CN111596305A - Single photon ranging method and device based on pseudo-random code deblurring - Google Patents

Single photon ranging method and device based on pseudo-random code deblurring Download PDF

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CN111596305A
CN111596305A CN202010506359.1A CN202010506359A CN111596305A CN 111596305 A CN111596305 A CN 111596305A CN 202010506359 A CN202010506359 A CN 202010506359A CN 111596305 A CN111596305 A CN 111596305A
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范大勇
刘奇
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Luoyang Institute of Electro Optical Equipment AVIC
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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
    • G01S17/14—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein a voltage or current pulse is initiated and terminated in accordance with the pulse transmission and echo reception respectively, e.g. using counters
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
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Abstract

The invention relates to a single photon ranging method and a single photon ranging device based on pseudo-random code deblurring; in the distance measurement process, a laser pulse sequence modulated by pseudo-random code codes is repeated by a laser, the maximum value sequence of the laser echo signal sequence is determined as a suspected target according to the received laser echo signal sequence, the correlation coefficient of each suspected target is calculated by utilizing the suspected target and an expanded cross-correlation characteristic coding sequence, the maximum correlation coefficient in all the suspected targets is extracted, and then the maximum value T of the maximum correlation coefficient in all the suspected targets is determinedmmDetermining the suspected target corresponding to the maximum value as the real target, and calculating the maximum value TmmCorresponding position area coding offset value nzmAnd a grid position value dkm(ii) a The distance measurement distance can be calculated; the distance measuring method is simple, and the calculated amount is greatly reduced.

Description

Single photon ranging method and device based on pseudo-random code deblurring
Technical Field
The invention relates to a single photon ranging method and device based on pseudo-random code deblurring, and belongs to the field of laser ranging.
Background
The laser ranging system based on TCSPC performs well in distance measurement, but the weakness of the range ambiguity cannot be ignored. Distance ambiguity means that the specific time of photon flight is difficult to determine, and accurate distance information cannot be obtained: in order to improve the accuracy of time recording and the speed of data acquisition, the TCSPC technology records the photon arrival time by using a correlation method, and the recorded photon return time is the difference between the photon arrival time and the last light pulse emission time, so that the recorded return photon time of all the target objects is within one light cycle no matter how far or near, and the specific time of photon flight cannot be confirmed.
Therefore, a common method for solving the range-finding ambiguity is a single photon counting method based on pseudo-random code modulation, the method carries out pseudo-random code modulation on emitted high-frequency pulses, an echo code is obtained through threshold judgment during detection, signal extraction is realized through code correlation of the echo signal and the emitted signal, and the maximum measurable laser flight time is expanded into the emitted code length time, so that the maximum measurable range-finding distance is increased. However, the conventional method requires a large amount of calculation for calculating the distance and is not high in accuracy.
Disclosure of Invention
The invention aims to provide a single photon ranging method and a single photon ranging device based on pseudo-random code deblurring, and aims to solve the problems of large calculation amount and low precision required in ranging in the prior art.
