CN105549027A - Range finding method based on laser pulse shape leading edge detection and system thereof - Google Patents
Range finding method based on laser pulse shape leading edge detection and system thereof Download PDFInfo
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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
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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Abstract
The invention relates to a range finding method based on laser pulse shape leading edge detection and a system thereof and belongs to the laser pulse range finding technology field. In the invention, a high speed ADC is used to sample a reference wave and an echo of a pulse signal. A simulation waveform is converted into a digital waveform signal. And then a digital signal processing mode is used to carry out echo time delay calculating so that a distance is calculated. When a laser pulse range finding mode is used to carry out object outline scanning and during a high-speed dynamic scanning process, monopulse echo range finding precision is increased and high-precision outline scanning is realized.
Description
Technical field
The invention belongs to laser pulse ranging technical field, be specifically related to a kind of distance-finding method based on laser pulse shape leading edge detection and system.
Background technology
Laser ranging (laserdistancemeasuring) is found range using laser instrument as light source.Continuous wave laser and pulsed laser is divided into according to the mode of laser work.The gas lasers such as He-Ne, argon ion, krypton cadmium work in continuous output state, for phase laser distance measurement; Two heterogeneous gallium arsenide semiconductor laser instrument, for infrared distance measurement; The solid state laser such as ruby, neodymium glass, finds range for pulse type laser.Laser pulse ranging technology has application widely, application of such as finding range, contour of object scanning application etc.Laser ranging is due to features such as the monochromaticity of laser is good, high directivities, add that electronic circuit semiconductor transformation is integrated, compared with electro-optical distance measurement, not only can day and night operation but also can distance accuracy be improved, remarkable minimizing weight and power consumption, make the distance measuring the target far away such as artificial earth satellite, the moon come true.
Laser pulse ranging principle be by ranging pulse launch time and time of reception poor, calculate the distance of measured point.Existing time measurement mode, is completed by wave detector and timer.The course of work is as follows: laser instrument starts, Emission Lasers pulse, and by spectroscope, sub-fraction light directly enters receiving light path, forms reference wave after opto-electronic conversion, is detected by wave detector, starts timer (being generally clock pulse counter); Another most of light is launched, and after measurement point reflection, enters receiving light path, and after opto-electronic conversion, amplification, integer, filtering form echo, and detected by wave detector, timing completes.
In prior art, the precision of laser pulse ranging is mainly subject to the impact of timer accuracy of timekeeping and pulse waveform accuracy of detection.Therefore, putting forward high-precision method is the precision improving accuracy of timekeeping and improve wave test.Improve accuracy of timekeeping mainly by improving the frequency of impulse meter, frequency is higher, and temporal resolution is higher, and accuracy of timekeeping is higher.On the other hand, when accuracy of timekeeping is brought up to a certain degree, distance accuracy is mainly subject to the impact of detection precision.Because demodulation method is for being generally thresholding detection, therefore the shape of paired pulses waveform, amplitude have higher requirement, and when waveform detection is consistent, precision is higher.But because backward energy dynamic range is comparatively large, need to use the consistance ensureing waveform detection from gain-controlled amplifier.But need certain tracking time from gain-controlled amplifier, therefore and the dynamic scan class be not suitable for based on single echo ranging apply because backward energy change is very fast, cannot catch up with from gain amplifier.
Summary of the invention
For the defect existed in prior art, the object of the present invention is to provide a kind of distance-finding method based on laser pulse shape leading edge detection and system, the precision that can the single echo of pulse waveform laser utilized to carry out improving in the application of range observation range finding calculating, or high-precision profile scan is realized in high speed dynamic scan process.
For reaching above object, the technical solution used in the present invention is: a kind of distance-finding method based on laser pulse shape leading edge detection, and the method comprises the following steps:
(1) reference wave of high-speed ADC pulse signals and echo is adopted to sample;
(2) analog waveform is converted to digital waveform signal;
(3) adopt the mode of digital signal processing to carry out echo time delay calculating, thus calculate distance.
Further, in described step (3), adopt the mode of digital signal processing to carry out echo time delay calculating, thus the concrete grammar calculating distance comprises the following steps:
1) forward position detection step, the waveform forward position of detection reference ripple and echo, thus reference-calibrating wavefront moment and echo frontier moment,
2) range difference calculation procedure, primary Calculation reflection spot distance, according to the half of the difference in above-mentioned echo frontier moment and reference wave forward position moment, be multiplied by the light velocity, then deduct the light path of inner light path, what calculate echo reflection point treats corrected range,
3) Echo width calculation procedure, calculates Echo width data, is used for revising above-mentionedly treating corrected range,
4) range correction step, according to above-mentioned Echo width data, searches modified value, treats corrected range correction in range correction table, result of calculation is exported, namely obtain the distance value of reflection spot after correction.
