CN112379388B - Three-dimensional vector velocity measurement system and method based on structural light field - Google Patents
Three-dimensional vector velocity measurement system and method based on structural light field Download PDFInfo
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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
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/36—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light
- G01P3/366—Devices characterised by the use of optical means, e.g. using infrared, visible, or ultraviolet light by using diffraction of light
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Abstract
The invention discloses a three-dimensional vector speed measuring system and a measuring method based on a structural light field, which relate to the technical field of laser multidimensional speed measurement and aim to solve the problems that in the prior art, the three-dimensional vector speed is measured more complicated, the precision is not high and the instantaneity is poor; the receiving optical system adjusts the echo signals and then enables the echo signals to pass through the back surface of the unidirectional reflecting glass to be loaded to the array detector; and the local oscillation signal is aligned to a radial Doppler effect light spot in the center of the optical field of the echo structure; the array detector detects four transverse Doppler effect light spot areas and a superposition area of the radial Doppler effect light spot and the local oscillation signal to obtain the corresponding total light intensity at each moment; and the three-dimensional vector speed of the moving object is calculated according to the total light intensity at each moment by a three-dimensional vector speed calculating module.
Description
Technical Field
The invention relates to the technical field of laser multidimensional speed measurement, in particular to a three-dimensional vector speed measurement system and a three-dimensional vector speed measurement method based on an orbital angular momentum composite modulation structure light field.
Background
The three-dimensional vector velocity measurement has important significance in the fields of science and technology, such as civil aspects of weather detection, automatic driving and the like, and military aspects of early warning, navigation, fire control and the like. In the prior art, the three-dimensional vector speed can be measured and synthesized or estimated by multi-equipment multi-point multi-angle measurement, the measurement method is complex, the precision is low, the real-time performance is poor, and the application requirements can not be well met.
Disclosure of Invention
The invention aims to solve the problems of complex measurement, low precision and poor real-time performance of three-dimensional vector speed in the prior art, and provides a three-dimensional vector speed measurement system and a three-dimensional vector speed measurement method based on a structural light field.
The invention discloses a three-dimensional vector velocity measurement system based on a structural light field, which comprises a laser, a single-mode fiber, an optical fiber beam splitter, a spatial light modulator, a 4F system, a transmitting optical system, a receiving optical system, an optical fiber collimator, unidirectional reflection glass, an array detector and a three-dimensional vector velocity resolving module, wherein the optical fiber beam splitter is arranged on the optical fiber beam splitter;
the laser emits outgoing laser signals to the single-mode optical fiber, the single-mode optical fiber selects a single transverse mode Gaussian mode laser signal in the outgoing laser signals to be incident to the optical fiber beam splitter, the optical fiber beam splitter divides the incident single transverse mode Gaussian mode laser signals into two paths, and one path of single transverse mode Gaussian mode laser signals is incident to the spatial light modulator; the other path of single transverse mode Gaussian mode laser signal is used as a local oscillation signal to be incident to the optical fiber collimator;
the spatial light modulator carries out multi-order angular momentum complex modulation on an incident single transverse mode Gaussian mode laser signal to generate a modulation signal, and the modulation signal is incident to a 4F system;
the modulation signal is a light beam with overlapped multi-order orbital angular momentum of-4 order, 0 order and 4 order; the modulation structure light field is in a cross structure and comprises a radial Doppler effect light spot positioned in the center and four transverse Doppler effect light spots positioned around the radial Doppler effect light spot; the modulation structure light field is the structure light field of the modulation signal;
the 4F system screens out 1-level modulation signals from the incident modulation signals and transmits the 1-level modulation signals to the transmitting optical system;
the transmitting optical system irradiates a level 1 modulation signal on a moving object to be detected, and the moving object to be detected reflects the level 1 modulation signal to generate an echo signal to be incident to the receiving optical system; the structure of the echo structure light field is the same as that of the modulation structure light field; the echo structure light field is the structure light field of the echo signal;
the receiving optical system adjusts the echo signals and then enables the echo signals to pass through the back surface of the unidirectional reflecting glass to be loaded to the array detector;
the optical fiber collimator adjusts the incident local oscillation signals and transmits the local oscillation signals to the reflecting surface of the unidirectional reflecting glass; the local oscillation signals are reflected by the reflecting surface of the unidirectional reflecting glass and then loaded to the array detector, and the local oscillation signals are aligned to radial Doppler effect light spots in the center of the optical field of the echo structure;
the array detector is used for detecting four transverse Doppler effect light spot areas of the echo structure light field and a superposition area of the radial Doppler effect light spot and the local oscillation signal to obtain the corresponding total light intensity at each moment; and the corresponding total light intensity at each moment is sent to a three-dimensional vector speed resolving module;
the three-dimensional vector speed calculating module is connected with the array detector and is used for calculating the three-dimensional vector speed of the moving object according to the corresponding total light intensity at each moment.
