CN106154279A - A kind of laser range finder bearing calibration - Google Patents
A kind of laser range finder bearing calibration Download PDFInfo
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- CN106154279A CN106154279A CN201610587015.1A CN201610587015A CN106154279A CN 106154279 A CN106154279 A CN 106154279A CN 201610587015 A CN201610587015 A CN 201610587015A CN 106154279 A CN106154279 A CN 106154279A
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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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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a kind of laser range finder bearing calibration, the method includes: multiple targets are successively set on the predetermined position that distance laser range finder is identical；Wherein, the reflectance that each target is corresponding all differs；Utilize laser range finder to receive the laser signal of each target reflection, and the laser signal of reflection is carried out waveform analysis, obtain the range value after waveform analysis and corresponding measurement distance value；The analyzing and processing being fitted all of measurement distance value and all of range value, obtains the fitting function relation of correspondence；It is corrected measuring distance value according to fitting function relation, obtain correction distance value, said method, by the fitting correction to measurement distance value, reduces the amplitude phase error caused due to the difference of reflectance to greatest extent, thus improves the degree of accuracy of range measurement.
Description
Technical field
The present invention relates to measuring instrument technical field, in particular to a kind of laser range finder bearing calibration.
Background technology
Laser range finder is the instrument utilizing the distance of certain parameters on target modulating laser to carry out Accurate Determining.Pulse
Formula laser range finder is as common a kind of laser range finder, and it is operationally to the arteries and veins that target injection is a branch of or a sequence is of short duration
Laser beam, is received the laser beam of target reflection by photoelectric cell, and timer measures laser beam from being transmitted into time of reception, meter
Calculate from observer's range-to-go.For the ease of carrying out following elaboration, record launch time is T1, and the reception time is T2.
But, due to the reflectance of different target and differ, then the target at the unlike material of specific range produces
Returning light signal strength to fluctuate in particular range, the signal amplitude of corresponding electric pulse changes the most therewith, therefore, and the T2 moment
Judge to will also tend to be interfered, thus cause the distortion of distance measurement value.See Fig. 1, for two reflectance mesh of specific range
For mark, the general estimation method in T2 moment be by a dotted line shown in the cross point of detection threshold value and waveform judge, can
Seeing, to same detection threshold value, the rising of amplitude signal relatively small magnitude signal is fast, and the T2 moment of amplitude signal compares small magnitude
That comes will earlier, then for the different reflectivity target that specific range is arranged, owing to there is amplitude phase error so that corresponding
Distance measurement value and differ.
In order to solve the problems referred to above, providing a kind of zero passage detection method in prior art, the method is first by electric pulse
Signal carries out differential transform, the most again using the cross point of differentiated waveform and zero level as the T2 moment, the essence of this method be with
The peak value of pulse signal is as the T2 moment.
Inventor finds under study for action, zero passage detection method of the prior art, owing to signal amplifies the non-linear of link
Characteristic so that the peak value of pulse signal still can produce change along with the size of signal, the most still there is amplitude phase error, thus causes
Range measurement is the most accurate.
Summary of the invention
In view of this, it is an object of the invention to provide a kind of laser range finder bearing calibration, use fitting technique means,
Reduce amplitude phase error produced by the measured target of different reflectivity, improve the degree of accuracy of range measurement further.
First aspect, embodiments provides a kind of laser range finder bearing calibration, including laser range finder with many
Individual target；Described method includes:
Multiple described targets are successively set on apart from the identical predetermined position of described laser range finder；Wherein, each
The reflectance that target is corresponding all differs；
Utilize described laser range finder to receive the laser signal of each described target reflection, and the laser of described reflection is believed
Number carry out waveform analysis, obtain the range value after waveform analysis and corresponding measurement distance value；
The analyzing and processing being fitted all of described measurement distance value and all of described range value, obtains correspondence
Fitting function relation；
According to described fitting function relation, described measurement distance value is corrected, obtains correction distance value.
In conjunction with first aspect, embodiments provide the first possible embodiment of first aspect, wherein, institute
State the laser signal utilizing described laser range finder to receive the reflection of each described target, and the laser signal of described reflection is carried out
Waveform analysis, obtains the range value after waveform analysis and corresponding measurement distance value, including:
Described laser range finder launches laser signal to described target, and receives the laser signal of described target reflection；
The laser signal of described reflection is carried out waveform analysis, obtains the range value of described laser signal and corresponding reception
Time；
According between the reception time that the launch time that transmitting laser signal is corresponding is corresponding with the laser signal receiving reflection
Time difference, be calculated the measurement distance value that described range value is corresponding.
