基于波前编码法的光电被动测距信号处理系统研究
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摘要
光电测距系统一直是学术研究的热点。不论是由于商业还是军事领域上广阔的应用前景,都使得各种光电测距方法得到了实验的机会。传统的测距方式多为主动测距系统。这类系统一般自带激光光源系统,使得整机结构复杂,因此在实践中逐渐暴露出体积大,移动性差等问题。一系列新的测距系统都不再自带光源系统,而是仅仅利用目标自身发射或者反射的光信号来进行距离的探测。这一类新型系统就是光电被动测距系统。
本课题的主要内容就是研究光电被动测距相关的技术。传统上三角法等多目测距方法具有很高的探测精度和探测深度,但是这类系统在可靠性和系统结构上仍然表现不佳,应用场合受到限制。仅仅使用一个探测器就能实现测距目的的单目测距系统在很多下可以取代多目测距系统。为了尽可能的简化测距系统,课题致力于单目被动测距新方法的研究,特别是结构简单的波前编码法系统。
本文着重探讨了波前编码法单目被动测距方法,重点讨论了多种常见测距方案的优缺点并阐述了光电被动测距系统研究中具有很大实际应用价值的新方案——波前编码法的基本理论。列举了光学仿真系统的整体设计方案,着重介绍了用于仿真被动光学测距系统仿真的数字图像生成模块的设计与实现方案。展示了波前编码法光电被动测距系统设计方案下光学系统仿真的结果。仿真结果很好的验证了模块设计的合理性。最后指出了仿真系统今后的改进方向,并且针对光学实验平台的搭建做出了一些初步的设计。
Studies on ranging have been a hot topic for centuries. Systems and applications for both commercial and military purposes are realized. Most of these systems are active, which contain laser subsystems to emit light beams. Because the active systems are usually large, what is a big problem for several critical applications. Later ranging systems drop the active part, and instead estimate the ranges out of the radiation or reflection light from objects. These systems are passive.
Systems using triangle methods perform as precisely as those active systems. Because of multiple sensors deployed inside, the systems, named multi-sensor passive systems, are not yet reliable enough. Compared to them, a new kind of designs with only one sensor is more appealing which also leads to a much simpler composition of components. Single-lens systems lead the way of the trends and many different approaches have been developed through these years.
This paper presents basic theory on the optic wave-front coding passive ranging approach. Because the optic design is the most important part, in order to test and tune the work before fabrication, it is necessary to build up a simulation library. Simulation is an important process during optical passive ranging system design. A good image simulator can make the simulation correct and robust. Based on information optics theory, an applicable image simulator is designed and implemented to simulate system OTF and PSF. After testing in two different applications, the result is satisfactory.
本课题的主要内容就是研究光电被动测距相关的技术。传统上三角法等多目测距方法具有很高的探测精度和探测深度,但是这类系统在可靠性和系统结构上仍然表现不佳,应用场合受到限制。仅仅使用一个探测器就能实现测距目的的单目测距系统在很多下可以取代多目测距系统。为了尽可能的简化测距系统,课题致力于单目被动测距新方法的研究,特别是结构简单的波前编码法系统。
本文着重探讨了波前编码法单目被动测距方法,重点讨论了多种常见测距方案的优缺点并阐述了光电被动测距系统研究中具有很大实际应用价值的新方案——波前编码法的基本理论。列举了光学仿真系统的整体设计方案,着重介绍了用于仿真被动光学测距系统仿真的数字图像生成模块的设计与实现方案。展示了波前编码法光电被动测距系统设计方案下光学系统仿真的结果。仿真结果很好的验证了模块设计的合理性。最后指出了仿真系统今后的改进方向,并且针对光学实验平台的搭建做出了一些初步的设计。
Studies on ranging have been a hot topic for centuries. Systems and applications for both commercial and military purposes are realized. Most of these systems are active, which contain laser subsystems to emit light beams. Because the active systems are usually large, what is a big problem for several critical applications. Later ranging systems drop the active part, and instead estimate the ranges out of the radiation or reflection light from objects. These systems are passive.
