CN112526482A - Satellite-borne laser near-coast terrain detection laser radar and detection method - Google Patents
Satellite-borne laser near-coast terrain detection laser radar and detection method Download PDFInfo
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Abstract
The invention provides a satellite-borne laser near-coast terrain detection laser radar and a detection method thereof. The invention utilizes parallel dual-wavelength laser emission, realizes large dynamic detection of deep sea and shallow sea bottom echoes by detecting large and small visual fields of 532nm wavelength laser echoes, and realizes synchronous detection of a sea surface by detecting 1064nm echoes, thereby accurately measuring the near-coast seabed topography and water depth; atmospheric detection is realized through parallel dual-wavelength laser emission and polarization receiving detection; through multi-beam laser emission and sub-field of view receiving and detecting, high-efficiency measurement of ocean wave height and offshore land landform is achieved, a laser radar is carried by a satellite platform, and global-scale offshore land landform and water depth measurement can be achieved through continuous scanning along the satellite flight direction.
Description
Technical Field
The invention belongs to the technical field of terrain detection, and particularly relates to a satellite-borne laser offshore terrain detection laser radar and a detection method, which are suitable for quantitatively measuring coastal terrains, shallow sea terrains and water depths on a global scale and also considering shallow sea water profiles and atmospheric detection.
Background
The marine foundation survey and drawing mainly comprises two parts: water depth measurements and coastal topography measurements. The coastal terrain is an important component of a coastal chart and comprises three parts, namely land terrain above a coastline, intertidal zone beach terrain and shallow sea underwater terrain. The ship sailing process not only depends on water depth information in a chart, but also needs to be combined with coastal and island land information to better optimize a route and realize ship navigation positioning, and meanwhile, offshore and coastal areas are key directions for construction of a sea battlefield, wherein naval landing fighting is resisted by landing and the coast terrain information is seriously depended on.
The traditional ocean depth measurement method adopts a ship sonar echo sounding method, and the principle is that an underwater acoustic transducer is used for transmitting acoustic waves to the underwater, the submarine echo is received, and the depth of water of a measuring point is determined according to echo time. Because the sound wave emission beam is very wide, the sea bottom can be smoothed by the echo signal, the reef or the rock protruding from the sea bottom can not be detected, and thus, a lot of sea bottom terrain and landform information can be omitted, and the measurement accuracy is low. Due to the working platform and principle of the traditional sea water depth measuring method, the traditional sea water depth measuring method cannot carry out measurement on sea areas where ships cannot reach or have disputes, and is not suitable for shallow sea surveying and mapping.
In the sixties of the last century, the emergence of laser radar (Light Detection And Ranging-LIDAR) was soon applied to the field of active marine Detection. The laser radar has the characteristics of long detection distance, high space-time resolution and the like, and is a powerful tool for detecting shallow sea topography and water depth of offshore banks. The laser radar depth measurement technology at the present stage is mainly an airborne platform and forms a series of mature products.
Internationally, in 1968, Hickman and Hogg at Syraces university in the United states built the first laser seawater depth measurement system in the world, firstly expounded the feasibility of the laser water depth measurement technology, and preliminarily established the theoretical basis of the ocean laser detection technology. The SHOALS (shielded Hydraulic operating air Lidar survey) system is a typical overseas ocean exploration Airborne laser radar system, can realize the water depth measuring capability of 30m through a coaxial dual-wavelength laser emission system, is limited by the laser emission energy of the system, has the effective use flight height of only 400m, is developed for more than 20 years, and is the most advanced laser radar ocean exploration system in the world at present.
A large amount of research work is also carried out on the aspects of research on laser radars in China and research on the field of ocean exploration by utilizing the laser radars, but due to the reasons of multiple aspects such as technical maturity and the like, no laser radar satellite load report which is specially used for ocean surveying and mapping and utilizes multi-beam and dual-wavelength high-energy laser emission exists internationally at present. Therefore, the development of double-wavelength and multi-beam satellite-borne laser near-coast terrain detection equipment in China is urgently needed, and an effective observation means is provided for the quantitative measurement of the near-coast terrain, shallow-sea terrain, water depth and the like on the global scale.
