CN105425244A - Front mixing chirp modulation photon counting laser radar - Google Patents
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- CN105425244A CN105425244A CN201510955368.8A CN201510955368A CN105425244A CN 105425244 A CN105425244 A CN 105425244A CN 201510955368 A CN201510955368 A CN 201510955368A CN 105425244 A CN105425244 A CN 105425244A
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- G—PHYSICS
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- 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
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Abstract
The invention discloses a front mixing chirp modulation photon counting laser radar, belonging to the technical field of counting laser radars. The radar solves the problems that the inherent dead time of a Gm-APD device adopted by the existing chirp modulation photon counting laser radar limits the frequency of sampling detection and then restricts the ranging accuracy. The radar comprises a signal transmitter, a laser, a transmitting optical system, an adjustable gate width control module, a receiving optical system, a Gm-APD single photon detector, a low-pass filter, a Fourier transform module and a computer; a Gm-APD sampling gate is directly modulated by using local oscillator modulation signals, so that the width of the sampling gate is directly proportional to the intensity of the local oscillator modulation signals; and the local oscillator modulation signals are mixed with echo reflection signals through time changes of the sampling gate, so that Gm-APD responds to mixed intermediate frequency signals. The front mixing chirp modulation photon counting laser radar serves as a counting laser radar.
Description
Technical field
The present invention relates to the chirped modulation photon counting laser radar of preposition mixing, belong to counting laser radar technical field.
Background technology
Chirped modulation photon counting laser radar has merged two large signal detection technology, i.e. chirped modulation demodulation techniques and Gm-APD photon counting technique, it is sensitive that this makes chirped modulation photon counting laser radar have high response, signal detection field is had great importance, therefore becomes the focus of research.All need the regular hour to carry out snowslide suppression after each Sample acquisition of avalanche photodide Gm-APD photon detector that what but chirped modulation formula photon laser radar used be operated under Geiger mode angular position digitizer, the dead time of current Gm-APD device was generally for tens nanoseconds, this significantly limit the frequency of Sample acquisition, thus causes the signal modulation bandwidth of chirped modulation formula photon laser radar to be also restricted.As everyone knows, inversely, therefore lower signal modulation bandwidth all governs the raising of chirped modulation formula photon laser radar ranging accuracy always for the distance accuracy of chirped modulation formula photon laser radar and the modulation band-width of signal.
Summary of the invention
The Gm-APD device intrinsic dead time that the present invention seeks to adopt to solve existing chirped modulation photon counting laser radar limits the frequency of its Sample acquisition, and then constrain the problem of its distance accuracy, provide a kind of chirped modulation photon counting laser radar of preposition mixing.
The chirped modulation photon counting laser radar of preposition mixing of the present invention, it comprises signal projector, laser instrument, optical transmitting system, adjustable gate-width control module, receiving optics, Gm-APD single-photon detector, low-pass filter, Fourier transform module and computing machine
Signal projector is for generation of chirped modulation electric signal, and this chirped modulation electric signal is divided into two-way, and a road is used for drive laser and produces the laser signal of intensity by chirped modulation, and this laser signal, via after optical transmitting system collimation, is irradiated to target to be measured; Adjustable gate-width control module is exported on another road, adjustable gate-width control module is made to produce the serial sampling gate carrying chirped modulation electric signal, and export to Gm-APD single-photon detector, the time interval of this series of samples door is identical, and width is proportional to chirped modulation electrical signal amplitude;
Target to be measured is received by receiving optics at the laser signal of each sampling gate internal reflection successively, and focus on the photosurface of Gm-APD single-photon detector, Gm-APD single-photon detector is made to respond the laser signal energy of target reflection to be measured in each sampling gate successively, the result of Gm-APD single-photon detector Sample acquisition is the result that the sampling gate carrying chirped modulation electric signal is multiplied with the laser signal energy carrying chirped modulation electric signal, this result is through low-pass filter filtering high-frequency signal, pick out intermediate-freuqncy signal, this intermediate-freuqncy signal is after Fourier transform block transforms, machine finds the position of intermediate frequency peak value from intermediate frequency spectrum as calculated again, the mistiming between two-way chirped modulation electric signal is proportional to according to the frequency of intermediate frequency, thus obtain the distance of target to be measured.
