CN102998671A - Method for utilizing trapezoidal modulating wave to judge whether strong signal interference exists in frequency modulation continuous wave distance measurement - Google Patents
Method for utilizing trapezoidal modulating wave to judge whether strong signal interference exists in frequency modulation continuous wave distance measurement Download PDFInfo
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Abstract
The invention discloses a method for utilizing trapezoidal modulating wave to judge whether strong signal interference exists in frequency modulation continuous wave distance measurement and belongs to the field of frequency modulation continuous wave distance measurement. The method judges whether the strong signal interference exists by detecting difference frequency signals. The ratio of difference frequency signal energy in a second rule area and difference frequency signal energy in a first rule area is smaller than a set threshold, and the ratio of difference frequency signal energy in a fourth rule area and difference frequency signal energy in a third rule area is smaller than the set threshold under the condition that no strong signal interference exists. If the strong signal interference exists, the ratio of difference frequency signal energy in the second rule area and difference frequency signal energy in the first rule area is larger than the set threshold, and the ratio of difference frequency signal energy in the fourth rule area and difference frequency signal energy in the third rule area is larger than the set threshold. The method further includes determining whether the measured distance is credible or not by judging whether the strong signal interference exists and filtering the strong signal interference to improve system anti-interference capability if judging that the strong signal interference exists.
Description
Technical field
The present invention relates to a kind of method that has or not when judging FM-CW laser ranging strong signal to disturb, particularly a kind of method that has or not strong signal to disturb when utilizing the staircase modulation ripple to judge FM-CW laser ranging 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.
If there is strong signal to disturb, undesired signal can be sneaked into difference frequency signal, makes the Frequency Estimation of difference frequency signal produce larger error, then makes the distance that records produce relatively large deviation.If can judge to have or not strong signal to disturb, whether the distance that namely records this moment as can be known is credible, and submits necessary information for follow-up filtering interference signals.
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.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.These existing modulation waveforms all can not have or not strong signal interference to offer help to judgement.
Summary of the invention
The technical problem to be solved in the present invention is utilized staircase modulation baud point, has or not strong signal to disturb when judging staircase modulation ripple FM-CW laser ranging.The invention discloses a kind of method that has or not strong signal to disturb when utilizing the staircase modulation ripple to judge FM-CW laser ranging.
The objective of the invention is to be achieved through the following technical solutions:
A kind of method that has or not strong signal to disturb when utilizing the staircase modulation ripple to judge FM-CW laser ranging disclosed by the invention, emission signal frequency is according to the staircase modulation wave form varies, transmitting produces the echo that lags behind after running into target, have difference frequency between echoed signal frequency and the emission signal frequency.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.Difference frequency signal frequency corresponding to described trapezoidal wave modulator approach is zero in Second Rule district and the 4th formula area, and behind the follow-up wave filter of process, Second Rule district and the 4th formula area difference frequency signal energy are less, and the difference frequency signal energy value is approximately zero.Can judge whether to exist strong signal to disturb by the difference frequency signal energy that detects in this time period.Under without strong signal disturbed condition, the ratio of difference frequency signal energy and the first formula area difference frequency signal energy is less than the threshold value of setting in the Second Rule district, and difference frequency signal energy and the ratio of three sigma rule district difference frequency signal energy are less than the threshold value of setting in the 4th formula area.If exist strong signal to disturb, the ratio of difference frequency signal energy and the first formula area difference frequency signal energy is obviously greater than the two ratio under the state no interference signal condition in the Second Rule district, and difference frequency signal energy and the ratio of the first formula area difference frequency signal energy are greater than the threshold value of setting in the Second Rule district; The ratio of difference frequency signal energy and three sigma rule district difference frequency signal energy is obviously greater than the two ratio under the state no interference signal condition in the 4th formula area, and difference frequency signal energy and the ratio of three sigma rule district difference frequency signal energy are greater than the threshold value of setting in the 4th formula area.
If determine to exist strong signal to disturb by criterion, can improve the antijamming capability of system by the described high reject signal of filtering.
Beneficial effect
1, a kind of method that has or not strong signal to disturb when utilizing the staircase modulation ripple to judge FM-CW laser ranging disclosed by the invention is utilized trapezoidal wave modulation signal characteristics, the method that has or not strong signal to disturb when judging staircase modulation ripple FM-CW laser ranging.If can judge to have or not strong signal to disturb, whether the distance that namely records this moment as can be known is credible, and submits necessary information for follow-up filtering interference signals.