Systems using triangle methods perform as precisely as those active systems. Because of multiple sensors deployed inside, the systems, named multi-sensor passive systems, are not yet reliable enough. Compared to them, a new kind of designs with only one sensor is more appealing which also leads to a much simpler composition of components. Single-lens systems lead the way of the trends and many different approaches have been developed through these years.
This paper presents basic theory on the optic wave-front coding passive ranging approach. Because the optic design is the most important part, in order to test and tune the work before fabrication, it is necessary to build up a simulation library. Simulation is an important process during optical passive ranging system design. A good image simulator can make the simulation correct and robust. Based on information optics theory, an applicable image simulator is designed and implemented to simulate system OTF and PSF. After testing in two different applications, the result is satisfactory.
引文
[1]赵勋杰,高稚允.光电被动测距技术.光电技术, 2003, 29(6): 652-656
[2] Okutomi M, Kanade T. A multiple-baseline stereo[J]. IEEE transactions on Pattern Anal & Mch Intell, 1993, 15(4): 353-363
[3] Bhanu B, Symoek P, Snyder S. Synergism of Binocular and Motion Stereo for Passive Ranging[J]. IEEE Transactions on aerospace and electronic system, l994, 30(3): 523-532
[4]许仲仁.远程岸基光电系统测距方法讨论.舰船科学技术, 2000, (1):19-22
[5] Jarvis R A. A perspective on range finding techniques for computer vision[J]. IEEE transactions on Pattern Anal & Machine Intell, 1983, (PAM1-5):122-139
[6]黄锦,张晓兵.基于图像处理的三维测量方法[J].电子器件, 2002, (4): 364-368
[7] Baldacci A, Corsini G, Diani D. Ranging by means of monocular passive systems[J]. Proceedings of SPIE Conference on signal processing, Sensor fusion and Target recognition, 1999, 3720:473-482
[8] Jeffrey W, Draper J S, Gobel R. Monocular Passive Ranging[J]. Proceedings of IRIS Meeting of specialty Group on Targets, Backgrounds and Discrimination, 1994, 113-130
[9] Mckay D L, Wohlers R, Chuang C K. Airborne validation of an IR passive TBM ranging sensor[J]. Proceedings of SPIE Conference on Infrared Technology and Applications, 1999, 3698:491-500
[10]郁道银,谈恒英.工程光学. (第一版).北京:机械工业出版社, 1999. 287-302
[11] L.L.Scharf. Statistical Signal Processing. Addison-Wesley, 1991. 209-276
[12] E.R.Dowski, Jr. Passive Ranging with an Incoherent Optical System: [Ph.D. dissertation]. USA: University of Colorado, Boulder, Colo., 1993
[13] E.R.Dowski, W.T.Cathey. Single-lens single-image incoherent passive ranging systems. Applied Optics, 1994, 33(29):6762-6773
[14] P. M. Woodward. Probability and information theory with applications to radar. Pergamon. USA:New York, 1953. 703-756
[15] A.Papoulis, Ambiguity Function Analysis. J. Opt. Soc. Am.,1974, 64 (74):779-793
[16] J.P.Guigay. Ambiguity Function based optical analysis case study. Optics Comm., 1978, 26 (19): 136-150
[17] K.Dutta, J.W.Goodman. Estimation method using Ambiguity Function. J. Opt. Soc. Am., 1977, 67(79): 796-810
