CN110161519A - A kind of macro pulsed photonic counting laser radar - Google Patents
A kind of macro pulsed photonic counting laser radar Download PDFInfo
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- CN110161519A CN110161519A CN201910500898.1A CN201910500898A CN110161519A CN 110161519 A CN110161519 A CN 110161519A CN 201910500898 A CN201910500898 A CN 201910500898A CN 110161519 A CN110161519 A CN 110161519A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
-
- 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
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
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- Engineering & Computer Science (AREA)
- Electromagnetism (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 invention discloses a kind of macro pulsed photonic counting laser radars, belong to laser radar technique field, including laser, ratio beam splitter, transmitting receiving optics, single photon detection (Gm-APD), photodiode, photon counting module, signal processing module.The periodically train of pulse of transmitting unequal interval, it can effectively overcome range ambiguity that quick detection may be implemented again, compared with traditional multiple-pulse adds up photon counting laser radar, measurement at a distance, high-speed moving object when with apparent advantage.Macro pulsed photonic counting laser radar is under the premise of the complexity of no cumulative photon counting laser radar system of increase traditional pulse, greatly improve the ability of traditional measurement high-speed moving object, improve the practical value of system, it is widely used in object ranging, imaging field, especially in high-speed moving object fields of measurement.
Description
Technical field
The present invention relates to laser radar technique field, in particular to a kind of macro pulsed photonic counting laser radar.
Background technique
In photon counting laser radar detection field, researcher proposes to improve distant object using pulse accumulation technology
Detection probability.But with the increase of cumulative number of pulses, image taking speed is gradually slack-off, so that photon counting laser radar system
It is not suitable for high-speed moving object detection and fast imaging.Although the laser light source (tens MHz) of high pulse repetition frequency by with
Reduce data acquisition time, but this has been greatly reduced the not fuzzy distance of system.Therefore, pulse accumulation method is difficult to use
In remote, high-speed moving object detection.In order to shorten time of measuring, researcher proposes to use pseudorandomcode photon meter
Several methods.However, pseudorandomcode photon counting laser radar usually requires an expensive signal generator, this to swash
Optical detection and ranging system is with high costs.In addition to this, when single-photon detector makes a response a photon, it will enter dead zone,
Any other photon reached cannot be made a response.The pulse spacing of any two " 1 " position is random in pseudo-random sequence.
When being less than the dead time of detector in the pulse spacing, " 1 " position of front will make single-photon detector enter dead zone, and subsequent
" 1 " position cannot respond to arriving signal photon.To reduce the ranging of pseudorandomcode photon counting laser radar
Energy.In order to solve these problems, we have proposed macro pulsed photonic counting laser radars.Keeping original range-measurement system simplicity
Under the premise of, it can be realized simultaneously the detection of remote and fast-moving target, there is great application value.
Summary of the invention
The present invention is that traditional multiple-pulse is cumulative and pseudorandomcode photon counting laser radar is difficult to realize far in order to solve
Distance, the problem of high-speed moving object detection.
The technical solution adopted by the present invention are as follows: propose a kind of macro pulsed photonic counting laser radar, it include laser,
Ratio beam splitter, transmitting receiving optics, photodiode, single photon detection (GM-APD), photon counting module and signal
Processing module, the laser periodically emit train of pulse, and train of pulse is made of the subpulse of multiple unequal intervals to be claimed
For Hong Maichongchong, the characteristics of unequal interval, can effectively overcome the range ambiguity of system between subpulse；The Hong Mai of laser output
Punching is divided into two parts by a ratio beam splitter；Wherein energy small portion is detected by photodiode, by photon meter
Digital-to-analogue block is recorded, as timing commencing signal；Remaining more part energy, by irradiation optical system to target,
And the echo-signal of target scattering is collected；The target echo that optical system is collected by single photon detection (GM-APD) into
Row detection；And the response output of single photon detection (GM-APD) is recorded by photon counting module, stop believing as timing
Number；The timing that last signal processing module records photon counting module starts and Stop message is handled, to obtain mesh
Target range information.
Wherein, laser periodically emits macro pulse, and the subpulse in macro pulse has the pulse spacing that do not wait, therefore
Range ambiguity can effectively be overcome so that the not fuzzy distance of system is determined by the period of macro pulse, and the number of subpulse and
The total linear spacing of subpulse will not influence the not fuzzy distance of system.
