62, is completed the output of the three-dimensional distance image of target.The method that laser imaging radar device is found range, carry out as follows:
Step 1: the laser signal of laser instrument 1 transmitting constant amplitude, laser signal passes to Laser Modulation unit 2.
Step 2: pulse signal generator 23 produces pulse clock signal, and the pulse width of this pulse clock signal is
, and send to respectively m train pulse signal source 22 sum counters 41.
Step 3: m train pulse signal source 22 orders of the generation according to the mechanism of production of m sequence and coding convert pulse clock signal to raw m train pulse signal
and transfer to respectively modulator 21 and totalizer 51; Wherein, the sequence period length of described m train pulse signal is
; This m train pulse signal is used as modulation signal and is sent to modulator 21; This m train pulse signal is used as pulse width and is
narrow sequence forward reference signal
be sent to totalizer 51;
As shown in Figure 2, described m sequence is the longest a kind of pseudo-random sequence of cycle being produced by the cascade shift register with linear feedback.If
for constructing the progression of the feedback shift register of m sequence,
mthe one-period code length figure place formula of sequence
express.
represent the 1st to the of shift register output
nindividual sequences of pulsed signals, wherein
represent sequence
in subpulse signal,
.
represent the of shift register output
to
individual sequences of pulsed signals.
for sequence
process
the signal that inferior delay is launched afterwards,
with
pass be:
(I)
Wherein
represent feedback factor matrix,
expression register
inferior displacement;
In phase encoding laser radar, the echoed signal collecting is designated as
, its reference signal is designated as
, here
expression laser signal is propagated the delay causing in atmosphere.Generally, for calculating
value, adopt cross correlation algorithm to calculate
with
the phase differential of two sequences.
Step 4: modulator 21 receives after m train pulse signal, laser signal that launch to laser instrument 1, that have constant amplitude is modulated, and obtains m train pulse sequence string; This m train pulse sequence string is delivered to optical transmitting antenna 31.
Step 5: 31 pairs of m train pulse sequence strings of optical transmitting antenna carry out shaping, and are radiated on target object.
Step 6: counter 41 paired pulses clock signals are counted, and count results is exported to storbing gate controller 42.
Step 7: storbing gate controller 42, according to count results, controls the unlatching of the detector array 43 being connected with storbing gate controller 42 or cuts out; The gating time of storbing gate controller 42 is made as
.
Step 8: optical receiver antenna 32 is collected the m train pulse sequence string that target object reflects, and this m train pulse sequence string is gathered on detector array 43, and detectable signal is changed and be output as to detector array 43 by the m train pulse sequence string receiving
, wherein, detectable signal
the deration of signal be;
If radar range is less than laser fly able distance in pulse train half period, and laser instrument 1 transmitting
msequence has comprised
in the individual cycle, the subpulse of the burst receiving can be written as
.
Step 9: when storbing gate controller 42 is opened, detector array 43 accumulation detectable signals
; When storbing gate controller 42 cuts out, detector array 43 is by the detectable signal of accumulation
export to correlator 52, wherein, detectable signal
the deration of signal be
;
As shown in Figure 2, in reverse m sequence phase coding range gating laser imaging radar system, totalizer 51 is every by m sequence reference signal
adding up in position, obtains reverse m sequence reference sequences, is designated as
, detector array 43 is interval at gating simultaneously
echoed signal is surveyed in interior accumulation, is designated as
, wherein
with
the subcode that represents respectively accumulation echo samples burst and reverse m sequence reference signal sequence; Therefore have
There is a characteristic in m sequence, 1 number is more 1 than 0 number, so
.Because m sequence is periodic sequence, have simultaneously
, wherein
for integer.Formula (II) can be transformed to
Wherein
.
Formula (III) has provided the accumulation sequences of echo signals collecting
In formula
.