The invention relates to a measuring method of a three-dimensional vector velocity measuring system based on a structural light field, which comprises the following steps of:
step one, overlapping phase diagrams of-4, 0 and 4 steps into a composite phase diagram;
step two, loading the composite phase diagram onto a spatial light modulator;
and step three, when the single transverse mode Gaussian mode laser signal is incident to the spatial light modulator, the spatial light modulator modulates the incident single transverse mode Gaussian mode laser signal into a light beam with overlapped multi-order orbital angular momentum of-4 order, 0 order and 4 order.
Further, the superposition area of the radial Doppler effect light spot and the local oscillation signal of the echo structure light field comprises a No. 1 light spot area, and the No. 1 light spot area corresponds to the Z direction of the three-dimensional vector speed;
the four transverse Doppler effect light spot areas of the echo structure light field comprise a No. 2 light spot area, a No. 3 light spot area, a No. 4 light spot area and a No. 5 light spot area;
the No. 2 light spot area and the No. 4 light spot area are positioned on a transverse straight line passing through the No. 1 light spot area, and the No. 2 light spot area and the No. 4 light spot area respectively correspond to the Y positive direction and the Y negative direction of the three-dimensional vector speed;
the No. 3 light spot area and the No. 5 light spot area are positioned on a longitudinal straight line passing through the No. 1 light spot area, and the No. 3 light spot area and the No. 5 light spot area respectively correspond to the X positive direction and the X negative direction of the three-dimensional vector speed.
Further, the specific method for calculating the three-dimensional vector speed of the moving object by the three-dimensional vector speed calculating module according to the total light intensity at each corresponding moment is as follows:
step two, performing Fourier transform on the time sequence signals of the total light intensity of the No. 1 light spot area at each moment, and extracting Doppler frequency shift quantity delta f z And a three-dimensional vector velocity component V is obtained by the following formula z ：
Δf z ＝f 0 V z /c
Wherein f 0 The frequency of the emergent laser signal, c is the speed of light;
step two, performing Fourier transform on time sequence signals of total light intensity of the spot area 3 and the spot area 5 at each moment, and extracting Doppler frequency shift quantity delta f x And a three-dimensional vector velocity component V is obtained by the following formula x ：
Δf y ＝-sinα·f 0 V y /c
Wherein, alpha is approximately equal to lambada l/2 pi r, lambda is the wavelength of the laser signal, l is the orbital angular momentum order of the corresponding light spot area, and r is the radius of the corresponding light spot area;
step two, fourier transformation is carried out on time sequence signals of total light intensity of each moment of the No. 2 light spot area and the No. 4 light spot area, and Doppler frequency shift quantity delta f is extracted y And a three-dimensional vector velocity component V is obtained by the following formula y ；
Δf x ＝-sinα·f 0 V x /c
Step two, four, the three-dimensional vector velocity component V x 、V y And V z According to the three-dimensional coordinate relation, resolving the three-dimensional vector speed of the synthesized moving object
The beneficial effects of the invention are as follows:
the invention does not need to rely on post-processing algorithms such as multi-equipment multi-point multi-angle measurement synthesis or image processing estimation, and the like, adds multi-order orbital angular momentum complex modulation on the basis of a laser Doppler velocity measurement technology with high precision and good real-time performance, realizes special phase structure light beams by special superposition design on the basis of a spiral phase structure of the orbital angular momentum light beams, effectively increases space phase information, can obtain a transverse Doppler effect besides the traditional linear Doppler effect, then carries out detection and calculation on a plurality of characteristic points on a structural light field of an echo, fully utilizes the radial Doppler effect and the transverse Doppler effect, and realizes high-precision real-time laser three-dimensional vector velocity measurement.
Drawings
FIG. 1 is a schematic structural diagram of a three-dimensional vector velocity measurement system based on a structured light field of the present invention;
FIG. 2 is a schematic diagram of an echo structured light field according to the present invention;
fig. 3 is a schematic diagram of the principle of multi-point detection of the echo structure optical field of the present invention.
Detailed Description
In a first embodiment, the three-dimensional vector velocity measurement system based on the structured light field of the present embodiment adopts the following technical scheme: the spiral phase structure of the orbital angular momentum beam is used as a basis, a special phase structure beam is realized through a special superposition design, and the space phase information is effectively increased, so that a transverse Doppler effect can be obtained besides a traditional linear Doppler effect, then a plurality of characteristic points are detected and calculated on a structural light field of an echo, a transverse velocity component and a radial velocity component of a target are obtained at the same time, and the three-dimensional vector velocity of the target is reconstructed.
