CN113391324B - Target distance positioning system and positioning method - Google Patents
Target distance positioning system and positioning method Download PDFInfo
- Publication number
- CN113391324B CN113391324B CN202110718451.9A CN202110718451A CN113391324B CN 113391324 B CN113391324 B CN 113391324B CN 202110718451 A CN202110718451 A CN 202110718451A CN 113391324 B CN113391324 B CN 113391324B
- Authority
- CN
- China
- Prior art keywords
- target
- signal
- detector
- optical module
- laser
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a target distance positioning system, which comprises a transmitting optical module, a receiving optical module, a detector and a controller, wherein the controller controls a laser to emit laser, the laser irradiates a target after passing through the transmitting optical module, the laser enters the detector after passing through the receiving optical module after passing through the target, the detector is in signal connection with a signal processing circuit, and the signal processing circuit is sequentially connected with a high-speed acquisition and target information processing unit; the controller simultaneously starts a delay control circuit which is respectively connected with the high-speed acquisition and target information processing unit and the gain control circuit in a signal way, and the gain control circuit is connected with the detector in a signal way. According to the target distance positioning system and the target distance positioning method, the echo of the medium surface is used as the reference time point to detect the target distance, so that the problem of medium-crossing distance measurement can be solved, and the light path is simplified.
Description
Technical Field
The invention relates to a target distance positioning system and a target distance positioning method, and belongs to the field of laser metering.
Background
The laser ranging is mainly divided into two types, one is pulse laser ranging and the other is phase laser ranging. Pulsed laser ranging is the calculation of the distance of a target by calculating the time of flight of a laser pulse in space, and in a circuit the time of flight of a laser pulse in space is calculated by calculating the time difference between the echo signal exceeding a certain intensity threshold and the laser pulse emission. The pulse laser ranging is controlled by the electric signal processing and overall control measuring unit to emit a laser pulse and start timing by taking the emission time of the laser pulse as a reference until the laser pulse reflected by the target is received by the laser pulse receiving device, a signal with the pulse larger than a set threshold value in the circuit is generated, the timing is stopped, and the target distance is calculated according to the measured time.
At present, the laser range finder is positioned by adding a beam splitter and a detector in the range finder to record the initial time. This increases the volume of the rangefinder and the complexity of the system. In addition, when the conventional range finder is used for measuring distance across a medium, the backward reflection of laser pulses on the surface of the medium is strong, and the echo signal intensity may be higher than the target echo signal intensity, so that the distance measurement is invalid.
Disclosure of Invention
The invention aims to: in order to overcome the defects in the prior art, the invention provides a target distance positioning system and a positioning method, which utilize the echo of the medium surface as a reference time point to detect the target distance, can solve the problem of cross-medium ranging, and simplify the light path.
The technical scheme is as follows: in order to solve the technical problems, the target distance positioning system comprises a transmitting optical module, a receiving optical module, a detector and a controller, wherein the controller controls a laser to emit laser, the laser irradiates a target after passing through the transmitting optical module, the laser enters the detector after passing through the receiving optical module after passing through the target, the detector is in signal connection with a signal processing circuit, and the signal processing circuit is sequentially connected with a high-speed acquisition and target information processing unit; the controller simultaneously starts a delay control circuit which is respectively connected with the high-speed acquisition and target information processing unit and the gain control circuit in a signal way, and the gain control circuit is connected with the detector in a signal way.
A positioning method of a target distance positioning system, comprising the steps of:
step 1: the controller controls the laser to emit a nanosecond pulse, and irradiates the nanosecond pulse to the target through the emission optical module;
step 2: the controller utilizes the high-precision delay signal generator to control the high-speed acquisition and target information processing unit to start acquiring data, and simultaneously controls the gain of the detector, so that the gain of the detector at the echo time of the surface of the medium is accurately lower, and then the detector is quickly recovered to be normal;
step 3: the target echo signal is received by the receiving optical module and converged on the detector, and the output signal of the detector is amplified and processed by the signal processing circuit;
step 4: acquiring amplified signals by using an acquisition circuit at a sampling time interval of tau to obtain a signal sequence x (k tau), wherein k=1, 2,3 and 4 … … … are the kth sampling points of the acquisition circuit;
step 5: fitting the acquired signal sequence x (k tau) according to the formula (1);
wherein A, alpha is a fitting coefficient, h and x are propagation distances of light in two media, the two media are the medium in which a range finder is positioned and the medium in which a target object is positioned, and an included angle between theta incident light and a normal line of a target surface is formed;
step 5: subtracting the signal sequence x (k x tau) from the fitted curve to eliminate the inherent trend of the signal sequence;
step 6: according to the effect of the actual application scene of the system, a threshold value is obtained, and a point with a signal larger than the threshold value is regarded as a target signal;
step 7: according to the first point k obtained in step 6 1 The second point k is the point of return of the medium surface 2 For the return point of the target, Δk=k 1 -k 2 ；
Step 8: calculating the distance of the target according to the formula (2);
wherein: l is the distance between the target and the medium surface, C is the light speed 3×10 8 m/s, τ is the sampling time interval.