[18] K.H.Brenner, A.W.Lohmann, J.Ojeda-Castaneda. The ambiguity function as a polar display of the OTF. Optics Communications, 1983, 44 (5): 323-326
[19] G.E.Johnson, E.R.Dowski, W.T.Cathey. Passive ranging for acquisition of rang images: Applications to longitudinal vehicle control and warning systems. IEEE transactions, 1998. 655-660
[20] Passive ranging through wave-front coding information and application. Applied Optics, 2000, 39 (11):1700-1710
[21] Martin Fowler.企业应用架构模式(影印本).北京:中国电力出版社, 2004. 504-507
[22] Erich Gamma, et al.设计模式:可复用面向对象软件的基础(英文版).北京:机械工业出版社, 2002. 351-358
[23] Kerievsky, J.从重构到模式(英文版).北京:机械工业出版社, 2006. 9-36
[24]廖延彪.物理光学.北京:电子工业出版社, 1996. 56-80
[25]谈新权,梅晓英.高分辨率CCD图像传感器及CCD摄像机的性能评价.光学技术, 1999, (1):70-72
[26]胡剑凌,徐盛.数字信号处理系统的应用和设计.上海:上海交通大学出版社, 2003. 110-115
[27]王念旭. DSP基础与应用系统设计.北京:北京航空航天大学出版社, 2002. 79-86
[28]李学干,徐甲同.并行处理技术.北京:北京理工大学出版社, 1994. 156-180
[29]张雄伟. DSP芯片的原理与开发应用. (第二版).北京:电子工业出版社, 2000.9. 225-260
[30]彭启琮. DSP技术.成都:电子科技大学出版社, 1997. 69-110
[31]龚剑,朱亮. MATLAB 5.X入门与提高.北京:清华大学出版社, 2000. 60-251
[32]张韵华.数值计算方法和算法.北京:科学出版社, 2000. 456-501
[33]王晓东.计算机算法设计与分析.北京:电子工业出版社, 2001. 336-421
[34] Mckay D L, Wohlers R, Chuang C.K. Airborne validation of an IR passive TBM ranging sensor[J]. Proceedings of SPIE Conference on Infrared Technology and Applications, 1999, 3698: 491-500
[35] Guerci J.R., Goetz R.A. A method for improving extended Kalman filter performance for angle-only passive ranging[J]. IEEE Transactions on aerospace and electronic system, 1994, 30(4):109-1093
[36] Allen, Blackrnan S S. Implementation of an angle-only tracking filter[J]. SPIE Proceedings on signal and Dam Processing of Small Targets, 1991, 1481: 292-300
[37]陈前荣.单站红外被动定位系统[J].激光与光电子学进展, 1999, (9): 27-30
[38]钱铮铁.一种用于红外警戒系统的被动测距方法[J].毫米波与红外学报, 2001, (4): 311-314
[39] Schaefer R, Schwab J. Multiple channel passive 3-D range sensor[J]. Proceedings of SPIE, 2003, 3100: 215-224
[40] Jeffrey W, Draper J S, Gobel R. Monocular Passive Ranging[J]. Proceedings of IRIS Meeting of specialty Group on Targets, Backgrounds and Discrimination, 1994,1660: 113-130
[2] Okutomi M, Kanade T. A multiple-baseline stereo[J]. IEEE transactions on Pattern Anal & Mch Intell, 1993, 15(4): 353-363
[3] Bhanu B, Symoek P, Snyder S. Synergism of Binocular and Motion Stereo for Passive Ranging[J]. IEEE Transactions on aerospace and electronic system, l994, 30(3): 523-532
[4]许仲仁.远程岸基光电系统测距方法讨论.舰船科学技术, 2000, (1):19-22
[5] Jarvis R A. A perspective on range finding techniques for computer vision[J]. IEEE transactions on Pattern Anal & Machine Intell, 1983, (PAM1-5):122-139
[6]黄锦,张晓兵.基于图像处理的三维测量方法[J].电子器件, 2002, (4): 364-368
[7] Baldacci A, Corsini G, Diani D. Ranging by means of monocular passive systems[J]. Proceedings of SPIE Conference on signal processing, Sensor fusion and Target recognition, 1999, 3720:473-482
[8] Jeffrey W, Draper J S, Gobel R. Monocular Passive Ranging[J]. Proceedings of IRIS Meeting of specialty Group on Targets, Backgrounds and Discrimination, 1994, 113-130
