CN106707291A - Laser radar system - Google Patents
Laser radar system Download PDFInfo
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- CN106707291A CN106707291A CN201611130242.8A CN201611130242A CN106707291A CN 106707291 A CN106707291 A CN 106707291A CN 201611130242 A CN201611130242 A CN 201611130242A CN 106707291 A CN106707291 A CN 106707291A
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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
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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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
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S17/34—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The embodiment of the invention discloses a laser radar system. The laser radar system comprises a light source module, a modulation light module, a transmitting-receiving module, a detection module and a signal processing module, wherein double-wavelength laser beams are subjected to linear modulation through a modulation light module and are converted into double-frequency linear frequency modulation continuous wave laser beams; one laser beam is used as a local oscillation light beam and the other laser beam is used as signal light which has mutual effect with a detection target; the signal light scatters an echo signal through the detection target; the local oscillation light beam and the echo signal are subjected to coherent beat frequency, so as to obtain double-wavelength Doppler frequency shift difference value information. The laser radar system disclosed by the invention adopts double-wavelength linear frequency modulation laser so that influences, caused by non-linear linear frequency modulation and an atmospheric turbulence effect, on a speed measuring resolution ratio are extremely reduced; distance measurement and speed measurement are carried out on the detection target at the same time; the laser radar system has the advantages of high detection precision, electromagnetic interference resistance, no distance dead zones and the like.
Description
Technical field
The present invention relates to field of radar, more particularly to a kind of laser radar system.
Background technology
With the development of optical technology, laser radar is due to its good directionality, temporal resolution and spatial resolution is high, essence
Degree height, the advantage such as non-cpntact measurement, quickly grow in the field such as navigation, space flight, meteorological element measurement and atmosphere environment supervision, answer
With extensive.
Laser radar is to launch the radar system of the characteristic quantities such as the position of detecting laser beam target, speed, mainly by swashing
Optical sender, optical receiver and information processing system etc. are constituted.By to objective emission detectable signal (laser beam), then will
After the signal (target echo) reflected from target for receiving carries out respective handling with transmission signal, so that it may obtain target
For information about, such as target range, orientation, height, speed, even attitude, shape parameter, so as to realize to aircraft, guided missile etc.
Target is detected, tracked and recognized.
Double frequency coherent laser radar is that a kind of difference inverting by the beat frequency detection dual wavelength Doppler frequency shift that is concerned with is tested
The radar system of target velocity, need to extract information and be changed into Doppler frequency shift difference from Doppler frequency shift, it is suppressed that be made an uproar by speckle
The Doppler frequency shift broadening of spectral lines that sound is caused, greatly reduces the shadow of speckle noise that atmospheric turbulance causes to the resolution ratio that tests the speed
Ring, and signal transacting link is changed into the circuit part of technology maturation from light path part.It is capable of achieving closely or remote smart
Really test the speed, in long-range or portable detection, there is very big application potential in the field such as atmospheric remote sensing.But double frequency coherent laser radar is difficult
To realize ranging and range rate simultaneously.On the other hand, range resolution is high after conventional laser radar application linear frequency modulation technology, near
There is an important application in precision detection, three-dimensional distance imaging and space capsule discretionary security soft landing, but nonlinear frequency modulation and big
Gas turbulence effect has had a strong impact on the actual resolution of ranging of its system and the resolution ratio that tests the speed.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of laser radar system, can simultaneously realize finding range measured target and survey
Fast and greatly influence of the reduction nonlinear frequency sweeping and atmospheric turbulence effect to the resolution ratio that tests the speed, range resolution and speed are differentiated
Power is high, electromagnetism interference and without blind range zone.