Step 10: the narrow sequence reference signal of 51 pairs of m train pulse signal sources of totalizer, 22 outputs
add up, cumulative
the burst pulse forward reference signal of position, obtains broad pulse back-reference burst
, circulation is carried out, and exports broad pulse back-reference burst
give correlator (52), the width of the result that this is cumulative is
;
And according to formula (IV), can obtain reverse m sequence reference signal sequence and be:
Step 11: correlator 52 calculates the deration of signal of being exported by detector array 43 and is
accumulation detectable signal
with wide sequence reference signal
between correlation, the correlation peak location obtaining is
, i.e. phase differential
, and by phase differential
export to scrambler 61;
Its calculating process can obtain according to formula (I)
Therefore
Formula (VII) represents the return laser beam sequence that accumulated samples obtains
with reverse m sequence reference signal sequence
between phase differential be
, both accumulated the echoed signal obtaining
with reverse m sequence reference signal sequence
between phase differential be
;
Correlation refers to the echoed signal that accumulation obtains
with reverse m sequence reference signal sequence
the value that obtains of computing cross-correlation, its process is the echoed signal obtaining tired
sequence and reverse m sequence reference signal sequence
sequence in each element sum up after multiplying each other successively, a resulting value; Specifically by the tired echoed signal obtaining
sequence move one, then multiply each other and add and, obtain the 2nd value, take turns doing and go on doing, obtain
individual value, this
individual value is exactly correlation, correlation maximum be exactly relevant peaks.
Step 12: scrambler 61 is according to formula
calculate laser echo signal
with reference signal
between phase differential be
, the distance of the detection of a target
, and distance value corresponding to each pixel of detector array sent to computing machine, because sampling time of radar system is
, the width in its sampling time, the accumulation detection time of detector array, is broad pulse width
, the range resolution that obtains narrow pulse width through resolving is
; Concrete calculation procedure is as follows:
Calculate laser echo signal
with reference signal
between the phase differential echoed signal that can be obtained by accumulation
with reverse m sequence reference signal sequence
between phase differential obtain, its derivation is as follows:
Due to
be
the length of sequence is known, therefore
can be obtained by the phase difference calculating between return laser beam sequence and reverse m sequence reference signal sequence.For actual signal, known subpulse width is
, the time of detector accumulation is
.Suppose laser echo signal
with reference signal
between phase differential be
, the echoed signal that accumulation obtains
with reverse m sequence reference signal sequence
between phase differential be
.Therefore have
(VIII)
Target range
for
.
Step 13: computing machine 62, according to the distance value of scrambler 61 transmissions, is the stereo image of target object according to each Pixel arrangement position of detector.
From above-mentioned steps: the present invention has adopted phase encoding pulse amplitude modulation(PAM) mode to carry out information loading procedure to the laser signal of constant amplitude.Detector array 43 is accumulated the signal receiving after detection, carry out phase encoding computing cross-correlation with the cumulative reverse m sequence reference signal obtaining of totalizer 51, target is carried out respectively to phase difference calculating, obtain broad pulse sequence phase poor, be converted to again narrow pulse sequence phase differential, and be converted to target range.This method combines the high advantage of resolution of ranging of the far away and impulse phase coded system of the detection range of range gating laser imaging radar, the shortcoming of the low image taking speed of the low and impulse phase coded system of the resolution of ranging of simultaneously having avoided range gating laser imaging radar to have when telemeasurement.Concrete is analyzed as follows:
Laser imaging radar device of the present invention is still launched the narrower subpulse burst of width, with reference to signal, is designated as
, echoed signal is designated as
, here
expression laser signal is propagated the delay causing in atmosphere.
Wherein, every by m sequence reference signal of totalizer 51
adding up in position, obtains reverse m sequence reference sequences, is designated as
, detector array 43 is interval at gating simultaneously
echoed signal is surveyed in interior accumulation, is designated as
, wherein
with
the subcode that represents respectively accumulation echo samples burst and reverse m sequence reference signal sequence.Because sampling time of detector array 43 is gating time
, when
nwhen larger, the sampling time width of detector array 43 is non-constant width also, and the reaction velocity of detector array 43 can meet the requirement of system.According to derivation, can obtain
Formula represents that the phase differential between return laser beam sequence that accumulated samples obtains and new reference signal sequence is
.