In order to achieve the purpose, the technical scheme of the invention is as follows: the invention provides a single photon ranging method based on pseudo-random code deblurring, which comprises the following steps:
step 1, in the process of distance measurement, a laser signal is generated again by a laser, and the laser signal is a laser pulse coding sequence m modulated by a pseudo-random codep(rk)：
mp(rk) 1 or 0, rk＝1,2,…,N；
Where N is the pseudo-random code encoding number, rkCoding values for the location areas;
step 2, receiving a laser echo signal sequence, determining a maximum value sequence of the laser echo signal sequence, and determining a suspected target containing ranging ambiguity according to the maximum value sequence; the maximum value sequence of the laser echo signal sequence is Sm(k,dk,rk) (ii) a Wherein k is in questionNumber of similar targets, dkIs the grid position value;
step 3, calculating the correlation coefficient T (k, d) of each suspected target according to the determined suspected target and the extended cross-correlation characteristic coding sequencek,nz) Extracting the maximum correlation coefficient T of each suspected targetm(k,dk)；
The extended cross-correlation property code sequence is in the laser pulse code sequence mp(rk) Is carried out on the basis of the code sequence of the cross-correlation property of (a) by a position region code offset, the value of which is nz，nz＝1,2,…,N；
Step 4, according to the maximum correlation coefficient T in all the obtained suspected targetsm(k,dk) Determining the maximum value T of the maximum correlation coefficient among all the suspected targetsmmThat is, the suspected target corresponding to the maximum value is the real target, and the maximum value T is calculatedmmCorresponding position area coding offset value nzmAnd a grid position value dkm；
Step 5, calculating the distance measurement distance of the target; the distance measurement is the laser pulse flight time grid number Ds：
Ds＝dkm+Ns×(N-nzm+1)；
Wherein N issIs the time grid number of a location area.
The invention has the beneficial effects that:
in the ranging process, the laser is enabled to recur a laser pulse sequence modulated by pseudo-random code codes, suspected targets are determined according to received laser echo signal sequences, and the maximum value T of the maximum correlation coefficients in all the suspected targets is determined by calculating the maximum correlation coefficients in all the suspected targetsmmDetermining the suspected target corresponding to the maximum value as the real target, and calculating the maximum value TmmCorresponding position area coding offset value nzmAnd a grid position value dkm(ii) a The distance measurement distance can be calculated, the method is simple, and the calculation amount is greatly reduced.
Further, in order to further reduce the complexity of determining the real target; calculating each suspected target correlation coefficient T (k, d) in the step 3k,nz) The process comprises the following steps:
1) according to the laser pulse code sequence mp(rk) Calculating the cross-correlation characteristic code sequence mc(rk)；
The cross-correlation characteristic code sequence mc(rk) Comprises the following steps:
Figure BDA0002526672780000021
2) setting the extended code value of the position area to rknCoding the sequence m based on the calculated cross-correlation propertyc(rk) Calculating an extended cross-correlation property code sequence mcn(rkn)：
Figure BDA0002526672780000022
3) Calculating a correlation coefficient T (k, d) for each suspected targetk,nz)；
Figure BDA0002526672780000023
Wherein n iszThe value of the offset is encoded for the position region.
Furthermore, the coding bit number N of the pseudo random code is set according to the farthest ranging distance.
The invention also provides a single photon distance measuring device based on pseudo-random code deblurring, which comprises a processor, wherein the processor is used for executing the following method instructions:
step 1, in the process of distance measurement, a laser signal is generated again by a laser, and the laser signal is a laser pulse coding sequence m modulated by a pseudo-random codep(rk)：
mp(rk) 1 or 0, rk＝1,2,…,N；
Wherein N is falseNumber of random code encoding bits, rkCoding values for the location areas;
step 2, receiving a laser echo signal sequence, determining a maximum value sequence of the laser echo signal sequence, and determining a suspected target containing ranging ambiguity according to the maximum value sequence; the maximum value sequence of the laser echo signal sequence is Sm(k,dk,rk) (ii) a Wherein k is the number of suspected targets, dkIs the grid position value;
step 3, calculating the correlation coefficient T (k, d) of each suspected target according to the determined suspected target and the extended cross-correlation characteristic coding sequencek,nz) Extracting the maximum correlation coefficient T of each suspected targetm(k,dk)；
The extended cross-correlation property code sequence is in the laser pulse code sequence mp(rk) Is carried out on the basis of the code sequence of the cross-correlation property of (a) by a position region code offset, the value of which is nz，nz＝1,2,…,N；
Step 4, according to the maximum correlation coefficient T in all the obtained suspected targetsm(k,dk) Determining the maximum value T of the maximum correlation coefficient among all the suspected targetsmmThat is, the suspected target corresponding to the maximum value is the real target, and the maximum value T is calculatedmmCorresponding position area coding offset value nzmAnd a grid position value dkm；
Step 5, calculating the distance measurement distance of the target; the distance measurement is the laser pulse flight time grid number Ds：
Ds＝dkm+Ns×(N-nzm+1)；
Wherein N issIs the time grid number of a location area.