In order to solve the above technical problems, the embodiment of the present invention provides following technical scheme：
A kind of laser radar system is the embodiment of the invention provides, including：
Light source module, modulation optical module, transmitting and receiving module, detecting module and signal processing module；
Wherein, the light source module is used for the dual-wavelength laser light beam of outgoing preset wavelength；
The modulation optical module is used to carry out linear modulation to the dual-wavelength laser light beam, with outgoing double frequency linear frequency modulation
Continuous wave laser light beam；
The transmitting and receiving module is used to for the double frequency linear frequency modulation continuous wave laser beam to be divided into first laser light beam
And second laser light beam, the first laser light beam is incident to detection target, and the second laser light beam is used as local oscillator light light
Beam；And receive the detection target backscattering echo signal；
The detecting module is used to carry out optical beat to the local oscillator light light beam and the echo-signal, how general to obtain
Frequency shift information is strangled, while converting optical signals into electric signal；
The signal processing module is used to carry out microwave beat frequency to the electric signal, to obtain Doppler frequency shift difference letter
Breath.
Alternatively, the modulation optical module includes：
Modulator and signal generator；
Wherein, the modulator is used to carry out linear frequency modulation to the dual-wavelength laser light beam；The signal generator with
The modulator is connected, for providing modulated signal for the modulator.
Alternatively, the modulation optical module also includes：
Wave filter, the wave filter is connected with the modulator, in the double frequency LINEAR CONTINUOUS ripple laser beam
Ambient noise filtered.
Alternatively, the modulation optical module also includes：
Laser amplifier, the laser amplifier is connected with the wave filter, for by the double frequency LINEAR CONTINUOUS after filtering
The energy of ripple laser beam is amplified.
Alternatively, the transmitting and receiving module includes：
First beam splitter, the second beam splitter, optical transmitting and receiving device and circulator；
Wherein, first beam splitter is connected with the laser amplifier, for by the double frequency LINEAR CONTINUOUS ripple laser
Light beam is divided into the first laser light beam and the second laser light beam；
The circulator respectively with the optical transmitting and receiving device, first beam splitter and the second beam splitter phase
Even, for the first laser light beam to be incident into the optical transmitting and receiving device, the second laser light beam is incident to described
Second beam splitter；And the echo-signal is incided into second beam splitter；
The optical transmitting and receiving device is used to for the first laser light beam to be incident to the detection target, and receives and institute
State detection objectives interation after scatter echo-signal and be incident to the circulator；
Second beam splitter is used to for the echo-signal to be incident to the detecting module with the second laser light beam.
Alternatively, the detecting module includes：
Balanced detector, the balanced detector is connected with second beam splitter, for the second laser light beam
Optical beat is carried out with the echo-signal, to obtain dual frequency doppler frequency shift signal.
Alternatively, the signal processing module includes：
Capture card and data processing equipment；
The capture card is connected with the balanced detector, for gathering signal；
The data processing equipment is connected with the capture card, for carrying out microwave beat frequency to the electric signal, to obtain
Dual frequency doppler frequency displacement difference signal, with the distance and velocity information of this inverting target.
Alternatively, the transmitting and receiving module also includes：
Attenuator, is connected with first beam splitter with second beam splitter respectively, for the second laser light
Shu Jinhang decays, through the light beam after decay as the local oscillator light light beam.
Alternatively, the data processing equipment includes：
DSP data processing units and computer.
The embodiment of the invention provides a kind of laser radar system, including light source module, modulation optical module, transmitting reception mould
Block, detecting module and signal processing module；Linear modulation conversion is carried out by the modulated optical module of dual-wavelength laser light beam
It is double frequency linear frequency modulation continuous wave laser beam；By wherein light beam as local oscillator light light beam, another light beam is used for and detection mesh
Mark interacts and through detecting target scattering echo-signal；By local oscillator light light beam and echo-signal carried out relevant beat frequency with
Obtain dual wavelength Doppler frequency shift difference information.
