轻小型全天时远程光子计数激光雷达系统技术
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摘要
对提升激光雷达作用距离的方法进行了分析,针对2 km以上的远程探测应用,提出了一种轻小型能够全天时工作的光子计数激光三维成像雷达解决方案,可用于轻小型飞行器制导,无人机、直升机、船舶导航与避障,铁路轨道障碍物探查等有远程探测需求的应用场合。该系统采取光子计数高探测灵敏度方案,光学应用收发共光路设计,收发望远镜巧妙采用了共轭光学设计,二维扫描机构放置于望远镜的后方,不但扩大了望远镜口径,提升了作用距离,同时也缩减了扫描镜尺寸,有利于扫描速度的提高,激光收发采取窄发散角和瞬时视场共视场扫描设计,再结合超窄带滤波器的应用,使得系统能够实现强烈背景噪声条件下的工作。最后讨论了高重频微脉冲激光器、发射杂散光干扰、偏振激光雷达适应性以及光子计数背景滤波去噪处理技术等技术难点。
A compact design of photon counting 3D imaging ladar was proposed, which can be used in full-time remote detection applications but with strict restrictions on the size and weight, such as high-speed vehicle guidance, high-speed UAV, helicopter, ship navigation and obstacle avoidance, and railway track obstacles exploration. This design adopted high sensitivity photon counting technology, common aperture for laser transmission and receives, as well as conjugate optics in the telescope. And the two-dimensional scanning mechanism was placed in the rear of the telescope, to expand the telescope aperture, improve the detecting range and reduce the size of scanning mirror. With a smaller scanning mirror, the scanning speed was further improved. The laser transceiver was designed with a narrow divergence angle and narrow instantaneous common FOV. Combined with the application of ultra narrowband filter, the ladar system can achieve good performance under the strong daylight noise condition. At last, key technologies of high repetition laser emission, emission stray light suppression,polarization degradation, photon counting sunlight background denoising use in this design were discussed.
A compact design of photon counting 3D imaging ladar was proposed, which can be used in full-time remote detection applications but with strict restrictions on the size and weight, such as high-speed vehicle guidance, high-speed UAV, helicopter, ship navigation and obstacle avoidance, and railway track obstacles exploration. This design adopted high sensitivity photon counting technology, common aperture for laser transmission and receives, as well as conjugate optics in the telescope. And the two-dimensional scanning mechanism was placed in the rear of the telescope, to expand the telescope aperture, improve the detecting range and reduce the size of scanning mirror. With a smaller scanning mirror, the scanning speed was further improved. The laser transceiver was designed with a narrow divergence angle and narrow instantaneous common FOV. Combined with the application of ultra narrowband filter, the ladar system can achieve good performance under the strong daylight noise condition. At last, key technologies of high repetition laser emission, emission stray light suppression,polarization degradation, photon counting sunlight background denoising use in this design were discussed.
引文
[1] Dai Yongjiang. Laser Radar Technology(1)[M]. Beijing:Publishing House of Electronics Industry, 2010.(in Chinese)戴永江.激光雷达技术(上册)[M].北京:电子工业出版社,2010.
[2] Sun Jianfeng, Yan Aimin, Liu Dean, et al. Progress on longrange laser imaging ladar[J]. Laser&Optoelectronics Progress, 2009, 46(8):49-54.(in Chinese)孙建锋,阎爱民,刘德安,等.远距离激光成像雷达进展[J].激光与光电子学进展, 2009, 46(8):49-54.
[3] Shu R, Huang G, Hou L, et al. Multi-channel photon counting three-dimensional imaging laser radar system using fiber array coupled Geiger-mode avalanche photodiode[C]//Proc of SPIE, 2012, 8542:1-10。
[4] Shen Shanshan, Chen Qian, He Weiji, et al. Research and realization on performance of single photon counting ranging system optimizing[J]. Infrared and Laser Engineering,2016, 45(2):0217001.(in Chinese)沈姗姗,陈钱,何伟基,等.单光子测距系统性能优化研究和实现[J].红外与激光工程, 2016, 45(2):0217001.
[5] Shentu Guoliang, Zheng Mingyang, Zhang Qiang. The new dev elopment of up-conversion single-photon detector[J].Scientia Sinica:Information, 2014, 44(3):389-393.(in Chinese)申屠国樑,郑名扬,张强.上转换单光子探测器最新进展[J].中国科学:信息科学, 2014, 44(3):389-393.
[6] Zhao Yuan, Zhang Zijing, Ma Kun, et al. High sensitivity photon polarization laser radar system[J]. Infrared and Laser Engineering, 2016, 45(9):0902001.(in Chinese)赵远,张子静,马昆,等.高灵敏度的光子偏振激光雷达系统[J].红外与激光工程, 2016, 45(9):0902001
[7] Liu Zhiqing, Li Pengcheng, Chen XiaoweiClassification of airborne LiDAR point clound data based on information vector machine[J]. Optics and Precision Engineering, 2016,24(1):210-219.(in Chinese)刘志青,李鹏程,陈小卫,等.基于信息向量机的机载激光雷达点云数据分类[J].光学精密工程, 2016, 24(1):210-219.
