CN104914445A - Composite scanning system used for laser radar - Google Patents
Composite scanning system used for laser radar Download PDFInfo
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- CN104914445A CN104914445A CN201510289254.4A CN201510289254A CN104914445A CN 104914445 A CN104914445 A CN 104914445A CN 201510289254 A CN201510289254 A CN 201510289254A CN 104914445 A CN104914445 A CN 104914445A
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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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Abstract
The invention provides a composite scanning system used for laser radar, relates to the technical field of photoelectricity, and solves problems of low scanning efficiency of existing laser radar scanning systems, relatively large distance between rows of laser spots and limitation of uniformity of spot distribution, and small scanning field of view, poor uniformity and low resolution. The composite scanning system used for laser radar comprises a transmitting subsystem, a receiving subsystem and an electric control system. The transmitting subsystem comprises a DFB laser device, two EDFA and an optical transmitting system. The receiving subsystem comprises an optical receiving system, a PZT fast steering mirror, an X-axis vibrating mirror, a Y-axis vibrating mirror and a large photosensitive surface APD. The electric control system comprises a signal processing circuit, a PZT driver, an FPGA, an ARM processor, an upper computer, an X-axis vibrating mirror driver and a Y-axis vibrating mirror driver. According to the system, wide-range coarse scanning is completed by utilizing X-axis vibrating mirror and the Y-axis vibrating mirror, and small-range accurate scanning is completed by utilizing the PZT fast steering mirror so that wide-range accurate laser scanning radar imaging is realized.
Description
Technical field
The present invention relates to field of photoelectric technology, be specifically related to a kind of combined type scanister for laser radar.
Background technology
Traditional laser radar is roughly divided into two classes from application, is respectively tracking mode laser radar and the formula of measurement laser radar.
Tracking mode laser radar is mainly used in laser guidance and follows the tracks of occasion, utilizes super high power (instantaneous power myriawatt) laser instrument to irradiate target, then adopts high-speed array detector at receiving end, carries out high speed ranging and imaging to target.The advantage of this kind of radar is to realize three-dimensional imaging at a high speed, shortcoming be the pixel dimension of detector array be restricted thus the two-dimensional resolution of its imaging cannot do too high, and visual field is minimum.
Measurement formula laser radar is mainly used in topography and geomorphology and measures and the occasion such as aeromerric moasurenont, utilizes high power laser to carry out point by point scanning to target, then adopts single detector at receiving end, carries out high speed pointwise to find range last imaging to target.The advantage of this kind of radar is to realize large-area imaging, and shortcoming is that imaging process resolution is lower, and the resolution accuracy of system is also by the constraint of scanning servo system.
Prior art weak point is:
Conventional laser radar system, mainly contains the imaging bandwidth that two parameters govern laser radar in imaging process, is the repetition frequency of solid-state laser and the sweep bandwidth of scanning system and scanning accuracy respectively.In order to improve imaging bandwidth and the precision of laser radar, the many scholars of recent domestic propose many solutions for this reason.The people such as Tuley propose to adopt the method to two-dimensional laser radar increase one-dimensional scanning device to realize three-dimensional measurement, the people such as Surmann adopt mechanical type two-dimensional scanner to realize three-dimensional laser and measure, the people such as Qu Ronghui propose a kind of optical phased array technology based on electropical scanning, the people such as Meng Zhaohua use narrow linewidth semiconductor laser to utilize acousto-optic frequency shifters, Mach-Zehnder amplitude modulator constructs a set of laser ranging experimental system based on balancing coherent detection and chirp amplitude, the people such as Zheng Ruitong propose a kind of pulsed one dimension scannerless laser radar system based on linear array APD detector, the people such as Wu Lijuan propose Reform Mode APD array no-raster formula laser radar, and its three-dimensional imaging is emulated.Although described scan mode is simple, scanning angle is large, and scan efficiency is low, and the gap ratio between the capable and row of laser facula is comparatively large, and the homogeneity of hot spot distribution is by considerable restraint.Acousto-optic scanning used and the mode of electropical scanning, sweep velocity is fast, efficiency is high, belongs to inertialess scanning, but the little and lack of homogeneity of its scanning field of view, although the no-raster mode of proposition have laser pulse frequency is required low, the advantage that image taking speed is fast, but scanning field of view is little, resolution is low.