Technical scheme uses dual wavelength chirped laser, and system architecture compares existing skill with signal processing
Art is relatively simple；Because atmospheric turbulance is identical on two frequency-modulated beam influences, therefore reduce because of detection target out-of-flatness and air
The influence of the speckle noise that turbulence effect causes；Due to using LINEAR CONTINUOUS ripple as coherent beam, therefore its range resolution it is high,
Apart from non-blind area；Additionally, can realize to detection target while carrying out ranging and range rate.Further carried out on the basis of optical beat
Microwave beat frequency to obtain Doppler frequency shift difference information, due to any while acting on two different linear FM signals of frequency
Phase on error term, all without the phase of the difference frequency signal obtained by influence microwave beat frequency, therefore solve that frequency sweep is non-linear to ask
Topic；Due to the frequency of difference frequency signal will be low compared to the frequency of the intermediate-freuqncy signal commonly used in daily life it is many, therefore to a certain extent
Can electromagnetism interference.
Brief description of the drawings
For the clearer explanation embodiment of the present invention or the technical scheme of prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for technology description is briefly described, it should be apparent that, drawings in the following description are only this hair
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is laser radar system provided in an embodiment of the present invention in a kind of structured flowchart of specific embodiment；
Fig. 2 is the system structure diagram of an exemplary application scene provided in an embodiment of the present invention；
Fig. 3 is the operation principle schematic diagram of laser radar system in Fig. 2.
Specific embodiment
In order that those skilled in the art more fully understand the present invention program, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiment is only a part of embodiment of the invention, rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belongs to the scope of protection of the invention.
Term " first ", " second ", " the 3rd " " in the description and claims of this application and above-mentioned accompanying drawing
Four " it is etc. for distinguishing different objects, rather than for describing specific order.In addition term " comprising " and " having " and
Their any deformations, it is intended that covering is non-exclusive to be included.For example contain the process of series of steps or unit, method,
System, product or equipment are not limited to the step of having listed or unit, but may include the step of not listing or unit.
Fig. 1 is referred to, Fig. 1 is the laser radar system structure under a kind of specific embodiment provided in an embodiment of the present invention
Block diagram.
Laser radar system may include light source module 1, modulation optical module 2, the detecting module 4 of transmitting and receiving module 3 and letter
Number processing module 5.
Light source module 1 is used for the dual-wavelength laser light beam of outgoing preset wavelength, and the centre frequency of two beam laser beams is different,
The value of wavelength can be selected according to the demand of user or experimenter, and the present invention does not do any restriction to this.Light source module can
It is a double-frequency laser source, or two lasing light emitters launch the laser of two beam different wave lengths.
In a kind of specific embodiment, lasing light emitter can partly lead for two-frequency laser, mode-locked laser or injection seeded
Body laser.
Modulation optical module 2 is used to carry out linear modulation to dual-wavelength laser, with outgoing double frequency LINEAR CONTINUOUS ripple laser beam.
Can use frequency modulation(PFM), or phase-modulation, when it is carried out be frequency modulation(PFM) when, outgoing to be outgoing double frequency linear
CW with frequency modulation laser beam.Due to by carrying out frequency modulation(PFM) to two different light beams of centre frequency in time, for
Subsequent operation treatment comparison phase-modulation is relatively simple, therefore preferably, may be selected to carry out linear modulation to the frequency of two-beam.By
In LINEAR CONTINUOUS ripple for detecting target, with the advantage such as detection non-blind area, range resolution be high, therefore selection double frequency is linear
Continuous wave laser light beam is detected as coherent beam to detection target.
Specifically, modulation optical module 2 may include modulator 21 and signal generator 22.Modulator 21 and laser phase
Even, for carrying out linear modulation to dual-wavelength laser, EOM modulators have good characteristic, therefore optional EOM modulators to dual wavelength
Laser carries out linear modulation, certainly, or other any types modulator.Signal generator 22 and modulator 21
It is connected for for modulator 21 provides modulated signal, signal generator 22 can be that triangular signal generator or sawtooth signal are sent out
Raw device, certainly, also may be selected the generator of other signals, such as square wave signal generator.
Optionally, in some implementation methods of the present embodiment, modulation optical module 2 can also for example include：
Wave filter 23, wave filter 23 is connected with modulator 21, for the background in double frequency LINEAR CONTINUOUS ripple laser beam
Noise is filtered.Due to laser launch laser beam when unavoidably can mixed with non-default wavelength laser beam veiling glare,
In Laser beam propagation process or when being modulated, system be also inevitably mixed with other unrelated with useful signal one
Interference is cut, therefore needs are filtered, and to obtain more pure coherent beam, are conducive to improving detection accuracy.