Wherein, subpulse has the known and fixed pulse spacing, when carrying out echo-signal demodulation, needs echo sequence
It is shifted, the time of each pulse lag transmitting is compensated, then use traditional arteries and veins according to the known pulse spacing
Subpulse is carried out the signal-to-noise ratio of cumulative raising system by the cumulative mode of punching, to obtain range-to-go.
Wherein, the period of macro pulse be much larger than subpulse total linear spacing, thus make measure distant object when there is no away from
From fuzzy problem；And the total linear spacing of subpulse is shorter, generally tens microseconds or even several hundred nanoseconds, so that the target of movement
Can be approximated to be static target in shorter time interval, thus effectively avoid target movement to system range accuracy and
The influence of detection probability.
The principle of the invention lies in a kind of macro pulsed photonic counting laser radar, the laser using internal modulation or
External modulation obtains periodically macro pulse, the generally longer pulse of the period of macro pulse guarantee system have it is farther away it is not fuzzy away from
From, and the subpulse interval of unequal interval is shorter in macro pulse, the ability for making system obtain quick detection.
The beam splitter is ratio optical splitter, and laser pulse is divided into the two beam laser that energy does not wait, part energy
It is smaller, it is used to realize for recording subpulse interval and exomonental initial time, another part main energetic of transmitting
Detection to target.
The optical system include optical transmitting system and receiving optics, to laser pulse carry out collimator and extender,
Realize the transmitting and reception to laser pulse.
The photodiode is line detector, is recorded at the time of to the subpulse of transmitting, and subpulse is obtained
True pulse spacing, while the also time zero of available train of pulse.
The single-photon detector (GM-APD) has single photon detection ability, and detectivity is high, is widely applied
In the detection of remote weak echo signal.Inevitably there is the dead time in single-photon detector, count and swash in macro pulsed photonic
Subpulse interval in optical detection and ranging system, in order to avoid the detector dead time on range performance influences, in county of emission train of pulse
It should be greater than the dead time of detector.
Two channels of the photon counting module are defeated to the electric pulse of photodiode and single-photon detector respectively
It is recorded out, obtains timing starting and stop timing.The temporal resolution of photon counting module makes to influence the one of range accuracy
A factor, the timing resolution of common photon counting module commonly reach tens or even several picoseconds.
The signal processing module is originated to the timing that photon counting module obtains and the stop timing is handled, and obtains
The range information of target.
The present invention has the advantages that
(1) macro pulsed photonic counting laser radar a cycle can be obtained by the range information of target, not need to carry out
Multiple-pulse is cumulative.The period of the macro pulse longer not fuzzy distance that can effectively improve system, and the subpulse continuously emitted
String total linear spacing is generally tens microseconds even several hundred nanoseconds, and the movement of target can be ignored in this also extremely short interval, therefore
There is apparent advantage when measuring high-speed moving object.
(2) the periodically macro pulse of transmitting fixed intervals, and number of pulses is less, such electrical pulse sequence is in hardware
It is upper easy to accomplish；Compared with traditional pseudorandomcode method, the hardware requirement to system is greatly reduced.
(3) interval of the subpulse emitted can arbitrarily be adjusted, it can be ensured that the interval of subpulse is greater than detection
The device dead time, to effectively prevent influence of the detector dead time to range performance, therefore with traditional pseudorandomcode side
Method is compared, and the range performance of system can be effectively improved.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of macro pulsed photonic counting laser radar of the present invention；
Fig. 2 is macro pulsed photonic counting laser radar echo-signal extracting method schematic diagram of the present invention.
Specific embodiment
In order to be more clear the purpose of the present invention, macro pulsed photonic counting laser radar scheme and its advantage, in conjunction with tool
Body embodiment, and the present invention is further elaborated referring to attached drawing.
As shown in Figure 1, proposed by the present invention is macro pulsed photonic counting laser radar, including laser 1, ratio beam splitter
2, emit receiving optics 3, photodiode 4, single photon detection (GM-APD) 5, photon counting module 6, signal processing mould
Block 7.Protrusion of the invention is embodied in a little, and compared with traditional pulse accumulation method, the present invention is macro using periodical launch
Pulse obtains the range information of a target by a cycle, greatly under the premise of the system of holding longer not fuzzy distance
The speed of detection for improving system, be very suitable to remote, high-speed moving object detection.Moreover, with traditional pseudorandom
Coding method is compared, and the present invention is effective to overcome influence of the detector dead time to range performance, while reducing system pair
The requirement of hardware greatly improves the practical value of system.
