脉冲激光测距中阈值——峰值双通道时刻鉴别方法
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摘要
脉冲激光测距系统由于其精度高、抗干扰能力强等优点,广泛应用于激光雷达、激光引信等领域,但是常用的时刻鉴别法存在误差,制约了动态测距精度的提升,主要原因是回波脉冲的衰减和展宽。针对这一问题,提出一种采用恒阈值和峰值双通道的时刻鉴别新方法。该方法通过引入激光发射脉冲的理论方程,建立了回波波形的时域分布模型,可以实现不受到衰减和展宽的影响的准确回波鉴别。在此基础上设计了双通道时刻鉴别的脉冲激光测距系统。实验结果表明,采用双通道时刻鉴别方法可以将近程测距的误差控制在±3 cm以内,并可通过多次测量对精度进一步提升,解决了时刻鉴别误差制约测距精度提高的瓶颈问题。
Pulsed laser ranging system is widely used in laser radar, laser guidance and other fields due to its advantages of high precision, strong anti-interference ability, etc. However, the commonly used timing discrimination method has errors and restricts the improvement of dynamic ranging accuracy,which was mainly caused by the attenuation and widening of the echo pulse. A new method of timing discrimination was presented in view of this problem, which was based on the dual-channel timing discrimination method. The dual-channel timing discrimination method was composed of constant threshold timing discrimination method and peak timing discrimination method. Through the dual-channel timing discrimination method, accurate echo timing discrimination can be achieved without being affected by attenuation and broadening. By introducing the theoretical equations of the laser emission pulse, the time domain distribution model of the echo waveform was established. The experimental results show that the short ranging error can be controlled within ±3 cm by adopting the dual-channel timing discrimination method, and the accuracy can be further improved by multiple measurements, which solves the bottleneck problem that the timing discrimination error restricts the dynamic ranging accuracy.
Pulsed laser ranging system is widely used in laser radar, laser guidance and other fields due to its advantages of high precision, strong anti-interference ability, etc. However, the commonly used timing discrimination method has errors and restricts the improvement of dynamic ranging accuracy,which was mainly caused by the attenuation and widening of the echo pulse. A new method of timing discrimination was presented in view of this problem, which was based on the dual-channel timing discrimination method. The dual-channel timing discrimination method was composed of constant threshold timing discrimination method and peak timing discrimination method. Through the dual-channel timing discrimination method, accurate echo timing discrimination can be achieved without being affected by attenuation and broadening. By introducing the theoretical equations of the laser emission pulse, the time domain distribution model of the echo waveform was established. The experimental results show that the short ranging error can be controlled within ±3 cm by adopting the dual-channel timing discrimination method, and the accuracy can be further improved by multiple measurements, which solves the bottleneck problem that the timing discrimination error restricts the dynamic ranging accuracy.
引文
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[8] Chen Ruiqiang, Jiang Yuesong, Pei Zhao. High frequency and high accuracy laser ranging system based on double thresholds leading-edge timing discrimination[J]. Acta Optica Sinica, 2013, 33(9):0912002.(in Chinese)陈瑞强,江月松,裴朝.基于双阈值前沿时刻鉴别法的高频脉冲激光测距系统[J].光学学报, 2013, 33(9):0912002.
[9] Xu Wei, He Weiji, Chen Qian, et al. Analysis for the influence of time-domain broadening on correlation detection[J]. Infrared&Laser Engineering, 2012, 41(4):875-879.(in Chinese)徐伟,何伟基,陈钱,等.时域展宽特性对相关检测性能的影响分析[J].红外与激光工程, 2012, 41(4):875-879.
[10] Zhou G, Huang W, Zhou X, et al. A new approach to minimize walk error in pulsed laser rangefinding[C]//IGARSS 2017-2017 IEEE International Geoscience and Remote Sensing Symposium. IEEE, 2017:1708-1711.
[11] Wang Yongzhi, Sun Chaojun, Duan Cungao, et al.Algorithm research of error compensation for laser ranging based on echo intensity[J]. Guidance&Fuse,2017, 38(3):35-38, 43.(in Chinese)王永志,孙超君,段存高,等.基于回波强度的激光测距误差补偿算法研究[J].制导与引信, 2017, 38(3):35-38,43.
[12] Ma Yue, Li Song, Zhou Hui, et al. Effect of system parameters on ranging and pulse width in ocean satellite laser altimeter system[J]. Optics and Precision Engineering, 2013, 21(3):813-820.(in Chinese)马跃,李松,周辉,等.系统参数对激光测高仪海洋测距和回波脉宽影响[J].光学精密工程, 2013, 21(3):813-820.
[13] Xu Xiaobin, Zhang He, Zhang Xiangjin, et al.Effect of plane target characteristics on ranging distribution for pulse laser detection[J]. Acta Physica Sinica, 2016, 65(21):210601.(in Chinese)徐孝彬,张合,张祥金,等.脉冲激光探测平面目标特性对测距分布的影响[J].物理学报, 2016, 65(21):210601.
[14] Mu Jiaxing, Cao Jie, Hao Qun, et al. Experimental research on pulsed laser ranging based on differential optical-path[J]. Laser&Infrared, 2016, 46(8):934-937.(in Chinese)穆嘉星,曹杰,郝群,等.基于差分光路的脉冲激光测距实验研究[J].激光与红外, 2016, 46(8):934-937.
[15] Tian Jinrong, Song Yanrong, Wang Li. Error analysis of peak power formula in pulsed lasers[J]. Chinese Optics, 2014, 7(2):253-259.(in Chinese)田金荣,宋晏蓉,王丽.常用激光峰值功率公式误差分析[J].中国光学, 2014, 7(2):253-259.
[2] Zhang Xiangjin, Shen Na, Hu Xin, et al. Scattering properties of target surface in the laser short-range detection[J]. Infrared&Laser Engineering, 2017, 46(7):0706003.(in Chinese)张祥金,沈娜,胡鑫,等.激光近程探测中目标表面的散射特性[J].红外与激光工程, 2017, 46(7):0706003.
[3] Zeng Fei, Gao Shijie, San Xiaogang, et al. Development status and trend of airborne laser communication terminals[J]. Chinese Optics, 2016, 9(1):65-73.(in Chinese)曾飞,高世杰,伞晓刚,等.机载激光通信系统发展现状与趋势[J].中国光学, 2016, 9(1):65-73.
[4] Wang Fengjie, Chen Huimin. Simulation of characteristics of cloud and fog echo for pluse laser fuze[J]. Optics and Precision Engineering, 2015, 23(10z):1-7.(in Chinese)王凤杰,陈慧敏.脉冲激光引信云雾回波特性仿真[J].光学精密工程, 2015, 23(10z):1-7.
[5] Huang Minshuang, Liu Xiaochen, Ma Peng. Periodic error compensation of pulsed time-of-flight laser ranging system[J]. Infrared&Laser Engineering,2018, 47(3):0317004.(in Chinese)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):0317004.
[6] Palojarvi P, Ruotsalainen T, Kostamovaara J. A new approach to avoid walk error in pulsed laser rangefinding[C]//IEEE International Symposium on Circuits and Systems. IEEE Xplore, 1999(1):258-261.
[7] Xiao J, Lopez M, Hu X, et al. A continuous wavelet transform-based modulus maxima approach for the walk error compensation of pulsed time-of-flight laser rangefinders[J]. Optik-International Journal for Light and Electron Optics, 2016, 127(4):1980-1987.
[8] Chen Ruiqiang, Jiang Yuesong, Pei Zhao. High frequency and high accuracy laser ranging system based on double thresholds leading-edge timing discrimination[J]. Acta Optica Sinica, 2013, 33(9):0912002.(in Chinese)陈瑞强,江月松,裴朝.基于双阈值前沿时刻鉴别法的高频脉冲激光测距系统[J].光学学报, 2013, 33(9):0912002.
[9] Xu Wei, He Weiji, Chen Qian, et al. Analysis for the influence of time-domain broadening on correlation detection[J]. Infrared&Laser Engineering, 2012, 41(4):875-879.(in Chinese)徐伟,何伟基,陈钱,等.时域展宽特性对相关检测性能的影响分析[J].红外与激光工程, 2012, 41(4):875-879.
[10] Zhou G, Huang W, Zhou X, et al. A new approach to minimize walk error in pulsed laser rangefinding[C]//IGARSS 2017-2017 IEEE International Geoscience and Remote Sensing Symposium. IEEE, 2017:1708-1711.
[11] Wang Yongzhi, Sun Chaojun, Duan Cungao, et al.Algorithm research of error compensation for laser ranging based on echo intensity[J]. Guidance&Fuse,2017, 38(3):35-38, 43.(in Chinese)王永志,孙超君,段存高,等.基于回波强度的激光测距误差补偿算法研究[J].制导与引信, 2017, 38(3):35-38,43.
[12] Ma Yue, Li Song, Zhou Hui, et al. Effect of system parameters on ranging and pulse width in ocean satellite laser altimeter system[J]. Optics and Precision Engineering, 2013, 21(3):813-820.(in Chinese)马跃,李松,周辉,等.系统参数对激光测高仪海洋测距和回波脉宽影响[J].光学精密工程, 2013, 21(3):813-820.
[13] Xu Xiaobin, Zhang He, Zhang Xiangjin, et al.Effect of plane target characteristics on ranging distribution for pulse laser detection[J]. Acta Physica Sinica, 2016, 65(21):210601.(in Chinese)徐孝彬,张合,张祥金,等.脉冲激光探测平面目标特性对测距分布的影响[J].物理学报, 2016, 65(21):210601.
[14] Mu Jiaxing, Cao Jie, Hao Qun, et al. Experimental research on pulsed laser ranging based on differential optical-path[J]. Laser&Infrared, 2016, 46(8):934-937.(in Chinese)穆嘉星,曹杰,郝群,等.基于差分光路的脉冲激光测距实验研究[J].激光与红外, 2016, 46(8):934-937.
[15] Tian Jinrong, Song Yanrong, Wang Li. Error analysis of peak power formula in pulsed lasers[J]. Chinese Optics, 2014, 7(2):253-259.(in Chinese)田金荣,宋晏蓉,王丽.常用激光峰值功率公式误差分析[J].中国光学, 2014, 7(2):253-259.