Further, described step 1) in, forward position detection step specifically comprises the steps:
The first step, start-up simulation window;
Second step, carries out least squares line fitting to a continuous m sampled point, and calculates slope and the intercept of straight line;
3rd step, pointwise is slided and is calculated the straight slope of continuous m sampled point institute matching, if be less than threshold value, continues to calculate; If be greater than threshold value, then think and a waveform detected, if detect for the first time in window, then think reference wave, if the 2nd time detects, think echo;
4th step, under slope result of calculation is greater than threshold condition, if the slope result of calculation of this group is greater than last group, continuation calculates next group data; If be less than last group, then think that the sampling point set of last group is combined into the forward position sampled point detecting waveform, and the last group of slope calculated and intercept are slope and the intercept of waveform forward position fitting a straight line;
5th step, according to slope and intercept, obtains the straight line in a matching waveform forward position, gets the calibration position of a half value as the timing of waveform forward position of waveform peak, calculates the forward position moment; If first waveform is then the reference wave forward position moment, if second waveform is then the echo frontier moment;
6th step, closes calculation window.
Further, described step 3) in, Echo width calculation procedure specifically comprises the steps:
The first step, calculates the moment of echo waveform forward position threshold value At The Height;
Second step, along the moment of threshold value At The Height after calculating echo waveform;
3rd step, the first step and second step result are subtracted each other and are obtained waveform widths data.
Further, step 4) in, described range correction table is under fixed range reflection spot condition, according to the range error table that different wave width measure distance value out comes out.
Further, in step (1), the sampling rate of described ADC is greater than pulse signal bandwidth more than 7 times, more than sampled data bit wide 7 bit.
Present invention also offers a kind of range measurement system based on laser pulse shape leading edge detection, this system comprises with lower module:
Sampling module, samples for the reference wave and echo adopting high-speed ADC pulse signals;
Signal conversion module, for converting analog waveform to digital waveform signal;
Distance calculation module, for adopting the mode of digital signal processing to carry out echo time delay calculating, thus calculates distance.
Further, described distance calculation module comprises with lower unit:
Forward position detection unit, for the waveform forward position of detection reference ripple and echo, thus reference-calibrating wavefront moment and echo frontier moment;
Range difference computing unit, for primary Calculation reflection spot distance, according to the half of the difference in above-mentioned echo frontier moment and reference wave forward position moment, be multiplied by the light velocity, then deduct the light path of inner light path, what calculate echo reflection point treats corrected range;
Echo width computing unit, under suitable waveform height threshold value, calculates Echo width data, is used for revising above-mentionedly treating corrected range;
Distance correction unit, for according to above-mentioned Echo width data, searches modified value, treats corrected range correction in range correction table, result of calculation is exported, namely obtain the distance value of reflection spot after correction.
Further, described forward position detection unit comprises following subelement:
Promoter unit, for start-up simulation window;
Fitting a straight line subelement, for carrying out least squares line fitting to a continuous m sampled point, and calculates slope and the intercept of straight line;
Wave test subelement, slides for pointwise and calculates the straight slope of continuous m sampled point institute matching, if be less than certain threshold value, continues to calculate; If be greater than a threshold value, then think and a waveform detected, if detect for the first time in window, then think reference wave, if the 2nd time detects, think echo;
Forward position sampled point detection sub-unit, under being greater than threshold condition in slope result of calculation, if the slope result of calculation of this group is greater than last group, continuation calculates next group data; If be less than last group, then think that the sampling point set of last group is combined into the forward position sampled point detecting waveform, and the last group of slope calculated and intercept are slope and the intercept of waveform forward position fitting a straight line;
Forward position moment computation subunit, for according to slope and intercept, obtains the straight line in a matching waveform forward position, gets the calibration position of a half value as the timing of waveform forward position of waveform peak, calculates the forward position moment; If first waveform is then the reference wave forward position moment, if second waveform is then the echo frontier moment;
Close subelement, for closing calculation window.
Further, described Echo width computing unit comprises following subelement:
Forward position moment computation subunit, for calculating the moment of echo waveform forward position threshold value At The Height;
Afterwards along moment computation subunit, for calculating the moment along threshold value At The Height after echo waveform;
Waveform widths data computation subunit, obtains waveform widths data for described forward position moment computation subunit and the rear result along moment computation subunit being subtracted each other.
