CN102944877A - Method for improving range accuracy of frequency modulated continuous wave (FMCW) by using trapezoidal modulated wave - Google Patents
Method for improving range accuracy of frequency modulated continuous wave (FMCW) by using trapezoidal modulated wave Download PDFInfo
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Abstract
The invention discloses a method for improving the range accuracy of an FMCW by using a trapezoidal modulated wave, relates to a trapezoidal wave modulation method, and belongs to the field of FMCW ranging. The method includes the steps that the sent signal frequency changes according to the trapezoidal modulated wave, a sent signal generate hysteretic echoes after meeting a target, a difference frequency exists between the echo signal frequency and the sent signal frequency, and a corresponding relation between the difference frequency signal frequency and the target distance is used; partial signals in a first rule area and a third rule area are taken out from difference frequency signals, the rest signals are removed, difference frequency signal frequencies in the first rule area and the third rule area are obtained through spectral analysis of taken signals, and the corresponding relation between the difference frequency signal frequency and the target distance in the first rule area and the third rule area are presented as the formula R=fbTmc/(8deltaF). According to the method, the characteristics of the trapezoidal modulated wave is used for weakening the effect of impact signals produced by a modulated wave turning point on difference frequency signal rule areas, and the range accuracy of the FMCW can be improved.
Description
Technical field
The present invention relates to a kind of trapezoidal wave modulator approach, particularly a kind of method of utilizing the staircase modulation ripple to improve the FM-CW laser ranging system accuracy belongs to the FM-CW laser ranging field.
Background technology
The principle of FM-CW laser ranging is that emission signal frequency changes according to certain modulation waveform, transmit and after running into target, produce echo, because echoed signal lags behind, there is difference frequency between echoed signal frequency and the emission signal frequency, there is fixed relationship between this difference frequency and the target range, accurately detects this difference frequency and can accurately find range.
The modulation system that is usually used at present the FM-CW laser ranging system mainly contains linear frequency modulation and nonlinear frequency modulation two large classes.Wherein linear frequency modulation mainly comprises sawtooth wave frequency modulation and triangular wave frequency modulation, and namely emission signal frequency changes according to sawtooth wave or triangular wave rule, and its difference frequency frequency and target range have simple corresponding relation, convenient range finding.But such modulation waveform has turning point, and difference frequency signal has the region of disorder in the corresponding position, shown in zone 4 among Fig. 1.In the Practical Project this region of disorder time very short, difference frequency sharply changes.Press the structure of frequency modulation ranging system, will pass through the analog bandpass filtering device after the difference frequency signal, generally, owing to realize difficulty and error, the group delay response of this wave filter is not constant, and namely the signal of different frequency is different through the delay of this wave filter.When then difference frequency signal is through this wave filter, because frequency sharply changes in the region of disorder, signal delay is different constantly for each, so through behind this wave filter, the mutual aliasing of different frequency signals can occur near the region of disorder, produce the impact signal of not expecting, formula area difference frequency signal is afterwards impacted.And the difference frequency signal quality of formula area directly has influence on the frequency measurement distance accuracy.
Non-linear modulation mainly is sine wave modulation, and namely emission signal frequency changes by sinusoidal wave rule, is not linear relationship between its difference frequency frequency and the target range, and distance accuracy is not high, also has serious range ambiguity.
Summary of the invention
The technical problem to be solved in the present invention is to utilize the staircase modulation ripple to weaken impact signal that the modulation waveform turning point produces to the impact of difference frequency signal formula area, improves distance accuracy.A kind of method of utilizing the staircase modulation ripple to improve the FM-CW laser ranging precision disclosed by the invention, utilize staircase modulation baud point to weaken impact signal that the modulation waveform turning point produces to the impact of difference frequency signal formula area, can improve the FM-CW laser ranging precision.
