CN110412545B - Analog-digital measuring circuit for pulse laser radar time interval - Google Patents
Analog-digital measuring circuit for pulse laser radar time interval Download PDFInfo
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- CN110412545B CN110412545B CN201910681856.2A CN201910681856A CN110412545B CN 110412545 B CN110412545 B CN 110412545B CN 201910681856 A CN201910681856 A CN 201910681856A CN 110412545 B CN110412545 B CN 110412545B
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- 238000005070 sampling Methods 0.000 claims abstract description 48
- 239000003990 capacitor Substances 0.000 claims abstract description 39
- 238000004146 energy storage Methods 0.000 claims abstract description 36
- 238000005259 measurement Methods 0.000 claims abstract description 18
- 238000000034 method Methods 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 2
- 239000011159 matrix material Substances 0.000 claims description 2
- 230000000630 rising effect Effects 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000012966 insertion method Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000011545 laboratory measurement Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Measurement Of Unknown Time Intervals (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses an analog-digital measurement circuit of a pulse laser radar time interval, which comprises a gate circuit, an energy storage capacitor, a high-speed sampling circuit, an upper computer and a controller, wherein the gate circuit I is connected in series with a resistor R1 input end and a current-limiting resistor R2 input end, and the gate circuit enables direct current voltage to pass under the control of the controller; the second gate circuit is connected in series with the positive end of the energy storage capacitor C2 and the input end of the current limiting resistor R3; the energy storage capacitor stores the energy of the echo signal; the signal input end of the high-speed sampling circuit is connected with the positive electrode of the energy storage capacitor; the controller controls gating states of the first gate circuit and the second gate circuit under set parameters, and inputs echo signal data comprising a start signal, a stop signal and a high-speed sampling circuit; the controller controls the working state of the high-speed sampling circuit and transmits and displays the time interval information to the upper computer. The invention can effectively eliminate time interval measurement errors caused by hardware signal delay and noise and improve the measurement accuracy of the pulse laser radar.
Description
Technical Field
The invention relates to the field of laser radars, in particular to a high-precision time interval measuring circuit which is applied to the field of laser measurement.
Technical Field
Lidar has been used very widely in service, security, entertainment, industrial and laboratory measurements as a core sensor for many intelligent devices in the 21 st century. In order to realize high-precision measurement of the laser radar, the time interval measurement technology in a receiving circuit of the laser radar is improved.
The traditional time interval measuring method mainly comprises an analog conversion method, a digital conversion method and an insertion method. Analog conversion has a nonlinear problem, and errors are difficult to eliminate. The digital conversion method delays at the start-stop timing. The delay line insertion error mainly derives from the minimum unit of the retarder and the nonlinear relationship between the retarder and the trigger. Errors in the analog insertion method are mainly caused by nonlinear discharge of the capacitor, and jitter and errors are easily generated due to the adoption of an ultrahigh frequency clock. In order to effectively eliminate time interval measurement errors caused by hardware signal delay and noise and improve pulse laser radar measurement accuracy, improvement and improvement of the time interval measurement circuit are needed.
Disclosure of Invention
The invention aims to provide an analog-digital measuring circuit for a time interval of a pulse laser radar, which can effectively eliminate the time interval measuring error caused by hardware signal delay and noise, compress data error and improve the precision of time interval measurement, thereby further effectively improving the precision of pulse laser measurement.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme: the analog-digital measuring circuit comprises a gate circuit, an energy storage capacitor, a high-speed sampling circuit, an upper computer and a controller, wherein the gate circuit is used for enabling a direct current voltage to pass through under the control of the controller; the energy storage capacitor stores the energy of the echo signal; the first gate circuit is connected in series with the input end of the resistor R1 and the input end of the current-limiting resistor R2, and the second gate circuit is connected in series with the positive end of the energy storage capacitor C2 and the input end of the current-limiting resistor R3; the controller controls gating states of the first gate circuit and the second gate circuit under set parameters; the signal input end of the high-speed sampling circuit is connected with the positive electrode of the energy storage capacitor; the controller inputs echo signal data comprising a start signal, a stop signal and the high-speed sampling circuit, the controller controls the working state of the high-speed sampling circuit, and the controller transmits and displays time interval information to the upper computer.