Due to
be
the length of sequence is known, therefore
can be obtained by the phase difference calculating between return laser beam sequence and reverse m sequence reference signal sequence.For actual signal, known subpulse width is
, the time of detector accumulation is
.Suppose laser echo signal
with reference signal
between phase differential be
, the echoed signal that accumulation obtains
with reverse m sequence reference signal sequence
between phase differential be
.Therefore have
Target range
for
Temporal resolution of the present invention is as can be seen here
, much smaller than the sampling time of detector array
, realized the super-resolution function of reverse m sequence phase coding range gating imaging laser radar system.
As preferred version, the present invention's laser instrument 1 used can adopt the semiconductor laser that central wavelength lambda=561nm, power are 75mW; Modulator 21 adopts acousto-optic modulators, electrooptic modulator or MZM modulator, detector 43 adopts ICCD detectors, the rise time 1ns of detector, fall time 1ns, sensitivity 0.45A/W; The cycle of m sequence phase modulation signals is 10
.The m sequence of 12 grades 4096 that digital modulation signals adopts, sequence period is 40.96
, subcode width is 10
.
Apparatus and method for of the present invention is verified under experimental simulation environment by department of physics of Harbin Institute of Technology:
1, simulated experiment brief introduction
Adopt following equipment and assemble by the scheme providing in the present invention: laser instrument 1 adopts one by the continuous wave laser of the Cobolt Jive 75 production, that model is of Gooch & Housego company; The laser signal of an amplitude stabilization of laser instrument 1 transmitting, optical maser wavelength is 561nm, laser output power is 75mW.Laser signal has the sound-light type modulator 21 that a modulating frequency is 150kHz to be modulated into pulse sequence signal.It is 240MHz that m train pulse signal source 22 and pulse signal generator 23 adopts a bandwidth, and model is the signal generator simulation of the AFG3252 of Tektronix company, produces code length and be the m sequence of 15 as modulated signal sequences
with analog echo signal sequence
.The subpulse width of two bursts
be 2
, the cycle is 30
.AFG3252 signal generator produces two signals, is designated as respectively reference signal
and echoed signal
.Echoed signal
export to modulator 21, model is the R23080-3-LTD of Gooch & Housego company, and its maximum amplitude modulation frequency is 5MHz, and modulation signal voltage amplitude is 0-1V.In signal generator, echoed signal
with respect to reference signal
be delayed 10
, be used for simulated laser echoed signal.
Echoed signal after modulator 21 modulation
through optical transmitting antenna 31 and optical receiver antenna 32, be focused on a PIN detector,, on detector array 43, model is the DET 10A/M of Thorlabs company, and its sensitivity is 0.45A/W, and rising edge and negative edge are limited in 1ns.An integrated amplifier is passed in the output of PIN detector, and model is the AD8488 of Analog Devices company.System control integration amplifier, realizes the accumulation to laser echo signal, is made as 28 integration time
, the computing machine laser echo signal that accumulation obtains as detector is passed in its output
.The combination of PIN detector and amplifier is for analog detection unit 4, comprises that counter 41, storbing gate controller 42 and accumulation type detector array 43(are as CCD camera, and the sample frequency of this class detector is very low) function.
The reference signal that signal generator produces
also pass to computing machine, in computing machine, realize accumulation function, the reference signal obtaining as accumulation
, use computer simulation totalizer 51 here.
Computing machine is also used for analog correlator 52, when computer acquisition the reference sequences signal of 15 accumulation
after echo sequence signal
, computer realization reference sequences signal
with echo sequence signal
related operation, and calculate their phase differential.Then computing machine is according to the phase differential calculating, and analog encoder 61 calculates laser echo signal
with reference signal
between phase differential and target range.Due in simulation test, the PIN detector simulation detector array of employing, can omit therefore be target stereo image step at computing machine 62.
2, interpretation
Fig. 3 has shown laser echo signal
true waveform.System detect cycle is 420
, 15 seat pulse widths are 28
accumulation after echo sequence
cycle.In Fig. 4, top figure has shown subpulse 2
, sequence period is 30
the echoed signal of one-period
waveform.
