CN105487080A - Phase pulse-type laser range finding method - Google Patents
Phase pulse-type laser range finding method Download PDFInfo
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- CN105487080A CN105487080A CN201610051975.6A CN201610051975A CN105487080A CN 105487080 A CN105487080 A CN 105487080A CN 201610051975 A CN201610051975 A CN 201610051975A CN 105487080 A CN105487080 A CN 105487080A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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Abstract
The invention discloses a phase pulse-type laser range finding method. The method includes the following steps: S1, obtaining a first phase difference [phi]F1 of various frequency components among first emission pulse signals with the frequency of F1MHz, and obtaining a second phase difference [phi]F2 of various frequency components among second emission pulse signals with the frequency of F2MHz; S2, conducting difference operation on the first phase difference and the second phase difference, and obtaining a phase difference [phi]0 of target modulation frequencies, wherein [phi]0=[phi]F2-[phi]F1; and S3, substituting [phi]0 into a range finding formula L=C/2[phi]0, and obtaining a corresponding laser range finding distance L. According to the method, a duty ratio of both the first emission pulse signals and the second emission pulse signals is 5%-10%, 5MHz<F1<20MHz, and 5MHz<F2<20MHz. The method has the advantages that the cost is low, the anti-interference capability is high, and the measuring speed is fast.
Description
Technical field
The present invention relates to laser ranging field, more particularly, the present invention relates to the method for a kind of phase impulse formula laser ranging.
Background technology
Traditional phase laser distance measurement instrument, adopt continuous wave as transmitting excitation, the different time periods adopts different transmission frequencies.Adopt that to survey chi many, the noise resisting ability of system can be improved, but will to increase Measuring Time and cost for cost.Adopt survey chi very few, then may bring the problems such as ranging is short, poor anti jamming capability.In prior art, general employing is many surveying chis (> 4), to ensure range and precision simultaneously.
Summary of the invention
For the weak point existed in above-mentioned technology, the invention provides the method for a kind of phase impulse formula laser ranging, adopt two transponder pulse signals of low duty ratio, different frequency as transmitting excitation, obtain the phase differential of various frequency component in each transponder pulse signal, again the phase differential of two various frequency components of transponder pulse signal is done difference operation, obtain the phase differential of multiple target modulation frequency, while meeting measuring accuracy requirement, there is the advantage that cost is low, antijamming capability is strong, measuring speed is fast.
In order to realize according to these objects of the present invention and other advantage, the present invention is achieved through the following technical solutions:
A method for phase impulse formula laser ranging, comprises the following steps:
S1, obtains the first-phase potential difference that frequency is various frequency component in the first transponder pulse signal of F1MHz
and obtain the second-phase potential difference that frequency is various frequency component in the second transponder pulse signal of F2MHz
S2, does difference operation by described second-phase potential difference and described first-phase potential difference, obtains the phase differential of target modulation frequency
S3, substitutes into range finding formula:
obtain corresponding laser ranging distance L;
Wherein, C is ray velocity, and L is range finding distance;
The dutycycle of described first transponder pulse signal and described second pulse signal is 5%-10%;
Described frequency is the frequency range of the first transponder pulse signal of F1MHz is 5MHz < F1 < 20MHz;
Described frequency is the frequency range of the second transponder pulse signal of F2MHz is 5MHz < F2 < 20MHz.
Further, step S1 specifically comprises the following steps:
S11, is the first local oscillator pulse signal of (F1-0.001) MHz by first echo pulse signal of frequency to be the first transponder pulse signal of F1MHz and the frequency of feedback thereof be F1MHz and frequency, gathers the first reference signal and first echo signal;
S12, is the second local oscillator pulse signal of (F2-0.001) MHz by second echo pulse signal of frequency to be the second transponder pulse signal of F2MHz and the frequency of feedback thereof be F2MHz and frequency, gathers the second reference signal and second echo signal;
S13, sends to controller by described first reference signal collected and described first echo signal, and does the process of phase differential again after carrying out phase demodulation with local sinusoidal signal respectively, draw first-phase potential difference;
S14, sends to controller by described second reference signal collected and described second echo signal, and does the process of phase differential again after carrying out phase demodulation with local sinusoidal signal respectively, draw second-phase potential difference.