Effect of the present invention is: adopt method and system of the present invention, improve the single echo ranging precision of pulse waveform laser, in high speed dynamic scan process, when utilizing laser pulse ranging mode to carry out contour of object scanning, high-precision profile scan can be realized.
Accompanying drawing explanation
Fig. 1 is the principle schematic of a kind of distance-finding method based on laser pulse shape leading edge detection of the present invention.
Fig. 2 is the process flow diagram of the embodiment of a kind of distance-finding method based on laser pulse shape leading edge detection of the present invention.
Fig. 3 is the structural representation of the embodiment of a kind of range measurement system based on laser pulse shape leading edge detection of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail.
The present invention is applicable to laser pulse shape leading edge detection and utilizes the mistiming in pulse waveform forward position between reference wave and echo to carry out distance calculate.
As shown in Figure 1, a kind of distance-finding method based on laser pulse shape leading edge detection, comprises the following steps:
(1) reference wave of high-speed ADC pulse signals and echo is adopted to sample;
(2) analog waveform is converted to digital waveform signal;
(3) adopt the mode of digital signal processing to carry out echo time delay calculating, thus calculate distance.
In step (1), the sampling rate of described ADC is greater than pulse signal bandwidth more than 7 times, more than sampled data bit wide 7 bit.
In described step (3), carry out echo time delay calculating, thus the concrete grammar calculating distance comprises the following steps:
1) forward position detection, the waveform forward position of detection reference ripple and echo, thus the forward position moment of the forward position moment of reference-calibrating ripple and echo, concrete grammar as shown in Figure 2:
Step S1, the first step, start-up simulation window;
Step S2, second step, carries out least squares line fitting to first group of continuous m sampled point, and calculates slope and the intercept of straight line;
Step S3, the 3rd step, pointwise is slided and is calculated the straight slope of continuous m sampled point institute matching, if be less than threshold value, continues to calculate;
Step S4, if be greater than threshold value, then think and a waveform detected, if detect for the first time in window, then thinks reference wave, if the 2nd time detects, thinks echo;
Step S5, the 4th step, under slope result of calculation is greater than threshold condition, if the slope result of calculation of this group is greater than last group, continuation calculates next group data;
Step S6, if be less than last group, then thinks that the sampling point set of last group is combined into the forward position sampled point detecting waveform, and the last group of slope calculated and intercept are slope and the intercept of waveform forward position fitting a straight line;
Step S7-step 11, the 5th step, according to slope and intercept, can obtain the straight line in a matching waveform forward position, gets the calibration position of a half value as the timing of waveform forward position of waveform peak, calculates the forward position moment; If first waveform is then reference wave forward position moment t1, if second waveform is then echo frontier moment t2, t2-t1 is just that ranging pulse launch time and time of reception are poor;
Step S12, the 6th step, closes calculation window.
2) range difference calculates, and is responsible for primary Calculation reflection spot distance.According to the half of the difference in echo frontier moment and reference wave forward position moment, be multiplied by the light velocity, then deduct the light path of inner light path, then what can calculate echo reflection point treats corrected range.
3) Echo width calculates, and under suitable waveform height threshold value, calculates Echo width data, is used for correction to treat corrected range, and concrete grammar is as follows:
The first step, calculates the moment tm1 of echo waveform forward position threshold value At The Height;
Second step, along the moment tm2 of threshold value At The Height after calculating echo waveform;
3rd step, the first step and second step result are subtracted each other and are obtained waveform widths data tm2-tm1.
4) range correction, according to Echo width data, searches modified value, treats corrected range correction in range correction table, result of calculation is exported, namely obtain the distance value of reflection spot after correction.Range correction table is under fixed range reflection spot condition, is the range error table come out according to different wave width measure distance value out.
As shown in Figure 3, a kind of range measurement system based on laser pulse shape leading edge detection of the present invention, this system comprises with lower module:
Sampling module 1, samples for the reference wave and echo adopting high-speed ADC pulse signals;
Signal conversion module 2, for converting analog waveform to digital waveform signal;
Distance calculation module 3, for adopting digital signal processing device to carry out echo time delay calculating, thus calculates distance.
