CN103076611A - Method and device for measuring speed and distance by coherent detecting laser - Google Patents
Method and device for measuring speed and distance by coherent detecting laser Download PDFInfo
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Abstract
The invention discloses a method and a device for measuring the speed and the distance by coherent detecting laser. Modulating signals used for carrying out frequency modulation on laser sent by a laser source in two stages are introduced, and the speed of a target object and the distance from the target object to test equipment are resolved on the basis of corresponding frequency information in two states in subsequent mixing signals. Compared with the holocyclic triangular wave modulation mode in the prior art, the method has the advantages that the noise-signal ratio of the speed resolving can be greatly improved, and the influence of the linearity of the modulating signals on the speed and distance measurement is eliminated. Meanwhile, the coherent detection mode is adopted in the same device, the laser is subjected to frequency modulation in two stages, the distance information of a movement object can be measured, the speed information of the movement object can also be obtained, and in addition, the measurement precision and the action range are ensured.
Description
Technical field
The present invention relates to technical field of laser detection, relate in particular to a kind of method and device that utilizes the range finding of coherent detection laser velocimeter.
Background technology
The range finding coherent laser radar that tests the speed is one of integrated application of laser radar technique, coherent detection technology, signal processing technology.Be applied in widely the numerous areas such as Aero-Space, target monitoring, wind field measurement, all have broad application prospects in the military and civilian field.
Speed or the range information of the most single-measurement target of present laser radar, the range finding of testing the speed mainly contains following several method: the first is the mode that adopts microwave radar to survey, but compare with the laser radar detection mode, the microwave radar wave beam is wide, angular resolution is low, antijamming capability is not strong.The second is the mode that adopts the laser radar direct detection, and direct detection is compared with coherent detection, and its detection sensitivity reduces greatly, thereby has reduced the operating distance of laser radar.The third is the mode that adopts the return laser beam frequency modulation (PFM) relevant, and this mode will add the large acousto-optic frequency shifters of volume power consumption, and signal to noise ratio (S/N ratio) is not high, and it is not high to cause measuring operating distance and precision.The 4th kind is that employing is surveyed the mode that the Laser emission signal carries out the frequency triangular modulation, and when adopting triangular modulation, the non-linear meeting of triangular signal causes measuring accuracy to reduce.
Summary of the invention
The technical problem to be solved in the present invention is, a kind of method and device that utilizes the range finding of coherent detection laser velocimeter is provided, and overcomes prior art and measures the defective that operating distance is near, precision is low and measuring equipment volume weight is large.
The technical solution used in the present invention is that the described method of utilizing the range finding of coherent detection laser velocimeter comprises:
The laser that adopts modulation signal that lasing light emitter is sent carries out frequency modulation (PFM) and obtains FM signal, each cycle of described modulation signal is divided into two stages, wherein the phase one is carried out the constant frequency modulation to described laser, and subordinate phase is carried out sine wave or triangular modulation to described laser;
Described FM signal is divided into two-way, and one the tunnel shines target object and reflection echo signal, and another road carries out obtaining mixed frequency signal after the mixing as local oscillator light and described echoed signal;
Mixed frequency signal is carried out obtaining the mixing electric signal after the opto-electronic conversion, calculate the speed of target object based on the frequency information of described each phase one in cycle of mixing electric signal, calculate the distance of lasing light emitter distance objective object based on the frequency information of described each cycle subordinate phase of mixing electric signal.
Further, the acquisition process of the frequency information of each phase one in cycle of described mixing electric signal and subordinate phase comprises:
To through the mixing electric signal that obtains after the opto-electronic conversion successively through obtaining the frequency of mixing electric signal after signal amplification, bandpass filtering and the Fast Fourier Transform (FFT);
Determine respectively the frequency averaging value of described mixing electric signal phase one and subordinate phase in each cycle based on the frequency of mixing electric signal.
Further, the acquisition process of the frequency information of each phase one in cycle of described mixing electric signal and subordinate phase comprises:
To obtaining the spectrum energy of mixing electric signal and the corresponding relation of frequency after the amplification of process signal, bandpass filtering and the Fast Fourier Transform (FFT) successively through the mixing electric signal that obtains after the opto-electronic conversion;
Corresponding relation based on spectrum energy and frequency, phase one and subordinate phase intermediate frequency spectrum energy are lower than the noise spot frequency of setting threshold in described each cycle of mixing electric signal of filtering respectively, the frequency averaging value of phase one and subordinate phase in described each cycle of mixing electric signal of noise spot frequency of then having determined respectively filtering.