Preferably, step S11 specifically comprises the following steps:
The the first local oscillator pulse signal by frequency being the first transponder pulse signal and (F1-0.001) MHz of F1MHz, successively through mixing, low-pass filtering, amplification process, obtains described first reference signal;
The the first local oscillator pulse signal by frequency being the first echo pulse signal and (F1-0.001) MHz of F1MHz, successively through mixing, low-pass filtering, amplification process, obtains described first echo signal.
Preferably, step S12 specifically comprises the following steps:
The the second local oscillator pulse signal by frequency being the second transponder pulse signal and (F2-0.001) MHz of F2MHz, successively through mixing, low-pass filtering, amplification process, obtains described second reference signal;
The the second local oscillator pulse signal by frequency being the second echo pulse signal and (F2-0.001) MHz of F2MHz, successively through mixing, low-pass filtering, amplification process, obtains described second echo signal.
Preferably, step S13 specifically comprises the following steps:
Controller receives described first reference signal and carries out analog to digital conversion to it, and the first reference signal after analog to digital conversion and local sinusoidal signal are done phase demodulation process, draws first phase;
Controller receives described first echo signal and carries out analog to digital conversion to it, and the first echo signal after analog to digital conversion and local sinusoidal signal are done phase demodulation process, draws second phase;
Described controller does poor computing to described first phase and described second phase, draws first-phase potential difference.
Preferably, step S14 specifically comprises the following steps:
Controller receives described second reference signal and carries out analog to digital conversion to it, and the second reference signal after analog to digital conversion and local sinusoidal signal are done phase demodulation process, draws third phase;
Controller receives described second echo signal and carries out analog to digital conversion to it, and the second echo signal after analog to digital conversion and local sinusoidal signal are done phase demodulation process, draws the 4th phase place;
Described controller does poor computing to described third phase and described 4th phase place, draws second-phase potential difference.
Further, described local sinusoidal signal has five at least;
Frequency F >=the 0.001MHz of each described local sinusoidal signal, and be the frequency multiplication of frequency F=0.001MHz;
The corresponding described first-phase potential difference of each described local sinusoidal signal and a described second-phase potential difference.
Preferably, the frequency of described local sinusoidal signal is 0.001MHz, 0.002MHz, 0.003MHz, 0.004MHz and 0.005MHz.
Further, described first transponder pulse signal frequency F1 is 7.5MHz, and described second transponder pulse signal frequency F2 is 8MHz.
Preferably, the dutycycle of described first transponder pulse signal and described second transponder pulse signal is 5%.
Preferably, the dutycycle of described first reference signal, first echo signal, the second reference signal and second echo signal is 10%.