Disclosure of Invention
In order to overcome the defects in the prior art and obtain offshore land topography, submarine topography, offshore land sea water depth and atmospheric detection, the inventor of the invention carries out intensive research and provides a satellite-borne laser offshore topography detection laser radar and a detection method, which adopt the technology of dual-wavelength large-energy multi-beam laser emission, multi-channel reception and multi-mode detection and realize submarine and sea surface detection and atmospheric polarization detection by emitting a 1064nm laser beam and a 532nm laser beam in parallel of a 1 beam; the 1064nm wavelength laser beam of the 5-beam is distributed at a fixed included angle and is used for measuring the height of sea waves and offshore land topography. The invention is characterized in that parallel dual-wavelength high-energy laser emission is utilized, large dynamic detection of deep sea and shallow sea bottom echoes is realized by detecting large and small visual fields of 532nm wavelength laser echoes, and synchronous detection of a sea surface is realized by detecting 1064nm echoes, so that the near-coast sea bottom topography and the water depth are accurately measured; atmospheric detection is realized through parallel dual-wavelength laser emission and polarization receiving detection; by multi-beam 1064nm laser emission and sub-field receiving detection, high-efficiency measurement of ocean wave height and offshore land terrain is realized. The laser radar is carried by a satellite platform, and continuously scans along the flight direction of the satellite to realize the working mode of offshore land topography and water depth measurement on a global scale.
Compared with other shallow sea topography detection means such as satellite passive optical remote sensing bathymetry, microwave active remote sensing and the like, the laser radar working in the optical wave band has the advantages of detection all the day, high measurement precision, high measurement speed, strong seawater penetrability and the like. The space-based laser active load is the only remote sensing means which can realize high-precision water depth direct measurement on a satellite-borne platform at the present stage, can realize water depth information acquisition with high plane positioning precision and high depth precision in the global range, can acquire the change conditions of the terrain data, the water depth data, the coastal terrain, the island and the nearby mudflat of the core strategic sea area concerned by our army through satellite attitude maneuver and other means with high density, high frequency and high time efficiency, fills the technical blank of our country in the field of space-based active laser underwater detection, promotes the cross-over development of the offshore water depth basic geographic information acquisition technology of our army, meets the requirement of improving the independent innovation capability of weapon equipment development, and has great military and economic benefits.
The technical scheme provided by the invention is as follows:
in a first aspect, a laser radar for offshore and offshore terrain surveying on board a satellite, comprising a laser sensor unit comprising a laser emitting device and an echo receiving device, and a signal processing and control unit, wherein,
the laser emitting device includes:
the laser is used for generating double-wavelength laser of 532nm and 1064nm under the control of the laser controller;
the emission optical splitting device is used for carrying out color separation on dual-wavelength laser beams output by the laser to generate 1064nm wavelength laser beams of 5 beams and 532nm wavelength laser beams of 1 beam, wherein the 1064nm wavelength laser beams of the 1 beam are emitted in parallel with the 532nm wavelength laser beams as central beams and are used for seabed and sea surface detection and atmospheric polarization detection; the rest 4 wave beams with 1064nm wavelength laser beams are distributed around the central beam as edge wave beams and are used for measuring the sea wave height and the offshore land terrain together with the central beam;
an echo receiving device includes:
the large-caliber telescope is used for receiving the ground laser echo;
the relay optical device is used for performing field division receiving and polarization receiving on the laser echo received by the large-aperture telescope, and dividing the laser echo into a 532nm large-field channel, a 532nm small-field parallel polarization channel, a 532nm small-field vertical polarization channel, a 1064nm central channel and 4 1064nm edge detection channels;
the multi-channel photoelectric detector is used for converting the echo laser received by the relay optical device into an electric signal;
the signal processing and control unit includes:
the signal conditioning and detector control module is used for conditioning and shunting the electric signals output by the multi-channel photoelectric detector and realizing bias voltage setting and on-off control of the multi-channel photoelectric detector under the control of the integrated controller;
the signal acquisition processing module is used for completing signal acquisition and processing of each signal channel output by the signal conditioning and detector control module under the trigger of the synchronous pulse output by the integrated controller, and packaging and uploading the acquired and processed laser echo data, positioning data, time data and load attitude data output by the satellite platform to the satellite platform;
the laser controller is used for controlling the laser emission time, frequency and energy of the laser under the synchronization of the system synchronization signal output by the integrated controller;
and the integrated controller is used for implementing the working parameter configuration, the system synchronization, the measurement and uploading of the working state monitoring quantity of each module of the laser radar and the control instruction interaction with the satellite platform.