The special structural light field is designed by utilizing orbital angular momentum multi-order composite modulation, so that the spatial phase information is effectively increased, the designed structural light field not only comprises the traditional radial Doppler effect but also comprises the transverse Doppler effect, then a plurality of characteristic points are detected and solved for the structural light field of the echo, meanwhile, the transverse velocity component and the radial velocity component of the target are obtained, and finally the three-dimensional vector velocity of the target is reconstructed.
As shown in fig. 1, the system includes: a laser 1, a single-mode fiber 2, a fiber beam splitter 3, a spatial light modulator, a 4F system 5, a transmitting optical system 6, a receiving optical system 7, a fiber collimator 8, a one-way reflecting glass 9, an array detector 10, and a three-dimensional vector velocity resolving module 11 (which may be configured as a computer).
In a first embodiment, the specific working method of the three-dimensional vector velocity measurement system based on the structured light field in this embodiment is as follows:
the laser 1 generates a laser signal, and the laser signal can obtain a good single transverse mode Gaussian mode through the single mode optical fiber 2 so as to ensure the modulation efficiency of a light field designed later. Then the laser signal is divided into two parts by the optical fiber beam splitter 3, one part loads the designed structural light field based on orbital angular momentum complex modulation by the spatial light modulator, and the other part is used as a local oscillation signal to be transmitted to the optical fiber collimator 8 in the receiver. And then the modulated signal is subjected to 4F system selection to obtain a 1-level modulated signal with highest signal purity, and the 1-level modulated signal is transmitted out through a transmitting optical system 6 to irradiate a moving object to be detected.
The spatial light modulator used in the system uses specially designed (-4 th order, 0 th order, 4 th order) multi-order orbital angular momentum superposition spatial phase modulation, and the obtained special structure light field is shown in figure 2, and the center of the light field comprises a light spot corresponding to the traditional radial Doppler effect; four spots are included around the circumference, corresponding to the transverse Doppler effect.
The optical fiber systems such as the single-mode optical fiber 2, the optical fiber beam splitter 3 and the like used in the system can obtain a better Gaussian mode from the laser 1, and the modulation efficiency of a designed structural optical field can be effectively improved.
The 4F system 5 used in the system can effectively select 1-level modulation signals to obtain higher-purity structural light field modulation signals. Wherein the 1 st order modulated signal is a 1 st order diffraction modulated signal of the spatial light modulator.
The moving object has three-dimensional moving speed(can be composed of three-dimensional velocity component V x ，V y And V z A complete representation). Through the process ofA part of the signal is returned to the receiving optical system 7 by reflection of the moving object, and is collected by the receiving optical system 7. The received structured light field is directed onto the array detector 10 via adjustment of the receiving optical system 7. The unidirectional reflecting glass 9 has no influence on echo signals, and the unidirectional reflecting glass 9 mainly loads local oscillation signals regulated by the optical fiber collimator 8 onto the array detector 10. It should be noted here that the local oscillator signal is aligned only to the central region of the echo structure optical field, not the entire echo optical field. This is due to the nature of the orbital angular momentum signal, the higher the orbital angular momentum order, the larger the radius of the signal energy distribution, so the central region of the structured light field is mainly the 0 th order orbital angular momentum component, and other superimposed higher order orbital angular momentum components are distributed in the off-center region.
As shown in FIG. 2, according to the energy distribution of the structural light field, the structural light field is divided into 5 main areas, the central No. 1 light spot area is mainly a 0-order orbital angular momentum component, the other No. 2 light spot areas to No. 5 light spot areas are mainly high-order orbital angular momentum components, and the No. 2 light spot areas to No. 5 light spot areas are uniformly distributed through special structural light field design and respectively correspond to a Y positive direction, an X positive direction, a Y negative direction and an X negative direction, so that the three-dimensional vector speed can be conveniently calculated. The signals detected by the array detector 10 are then classified into 5 regions:
the multi-characteristic point detection is adopted for the detection of the echo structure light field, wherein the local oscillation signals separated by the optical fiber beam splitter are regulated and controlled by the collimator 8 and are only aligned to the center of the echo structure light field and are only mixed with the central light spot, and the other four light spots are independently detected.
The central No. 1 light spot area is mainly composed of 0-order orbital angular momentum components, the echo of the No. 1 light spot area is mixed with a local oscillation signal, after detection, the detection is subjected to Fourier transform, and then Doppler frequency shift quantity is extracted, and the frequency shift quantity corresponds to the traditional linear Doppler frequency shift delta f z ＝f 0 V z And/c, the radial velocity, i.e. the three-dimensional velocity component V, can be solved z ；
The No. 2 light spot area and the No. 4 light spot area are also detected respectively and then are classified and processed, and the detection results areFourier transforming and extracting Doppler shift quantity Deltaf y ＝-sinα·f 0 V y And/c, the three-dimensional velocity component V can be calculated y The method comprises the steps of carrying out a first treatment on the surface of the (wherein α≡λl/2πr is a parameter related to wavelength λ, orbital angular momentum order l, spot radius r);
the No. 3 light spot area and the No. 5 light spot area are respectively detected and then are classified, and Doppler frequency shift quantity delta f is extracted after Fourier transformation x ＝-sinα·f 0 V x And/c, the three-dimensional velocity component V can be calculated x 。
Wherein the No. 2 and No. 4 spot areas are on the x-axis, but the three-dimensional velocity component V in the y-direction is measured y The same applies to the spot areas 3 and 5 on the y-axis, but the x-direction velocity component V is measured x 。
The Fourier transform refers to that the time sequence signals are subjected to Fourier transform, signals of the same light spot area of one light spot area (3 or 5) are overlapped, the total light intensity of each moment corresponding to the light spot area is measured, the light intensity is subjected to intensity transform along with time, and then Doppler frequency shift quantity is extracted after the time sequence signals with the intensity transform are subjected to Fourier transform.
The multi-point detection and calculation process is that, as shown in FIG. 2, the radial velocity component V is calculated according to the linear Doppler effect of the area 1 z The method comprises the steps of carrying out a first treatment on the surface of the From regions 3 and 5, velocity component V is solved x The method comprises the steps of carrying out a first treatment on the surface of the From regions 2 and 4, velocity component V is solved y . Finally according to the V x ，V y And V z Reconstructing the three-dimensional true vector velocity.
And finally, calculating and synthesizing the three-dimensional vector speed to be measured according to the three-dimensional coordinate relation.
Claims (4)
1. The three-dimensional vector velocity measurement system based on the structural light field is characterized by comprising a laser (1), a single-mode fiber (2), an optical fiber beam splitter (3), a spatial light modulator (4), a 4F system (5), a transmitting optical system (6), a receiving optical system (7), an optical fiber collimator (8), unidirectional reflection glass (9), an array detector (10) and a three-dimensional vector velocity calculation module (11);
the laser device (1) emits outgoing laser signals to the single-mode optical fiber (2), the single-mode optical fiber (2) selects single transverse mode Gaussian mode laser signals in the outgoing laser signals to be incident to the optical fiber beam splitter (3), the optical fiber beam splitter (3) divides the incident single transverse mode Gaussian mode laser signals into two paths, and one path of single transverse mode Gaussian mode laser signals are incident to the spatial light modulator (4); the other path of single transverse mode Gaussian mode laser signal is used as a local oscillation signal to be incident into an optical fiber collimator (8);
the spatial light modulator (4) carries out multi-order angular momentum complex modulation on an incident single transverse mode Gaussian mode laser signal to generate a modulation signal, and the modulation signal is incident to the 4F system (5);
the modulation signal is a light beam with overlapped multi-order orbital angular momentum of-4 order, 0 order and 4 order; the modulation structure light field is in a cross structure and comprises a radial Doppler effect light spot positioned in the center and four transverse Doppler effect light spots positioned around the radial Doppler effect light spot; the modulation structure light field is the structure light field of the modulation signal;
the 4F system (5) screens out 1-level modulation signals from the incident modulation signals and transmits the 1-level modulation signals to the transmitting optical system (6);
the transmitting optical system (6) irradiates the level 1 modulation signal to a moving object to be detected, and the moving object to be detected reflects the level 1 modulation signal to generate an echo signal to be incident to the receiving optical system (7); the structure of the echo structure light field is the same as that of the modulation structure light field; the echo structure light field is the structure light field of the echo signal;
the receiving optical system (7) adjusts the echo signals and then loads the echo signals to the array detector (10) through the back surface of the unidirectional reflecting glass (9);
the optical fiber collimator (8) adjusts an incident local oscillation signal and transmits the adjusted local oscillation signal to a reflecting surface of the unidirectional reflecting glass (9); the local oscillation signals are loaded to the array detector (10) after being reflected by the reflecting surface of the unidirectional reflecting glass (9), and the local oscillation signals are aligned to radial Doppler effect light spots at the center of the echo structure light field;
the array detector (10) is used for detecting four transverse Doppler effect light spot areas of the echo structure light field and a superposition area of the radial Doppler effect light spot and the local oscillation signal to obtain the corresponding total light intensity at each moment; and transmitting the corresponding total light intensity at each moment to a three-dimensional vector speed calculation module (11);
and the three-dimensional vector speed calculating module (11) is connected with the array detector (10) and is used for calculating the three-dimensional vector speed of the moving object according to the corresponding total light intensity at each moment.