Further, the filter range of described bandpass filtering is determined by the velocity range of target object according to Doppler effect;
The multiple that described signal amplifies is determined by the receiving sensitivity of opto-electronic conversion.
Further, described frequency information based on described each phase one in cycle of mixing electric signal calculates the speed of target object, specifically comprises:
With described filtering frequency averaging value, optical maser wavelength and the laser beam direction of described each phase one in cycle of mixing electric signal of noise spot frequency and the angle of target object direction of motion bring Doppler effect formulas into, calculate the speed of target object;
Described frequency information based on described each cycle subordinate phase of mixing electric signal calculates the distance of lasing light emitter distance objective object, specifically comprises:
If the distance of lasing light emitter distance objective object is R, then the computing formula of R is as follows:
Wherein, c is the light velocity, f
2For filtering the frequency averaging value of described each cycle subordinate phase of mixing electric signal of noise spot frequency, f
mBe the frequency of modulation signal, Δ f is the maximum frequency deviation of modulation signal.
The present invention also provides a kind of device that utilizes the range finding of coherent detection laser velocimeter, comprising:
Modulation module, carry out frequency modulation (PFM) for the laser that adopts modulation signal that lasing light emitter is sent and obtain FM signal, each cycle of described modulation signal is divided into two stages, wherein the phase one is carried out the constant frequency modulation to described laser, and subordinate phase is carried out sine wave or triangular modulation to described laser;
Spectral module is used for described FM signal is divided into two-way;
Survey frequency mixing module, the road FM signal that is used for spectral module is told shines target object and reflection echo signal, and another road is carried out obtaining mixed frequency signal after the mixing as local oscillator light and described echoed signal;
Photoelectric conversion module is used for mixed frequency signal is carried out obtaining the mixing electric signal after the opto-electronic conversion;
Resolve module, be used for calculating based on the frequency information of described each phase one in cycle of mixing electric signal the speed of target object, calculate the distance of lasing light emitter distance objective object based on the frequency information of described each cycle subordinate phase of mixing electric signal.
Further, the described module of resolving specifically comprises:
The frequency information acquisition module, be used for to through the mixing electric signal that obtains after the opto-electronic conversion successively through obtaining the frequency of mixing electric signal after signal amplification, bandpass filtering and the Fast Fourier Transform (FFT);
Determine respectively the frequency averaging value of described mixing electric signal phase one and subordinate phase in each cycle based on the frequency of mixing electric signal.
Further, the described module of resolving specifically comprises:
The frequency information acquisition module is used for obtaining the spectrum energy of mixing electric signal and the corresponding relation of frequency after the amplification of process signal, bandpass filtering and the Fast Fourier Transform (FFT) successively through the mixing electric signal that obtains after the opto-electronic conversion;
Corresponding relation based on spectrum energy and frequency, phase one and subordinate phase intermediate frequency spectrum energy are lower than the noise spot frequency of setting threshold in described each cycle of mixing electric signal of filtering respectively, the frequency averaging value of phase one and subordinate phase in described each cycle of mixing electric signal of noise spot frequency of then having determined respectively filtering.
Further, the filter range of described bandpass filtering is determined by the velocity range of target object according to Doppler effect;
The multiple that described signal amplifies is determined by the receiving sensitivity of photoelectric conversion module.
Further, the described module of resolving also comprises:
The velocity calculated module, be used for described filtering frequency averaging value, optical maser wavelength and the laser beam direction of described each phase one in cycle of mixing electric signal of noise spot frequency and the angle of target object direction of motion and brought Doppler effect formulas into, calculated the speed of target object;
Distance is resolved module, is R for the distance that calculates lasing light emitter distance objective object according to following formula, then,
Wherein, c is the light velocity, f
2For filtering the frequency averaging value of described each cycle subordinate phase of mixing electric signal of noise spot frequency, f
mBe the frequency of modulation signal, Δ f is the maximum frequency deviation of modulation signal.