A specific embodiment of the invention are as follows: laser 1 periodically emits macro pulse, and macro pulse is by multiple unequal intervals
Subpulse constitute.The not fuzzy distance of system is determined by the period of macro pulse, between the number of subpulse and the total of subpulse
Every unrelated.The overall pulse interval of subpulse is shorter, generally tens microseconds or even several hundred nanoseconds so that movement target compared with
It can be approximated to be static target in short time interval, to effectively avoid target movement to system range accuracy and detection
The influence of probability.A cycle can obtain a target range, without multiple accumulation, the very big detection for improving system
Speed.
The macro pulse of periodical launch is transmitted to ratio beam splitter 2；Incident macro pulse is divided by ratio beam splitter 2
Different ratio two parts；Wherein energy small portion is incident to photodiode 4, by photodiode 4 to subpulse
It is detected；In addition energy larger portion exposes to the target of high-speed motion by receiving optics 3；Receive optical system
The laser signal of 3 pairs of target scatterings of uniting is collected, and is transmitted to single-photon detector (GM-APD) 5；Single-photon detector
(GM-APD) 5 pairs of target echo signals detect；Its output response is recorded by photon counting module 6；Signal processing mould
The Laser emission moment of record is handled photon counting module by block 7 with the target echo moment, thus obtain target away from
From information.
Specific echo signal processing algorithm is explained in detail according to fig. 2: by photodiode 4 to subpulse
Time interval is accurately detected, and is recorded as known parameters.In one cycle, any the two of macro pulse
The pulse spacing of a subpulse is unequal.As shown in Fig. 2, in one cycle, single-photon detector (GM-APD) 5 is detected
Echo-signal successively moves the pulse spacing of transmitted subpulse.The echo-signal of displacement is stored and is accumulated.Peak position pair
The flight time of Ying Yuhong pulse.Stated differently, since each subpulse relative to first subpulse delay time it is known that
Therefore the flight time of macro pulse is equal to the flight time of subpulse after compensation delay time.By successively compensating prolonging for subpulse
It lags and adds subpulse product, the signal-to-noise ratio of system can be effectively improved, to obtain the range information of target.
Claims (4)
1. a kind of macro pulsed photonic counting laser radar, which is characterized in that it includes laser (1), ratio beam splitter (2), hair
It penetrates at receiving optics (3), photodiode (4), single photon detection (GM-APD) (5), photon counting module (6) and signal
It manages module (7), the laser (1) periodically emits train of pulse, and train of pulse is made of the subpulse of multiple unequal intervals
Referred to as Hong Maichongchong, the characteristics of unequal interval, can effectively overcome the range ambiguity of system between subpulse；Laser (1) output
Macro pulse two parts are divided by a ratio beam splitter (2)；Wherein energy small portion is visited by photodiode (4)
It surveys, is recorded by photon counting module (6), as timing commencing signal；Remaining more part energy, passes through optical system
System (3) exposes to target, and is collected to the echo-signal of target scattering；By single photon detection (GM-APD) (5) to optics
The target echo that system (3) is collected is detected；And by photon counting module (6) to the sound of single photon detection (GM-APD) (5)
It should export and be recorded, as timing stop signal；The timing that last signal processing module (7) records photon counting module is opened
Begin and Stop message is handled, to obtain the range information of target.
2. macro pulsed photonic counting laser radar according to claim 1, which is characterized in that laser (1) is periodic
Emit macro pulse, the subpulse in macro pulse has the pulse spacing that do not wait, therefore can effectively overcome range ambiguity, so that being
The not fuzzy distance of system is determined by the period of macro pulse, and the total linear spacing of the number of subpulse and subpulse will not influence system
Not fuzzy distance.
3. macro pulsed photonic counting laser radar according to claim 1, which is characterized in that subpulse has known and solid
The fixed pulse spacing needs to shift echo sequence according to the known pulse spacing when carrying out echo-signal demodulation, will be every
The time of one pulse lag transmitting compensates, then subpulse is carried out cumulative raising by the way of traditional pulse accumulation
The signal-to-noise ratio of system, to obtain range-to-go.