Wave filter 23 can select high-pass filter, low pass filter, digital filter or grating, specifically using which species
Type, person skilled can be selected according to the actual requirements, and the present invention does not simultaneously do any restriction to this.
In other implementation methods of the present embodiment, may also include：
Laser amplifier 24, laser amplifier can be connected with wave filter 23, for by the double frequency LINEAR CONTINUOUS ripple after filtering
The energy of laser beam is amplified.Because some occasion laser beams are limited (such as by nonlinear effect such as excited Brillouin
Scattering) influence, the power (energy) of laser beam is smaller (relatively low), unfavorable to subsequent operation, it is more likely that can influence detection
Precision, therefore need increase laser amplifier to be amplified the power of coherent beam.Be conducive to improving the time point of laser radar
Resolution, spatial resolution and detection range, are also beneficial to improve detection accuracy.
If it should be noted that not having wave filter 23 in system, laser amplifier 24 directly can be connected with modulator 21.
Transmitting and receiving module 3 is used to for double frequency LINEAR CONTINUOUS ripple laser beam to be divided into first laser light beam and second laser
Light beam, first laser light beam is incident to detection target, and second laser light beam is used as local oscillator light light beam；Receive detection target outgoing
Echo-signal.
Specifically, transmitting and receiving module 3 may include the first beam splitter 31, circulator 32, optical transmitting and receiving device 33 and
Two beam splitters 34.
First beam splitter 31 can be connected with laser amplifier 24, for double frequency LINEAR CONTINUOUS ripple laser beam to be divided into two
Beam, i.e. first laser light beam and second laser light beam.
Beam splitter is separated two beam laser, it is each transmitted according to default light path.Beam splitter is by double wave
The first laser light beam of laser beam splitter long is used to be interacted with detection target as flashlight light beam, and produces echo to believe
Number, second laser light beam is relevant for occurring with echo-signal as local oscillator light light beam, to obtain Doppler shift information.
Beam splitter can be beam splitter, fiber optic splitter, polarization beam apparatus etc., specifically using which type, related skill
Art personnel can select according to the actual requirements, and the present invention does not simultaneously do any restriction to this.
Circulator 32 is connected with optical transmitting and receiving device 33, the first beam splitter 31 and the second beam splitter 34 respectively, for inciting somebody to action
First laser light beam is incident on optical transmitting and receiving device 33, and second laser light beam is incident on the second beam splitter 34；And will visit
The echo-signal for surveying target scattering is incided on the second beam splitter 34.
Circulator 32 is mainly used in changing multiple signals, other devices can be also used certainly, as long as can play
The effect of circulator, the present invention does not do any restriction to this.
Optical transmitting and receiving device 33 is used to for first laser light beam to be incident to detection target, and receives mutual with detection target
The echo-signal of outgoing and it is incident on circulator 32 after effect.
Optical transmitting and receiving device 33 collection transmitting be received in one, can using kc705 optical transceivers, sfp optical transceivers,
Graph image optical transceiver, communication protocol optical transceiver, fmc subcards optical transceiver or dsp optical transceivers etc., tool
Body uses which type, person skilled can be selected according to the actual requirements, and the present invention does any restriction not to this.
Second beam splitter 34 is used to for echo-signal and second laser light beam to be incident to detecting module.
If it should be noted that not having laser amplifier 24 in system, the first optical splitter 31 can be connected with wave filter 23；
If not having wave filter 23 in system, the first optical splitter 31 directly can be connected with modulator 21.
Optionally, in some implementation methods of the present embodiment, for example, can also include：
Attenuator 35, is connected, for second laser light beam with the first beam splitter 31 with second beam splitter 34 respectively
Decayed, through the light beam after decay as the local oscillator light light beam.Attenuator 35 is used for by simulating light beam in an atmosphere
Attenuation process decays to second laser light beam (local oscillator light light beam).By the attenuation processing to local oscillator light light beam so that this
The light light beam that shakes is similar with the decay that the transmitting procedure of echo-signal experiences, and is conducive to the relevant of two-beam, is conducive to obtaining more
Plus accurate Doppler shift information, so as to be conducive to improving detection accuracy.
In a preferred embodiment, attenuator 35 may be selected serial adjustable pad.Certainly, other can also be used
The attenuator of type, specifically using which type, person skilled can be selected according to the actual requirements, and the present invention is not right
This does any restriction.
It should be noted that in the case of no attenuator, second laser light beam will be transmitted into through the first beam splitter 31
Second beam splitter 34；But when there is attenuator, second laser light beam will be transmitted into attenuator 35 through the first beam splitter 31, pass through
Attenuator 35 is launched to the second beam splitter 34 after being decayed.
Detecting module 4 is used to carry out local oscillator light light beam and echo-signal optical beat acquisition Doppler shift information, together
When convert optical signals into electric signal.May include balanced detector 41.
Balanced detector 41 is connected with the second beam splitter 34, for carrying out optics bat to second laser light beam and echo-signal
Frequently, obtaining dual frequency doppler frequency shift signal.Echo-signal and second laser light beam are incident to balance and visited by the second beam splitter 34
Device 41 is surveyed, echo-signal and second laser light beam, can be by the way of optical beats after the photosurface uppermixing of the detector
Respectively obtain the dual frequency doppler frequency shift value of two-beam.Certainly, other detectors, such as photodetector can also be used.
Signal processing module 5 is used to carry out electric signal microwave beat frequency acquisition Doppler frequency shift difference information, including modulus
Conversion, data acquisition and data processing.
Signal processing module 5 may include：
Capture card 51 and data processing equipment 52.
Capture card 51 is connected with balanced detector 41, for being acquired to dual frequency doppler frequency shift signal.It is excellent in one kind
In the implementation method of choosing, capture card 51 may be selected A/D capture cards, certainly, can also use other kinds of capture card, specific to use
Which type, person skilled can be selected according to the actual requirements, and the present invention simultaneously does any restriction to this.
Data processing equipment 52 is connected with capture card 51, how general to obtain double frequency for carrying out microwave beat frequency to electric signal
Frequency displacement difference signal is strangled, with the distance and velocity information of this inverting target.
Data processing equipment may include：
DSP data processing units 521 and computer 522.
DSP data processing units 521, microwave bat is carried out for the electric signal to second laser light beam and echo-signal conversion
Frequently, obtaining Doppler frequency shift difference signal.Due to any while acting on two phases of the different linear FM signal of frequency
Error term on position, all without the phase of the difference frequency signal obtained by influence microwave beat frequency, therefore solves that frequency sweep is non-linear and distance
Speed coupled problem；Due to the frequency of difference frequency signal will be low compared to the frequency of the intermediate-freuqncy signal commonly used in daily life it is many, therefore
To a certain extent can electromagnetism interference, for example, traditional coherent laser radar detects wind speed, intermediate frequency letter using intermediate-freuqncy signal
Number general between 30MHz to 300MHz, this is just the wave band that broadcasting station, Wireless Telecom Equipment are used, and the wave band covers
Lid scope is wide, using intensive.Therefore, the use of intermediate-freuqncy signal makes traditional coherent laser radar easily be disturbed by electromagnetic environment,
And the electromagnetic signal that laser radar is radiated in normal work will also be interfered to other electronic equipments.And in the present invention, example
Such as when frequency spacing is 20GHz, the Doppler frequency shift difference only 4000Hz that the wind speed of 30m/s causes avoids this wave band,
Therefore the characteristic with electromagnetism interference.
Additionally, can also realize real-time processing and the display of data using DSP data processing units, be conducive to lifting user
Experience.
Meter 522 is calculated for the distance and velocity information according to Doppler frequency shift difference signal inverting target.For example with big
Gas aerosol can realize the measurement to air wind speed as detection thing with the laser radar system.