Adopt technique scheme, the present invention has following advantages at least:
Method and the device that utilizes the range finding of coherent detection laser velocimeter of the present invention, introduced minute two stages the laser that lasing light emitter sends has been carried out warbled modulation signal, calculate target object speed and apart from the distance of testing apparatus based on the frequency information in corresponding two stages in the follow-up mixed frequency signal, compare with holocyclic triangular modulation mode in the prior art, can greatly improve the signal to noise ratio (S/N ratio) of velocity calculated, eliminate the impact of the linearity on testing the speed and finding range and cause of modulation signal.Simultaneously, the present invention adopts the mode of coherent detection in same device, in two stages laser is carried out frequency modulation (PFM), can measure moving object distance information, also can obtain the moving object velocity information, and has guaranteed precision and the reach measured.
Description of drawings
Fig. 1 is the method flow diagram that utilizes the range finding of coherent detection laser velocimeter of first embodiment of the invention;
Fig. 2 is the installation composition synoptic diagram that utilizes the range finding of coherent detection laser velocimeter of second embodiment of the invention;
Fig. 3 is the process synoptic diagram that the testing apparatus of application example of the present invention is carried out the range finding of testing the speed;
Fig. 4 is local oscillation signal and the echoed signal synoptic diagram after the modulation signal modulation of application example of the present invention.
Embodiment
Reach technological means and the effect that predetermined purpose is taked for further setting forth the present invention, below in conjunction with accompanying drawing and preferred embodiment, the present invention is described in detail as after.
First embodiment of the invention, a kind of method of utilizing the range finding of coherent detection laser velocimeter as shown in Figure 1, may further comprise the steps:
Step S101, the laser that adopts modulation signal that lasing light emitter is sent carries out frequency modulation (PFM) and obtains FM signal, each cycle of described modulation signal is divided into two stages, wherein the phase one is carried out the constant frequency modulation to described laser, and subordinate phase is carried out sine wave or triangular modulation to described laser.
Step S102 is divided into two-way with described FM signal, and one the tunnel shines target object and reflection echo signal, and another road carries out obtaining mixed frequency signal after the mixing as local oscillator light and described echoed signal.
Step S103, mixed frequency signal is carried out obtaining the mixing electric signal after the opto-electronic conversion, calculate the speed of target object based on the frequency information of described each phase one in cycle of mixing electric signal, calculate the distance of lasing light emitter distance objective object based on the frequency information of described each cycle subordinate phase of mixing electric signal.
Concrete, the acquisition process of the frequency information of each phase one in cycle of described mixing electric signal and subordinate phase comprises:
To through the mixing electric signal that obtains after the opto-electronic conversion successively through obtaining the frequency of mixing electric signal after signal amplification, bandpass filtering and the Fast Fourier Transform (FFT); Determine respectively the frequency averaging value of described mixing electric signal phase one and subordinate phase in each cycle based on the frequency of mixing electric signal.
Consider the precision that can further improve measurement result in the practical application, preferred, the acquisition process of the frequency information of each phase one in cycle of described mixing electric signal and subordinate phase comprises:
To obtaining the spectrum energy of mixing electric signal and the corresponding relation of frequency after the amplification of process signal, bandpass filtering and the Fast Fourier Transform (FFT) successively through the mixing electric signal that obtains after the opto-electronic conversion;
Corresponding relation based on spectrum energy and frequency, phase one and subordinate phase intermediate frequency spectrum energy are lower than the noise spot frequency of setting threshold in described each cycle of mixing electric signal of filtering respectively, the frequency averaging value of phase one and subordinate phase in described each cycle of mixing electric signal of noise spot frequency of then having determined respectively filtering.
Further, the filter range of described bandpass filtering is determined by the velocity range of target object that according to Doppler effect the multiple that described signal amplifies is determined by the receiving sensitivity of opto-electronic conversion.
In step S103, described frequency information based on described each phase one in cycle of mixing electric signal calculates the speed of target object, specifically comprises:
With described filtering frequency averaging value, optical maser wavelength and the laser beam direction of described each phase one in cycle of mixing electric signal of noise spot frequency and the angle of target object direction of motion bring Doppler effect formulas into, calculate the speed v of target object;
Concrete, Doppler effect formulas is:
Wherein, f
1For filtering the frequency averaging value of described each phase one in cycle of mixing electric signal of noise spot frequency, the angle of θ laser beam direction and target object direction of motion, λ is the wavelength of the laser that sends of lasing light emitter, the optical maser wavelength that the present invention can select comprises: 1064nm and 1550nm, preferably, adopt the better effects if of 1550nm.