The width t of i-th sampling gate of adjustable gate-width control module
gate(i) be:
Wherein i=1,2,3 ..., n; N is total number of sampling gate;
In formula, t is the initial time of i-th sampling gate, t
samplebe the time interval of adjacent two sampling gates, Δ t is the time width of maximum sampling gate, f
0be the initial modulation frequency of chirped modulation, k is the modulation slope of chirped modulation:
K=B/T, B are modulation band-width, and T is modulating time;
it is the initial phase of chirped modulation.
The laser signal intensity I of target reflection to be measured
echofor:
I in formula
peakbe the peak transmitted power of laser instrument, M is the laser signal attenuation coefficient of target to be measured reflection, the delay of τ is laser between target to be measured and receiving optics two-way time;
In each sampling gate that Gm-APD single-photon detector responds successively, laser signal ENERGY E (i) of target reflection to be measured is:
In the expression formula that above formula is final, Section 1 is difference frequency signal, i.e. intermediate-freuqncy signal, and all the other are high frequency item.
Advantage of the present invention: the present invention utilizes local oscillator chirped modulation Signal shock Gm-APD sampling gate, the width of its sampling gate is made to be proportional to the intensity of local oscillator chirped modulation signal, the mixing with echo reflection signal is completed by the time variations of sampling gate, such Gm-APD response be exactly intermediate-freuqncy signal after mixing, as long as the sample frequency of Gm-APD meets the twice of intermediate-freuqncy signal, relieve the limited sample frequency of Gm-APD to the restriction of signal modulation bandwidth, thus under higher signal modulation bandwidth can be operated in, effectively raise the distance accuracy of its system.
Accompanying drawing explanation
Fig. 1 is the theory diagram of the chirped modulation photon counting laser radar of preposition mixing of the present invention;
Fig. 2 is adjustable sampling gate width control system schematic diagram;
Fig. 3 is the intermediate-freuqncy signal curve map under the preposition mixing radar of the present invention is operated in modulation band-width B=10MHz situation;
Fig. 4 is the intermediate-freuqncy signal curve map under the preposition mixing radar of the present invention is operated in modulation band-width B=20MHz situation;
Fig. 5 is the intermediate-freuqncy signal curve map under the preposition mixing radar of the present invention is operated in modulation band-width B=30MHz situation.
Embodiment
Embodiment one: present embodiment is described below in conjunction with Fig. 1 to Fig. 5, the chirped modulation photon counting laser radar of preposition mixing described in present embodiment, it comprises signal projector 1, laser instrument 2, optical transmitting system 3, adjustable gate-width control module 4, receiving optics 5, Gm-APD single-photon detector 6, low-pass filter 7, Fourier transform module 8 and computing machine 9
Signal projector 1 is for generation of chirped modulation electric signal, and this chirped modulation electric signal is divided into two-way, and a road is used for drive laser 2 and produces the laser signal of intensity by chirped modulation, and this laser signal is irradiated to target to be measured after collimating via optical transmitting system 3; Adjustable gate-width control module 4 is exported on another road, adjustable gate-width control module 4 is made to produce the sampling gate that series carries chirped modulation electric signal, and export to Gm-APD single-photon detector 6, the time interval of this series of samples door is identical, and width is proportional to chirped modulation electrical signal amplitude;
Target to be measured is received by receiving optics 5 at the laser signal of each sampling gate internal reflection successively, and focus on the photosurface of Gm-APD single-photon detector 6, Gm-APD single-photon detector 6 is made to respond the laser signal energy of target reflection to be measured in each sampling gate successively, the result of Gm-APD single-photon detector 6 Sample acquisition is the result that the sampling gate carrying chirped modulation electric signal is multiplied with the laser signal energy carrying chirped modulation electric signal, this result is through low-pass filter 7 filtering high-frequency signal, pick out intermediate-freuqncy signal, this intermediate-freuqncy signal is after Fourier transform module 8 converts, machine 9 finds the position of intermediate frequency peak value from intermediate frequency spectrum as calculated again, the mistiming between two-way chirped modulation electric signal is proportional to according to the frequency of intermediate frequency, thus obtain the distance of target to be measured.
The width t of i-th sampling gate of adjustable gate-width control module 4
gate(i) be:
Wherein i=1,2,3 ..., n; N is total number of sampling gate;
In formula, t is the initial time of i-th sampling gate, t
samplebe the time interval of adjacent two sampling gates, Δ t is the time width of maximum sampling gate, f
0be the initial modulation frequency of chirped modulation, k is the modulation slope of chirped modulation:
K=B/T, B are modulation band-width, and T is modulating time;
it is the initial phase of chirped modulation.