In a second aspect, a method for detecting a satellite-borne laser near-coast terrain comprises the following steps:
the laser controller controls the laser to generate 532nm and 1064nm dual-wavelength laser;
the dual-wavelength laser beam output by the laser is subjected to color separation through the emission optical light splitting device, a 1064nm wavelength laser beam of 5 beams and a 532nm wavelength laser beam of 1 beam are generated, wherein the 1064nm wavelength laser beam of 1 beam is emitted in parallel with the 532nm wavelength laser beam as a central beam and is used for seabed and sea surface detection and atmospheric polarization detection; the rest 4 wave beams with 1064nm wavelength laser beams are distributed around the central beam as edge wave beams and are used for measuring the sea wave height and the offshore land terrain together with the central beam;
the large-aperture telescope is used for receiving ground laser echo;
the method comprises the steps that the relay optical device is used for carrying out view field division receiving and polarization receiving on laser echoes received by the large-aperture telescope, and the laser echoes are divided into a 532nm large view field channel, a 532nm small view field parallel polarization channel, a 532nm small view field vertical polarization channel, a 1064nm central channel and 4 1064nm edge detection channels;
converting the echo laser received by the relay optical device into an electric signal through a multi-channel photoelectric detector;
the electrical signals output by the multi-channel photoelectric detector are conditioned and shunted through a signal conditioning and detector control module, a 1064nm central beam signal is shunted into a 1064nm central beam high-speed signal channel and a 1064nm central beam low-speed signal channel, a 532nm small visual field parallel polarization channel electrical signal and a 532nm small visual field vertical polarization channel electrical signal are shunted into a 532nm small visual field parallel polarization high-speed signal channel, a 532nm small visual field vertical polarization high-speed signal channel, a 532nm small visual field parallel polarization low-speed signal channel, a 532nm small visual field vertical polarization low-speed signal channel, a 532nm small visual field parallel polarization single photon detection channel and a 532nm small visual field vertical polarization single photon detection channel, the 532nm large visual field channel and the 4 1064nm edge detection channel electrical signals are shaped and filtered into a 532nm large visual field high-speed signal channel and 4nm edge high-speed signal channels, the bias voltage setting and the switch control of the multi-channel photoelectric detector are realized under the control of the integrated controller;
the signal acquisition and processing module finishes the signal acquisition and processing of each signal channel output by the signal conditioning and detector control module under the triggering of synchronous pulses output by the integrated controller, and packages and uploads the acquired and processed laser echo data, positioning data, time data and load attitude data output by the satellite platform to the satellite platform;
and the integrated controller is used for implementing the working parameter configuration, the system synchronization, the measurement and uploading of the working state monitoring quantity of each module of the laser radar and the control instruction interaction with the satellite platform.
The satellite-borne laser near-coast terrain detection laser radar and the detection method provided by the invention have the following beneficial effects:
(1) the satellite-borne laser near-coast topography detection laser radar and the detection method provided by the invention have 532nm and 1064nm dual-wavelength, high-energy and multi-beam laser emission capabilities, can obtain information of near-coast topography, shallow sea topography and water depth on a global scale, and give consideration to shallow sea water profile and atmospheric detection;
the 1064nm laser beam with the 1 beam and the 532nm laser beam with the 1 beam are emitted in parallel, large dynamic detection of seabed echoes in deep sea and shallow sea is realized by large and small visual field detection of laser echoes with the wavelength of 532nm, so that the direct measurement of the seabed height is realized, the maximum detection water depth can reach 50m, and the seawater profile measurement is realized by continuous sampling of the echoes, and then the seawater attenuation coefficient is inverted to realize the evaluation of water quality; synchronous detection of the sea surface is realized through 1064nm echo detection, and the height measurement of the sea bottom and the sea surface which is superior to 0.15m is realized through high-speed sampling measurement which is more than 1 GHz;
the 1064nm wavelength laser beam with 5 beams forms fixed included angle distribution, and the measurement of sea wave height and offshore land terrain superior to 0.15m is realized through high-speed sampling measurement greater than 1 GHz;
the device has the advantages that 1064nm laser beams with 1 beam and 532nm laser beams are emitted in parallel, through polarization reception, multi-channel low-speed analog sampling larger than 10MHz and multi-channel single photon counting measurement superior to 100ns time resolution are carried out, and the measurement of profiles of atmospheric polarization coefficients and attenuation coefficients superior to 15m vertical resolution is realized;
the device can realize satellite platform carrying, and can continuously scan along the satellite flight direction to realize global offshore landform and water depth measurement and atmospheric ocean profile synchronous detection.
(2) According to the satellite-borne laser near-coast terrain detection laser radar and the detection method, the double-wavelength large-energy solid laser is adopted, double-wavelength emission of 532nm and 1064nm is realized through a frequency doubling technology and a double-wavelength beam expanding technology, and the large-energy laser emission technology is applied, so that the laser emission peak power is improved, the single-pulse energy of more than 1J is realized, the water depth detection capability is improved, and the satellite-borne laser near-coast terrain detection laser radar and the detection method are suitable for the ocean depth measurement requirement of a satellite platform.