In step S103, described frequency information based on described each cycle subordinate phase of mixing electric signal calculates the distance of lasing light emitter distance objective object, specifically comprises:
If the distance of lasing light emitter distance objective object is R, then the computing formula of R is as follows:
Wherein, c is the light velocity, f
2For filtering the frequency averaging value of described each cycle subordinate phase of mixing electric signal of noise spot frequency, f
mBe the frequency of modulation signal, Δ is the maximum frequency deviation of modulation signal.
Second embodiment of the invention, a kind of method of utilizing the range finding of coherent detection laser velocimeter as shown in Figure 2, comprises following ingredient:
Survey frequency mixing module 300, the road FM signal that is used for spectral module 200 is told shines target object and reflection echo signal, and another road is carried out obtaining mixed frequency signal after the mixing as local oscillator light and described echoed signal.
Concrete, photoelectric conversion module 400 can be selected PIN type silicon photoelectric diode or APD(Avalanche Photo Diode, avalanche photodide).
Concrete, resolve module 500, comprising:
Frequency information acquisition module 51, be used for to through the mixing electric signal that obtains after the opto-electronic conversion successively through obtaining the frequency of mixing electric signal after signal amplification, bandpass filtering and the Fast Fourier Transform (FFT); Determine respectively the frequency averaging value of described mixing electric signal phase one and subordinate phase in each cycle based on the frequency of mixing electric signal.
Consider the precision that can further improve measurement result in the practical application, preferably, frequency information acquisition module 51 is used for obtaining the spectrum energy of mixing electric signal and the corresponding relation of frequency after the amplification of process signal, bandpass filtering and the Fast Fourier Transform (FFT) successively through the mixing electric signal that obtains after the opto-electronic conversion;
Corresponding relation based on spectrum energy and frequency, phase one and subordinate phase intermediate frequency spectrum energy are lower than the noise spot frequency of setting threshold in described each cycle of mixing electric signal of filtering respectively, the frequency averaging value of phase one and subordinate phase in described each cycle of mixing electric signal of noise spot frequency of then having determined respectively filtering.
Further, the filter range of described bandpass filtering is determined by the velocity range of target object according to Doppler effect; The multiple that described signal amplifies is determined by the receiving sensitivity of photoelectric conversion module.
Velocity calculated module 52, be used for described filtering frequency averaging value, optical maser wavelength and the laser beam direction of described each phase one in cycle of mixing electric signal of noise spot frequency and the angle of target object direction of motion and brought Doppler effect formulas into, calculated the speed v of target object.
Concrete, Doppler effect formulas is:
Wherein, f
1For filtering the frequency averaging value of described each phase one in cycle of mixing electric signal of noise spot frequency, the angle of θ laser beam direction and target object direction of motion, λ is the wavelength of the laser that sends of lasing light emitter, the optical maser wavelength that the present invention can select comprises: 1064nm and 1550nm, preferably, adopt the better effects if of 1550nm.
Distance is resolved module 53, is R for the distance that calculates lasing light emitter distance objective object according to following formula, then,
Wherein, c is the light velocity, f
2For filtering the frequency averaging value of described each cycle subordinate phase of mixing electric signal of noise spot frequency, f
mBe the frequency of modulation signal, Δ f is the maximum frequency deviation of modulation signal.
The below introduces an application example of the present invention:
Adopt fiber laser as lasing light emitter, its volume is little, lightweight, low in energy consumption.The testing apparatus of this application example is carried out and is tested the speed ranging process as shown in Figure 3, with fiber laser as lasing light emitter, adopt modulation signal that the Laser emission frequency is modulated and obtain FM signal, this modulation signal is selected in one-period the phase one not modulate namely to keep former laser frequency constant, and subordinate phase adopts the mode of sine wave modulation.