It should be noted that in addition to being calculated with speed the distance for detecting target, can also be to other on visiting
The information for surveying target is processed, for example imaging, thermometric etc..
By increasing computing module, it is capable of achieving to carry out inverting and display according to collection signal, exports or obtain detection target
Relevant information, have more total system and be of practical significance.
Technical scheme uses dual wavelength chirped laser, and system architecture compares existing skill with signal processing
Art is relatively simple；Because atmospheric turbulance is identical on two frequency-modulated beam influences, therefore reduce because of detection target out-of-flatness and air
The influence of the speckle noise that turbulence effect causes；Due to using LINEAR CONTINUOUS ripple as coherent beam, therefore its range resolution it is high,
Apart from non-blind area；Additionally, can realize to detection target while carrying out ranging and range rate；Further carried out on the basis of optical beat
Microwave beat frequency solves the problems, such as that frequency sweep is non-linear and range-velocity coupling obtaining Doppler frequency shift difference information；And can resist
Electromagnetic interference.
In order to be better understood from the thought and principle of technical scheme, carried out with a kind of specific application scenarios below
The technical scheme provided the embodiment of the present invention is illustrated.
Using the electrooptic modulator that modulated signal is triangular signal to two beam center frequency (f1, f2) different continuous wave
To adjust bandwidth B within the time, modulating frequency k carries out linear modulation to laser beam, using laser radar system as shown in Figure 3
Structure, by first optical beat, Doppler frequency shift difference information is extracted in microwave beat frequency, and ranging and range rate is carried out to object.By Fig. 3
It is shown, fd1Centered on frequency be f1Light beam values of Doppler frequency shift, fd2Centered on frequency be f2Light beam Doppler frequency shift
Value, fm=f1-f2It is the centre frequency difference of two-beam, fd1-fd2Be the Doppler frequency shift difference of two-beam, τ be local oscillator light with
The time delay of flashlight.
From the figure 3, it may be seen that the radar system may include double-frequency laser source 1, EOM electrooptic modulators 2, signal generator 3, filtering
Device 4, laser amplifier 5, beam splitter 6, circulator 7, optical transmitting and receiving device 8, detection target 9, serial adjustable pad 10, beam splitting
Device 11, balanced detector 12, A/D capture cards 13, DSP data handling systems 14 and computer 15.
The annexation of wherein each device is as follows：
The output end in double-frequency laser source 1 is connected with the input of EOM electrooptic modulators 2, the output end of EOM electrooptic modulators 2
Input with wave filter 4 is connected, the control signal input of triangular signal generator 3 and the control of EOM electrooptic modulators 2
Signal output part is connected, and the output end of wave filter 4 is connected with the input of laser amplifier 5, the output end of laser amplifier 5 and
The input connection of beam splitter 6；Double frequency LINEAR CONTINUOUS ripple laser is divided into two beams by beam splitter 6, and its middle port A outputs are signal
Light, B outputs in port are local oscillator light；The output A ends of beam splitter 6 are connected with the A ports of circulator 7, the output end B of beam splitter 6
Input with serial adjustable pad 10 is connected；The C-terminal mouthful of circulator 7 is connected with the A ports of beam splitter 11；The B of circulator 7
Port is connected with optical transmitting and receiving device 8, and the light beam of the outgoing of optical transmitting and receiving device 8 is radiated in detection target 9, from detection target 9
The signal that back scattering is returned is collected through optical transmitting and receiving device 8, then through the B ends of circulator 7 and C-terminal after elder generation, is transmitted to beam splitter 11；
The output end of serial adjustable pad 10 is connected with the B ports of beam splitter 11, and local oscillator light is mixed with flashlight by beam splitter 11
Balanced detector 12 is accessed afterwards, and the output end of balanced detector 12 is connected with the input of A/D capture cards 13, A/D capture cards 13
Output end be connected with the input of DSP data handling systems 14, the output end of DSP data handling systems 14 and computer 15
Connection.