The objective of the invention is to be achieved through the following technical solutions:
A kind of method of utilizing the staircase modulation ripple to improve the FM-CW laser ranging precision disclosed by the invention, emission signal frequency is according to the staircase modulation wave form varies, transmit and after running into target, produce the echo that lags behind, there is difference frequency between echoed signal frequency and the emission signal frequency, utilizes the corresponding relation range finding of difference frequency signal frequency and target range.Described staircase modulation waveform is comprised of an ascent stage, a high flat sections, a descending branch and a low flat sections in one-period, and the terminal point of the preceding paragraph and the starting point of next section are joined.Ascent stage is that a slope is positive oblique line, descending branch is that a slope is negative oblique line, two flat sections are straight lines, wherein ascent stage, high flat sections and descending branch form one upright trapezoidal, descending branch, low flat sections and the ascent stage in next cycle form the trapezoidal of a handstand.Described staircase modulation waveform converts simulating signal to through digital analog converter DAC, amplifies through amplifier again, drives voltage controlled oscillator VCO generation frequency modulation and transmits, and its frequency is by above-mentioned staircase modulation wave form varies.There is difference frequency between staircase modulation waveform echoed signal frequency and the emission signal frequency, staircase modulation waveform echoed signal obtains difference frequency signal with transmitting by frequency mixer, described difference frequency signal also is periodic, in the described one-period difference frequency signal area divide as follows, the first formula area correspondence transmit in time of ascent stage of modulation waveform the difference frequency signal frequency be straight line and on the occasion of; In the time of the first region of disorder corresponding modulating waveform ascent stage and high flat sections turning point, the difference frequency signal frequency linearity descends; The difference frequency signal frequency is straight line and is zero in the time of the high flat sections of Second Rule district corresponding modulating waveform; In the time of the second high flat sections of region of disorder corresponding modulating waveform and descending branch turning point, the difference frequency signal frequency linearity descends; The difference frequency signal frequency is straight line and is negative value in the time of the descending branch of three sigma rule district corresponding modulating waveform; In the time of the 3rd region of disorder corresponding modulating waveform descending branch and low flat sections turning point, the difference frequency signal frequency linearity rises; The difference frequency signal frequency is straight line and is zero in the time of the low flat sections of the 4th formula area corresponding modulating waveform; In the time of the low flat sections of the 4th region of disorder corresponding modulating waveform and the turning point of next ascent stage in cycle, the difference frequency signal frequency linearity rises.From difference frequency signal, the first formula area and three sigma rule district part signal are taken out, and the remainder signal is removed; Can utilize digital processing chip to realize from difference frequency signal, the first formula area and three sigma rule district part signal being taken out, the remainder signal is removed.Described digital processing chip can be digital signal processor DSP, programming logic gate array FPGA or computing machine etc.To the signal that takes out do spectrum analysis obtain in the first formula area and the three sigma rule district in the difference frequency signal frequency, the corresponding relation such as the formula R=f that have of the difference frequency signal frequency in the first formula area and the three sigma rule district and target range wherein
bT
mC/ (8 Δ F), f
bBe the difference frequency signal frequency, Δ F is frequency modulation, and c is the light velocity, T
mBe modulation period, the time in the first formula area and three sigma rule district is respectively T
m/ 4.This two each and every one interior difference frequency signal of time period can be used for finding range; Difference frequency signal frequency in Second Rule district and the 4th formula area is zero, does not have corresponding relation with target range, can not be used for range finding; Difference frequency signal frequency linearity in four regions of disorder descends or rises, and does not have corresponding relation with target range, can not be used for range finding.The first region of disorder of the difference frequency signal that described trapezoidal wave modulation waveform is corresponding can dropped in the Second Rule district through the impact signal that produces behind the wave filter, and the Second Rule district can not be used for range finding, thus on distance accuracy without impact.The second region of disorder can dropped in the three sigma rule district through the impact signal that produces behind the wave filter, and the three sigma rule district need to be used for finding range, so influential to distance accuracy.Because the first region of disorder and second region of disorder of the difference frequency signal that this trapezoidal wave modulation waveform is corresponding, be equivalent to a region of disorder of difference frequency signal corresponding to the triangular wave of same frequency modulation or saw wave modulator waveform, so the amplitude that the difference frequency signal frequency descends or rises only has the latter half.So only there is difference frequency signal corresponding to the triangular wave of same frequency modulation or saw wave modulator waveform above-mentioned the second region of disorder on the impact of distance accuracy a region of disorder is on half of the impact of distance accuracy.