Although the laser pulse signal of transmitting is by 2 system m sequence modulation, but because the signal of PIN detector and integrated amplifier output is simulating signal, and the inevitably noisy interference of meeting in experiment, as ground unrest, dark current noise and other noises, the signal of detector output can not keep stablizing amplitude.
Fig. 4 shows the laser echo signal of the one-period running up to
, the subpulse width of signal is 28
(each subpulse width is 14 not echoed signals of accumulation
width).Each subpulse signal indication detector is 28
the echoed signal energy that interior accumulation obtains.Relatively Figure 4 and 5, can find out that detector sample frequency is 35.7kHz, far below the modulating frequency 500kHz of electrooptic modulator.
Fig. 5 has shown the reference signal that accumulation obtains
the echoed signal obtaining with accumulation
related operation.In related operation, what system adopted is the analog echo signal of detector output
with digital reference signal
.Because low noise impact can fall in the computing cross-correlation of m sequence, the relevant peaks that related operation obtains has provided reference sequences
with sequences of echo signals
phase differential.The phase differential that has shown two sequences in Fig. 5 is 280
.According to formula (8), can obtain laser echo signal
with reference signal
phase differential be 10
, the initial setting up of this and experimental system coincide.This has fully verified feasibility of the present invention and rationality, and this has also shown that this laser radar system is 28
sampling time restriction under, successfully realized 2
temporal resolution, system time resolution performance has improved 14 times.
Above-mentioned experimental verification Apparatus and method for of the present invention can realize under the restriction of low sampling rate, obtain the ability of High Range Resolution, realized super-resolution function.
Claims (2)
1. a laser imaging radar device, comprises laser instrument (1), Laser Modulation unit (2), optical antenna unit (3), probe unit (4), data processing unit (5) and graphics processing unit (6); Wherein, Laser Modulation unit (2) are comprised of modulator (21), m train pulse signal source (22) and pulse signal generator (23); Optical antenna unit (3) is comprised of optical transmitting antenna (31) and optical receiver antenna (32); Probe unit (4) comprises storbing gate controller (42) and detector array (43); Data processing unit (5) comprises a correlator (52); Graphics processing unit (6) is comprised of scrambler (61) and computing machine (62); Pulse signal generator (23) clocking is also exported to respectively m train pulse signal source (22) and probe unit (4) by clock signal; The pulse train that m train pulse signal source (22) produces according to clock signal also inputs to respectively modulator (21) and data processing unit (5) by pulse train; Modulator (21) by the pulse train of m train pulse signal source (22) as modulation signal, data processing unit (5) by the pulse train of m train pulse signal source (22) as forward reference signal; Modulator (21) will form laser pulse sequence signal after will exciting the laser signal of generation to modulate by laser instrument (1), and be irradiated on target object through optical transmitting antenna (31); Laser pulse sequence signal reflects to form laser echo pulse signal at target object; Optical receiver antenna (32) receives the laser echo pulse signal being reflected by target object and transfers to detector array (43); Be subject to detector array (43) the accumulation laser echo pulse signal that storbing gate controller (42) is controlled to be converted to echoed signal and to export to correlator (52); Correlator (52) is responsible for the computing of data, and the result of data operation is exported to scrambler (61), by scrambler (61), according to the phase differential of echoed signal and reference signal, judged the distance of target, and by computing machine (62), completed the output of the three-dimensional distance image of target;
It is characterized in that: in probe unit (4), be provided with a counter (41); In data processing unit (5), be provided with a totalizer (51); The laser signal of laser instrument (1) transmitting is constant amplitude; The width of the clock signal that pulse signal generator (23) produces is
; The subcode width of the pulse train that signal source (22) produces is
, Cycle Length is
and put in order as the pulse train of m sequence, i.e. the pulse train of forward m sequence; The pulse train of this forward m sequence is exported to respectively modulator (21) and totalizer (51); Modulator (21) be take the pulse train of forward m sequence and laser signal is modulated as modulation signal, and the laser signal after modulation for putting in order as m sequence, subcode width is
and Cycle Length is
laser pulse sequence signal; Counter (41) is connected with pulse signal generator (23), and the clock signal of sending according to pulse signal generator (23) is counted, and exports the count results of counter (41) to storbing gate controller (42); When the result of the counting of counter (41) output is 0 to arrive
time, storbing gate controller (42) drives detector array (43) accumulation echoed signal, and the time of detector (43) accumulation echoed signal is designated as gating time, and length is
; When counter (41) is output as
time, storbing gate controller (42) drives detector array (43) to the echoed signal of correlator (52) output accumulation, subsequently, counter (41) resets to 0, and storbing gate controller (42) drives detector array (43) by above-mentioned steps circulation, to carry out the echoed signal of accumulation echoed signal and output accumulation;
Totalizer (51) is connected with pulse signal generator (23); Totalizer (51) be take the pulse train of forward m sequence and is exported to totalizer (51) as m sequence reference signal, and totalizer (51) is to often
position signal adds up and exports to correlator (52) as reverse m sequence reference signal; Correlator (52) carries out related operation by the accumulation signal that the reference signal of the echoed signal of detector (43) output and totalizer (51) output is exported for each pixel of detector (43), and result is exported to scrambler (61); Scrambler (61) judges the distance of target according to the phase differential of echoed signal and reference signal, and by computing machine (62), is completed the output of the three-dimensional distance image of target.