[8] Zhang Xinting, An Zhiyong, Kang Lei. Design of 3D laser radar transmitting/receiving common path optical system[J].Infrared and Laser Engineering, 2016, 45(6):0618004.(in Chinese)张欣婷,安志勇,亢磊.三维激光雷达发射/接收共光路光学系统设计[J].红外与激光工程, 2016, 45(6):0618004.
[9] Wang Feng, Hu Xiaoyang, Ye Yidong. Development of ultranarrow band filter technique[J]. Laser&Optoelectronics Progress, 2007, 44(6):62-67.(in Chinese)王锋,胡晓阳,叶一东.超窄带滤光技术研究进展[J].激光与电子学进展, 2007, 44(6):62-67.
[10] Xie Feng, Yang Gui, Shu Rong, et al. An adaptive directional filter for photon counting Lidar point cloud data[J]. Journal of Infrared and Millimeter Waves, 2017, 36(1):107-113.(in Chinese)谢锋,杨贵,舒嵘,等.方向自适应的光子计数激光雷达滤波方法[J].红外与毫米波学报, 2017, 36(1):107-113.
[11] He Weiji, Sima Boyu, Miao Zhuang, et al. Correction of reversal errors in photon counting 3D imaging liadar[J].Optics and Precision Engineering, 2013, 21(10):2488-2494.(in Chinese)何伟基,司马博羽,苗壮,等.光子计数三维成像激光雷达反转误差的校正[J].光学精密工程, 2013, 21(10):2488-2494.
[2] Sun Jianfeng, Yan Aimin, Liu Dean, et al. Progress on longrange laser imaging ladar[J]. Laser&Optoelectronics Progress, 2009, 46(8):49-54.(in Chinese)孙建锋,阎爱民,刘德安,等.远距离激光成像雷达进展[J].激光与光电子学进展, 2009, 46(8):49-54.
[3] Shu R, Huang G, Hou L, et al. Multi-channel photon counting three-dimensional imaging laser radar system using fiber array coupled Geiger-mode avalanche photodiode[C]//Proc of SPIE, 2012, 8542:1-10。
[4] Shen Shanshan, Chen Qian, He Weiji, et al. Research and realization on performance of single photon counting ranging system optimizing[J]. Infrared and Laser Engineering,2016, 45(2):0217001.(in Chinese)沈姗姗,陈钱,何伟基,等.单光子测距系统性能优化研究和实现[J].红外与激光工程, 2016, 45(2):0217001.
[5] Shentu Guoliang, Zheng Mingyang, Zhang Qiang. The new dev elopment of up-conversion single-photon detector[J].Scientia Sinica:Information, 2014, 44(3):389-393.(in Chinese)申屠国樑,郑名扬,张强.上转换单光子探测器最新进展[J].中国科学:信息科学, 2014, 44(3):389-393.
[6] Zhao Yuan, Zhang Zijing, Ma Kun, et al. High sensitivity photon polarization laser radar system[J]. Infrared and Laser Engineering, 2016, 45(9):0902001.(in Chinese)赵远,张子静,马昆,等.高灵敏度的光子偏振激光雷达系统[J].红外与激光工程, 2016, 45(9):0902001
[7] Liu Zhiqing, Li Pengcheng, Chen XiaoweiClassification of airborne LiDAR point clound data based on information vector machine[J]. Optics and Precision Engineering, 2016,24(1):210-219.(in Chinese)刘志青,李鹏程,陈小卫,等.基于信息向量机的机载激光雷达点云数据分类[J].光学精密工程, 2016, 24(1):210-219.
[8] Zhang Xinting, An Zhiyong, Kang Lei. Design of 3D laser radar transmitting/receiving common path optical system[J].Infrared and Laser Engineering, 2016, 45(6):0618004.(in Chinese)张欣婷,安志勇,亢磊.三维激光雷达发射/接收共光路光学系统设计[J].红外与激光工程, 2016, 45(6):0618004.
[9] Wang Feng, Hu Xiaoyang, Ye Yidong. Development of ultranarrow band filter technique[J]. Laser&Optoelectronics Progress, 2007, 44(6):62-67.(in Chinese)王锋,胡晓阳,叶一东.超窄带滤光技术研究进展[J].激光与电子学进展, 2007, 44(6):62-67.
[10] Xie Feng, Yang Gui, Shu Rong, et al. An adaptive directional filter for photon counting Lidar point cloud data[J]. Journal of Infrared and Millimeter Waves, 2017, 36(1):107-113.(in Chinese)谢锋,杨贵,舒嵘,等.方向自适应的光子计数激光雷达滤波方法[J].红外与毫米波学报, 2017, 36(1):107-113.
[11] He Weiji, Sima Boyu, Miao Zhuang, et al. Correction of reversal errors in photon counting 3D imaging liadar[J].Optics and Precision Engineering, 2013, 21(10):2488-2494.(in Chinese)何伟基,司马博羽,苗壮,等.光子计数三维成像激光雷达反转误差的校正[J].光学精密工程, 2013, 21(10):2488-2494.