The present invention, owing to adopting above technical scheme, makes it compared with prior art, has following advantage and good effect:
1) adopt low duty ratio 5%-10%, frequency meets 5MHz < F1 < 20MHz, two transponder pulse signals of 5MHz < F2 < 20MHz are as transmitting excitation, obtain the phase differential of various frequency component in each transponder pulse signal, again the phase differential of two various frequency components of transponder pulse signal is done difference operation, obtain the phase differential of multiple target modulation frequency, while meeting measuring accuracy requirement, there is the advantage that cost is low, antijamming capability is strong, measuring speed is fast;
2) described local sinusoidal signal is at least five of frequency F >=1KHz; The corresponding described first-phase potential difference of each described local sinusoidal signal and a described second-phase potential difference; For obtaining the phase differential of at least front 5 frequency components in each transponder pulse signal, improve measuring accuracy;
3) described first transponder pulse signal frequency F1 is 7.5MHz, and described second transponder pulse signal frequency F2 is 8MHz, and dutycycle is 5%; Now, obtained the phase differential of at least front 5 frequency components in each transponder pulse signal by least five described local sinusoidal signals, the phase differential of the target modulation frequency that multiple length is connected can be obtained, improve the precision measured.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, obviously, accompanying drawing in the following describes is only some embodiments of the present invention, for those skilled in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.In accompanying drawing:
Fig. 1 is that in the method for phase impulse formula of the present invention laser ranging, the first transponder pulse signal is 7.5MHz dutycycle gathers the method schematic diagram of the first reference signal and first echo signal when being 5%;
Fig. 2 is the method schematic diagram of the first-phase potential difference obtaining various frequency component in the first transponder pulse signal in the method for phase impulse formula of the present invention laser ranging;
Fig. 3 is that in the method for phase impulse formula of the present invention laser ranging, the second transponder pulse signal is 8MHz dutycycle gathers the method schematic diagram of the second reference signal and second echo signal when being 5%;
Fig. 4 is the method schematic diagram of the second-phase potential difference obtaining various frequency component in the second transponder pulse signal in the method for phase impulse formula of the present invention laser ranging.
Embodiment
The technology contents disclosed to make the application is more detailed and complete, can refer to accompanying drawing and following various specific embodiment of the present invention.But those of ordinary skill in the art should be appreciated that hereinafter provided embodiment is not used for limiting the scope that contains of the present invention.In addition, accompanying drawing, only for being schematically illustrated, can be implemented with reference to instructions word according to this to make those skilled in the art.With reference to the accompanying drawings, the embodiment of various aspects of the present invention is described in further detail.
Should be appreciated that used hereinly such as " to have ", other element one or more do not allotted in " comprising " and " comprising " term or the existence of its combination or interpolation.
The invention provides the method for a kind of phase impulse formula laser ranging, comprise the following steps:
S1, obtains the first-phase potential difference that frequency is various frequency component in the first transponder pulse signal of F1MHz
and obtain the second-phase potential difference that frequency is various frequency component in the second transponder pulse signal of F2MHz
S2, does difference operation by described second-phase potential difference and described first-phase potential difference, obtains the phase differential of target modulation frequency
S3, substitutes into range finding formula:
obtain corresponding laser ranging distance L;
Wherein, C is ray velocity, and L is range finding distance;
The dutycycle of described first transponder pulse signal and described second pulse signal is 5%-10%;
Described frequency is the frequency range of the first transponder pulse signal of F1MHz is 5MHz < F1 < 20MHz;
Described frequency is the frequency range of the second transponder pulse signal of F2MHz is 5MHz < F2 < 20MHz.Traditional phase laser distance measurement instrument, adopt continuous wave as transmitting excitation, the different time periods adopts different transmission frequencies, adopts that to survey chi many, can improve the noise resisting ability of system, but will to increase Measuring Time and cost for cost.Adopt survey chi very few, then may bring the problems such as ranging is short, poor anti jamming capability.General use is many surveying chi (> 4) to ensure range and precision simultaneously.Embodiment of the present invention adopts two transponder pulse signals that dutycycle is 5%-10%, frequency is respectively F1 and F2 to encourage as transmitting, obtain the phase differential of various frequency component in each transponder pulse signal, again the phase differential of two various frequency components of transponder pulse signal is done difference operation, thus obtain the phase differential of multiple target modulation frequency.The high instantaneous power of the transponder pulse signal of low duty ratio will improve the anti-light ability of making an uproar of range measurement system, and antijamming capability is strong; The transponder pulse signal of low duty ratio has abundant harmonic component, the phase differential of two various frequency components of transponder pulse signal is done difference operation, the phase differential of multiple target modulation frequency can be obtained, to meet measuring accuracy requirement, without the need to being greater than the modulation frequency of two kinds, reduce costs, accelerate measuring speed.