The beneficial effects of the invention are as follows: the analog-digital measurement circuit for the time interval of the pulse laser radar comprises a gate circuit, an energy storage capacitor, a high-speed sampling circuit, an upper computer and a controller, wherein the gate circuit is used for gating under the control of the controller to realize the charge and discharge operation of an echo signal on the energy storage capacitor, and the time sequence logic of the charge and discharge of the energy storage capacitor is accurately realized; the energy storage capacitor converts the time interval between the start signal and the stop signal into a charging process; on one hand, the gate circuit avoids the charge and discharge of the energy storage capacitor caused by circuit current noise, so that the time interval measurement is not influenced by the noise; on the other hand, the controller is combined with the high-speed sampling circuit, so that the time and amplitude data of the power waveform in the charging and discharging process of the energy storage capacitor can be effectively obtained, the sampled digital signal is processed and calculated through a design program algorithm, and the error existing in the high-analog signal processing can be eliminated; the invention is suitable for detecting narrow pulse and large distance range, and can eliminate time interval measurement errors caused by hardware signal delay and noise.
Drawings
Fig. 1 is a schematic diagram of the present invention.
FIG. 2 is a graph of charge-discharge signal curves analysis of the time-spaced analog-to-digital measurement of the present invention.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings.
Examples:
Referring to fig. 1, an analog-digital measurement circuit for pulse laser radar time interval includes a gate circuit, an energy storage capacitor, a high-speed sampling circuit, an upper computer and a controller, wherein the gate circuit is controlled by the controller to enable a direct current voltage to pass through; the energy storage capacitor stores the energy of the echo signal; the first gate circuit is connected in series with the input end of the resistor R1 and the input end of the current-limiting resistor R2, and the second gate circuit is connected in series with the positive end of the energy storage capacitor C2 and the input end of the current-limiting resistor R3; the controller controls gating states of the first gate circuit and the second gate circuit under set parameters; the signal input end of the high-speed sampling circuit is connected with the positive electrode of the energy storage capacitor; the controller inputs echo signal data comprising a start signal, a stop signal and the high-speed sampling circuit, the controller controls the working state of the high-speed sampling circuit, and the controller transmits and displays time interval information to the upper computer.
Referring to fig. 1, an input end of a first circuit is connected with a second end of a resistor R1, an output end of a first gate circuit is connected with a first end of a current-limiting resistor R2, a control end of the first gate circuit is connected with a controller, an input end of a second gate circuit is connected with a second end of the current-limiting resistor R2, an output end of the second gate circuit is connected with a current-limiting resistor R3 and connected with the ground, and a control end of the second gate circuit is connected with the controller; the positive end of the energy storage capacitor C2 is connected between the second end of the current limiting resistor R2 and the two input ends of the AND gate circuit; the same-direction bias voltage of the high-speed sampling circuit is connected with a direct current power supply, the reverse bias voltage is connected with a zero level, the clock source is connected with a 5V/1 Hz-5 GHz clock signal, the signal sampling input end is connected with the positive end of the energy storage capacitor C2, the sampling output end is connected with the data receiving end of the controller, and the enabling end of the high-speed sampling circuit is connected with the controller; the output end of the controller is connected with the upper computer.
In combination with fig. 1, the charge and discharge states of the energy storage capacitor are realized by a first gate circuit and a second gate circuit controlled by the controller, a voltage signal in charge and discharge overshoot of the energy storage capacitor is sampled by the high-speed sampler and transmitted to the controller, and the controller obtains relevant characteristic information of the charge time of the energy storage capacitor according to sampled data, further processes and transmits the relevant characteristic information to the upper computer to display time interval information in real time.
In connection with fig. 2, during the charging process, the high-speed sampler starts to sample the rising edge of the voltage of the energy storage capacitor at a high speed after a period of time from the charging start point of the energy storage capacitor. The time axis of the first sample point is custom set to a start time (set to t 0). When sampling is completed, the matrix relationship of the sampled data can be expressed asWherein P is a sampling point, v is a sampling voltage, and T is a sampling period. In curve fitting these sample point data, the effective point is first selected, and it can be seen from fig. 2 that the time interval should correspond to the charging time interval, but not all the sample points are in this range, and here, the distribution of the critical points of the charging area buffer is mainly analyzed. When the P i point is positioned on the left side of the critical area, the effective point is P 1～Pi; if P i is located to the right of the critical section, then the effective point is selected as P 1～Pi-1. And secondly, determining time axis information of sampling points, wherein a calculation time interval can be obtained by mutually eliminating unknown parameters, and the actual measurement time is determined by a sampling period and the number of sampling points. Third, the maximum value is determined, and in the fitted curve model, the starting timing time is determined by the voltage being zero, and the timing stop time is reflected by the maximum voltage when the capacitor is fully charged, so that the maximum value can be extracted from the end of the sampling data. Let the obtained sampling point be(0.Ltoreq.V.ltoreq.v n), the final time interval can be expressed as
