激光雷达数据采集系统框架研究
摘要
激光雷达拥有极高的时域,频域和空间分辨能力,其在制导、目标跟踪、光学遥感、空间交会对接,弹道修正等多种军事领域,以及交通测速、环境监测、地理测绘等民用领域都有广泛应用。激光雷达的种类繁多,工作原理和体制也各不相同,有成像激光雷达,测距激光雷达,多普勒激光雷达,差分吸收激光雷达等等,因此激光雷达的数据采集方式也是多种多样,目前并未形成统一的标准。
目前,有小部分激光雷达采用了专用数据采集设备,这些设备根据特定需求设计,可复用性不高,无法快速移植到其它激光雷达系统。大部分的激光雷达采用通用数据采集设备或仪器来达到采集目的,但是其缺陷在于：一方面通用设备应用领域过于宽泛,无法很好地契合激光雷达的采集需求；另一方面很难在此基础上进行二次开发,将其整合进入激光雷达系统中。
针对上述情况,在总结激光雷达数据采集特点和规律基础上,建立高可复用的数据采集框架是很有必要的,框架中应包括该大多数激光雷达中常用采集方法和技术,可以快速组合和重构,实现各种激光雷达数据采集应用。本文以此为目标,展开了以下研究工作：
(1)具体分析了激光雷达发展的国内外现状,总结了激光雷达的发展趋势,并从中提炼出对数据采集系统的总体要求。
(2)系统研究了激光雷达的主要工作方式,作用距离,以及各种功能的实现原理,并且讨论了激光雷达发射系统的核心：激光光源,以及接收系统的主要设备：光电探测器。在此基础上,进一步讨论了激光雷达信号探测的主要模式。
(3)深入分析了激光雷达数据采集系统框架的信号采集,数据流控制,时序控制,集中自动化控制,数据库等各项需求。具体阐述了可重构技术,信号调理,模数变换,光子计数,时间测量,数据缓存,数据处理,集中控制,数据通信,虚拟仪器,数据库访问等框架各部分的设计与实现。
(4)在能见度激光雷达、多普勒测风激光雷达、差分吸收激光雷达和强度关联成像激光雷达等多个项目中,成功应用了数据采集系统框架,经测试,该框架满足了项目各项需求,并提高了项目开发效率。
本论文工作的主要创新点在于：(1)系统研究了激光雷达的工作原理和探测方式,归纳出了激光雷达数据采集的规律和模式,将可重构和高度复用的框架开发概念引入激光雷达数据采集研究领域。
(2)提出了激光雷达数据采集系统框架,并在框架下设计和实现了一系列的软硬件模块,建立起相应通信协议,覆盖了大多数激光雷达常用的数据采集技术和方法,可以满足大多数激光雷达数据采集需求。
(3)成功地将激光雷达数据采集系统框架应用在能见度激光雷达,多普勒测风激光雷达,差分吸收激光雷达和强度关联成像激光雷达等多个项目中,实践证明该框架在激光雷达研究领域中具有很好的应用前景。
Lidar has ultra-high resolution in time domain, frequency domain and spatial domain. Lidar has been widely used in guidance, target tracking, optical remote sensing, space rendezvous and docking, trajectory correction and other military field, as well as in traffic speed monitoring, environmental monitoring, geographic mapping and other civilian areas. There are varieties of Lidars with different working principle, such as imaging lidar, ranging lidar, Doppler lidar, differential absorption lidar, and so on. The data acquisition systems for various kinds of Lidars are different. There is no uniform data acquisition standard in Lidar research field.
Some dedicated data acquisition devices was developed for few particular Lidars. These devices could not be transplanted to other Lidars. Most lidars used common data acquisition devices and commercial instruments. There were two drawbacks to these general-purpose equipments:the one hand, their applications are too broad and can't match the requirements of lidars well; On the other hand, it is difficult to integrate these commercial products into the lidar system.
For these reasons, it is necessary to summarize the characteristics and rules of lidar data acquisition and to establish a data acquisition framework with high reusability for lidar. The most commonly methods and techniques used in lidar data acquisition should be included in the framework. Most of lidar data acquisition systems can be quickly constructed under the framework. To achieve this goal, the following researches had been done:
(1) After the status and trend of lidar development in the world was demonstrated, the general requirements of the data acquisition system for lidar was summarize.
(2) The ways of working, detection range, working principle of lidar was systematically studied. The laser and detector of lidar were introduced. The lidar signal detection modes were discussed.
(3) The needs in lidar data acquisition system framework were deeply analyzed, including signal acquisition, data flow control, timing control, centralized automation and control, database and so on. The signal conditioning, analog-to-digital conversion, photon counting, time measurement, data cache, data processing, centralized control, data communications, virtual instruments, database access in the framework was designed as modules and implemented based on the reconfigurable technology.
(4) The framework had been applied in visibility lidar, Doppler lidar, differential absorption lidar, and intensity correlation imaging lidar. The tests showed that the framework could satisfy the requirements of these lidars. The innovations of this paper are:
(1) Based on the systematical study on the working principle and detection methods of lidar, the rules and mode of lidar data acquisition were summarized. The concept of development under the framework with reconfigurability and reusability was introduced into the field of lidar data acquisition.
(2) The lidar data acquisition system framework was proposed. For the framework, a series of hardware and software modules were designed and developed, the communication protocol was established. The framework had covered the most commonly used data acquisition techniques and methods of lidar, which can meet the needs of most of lidars.
