A laser multi-pulse ranging method with unequal spacing and its ranging device

Abstract

The invention provides a ranging distance laser multi pulse distance measuring method and a distance measuring device thereof. A plurality of ranging distance pulses are transmitted, a random time variable is introduced to each periodic pulse position, distance measuring starting time is recorded, when the pulses are received, an obvious peak signal is output from a signal processing module, the distance measuring finishing time is recorded and the distance of a target is calculated. The invention further provides a laser multi pulse distance measuring device which comprises an emitter, a receiver, a transmitting antenna and a receiving antenna, the emitter transmits ranging distance multi laser pulses through the transmitting antenna, after being reflected by a target to be measured, the pulses are imported to the receiver through the receiving antenna, and the distance is calculated. According to the ranging distance laser multi pulse distance measuring method and the distance measuring device, the random time variable is introduced to each periodic pulse position, so that the echo signal-to-noise ratio can be improved, the accurate arrival time of the echo can be obtained, and false-alarm caused by overlaying of traditional equally spaced pulses is avoided.

Description

technical field [0001] The invention belongs to the field of laser rangefinders and laser radars, and relates to a method for measuring distances by using unequal-spaced laser multi-pulse and a distance measuring device thereof. Background technique [0002] Lidar has the ability to detect intensity, speed, and three-dimensional imaging of distance, and the information obtained is more abundant than ordinary cameras. With the maturity of semiconductor laser technology and technology, high repetition frequency laser pulse diodes have become widely used light sources, and pulse detection technology has become an important detection method. [0003] The general principle of laser pulse ranging is that the driving circuit emits a beam of laser pulses, and at the same time record the starting time T0, the laser pulse signal reaches the target to be measured and reflects back, the receiving circuit receives the echo signal, and records the ending time T1, according to the formula...

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Problems solved by technology

[0006] The pulse sequences used in the above method are all equally spaced. In the signal processing of the actual system, whether it is performing pulse superposition or correlation processing, when the number of pulses in the superimposed signal is less than m, it is still possible to observe Signal output will produce some redundant peak positions, which will affect the judgment of the main peak position, especially in the case of low signal-to-noise ratio

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