2. adopt a kind of method that laser imaging radar device is found range as claimed in claim 1, it is characterized in that, carry out as follows:
Step 1: the laser signal of laser instrument (1) transmitting constant amplitude, laser signal passes to Laser Modulation unit (2);
Step 2: pulse signal generator (23) produces pulse clock signal, and the pulse width of this pulse clock signal is
, and send to respectively m train pulse signal source (22) sum counter (41);
Step 3: m train pulse signal source (22) converts pulse clock signal to m train pulse signal
and transfer to respectively modulator (21) and totalizer (51); Wherein, described m train pulse signal
sequence period length be
; This m train pulse signal
be used as modulation signal and be sent to modulator (21); This m train pulse signal
being used as pulse width is
narrow sequence forward reference signal
be sent to totalizer (51);
Step 4: modulator (21) receives m train pulse signal
after, laser instrument (1) laser signal that launch, that have constant amplitude is modulated, obtain m train pulse sequence string; This m train pulse sequence string is delivered to optical transmitting antenna (31);
Step 5: optical transmitting antenna (31) carries out shaping to m train pulse sequence string, and is radiated on target object;
Step 6: counter (41) paired pulses clock signal is counted, and count results is exported to storbing gate controller (42);
Step 7: storbing gate controller (42), according to count results, controls the unlatching of the detector array (43) being connected with storbing gate controller (42) or cuts out; Wherein, the gating time of storbing gate controller (42) is made as
;
Step 8: optical receiver antenna (32) is collected the m train pulse sequence string that target object reflects, and this m train pulse sequence string is gathered on detector array (43); Detector array (43) is converted to detectable signal by the m train pulse sequence string receiving
, wherein, detectable signal
the deration of signal be
;
Step 9: when storbing gate controller (42) is opened, detector array (43) accumulation detectable signal
; When storbing gate controller (42) cuts out, detector array (43) is by the detectable signal of accumulation
export to correlator (52), wherein, detectable signal
the deration of signal be
;
Step 10: the narrow sequence reference signal of totalizer (51) to m train pulse signal source (22) output
add up, cumulative
the burst pulse forward reference signal of position, obtains broad pulse back-reference burst
, circulation is carried out, and exports broad pulse back-reference burst
give correlator (52);
Step 11: the deration of signal that correlator (52) calculates by detector array (43) output is
accumulation detectable signal
with wide sequence reference signal
between correlation, the correlation peak location obtaining is
, i.e. phase differential
, and by phase differential
export to scrambler (61);
Step 12: scrambler (61) is according to formula
calculate laser echo signal
with reference signal
between phase differential be
, the distance of the detection of a target
, and distance value corresponding to each pixel of detector array sent to computing machine, because sampling time of radar system is
, the width in its sampling time, the accumulation detection time of detector array, is broad pulse width
, and then resolve the range resolution that obtains narrow pulse width and be
Step 13: computing machine (62), according to the distance value of scrambler (61) transmission, is the stereo image of target object.
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