大动态范围激光雷达回波信号饱和处理算法
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摘要
对激光雷达距离探测中的回波信号建模,提出一种窗宽自适应形心修正算法,根据窗宽与饱和度的关系建立窗宽自适应模型以获取形心,并采用中位数修正,实现高精度饱和波形时刻提取.利用Matlab进行仿真分析,结果表明当信噪比为10dB时,窗宽自适应形心修正算法精度为0.3ns,相比于传统形心算法提高92%,可有效解决形心漂移问题.利用板级系统实测波形验证算法,并针对实测波形的微小畸变修正该算法,结果表明在饱和波形下该算法时间精度可达0.5ns,可实现7.5cm的测距精度,有效增大测距动态范围,降低系统复杂度.
An adaptive window width centroid correction algorithm is proposed based on echo signal modeling for lidar distance detection.An adaptive window width model is established to obtain centroids based on the relationship between window width and saturation.The algorithm is adjusted by the median,and achieves high-accuracy time extraction of saturated waveforms.The simulation is carried out through Matlab,and the results show that when the SNR reaches 10 dB,the accuracy of the adaptive window width centroid correction algorithm is 0.3 ns.Compared with traditional waveform centroid algorithms,the accuracy of the proposed algorithm is improved by 92%and the problem of centroid drift can be effectively solved.The algorithm is verified utilizing board-level measured waveforms and is corrected for distortion of the measured waveforms,the results show that the time accuracy of algorithm can reach 0.5 ns,and ranging accuracy can achieve 7.5 cm in case of saturated waveforms.The proposed algorithm can effectively increase the dynamic range of ranging and reduce system complexity.
An adaptive window width centroid correction algorithm is proposed based on echo signal modeling for lidar distance detection.An adaptive window width model is established to obtain centroids based on the relationship between window width and saturation.The algorithm is adjusted by the median,and achieves high-accuracy time extraction of saturated waveforms.The simulation is carried out through Matlab,and the results show that when the SNR reaches 10 dB,the accuracy of the adaptive window width centroid correction algorithm is 0.3 ns.Compared with traditional waveform centroid algorithms,the accuracy of the proposed algorithm is improved by 92%and the problem of centroid drift can be effectively solved.The algorithm is verified utilizing board-level measured waveforms and is corrected for distortion of the measured waveforms,the results show that the time accuracy of algorithm can reach 0.5 ns,and ranging accuracy can achieve 7.5 cm in case of saturated waveforms.The proposed algorithm can effectively increase the dynamic range of ranging and reduce system complexity.
引文
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[15]XU Xiao-bin,ZHANG He,CHEN Shan-shan.Plane target echo characteristics of pulsed laser circular-viewing detection[J].Acta Optica Sinica,2017,37(4):0414003.徐孝彬,张合,陈杉杉.脉冲激光周向探测平面目标回波特性[J].光学学报,2017,37(4):0414003.
[16]MUSS J D,AGUILAR-AMUCHASTEGUI N,MLADENOFF D J,et al.Analysis of waveform lidar data using shapebased metrics[J].IEEE Geoscience and Remote Sensing Letters,2013,10(1):106-110.
[2]ZHU F,GONG K,HUO Y.A wide dynamic range laser rangefinder with cm-level resolution based on AGC amplifier structure[J].Infrared Physics&Technology,2012,55(2-3):210-215.
[3]YANG C,HUO Y,CHEN Q,et al.Time-of-flight measurement in self-triggering pulsed laser ranging[J].Optical Engineering,2005,44(3):034201.
[4]KOSTAMOVAARA J,HUIKARI J,HALLMAN L,et al.On laser ranging based on high-speed/energy laser diode pulses and single-photon detection techniques[J].IEEE Photonics Journal,2015,7(2):1-15.