Described distance calculation module 3 comprises with lower unit:
Forward position detection unit 31, for the waveform forward position of detection reference ripple and echo, thus reference-calibrating wavefront moment and echo frontier moment;
Range difference computing unit 32, for primary Calculation reflection spot distance, according to the half of the difference in above-mentioned echo frontier moment and reference wave forward position moment, be multiplied by the light velocity, then deduct the light path of inner light path, what calculate echo reflection point treats corrected range;
Echo width computing unit 33, under suitable waveform height threshold value, calculates Echo width data, is used for revising above-mentionedly treating corrected range;
Distance correction unit 34, for according to above-mentioned Echo width data, searches modified value, treats corrected range correction in range correction table, result of calculation is exported, namely obtain the distance value of reflection spot after correction.
Described forward position detection unit 31, comprises following subelement:
Promoter unit 311, for start-up simulation window;
Fitting a straight line subelement 312, for carrying out least squares line fitting to a continuous m sampled point, and calculates slope and the intercept of straight line;
Wave test subelement 313, slides for pointwise and calculates the straight slope of continuous m sampled point institute matching, if be less than threshold value, continues to calculate; If be greater than threshold value, then think and a waveform detected, if detect for the first time in window, then think reference wave, if the 2nd time detects, think echo;
Forward position sampled point detection sub-unit 314, under being greater than threshold condition in slope result of calculation, if the slope result of calculation of this group is greater than last group, continuation calculates next group data; If be less than last group, then think that the sampling point set of last group is combined into the forward position sampled point detecting waveform, and the last group of slope calculated and intercept are slope and the intercept of waveform forward position fitting a straight line;
Forward position moment computation subunit 315, for according to slope and intercept, obtains the straight line in a matching waveform forward position, gets the calibration position of a half value as the timing of waveform forward position of waveform peak, calculates the forward position moment; If first waveform is then the reference wave forward position moment, if second waveform is then the echo frontier moment;
Close subelement 316, for closing calculation window.
Described Echo width computing unit 33, comprises following subelement:
Forward position moment computation subunit 331, for calculating the moment tm1 of echo waveform forward position threshold value At The Height;
Afterwards along moment computation subunit 332, for calculating the moment tm2 along threshold value At The Height after echo waveform;
Waveform widths data computation subunit 333, obtains waveform widths data tm2-tm1 for described forward position moment computation subunit and the rear result along moment computation subunit being subtracted each other.
Can be found out by above-described embodiment, adopt method and system of the present invention, improve the single echo ranging precision of pulse waveform laser, in high speed dynamic scan process, when utilizing laser pulse ranging mode to carry out contour of object scanning, high-precision profile scan can be realized.
Obviously, those skilled in the art can carry out various change and modification to the present invention and not depart from the spirit and scope of the present invention.Like this, if belong within the scope of the claims in the present invention and equivalent technology thereof to these amendments of the present invention and modification, then the present invention is also intended to comprise these change and modification.
Claims (10)
1. based on a distance-finding method for laser pulse shape leading edge detection, it is characterized in that, said method comprising the steps of:
(1) reference wave of high-speed ADC pulse signals and echo is adopted to sample;
(2) analog waveform is converted to digital waveform signal;
(3) adopt the mode of digital signal processing to carry out echo time delay calculating, thus calculate distance.
2. a kind of distance-finding method based on laser pulse shape leading edge detection as claimed in claim 1, it is characterized in that, in described step (3), adopt the mode of digital signal processing to carry out echo time delay calculating, thus the concrete grammar calculating distance comprises the following steps:
1) forward position detection step, the waveform forward position of detection reference ripple and echo, thus reference-calibrating wavefront moment and echo frontier moment;
2) range difference calculation procedure, primary Calculation reflection spot distance, according to the half of the difference in above-mentioned echo frontier moment and reference wave forward position moment, be multiplied by the light velocity, then deduct the light path of inner light path, what calculate echo reflection point treats corrected range;
3) Echo width calculation procedure, calculates Echo width data, is used for revising above-mentionedly treating corrected range;
4) range correction step, according to above-mentioned Echo width data, searches modified value, treats corrected range correction in range correction table, result of calculation is exported, namely obtain the distance value of reflection spot after correction.