As shown in Figure 4, the FM signal that obtains after the modulation is divided into two-way, one the tunnel as local oscillation signal, another road shines the measured target object as transmitting by the emission camera lens, receive the echoed signal of returning from target object by receiving camera lens, echoed signal and local oscillation signal are carried out mixing through frequency mixer, mixed frequency signal receives with PIN type silicon photoelectric diode, convert mixed frequency signal to the mixing electric signal and carry out signal amplification, bandpass filtering, Fast Fourier Transform (FFT) FFT computing, obtain the spectrum energy of mixed frequency signal and the corresponding relation of frequency.Then, based on the corresponding relation of spectrum energy and frequency, interior phase one in described each cycle of mixing electric signal of filtering and subordinate phase intermediate frequency spectrum energy are lower than the noise spot frequency of setting threshold respectively.Because each phase one in cycle of mixing electric signal is fully different from the spectrum energy of subordinate phase, needing respectively, setting threshold carries out the filtering of noise frequency.Determined respectively filtering again each phase one in cycle of described mixing electric signal of noise spot frequency and the frequency averaging value of subordinate phase, namely the frequency averaging value of described each phase one in cycle of mixing electric signal is the frequency averaging value f of not stage of modulating
1, the frequency averaging value of described each cycle subordinate phase of mixing electric signal is the frequency averaging value f in sine wave modulation stage
2
For moving object, according to formula
Can calculate the moving object speed v, wherein λ is the optical maser wavelength that fiber laser sends, and θ is the angle of laser beam direction and target object direction of motion.According to formula
The solving target object is apart from the distance of testing apparatus, and wherein, c is the light velocity, and Δ f is the sinusoidal modulation signal maximum frequency deviation, f
mFrequency for sinusoidal modulation signal.
Method and the device that utilizes the range finding of coherent detection laser velocimeter of the present invention, introduced and do not modulated signal phase, compare with holocyclic triangular modulation mode in the prior art, can greatly improve the signal to noise ratio (S/N ratio) of velocity calculated, eliminate the impact of the linearity on testing the speed and finding range and cause of modulation signal.Simultaneously, the present invention adopts the mode of coherent detection in same device, in two stages laser is carried out frequency modulation (PFM), can measure moving object distance information, also can obtain the moving object velocity information, and has guaranteed precision and the reach measured.
By the explanation of embodiment, should be to reach technological means and the effect that predetermined purpose takes to be able to more deeply and concrete understanding to the present invention, yet appended diagram only provide with reference to the usefulness of explanation, the present invention is limited.
Claims (10)
1. a method of utilizing the range finding of coherent detection laser velocimeter is characterized in that, comprising:
The laser that adopts modulation signal that lasing light emitter is sent carries out frequency modulation (PFM) and obtains FM signal, each cycle of described modulation signal is divided into two stages, wherein the phase one is carried out the constant frequency modulation to described laser, and subordinate phase is carried out sine wave or triangular modulation to described laser;
Described FM signal is divided into two-way, and one the tunnel shines target object and reflection echo signal, and another road carries out obtaining mixed frequency signal after the mixing as local oscillator light and described echoed signal;
Mixed frequency signal is carried out obtaining the mixing electric signal after the opto-electronic conversion, calculate the speed of target object based on the frequency information of described each phase one in cycle of mixing electric signal, calculate the distance of lasing light emitter distance objective object based on the frequency information of described each cycle subordinate phase of mixing electric signal.
2. the method for utilizing coherent detection laser velocimeter range finding according to claim 1 is characterized in that the acquisition process of the frequency information of each phase one in cycle of described mixing electric signal and subordinate phase comprises:
To through the mixing electric signal that obtains after the opto-electronic conversion successively through obtaining the frequency of mixing electric signal after signal amplification, bandpass filtering and the Fast Fourier Transform (FFT);
Determine respectively the frequency averaging value of described mixing electric signal phase one and subordinate phase in each cycle based on the frequency of mixing electric signal.
3. the method for utilizing coherent detection laser velocimeter range finding according to claim 1 is characterized in that the acquisition process of the frequency information of each phase one in cycle of described mixing electric signal and subordinate phase comprises:
To obtaining the spectrum energy of mixing electric signal and the corresponding relation of frequency after the amplification of process signal, bandpass filtering and the Fast Fourier Transform (FFT) successively through the mixing electric signal that obtains after the opto-electronic conversion;
Corresponding relation based on spectrum energy and frequency, phase one and subordinate phase intermediate frequency spectrum energy are lower than the noise spot frequency of setting threshold in described each cycle of mixing electric signal of filtering respectively, the frequency averaging value of phase one and subordinate phase in described each cycle of mixing electric signal of noise spot frequency of then having determined respectively filtering.
4. according to claim 2 or the 3 described methods of utilizing coherent detection laser velocimeter range finding, it is characterized in that the filter range of described bandpass filtering is determined by the velocity range of target object according to Doppler effect; The multiple that described signal amplifies is determined by the receiving sensitivity of opto-electronic conversion.