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, the emission signal frequency curve of 13-trapezoidal wave modulation, 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
A kind of method that has or not strong signal to disturb when utilizing the staircase modulation ripple to judge FM-CW laser ranging disclosed by the invention, emission signal frequency is according to the staircase modulation wave form varies, transmitting produces the echo that lags behind after running into target, have difference frequency between echoed signal frequency and the emission signal frequency.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, high flat sections 8 and low flat sections 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.Difference frequency signal frequency corresponding to described trapezoidal wave modulator approach is zero in Second Rule district 17 and the 4th formula area 21, and behind the follow-up wave filter of process, Second Rule district 17 and the 4th formula area 21 difference frequency signal energy are less, and the difference frequency signal energy value is approximately zero.Can judge whether to exist strong signal to disturb by the difference frequency signal energy that detects in this time period.Under without strong signal disturbed condition, the ratio of Second Rule district 17 interior difference frequency signal energies and the first formula area 15 difference frequency signal energy is less than the threshold value of setting, and the ratio of the 4th formula area 21 interior difference frequency signal energies and three sigma rule district 19 difference frequency signal energy is less than the threshold value of setting.If exist strong signal to disturb, the ratio of Second Rule district 17 interior difference frequency signal energies and the first formula area 15 difference frequency signal energy is obviously greater than the two ratio under the state no interference signal condition, and the ratio of Second Rule district 17 interior difference frequency signal energies and the first formula area 15 difference frequency signal energy is greater than the threshold value of setting; The ratio of the 4th formula area 21 interior difference frequency signal energies and three sigma rule district 19 difference frequency signal energy is obviously greater than the two ratio under the state no interference signal condition, and the ratio of the 4th formula area 21 interior difference frequency signal energies and three sigma rule district 19 difference frequency signal energy is greater than the threshold value of setting.
If can judge to have or not strong signal to disturb, whether the distance that namely records this moment as can be known is credible, and submits necessary information for follow-up filtering interference signals.
Claims (5)
1. method that has or not strong signal to disturb when utilizing the staircase modulation ripple to judge FM-CW laser ranging, 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; 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; 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; Difference frequency signal frequency corresponding to described trapezoidal wave modulator approach is zero in Second Rule district and the 4th formula area, and behind the follow-up wave filter of process, Second Rule district and the 4th formula area difference frequency signal energy are less, and the difference frequency signal energy value is approximately zero; Judge whether exist strong signal to disturb by the difference frequency signal energy that detects in this time period; Under without strong signal disturbed condition, the ratio of difference frequency signal energy and the first formula area difference frequency signal energy is less than the threshold value of setting in the Second Rule district, and difference frequency signal energy and the ratio of three sigma rule district difference frequency signal energy are less than the threshold value of setting in the 4th formula area; If exist strong signal to disturb, the ratio of difference frequency signal energy and the first formula area difference frequency signal energy is obviously greater than the two ratio under the state no interference signal condition in the Second Rule district, and difference frequency signal energy and the ratio of the first formula area difference frequency signal energy are greater than the threshold value of setting in the Second Rule district; The ratio of difference frequency signal energy and three sigma rule district difference frequency signal energy is obviously greater than the two ratio under the state no interference signal condition in the 4th formula area, and difference frequency signal energy and the ratio of three sigma rule district difference frequency signal energy are greater than the threshold value of setting in the 4th formula area.
2. a kind of method that has or not strong signal to disturb when utilizing the staircase modulation ripple to judge FM-CW laser ranging according to claim 1 is characterized in that: have or not strong signal to disturb by judgement and determine whether the distance that records this moment is credible; If determine to exist strong signal to disturb by criterion, improve the antijamming capability of system by the described high reject signal of filtering.
3. a kind of method that has or not strong signal to disturb when utilizing the staircase modulation ripple to judge FM-CW laser ranging according to claim 1 and 2, 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.
4. a kind of method that has or not strong signal to disturb when utilizing the staircase modulation ripple to judge FM-CW laser ranging according to claim 3 is characterized in that: utilize digital processing chip to realize that signal processes; Described digital processing chip is digital signal processor DSP, programming logic gate array FPGA or computing machine.
5. a kind of method that has or not strong signal to disturb when utilizing the staircase modulation ripple to judge FM-CW laser ranging according to claim 1 and 2 is characterized in that: utilize digital processing chip to realize that signal processes; 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 |
|---|---|---|---|---|
| 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 |
| CN108120975A (en) * | 2017-12-16 | 2018-06-05 | 广西大学 | Radar velocity measurement distance measuring method based on trapezoidal continuous wave |
| CN108761428A (en) * | 2018-06-07 | 2018-11-06 | 北京理工大学 | A kind of pulse laser fuze antiaero-sol interference method based on echo character identification |
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| JPH01210887A (en) * | 1988-02-18 | 1989-08-24 | Matsushita Electric Ind Co Ltd | Fm radar sensor |
| CN1066352A (en) * | 1991-04-29 | 1992-11-18 | 莫托罗拉公司 | Interference detection technique |
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- 2012-11-23 CN CN2012104830106A patent/CN102998671A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01210887A (en) * | 1988-02-18 | 1989-08-24 | Matsushita Electric Ind Co Ltd | Fm radar sensor |
| CN1066352A (en) * | 1991-04-29 | 1992-11-18 | 莫托罗拉公司 | Interference detection technique |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108120975A (en) * | 2017-12-16 | 2018-06-05 | 广西大学 | Radar velocity measurement distance measuring method based on trapezoidal continuous wave |
| CN108761428A (en) * | 2018-06-07 | 2018-11-06 | 北京理工大学 | A kind of pulse laser fuze antiaero-sol interference method based on echo character identification |
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Application publication date: 20130327 |