Beneficial effect
A kind of method of utilizing the staircase modulation ripple to improve the FM-CW laser ranging precision disclosed by the invention, utilize staircase modulation ripple signal characteristic, weaken impact signal that the modulation waveform turning point produces to the impact of difference frequency signal formula area, improve the quality that is used for the difference frequency signal of follow-up location algorithm, can improve the FM-CW laser ranging precision.
Description of drawings
Fig. 1 is the transmitting of present existing linear frequency modulation mode (take triangular wave as example), echoed signal and difference frequency signal frequency diagram;
Fig. 2 is the transmitting of the trapezoidal wave modulator approach that proposes of the present invention, echoed signal and difference frequency signal frequency diagram.
Wherein: emission signal frequency curve during 1-triangular modulation, echoed signal frequency curve during 2-triangular modulation, frequency turning point during 3-triangular modulation, difference frequency signal region of disorder during 4-triangular modulation, difference frequency signal frequency curve during 5-triangular modulation, 6-ascent stage, the 7-the first turning point, 8-high flat sections, the 9-the second turning point, 10-descending branch, 11-low flat sections, the ascent stage in 12-next cycle, 13-emission signal frequency curve, the echoed signal frequency curve of 14-trapezoidal wave modulation, the 15-the first formula area, the 16-the first region of disorder, 17-Second Rule district, the 18-the second region of disorder, the 19-the three sigma rule district, the 20-the three region of disorder, the 21-the four formula area, the 22-the four region of disorder, first formula area in 23-next cycle, difference frequency signal frequency change curve during the modulation of 24-trapezoidal wave.
Embodiment:
Embodiment
The disclosed a kind of method of utilizing the staircase modulation ripple to improve the FM-CW laser ranging precision of present embodiment, emission signal frequency is according to the staircase modulation wave form varies, transmit and after running into target, produce the echo that lags behind, there is difference frequency between echoed signal frequency and the emission signal frequency, utilizes the corresponding relation range finding of difference frequency signal frequency and target range.As shown in Figure 2, described staircase modulation waveform is comprised of ascent stage 6, high flat sections 8, descending branch 10 and low flat sections 11 in one-period, and the terminal point of the preceding paragraph and the starting point of next section are joined.Ascent stage 6 is that a slope is positive oblique line, descending branch 10 is that a slope is negative oblique line, two flat sections 8 and 11 are straight lines, wherein ascent stage 6, high flat sections 8 and descending branch 10 form one upright trapezoidal, descending branch 10, low flat sections 11 and the ascent stage in next cycle 12 form the trapezoidal of a handstand.Described staircase modulation waveform converts simulating signal to through digital analog converter DAC, amplifies through amplifier again, drives voltage controlled oscillator VCO generation frequency modulation and transmits, and its frequency is by above-mentioned staircase modulation wave form varies.There is difference frequency between staircase modulation waveform echoed signal frequency and the emission signal frequency, staircase modulation waveform echoed signal obtains difference frequency signal with transmitting by frequency mixer, described difference frequency signal also is periodic, the difference frequency signal area is divided as follows in the described one-period, as shown in Figure 2, the first formula area 15 correspondences transmit in time of ascent stage 6 of modulation waveform the difference frequency signal frequency be straight line and on the occasion of; In the time of 16 corresponding modulating waveform ascent stages 6 of the first region of disorder and high flat sections 8 turning points, the difference frequency signal frequency linearity descends; The difference frequency signal frequency is straight line and is zero in the time of the high flat sections 8 of Second Rule district 17 corresponding modulating waveforms; In the time of the high flat sections 8 of the second region of disorder 18 corresponding modulating waveforms and descending branch 10 turning points, the difference frequency signal frequency linearity descends; The difference frequency signal frequency is straight line and is negative value in the time of the descending branch 10 of three sigma rule district 19 corresponding modulating waveforms; In the time of the 3rd region of disorder 20 corresponding modulating waveform descending brancies 10 and low flat sections 11 turning points, the difference frequency signal frequency linearity rises; The difference frequency signal frequency is straight line and is zero in the time of the low flat sections 11 of the 4th formula area 21 corresponding modulating waveforms; In the time of the low flat sections 11 of the 4th region of disorder 22 corresponding modulating waveforms and the turning point of next ascent stage in cycle 12, the difference frequency signal frequency linearity rises.From difference frequency signal, the first formula area 15 and three sigma rule district 19 part signals are taken out, and the remainder signal is removed; Can utilize digital processing chip to realize from difference frequency signal, the first formula area 15 and three sigma rule district 19 part signals being taken out, the remainder signal is removed.Described digital processing chip can be digital signal processor DSP, programming logic gate array FPGA or computing machine etc.The signal that takes out is done spectrum analysis obtain in the first formula area 15 and the difference frequency signal frequency in the three sigma rule district 19, wherein in the first formula area 15 and the difference frequency signal frequency in the three sigma rule district 19 and the target range corresponding relation such as the formula that have, R=f