4. macro pulsed photonic counting laser radar according to claim 1, which is characterized in that the period of macro pulse is much larger than
The problem of total linear spacing of subpulse, there is no range ambiguities when to making to measure distant object；And the total linear spacing of subpulse compared with
It is short, generally tens microseconds or even several hundred nanoseconds so that movement target can be approximated to be in shorter time interval it is static
Target, to effectively avoid influence of the target movement to system range accuracy and detection probability.
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Cited By (11)
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| CN110470387A (en) * | 2019-08-09 | 2019-11-19 | 中国科学院光电技术研究所 | A kind of single-photon laser radar installations based on multi-detector |
| CN110609291A (en) * | 2019-08-30 | 2019-12-24 | 深圳奥锐达科技有限公司 | System and method for time-coded time-of-flight distance measurement |
| CN110632578A (en) * | 2019-08-30 | 2019-12-31 | 深圳奥锐达科技有限公司 | System and method for time-coded time-of-flight distance measurement |
| CN110752507A (en) * | 2019-09-04 | 2020-02-04 | 南京理工大学 | Multi-pulse laser sequence generator with controllable pulse period and sequence length |
| CN110749898A (en) * | 2019-10-18 | 2020-02-04 | 深圳奥锐达科技有限公司 | Laser radar ranging system and ranging method thereof |
| CN110940992A (en) * | 2019-11-02 | 2020-03-31 | 复旦大学 | Signal detection method and system capable of improving detection distance and precision of laser radar |
| CN111308493A (en) * | 2019-12-02 | 2020-06-19 | 中国科学院光电技术研究所 | Underwater three-dimensional imaging laser radar device based on double single photon detectors |
| WO2021035695A1 (en) * | 2019-08-30 | 2021-03-04 | 深圳奥锐达科技有限公司 | System and method for measuring distance by time of flight based on time codes |
| CN114488174A (en) * | 2022-01-04 | 2022-05-13 | 中国科学院西安光学精密机械研究所 | Distance measurement system and method based on two-channel single photon detection and two-dimensional cross-correlation |
| CN115079199A (en) * | 2022-08-22 | 2022-09-20 | 山东省科学院海洋仪器仪表研究所 | Underwater target multi-mode information sensing system and method |
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| CN110470387A (en) * | 2019-08-09 | 2019-11-19 | 中国科学院光电技术研究所 | A kind of single-photon laser radar installations based on multi-detector |
| CN110609291A (en) * | 2019-08-30 | 2019-12-24 | 深圳奥锐达科技有限公司 | System and method for time-coded time-of-flight distance measurement |
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| CN110752507A (en) * | 2019-09-04 | 2020-02-04 | 南京理工大学 | Multi-pulse laser sequence generator with controllable pulse period and sequence length |
| CN110752507B (en) * | 2019-09-04 | 2021-10-26 | 南京理工大学 | Multi-pulse laser sequence generator with controllable pulse period and sequence length |
| CN110749898A (en) * | 2019-10-18 | 2020-02-04 | 深圳奥锐达科技有限公司 | Laser radar ranging system and ranging method thereof |
| CN110749898B (en) * | 2019-10-18 | 2022-05-27 | 深圳奥锐达科技有限公司 | Laser radar ranging system and ranging method thereof |
| CN110940992A (en) * | 2019-11-02 | 2020-03-31 | 复旦大学 | Signal detection method and system capable of improving detection distance and precision of laser radar |
| CN111308493A (en) * | 2019-12-02 | 2020-06-19 | 中国科学院光电技术研究所 | Underwater three-dimensional imaging laser radar device based on double single photon detectors |
| WO2022206293A1 (en) * | 2021-03-29 | 2022-10-06 | 宁波飞芯电子科技有限公司 | Laser radar ranging method and detection system |
| CN114488174A (en) * | 2022-01-04 | 2022-05-13 | 中国科学院西安光学精密机械研究所 | Distance measurement system and method based on two-channel single photon detection and two-dimensional cross-correlation |
| CN114488174B (en) * | 2022-01-04 | 2024-04-12 | 中国科学院西安光学精密机械研究所 | Ranging system and method based on double-channel single photon detection and two-dimensional cross correlation |
| CN115079199A (en) * | 2022-08-22 | 2022-09-20 | 山东省科学院海洋仪器仪表研究所 | Underwater target multi-mode information sensing system and method |
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