In the step S1 of technique scheme, obtain the second-phase potential difference of various frequency component in the first-phase potential difference of various frequency component in the first transponder pulse signal and the second transponder pulse signal, specifically comprise the following steps:
S11, is the first local oscillator pulse signal of (F1-0.001) MHz by first echo pulse signal of frequency to be the first transponder pulse signal of F1MHz and the frequency of feedback thereof be F1MHz and frequency, gathers the first reference signal and first echo signal;
S12, is the second local oscillator pulse signal of (F2-0.001) MHz by second echo pulse signal of frequency to be the second transponder pulse signal of F2MHz and the frequency of feedback thereof be F2MHz and frequency, gathers the second reference signal and second echo signal;
S13, sends to controller by described first reference signal collected and described first echo signal, and does the process of phase differential again after carrying out phase demodulation with local sinusoidal signal respectively, draw first-phase potential difference;
S14, sends to controller by described second reference signal collected and described second echo signal, and does the process of phase differential again after carrying out phase demodulation with local sinusoidal signal respectively, draw second-phase potential difference.
In technique scheme, step S11 specifically comprises the following steps:
Be that the first transponder pulse signal of F1MHz obtains the first reference signal through mixing, low-pass filtering, amplification process successively with the first local oscillator pulse signal of (F1-1KHz) by frequency;
Be that first echo pulse signal of F1MHz obtains first echo signal through mixing, low-pass filtering, amplification process successively with the first local oscillator pulse signal of (F1-1KHz) by frequency.
The the first local oscillator pulse signal by frequency being the first transponder pulse signal and (F1-0.001) MHz of F1MHz, successively through mixing, low-pass filtering, amplification process, obtains described first reference signal;
The the first local oscillator pulse signal by frequency being the first echo pulse signal and (F1-0.001) MHz of F1MHz, successively through mixing, low-pass filtering, amplification process, obtains described first echo signal.
In technique scheme, step S12 specifically comprises the following steps:
The the second local oscillator pulse signal by frequency being the second transponder pulse signal and (F2-0.001) MHz of F2MHz, successively through mixing, low-pass filtering, amplification process, obtains described second reference signal;
The the second local oscillator pulse signal by frequency being the second echo pulse signal and (F2-0.001) MHz of F2MHz, successively through mixing, low-pass filtering, amplification process, obtains described second echo signal.
In technique scheme, step S13 specifically comprises the following steps:
Controller receives described first reference signal and carries out analog to digital conversion to it, and the first reference signal after analog to digital conversion and local sinusoidal signal are done phase demodulation process, draws first phase;
Controller receives described first echo signal and carries out analog to digital conversion to it, and the first echo signal after analog to digital conversion and local sinusoidal signal are done phase demodulation process, draws second phase;
Described controller does poor computing to described first phase and described second phase, draws first-phase potential difference.
In technique scheme, step S14 specifically comprises the following steps:
Controller receives described second reference signal and carries out analog to digital conversion to it, and the second reference signal after analog to digital conversion and local sinusoidal signal are done phase demodulation process, draws third phase;
Controller receives described second echo signal and carries out analog to digital conversion to it, and the second echo signal after analog to digital conversion and local sinusoidal signal are done phase demodulation process, draws the 4th phase place;
Described controller does poor computing to described third phase and described 4th phase place, draws second-phase potential difference.
In technique scheme, described local sinusoidal signal has five at least; Frequency F >=the 0.001MHz of each described local sinusoidal signal, and be the frequency multiplication of frequency F=0.001MHz; The corresponding described first-phase potential difference of each described local sinusoidal signal and a described second-phase potential difference.Preferably, the frequency of described local sinusoidal signal is 0.001MHz, 0.002MHz, 0.003MHz, 0.004MHz and 0.005MHz.That is, local sinusoidal signal is at least five of frequency F >=1KHz, and the frequency of described five local sinusoidal signals can select 1KHz, 2KHz, 3KHz, 4KHz and 5KHz; The local sinusoidal signal of at least five frequency F >=1KHz, for obtaining the phase differential of at least front 5 frequency components in each transponder pulse signal, is conducive to improving measuring accuracy.