The principle that detection object ranging tests the speed is illustrated below, in order to simulate the frequency under realistic simulation actual conditions
Modulation and Nonlinear, introduces feT () is linear frequency deviation, and have fe(0)=fe(T/2)=0, one of simple signal is through adjusting
After system, the frequency and phase of frequency sweep section are thereon in a cycle：
f1 +(t)=f1+kt+fe(t),
In formula, k=B/ (T/2)=2B/T, and δR=c/2B, B unit are MHz, and modulation bandwidth is decided by range resolution ratio,
T is modulation period (ms),It is initial phase.
The electric field of the double frequency chirped laser in a cycle can be：
E (t)=E1(t)+E2(t) t ∈ (0, T),
In formula, E1And E2It is amplitude,WithIt is phase angle.
The electric field for detecting target scattering signal is represented by：
E'(t)=E1'(t)+E'2(t) t ∈ (0, T),
In formula, E1`=E1/ α, α are the total losses of reflected light, and flashlight is mixed with local oscillator light in balanced detector photosurface
During detection, because detector is only in response to the signal in bandwidth range.
As t ∈ (τ, T/2), the light field luminance of detector is：
In formula, I=E1 2+E1'2,Δf1 +(t)=k τ+fe
(t)-fe(t- τ)=Δ f1+Δfe(t)。
If considering Doppler effect, and setting τ to change over time, can obtain：
Similarly, can have：
AgainCan obtain：
In formula, fd1=2 ν f1/ c, fd2=2 ν f2/ c, ν are the speed for detecting target, and c is the light velocity.
As t ∈ (T/2, T/2+ τ), similarly, can have：
As t ∈ (T/2+ τ, T), similarly, can have：
I1(t) and I2T () can be acquired after detector is detected by A/D capture cards, the signal after collection is through DSP numbers
According to Frequency mixing processing is carried out after signal transacting again, above formula is launched, wherein the item comprising Doppler shift information is：
In formula,
To sum up, the distance and speed of detection target can be calculated, it is as follows：
In formula, when ν be on the occasion of when, represent detection target near laser radar；If negative value, then illustrate that target is remote
From laser radar.
The embodiment of the present invention carries out linear modulation by the frequency of continuous waves different to two centre frequencies in time,
Double frequency chirped laser is obtained, its modulating bandwidth B and double frequency centre frequency difference fmIt is much smaller than double frequency centre frequency f1With
f2, therefore influence of the atmospheric turbulance to two laser of frequency modulation is almost identical, with to atmospheric turbulance it is insensitive the characteristics of.And frequency sweep
Non-linear frequency deviation f caused by non-lineareT (), in signal processing, microwave beat frequency makes non-linear frequency bias term phase
Mutually offset, gained difference frequency signal is free of non-linear frequency bias term.In sum, laser radar system is not only realized to detection
Target is while ranging and range rate, greatly reduces the influence of nonlinear frequency modulation and atmospheric turbulence effect to the resolution ratio that tests the speed, detection essence
Degree height, electromagnetism interference, without blind range zone.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment same or similar part mutually referring to.For being filled disclosed in embodiment
For putting, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is referring to method part
Illustrate.
Professional further appreciates that, with reference to the unit of each example of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, generally describes the composition and step of each example according to function in the above description.These
Function is performed with hardware or software mode actually, depending on the application-specific and design constraint of technical scheme.Specialty
Technical staff can realize described function to each specific application using distinct methods, but this realization should not
Think beyond the scope of this invention.
The step of method or algorithm for being described with reference to the embodiments described herein, directly can be held with hardware, processor
Capable software module, or the two combination is implemented.Software module can be placed in random access memory (RAM), internal memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In field in known any other form of storage medium.
A kind of laser radar system provided by the present invention is described in detail above.It is used herein specifically individual
Example is set forth to principle of the invention and implementation method, and the explanation of above example is only intended to help and understands of the invention
Method and its core concept.It should be pointed out that for those skilled in the art, not departing from the principle of the invention
On the premise of, some improvement and modification can also be carried out to the present invention, these are improved and modification also falls into the claims in the present invention
Protection domain in.