bT
mC/ (8 Δ F), f
bBe the difference frequency signal frequency, Δ F is frequency modulation, and c is the light velocity, T
mBe modulation period, the time in the first formula area 15 and three sigma rule district 19 is respectively T
m/ 4.This two each and every one interior difference frequency signal of time period can be used for finding range; Difference frequency signal frequency in Second Rule district 17 and the 4th formula area 21 is zero, does not have corresponding relation with target range, can not be used for range finding; Difference frequency signal frequency linearity in four regions of disorder descends or rises, and does not have corresponding relation with target range, can not be used for range finding.The first region of disorder 16 of the difference frequency signal that described trapezoidal wave modulation waveform is corresponding can dropped in the Second Rule district 17 through the impact signal that produces behind the wave filter, and Second Rule district 17 can not be used for range finding, thus on distance accuracy without impact.The second region of disorder 18 can dropped in the three sigma rule district 19 through the impact signal that produces behind the wave filter, and three sigma rule district 19 need to be used for finding range, so influential to distance accuracy.Because the first region of disorder 16 and second region of disorder 18 of the difference frequency signal that this trapezoidal wave modulation waveform is corresponding, be equivalent to a region of disorder of difference frequency signal corresponding to the triangular wave of same frequency modulation or saw wave modulator waveform, so the amplitude that the difference frequency signal frequency descends or rises only has the latter half.So only there is difference frequency signal corresponding to the triangular wave of same frequency modulation or saw wave modulator waveform above-mentioned the second region of disorder 18 on the impact of distance accuracy a region of disorder is on half of the impact of distance accuracy.
Claims (3)
1. method of utilizing the staircase modulation ripple to improve the FM-CW laser ranging precision, it is characterized in that: concrete steps are as follows; Emission signal frequency is according to the staircase modulation wave form varies, and transmitting produces the echo that lags behind after running into target, have difference frequency between echoed signal frequency and the emission signal frequency, utilizes the corresponding relation range finding of difference frequency signal frequency and target range; Described staircase modulation waveform is comprised of an ascent stage, a high flat sections, a descending branch and a low flat sections in one-period, and the terminal point of the preceding paragraph and the starting point of next section are joined; Ascent stage is that a slope is positive oblique line, descending branch is that a slope is negative oblique line, two flat sections are straight lines, wherein ascent stage, high flat sections and descending branch form one upright trapezoidal, descending branch, low flat sections and the ascent stage in next cycle form the trapezoidal of a handstand; There is difference frequency between staircase modulation waveform echoed signal frequency and the emission signal frequency, staircase modulation waveform echoed signal obtains difference frequency signal with transmitting by frequency mixer, described difference frequency signal also is periodic, in the described one-period difference frequency signal area divide as follows, the first formula area correspondence transmit in time of ascent stage of modulation waveform the difference frequency signal frequency be straight line and on the occasion of; In the time of the first region of disorder corresponding modulating waveform ascent stage and high flat sections turning point, the difference frequency signal frequency linearity descends; The difference frequency signal frequency is straight line and is zero in the time of the high flat sections of Second Rule district corresponding modulating waveform; In the time of the second high flat sections of region of disorder corresponding modulating waveform and descending branch turning point, the difference frequency signal frequency linearity descends; The difference frequency signal frequency is straight line and is negative value in the time of the descending branch of three sigma rule district corresponding modulating waveform; In the time of the 3rd region of disorder corresponding modulating waveform descending branch and low flat sections turning point, the difference frequency signal frequency linearity rises; The difference frequency signal frequency is straight line and is zero in the time of the low flat sections of the 4th formula area corresponding modulating waveform; In the time of the low flat sections of the 4th region of disorder corresponding modulating waveform and the turning point of next ascent stage in cycle, the difference frequency signal frequency linearity rises; From difference frequency signal, the first formula area and three sigma rule district part signal are taken out, and the remainder signal is removed; To the signal that takes out do spectrum analysis obtain in the first formula area and the three sigma rule district in the difference frequency signal frequency, the corresponding relation such as the formula R=f that have of the difference frequency signal frequency in the first formula area and the three sigma rule district and target range wherein
bT
mC/ (8 Δ F), f
bBe the difference frequency signal frequency, Δ F is frequency modulation, and c is the light velocity, T
mBe modulation period, the time in the first formula area and three sigma rule district is respectively T
m/ 4.