[5]HUANG Min-shuang,LIU Xiao-chen,MA Peng.Periodic error compensation of pulsed time-of-flight laser ranging system[J].Infrared and Laser Engineering,2018,47(3):229-233.黄民双,刘晓晨,马鹏.脉冲飞行时间激光测距系统中周期误差补偿[J].红外与激光工程,2018,47(3):229-233.
[6]LI Jie,ZHAO Yi-qiang,YE Mao,et al.Multi-channel processing technology for wide dynamic range signal in airborne lidar bathymetry[J].Acta Photonica Sinica,2018,47(03):0301002.李杰,赵毅强,叶茂,等.机载激光测深雷达中大动态范围信号的多通道处理技术[J].光子学报,2018,47(03):0301002.
[7]ZHA Bing-ting,WANG De-li,ZHANG Le-qi,et al.Study on the compensation of drift error in laser fuze composite time identification method[J/OL].Chinese Journal of Lasers,(2018-05-24)[2018-05-30].http://kns.cnki.net/kcms/detail/31.1339.TN.20180524.1421.008.html.查冰婷,王德利,张乐琪,等.激光引信复合时刻鉴别法漂移误差补偿研究[J/OL].中国激光,(2018-05-24)[2018-05-30].http://kns.cnki.net/kcms/detail/31.1339.TN.20180524.1421.008.html.
[8]KURTTI S,NISSINEN J,KOSTAMOVAARA J.A wide dynamic range CMOS laser radar receiver with a time-domain walk error compensation scheme[J].IEEE Transactions on Circuits&Systems I Regular Papers,2017,64(3):550-561.
[9]LI X L,YANG B W,XIE X H,et al.Influence of waveform characteristics on LiDAR ranging accuracy and precision.[J].Sensors,2018,18(4):1156.
[10]KE Xi-zheng,LEI Si-chen,YANG Pei-song.Beam coaxial alignment detection in atmospheric laser communication[J].Chinese Journal of Lasers,2016,43(6):0606003.柯熙政,雷思琛,杨沛松.大气激光通信光束同轴对准检测方法[J].中国激光,2016,43(6):0606003.
[11]XUE Wen-jia,ZHAO Yi-qiang,YE Mao,et al.Correction and hardware verification of echo centroid algorithm for airborne LADAR[J].Journal of Harbin Institute of Technology,2018,50(05):116-120.薛文佳,赵毅强,叶茂,等.机载激光雷达回波形心算法修正及硬件验证[J].哈尔滨工业大学学报,2018,50(05):116-120.
[12]HUANG Ke,LI Song,MA Yue,et al.Research on detection probability model of single photon laser altimetry and its range accuracy[J].Chinese Journal of Lasers,2016,43(11):1110001.黄科,李松,马跃,等.单光子模式激光测高探测概率模型与精度分析[J].中国激光,2016,43(11):1110001.
[13]ABDALLAH H,BAGHDADI N,BAILLY J S,et al.Wa-LiD:a new LiDAR simulator for waters[J].IEEEGeoscience and Remote Sensing Letters,2012,9(4):744-748.
[14]SUN Jun-ling,MA Peng-ge,SUN Guang-min,et al.Multi-pulse laser radar target signal simulation based on target echo waveform model[J].Infrared and Laser Engineering,2016,45(7):0726006.孙俊灵,马鹏阁,孙光民,等.基于目标波形模型的多脉冲激光雷达目标信号模拟[J].红外与激光工程,2016,45(7):0726006.
[15]XU Xiao-bin,ZHANG He,CHEN Shan-shan.Plane target echo characteristics of pulsed laser circular-viewing detection[J].Acta Optica Sinica,2017,37(4):0414003.徐孝彬,张合,陈杉杉.脉冲激光周向探测平面目标回波特性[J].光学学报,2017,37(4):0414003.
[16]MUSS J D,AGUILAR-AMUCHASTEGUI N,MLADENOFF D J,et al.Analysis of waveform lidar data using shapebased metrics[J].IEEE Geoscience and Remote Sensing Letters,2013,10(1):106-110.