Further, calculating a correlation coefficient T (k, d) of each suspected target in the step 3k,nz) The process comprises the following steps:
1) according to the laser pulse code sequence mp(rk) Calculating the cross-correlation characteristic code sequence mc(rk)；
The cross-correlation characteristic code sequence mc(rk) Comprises the following steps:
Figure BDA0002526672780000031
2) setting the extended code value of the position area to rknCoding the sequence m based on the calculated cross-correlation propertyc(rk) Calculating an extended cross-correlation property code sequence mcn(rkn)：
Figure BDA0002526672780000041
3) Calculating a correlation coefficient T (k, d) for each suspected targetk,nz)；
Figure BDA0002526672780000042
Wherein n iszThe value of the offset is encoded for the position region.
Furthermore, the coding bit number N of the pseudo random code is set according to the farthest ranging distance.
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FIG. 1 is a schematic process diagram of a single photon ranging method based on pseudo-random code deblurring according to the present invention.
Detailed Description
The features and properties of the present invention are described in further detail below with reference to examples.
The embodiment of the distance measuring method comprises the following steps:
the invention provides a single photon ranging method based on pseudo-random code deblurring, which mainly carries out pseudo-random code coding on a laser signal to obtain a high-frequency laser pulse sequence and realize repeated transmission; recording single photon trigger events in the whole pulse sequence time during echo detection, and performing histogram accumulation on the single photon trigger events of the coding sequence by adopting a photon counting method; through the correlation detection of the echo accumulated waveform and the coding code sequence reference waveform, the flight time of the laser pulse sequence is obtained, and therefore the corresponding target distance is determined; the invention can expand the measurable laser flight time by N times, effectively improves the maximum distance measurement distance, solves the problem of distance measurement ambiguity and greatly reduces the calculated amount.
Specifically, the single photon ranging method based on pseudo-random code deblurring of the embodiment includes the following steps:
step 1, in the process of distance measurement, a laser signal is generated again by a laser, and the laser signal is a laser pulse coding sequence m modulated by a pseudo-random codep(rk)：
mp(rk) 1 or 0 (1)
rk＝1,2,…,16
Wherein r iskThe position region is encoded with a value.
Step 2, receiving a laser echo signal sequence, determining a maximum value sequence of the laser echo signal sequence, and determining a suspected target containing range finding ambiguity according to the maximum value sequence, wherein the maximum value sequence of the laser echo signal sequence is Sm(k,dk,rk) (ii) a Wherein k is the number of suspected targets, dkIs a suspected target grid location value.
It should be noted that, both the system parameters and the TCSPC accumulation result are considered to be known, that is, the number of suspected targets after TCSPC accumulation is known to be k, and the suspected target grid position value dkIn this embodiment, the maximum value sequence of the laser echo signal sequence is a sequence corresponding to a threshold value that is greater than a set threshold value after the received laser echo sequence is accumulated, that is, the maximum value sequence Sm(k,dk,rk) Which is known according to the requirements of a given ranging system.
Step 3, calculating the correlation coefficient T (k, d) of each suspected target according to the determined suspected target and the extended cross-correlation characteristic coding sequencek,nz) Extracting the maximum correlation coefficient T of each suspected targetm(k,dk) (ii) a Wherein n iszThe value of the offset is encoded for the position region.
The specific calculation method comprises the following steps:
1) according to the laser pulse code sequence mp(rk) Calculating the cross-correlation characteristic code sequence mc(rk)：
Figure BDA0002526672780000051
2) Setting the extended code value of the position area to rknCoding the sequence m based on the calculated cross-correlation propertyc(rk) Calculating an extended cross-correlation property code sequence mcn(rkn)：
Figure BDA0002526672780000052
3) Calculating the correlation coefficient T (k, d) of each suspected targetk,nz)；
Figure BDA0002526672780000053
Wherein n iszThe value of the offset is encoded for the position region.