Summary of the invention
The present invention be solve existing Laser Radar Scanning system have that scan efficiency is low, laser facula is capable and gap ratio between row comparatively large, the homogeneity of hot spot distribution is limited; And scanning field of view is little, lack of homogeneity and the problem such as resolution is low, provides a kind of combined type scanning system for laser radar.
For the combined type scanning system of laser radar, comprise and launch subsystem, receiving subsystem and electric-control system; Described transmitting subsystem comprises Distributed Feedback Laser, two-stage EDFA and optical emission system; Receiving subsystem comprises optical receiving system, PZT quick titling mirror, X-axis galvanometer, Y-axis galvanometer and large photosensistive surface APD; Described electric-control system comprises signal processing circuit, PZT driver, FPGA, arm processor, host computer, X-axis vibrating mirror driver and Y-axis vibrating mirror driver;
Outgoing high frequency lasers after the digital signal that described Distributed Feedback Laser reception FPGA sends, described high frequency lasers through two-stage EDFA amplify after through optical emission system collimated incident on PZT quick titling mirror, described PZT driver control PZT quick titling mirror is to X-axis and Y direction stepping, described laser beam forms the PZT scanning field of view of multiple analyzing spot composition after the catoptron of X-axis galvanometer and the catoptron reflection of Y-axis galvanometer in measured target region, described X-axis vibrating mirror driver and Y-axis vibrating mirror driver control X-axis galvanometer and the deflection of Y-axis galvanometer respectively, through the light beam of PZT quick titling mirror reflection by lining by line scan after the catoptron reflection of X-axis galvanometer and Y-axis galvanometer and forming vibration mirror scanning visual field in measured target region, described vibration mirror scanning visual field is spliced by multiple PZT scanning field of view and is formed,
There is irreflexive light beam received by optical receiving system through measured target region and assemble to large photosensistive surface APD, described large photosensistive surface APD is sent to signal processing circuit to after echoed signal opto-electronic conversion, described signal processing circuit extracts the range information of tested region diverse location from echo photosignal, by this range information described range information is sent to arm processor, described arm processor is according to described range information and PZT quick titling mirror positional information, X-axis galvanometer positional information and Y-axis galvanometer positional information calculation obtain the three-dimensional information of measured target region each point, and three-dimensional information is sent to host computer, by host computer, process is carried out to the data collected and obtain three-dimensional laser radar image, the echo angle of divergence of described laser beam is less than or equal to 2 times of PZT quick titling mirror single step deflection angle.
Beneficial effect of the present invention: combined type scanning system of the present invention adopts the two-stage composite laser scanning system combined with X-axis galvanometer, Y-axis galvanometer based on PZT quick titling mirror, utilize X-axis galvanometer, Y-axis has shaken large-scale coarse scanning, utilize PZT quick titling mirror to complete accurate scan among a small circle, and then realize scanning laser radar imaging with a wide range of precise.System of the present invention selects thick, smart two-stage scan system to complete scanning, so it in Large visual angle scope interscan imaging, can obtain scanning accuracy by essence scanning again; Described light source selects Gao Zhongying laser instrument, so while raising imaging precision, imaging bandwidth also can increase.Light source of the present invention is DFB high-frequency semiconductor fiber laser, this kind of laser instrument has dynamic single longitudinal mode narrow linewidth, the large advantage of wavelength stability two compared with F-P cavity laser instrument, and the advantage such as its EA electro-absorption modulation has that physical dimension is little, chirp is weak and driving voltage is low; The angle of divergence of return laser beam requires 2 times that are less than PZT deflection angle, and the essential distinction that optical emission system and conventional laser collimate antenna is, after combined type scanning optical emission coefficient collimation, the with a tight waist of laser beam will appear at tested interval.
Accompanying drawing explanation
Fig. 1 is the combined type scanning system operating diagram for laser radar of the present invention;
Fig. 2 is laser radar principle of work block diagram;
Fig. 3 is the optical structure chart for optical emission system in the combined type scanning system of laser radar of the present invention;
The diffraction energy circle schematic diagram that in Fig. 4, (a) is optical system in Fig. 3; B () is optical system 1km hot spot footprint schematic diagram at a distance;
Fig. 5 is the light path simulated effect schematic diagram of optical receiving system.