In technique scheme, the first transponder pulse signal frequency F1 is preferably 7.5MHz, and the second transponder pulse signal frequency F2 is preferably 8MHz; The dutycycle of the first transponder pulse signal and the second transponder pulse signal is all preferably 5%.When dutycycle is 5%, the first transponder pulse signal of 7.5MHz and the second transponder pulse signal of 8MHz, the phase differential of at least front 5 frequency components in each transponder pulse signal is obtained by least five local sinusoidal signals, the phase differential of the target modulation frequency that multiple length is connected can be obtained, thus improve the precision measured.
In addition, preferably the dutycycle of described first reference signal, first echo signal, the second reference signal and second echo signal is 10%.
embodiment
In order to obtain the first-phase potential difference that frequency F1 is various frequency component in the first transponder pulse signal of 7.5MHz, pass through following steps:
(1), as shown in Figure 1, be 5% by dutycycle, frequency F1 is that the first transponder pulse signal of 7.5MHz and the first local oscillator pulse signal of (F1-1KHz)=7.499MHz obtain described first reference signal through mixing, low-pass filtering, amplification process successively; Be that first echo pulse signal of 7.5MHz and the first local oscillator pulse signal of (F1-1KHz)=7.499MHz obtain described first echo signal through mixing, low-pass filtering, amplification process successively by frequency F1;
(2), as shown in Figure 2, the first reference signal is sent to controller, after controller carries out analog-to-digital conversion process to the first reference signal, local sinusoidal signal realizes phase demodulation by digital phase discriminator with 1KHz, obtains first phase; First echo signal is sent to controller, and after controller carries out analog-to-digital conversion process to first echo signal, local sinusoidal signal realizes phase demodulation by digital phase discriminator with 1KHz, obtains second phase; Controller does difference operation to first phase and second phase, obtains first-phase potential difference
(3), by the frequency of local sinusoidal signal be transformed into 2KHz, 3KHz, 4KHz, 5KHz by 1KHz, correspondence obtains first-phase potential difference and is respectively
According to above-mentioned three steps, as shown in Figures 3 and 4, obtain the second-phase potential difference that frequency F1 is various frequency component in the second transponder pulse signal of 8MHz, be respectively
Now for a general phase laser distance measurement instrument:
According to formula
wherein, L represents range finding distance, and c represents the light velocity, f represents the survey chi of distance L, and the phase distancemeter due to high-precision high-reliability requires that between best survey chi, multiplying power can not be greater than 3 times, and considers that actual hardware designs is convenient, require that bandwidth is little as far as possible, be convenient to ensure consistance.So, it is as shown in table 1 that this stadimeter possible six kinds surveys chis, corresponding phase differential and distance accuracies, two kinds of transmission frequencies of the present embodiment and phase differential as shown in table 2:
Six kinds of survey chis, corresponding phase differential and distance accuracies that table 1 laser range finder is possible
The modulation frequency of table 2 the present embodiment and the phase differential of correspondence
Associative list 1 and table 2 known:
When F3 is 0.5MHz, be equivalent to do difference operation when F2 is 8MHz and when F1 is 7.5MHz, that is, F3 (0.5)=F2 (8)-F1 (7.5), so corresponding phase differential computing is:
corresponding distance accuracy is at 300m;
When F3 is 1MHz, be equivalent to do difference operation when F2 is 16MHz and when F1 is 15MHz, that is, F3 (1)=F2 (16)-F1 (15), so corresponding phase differential computing is:
corresponding distance accuracy is at 150m;
When F3 is 2.5MHz, be equivalent to do difference operation when F2 is 40MHz and when F1 is 37.5MHz, that is, F3 (2.5)=F2 (40)-F1 (37.5), so corresponding phase differential computing is:
corresponding distance accuracy is at 60m;
When F3 is 7.5MHz, when to be equivalent to F1 be 7.5MHz, that is, F3 (7.5)=F1 (7.5), so corresponding phase differential computing is:
corresponding distance accuracy is at 20m;
When F3 is 15MHz, when to be equivalent to F1 be 15MHz, that is, F3 (15)=F1 (15), so corresponding phase differential computing is:
corresponding distance accuracy is at 10m;
When F3 is 40MHz, when to be equivalent to F2 be 40MHz, that is, F3 (40)=F2 (40), so corresponding phase differential computing is:
corresponding distance accuracy is at 3.75m.