2. The measuring method of the three-dimensional vector velocity measuring system based on the structured light field according to claim 1, wherein the specific method for generating the modulation signal by the spatial light modulator (4) through multi-order angular momentum complex modulation of the incident single transverse mode gaussian mode laser signal is as follows:
step one, overlapping phase diagrams of-4, 0 and 4 steps into a composite phase diagram;
step two, loading the composite phase diagram onto a spatial light modulator (4);
and step three, when the single transverse mode Gaussian mode laser signal is incident to the spatial light modulator (4), the spatial light modulator (4) modulates the incident single transverse mode Gaussian mode laser signal into a light beam with overlapped multi-order orbital angular momentum of-4 order, 0 order and 4 order.
3. The method of measuring according to claim 2, wherein,
the superposition area of the radial Doppler effect light spot and the local oscillation signal of the echo structure light field comprises a No. 1 light spot area, and the No. 1 light spot area corresponds to the Z direction of the three-dimensional vector speed;
the four transverse Doppler effect light spot areas of the echo structure light field comprise a No. 2 light spot area, a No. 3 light spot area, a No. 4 light spot area and a No. 5 light spot area;
the No. 2 light spot area and the No. 4 light spot area are positioned on a transverse straight line passing through the No. 1 light spot area, and the No. 2 light spot area and the No. 4 light spot area respectively correspond to the Y positive direction and the Y negative direction of the three-dimensional vector speed;
the No. 3 light spot area and the No. 5 light spot area are positioned on a longitudinal straight line passing through the No. 1 light spot area, and the No. 3 light spot area and the No. 5 light spot area respectively correspond to the X positive direction and the X negative direction of the three-dimensional vector speed.
4. A measuring method according to claim 3, characterized in that the three-dimensional vector velocity calculating module (11) calculates the three-dimensional vector velocity of the moving object from the total light intensity at each corresponding moment by the following method:
step two, performing Fourier transform on the time sequence signals of the total light intensity of the No. 1 light spot area at each moment, and extracting Doppler frequency shift quantity delta f z And a three-dimensional vector velocity component V is obtained by the following formula z ：
Δf z ＝f 0 V z /c
Wherein f 0 The frequency of the emergent laser signal, c is the speed of light;
step two, performing Fourier transform on time sequence signals of total light intensity of the spot area 3 and the spot area 5 at each moment, and extracting Doppler frequency shift quantity delta f x And a three-dimensional vector velocity component V is obtained by the following formula x ：
Δf x ＝-sinα·f 0 V x /c
Wherein, alpha is approximately equal to lambada l/2 pi r, lambda is the wavelength of the laser signal, l is the orbital angular momentum order of the corresponding light spot area, and r is the radius of the corresponding light spot area;
step two, fourier transformation is carried out on time sequence signals of total light intensity of each moment of the No. 2 light spot area and the No. 4 light spot area, and Doppler frequency shift quantity delta f is extracted y And a three-dimensional vector velocity component V is obtained by the following formula y ；
Δf y ＝-sinα·f 0 V y /c
Step two, four, the three-dimensional vector velocity component V x 、V y And V z According to the three-dimensional coordinate relation, resolving the three-dimensional vector speed of the synthesized moving object
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| CN111458011A (en) * | 2020-04-13 | 2020-07-28 | 中国人民解放军战略支援部队航天工程大学 | Vortex rotation based micro-vibration detection device for rotating object with constant rotating speed |
| CN111812346A (en) * | 2020-07-28 | 2020-10-23 | 华中科技大学 | Interference type all-fiber rotary Doppler velocimeter |
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| CN111458011A (en) * | 2020-04-13 | 2020-07-28 | 中国人民解放军战略支援部队航天工程大学 | Vortex rotation based micro-vibration detection device for rotating object with constant rotating speed |
| CN111812346A (en) * | 2020-07-28 | 2020-10-23 | 华中科技大学 | Interference type all-fiber rotary Doppler velocimeter |
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| Rotation velocity detection with orbital angular momentum light spot completely deviated out of the rotation center;ZIJING ZHANG 等;Optics Express;第28卷(第5期);全文 * |
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