Embodiment
Embodiment one, composition graphs 1 to Fig. 5 illustrate present embodiment, for the combined type scanning system of laser radar, comprise and launch subsystem, receiving subsystem and electric-control system; Described transmitting subsystem comprises Distributed Feedback Laser, two-stage Erbium-Doped Fiber Amplifier (EDFA) (EDFA) and optical emission system; Receiving subsystem comprises optical receiving system, PZT quick titling mirror, X-axis galvanometer, Y-axis galvanometer and large photosensistive surface APD; Described electric-control system comprises signal processing circuit, PZT driver, FPGA, arm processor, host computer, X-axis vibrating mirror driver and Y-axis vibrating mirror driver;
Outgoing high frequency lasers after the digital signal that described Distributed Feedback Laser reception FPGA sends, described high frequency lasers through two-stage EDFA amplify after through optical emission system collimated incident on PZT quick titling mirror, described PZT driver control PZT quick titling mirror is to X-axis and Y direction stepping, realize scanning the essence of light beam, namely described laser beam forms the PZT scanning field of view of multiple analyzing spot composition after the catoptron of X-axis galvanometer and the catoptron reflection of Y-axis galvanometer in measured target region, described X-axis vibrating mirror driver and Y-axis vibrating mirror driver control X-axis galvanometer and the deflection of Y-axis galvanometer respectively, through the light beam of PZT quick titling mirror reflection by lining by line scan after the catoptron reflection of X-axis galvanometer and Y-axis galvanometer and forming vibration mirror scanning visual field in measured target region, described vibration mirror scanning visual field is spliced by multiple PZT scanning field of view and is formed,
There is irreflexive light beam received by optical receiving system through measured target region and assemble to large photosensistive surface APD, described large photosensistive surface APD is sent to signal processing circuit to after light beam filtering, described signal processing circuit obtains range information and described range information is sent to arm processor, described arm processor is according to the range information obtained and PZT quick titling mirror positional information, X-axis galvanometer positional information and Y-axis galvanometer positional information calculation obtain the three-dimensional information of measured target region each point, and three-dimensional information is sent to host computer, by host computer, process is carried out to the data collected and obtain three-dimensional laser radar image.
The light source of the light beam described in present embodiment is DFB high-frequency semiconductor fiber laser, adopt programmable gate array (FPGA) to modulate it, the seed photo-signal that Distributed Feedback Laser sends sends high power, high-repeated frequency signals after EDFA two-stage is amplified; In present embodiment, light source adopts the DFB Gao Zhongying semiconductor laser of 1550nm as seed light source, this kind of laser instrument has dynamic single longitudinal mode narrow linewidth, the large advantage of wavelength stability two compared with F-P cavity laser instrument, and the advantage such as its EA electro-absorption modulation has that physical dimension is little, chirp is weak and driving voltage is low.Both can be integrated and form electric absorption type modulated laser.But the output power of Distributed Feedback Laser cannot meet the power demand of laser radar, the mode that therefore present embodiment adopts two-stage EDFA to amplify realizes its high-frequency and high-power signal exports, and peak power output is 2W.
Optical emission system described in present embodiment adopts non-parallel beam collimating apparatus; Laser beam is after collimation, and its beam waist position appears in measured zone.Non-parallel beam collimating apparatus feature is, beam collimator needs to keep allowing the facula area of the laser beam after collimating be far smaller than target area.Carrying out essence owing to adopting PZT quick titling mirror to scan, for distinguishing adjacent two scanning spots, needing to make the angle of divergence of laser beam echo to be less than 2 times of PZT quick titling mirror single step deflection angle.The optical texture composition graphs 3 of optical emission system, the quasi-parallel light of emergent light to be the angle of divergence be 0.1mrad, front lens group is made up of three lens, and rear lens group is made up of two panels lens, exit pupil diameter is 40mm, and being operated in the maximum spot diameter in 0-3000m place is 30.648mm.The performance evaluation of this optical emission system, composition graphs 4, Fig. 4 (a) mainly concentrates on spot center for diffraction energy circle, the energy of more than 80%; Fig. 4 (b) is this optical system 1km hot spot footprint figure at a distance, energy mainly concentrates in the hot spot of diameter 100mm, its performance meets the request for utilization of combined type scanning optical emission coefficient, the essential distinction that in present embodiment, optical emission system and conventional laser collimate antenna is, after combined type scanning optical emission coefficient collimation, the with a tight waist of laser beam will appear at tested interval.