In conjunction with the first possible embodiment of first aspect, embodiments provide the second of first aspect
Possible embodiment, wherein, the described laser signal to described reflection carries out waveform analysis, obtains the width of described laser signal
Angle value and corresponding reception time, including:
The crossover location of the laser signal according to the described reflection presetting the first detection threshold value and reception, obtains swashing of reflection
The reception time that optical signal is corresponding；
Using described crossover location as reference position, obtain the range value of the laser signal of described reflection.
In conjunction with the first possible embodiment of first aspect, embodiments provide the third of first aspect
Possible embodiment, wherein, the described laser signal to described reflection carries out waveform analysis, obtains the width of described laser signal
Angle value and corresponding reception time, including:
The laser signal of the described reflection received is carried out differential transform process, obtains the laser letter after differential transform processes
Number；
The crossover location of the laser signal after processing with differential transform according to default second detection threshold value, obtains swashing of reflection
The reception time that optical signal is corresponding；
Using described crossover location as reference position, obtain the range value of the laser signal of described reflection.
In conjunction with the first possible embodiment of first aspect, embodiments provide the 4th kind of first aspect
Possible embodiment, wherein, the described laser signal to described reflection carries out waveform analysis, obtains the width of described laser signal
Angle value and corresponding reception time, including:
The laser signal of described reflection is carried out opto-electronic conversion process, obtains the analog electrical signal of correspondence；
Described analog electrical signal is carried out analog-to-digital conversion process, obtains the digital electric signal of correspondence；
Described digital electric signal is carried out waveform analysis, when obtaining the range value of described digital electric signal and corresponding reception
Between.
In conjunction with the 4th kind of possible embodiment of first aspect, embodiments provide the 5th kind of first aspect
Possible embodiment, wherein, described carries out waveform analysis to described digital electric signal, obtains the amplitude of described digital electric signal
Value and corresponding reception time, including:
According to the crossover location of default 3rd detection threshold value with described digital electric signal, obtain described digital electric signal corresponding
The reception time；
Using described crossover location as reference position, obtain the range value of described digital electric signal；
Or,
Described digital electric signal is carried out differential transform process, obtains the digital electric signal after differential transform processes；
The crossover location of the digital electric signal after processing with differential transform according to default second detection threshold value, obtains described number
The reception time that the word signal of telecommunication is corresponding；
Using described crossover location as reference position, obtain the range value of described digital electric signal.
In conjunction with first aspect, embodiments provide the 6th kind of possible embodiment of first aspect, wherein, institute
State the analyzing and processing that all of described measurement distance value and all of described range value are fitted, obtain the matching letter of correspondence
Number relation, including:
According to the actual distance value that described predeterminated position is corresponding, each described measurement distance value is all carried out differential analysis,
To corresponding multiple range finding deviation values；
The analyzing and processing being fitted multiple described range finding deviation values and corresponding multiple described range value, obtains correspondence
Fitting function relation.
In conjunction with the 6th kind of possible embodiment of first aspect, embodiments provide the 7th kind of first aspect
Possible embodiment, wherein, the described multiple described range value to multiple described range finding deviation values and correspondence is fitted
Analyzing and processing, obtains the fitting function relation of correspondence, including:
Multiple described range finding deviation values and corresponding multiple described range value are constituted discrete function point set；Wherein, institute
Stating range finding deviation value is dependent variable, and described range value is independent variable；
According to Polynomial Method, described function point set is fitted analyzing and processing, obtains the fitting function relation of correspondence；
Wherein, described fitting function relation is closest with described function point set.
In conjunction with the 7th kind of possible embodiment of first aspect, embodiments provide the 8th kind of first aspect
Possible embodiment, wherein, also includes:
The partial fitting functional relationship exceeding default slope variation rate is found from described fitting function relation；
The matching relationship between reflectance and the range value of correspondence according to the target prestored, obtains partial fitting functional relationships
Reflectance corresponding to system is interval；
The target corresponding to new reflectance is increased in described reflectance interval.