[9] Mckay D L, Wohlers R, Chuang C K. Airborne validation of an IR passive TBM ranging sensor[J]. Proceedings of SPIE Conference on Infrared Technology and Applications, 1999, 3698:491-500
[10]郁道银,谈恒英.工程光学. (第一版).北京:机械工业出版社, 1999. 287-302
[11] L.L.Scharf. Statistical Signal Processing. Addison-Wesley, 1991. 209-276
[12] E.R.Dowski, Jr. Passive Ranging with an Incoherent Optical System: [Ph.D. dissertation]. USA: University of Colorado, Boulder, Colo., 1993
[13] E.R.Dowski, W.T.Cathey. Single-lens single-image incoherent passive ranging systems. Applied Optics, 1994, 33(29):6762-6773
[14] P. M. Woodward. Probability and information theory with applications to radar. Pergamon. USA:New York, 1953. 703-756
[15] A.Papoulis, Ambiguity Function Analysis. J. Opt. Soc. Am.,1974, 64 (74):779-793
[16] J.P.Guigay. Ambiguity Function based optical analysis case study. Optics Comm., 1978, 26 (19): 136-150
[17] K.Dutta, J.W.Goodman. Estimation method using Ambiguity Function. J. Opt. Soc. Am., 1977, 67(79): 796-810
[18] K.H.Brenner, A.W.Lohmann, J.Ojeda-Castaneda. The ambiguity function as a polar display of the OTF. Optics Communications, 1983, 44 (5): 323-326
[19] G.E.Johnson, E.R.Dowski, W.T.Cathey. Passive ranging for acquisition of rang images: Applications to longitudinal vehicle control and warning systems. IEEE transactions, 1998. 655-660
[20] Passive ranging through wave-front coding information and application. Applied Optics, 2000, 39 (11):1700-1710
[21] Martin Fowler.企业应用架构模式(影印本).北京:中国电力出版社, 2004. 504-507
[22] Erich Gamma, et al.设计模式:可复用面向对象软件的基础(英文版).北京:机械工业出版社, 2002. 351-358
[23] Kerievsky, J.从重构到模式(英文版).北京:机械工业出版社, 2006. 9-36
[24]廖延彪.物理光学.北京:电子工业出版社, 1996. 56-80
[25]谈新权,梅晓英.高分辨率CCD图像传感器及CCD摄像机的性能评价.光学技术, 1999, (1):70-72
[26]胡剑凌,徐盛.数字信号处理系统的应用和设计.上海:上海交通大学出版社, 2003. 110-115
[27]王念旭. DSP基础与应用系统设计.北京:北京航空航天大学出版社, 2002. 79-86
[28]李学干,徐甲同.并行处理技术.北京:北京理工大学出版社, 1994. 156-180
[29]张雄伟. DSP芯片的原理与开发应用. (第二版).北京:电子工业出版社, 2000.9. 225-260
[30]彭启琮. DSP技术.成都:电子科技大学出版社, 1997. 69-110
[31]龚剑,朱亮. MATLAB 5.X入门与提高.北京:清华大学出版社, 2000. 60-251
[32]张韵华.数值计算方法和算法.北京:科学出版社, 2000. 456-501
[33]王晓东.计算机算法设计与分析.北京:电子工业出版社, 2001. 336-421
[34] Mckay D L, Wohlers R, Chuang C.K. Airborne validation of an IR passive TBM ranging sensor[J]. Proceedings of SPIE Conference on Infrared Technology and Applications, 1999, 3698: 491-500
[35] Guerci J.R., Goetz R.A. A method for improving extended Kalman filter performance for angle-only passive ranging[J]. IEEE Transactions on aerospace and electronic system, 1994, 30(4):109-1093
[36] Allen, Blackrnan S S. Implementation of an angle-only tracking filter[J]. SPIE Proceedings on signal and Dam Processing of Small Targets, 1991, 1481: 292-300
[37]陈前荣.单站红外被动定位系统[J].激光与光电子学进展, 1999, (9): 27-30
[38]钱铮铁.一种用于红外警戒系统的被动测距方法[J].毫米波与红外学报, 2001, (4): 311-314
[39] Schaefer R, Schwab J. Multiple channel passive 3-D range sensor[J]. Proceedings of SPIE, 2003, 3100: 215-224
[40] Jeffrey W, Draper J S, Gobel R. Monocular Passive Ranging[J]. Proceedings of IRIS Meeting of specialty Group on Targets, Backgrounds and Discrimination, 1994,1660: 113-130