Optical receiving system is adopted at receiving end in present embodiment, namely Cassegrain telescope is adopted to realize receiving laser echo signal, coarse scanning visual field is greater than in order to make field of view of receiver, so large photosensistive surface avalanche diode selected by detector, namely photosurface diameter is the APD avalanche diode of 3.75mm, optical system primary mirror focal length is receive optical visual field divided by quick greatly APD photosurface size, in the design process, the diaphragm of optical system and primary mirror overlap, so the Entry pupil diameters D=150mm of system can be established according to the technical indicator of system, the ratio of obstruction α=30% is obtained by experience, for reducing the volume of system, shorten tube length, therefore the distance d between primary mirror and secondary mirror can not be excessive, choose relative aperture D/f '=0.5 of primary mirror, the then focal distance f of system primary mirror
1' be 300mm, secondary mirror magnification β is f '/f
1'=-2.5. determines α, after β, and the vertex curvature radius r of primary mirror and secondary mirror
1, r
2, and the distance d between them can be determined by following formula: r
1=2*f '/β=-600mm, r
2=(α * β * r
1)/(β+1)=-300, d=f
1' * (1-α)/β=-210mm. system is two special mirror reflection system, namely system is eliminated in order to spherical aberration S
iwith coma S
iI(S
i=S
iI=0) eccentric ratio e of primary mirror and secondary mirror can, be calculated thus respectively
1and e
2, e
1 2=1+2 α/(1-α) β
2=1.137143, e
2 2=(2 β/(1-α)+(1+ β) (1-β)
2)/(1+ β)
3=7.560847.According to above-mentioned design parameter, the system field angle after optimization is 5.009mrad.The simulated effect of optical receiving system as shown in Figure 5.
Embodiment two, present embodiment is the embodiment of the combined type scanning system for laser radar described in embodiment one: the light beam sent by optical fiber incides the minute surface of PZT quick titling mirror after collimation, be 50 μ rad by PZT driver control PZT minute surface step angle, XY direction is stepping 33 step respectively, after the catoptron reflection of X galvanometer and Y galvanometer, be irradiated to target area form a PZT scanning field of view be made up of 33 × 33 points, by controlling the X driver of galvanometer and Y driver, make X catoptron and the regular deflection of Y catoptron, scanning light beam line by line scan formation scanning area be 60 × 30 vibration mirror scanning visual field, every frame scan image has 1980 × 990 some compositions.The setting range of PZT is ± 0.825mrad, first need to allow the benchmark zero degree of PZT quick titling mirror and zero degree optical receiving system coaxial, then the benchmark zero degree adjusting optical emission system and PZT quick titling mirror is coaxial, realize three coaxial, PZT quick titling mirror is installed in after optical receiving system (Cassegrain system secondary mirror), and then making transmitting optical axis and the parallel output of reception optical axis, error is less than 10 seconds.X-axis galvanometer and Y-axis vibration mirror scanning are mainly used to realize coarse scanning, by the mirror-reflection of PZT quick titling mirror laser beam by after X-axis galvanometer and Y-axis galvanometer by regular deflection.System adopts the mode of lining by line scan, and lines by line scan from top to bottom in the mode of z font.PZT frequency of operation is 3500Hz, and the sweep frequency of setting X-axis galvanometer and Y-axis galvanometer is 3.214Hz, and every frame scan region is 60 × 30, and every frame can measure 1800 regions, and adjusting its field angle horizontal direction is ± 99mrad, and vertical direction is ± 49.5mrad.PZT quick slant scarnning mirror is mainly used to realize essence scanning, because PZT quick titling mirror resolution is 0.23 μ rad, repeatable accuracy is 1.6 μ rad, so the step angle setting PZT quick titling mirror in present embodiment is 50 μ rad, 0.1mrad will be deflected by the known laser beam of principle of reflection, namely the scanning of 33 × 33 points is carried out in each region, and each frame laser scanning image is made up of, so 40MHz is selected in the repetition of laser instrument 1.9602M point.