Claims (9)
1. a kind of laser radar system, it is characterised in that including：
Light source module, modulation optical module, transmitting and receiving module, detecting module and signal processing module；
Wherein, the light source module is used for the dual-wavelength laser light beam of outgoing preset wavelength；
The modulation optical module is used to carry out linear modulation to the dual-wavelength laser light beam, continuous with outgoing double frequency linear frequency modulation
Ripple laser beam；
The transmitting and receiving module be used for by the double frequency linear frequency modulation continuous wave laser beam be divided into first laser light beam and
Second laser light beam, the first laser light beam is incident to detection target, and the second laser light beam is used as local oscillator light light beam；And
Receive the detection target backscattering echo signal；
The detecting module is used to carry out optical beat to the local oscillator light light beam and the echo-signal, to obtain Doppler frequently
Shifting information, while converting optical signals into electric signal；
The signal processing module is used to carry out microwave beat frequency to the electric signal, to obtain Doppler frequency shift difference information.
2. system according to claim 1, it is characterised in that the modulation optical module includes：
Modulator and signal generator；
Wherein, the modulator is used to carry out linear frequency modulation to the dual-wavelength laser light beam；The signal generator with it is described
Modulator is connected, for providing modulated signal for the modulator.
3. system according to claim 2, it is characterised in that the modulation optical module also includes：
Wave filter, the wave filter is connected with the modulator, for the back of the body in the double frequency LINEAR CONTINUOUS ripple laser beam
Scape noise is filtered.
4. system according to claim 3, it is characterised in that the modulation optical module also includes：
Laser amplifier, the laser amplifier is connected with the wave filter, for the double frequency LINEAR CONTINUOUS ripple after filtering to be swashed
The energy of light light beam is amplified.
5. system according to claim 4, it is characterised in that the transmitting and receiving module includes：
First beam splitter, the second beam splitter, optical transmitting and receiving device and circulator；
Wherein, first beam splitter is connected with the laser amplifier, for by the double frequency LINEAR CONTINUOUS ripple laser beam
It is divided into the first laser light beam and the second laser light beam；
The circulator is connected with the optical transmitting and receiving device, first beam splitter and second beam splitter respectively, uses
In the first laser light beam is incident into the optical transmitting and receiving device, the second laser light beam is incident to described second point
Beam device；And the echo-signal is incided into second beam splitter；
The optical transmitting and receiving device is used to for the first laser light beam to be incident to the detection target, and receives and the spy
Survey objectives interation after scatter echo-signal and be incident to the circulator；
Second beam splitter is used to for the echo-signal to be incident to the detecting module with the second laser light beam.
6. system according to claim 5, it is characterised in that the detecting module includes：
Balanced detector, the balanced detector is connected with second beam splitter, for the second laser light beam and institute
Stating echo-signal carries out optical beat, to obtain dual frequency doppler frequency shift signal.
7. system according to claim 6, it is characterised in that the signal processing module includes：
Capture card and data processing equipment；
The capture card is connected with the balanced detector, for gathering signal；
The data processing equipment is connected with the capture card, for carrying out microwave beat frequency to the electric signal, to obtain double frequency
Doppler frequency shift difference signal, with the distance and velocity information of this inverting target.
8. the system according to claim 5-7 any one, it is characterised in that the transmitting and receiving module also includes：
Attenuator, is connected with first beam splitter with second beam splitter respectively, for entering to the second laser light beam
Row decay, through the light beam after decay as the local oscillator light light beam.
9. system according to claim 8, it is characterised in that the data processing equipment includes：
DSP data processing units and computer.
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| CN117787021A (en) * | 2024-02-28 | 2024-03-29 | 中国人民解放军海军工程大学 | Laser far field energy density estimation method |
| CN117787021B (en) * | 2024-02-28 | 2024-05-07 | 中国人民解放军海军工程大学 | Laser far field energy density estimation method |
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