The beneficial effects are that: the target distance positioning system and method of the invention uses a detector with controllable gain, uses the echo of the medium surface as the reference time point to detect the target distance, can solve the problem of cross-medium distance measurement, and simplifies the light path
Drawings
FIG. 1 is a schematic diagram of a system according to the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, the target distance positioning system of the invention comprises a transmitting optical module 2, a receiving optical module 5, a detector 4 and a controller, wherein the controller controls the laser 1 to transmit laser, the laser irradiates a target after passing through the transmitting optical module 2, the laser enters the detector 4 after passing through the receiving optical module 5 after passing through the target transmission, the detector 4 is in signal connection with a signal processing circuit 3, and the signal processing circuit 3 is sequentially connected with a high-speed acquisition and target information processing unit 8; the controller simultaneously starts a delay control circuit 7, the delay control circuit 7 is respectively connected with a high-speed acquisition and target information processing unit 8 and a gain control circuit 6 in a signal way, and the gain control circuit 6 is connected with the detector 4 in a signal way.
Taking the underwater target detection in the air as an example, the detector 4 is a Binsong photomultiplier, and the target distance positioning method comprises the following steps:
step 1: the laser 1 is controlled to emit a nanosecond pulse, and the nanosecond pulse is irradiated to a target through emission optics;
step 2: the high-speed acquisition and target information processing unit 8 is controlled to start acquiring data by utilizing the high-precision delay signal generator, and a photomultiplier high-voltage power supply network is controlled to generate a 500ns pulse high voltage, the rising edge time of the pulse high voltage is 50ns, and the delay time is adjusted to enable 30% of the rising edge to be an echo signal reflected by the water surface;
step 3: the target echo signal is received by the receiving optics and converged on the detector 4, and the output signal of the detector 4 is amplified by the signal processing circuit 3;
step 4: collecting amplified signals by using a collecting circuit at a sampling time interval of 1ns to obtain a signal sequence x (k x tau), wherein k=1, 2,3,4 and … … are the kth sampling points of the collecting circuit;
step 5: fitting the acquired signal sequence x (k tau) according to the formula (1);
wherein A, alpha is a fitting coefficient, h and x are propagation distances of light in two media, and an included angle between theta incident light and a normal line of a target surface is formed.
Step 5: subtracting the signal sequence x (k x tau) from the fitted curve to eliminate the inherent trend of the signal sequence;
step 6: the threshold of the system is 5mV.
Step 7: according to the first point obtained in the step 6, the 328 th point of the sampling is the water surface echo signal, and the second point is the 659 th point of the sampling is the return point of the target. Δk=k 1 -k 2 ＝331
Step 8: calculating the distance of the target according to the formula (2);
wherein: l is the distance between the target and the medium surface, C is the light speed 3×10 8 m/s, τ is the sampling time interval.