Step 4, according to the maximum correlation coefficient T in all the obtained suspected targetsm(k,dk) Determining the maximum value T of the maximum correlation coefficient among all the suspected targetsmm(dkm) That is, the suspected target corresponding to the maximum value is the real target, and the maximum value T is calculatedmm(dkm) Corresponding position area coding offset value nzmAnd a grid position value dkm；
Wherein the content of the first and second substances,
Figure BDA0002526672780000054
Tmm(dkm)＝maxkTm(k,dk) (6)
step 5, calculating the distance measurement distance of the target; the distance measurement is the laser pulse flight time grid number Ds：
Ds＝dkm+Ns×(N-nzm+1)；
Wherein N issIs the time grid number of a location area.
In this embodiment, the number 1 laser emission pulse is used as a timing start point, the maximum correlation coefficient position is used as a timing end point, and the time interval between the timing start point and the timing end point is the time grid number D of the laser pulse flightsSuch as the time interval between curve b and curve d in fig. 1.
Specifically, the above method is described with reference to the accompanying drawings, when N is 16, as shown in fig. 1, curve a is a laser pulse code sequence 1000101010010010 emitted by the laser;
the method includes the steps of receiving a laser callback signal sequence, accumulating the received laser echo signal sequence, and determining the laser echo signal sequence as a maximum value sequence of the laser echo signal sequence when the accumulated value of the laser echo signal sequence is greater than a set threshold, where the accumulated value of the laser echo signal sequence in this embodiment is 71, 73, and 69, and the determined suspected target is:
Sm(1,dk,rk)＝[0 11 0 0 12 0 12 0 0 0 11 0 13 0 12 0]，
Sm(2,dk,rk)＝[0 11 0 14 12 0 0 0 0 0 11 0 14 0 11 0]，
Sm(3,dk,rk)＝[0 11 12 0 11 0 0 0 0 0 0 11 0 12 12 0]，k＝1,2,3，rk＝1,2,…,16。
meanwhile, the cross-correlation characteristic coding sequence m can be obtained according to the formula (2) in the step 3c＝[1 -1 -1 -1 1-1 1 -1 1 -1 -1 1 -1 -1 1 -1]；
The extended cross-correlation property code sequence m can be obtained from equation (3)cn：
mcn＝[1 -1 -1 -1 1 -1 1 -1 1 -1 -1 1 -1 -1 1 -1 1 -1 -1 -1 1 -1 1 -1 1-1 -1 1 -1 -1 1 -1]；
Thereafter, the determined suspected target and m are combinedcnThe correlation coefficient of each suspected target may be calculated according to equation (4):
T(1,d1,nz)＝[1 -49 27 -49 1 -25 -25 -25 3 -71 71 -71 1 -25 -25 -23]
T(2,d2,nz)＝[-27 -23 1 -23 1 -23 -29 -27 5-73 45 -45 1 -1 -51 -23]
T(3,d3,nz)＝[-1 -45 1 -1 -23 -25 -21 -1 -45 1 -1 -23 -23 -1 -21 -47]
wherein n isz＝1,2,…,16；
According to step 4, obtaining the maximum value of each suspected target correlation coefficient to obtain:
Tm(1,d1,nz)＝71，nz＝11
Tm(2,d2,nz)＝45，nz＝11
Tm(3,d3,nz)＝1， n z3 or 10;
comparing the maximum value T in each suspected target correlation coefficientmDetermining TmMaximum value of (1), Tmm(d1)＝71，nz＝11；
In the above embodiment, the maximum correlation coefficient is obtained when k is 1, and T (1, d)k,nz)＝[1 -49 27 -49 125 -25 -25 3 -71 71 -71 1 -25 -25 -23]The maximum value 71 can be determined, and the data on both sides of the maximum value oscillate and can be similar to the waveform diagram of the maximum correlation coefficient shown in the curve d in fig. 1.