Claims (1)
1. The analog-digital measuring circuit for the pulse laser radar time interval comprises a gate circuit, an energy storage capacitor, a high-speed sampling circuit, an upper computer and a controller, and is characterized in that the gate circuit I is connected in series with the output end of a resistor R1 and the input end of a current limiting resistor R2, and the gate circuit enables direct current voltage to pass under the control of the controller; the second gate circuit is connected in series with the positive end of the energy storage capacitor C2 and the input end of the current limiting resistor R3; the energy storage capacitor stores the energy of the echo signal; the signal input end of the high-speed sampling circuit is connected with the positive electrode of the energy storage capacitor; the controller controls gating states of the first gate circuit and the second gate circuit under set parameters, and inputs echo signal data comprising a start signal, a stop signal and a high-speed sampling circuit; the controller controls the working state of the high-speed sampling circuit and transmits and displays the time interval information to the upper computer;
The input end of the first gate circuit is connected with the second end of the resistor R1, the output end of the first gate circuit is connected with the first end of the current-limiting resistor R2, the control end of the first gate circuit is connected with the controller, the input end of the second gate circuit is connected with the second end of the current-limiting resistor R2, the output end of the second gate circuit is connected with the current-limiting resistor R3 and grounded, and the control end of the second gate circuit is connected with the controller; the positive end of the energy storage capacitor C2 is connected between the second end of the current limiting resistor R2 and the two input ends of the AND gate circuit; the same-direction bias voltage of the high-speed sampling circuit is connected with a direct current power supply, the reverse bias voltage is connected with a zero level, the clock source is connected with a 5V/1 Hz-5 GHz clock signal, the signal sampling input end is connected with the positive end of the energy storage capacitor C2, the sampling output end is connected with the data receiving end of the controller, and the enabling end of the high-speed sampling circuit is connected with the controller; the output end of the controller is connected with the upper computer;
The charge and discharge state of the energy storage capacitor is realized by a first gate circuit and a second gate circuit controlled by the controller, a voltage signal in the charge and discharge overshoot of the energy storage capacitor is sampled by a high-speed sampler and transmitted to the controller, and the controller obtains relevant characteristic information of the charge time of the energy storage capacitor according to sampling data, processes and transmits the relevant characteristic information to an upper computer to display time interval information in real time;
In the charging process, the high-speed sampler starts to sample the voltage rising edge of the energy storage capacitor at a high speed after a period of time from the charging starting point of the energy storage capacitor, and the time axis of the first sampling point is self-defined to set a starting time to be t0; when sampling is completed, the matrix relationship of these sampled data is expressed as:
Wherein P is a sampling point, v is a sampling voltage, and T is a sampling period;
When curve fitting is performed on the sampling point data, firstly, effective points are selected, the time interval corresponds to the charging time interval, but not all sampling points are in the range, and the distribution of critical points of a charging area buffer is mainly analyzed; when the P i point is positioned on the left side of the critical area, the effective point is P 1～Pi; if the P i point is positioned on the right side of the critical area, selecting an effective point as P 1～Pi-1; secondly, determining time axis information of sampling points, wherein a calculation time interval can be obtained by mutually eliminating unknown parameters, and the actual measurement time is determined by a sampling period and sampling points; thirdly, determining the maximum value, wherein in the fitted curve model, the starting timing time is determined by zero voltage, and the timing stopping time is reflected by the maximum voltage when the capacitor is fully charged, so that the maximum value can be extracted from the tail end of the sampling data; let the obtained sampling point be The final time interval can be expressed as
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| CN201910681856.2A CN110412545B (en) | 2019-07-26 | 2019-07-26 | Analog-digital measuring circuit for pulse laser radar time interval |
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| CN113109790B (en) * | 2021-04-14 | 2022-04-12 | 深圳煜炜光学科技有限公司 | Method and device for measuring flight time of laser radar |
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| CN107678010A (en) * | 2017-10-23 | 2018-02-09 | 桂林理工大学 | The multistage high pass of pulse lidar holds resistance moment discrimination circuit |
| CN210690813U (en) * | 2019-07-26 | 2020-06-05 | 桂林理工大学 | Analog-digital measuring circuit for time interval of pulse laser radar |
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| CZ287073B6 (en) * | 1994-01-10 | 2000-08-16 | Landis & Gyr Tech Innovat | Method and apparatus for measuring short time intervals |
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| JP4921329B2 (en) * | 2007-11-28 | 2012-04-25 | 株式会社デンソー | A / D conversion circuit |
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Non-Patent Citations (1)
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| 一种粗细结构的时间数字转换器的研究与设计;陈雅倩;中国优秀硕士学位论文全文数据库;20180615;第工程科技Ⅱ辑卷(第06期);摘要、第1页第1段、第7页第01-05段、第8页第01-05段、第9页第01-04段、第10页第01-03段、图2.2 * |
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