The laser signal intensity I of target reflection to be measured
echofor:
I in formula
peakbe the peak transmitted power of laser instrument 2, M is the laser signal attenuation coefficient of target to be measured reflection, the delay of τ is laser between target to be measured and receiving optics 5 two-way time;
In each sampling gate that Gm-APD single-photon detector 6 responds successively, laser signal ENERGY E (i) of target reflection to be measured is:
In the expression formula that above formula is final, Section 1 is difference frequency signal, i.e. intermediate-freuqncy signal, and it can obtain the intermediate frequency be directly proportional to two-way time by Fourier transform.All the other are high frequency item, by low-pass filter by its filtering.
In the present invention, the laser signal that optical transmitting system 3 receives carries chirped modulation information.After laser irradiates target to be measured, through the decay of the transmitting of target to be measured and one section of round air, a part is arrived receiving optics 5 by the laser signal that target to be measured reflects, collected by receiving optics 5, photosurface echoed signal being focused on Gm-APD single-photon detector 6 carries out Sample acquisition.The Sample acquisition response of Gm-APD be exactly the energy of echoed signal in each detection door, the size of this energy is determined by the intensity of echoed signal and time width two parts of sampling gate just.The result of such Gm-APD Sample acquisition is exactly the result that two-way chirp signal is multiplied, and then through low-pass filter 7 filters out high frequency signals, picks out the difference frequency signal of low frequency, i.e. intermediate-freuqncy signal.
The present invention devises a kind of novel mixing schemes.The mixing of existing chirped modulation photon counting laser radar adopts Gm-APD that the chirp signal of echo is sampled as electric signal, and then carry out mixing with the electric signal of local oscillator, optical mixing process after Gm-APD Sample acquisition, therefore is called rearmounted mixing.Be different from this, the mixing schemes that the present invention proposes is the width of the chirped modulation electric signal modulation sampling gate by local oscillator, utilize the relation direct conversion that the sampling gate time is multiplied with echo signal power, intermediate-freuqncy signal after the mixing of Gm-APD Direct Sampling, before the method optical mixing process occurs in Gm-APD sampling, so be called preposition mixing.
Use local oscillator warble electric signal modulation sampling gate width, make the spacing of sampling gate equal, but the width of sampling gate is proportional to the intensity of the local oscillation signal of correspondence position.
The width control system of sampling gate as shown in Figure 2, whole curve is exactly the chirped modulation electric signal that signal projector 1 produces, due to Gm-APD detect at every turn after all need certain dead time carry out snowslide suppression and reset accelerating field, so the present invention adopts the method for gate control to carry out Sample acquisition, dotted line in Fig. 2 is exactly the position of each detection door, and it is spaced apart t
sample, the gate-width of maximum detection door is Δ t, and corresponding to the peak of chirped modulation signal, and minimum gate-width is 0, corresponding to chirp signal wave trough position.In Fig. 2, rectangle frame is the detection door of Gm-APD.
Through light between target and radar two-way time τ delay, and the factor such as round air and target reflection is to the decay of signal, and the laser signal intensity of target reflection to be measured is expressed as I
echo.Interacted by the time width of sampling gate and the intensity of echoed signal and complete mixing, Gm-APD is to the signal energy response in sampling gate, namely be the response to intermediate-freuqncy signal, thus the intermediate frequency that is directly proportional to two-way time can be obtained by low frequency filtering and Fourier transform.
Below preposition mixing chirped modulation photon counting laser radar system performance of the present invention is verified.The dead time of such as Gm-APD detector is 50ns, and the highest sample frequency is 20MHz, and the maximum modulating frequency that can obtain chirped modulation signal according to this special sampling thheorem of energy can not higher than 10MHz.But for the method for preposition mixing that the present invention adopts, optical mixing process is done before detector, such Gm-APD photon detector response actual is the low frequency signal after difference frequency.Therefore preposition frequency mixing method can break the restriction of chirped modulation signal maximum frequency, under allowing chirped modulation formula photon laser radar to be operated in larger bandwidth.