The number of grids calculated is Ds60050 +10000 × (16-11+1), where Ns＝10000，d1＝50。
In this embodiment, it can be known from the above calculation that the laser echo signal sequence of the determined optimal solution (i.e. the echo signal sequence of the target) is: sm(1,dk,rk)＝[0 11 0 0 12 0 12 0 0 0 11 0 13 0 12 0]The maximum value sequence of the laser echo signal accumulation value can be analogized to the curve c in fig. 1.
In this embodiment, since the laser echo signal sequence has a certain similarity to the laser pulse emission sequence, it can obtain the waveform (curve d) of the maximum correlation coefficient through cross-correlation calculation, that is, the correlation coefficient value reaches the maximum value near the No. 1 echo pulse; wherein, at the position where the laser pulse code is 0, the laser does not emit a pulse signal.
Distance measuring device embodiment:
the invention also provides a single photon distance measuring device based on pseudo-random code deblurring, which is actually equipment with data processing capability such as a computer and the like, and the equipment comprises a processor and a memory, wherein the processor is used for executing instructions to realize the single photon distance measuring method based on pseudo-random code deblurring.
The present invention has been described in relation to particular embodiments thereof, but the invention is not limited to the described embodiments. In the thought given by the present invention, the technical means in the above embodiments are changed, replaced, modified in a manner that is easily imaginable to those skilled in the art, and the functions are basically the same as the corresponding technical means in the present invention, and the purpose of the invention is basically the same, so that the technical scheme formed by fine tuning the above embodiments still falls into the protection scope of the present invention.

Claims (6)

1. A single photon ranging method based on pseudo-random code deblurring is characterized by comprising the following steps:
step 1, in the process of distance measurement, a laser signal is generated again by a laser, and the laser signal is a laser pulse coding sequence m modulated by a pseudo-random codep(rk)：
mp(rk) 1 or 0, rk＝1,2,…,N；
Where N is the pseudo-random code encoding number, rkCoding values for the location areas;
step 2, receiving a laser echo signal sequence, determining a maximum value sequence of the laser echo signal sequence, and determining a suspected target containing ranging ambiguity according to the maximum value sequence; the maximum value sequence of the laser echo signal sequence is Sm(k,dk,rk) (ii) a Wherein k is the number of suspected targets，dkIs the grid position value;
step 3, calculating the correlation coefficient T (k, d) of each suspected target according to the determined suspected target and the extended cross-correlation characteristic coding sequencek,nz) Extracting the maximum correlation coefficient T of each suspected targetm(k,dk)；
The extended cross-correlation property code sequence is in the laser pulse code sequence mp(rk) Is carried out on the basis of the code sequence of the cross-correlation property of (a) by a position region code offset, the value of which is nz，nz＝1,2,…,N；
Step 4, according to the maximum correlation coefficient T in all the obtained suspected targetsm(k,dk) Determining the maximum value T of the maximum correlation coefficient among all the suspected targetsmmThat is, the suspected target corresponding to the maximum value is the real target, and the maximum value T is calculatedmmCorresponding position area coding offset value nzmAnd a grid position value dkm；
Step 5, calculating the distance measurement distance of the target; the distance measurement is the laser pulse flight time grid number Ds：
Ds＝dkm+Ns×nzm；
Wherein N issIs the time grid number of a location area.