(3) The invention provides a satellite-borne laser near-coast terrain detection laser radar and a large-caliber telescope designed in the detection method, wherein the effective caliber is larger than 1m, a reflection-type off-axis Cassegrain telescope is adopted, a primary mirror is used for focusing a received laser echo to a secondary mirror, and the received laser echo is output as a quasi-parallel light path through the secondary mirror; the receiving field of view is adjusted through the field of view grating to be matched with the laser emission wave beam, so that background light interference is filtered, the system detection signal-to-noise ratio is improved, the telescope main body structure adopts a honeycomb supporting structure, the weight of the telescope is reduced while the mechanical strength is ensured, the carrying burden of a satellite platform is reduced, and the satellite platform carrying condition is adapted.
(4) The satellite-borne laser near-coast terrain detection laser radar and the relay optical device designed in the detection method can realize multi-mode and multi-factor cooperative detection optical signal separation.
(5) According to the satellite-borne laser near-coast terrain detection laser radar and the signal processing and control unit designed in the detection method, the laser controller, the signal acquisition and processing module, the signal conditioning and detector control module and the integrated controller are integrated into one unit structure, so that the number of devices is effectively reduced, and the reliability and the usability of the devices are improved.
Drawings
FIG. 1 is a block diagram of a satellite-borne laser coastal terrain detection laser radar;
FIG. 2 is a schematic diagram of a lidar operation;
FIG. 3 is a ground laser beam footprint profile;
fig. 4 is a view showing a field distribution.
Detailed Description
The features and advantages of the present invention will become more apparent and appreciated from the following detailed description of the invention.
According to a first aspect of the present invention, there is provided a laser radar for offshore and offshore terrain surveying on board, as shown in fig. 1, comprising a laser sensor unit and a signal processing and control unit, the laser sensor unit comprising a laser emitting device and an echo receiving device, wherein,
the laser emitting device includes:
the laser is used for generating double-wavelength laser of 532nm and 1064nm under the control of the laser controller;
the emission optical splitting device is used for carrying out color separation on dual-wavelength laser beams output by the laser to generate 1064nm wavelength laser beams of 5 beams and 532nm wavelength laser beams of 1 beam, wherein the 1064nm wavelength laser beams of the 1 beam are emitted in parallel with the 532nm wavelength laser beams as central beams and are used for seabed and sea surface detection and atmospheric polarization detection; the rest 4 wave beams with 1064nm wavelength laser beams are distributed around the central beam as edge wave beams and are used for measuring the sea wave height and the offshore land terrain together with the central beam;
an echo receiving device includes:
the large-caliber telescope is used for receiving the ground laser echo;
the relay optical device is used for performing field division receiving and polarization receiving on the laser echo received by the large-aperture telescope, and dividing the laser echo into a 532nm large-field channel, a 532nm small-field parallel polarization channel, a 532nm small-field vertical polarization channel, a 1064nm central channel and 4 1064nm edge detection channels;
the multi-channel photoelectric detector is used for converting the echo laser received by the relay optical device into an electric signal;
the signal processing and control unit includes:
the signal conditioning and detector control module is used for conditioning and shunting electric signals output by the multi-channel photoelectric detector, shunting 1064nm central beam signals into a 1064nm central beam high-speed signal channel and a 1064nm central beam low-speed signal channel, shunting 532nm small-view-field parallel polarization channel electric signals and 532nm small-view-field vertical polarization channel electric signals into a 532nm small-view-field parallel polarization high-speed signal channel, a 532nm small-view-field vertical polarization high-speed signal channel, a 532nm small-view-field parallel polarization low-speed signal channel, a 532nm small-view-field vertical polarization low-speed signal channel, a 532nm small-view-field parallel polarization single photon detection channel and a 532nm small-view-field vertical polarization single photon detection channel, shaping and filtering the 532nm large-view-field channel and 4 1064nm edge detection channel electric signals into a 532nm large-view-field high-speed signal channel and 4 1064nm edge high-speed signal channels, the bias voltage setting and the switch control of the multi-channel photoelectric detector are realized under the control of the integrated controller;
the signal acquisition processing module is used for completing signal acquisition and processing of each signal channel output by the signal conditioning and detector control module under the trigger of the synchronous pulse output by the integrated controller, and packaging and uploading the acquired and processed laser echo data, positioning data, time data and load attitude data output by the satellite platform to the satellite platform;
the laser controller is used for controlling the laser emission time, frequency and energy of the laser under the synchronization of the system synchronization signal output by the integrated controller;
and the integrated controller is used for implementing the working parameter configuration, the system synchronization, the measurement and uploading of the working state monitoring quantity of each module of the laser radar and the control instruction interaction with the satellite platform.
In the invention, the laser is a dual-wavelength high-energy solid laser. The double-wavelength emission is realized through a frequency doubling technology and a double-wavelength beam expanding technology, the single-pulse energy is improved through applying a high-energy laser emission technology, and the larger water depth detection depth is obtained at the same time so as to meet the ocean depth detection requirement of a satellite platform. The 532nm laser single pulse energy emitted by the laser is more than 550mJ, the 1064nm laser single pulse energy is more than 450mJ, and the pulse repetition frequency is more than or equal to 20 Hz.