The foregoing is only a preferred embodiment of the invention, it being noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (1)
1. The target distance positioning system comprises a transmitting optical module, a receiving optical module, a detector and a controller, wherein the controller controls a laser to emit laser, the laser irradiates a target after passing through the transmitting optical module, the laser enters the detector after passing through the receiving optical module after passing through the target, the detector is in signal connection with a signal processing circuit, and the signal processing circuit is sequentially connected with a high-speed acquisition and target information processing unit; the controller simultaneously starts a delay control circuit which is respectively connected with the high-speed acquisition and target information processing unit and the gain control circuit in a signal way, and the gain control circuit is connected with the detector in a signal way, and the method is characterized by comprising the following steps:
step 1: the controller controls the laser to emit a nanosecond pulse, and irradiates the nanosecond pulse to the target through the emission optical module;
step 2: the controller utilizes the high-precision delay signal generator to control the high-speed acquisition and target information processing unit to start acquiring data, and simultaneously controls the gain of the detector, so that the gain of the detector at the echo time of the surface of the medium is accurately lower, and then the detector is quickly recovered to be normal;
step 3: the target echo signal is received by the receiving optical module and converged on the detector, and the output signal of the detector is amplified and processed by the signal processing circuit;
step 4: collecting amplified signals by using a collecting circuit at a sampling time interval of tau to obtain a signal sequence, wherein x (k is tau), and k=1, 2,3,4 and … … are the kth sampling points of the collecting circuit;
step 5: fitting the acquired signal sequence x (k tau) according to the formula (1);
wherein A, alpha is a fitting coefficient, h and x are the propagation distances of light in two media, and an included angle between theta incident light and the normal of the target surface is formed;
step 5: subtracting the signal sequence x (k x tau) from the fitted curve to eliminate the inherent trend of the signal sequence;
step 6: setting a threshold according to the effect of the actual application scene of the system, wherein a point with a signal larger than the threshold is regarded as a target signal;
step 7: according to the first point k obtained in step 6 1 The second point k is the point of return of the medium surface 2 For the return point of the target, Δk=k 1 -k 2 ；
Step 8: calculating the distance of the target according to the formula (2);
wherein: l is the distance between the target and the medium surface, C is the light speed 3×10 8 m/s, τ is the sampling time interval.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110718451.9A CN113391324B (en) | 2021-06-28 | 2021-06-28 | Target distance positioning system and positioning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110718451.9A CN113391324B (en) | 2021-06-28 | 2021-06-28 | Target distance positioning system and positioning method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113391324A CN113391324A (en) | 2021-09-14 |
| CN113391324B true CN113391324B (en) | 2023-05-26 |
Family
ID=77624280
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110718451.9A Active CN113391324B (en) | 2021-06-28 | 2021-06-28 | Target distance positioning system and positioning method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113391324B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117528420A (en) * | 2023-11-14 | 2024-02-06 | 滕州郭庄矿业有限责任公司 | Mine personnel position detection system based on Internet of things |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011158292A (en) * | 2010-01-29 | 2011-08-18 | Toshiba Corp | Radar system |
| CN102313587A (en) * | 2010-07-09 | 2012-01-11 | 罗斯蒙特储罐雷达股份公司 | Distance measuring equipment and calibration steps thereof |
| CN107764761A (en) * | 2017-10-18 | 2018-03-06 | 中国科学院合肥物质科学研究院 | The laser detection system and its method of harmful gas concentration in a kind of open space air |
| CN109633670A (en) * | 2018-10-25 | 2019-04-16 | 上海无线电设备研究所 | It is a kind of to utilize the laser pulse ranging method for receiving signal width amendment measurement error |
| CN111273309A (en) * | 2020-03-11 | 2020-06-12 | 西安应用光学研究所 | Method for obtaining target distance |
| CN112444819A (en) * | 2019-08-16 | 2021-03-05 | 北醒（北京）光子科技有限公司 | Pulse width detection circuit, distance measurement circuit, detection method and distance measurement method |