2. The pseudo-random code deblurring-based single photon ranging method of claim 1 wherein each suspected target correlation coefficient T (k, d) is calculated in step 3k,nz) The process comprises the following steps:
1) according to the laser pulse code sequence mp(rk) Calculating the cross-correlation characteristic code sequence mc(rk)；
The cross-correlation characteristic code sequence mc(rk) Comprises the following steps:
Figure FDA0002526672770000011
2) setting the extended code value of the position area to rknCoding the sequence m based on the calculated cross-correlation propertyc(rk) Calculating an extended cross-correlation property code sequence mcn(rkn)：
Figure FDA0002526672770000012
3) Calculating a correlation coefficient T (k, d) for each suspected targetk,nz)；
Figure FDA0002526672770000021
nz＝1,2,…,N
Wherein n iszThe value of the offset is encoded for the position region.
3. The pseudo-random code deblurring-based single photon ranging method of claim 1 wherein the number of coded bits N of the pseudo-random code is set according to the farthest ranging distance.
4. A single photon ranging device based on pseudo-random code deblurring, comprising a processor, wherein the processor is configured to execute the following method instructions:
step 1, in the process of distance measurement, a laser signal is generated again by a laser, and the laser signal is a laser pulse coding sequence m modulated by a pseudo-random codep(rk)：
mp(rk) 1 or 0, rk＝1,2,…,N；
Where N is the pseudo-random code encoding number, rkCoding values for the location areas;
step 2, receiving a laser echo signal sequence, determining a maximum value sequence of the laser echo signal sequence, and determining a suspected target containing ranging ambiguity according to the maximum value sequence; the maximum value sequence of the laser echo signal sequence is Sm(k,dk,rk) (ii) a Wherein k is the number of suspected targets, dkIs the grid position value;
step 3, calculating the correlation coefficient T (k, d) of each suspected target according to the determined suspected target and the extended cross-correlation characteristic coding sequencek,nz) Extracting the maximum correlation coefficient T of each suspected targetm(k,dk)；
The extended cross-correlation property code sequence is in the laser pulse code sequence mp(rk) Is carried out on the basis of the code sequence of the cross-correlation property of (a) by a position region code offset, the value of which is nz，nz＝1,2,…,N；
Step 4, according to the maximum correlation coefficient T in all the obtained suspected targetsm(k,dk) Determining the maximum value T of the maximum correlation coefficient among all the suspected targetsmmThat is, the suspected target corresponding to the maximum value is the real target, and the maximum value T is calculatedmmCorresponding position area coding offset value nzmAnd a grid position value dkm；
Step 5, calculating the distance measurement distance of the target; the distance measurement is the laser pulse flight time grid number Ds：
Ds＝dkm+Ns×(N-nzm+1)；
Wherein N issIs the time grid number of a location area.
5. The pseudo-random code deblurring-based single photon ranging device of claim 4 wherein each suspected target correlation coefficient T (k, d) is calculated in step 3k,nz) The process comprises the following steps:
1) according to the laser pulse code sequence mp(rk) Calculating the cross-correlation characteristic code sequence mc(rk)；
The cross-correlation characteristic code sequence mc(rk) Comprises the following steps:
Figure FDA0002526672770000031
2) setting the extended code value of the position area to rknCoding the sequence m based on the calculated cross-correlation propertyc(rk) Calculating an extended cross-correlation property code sequence mcn(rkn)：
Figure FDA0002526672770000032
3) Calculating a correlation coefficient T (k, d) for each suspected targetk,nz)；
Figure FDA0002526672770000033
nz＝1,2,…,N
Wherein n iszThe value of the offset is encoded for the position region.
6. The pseudo-random code deblurring-based single photon ranging device of claim 4, wherein the number of coded bits N of the pseudo-random code is set according to the farthest ranging distance.
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杨芳;张鑫;贺岩;陈卫标;: "采用高速伪随机码调制和光子计数技术的光纤激光测距***" *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023279618A1 (en) * 2021-07-07 2023-01-12 奥比中光科技集团股份有限公司 Distance measurement system, and method for shielding fuzzy distance value
CN115494512A (en) * 2022-11-15 2022-12-20 中国科学院西安光学精密机械研究所 Multi-frequency single photon ranging method and system based on pseudorandom coding

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