Specifically, the laser adopts the technical scheme of LD pumping and multistage MOPA amplification, namely a laser oscillator and a power amplifier realize the output of high-energy 1064nm laser; realizing large-energy pulse laser modulation through an electro-optical Q-switching module; and a frequency doubling crystal is adopted to carry out second harmonic conversion on 1064nm fundamental frequency light and output large-energy 532nm frequency doubling laser, so that the generation of large-energy 532nm and 1064nm dual-wavelength laser pulses is realized.
In the invention, the emission optical splitting device comprises a dichroic mirror, a 532nm beam expanding lens, a 1064nm beam expanding lens, a diffraction splitting element and an optical axis pointing adjustment monitor. The dichroic mirror is used for separating the color of a dual-wavelength laser beam output by the laser and separating lasers with the wavelengths of 532nm and 1064 nm; the 532nm beam expanding lens is used for expanding beams of laser with wavelength of 532 nm; the 1064nm beam expanding lens is used for expanding beams of laser with a wavelength of 1064 nm; the optical axis pointing adjusting monitor is used for adjusting and measuring the pointing directions of the 532nm wavelength laser beam and the 1064nm wavelength laser beam after beam expansion; the diffraction light splitting element divides the expanded 1064nm wavelength laser beam into 5 beams, 1 beam is taken as a central beam emitting direction and is parallel to the 532nm beam, and the other 4 beams are orthogonally arranged by taking the central beam as a center and form a fixed included angle such as an 800 mu rad included angle with the central beam. Fig. 2 is a schematic diagram of laser radar operation, and fig. 3 shows a ground laser beam footprint distribution.
Preferably, the 532nm beam expander lens expands the 532nm wavelength laser beam to a divergence angle of < 60 μ rad; the 1064nm beam expanding lens expands a 1064nm wavelength laser beam into a divergence angle smaller than 60 mu rad; the pointing measurement precision of the optical axis pointing adjustment monitor on the expanded 532nm wavelength laser beam and 1064nm wavelength laser beam is not lower than 1.5 arc seconds.
The large-caliber telescope comprises a primary mirror, a secondary mirror, a field grating and a telescope main body structure, is a reflection-type off-axis Cassegrain telescope, has the characteristics of shorter tube length, easier assembly and adjustment and more suitability for integration and production of a laser radar system, and has an optical caliber of not less than 1m and a total receiving field of view of not less than 2 mrad.
Specifically, the received laser echo is focused to a secondary mirror through a primary mirror, and then is output as a quasi-parallel light path through the secondary mirror; the receiving field of view is adjusted through the field of view grating to be matched with the laser emission beam, so that background light interference is filtered, the system detection signal-to-noise ratio is improved, the telescope main body structure adopts a honeycomb supporting structure, the weight of the telescope is reduced while the mechanical strength is ensured, and the carrying burden of a satellite platform is reduced.
In the invention, the relay optical device comprises a view field separating mirror, a 532nm narrow band filter, a 1064nm narrow band filter, a filtering transflective mirror, a polarizing lens and a focusing mirror; the field separation mirror separates a 532nm large field channel, and the 532nm large field channel is filtered by a 532nm narrow-band filter and focused by a focusing mirror so as to be received by a multi-channel photoelectric detector conveniently; the field separation mirror separates the edge 4 wave beam 1064nm into 4 independent edge detection channels, optical filtering is carried out through a 1064nm narrow-band filter, and focusing is carried out through a focusing mirror so as to facilitate photoelectric detection and reception; the central field of view is separated by the field of view separating mirror, laser echoes with wavelengths of 532nm and 1064nm in the central field of view are separated into a 1064nm central channel and a 532nm small field of view channel by the filtering transflective mirror, the 1064nm central channel is subjected to optical filtering by the 1064nm narrow-band optical filter, and the focusing is carried out by the focusing mirror so as to facilitate photoelectric detection and receiving; the polarization lens divides the 532nm small visual field channel into a 532nm small visual field parallel polarization channel and a 532nm small visual field vertical polarization channel, and the 2 polarization channels are respectively filtered by the 532nm narrow-band filter and focused by the focusing lens so as to be convenient for photoelectric detection and reception, thereby realizing the multi-channel detection of the laser radar. Fig. 4 shows the field distribution, wherein the central large circle represents the 532nm large field channel, the central small circle represents the overlapped 532nm small field parallel polarization channel, 532nm small field perpendicular polarization channel and 1064nm central channel, and the four small circles of the edge distribution are 1064nm edge detection channels.