Described Distributed Feedback Laser launches the high frequency lasers light wave through ovennodulation after receiving the digital signal sent by FPGA, incide on the minute surface of PZT quick titling mirror after being collimated by optical emission system after two-stage EDFA amplifies, controlled to PZT driver control and then to PZT quick titling mirror by FPGA, laser beam is deflected on request, then by directive measured target after control X-axis galvanometer and Y-axis galvanometer change direction.Reflected light is assembled by optical receiving system and is received by APD after X-axis galvanometer and the deflection of Y-axis galvanometer, the signal disturbing that the minute surface of filtering X-axis galvanometer and Y-axis galvanometer diffuses and the reflected light of optical filter brings, obtains range information after signal processing circuit process.By ARM these range informations are combined with the positional information being supplied to PZT quick titling mirror and X-axis galvanometer and Y-axis galvanometer and just can obtain the three dimensional local information of target area each point, finally relevant information is sent on host computer, by host computer, process is carried out to the data collected and obtain three-dimensional laser radar image.
Claims (4)
1., for the combined type scanning system of laser radar, comprise and launch subsystem, receiving subsystem and electric-control system; Described transmitting subsystem comprises Distributed Feedback Laser, two-stage EDFA and optical emission system; Receiving subsystem comprises optical receiving system, PZT quick titling mirror, X-axis galvanometer, Y-axis galvanometer and large photosensistive surface APD; Described electric-control system comprises signal processing circuit, PZT driver, FPGA, arm processor, host computer, X-axis vibrating mirror driver and Y-axis vibrating mirror driver; It is characterized in that;
Outgoing high frequency lasers after the digital signal that described Distributed Feedback Laser reception FPGA sends, described high frequency lasers through two-stage EDFA amplify after through optical emission system collimated incident on PZT quick titling mirror, described PZT driver control PZT quick titling mirror is to X-axis and Y direction stepping, described laser beam forms the PZT scanning field of view of multiple analyzing spot composition after the catoptron of X-axis galvanometer and the catoptron reflection of Y-axis galvanometer in measured target region, described X-axis vibrating mirror driver and Y-axis vibrating mirror driver control X-axis galvanometer and the deflection of Y-axis galvanometer respectively, through the light beam of PZT quick titling mirror reflection by lining by line scan after the catoptron reflection of X-axis galvanometer and Y-axis galvanometer and forming vibration mirror scanning visual field in measured target region, described vibration mirror scanning visual field is spliced by multiple PZT scanning field of view and is formed,
There is irreflexive light beam received by optical receiving system through measured target region and assemble to large photosensistive surface APD, described large photosensistive surface APD is sent to signal processing circuit to after echoed signal opto-electronic conversion, described signal processing circuit extracts the range information of tested region diverse location from echo photosignal, by this range information described range information is sent to arm processor, described arm processor is according to described range information and PZT quick titling mirror positional information, X-axis galvanometer positional information and Y-axis galvanometer positional information calculation obtain the three-dimensional information of measured target region each point, and three-dimensional information is sent to host computer, by host computer, process is carried out to the data collected and obtain three-dimensional laser radar image, the echo angle of divergence of described laser beam is less than or equal to 2 times of PZT quick titling mirror single step deflection angle.
2. the combined type scanning system for laser radar according to claim 1, is characterized in that, described optical emission system is non-parallel beam collimating apparatus; Laser beam is after collimation, and its beam waist position is in measured zone.
3. the combined type scanning system for laser radar according to claim 1, it is characterized in that, the receive optical visual field of described optical receiving system comprises the vibration visual field of PZT quick titling mirror, the vibration field coaxial of described receive optical visual field and PZT quick titling mirror, when X-axis galvanometer and Y-axis galvanometer rotate, drive the vibration visual field of receive optical visual field and PZT quick titling mirror to rotate simultaneously simultaneously, realize by the splicing of smart scanning field of view to coarse scanning visual field.
4. the combined type scanning system for laser radar according to claim 1, it is characterized in that, deflect after the light beam of described PZT quick titling mirror reflection is by X-axis galvanometer and Y-axis galvanometer, and adopt the mode of lining by line scan, scan in the mode of Z-shaped from top to bottom.
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