In summary, the six kinds of targets realizing stadimeter survey chi, all can do difference operation by two of the present embodiment kind of an exomonental combination of frequency to draw, corresponding, the measuring accuracy of target survey chi also can be done difference operation by the phase differential of two of the present embodiment kind of transponder pulse signal and draw, as can be seen here, the six kinds of targets realizing stadimeter survey chis in requisition for the transponder pulse signal exciting six kinds of frequencies; And the method for the phase impulse formula laser ranging of using embodiment of the present invention to propose, only need two transponder pulse signals of low duty ratio, different frequency as transmitting excitation, by obtaining the phase differential of various frequency component in each transponder pulse signal, again the phase differential of two various frequency components of transponder pulse signal is done difference operation, thus the phase differential that multiple target surveys chi can be obtained, and then meet measuring accuracy requirement.Relative to common stadimeter distance-finding method, distance-finding method provided by the invention has the advantage that cost is low, antijamming capability is strong, measuring speed is fast.
Although embodiment of the present invention are open as above, it is not restricted to listed in instructions and embodiment utilization.It can be applied to various applicable the field of the invention completely.Other amendment can be easily realized for those skilled in the art.Therefore do not deviating under the universal that claim and equivalency range limit, the present invention is not limited to specific details and illustrates here and the legend described.
Claims (11)
1. a method for phase impulse formula laser ranging, is characterized in that, comprises the following steps:
S1, obtains the first-phase potential difference that frequency is various frequency component in the first transponder pulse signal of F1MHz
and obtain the second-phase potential difference that frequency is various frequency component in the second transponder pulse signal of F2MHz
S2, does difference operation by described second-phase potential difference and described first-phase potential difference, obtains the phase differential of target modulation frequency
S3, substitutes into range finding formula:
obtain corresponding laser ranging distance L;
Wherein, C is ray velocity, and L is range finding distance;
The dutycycle of described first transponder pulse signal and described second pulse signal is 5%-10%;
Described frequency is the frequency range of the first transponder pulse signal of F1MHz is 5MHz < F1 < 20MHz;
Described frequency is the frequency range of the second transponder pulse signal of F2MHz is 5MHz < F2 < 20MHz.
2. the method for phase impulse formula laser ranging as claimed in claim 1, it is characterized in that, step S1 specifically comprises the following steps:
S11, is the first local oscillator pulse signal of (F1-0.001) MHz by first echo pulse signal of frequency to be the first transponder pulse signal of F1MHz and the frequency of feedback thereof be F1MHz and frequency, gathers the first reference signal and first echo signal;
S12, is the second local oscillator pulse signal of (F2-0.001) MHz by second echo pulse signal of frequency to be the second transponder pulse signal of F2MHz and the frequency of feedback thereof be F2MHz and frequency, gathers the second reference signal and second echo signal;
S13, sends to controller by described first reference signal collected and described first echo signal, and does the process of phase differential again after carrying out phase demodulation with local sinusoidal signal respectively, draw first-phase potential difference;
S14, sends to controller by described second reference signal collected and described second echo signal, and does the process of phase differential again after carrying out phase demodulation with local sinusoidal signal respectively, draw second-phase potential difference.