| CN112534301A (en) * | 2019-04-09 | 2021-03-19 | 华为技术有限公司 | Distance measurement method, device and equipment |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010044245A1 (en) * | 2008-10-16 | 2010-04-22 | パナソニック株式会社 | Optical recording medium and method for manufacturing optical recording medium |
-
2021
- 2021-06-28 CN CN202110718451.9A patent/CN113391324B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011158292A (en) * | 2010-01-29 | 2011-08-18 | Toshiba Corp | Radar system |
| CN102313587A (en) * | 2010-07-09 | 2012-01-11 | 罗斯蒙特储罐雷达股份公司 | Distance measuring equipment and calibration steps thereof |
| CN107764761A (en) * | 2017-10-18 | 2018-03-06 | 中国科学院合肥物质科学研究院 | The laser detection system and its method of harmful gas concentration in a kind of open space air |
| CN109633670A (en) * | 2018-10-25 | 2019-04-16 | 上海无线电设备研究所 | It is a kind of to utilize the laser pulse ranging method for receiving signal width amendment measurement error |
| CN112534301A (en) * | 2019-04-09 | 2021-03-19 | 华为技术有限公司 | Distance measurement method, device and equipment |
| CN112444819A (en) * | 2019-08-16 | 2021-03-05 | 北醒（北京）光子科技有限公司 | Pulse width detection circuit, distance measurement circuit, detection method and distance measurement method |
| CN111273309A (en) * | 2020-03-11 | 2020-06-12 | 西安应用光学研究所 | Method for obtaining target distance |
Non-Patent Citations (9)
| Title |
|---|
| EVALUATINGMODELS OF THE NEUTRAL, BAROTROPIC PLANETARY BOUNDARY LAYER USING INTEGRAL MEASURES: PART I. OVERVIEW;Hess, G.D., Garratt, J.R;《Boundary-Layer Meteorology》;全文 * |
| Fu Y ongjie.The analysis of two-way time transfer precision caused by shiping.《2015 IEEE 12th International Conference on Electronic Measurement & Instruments》.2015,全文. * |
| 双飞秒激光测距***的测量精度分析;梁飞;宋有建;师浩森;许立明;贾威;胡明列;王清月;;光电子・激光(第08期);全文 * |
| 基于APD的"猫眼"目标激光回波探测实验研究;刘秉琦;张瑜;周斌;武东生;;半导体光电(第05期);第710-713页 * |
| 基于PSD器件的激光位移测距***设计;吴炜;严利平;;单片机与嵌入式***应用(第01期);全文 * |
| 基于最小二乘法多项式拟合三角测量模型研究;卢治功;《应用光学》;全文 * |
| 目标表面对FMCW激光雷达拍频信号的影响分析;杨德钊;宋凝芳;林志立;欧攀;;北京航空航天大学学报(第09期);全文 * |
| 高能激光远场辐照度分布测量技术及其进展;于东钰;《应用光学》;全文 * |
| 高频共振预探测多脉冲激光测距方法;黄民双;马鹏;刘晓晨;;物理学报(第07期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113391324A (en) | 2021-09-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109343069B (en) | Photon counting laser radar capable of realizing combined pulse ranging and ranging method thereof | |
| CN110261864A (en) | A kind of pulsed laser ranging system echo signal processing equipment and method | |
| CN103760567B (en) | A kind of passive imaging system with distance measurement function and distance-finding method thereof | |
| CN108594204A (en) | A kind of high accuracy remote narrow-pulse laser range unit | |
| CN110308456A (en) | It is a kind of for improving the bias adjustment device and laser radar system of detection range | |
| CN108196264B (en) | Laser ranging method, device and system | |
| CN205175364U (en) | A laser profile scanning device for data acquisition | |
| CN107907885B (en) | Underwater target detection device based on single photon counting method | |
| CN108828616B (en) | Photon counting laser radar capable of realizing monopulse ranging and constant false alarm control method | |
| CN104101880A (en) | Optical distance measuring apparatus | |
| CN114509780B (en) | Range-finding excitation type underwater dynamic target long-distance gating polarization imaging device and method | |
| CN109581333A (en) | Laser radar reading circuit based on the reconstruct of pulse echo ultra-high speed sampling | |
| CN207601308U (en) | A kind of laser ranging system | |
| CN112255638B (en) | Distance measurement system and method | |
| CN114637021B (en) | Sub-centimeter-level full-waveform laser radar ranging method and device | |
| CN113391324B (en) | Target distance positioning system and positioning method | |
| CN105403169A (en) | Laser contour scanning device for data acquisition and data acquisition method | |
| CN105759280A (en) | Laser triangulation system safe for human eyes | |
| CN111751802A (en) | Photon-level self-adaptive high-sensitivity space weak target detection system and detection method | |
| CN111638525A (en) | Laser ranging device and laser ranging method | |
| CN110687545A (en) | High-precision laser radar system | |
| CN112526536B (en) | Single photon ranging system and method based on pulse train technology | |
| CN102323595B (en) | Brightness modulation scannerless laser three-dimensional imaging method | |
| CN115877394B (en) | Laser radar ranging method and ranging system based on pulse position modulation technology | |
| CN107272011B (en) | Time point identification method, time point identification circuit system and laser ranging system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |