CN107678010B - Multi-order Gao Tongrong resistance moment identification circuit of pulse laser radar - Google Patents
Multi-order Gao Tongrong resistance moment identification circuit of pulse laser radar Download PDFInfo
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- CN107678010B CN107678010B CN201710994157.4A CN201710994157A CN107678010B CN 107678010 B CN107678010 B CN 107678010B CN 201710994157 A CN201710994157 A CN 201710994157A CN 107678010 B CN107678010 B CN 107678010B
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- 238000005070 sampling Methods 0.000 claims abstract description 21
- 238000001914 filtration Methods 0.000 claims abstract description 15
- 230000007704 transition Effects 0.000 claims abstract description 4
- 239000003990 capacitor Substances 0.000 claims description 9
- 230000000630 rising effect Effects 0.000 abstract description 7
- 238000001514 detection method Methods 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
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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
- G01S7/483—Details of pulse systems
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- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a multi-order Gao Tongrong resistance moment identification circuit of a pulse laser radar. The high-speed sampling circuit comprises a high-pass filter circuit, a high-speed sampling circuit, a high-speed comparator, a gate circuit and a controller, wherein an input pulse signal is converted into a bipolar signal in the high-pass filter circuit and is output; the high-speed sampling circuit samples and filters the output signal and transmits the output signal to the controller; the first gate circuit is reversely connected with the high-pass filter circuit in parallel, and the second gate circuit is connected with the output end of the high-pass filter circuit and the non-inverting input end of the high-speed comparator in series; the controller analyzes the filtering output data and controls gating states of the first gate circuit and the second gate circuit; the reverse input end of the high-speed comparator is connected with zero level, the transition state of the high-speed comparator occurs at the moment when the two input signals are equal, and the output signal of the high-speed comparator is the identified laser echo moment. The invention can effectively compress the timing drift error caused by the rising edge of the echo signal and noise interference, and improve the time identification precision.
Description
Technical Field
The invention relates to the field of laser radars, in particular to a high-precision moment identification circuit which is applied to the field of laser measurement.
Technical Field
Along with the development of laser radar technology, laser measurement precision is higher and higher, wherein pulse laser ranging development is rapid, and the application range is wide. The pulse laser measurement is carried out by emitting laser through a laser, receiving the laser by a receiving end after being reflected by a target object, measuring the laser round trip time by a receiving system, and calculating the distance between a laser radar and the target. As an active detection sensor, the laser radar has the advantages of simple structure, high precision, strong anti-interference performance and the like, and is widely applied to various aspects of military, industrial manufacturing and social life.
The time discrimination circuit determines the time at which the echo signal arrives at the lidar receiver. The traditional time identification method comprises leading edge time identification, constant ratio time identification and Gao Tongrong resistance time identification; the front edge moment identification accuracy is affected by a threshold value, and detection omission and false alarm can be caused by the fact that the threshold value is higher or lower; the constant ratio time identification needs wider echo signals, and when the pulse width of the echo signals is very small, the performance requirement on measurement electronic devices is high; gao Tongrong the moment discrimination converts the unipolar signal into the bipolar signal, and the zero point comparison determines that the timing point is at the peak point of the echo signal, but the time drift is larger. In order to solve the timing drift error caused by the time variation and the amplitude of the rising edge of the echo signal at the same time, the time discrimination circuit needs to be improved.
Disclosure of Invention
The invention aims to provide a multi-step Gao Tongrong resistance moment identification circuit of a pulse laser radar, which can effectively avoid timing drift errors caused by time change and amplitude of an echo signal rising edge, compress the timing errors, reduce the probability of missed detection and false alarm, and improve the moment identification precision, thereby further effectively improving the pulse laser measurement precision.
The invention is realized by adopting the following technical scheme: a multi-order Gao Tongrong resistance moment discrimination circuit of a pulse laser radar comprises a high-pass filter circuit, a high-speed sampling circuit, a high-speed comparator, a gate circuit and a controller; in the high-pass filter circuit, an input pulse signal is converted into a bipolar signal and output; the high-speed sampling circuit samples the filtered output signal; the first gate circuit is reversely connected with the high-pass filter circuit in parallel, and the second gate circuit is connected with the output end of the high-pass filter circuit and the non-inverting input end of the high-speed comparator in series; the controller analyzes the filtering output data and controls gating states of the first gate circuit and the second gate circuit; the reverse input end of the high-speed comparator is connected with zero level, the transition state of the high-speed comparator occurs at the moment when the two input signals are equal, and the output signal of the high-speed comparator is the identified laser echo moment.
The beneficial effects of the invention are as follows: the multi-order Gao Tongrong resistance moment identification circuit of the pulse laser radar is adopted, and comprises a high-pass filter circuit, a high-speed sampling circuit, a high-speed comparator, a gate circuit and a controller, wherein the high-pass filter circuit performs differential operation aiming at the slope characteristic of an echo signal, so that the detection omission and false alarm probability are reduced; the controller analyzes the filtering output data, controls the order of the filtering operation and improves the timing precision; on one hand, the high-pass filter circuit avoids missed detection and false alarm caused by the amplitude change of the laser echo pulse, so that the time identification operation is not influenced by the amplitude change of the echo; on the other hand, the controller is combined with the high-speed sampling circuit, so that data such as pulse width, rising edge time and the like of a high-pass filtering output signal can be effectively obtained, the filtering times are controlled by setting parameters, and the occurrence of time identification errors caused by excessive high-pass filtering operation times can be avoided; the invention is suitable for the detection of high-energy narrow pulses and large distance ranges, and can overcome timing errors caused by waveform changes and noise interference.
Drawings
Fig. 1 is a schematic diagram of the present invention.
FIG. 2 is a graph showing the relationship between input and output signals for multi-stage Gao Tongrong resistance time discrimination according to the present invention.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings.
Examples:
referring to fig. 1, a multi-stage Gao Tongrong resistance moment discrimination circuit of a pulse laser radar includes a high-pass filter circuit, a high-speed sampling circuit, a high-speed comparator, a gate circuit and a controller, wherein an input pulse signal is converted into a bipolar signal in the high-pass filter circuit and is output; the high-speed sampling circuit samples and filters the output signal and transmits the output signal to the controller through the bus; the first gate circuit is reversely connected with the high-pass filter circuit in parallel, and the second gate circuit is connected with the output end of the high-pass filter circuit and the non-inverting input end of the high-speed comparator in series; the controller analyzes the filtering output data and controls gating states of the first gate circuit and the second gate circuit; the reverse input end of the high-speed comparator is connected with zero level, the transition state of the high-speed comparator occurs at the moment when the two input signals are equal, and the output signal of the high-speed comparator is the identified laser echo moment.
Referring to fig. 1, the high-pass filter circuit includes a capacitor C1 and a resistor R1, wherein a first end of the capacitor C1 is used as an input of a signal, and a second end of the capacitor C1 is connected with a first end of the resistor R1; the input end of the first gate circuit is connected with the second end of the resistor R1, the output end of the first gate circuit is connected with the first end of the capacitor C1, the control end of the first gate circuit is connected with the controller, the input end of the second gate circuit is connected with the second end of the resistor R1, the output end of the second gate circuit is connected with the same-direction input end of the high-speed comparator, and the control end of the second gate circuit is connected with the controller; the reverse input end of the high-speed comparator is connected with the zero level; the same-direction bias of the high-speed sampling circuit is connected with a 10V direct current power supply, the reverse bias is connected with a zero level, the clock source is connected with +5V/100 Hz-2 GHz clock signals, the signal sampling input end is connected with the second end of the resistor R1, the sampling output end is connected with the data receiving end of the controller, and the enabling end of the high-speed sampling circuit is connected with the first end of the resistor R2; the power supply end of the controller is connected with +5V TTL level, the ground is connected with the ground, and the control output end is respectively connected with the second end of the resistor R2, the control end of the first gate circuit and the control end of the second gate circuit.
In combination with fig. 1, the initial states of the first gate circuit and the second gate circuit are cut-off, the high-pass filter circuit carries out high-pass filtering on an input signal, an output signal is sampled by the high-speed sampler, the controller compares characteristic data such as pulse width, amplitude, rising edge time and the like of the filtered output signal contained in sampled data with a preset threshold value, when the threshold value is met, the controller controls the first gate circuit to be conducted, the second gate circuit to be cut-off, the signal carries out high-pass filtering operation again, sampling analysis and control are continued, when the threshold value is not met, the controller controls the first gate circuit to be cut-off, the second gate circuit is conducted, the filtered output signal enters the high-speed comparator to be compared with a zero level, and a timing point signal is output.
Referring to FIG. 2, a high pass filter order limit threshold is determined, the echo first peak point is set as a timing point, and the minimum rising edge time is T min The minimum signal amplitude is V min The final high-pass filtering times satisfyAnd T is n <T min Where k is the number of filtering times, lambda is the attenuation coefficient of the high-pass filter circuit, V is the amplitude of the echo signal, T n For the rising edge time of the last filtered output signal. Assuming that the amplitude of the echo signal is 5V, the minimum signal amplitude is 500 μv, and the attenuation coefficient of the high-pass filter circuit is 0.97, the calculated maximum filter frequency is 3. The circuit parameters determined at this time are: the resistor R1 is 1 ohm, the resistor R2 is 2 ohm, and the capacitor C1 is 1 picofarad.
Referring to FIG. 2, according to theoretical analysis and experimental verification, the input and output waveforms of the multi-stage Gao Tongrong resistance moment discrimination circuit are shown in FIG. 2, in which V i (t) is the waveform of the input signal, V 1 (t) is a first order high pass filtered output signal, V 2 (t) is a second-order high-pass filtered output signal, V 3 (t) is the final high pass filtered output signal, V 3 (t) identifying the trigger pulse signal by the output time of the high-speed comparatorNumber Vo (t).
Claims (1)
1. The multi-order Gao Tongrong resistance moment identification circuit of the pulse laser radar comprises a high-pass filter circuit, a high-speed sampling circuit, a high-speed comparator, a gate circuit and a controller, and is characterized in that an input pulse signal is converted into a bipolar signal and output in the high-pass filter circuit; the high-speed sampling circuit samples the filtered output signal; the first gate circuit is reversely connected with the high-pass filter circuit in parallel, and the second gate circuit is connected with the output end of the high-pass filter circuit and the non-inverting input end of the high-speed comparator in series; the controller analyzes the filtering output data and controls gating states of the first gate circuit and the second gate circuit; the reverse input end of the high-speed comparator is connected with zero level, the transition state of the high-speed comparator occurs at the moment when the two input signals are equal, and the output signal of the high-speed comparator is the identified laser echo moment;
the high-pass filter circuit comprises a capacitor C1 and a resistor R1, wherein a first end of the capacitor C1 is used as the input of signals, and a second end of the capacitor C1 is connected with a first end of the resistor R1; the input end of the first gate circuit is connected with the second end of the resistor R1, the output end of the first gate circuit is connected with the first end of the capacitor C1, the control end of the first gate circuit is connected with the controller, the input end of the second gate circuit is connected with the second end of the resistor R1, the output end of the second gate circuit is connected with the same-direction input end of the high-speed comparator, and the control end of the second gate circuit is connected with the controller; the reverse input end of the high-speed comparator is connected with the zero level; the same-direction bias of the high-speed sampling circuit is connected with a 10V direct current power supply, the reverse bias is connected with a zero level, the clock source is connected with +5V/100 Hz-2 GHz clock signals, the signal sampling input end is connected with the second end of the resistor R1, the sampling output end is connected with the data receiving end of the controller, the data bit width of the high-speed sampling circuit is 8-64 bits, and the enabling end of the high-speed sampling circuit is connected with the first end of the resistor R2; the power supply end of the controller is connected with +5V TTL level, the ground is grounded, and the control output end is respectively connected with the second end of the resistor R2, the control end of the first gate circuit and the control end of the second gate circuit;
the initial states of the first and second gates are cut-off, the high-pass filtering output signals are sampled by a high-speed sampler and transmitted to a controller through a bus, and the controller obtains relevant characteristic data of the filtering output signals according to the sampled data and compares the relevant characteristic data with a preset threshold value so as to control the gating states of the first and second gates.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710994157.4A CN107678010B (en) | 2017-10-23 | 2017-10-23 | Multi-order Gao Tongrong resistance moment identification circuit of pulse laser radar |
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| CN201710994157.4A CN107678010B (en) | 2017-10-23 | 2017-10-23 | Multi-order Gao Tongrong resistance moment identification circuit of pulse laser radar |
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| CN107678010A CN107678010A (en) | 2018-02-09 |
| CN107678010B true CN107678010B (en) | 2023-12-19 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108919235A (en) * | 2018-08-24 | 2018-11-30 | 上海星秒光电科技有限公司 | Moment discrimination circuit system |
| CN109521413A (en) * | 2018-10-22 | 2019-03-26 | 天津大学 | Full wave shape suitable for laser radar obtains circuit |
| CN109581333A (en) * | 2018-11-17 | 2019-04-05 | 天津大学 | Laser radar reading circuit based on the reconstruct of pulse echo ultra-high speed sampling |
| CN110376569A (en) * | 2019-07-25 | 2019-10-25 | 桂林理工大学 | The high-order of pulse lidar amplifies-it is fitted moment discrimination circuit |
| CN110412545A (en) * | 2019-07-26 | 2019-11-05 | 桂林理工大学 | The analog-to-digital measuring circuit of pulse lidar time interval |
| CN117233734B (en) * | 2023-11-14 | 2024-01-30 | 山东富锐光学科技有限公司 | Laser radar data acquisition method and system based on TDC and ADC and laser radar |
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| CN102621555A (en) * | 2012-01-20 | 2012-08-01 | 南京理工大学 | Double-threshold moment discriminator circuit |
| CN106886014A (en) * | 2017-03-23 | 2017-06-23 | 桂林理工大学 | The double reception passage of pulse lidar |
| CN207336744U (en) * | 2017-10-23 | 2018-05-08 | 桂林理工大学 | A kind of multistage high pass of pulse lidar holds resistance moment discrimination circuit |
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2017
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| CN102621555A (en) * | 2012-01-20 | 2012-08-01 | 南京理工大学 | Double-threshold moment discriminator circuit |
| CN106886014A (en) * | 2017-03-23 | 2017-06-23 | 桂林理工大学 | The double reception passage of pulse lidar |
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