3. the method for phase impulse formula laser ranging as claimed in claim 2, it is characterized in that, step S11 specifically comprises the following steps:
The the first local oscillator pulse signal by frequency being the first transponder pulse signal and (F1-0.001) MHz of F1MHz, successively through mixing, low-pass filtering, amplification process, obtains described first reference signal;
The the first local oscillator pulse signal by frequency being the first echo pulse signal and (F1-0.001) MHz of F1MHz, successively through mixing, low-pass filtering, amplification process, obtains described first echo signal.
4. the method for phase impulse formula laser ranging as claimed in claim 2, it is characterized in that, step S12 specifically comprises the following steps:
The the second local oscillator pulse signal by frequency being the second transponder pulse signal and (F2-0.001) MHz of F2MHz, successively through mixing, low-pass filtering, amplification process, obtains described second reference signal;
The the second local oscillator pulse signal by frequency being the second echo pulse signal and (F2-0.001) MHz of F2MHz, successively through mixing, low-pass filtering, amplification process, obtains described second echo signal.
5. the method for phase impulse formula laser ranging as claimed in claim 2, it is characterized in that, step S13 specifically comprises the following steps:
Controller receives described first reference signal and carries out analog to digital conversion to it, and the first reference signal after analog to digital conversion and local sinusoidal signal are done phase demodulation process, draws first phase;
Controller receives described first echo signal and carries out analog to digital conversion to it, and the first echo signal after analog to digital conversion and local sinusoidal signal are done phase demodulation process, draws second phase;
Described controller does poor computing to described first phase and described second phase, draws first-phase potential difference.
6. the method for phase impulse formula laser ranging as claimed in claim 2, it is characterized in that, step S14 specifically comprises the following steps:
Controller receives described second reference signal and carries out analog to digital conversion to it, and the second reference signal after analog to digital conversion and local sinusoidal signal are done phase demodulation process, draws third phase;
Controller receives described second echo signal and carries out analog to digital conversion to it, and the second echo signal after analog to digital conversion and local sinusoidal signal are done phase demodulation process, draws the 4th phase place;
Described controller does poor computing to described third phase and described 4th phase place, draws second-phase potential difference.
7. the method for phase impulse formula laser ranging as claimed in claim 2, is characterized in that,
Described local sinusoidal signal has five at least;
Frequency F >=the 0.001MHz of each described local sinusoidal signal, and be the frequency multiplication of frequency F=0.001MHz;
The corresponding described first-phase potential difference of each described local sinusoidal signal and a described second-phase potential difference.
8. the method for phase impulse formula laser ranging as claimed in claim 7, it is characterized in that, the frequency of described local sinusoidal signal is 0.001MHz, 0.002MHz, 0.003MHz, 0.004MHz and 0.005MHz.
9. the method for phase impulse formula laser ranging as claimed in claim 1, it is characterized in that, described first transponder pulse signal frequency F1 is 7.5MHz, and described second transponder pulse signal frequency F2 is 8MHz.
10. the method for the phase impulse formula laser ranging as described in claim 1 or 9, is characterized in that, the dutycycle of described first transponder pulse signal and described second transponder pulse signal is 5%.
The method of 11. phase impulse formula laser rangings as claimed in claim 10, it is characterized in that, the dutycycle of described first reference signal, first echo signal, the second reference signal and second echo signal is 10%.
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2016
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| CN106249246B (en) * | 2016-07-21 | 2018-12-21 | 湖南拓视觉信息技术有限公司 | Distance measuring method and device, measuring circuit |
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| CN106597462B (en) * | 2016-12-26 | 2019-08-06 | 艾普柯微电子（上海）有限公司 | Distance measuring method and range unit |
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| CN109059799A (en) * | 2018-05-08 | 2018-12-21 | 安捷睿（厦门）机器人有限公司 | A kind of laser 3 d scanner and its scan method and scan controller |
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