2. a kind of method of utilizing the staircase modulation ripple to improve the FM-CW laser ranging precision according to claim 1, it is characterized in that: described staircase modulation waveform converts simulating signal to through digital analog converter DAC, amplify through amplifier again, drive voltage controlled oscillator VCO generation frequency modulation and transmit, its frequency is by staircase modulation wave form varies claimed in claim 1.
3. a kind of method of utilizing the staircase modulation ripple to improve the FM-CW laser ranging precision according to claim 1 and 2, it is characterized in that: utilize digital processing chip to realize from difference frequency signal, the first formula area and three sigma rule district part signal being taken out, the remainder signal is removed; Described digital processing chip is digital signal processor DSP, programming logic gate array FPGA or computing machine.
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
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CN105629235A (en) * | 2015-12-29 | 2016-06-01 | 大连楼兰科技股份有限公司 | Signal processing apparatus of multi-target detection combination waveform automobile lane-changing auxiliary system |
CN105629211A (en) * | 2015-12-29 | 2016-06-01 | 大连楼兰科技股份有限公司 | Multi-target detection combined waveform automobile lane change auxiliary system signal processing method and automobile lane change auxiliary system |
CN109964143A (en) * | 2016-08-23 | 2019-07-02 | 塔莱斯公司 | For handling the method and associated laser radar system of the signal as caused by coherent laser radar |
CN113687377A (en) * | 2021-08-12 | 2021-11-23 | 哈尔滨工业大学 | Cooperative phase laser ranging device based on coarse and fine measuring scale difference frequency modulation and demodulation and ranging method thereof |
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JPH01210887A (en) * | 1988-02-18 | 1989-08-24 | Matsushita Electric Ind Co Ltd | Fm radar sensor |
JPH02198380A (en) * | 1989-01-27 | 1990-08-06 | Fujitsu Ten Ltd | Radar apparatus using frequency-modulated wave |
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
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CN105629235A (en) * | 2015-12-29 | 2016-06-01 | 大连楼兰科技股份有限公司 | Signal processing apparatus of multi-target detection combination waveform automobile lane-changing auxiliary system |
CN105629211A (en) * | 2015-12-29 | 2016-06-01 | 大连楼兰科技股份有限公司 | Multi-target detection combined waveform automobile lane change auxiliary system signal processing method and automobile lane change auxiliary system |
CN105629235B (en) * | 2015-12-29 | 2019-03-15 | 大连楼兰科技股份有限公司 | The signal processing apparatus of the combined waveform automobile lane change auxiliary system of multi-target detection |
CN105629211B (en) * | 2015-12-29 | 2019-03-15 | 大连楼兰科技股份有限公司 | The signal processing method and automobile lane change auxiliary system of the combined waveform automobile lane change auxiliary system of multi-target detection |
CN109964143A (en) * | 2016-08-23 | 2019-07-02 | 塔莱斯公司 | For handling the method and associated laser radar system of the signal as caused by coherent laser radar |
CN109964143B (en) * | 2016-08-23 | 2023-07-14 | 塔莱斯公司 | Method for processing signals caused by coherent lidar and related lidar system |
CN113687377A (en) * | 2021-08-12 | 2021-11-23 | 哈尔滨工业大学 | Cooperative phase laser ranging device based on coarse and fine measuring scale difference frequency modulation and demodulation and ranging method thereof |
CN113687377B (en) * | 2021-08-12 | 2024-04-26 | 哈尔滨工业大学 | Cooperative phase laser ranging device based on coarse and fine measuring ruler difference frequency modulation and demodulation |
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