In conjunction with first aspect, embodiments provide the 9th kind of possible embodiment of first aspect, wherein, institute
Stating laser range finder is pulse type laser diastimeter.
The laser range finder bearing calibration that the embodiment of the present invention provides, including laser range finder and multiple target, with existing
, there is amplitude phase error owing to signal amplifies the nonlinear characteristic of link, cause range measurement in the zero passage detection method in technology
Inaccuracy compare, first multiple targets are successively set on the same predeterminated position of laser range finder by it, i.e. with same
The different reflectivity target of position is as implementation condition, and then each target is all reflected by recycling laser range finder
The waveform analysis of laser signal, obtains the range value after waveform analysis and corresponding measurement distance value, then by above-mentioned all of
Range value and measurement distance value are fitted analyzing, and the fitting function relation utilizing Fitting Analysis to obtain is entered measuring distance value
Row correction, obtain correction distance value, said method by measure distance value fitting correction, reduce to greatest extent due to
The amplitude phase error that the difference of reflectance is caused, thus improve the degree of accuracy of range measurement.
For making the above-mentioned purpose of the present invention, feature and advantage to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below by embodiment required use attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, and it is right to be therefore not construed as
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to this
A little accompanying drawings obtain other relevant accompanying drawings.
Fig. 1 shows the principle schematic of fixed threshold detection method in prior art；
Fig. 2 shows the flow chart of a kind of laser range finder bearing calibration that the embodiment of the present invention provided；
Fig. 3 shows the flow chart of the another kind of laser range finder bearing calibration that the embodiment of the present invention provided；
Fig. 4 shows the flow chart of the another kind of laser range finder bearing calibration that the embodiment of the present invention provided；
Fig. 5 shows the flow chart of the another kind of laser range finder bearing calibration that the embodiment of the present invention provided；
Fig. 6 shows the flow chart of the another kind of laser range finder bearing calibration that the embodiment of the present invention provided；
Fig. 7 shows the flow chart of the another kind of laser range finder bearing calibration that the embodiment of the present invention provided；
Fig. 8 shows the flow chart of the another kind of laser range finder bearing calibration that the embodiment of the present invention provided；
Fig. 9 shows the flow chart of the another kind of laser range finder bearing calibration that the embodiment of the present invention provided；
Figure 10 shows the flow chart of the another kind of laser range finder bearing calibration that the embodiment of the present invention provided；
Figure 11 shows the flow chart of the another kind of laser range finder bearing calibration that the embodiment of the present invention provided.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the embodiment of the present invention
Middle accompanying drawing, is clearly and completely described the technical scheme in the embodiment of the present invention, it is clear that described embodiment is only
It is a part of embodiment of the present invention rather than whole embodiments.Generally real with the present invention illustrated described in accompanying drawing herein
The assembly executing example can be arranged with various different configurations and design.Therefore, below to the present invention's provided in the accompanying drawings
The detailed description of embodiment is not intended to limit the scope of claimed invention, but is merely representative of the selected reality of the present invention
Execute example.Based on embodiments of the invention, the institute that those skilled in the art are obtained on the premise of not making creative work
There are other embodiments, broadly fall into the scope of protection of the invention.
In view of zero passage detection method of the prior art, owing to signal amplifies the nonlinear characteristic of link so that pulse
The peak value of signal still can produce change along with the size of signal, the most still there is amplitude phase error, thus causes range measurement inadequate
Accurately.Based on this, embodiments provide a kind of laser range finder bearing calibration, use fitting technique means, reduce not
With amplitude phase error produced by the measured target of reflectance, improve the degree of accuracy of range measurement further.
The flow chart of the laser range finder bearing calibration that the embodiment of the present invention shown in Figure 2 provides, described method has
Body comprises the steps:
S101, multiple targets are successively set on the distance identical predetermined position of laser range finder；Wherein, each target
Corresponding reflectance all differs；
Concrete, the implementation condition of the laser range finder bearing calibration that the embodiment of the present invention is provided, is by all of target
Mark is arranged on the same predeterminated position of distance laser range finder, and the reflectance of above-mentioned target all differs, now, and only target
Target different reflectivity is as variable quantity.