(3) The lidar data acquisition system framework had been successfully implemented in visibility lidar, Doppler lidar, differential absorption lidar, and intensity correlation imaging lidar, which meant that the framework had good prospects in the field of lidar research.
目前,有小部分激光雷达采用了专用数据采集设备,这些设备根据特定需求设计,可复用性不高,无法快速移植到其它激光雷达系统。大部分的激光雷达采用通用数据采集设备或仪器来达到采集目的,但是其缺陷在于：一方面通用设备应用领域过于宽泛,无法很好地契合激光雷达的采集需求；另一方面很难在此基础上进行二次开发,将其整合进入激光雷达系统中。
针对上述情况,在总结激光雷达数据采集特点和规律基础上,建立高可复用的数据采集框架是很有必要的,框架中应包括该大多数激光雷达中常用采集方法和技术,可以快速组合和重构,实现各种激光雷达数据采集应用。本文以此为目标,展开了以下研究工作：
(1)具体分析了激光雷达发展的国内外现状,总结了激光雷达的发展趋势,并从中提炼出对数据采集系统的总体要求。
(2)系统研究了激光雷达的主要工作方式,作用距离,以及各种功能的实现原理,并且讨论了激光雷达发射系统的核心：激光光源,以及接收系统的主要设备：光电探测器。在此基础上,进一步讨论了激光雷达信号探测的主要模式。
(3)深入分析了激光雷达数据采集系统框架的信号采集,数据流控制,时序控制,集中自动化控制,数据库等各项需求。具体阐述了可重构技术,信号调理,模数变换,光子计数,时间测量,数据缓存,数据处理,集中控制,数据通信,虚拟仪器,数据库访问等框架各部分的设计与实现。
(4)在能见度激光雷达、多普勒测风激光雷达、差分吸收激光雷达和强度关联成像激光雷达等多个项目中,成功应用了数据采集系统框架,经测试,该框架满足了项目各项需求,并提高了项目开发效率。
本论文工作的主要创新点在于：(1)系统研究了激光雷达的工作原理和探测方式,归纳出了激光雷达数据采集的规律和模式,将可重构和高度复用的框架开发概念引入激光雷达数据采集研究领域。
(2)提出了激光雷达数据采集系统框架,并在框架下设计和实现了一系列的软硬件模块,建立起相应通信协议,覆盖了大多数激光雷达常用的数据采集技术和方法,可以满足大多数激光雷达数据采集需求。
(3)成功地将激光雷达数据采集系统框架应用在能见度激光雷达,多普勒测风激光雷达,差分吸收激光雷达和强度关联成像激光雷达等多个项目中,实践证明该框架在激光雷达研究领域中具有很好的应用前景。
Lidar has ultra-high resolution in time domain, frequency domain and spatial domain. Lidar has been widely used in guidance, target tracking, optical remote sensing, space rendezvous and docking, trajectory correction and other military field, as well as in traffic speed monitoring, environmental monitoring, geographic mapping and other civilian areas. There are varieties of Lidars with different working principle, such as imaging lidar, ranging lidar, Doppler lidar, differential absorption lidar, and so on. The data acquisition systems for various kinds of Lidars are different. There is no uniform data acquisition standard in Lidar research field.
Some dedicated data acquisition devices was developed for few particular Lidars. These devices could not be transplanted to other Lidars. Most lidars used common data acquisition devices and commercial instruments. There were two drawbacks to these general-purpose equipments:the one hand, their applications are too broad and can't match the requirements of lidars well; On the other hand, it is difficult to integrate these commercial products into the lidar system.
For these reasons, it is necessary to summarize the characteristics and rules of lidar data acquisition and to establish a data acquisition framework with high reusability for lidar. The most commonly methods and techniques used in lidar data acquisition should be included in the framework. Most of lidar data acquisition systems can be quickly constructed under the framework. To achieve this goal, the following researches had been done:
(1) After the status and trend of lidar development in the world was demonstrated, the general requirements of the data acquisition system for lidar was summarize.
(2) The ways of working, detection range, working principle of lidar was systematically studied. The laser and detector of lidar were introduced. The lidar signal detection modes were discussed.
(3) The needs in lidar data acquisition system framework were deeply analyzed, including signal acquisition, data flow control, timing control, centralized automation and control, database and so on. The signal conditioning, analog-to-digital conversion, photon counting, time measurement, data cache, data processing, centralized control, data communications, virtual instruments, database access in the framework was designed as modules and implemented based on the reconfigurable technology.
(4) The framework had been applied in visibility lidar, Doppler lidar, differential absorption lidar, and intensity correlation imaging lidar. The tests showed that the framework could satisfy the requirements of these lidars. The innovations of this paper are:
(1) Based on the systematical study on the working principle and detection methods of lidar, the rules and mode of lidar data acquisition were summarized. The concept of development under the framework with reconfigurability and reusability was introduced into the field of lidar data acquisition.
(2) The lidar data acquisition system framework was proposed. For the framework, a series of hardware and software modules were designed and developed, the communication protocol was established. The framework had covered the most commonly used data acquisition techniques and methods of lidar, which can meet the needs of most of lidars.
(3) The lidar data acquisition system framework had been successfully implemented in visibility lidar, Doppler lidar, differential absorption lidar, and intensity correlation imaging lidar, which meant that the framework had good prospects in the field of lidar research.
引文
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