In the invention, the multichannel detector device adopts 3 PMT detectors to perform photoelectric detection on 532nm wavelength laser echoes of a 532nm large view field channel, a 532nm small view field parallel polarization channel and a 532nm small view field vertical polarization channel, and adopts 5 APD detectors to perform photoelectric detection on 1064nm wavelength laser echoes of a 1064nm central channel and 4 1064nm edge detection channels.
In the invention, the signal acquisition processing module integrates the laser controller, the signal acquisition processing module, the signal conditioning and detector control module and the integrated controller into a unit structure, thereby effectively reducing the number of equipment and improving the reliability and the usability of the equipment.
In the invention, when the signal acquisition processing module acquires signals of each signal channel output by the signal conditioning and detector control module, the high-speed signal acquisition channel is input by 8 channels, the single-channel sampling rate is not lower than 1GHz, and the sampling effective digit can reach more than 9 bits; the low-speed signal acquisition channel is 3-channel input, the single-channel sampling rate is not lower than 50MHz, and the sampling effective digit can reach more than 11 bits; the high-speed photon counting channel is 2-channel input, the single-channel counting rate is not lower than 200Mcps, and the time resolution is better than 20 ns.
According to a second aspect of the invention, a satellite-borne laser near-coast terrain detection method is provided, which comprises the following steps:
the laser controller controls the laser to generate 532nm and 1064nm dual-wavelength laser;
the dual-wavelength laser beam output by the laser is subjected to color separation through the emission optical light splitting device, a 1064nm wavelength laser beam of 5 beams and a 532nm wavelength laser beam of 1 beam are generated, wherein the 1064nm wavelength laser beam of 1 beam is emitted in parallel with the 532nm wavelength laser beam as a central beam and is used for seabed and sea surface detection and atmospheric polarization detection; the rest 4 wave beams with 1064nm wavelength laser beams are distributed around the central beam as edge wave beams and are used for measuring the sea wave height and the offshore land terrain together with the central beam;
the large-aperture telescope is used for receiving ground laser echo;
the method comprises the steps that the relay optical device is used for carrying out view field division receiving and polarization receiving on laser echoes received by the large-aperture telescope, and the laser echoes are divided into a 532nm large view field channel, a 532nm small view field parallel polarization channel, a 532nm small view field vertical polarization channel, a 1064nm central channel and 4 1064nm edge detection channels;
converting the echo laser received by the relay optical device into an electric signal through a multi-channel photoelectric detector;
the electrical signals output by the multi-channel photoelectric detector are conditioned and shunted through a signal conditioning and detector control module, a 1064nm central beam signal is shunted into a 1064nm central beam high-speed signal channel and a 1064nm central beam low-speed signal channel, a 532nm small visual field parallel polarization channel electrical signal and a 532nm small visual field vertical polarization channel electrical signal are shunted into a 532nm small visual field parallel polarization high-speed signal channel, a 532nm small visual field vertical polarization high-speed signal channel, a 532nm small visual field parallel polarization low-speed signal channel, a 532nm small visual field vertical polarization low-speed signal channel, a 532nm small visual field parallel polarization single photon detection channel and a 532nm small visual field vertical polarization single photon detection channel, the 532nm large visual field channel and the 4 1064nm edge detection channel electrical signals are shaped and filtered into a 532nm large visual field high-speed signal channel and 4nm edge high-speed signal channels, the bias voltage setting and the switch control of the multi-channel photoelectric detector are realized under the control of the integrated controller;
the signal acquisition and processing module finishes the signal acquisition and processing of each signal channel output by the signal conditioning and detector control module under the triggering of synchronous pulses output by the integrated controller, and packages and uploads the acquired and processed laser echo data, positioning data, time data and load attitude data output by the satellite platform to the satellite platform;
and the integrated controller is used for implementing the working parameter configuration, the system synchronization, the measurement and uploading of the working state monitoring quantity of each module of the laser radar and the control instruction interaction with the satellite platform.
The invention has been described in detail with reference to specific embodiments and illustrative examples, but the description is not intended to be construed in a limiting sense. Those skilled in the art will appreciate that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, which fall within the scope of the present invention. The scope of the invention is defined by the appended claims.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Claims (10)
1. A satellite-borne laser offshore terrain detection laser radar is characterized by comprising a laser sensor unit and a signal processing and control unit, wherein the laser sensor unit comprises a laser emitting device and an echo receiving device,
the laser emitting device includes:
the laser is used for generating double-wavelength laser of 532nm and 1064nm under the control of the laser controller;
the emission optical splitting device is used for carrying out color separation on dual-wavelength laser beams output by the laser to generate 1064nm wavelength laser beams of 5 beams and 532nm wavelength laser beams of 1 beam, wherein the 1064nm wavelength laser beams of the 1 beam are emitted in parallel with the 532nm wavelength laser beams as central beams and are used for seabed and sea surface detection and atmospheric polarization detection; the rest 4 wave beams with 1064nm wavelength laser beams are distributed around the central beam as edge wave beams and are used for measuring the sea wave height and the offshore land terrain together with the central beam;
an echo receiving device includes:
the large-caliber telescope is used for receiving the ground laser echo;
the relay optical device is used for performing field division receiving and polarization receiving on the laser echo received by the large-aperture telescope, and dividing the laser echo into a 532nm large-field channel, a 532nm small-field parallel polarization channel, a 532nm small-field vertical polarization channel, a 1064nm central channel and 4 1064nm edge detection channels;
the multi-channel photoelectric detector is used for converting the echo laser received by the relay optical device into an electric signal;
the signal processing and control unit includes:
the signal conditioning and detector control module is used for conditioning and shunting the electric signals output by the multi-channel photoelectric detector and realizing bias voltage setting and on-off control of the multi-channel photoelectric detector under the control of the integrated controller;
the signal acquisition processing module is used for completing signal acquisition and processing of each signal channel output by the signal conditioning and detector control module under the trigger of the synchronous pulse output by the integrated controller, and packaging and uploading the acquired and processed laser echo data, positioning data, time data and load attitude data output by the satellite platform to the satellite platform;
the laser controller is used for controlling the laser emission time, frequency and energy of the laser under the synchronization of the system synchronization signal output by the integrated controller;
and the integrated controller is used for implementing the working parameter configuration, the system synchronization, the measurement and uploading of the working state monitoring quantity of each module of the laser radar and the control instruction interaction with the satellite platform.
2. The lidar of claim 1, wherein the laser is a dual-wavelength high-energy solid-state laser, the laser emits 532nm laser single pulse energy > 550mJ, 1064nm laser single pulse energy > 450mJ, and the pulse repetition frequency is not less than 20 Hz.
3. The lidar of claim 1, wherein the transmitting optical splitting device comprises a dichroic mirror, a 532nm beam expander, a 1064nm beam expander, a diffractive beam splitter, and an optical axis pointing adjustment monitor, wherein the dichroic mirror is configured to split the two-wavelength laser beam output from the laser to separate the 532nm and 1064nm wavelength laser beams; the 532nm beam expanding lens is used for expanding beams of laser with wavelength of 532 nm; the 1064nm beam expanding lens is used for expanding beams of laser with a wavelength of 1064 nm; the optical axis pointing adjusting monitor is used for adjusting and measuring the pointing directions of the 532nm wavelength laser beam and the 1064nm wavelength laser beam after beam expansion; the diffraction light splitting element divides the expanded 1064nm wavelength laser beam into 5 beams, wherein 1 beam is taken as a central beam emitting direction and is parallel to the 532nm beam, and the other 4 beams are orthogonally arranged by taking the central beam as a center and form a fixed included angle with the central beam.
4. The lidar of claim 3, wherein the 532nm beam expander lens expands a 532nm wavelength laser beam to a divergence angle < 60 μ rad; and/or
The 1064nm beam expanding lens expands a 1064nm wavelength laser beam into a divergence angle smaller than 60 mu rad; and/or
The pointing measurement precision of the optical axis pointing adjustment monitor on the expanded 532nm wavelength laser beam and 1064nm wavelength laser beam is not lower than 1.5 arc seconds.
5. The lidar of claim 1, wherein the large bore telescope has an optical bore of no less than 1m and a total received field of view of no less than 2 mrad.
6. The lidar of claim 1, wherein the relay optics comprise a field-of-view separator, a 532nm narrowband filter, a 1064nm narrowband filter, a filtering transflector, a polarizing lens, and a focusing lens; the 532nm large-field channel is separated by the field separating mirror, and is focused by the focusing mirror after being filtered by the 532nm narrow-band filter; the field separation mirror separates the edge 4 wave beam 1064nm into 4 independent edge detection channels, and optical filtering is carried out through a 1064nm narrow-band filter, and focusing is carried out through a focusing mirror; the central field of view is separated by the field of view separating mirror, laser echoes with wavelengths of 532nm and 1064nm in the central field of view are separated into a 1064nm central channel and a 532nm small field of view channel by the filtering transflective mirror, the 1064nm central channel is subjected to optical filtering by the 1064nm narrow-band filter, and the optical filtering is focused by the focusing mirror; the polarization lens divides the 532nm small visual field channel into a 532nm small visual field parallel polarization channel and a 532nm small visual field vertical polarization channel, and the 2 polarization channels are respectively filtered by the 532nm narrow band filter and focused by the focusing lens.
7. The lidar of claim 1, wherein the multi-channel detector arrangement employs 3 PMT detectors for performing photodetection of 532nm wavelength laser echoes from a 532nm large field-of-view channel, a 532nm small field-of-view parallel polarization channel, and a 532nm small field-of-view perpendicular polarization channel, and 5 APD detectors for performing photodetection of 1064nm wavelength laser echoes from a 1064nm center channel and 4 1064nm edge detection channels.
8. The lidar of claim 1, wherein the signal conditioning and detector control module configured to condition and shunt the electrical signal output by the multi-channel photodetector comprises: the method comprises the steps of splitting a 1064nm central beam signal into a 1064nm central beam high-speed signal channel and a 1064nm central beam low-speed signal channel, splitting a 532nm small-view-field parallel polarization channel electric signal and a 532nm small-view-field vertical polarization channel electric signal into a 532nm small-view-field parallel polarization high-speed signal channel, a 532nm small-view-field vertical polarization high-speed signal channel, a 532nm small-view-field parallel polarization low-speed signal channel, a 532nm small-view-field parallel polarization single photon detection channel and a 532nm small-view-field vertical polarization single photon detection channel, and shaping and filtering the 532nm large-view-field channel and the 4 1064nm edge detection channel electric signals into a 532nm large-view-field high-speed signal channel and 4 1064nm edge high-speed signal channels.
9. The lidar of claim 1, wherein when the signal acquisition processing module acquires signals of each signal channel output by the signal conditioning and detector control module, the high-speed signal acquisition channel is 8-channel input, the single-channel sampling rate is not lower than 1GHz, and the sampling effective bit is more than 9 bits; the low-speed signal acquisition channel is 3-channel input, the single-channel sampling rate is not lower than 50MHz, and the sampling effective digit is more than 11 bits; the high-speed photon counting channel is 2-channel input, the single-channel counting rate is not lower than 200Mcps, and the time resolution is better than 20 ns.
10. A satellite-borne laser near-coast terrain detection method is characterized by comprising the following steps:
the laser controller controls the laser to generate 532nm and 1064nm dual-wavelength laser;
the dual-wavelength laser beam output by the laser is subjected to color separation through the emission optical light splitting device, a 1064nm wavelength laser beam of 5 beams and a 532nm wavelength laser beam of 1 beam are generated, wherein the 1064nm wavelength laser beam of 1 beam is emitted in parallel with the 532nm wavelength laser beam as a central beam and is used for seabed and sea surface detection and atmospheric polarization detection; the rest 4 wave beams with 1064nm wavelength laser beams are distributed around the central beam as edge wave beams and are used for measuring the sea wave height and the offshore land terrain together with the central beam;
the large-aperture telescope is used for receiving ground laser echo;
the method comprises the steps that the relay optical device is used for carrying out view field division receiving and polarization receiving on laser echoes received by the large-aperture telescope, and the laser echoes are divided into a 532nm large view field channel, a 532nm small view field parallel polarization channel, a 532nm small view field vertical polarization channel, a 1064nm central channel and 4 1064nm edge detection channels;
converting the echo laser received by the relay optical device into an electric signal through a multi-channel photoelectric detector;
the electrical signals output by the multi-channel photoelectric detector are conditioned and shunted through a signal conditioning and detector control module, a 1064nm central beam signal is shunted into a 1064nm central beam high-speed signal channel and a 1064nm central beam low-speed signal channel, a 532nm small visual field parallel polarization channel electrical signal and a 532nm small visual field vertical polarization channel electrical signal are shunted into a 532nm small visual field parallel polarization high-speed signal channel, a 532nm small visual field vertical polarization high-speed signal channel, a 532nm small visual field parallel polarization low-speed signal channel, a 532nm small visual field vertical polarization low-speed signal channel, a 532nm small visual field parallel polarization single photon detection channel and a 532nm small visual field vertical polarization single photon detection channel, the 532nm large visual field channel and the 4 1064nm edge detection channel electrical signals are shaped and filtered into a 532nm large visual field high-speed signal channel and 4nm edge high-speed signal channels, the bias voltage setting and the switch control of the multi-channel photoelectric detector are realized under the control of the integrated controller;
the signal acquisition and processing module finishes the signal acquisition and processing of each signal channel output by the signal conditioning and detector control module under the triggering of synchronous pulses output by the integrated controller, and packages and uploads the acquired and processed laser echo data, positioning data, time data and load attitude data output by the satellite platform to the satellite platform;
and the integrated controller is used for implementing the working parameter configuration, the system synchronization, the measurement and uploading of the working state monitoring quantity of each module of the laser radar and the control instruction interaction with the satellite platform.
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