5. according to claim 2 or the 3 described methods of utilizing coherent detection laser velocimeter range finding, it is characterized in that described frequency information based on described each phase one in cycle of mixing electric signal calculates the speed of target object, specifically comprises:
With described filtering frequency averaging value, optical maser wavelength and the laser beam direction of described each phase one in cycle of mixing electric signal of noise spot frequency and the angle of target object direction of motion bring Doppler effect formulas into, calculate the speed of target object;
Described frequency information based on described each cycle subordinate phase of mixing electric signal calculates the distance of lasing light emitter distance objective object, specifically comprises:
If the distance of lasing light emitter distance objective object is R, then the computing formula of R is as follows:
Wherein, c is the light velocity, f
2For filtering the frequency averaging value of described each cycle subordinate phase of mixing electric signal of noise spot frequency, f
mBe the frequency of modulation signal, Δ f is the maximum frequency deviation of modulation signal.
6. a device that utilizes the range finding of coherent detection laser velocimeter is characterized in that, comprising:
Modulation module, carry out frequency modulation (PFM) for the laser that adopts modulation signal that lasing light emitter is sent and obtain FM signal, each cycle of described modulation signal is divided into two stages, wherein the phase one is carried out the constant frequency modulation to described laser, and subordinate phase is carried out sine wave or triangular modulation to described laser;
Spectral module is used for described FM signal is divided into two-way;
Survey frequency mixing module, the road FM signal that is used for spectral module is told shines target object and reflection echo signal, and another road is carried out obtaining mixed frequency signal after the mixing as local oscillator light and described echoed signal;
Photoelectric conversion module is used for mixed frequency signal is carried out obtaining the mixing electric signal after the opto-electronic conversion;
Resolve module, be used for calculating based on the frequency information of described each phase one in cycle of mixing electric signal the speed of target object, calculate the distance of lasing light emitter distance objective object based on the frequency information of described each cycle subordinate phase of mixing electric signal.
7. the device that utilizes coherent detection laser velocimeter range finding according to claim 6 is characterized in that the described module of resolving specifically comprises:
The frequency information acquisition module, be used for to through the mixing electric signal that obtains after the opto-electronic conversion successively through obtaining the frequency of mixing electric signal after signal amplification, bandpass filtering and the Fast Fourier Transform (FFT);
Determine respectively the frequency averaging value of described mixing electric signal phase one and subordinate phase in each cycle based on the frequency of mixing electric signal.
8. the device that utilizes coherent detection laser velocimeter range finding according to claim 6 is characterized in that the described module of resolving specifically comprises:
The frequency information acquisition module is used for obtaining the spectrum energy of mixing electric signal and the corresponding relation of frequency after the amplification of process signal, bandpass filtering and the Fast Fourier Transform (FFT) successively through the mixing electric signal that obtains after the opto-electronic conversion;
Corresponding relation based on spectrum energy and frequency, phase one and subordinate phase intermediate frequency spectrum energy are lower than the noise spot frequency of setting threshold in described each cycle of mixing electric signal of filtering respectively, the frequency averaging value of phase one and subordinate phase in described each cycle of mixing electric signal of noise spot frequency of then having determined respectively filtering.
9. according to claim 7 or the 8 described devices that utilize coherent detection laser velocimeter range finding, it is characterized in that the filter range of described bandpass filtering is determined by the velocity range of target object according to Doppler effect; The multiple that described signal amplifies is determined by the receiving sensitivity of photoelectric conversion module.
10. according to claim 7 or the 8 described devices that utilize coherent detection laser velocimeter range finding, it is characterized in that the described module of resolving also comprises:
The velocity calculated module, be used for described filtering frequency averaging value, optical maser wavelength and the laser beam direction of described each phase one in cycle of mixing electric signal of noise spot frequency and the angle of target object direction of motion and brought Doppler effect formulas into, calculated the speed of target object;
Distance is resolved module, is R for the distance that calculates lasing light emitter distance objective object according to following formula, then,
Wherein, c is the light velocity, f
2For filtering the frequency averaging value of described each cycle subordinate phase of mixing electric signal of noise spot frequency, f
mBe the frequency of modulation signal, Δ f is the maximum frequency deviation of modulation signal.
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