Fig. 3 to Fig. 5 respectively show preposition frequency mixing method and is operated in 10MHz, the intermediate-freuqncy signal under 20MHz, 30MHz bandwidth situation.Still use the Gm-APD in 50ns dead time, preposition frequency mixing method still obtains intermediate-freuqncy signal clearly under the bandwidth situation being greater than 10MHz, and this illustrates that preposition frequency mixing method can break through the restriction of bandwidth, is operated in more under large bandwidth.For the laser radar system of modulation system, when modulation band-width B increases, a lot of systematic parameter all will improve, such as: distance accuracy
and range resolution Δ dis=c/ (2B).Prove thus, preposition frequency mixing method of the present invention effectively can improve chirped modulation formula photon laser radar system performance.
Claims (3)
1. the chirped modulation photon counting laser radar of a preposition mixing, it is characterized in that, it comprises signal projector (1), laser instrument (2), optical transmitting system (3), adjustable gate-width control module (4), receiving optics (5), Gm-APD single-photon detector (6), low-pass filter (7), Fourier transform module (8) and computing machine (9)
Signal projector (1) is for generation of chirped modulation electric signal, this chirped modulation electric signal is divided into two-way, one tunnel is used for drive laser (2) and produces the laser signal of intensity by chirped modulation, this laser signal, via after optical transmitting system (3) collimation, is irradiated to target to be measured; Adjustable gate-width control module (4) is exported on another road, adjustable gate-width control module (4) is made to produce the serial sampling gate carrying chirped modulation electric signal, and export to Gm-APD single-photon detector (6), the time interval of this series of samples door is identical, and width is proportional to chirped modulation electrical signal amplitude;
Target to be measured is received by receiving optics (5) at the laser signal of each sampling gate internal reflection successively, and focus on the photosurface of Gm-APD single-photon detector (6), Gm-APD single-photon detector (6) is made to respond the laser signal energy of target reflection to be measured in each sampling gate successively, the result of Gm-APD single-photon detector (6) Sample acquisition is the result that the sampling gate carrying chirped modulation electric signal is multiplied with the laser signal energy carrying chirped modulation electric signal, this result is through low-pass filter (7) filtering high-frequency signal, pick out intermediate-freuqncy signal, this intermediate-freuqncy signal is after Fourier transform module (8) conversion, machine (9) finds the position of intermediate frequency peak value from intermediate frequency spectrum as calculated again, the mistiming between two-way chirped modulation electric signal is proportional to according to the frequency of intermediate frequency, thus obtain the distance of target to be measured.
2. the chirped modulation photon counting laser radar of preposition mixing according to claim 1, is characterized in that, the width t of i-th sampling gate of adjustable gate-width control module (4)
gate(i) be:
Wherein i=1,2,3 ..., n; N is total number of sampling gate;
In formula, t is the initial time of i-th sampling gate, t
samplebe the time interval of adjacent two sampling gates, △ t is the time width of maximum sampling gate, f
0be the initial modulation frequency of chirped modulation, k is the modulation slope of chirped modulation:
K=B/T, B are modulation band-width, and T is modulating time;
it is the initial phase of chirped modulation.
3. the chirped modulation photon counting laser radar of preposition mixing according to claim 1, is characterized in that, the laser signal intensity I of target reflection to be measured
echofor:
I in formula
peakbe the peak transmitted power of laser instrument (2), M is the laser signal attenuation coefficient of target to be measured reflection, the delay of τ is laser between target to be measured and receiving optics (5) two-way time;
In each sampling gate that Gm-APD single-photon detector (6) responds successively, laser signal ENERGY E (i) of target reflection to be measured is:
In the expression formula that above formula is final, Section 1 is difference frequency signal, i.e. intermediate-freuqncy signal, and all the other are high frequency item.
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| CN106291567A (en) * | 2016-07-19 | 2017-01-04 | 深圳乐行天下科技有限公司 | A kind of laser radar, laser radar system and data processing method |
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| CN112327324A (en) * | 2020-11-06 | 2021-02-05 | 哈尔滨工业大学 | System and method for measuring rotation speed and acceleration by double-quantum-number OAM light beam |
| CN112327324B (en) * | 2020-11-06 | 2023-09-26 | 哈尔滨工业大学 | System and method for measuring rotation speed and acceleration by double quantum number OAM light beam |
| CN112415533A (en) * | 2021-01-21 | 2021-02-26 | 杭州蓝芯科技有限公司 | Depth sensing method and device based on chirped pulse and sensor |
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