S102, utilize laser range finder receive each target reflection laser signal, and to reflection laser signal carry out
Waveform analysis, obtains the range value after waveform analysis and corresponding measurement distance value；
Concrete, for the multiple targets arranged at above-mentioned fixed position, often carry out a target and arrange, all utilize
The laser ranging matched is from receiving the laser signal that reflected of this target, and the laser signal of reflection can be carried out waveform and divide
Analysis, is not only calculated measurement distance value, it is also possible to collect the range value of correspondence, and by right with it for the target of different reflectivity
The range value answered carries out the preservation of correspondence.
Wherein, above-mentioned waveform analysis not only includes the waveform analysis mode that fixed threshold detection method is corresponding, including differential
The waveform analysis mode that zero passage detection method is corresponding, also includes the digitized wave forms analysis mode to above two method, with full
The different demands of foot different user, in the embodiment of the present invention, do not do concrete restriction to concrete analysis mode.
S103, the analyzing and processing being fitted all of measurement distance value and all of range value, obtain the plan of correspondence
Close functional relationship；
Concrete, range value that laser range finder is obtained and for measuring distance value, will according to some undetermined coefficients
The discrete function point set that range value is corresponding with measuring distance value is fitted analyzing, so that the fitting function relation obtained is with above-mentioned
The difference of function point set is minimum, i.e. meets method of least square.
S104, according to fitting function relation to measure distance value be corrected, obtain correction distance value.
Concrete, for fitting function relation obtained above, it is in follow-up measurement, substitutes into matching letter by range value
Number relation, to realize the correction measuring distance value, obtains final correction distance value.
The laser range finder bearing calibration that the embodiment of the present invention provides, and zero passage detection method of the prior art, due to
Signal amplifies the nonlinear characteristic of link and there is amplitude phase error, causes the inaccuracy of range measurement to be compared, and it is first by multiple
Target is successively set on the same predeterminated position of laser range finder, i.e. using the different reflectivity target of same position as
Implementation condition, then the recycling laser range finder waveform analysis to the laser signal that each target all reflects, obtains ripple
Range value after conformal analysis and corresponding measurement distance value, be then fitted above-mentioned all of range value and measurement distance value
Analyze, and the fitting function relation utilizing Fitting Analysis to obtain is corrected measuring distance value, obtains correction distance value, above-mentioned
Method, by the fitting correction to measurement distance value, reduces the width caused due to the difference of reflectance to greatest extent and misses mutually
Difference, thus improve the degree of accuracy of range measurement.
In order to preferably obtain the relevant range value of matching and measure distance value, the analysis process of above-mentioned S102, specifically lead to
Crossing following steps to realize, see the flow chart described in Fig. 3, described method also includes:
S201, laser range finder launch laser signal to target, and receive the laser signal of target reflection；
Concrete, after the distance that each target is fixed position is arranged, the Laser Measuring in the embodiment of the present invention
Distance meter utilizes the pulse laser generator self included to launch laser signal to target, and this target receives this laser signal, goes forward side by side
Row signal returns, and laser range finder then can receive system according to it and receive the laser signal of target reflection.
Wherein, the laser range finder in the embodiment of the present invention preferably uses pulse type laser diastimeter.
S202, laser signal to reflection carry out waveform analysis, when obtaining the range value of laser signal and corresponding reception
Between；
Concrete, for laser range finder is found range, after determining the reception time of laser signal of reflection, utilize
This reception time just can be calculated the measurement distance value of correspondence, it is seen then that the determination receiving the time is key point.For
For the laser range finder bearing calibration that the embodiment of the present invention is provided, fixed threshold detection method and differential zero passage can be passed through
Detection method determines the reception time of correspondence.Same, the laser signal of the reflection for receiving, different detection side can be obtained
Range value corresponding to method.
S203, according to launching reception time corresponding with receiving the laser signal reflected launch time corresponding to laser signal
Between time difference, be calculated the measurement distance value that range value is corresponding.
Concrete, when pulse type laser diastimeter works, trigger pulse laser generator and produce laser signal.This laser
Signal has sub-fraction energy to be directly sent to reception system by reference signal sampler, as the starting point of timing.Major part light
Pulse energy directive target, target reflection the optical pulse energy returning diastimeter is received system reception, here it is echo-signal
(laser signal of reflection).Reference signal and echo-signal are successively converted into electric pulse by photodetector, and are amplified
And shaping.Reference signal after shaping can make trigger overturn, and control counter starts the clock arteries and veins sending lattice agitator
Rush in row counting.
Wherein, according to the time difference between the launch time that the time that receives of echo-signal is corresponding with launching laser signal,
In conjunction with the light velocity, it is calculated the measurement distance value that each target is corresponding.This measurement distance value and its range value one_to_one corresponding.
The laser range finder bearing calibration provided in view of the embodiment of the present invention is possible not only to fixed threshold detection side
The amplitude phase error produced in method, it is also possible to the circuit non-linearity amplitude phase error in differential zero passage detection method is pressed down further
System, i.e. method in the present embodiment are applicable to width produced by fixed threshold detection method and differential zero passage detection method and miss mutually
Difference, wherein, above-mentioned fixed threshold detection method is different with the wave analyzing device of differential zero passage detection method, then laser range finder
The reception time of the laser signal receiving reflection also differs.For fitting data source for the generation of above two method,
Seeing Fig. 4, the detailed process of the waveform analysis of the S202 in the laser range finder bearing calibration that the embodiment of the present invention is provided can
To be achieved by the steps of:
S301, basis preset the crossover location of the first detection threshold value and the laser signal of the reflection of reception, obtain reflection
The reception time that laser signal is corresponding；
S302, using crossover location as reference position, obtain the range value of laser signal of reflection.
Concrete, for fixed threshold detects, take default first detection threshold value and photodetector swashing reflection
It is the reception time that optical signal carries out the waveform ascent stage crossover location of the analog electrical signal after opto-electronic conversion, then with this crossover location
On the basis of position, determined the range value of the laser signal of reflection by waveform peak.
It addition, see Fig. 5, the waveform analysis of above-mentioned S202 can also implement as follows:
S401, the laser signal of reflection received is carried out differential transform process, obtain the laser after differential transform processes
Signal；
S402, basis preset the crossover location of the laser signal after the second detection threshold value processes with differential transform, obtain anti-
The reception time that the laser signal penetrated is corresponding；
S403, using crossover location as reference position, obtain the range value of laser signal of reflection.
Concrete, for differential zero passage detection, take the differentiated waveform after analog electrical signal differential change process with pre-
If the crossover location of the second detection threshold value (i.e. zero level) is the reception time, then position on the basis of this crossover location, pass through ripple
Shape peak value determines the range value of the laser signal of reflection.Its kind, this waveform peak include the positive peak of differentiated waveform, negative peak,
Original pulse peak value or a combination thereof data.
For the analyzing and processing that the laser signal of reflection is digitized, the laser ranging that the embodiment of the present invention is provided
Instrument bearing calibration can also realize above-mentioned distance measurement function by digital means, it is possible to range value and the measurement distance value that will extract
Corresponding preservation.So, the waveform analysis process of above-mentioned S202, realize especially by following steps, flow process shown in Figure 6
Figure, described method also includes:
S501, to reflection laser signal carry out opto-electronic conversion process, obtain correspondence analog electrical signal；
S502, analog electrical signal is carried out analog-to-digital conversion process, obtain the digital electric signal of correspondence；
Concrete, for the analogue signal corresponding with differential zero passage detection for fixed threshold detection is analyzed, its correspondence
Range value further to be changed, and therefore, the laser range finder bearing calibration that the embodiment of the present invention is provided can also be straight
Connect the laser signal to Primitive reflex to be digitized processing, obtain the digital electric signal of correspondence.
S503, digital electric signal is carried out waveform analysis, obtain the range value of digital electric signal and corresponding reception time.
Waveform analysis is carried out in view of for the waveform analysis process of digital electric signal and the laser signal of above-mentioned reflection
Journey is similar to, then for corresponding to fixed threshold detection method, and the analysis process of the digital electric signal that above-mentioned S503 is corresponding, see figure
7, specifically can be achieved by the steps of:
S601, basis preset the crossover location of the 3rd detection threshold value and digital electric signal, obtain digital electric signal corresponding
The reception time；
S602, using crossover location as reference position, obtain the range value of digital electric signal；
Concrete, for digitized fixed threshold detects, take default 3rd detection threshold value and digital electric signal
Waveform ascent stage crossover location is the reception time, then position on the basis of this crossover location, determines reflection by waveform peak
The range value of the digital electric signal that laser signal is corresponding.
It addition, corresponding to differential zero passage detection method, the analysis process of the digital electric signal that above-mentioned S503 is corresponding, see figure
8, specifically can be achieved by the steps of:
S701, digital electric signal is carried out differential transform process, obtain the digital electric signal after differential transform processes；
S702, basis preset the crossover location of the digital electric signal after the second detection threshold value processes with differential transform, obtain
The reception time that digital electric signal is corresponding；
S703, using crossover location as reference position, obtain the range value of digital electric signal.
Concrete, for digitized differential zero passage detection, take the differentiated waveform after differential change process and preset
The crossover location of the second detection threshold value (i.e. zero level) is the reception time, then position on the basis of this crossover location, passes through waveform
Peak value determines the range value of the digital electric signal that the laser signal of reflection is corresponding.Its kind, this waveform peak includes differentiated waveform
Positive peak, negative peak, original pulse peak value or a combination thereof data.
In order to preferably be fitted measurement distance value obtained above and range value analyzing, the matching of above-mentioned S103 divides
Analysis process, sees Fig. 9, realizes especially by following steps:
S801, according to the actual distance value that predeterminated position is corresponding, each measurement distance value is all carried out differential analysis, obtain
Corresponding multiple range finding deviation values；
The analyzing and processing that S802, multiple range values to multiple range finding deviation values and correspondence are fitted, obtains correspondence
Fitting function relation.
Concrete, the laser range finder bearing calibration that the embodiment of the present invention is provided is right for the target institute of different reflectivity
The measurement distance value answered, first carries out difference according to the actual distance value corresponding to predeterminated position to above-mentioned measurement distance value and divides
Analysis, obtains corresponding and each target multiple range finding deviation values, then further according to multiple range finding deviation values and corresponding multiple width
Angle value, sets up corresponding fitting function relation, finally according to this fitting function relation arbitrary measurement distance to laser range finder
Value is corrected.
Wherein, the fit procedure of above-mentioned S802, realize especially by following steps, flow chart shown in Figure 10, institute
Method of stating also includes:
S8021, multiple range values of multiple range finding deviation values and correspondence are constituted discrete function point set；Wherein, range finding
Deviation value is dependent variable, and range value is independent variable；
S8022, according to Polynomial Method, function point set being fitted analyzing and processing, the fitting function obtaining correspondence closes
System；Wherein, fitting function relation function point set is closest.
Concrete, the principle of above-mentioned matching refer to certain function known some discrete function values f1, f2 ..., fn}, pass through
Adjust some undetermined coefficients f in this function (λ 1, λ 2 ..., λ n) so that the difference of this function and known point set (anticipate by least square
Justice) minimum.In embodiments of the present invention, corresponding function point is constituted according to multiple range finding deviation values and corresponding multiple range values
Collection, and with range finding deviation value as dependent variable, range value is independent variable.Then function point set is intended by recycling Polynomial Method
Close analyzing and processing, obtain the fitting function relation of correspondence；Wherein, fitting function relation function point set is closest, the most above-mentioned plan
The difference closing functional relationship function point set is minimum.
Above-mentioned fitting function relation can also be carried out carefully by the laser range finder bearing calibration that the embodiment of the present invention is provided
Change, to improve the sampling number of fitting function relation, improve the degree of accuracy of subsequent correction further, see Figure 11, described method
Also include:
S901, from fitting function relation, find the partial fitting functional relationship exceeding default slope variation rate；
Matching relationship between reflectance and the range value of correspondence of the target that S902, basis prestore, obtains partial fitting
Reflectance corresponding to functional relationship is interval；
S903, in reflectance interval, increase the target corresponding to new reflectance.
Concrete, for the fitting function relation that range finding deviation value and the matching of range value institute obtain, first look for surpassing
Cross the partial fitting functional relationship presetting slope variation rate (i.e. slope of curve rate of change is abundanter), then according to the basis prestored
Matching relationship between reflectance and the range value of correspondence of the target prestored, obtain corresponding to partial fitting functional relationship is anti-
Rate of penetrating is interval, at the interval suitable refinement reflectance of corresponding reflectance, increases corresponding target, is then entered by the target of increase
Arranging and the waveform analysis of corresponding reflected laser signals of row predeterminated position, by the range value after waveform analysis and measure away from
Distance values refinement function point set, improves the degree of accuracy of follow-up fitting function relation correction further.
The laser range finder bearing calibration that the embodiment of the present invention provides, and zero passage detection method of the prior art, due to
Signal amplifies the nonlinear characteristic of link and there is amplitude phase error, causes the inaccuracy of range measurement to be compared, and it is first by multiple
Target is successively set on the same predeterminated position of laser range finder, i.e. using the different reflectivity target of same position as
Implementation condition, then the recycling laser range finder waveform analysis to the laser signal that each target all reflects, obtains ripple
Range value after conformal analysis and corresponding measurement distance value, be then fitted above-mentioned all of range value and measurement distance value
Analyze, and the fitting function relation utilizing Fitting Analysis to obtain is corrected measuring distance value, obtains correction distance value, above-mentioned
Method, by the fitting correction to measurement distance value, reduces the width caused due to the difference of reflectance to greatest extent and misses mutually
Difference, thus improve the degree of accuracy of range measurement.
The computer program carrying out laser range finder bearing calibration that the embodiment of the present invention is provided, including storing
The computer-readable recording medium of program code, the instruction that described program code includes can be used for performing in previous methods embodiment
Described method, implements and can be found in embodiment of the method, does not repeats them here.
In embodiment provided by the present invention, it should be understood that disclosed apparatus and method, can be by other side
Formula realizes.Device embodiment described above is only that schematically such as, the division of described unit, the most only one are patrolled
Volume function divides, and actual can have other dividing mode when realizing, the most such as, multiple unit or assembly can in conjunction with or can
To be integrated into another system, or some features can be ignored, or does not performs.Another point, shown or discussed each other
Coupling direct-coupling or communication connection can be the INDIRECT COUPLING by some communication interfaces, device or unit or communication link
Connect, can be electrical, machinery or other form.
The described unit illustrated as separating component can be or may not be physically separate, shows as unit
The parts shown can be or may not be physical location, i.e. may be located at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected according to the actual needs to realize the mesh of the present embodiment scheme
's.
It addition, each functional unit in the embodiment that the present invention provides can be integrated in a processing unit, it is possible to
Being that unit is individually physically present, it is also possible to two or more unit are integrated in a unit.
If described function is using the form realization of SFU software functional unit and as independent production marketing or use, permissible
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is the most in other words
The part contributing prior art or the part of this technical scheme can embody with the form of software product, this meter
Calculation machine software product is stored in a storage medium, including some instructions with so that a computer equipment (can be individual
People's computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the present invention.
And aforesaid storage medium includes: USB flash disk, portable hard drive, read only memory (ROM, Read-Only Memory), random access memory are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic disc or CD.
It should also be noted that similar label and letter represent similar terms, therefore, the most a certain Xiang Yi in following accompanying drawing
Individual accompanying drawing is defined, then need not it be defined further and explains in accompanying drawing subsequently, additionally, term " the
One ", " second ", " the 3rd " etc. are only used for distinguishing and describe, and it is not intended that instruction or hint relative importance.
It is last it is noted that the detailed description of the invention of embodiment described above, the only present invention, in order to the present invention to be described
Technical scheme, be not intended to limit, protection scope of the present invention is not limited thereto, although with reference to previous embodiment to this
Bright it is described in detail, it will be understood by those within the art that: any those familiar with the art
In the technical scope that the invention discloses, the technical scheme described in previous embodiment still can be modified or can be light by it
It is readily conceivable that change, or wherein portion of techniques feature is carried out equivalent；And these are revised, change or replace, do not make
The essence of appropriate technical solution departs from the spirit and scope of embodiment of the present invention technical scheme.All should contain the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention should described be as the criterion with scope of the claims.
Claims (10)
1. a laser range finder bearing calibration, it is characterised in that include laser range finder and multiple target；Described method bag
Include:
Multiple described targets are successively set on apart from the identical predetermined position of described laser range finder；Wherein, each target
Corresponding reflectance all differs；
Utilize described laser range finder to receive the laser signal of each described target reflection, and the laser signal of described reflection is entered
Row waveform analysis, obtains the range value after waveform analysis and corresponding measurement distance value；
The analyzing and processing being fitted all of described measurement distance value and all of described range value, obtains the matching of correspondence
Functional relationship；
According to described fitting function relation, described measurement distance value is corrected, obtains correction distance value.
Laser range finder bearing calibration the most according to claim 1, it is characterised in that described utilize described laser range finder
Receive the laser signal of each described target reflection, and the laser signal of described reflection is carried out waveform analysis, obtain waveform and divide
Range value after analysis and corresponding measurement distance value, including:
Described laser range finder launches laser signal to described target, and receives the laser signal of described target reflection；
The laser signal of described reflection is carried out waveform analysis, when obtaining the range value of described laser signal and corresponding reception
Between；
According to launch between reception time corresponding with the laser signal receiving reflection launch time corresponding to laser signal time
Between poor, be calculated the measurement distance value that described range value is corresponding.
Laser range finder bearing calibration the most according to claim 2, it is characterised in that the described laser to described reflection is believed
Number carry out waveform analysis, obtain the range value of described laser signal and corresponding reception time, including:
The crossover location of the laser signal according to the described reflection presetting the first detection threshold value and reception, obtains the laser letter of reflection
Number corresponding reception time；
Using described crossover location as reference position, obtain the range value of the laser signal of described reflection.
Laser range finder bearing calibration the most according to claim 2, it is characterised in that the described laser to described reflection is believed
Number carry out waveform analysis, obtain the range value of described laser signal and corresponding reception time, including:
The laser signal of the described reflection received is carried out differential transform process, obtains the laser signal after differential transform processes；
The crossover location of the laser signal after processing with differential transform according to default second detection threshold value, obtains the laser letter of reflection
Number corresponding reception time；
Using described crossover location as reference position, obtain the range value of the laser signal of described reflection.
Laser range finder bearing calibration the most according to claim 2, it is characterised in that the described laser to described reflection is believed
Number carry out waveform analysis, obtain the range value of described laser signal and corresponding reception time, including:
The laser signal of described reflection is carried out opto-electronic conversion process, obtains the analog electrical signal of correspondence；
Described analog electrical signal is carried out analog-to-digital conversion process, obtains the digital electric signal of correspondence；
Described digital electric signal is carried out waveform analysis, obtains the range value of described digital electric signal and corresponding reception time.
Laser range finder bearing calibration the most according to claim 5, it is characterised in that described described digital electric signal is entered
Row waveform analysis, obtains the range value of described digital electric signal and corresponding reception time, including:
According to default 3rd detection threshold value and the crossover location of described digital electric signal, obtain corresponding the connecing of described digital electric signal
Between the time receiving；
Using described crossover location as reference position, obtain the range value of described digital electric signal；
Or,
Described digital electric signal is carried out differential transform process, obtains the digital electric signal after differential transform processes；
The crossover location of the digital electric signal after processing with differential transform according to default second detection threshold value, obtains described numeral electricity
The reception time that signal is corresponding；
Using described crossover location as reference position, obtain the range value of described digital electric signal.
Laser range finder bearing calibration the most according to claim 1, it is characterised in that described to all of described measurement away from
The analyzing and processing that distance values and all of described range value are fitted, obtains the fitting function relation of correspondence, including:
According to the actual distance value that described predeterminated position is corresponding, each described measurement distance value all being carried out differential analysis, it is right to obtain
The multiple range finding deviation values answered；
The analyzing and processing being fitted multiple described range finding deviation values and corresponding multiple described range value, obtains the plan of correspondence
Close functional relationship.
Laser range finder bearing calibration the most according to claim 7, it is characterised in that described to multiple described range finding deviations
The analyzing and processing that value and corresponding multiple described range value are fitted, obtains the fitting function relation of correspondence, including:
Multiple described range finding deviation values and corresponding multiple described range value are constituted discrete function point set；Wherein, described survey
Being dependent variable away from deviation value, described range value is independent variable；
According to Polynomial Method, described function point set is fitted analyzing and processing, obtains the fitting function relation of correspondence；Wherein,
Described fitting function relation is closest with described function point set.
Laser range finder bearing calibration the most according to claim 8, it is characterised in that also include:
The partial fitting functional relationship exceeding default slope variation rate is found from described fitting function relation；
The matching relationship between reflectance and the range value of correspondence according to the target prestored, obtains partial fitting functional relationship institute
Corresponding reflectance is interval；
The target corresponding to new reflectance is increased in described reflectance interval.
Laser range finder bearing calibration the most according to claim 1, it is characterised in that described laser range finder is pulse
Formula laser range finder.
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| CN108226907A (en) * | 2017-12-11 | 2018-06-29 | 武汉万集信息技术有限公司 | For the ranging calibration method and device of Laser Distance Measuring Equipment |
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