3. a kind of distance-finding method based on laser pulse shape leading edge detection as claimed in claim 2, is characterized in that:
Described step 1) in, forward position detection step specifically comprises the steps:
The first step, start-up simulation window;
Second step, carries out least squares line fitting to a continuous m sampled point, and calculates slope and the intercept of straight line;
3rd step, pointwise is slided and is calculated the straight slope of continuous m sampled point institute matching, if be less than threshold value, continues to calculate; If be greater than threshold value, then think and a waveform detected, if detect for the first time in window, then think reference wave, if the 2nd time detects, think echo;
4th step, under slope result of calculation is greater than threshold condition, if the slope result of calculation of this group is greater than last group, continuation calculates next group data; If be less than last group, then think that the sampling point set of last group is combined into the forward position sampled point detecting waveform, and the last group of slope calculated and intercept are slope and the intercept of waveform forward position fitting a straight line;
5th step, according to slope and intercept, obtains the straight line in a matching waveform forward position, gets the calibration position of a half value as the timing of waveform forward position of waveform peak, calculates the forward position moment; If first waveform is then the reference wave forward position moment, if second waveform is then the echo frontier moment;
6th step, closes calculation window.
4., as claimed in claim 2 based on the distance-finding method of laser pulse shape leading edge detection, it is characterized in that:
Described step 3) in, Echo width calculation procedure specifically comprises the steps:
The first step, calculates the moment of echo waveform forward position threshold value At The Height;
Second step, along the moment of threshold value At The Height after calculating echo waveform;
3rd step, the first step and second step result are subtracted each other and are obtained waveform widths data.
5. as claimed in claim 2 based on the distance-finding method of laser pulse shape leading edge detection, it is characterized in that: step 4) in, described range correction table is under fixed range reflection spot condition, according to the range error table that different wave width measure distance value out comes out.
6. a kind of distance-finding method based on laser pulse shape leading edge detection as claimed in claim 1, it is characterized in that: in step (1), the sampling rate of described ADC is greater than pulse signal bandwidth more than 7 times, more than sampled data bit wide 7 bit.
7. based on a range measurement system for laser pulse shape leading edge detection, it is characterized in that, described system comprises with lower module:
Sampling module, samples for the reference wave and echo adopting high-speed ADC pulse signals;
Signal conversion module, for converting analog waveform to digital waveform signal;
Distance calculation module, for adopting the mode of digital signal processing to carry out echo time delay calculating, thus calculates distance.
8. a kind of range measurement system based on laser pulse shape leading edge detection as claimed in claim 7, it is characterized in that, described distance calculation module comprises with lower unit:
Forward position detection unit, for the waveform forward position of detection reference ripple and echo, thus reference-calibrating wavefront moment and echo frontier moment;
Range difference computing unit, for primary Calculation reflection spot distance, according to the half of the difference in above-mentioned echo frontier moment and reference wave forward position moment, be multiplied by the light velocity, then deduct the light path of inner light path, what calculate echo reflection point treats corrected range;
Echo width computing unit, under suitable waveform height threshold value, calculates Echo width data, is used for revising above-mentionedly treating corrected range;
Distance correction unit, for according to above-mentioned Echo width data, searches modified value, treats corrected range correction in range correction table, result of calculation is exported, namely obtain the distance value of reflection spot after correction.
9. a kind of range measurement system based on laser pulse shape leading edge detection as claimed in claim 8, it is characterized in that, described forward position detection unit comprises following subelement:
Promoter unit, for start-up simulation window;
Fitting a straight line subelement, for carrying out least squares line fitting to a continuous m sampled point, and calculates slope and the intercept of straight line;
Wave test subelement, slides for pointwise and calculates the straight slope of continuous m sampled point institute matching, if be less than certain threshold value, continues to calculate; If be greater than a threshold value, then think and a waveform detected, if detect for the first time in window, then think reference wave, if the 2nd time detects, think echo;
Forward position sampled point detection sub-unit, under being greater than threshold condition in slope result of calculation, if the slope result of calculation of this group is greater than last group, continuation calculates next group data; If be less than last group, then think that the sampling point set of last group is combined into the forward position sampled point detecting waveform, and the last group of slope calculated and intercept are slope and the intercept of waveform forward position fitting a straight line;
Forward position moment computation subunit, for according to slope and intercept, obtains the straight line in a matching waveform forward position, gets the calibration position of a half value as the timing of waveform forward position of waveform peak, calculates the forward position moment; If first waveform is then the reference wave forward position moment, if second waveform is then the echo frontier moment;
Close subelement, for closing calculation window.
10. a kind of range measurement system based on laser pulse shape leading edge detection as claimed in claim 8 or 9, it is characterized in that, described Echo width computing unit comprises following subelement:
Forward position moment computation subunit, for calculating the moment of echo waveform forward position threshold value At The Height;
Afterwards along moment computation subunit, for calculating the moment along threshold value At The Height after echo waveform;
Waveform widths data computation subunit, obtains waveform widths data for described forward position moment computation subunit and the rear result along moment computation subunit being subtracted each other.
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