Large-dynamic-range centimeter-level-precision laser distance measuring method

A large dynamic range, laser ranging technology, used in measurement devices, radio wave measurement systems, electromagnetic wave re-radiation and other directions, can solve the problem of not being able to accurately obtain distance information and echo strength at the same time

Pending Publication Date: 2019-04-05
SOUTH WEST INST OF TECHN PHYSICS
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  • Abstract
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  • Application Information

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Problems solved by technology

[0015] The technical problem to be solved by the present invention is: the existing large dynamic range detection method cannot solve the

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  • Large-dynamic-range centimeter-level-precision laser distance measuring method

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Embodiment 1

[0056] In pulsed laser ranging, in order to obtain centimeter-level distance accuracy, the pulse width of the emitted laser is usually within a few nanoseconds to tens of nanoseconds. Here, for the convenience of description, the pulse width of the emitted laser is taken to be 6ns. The detector completes the photoelectric conversion and amplifies it to drive the subsequent processing circuit. Usually the photodetector itself has a large dynamic range and a high response speed, but the amplifier circuit takes into account the dynamic range and the response speed to narrow pulses. In order to ensure the responsiveness of transient nanosecond pulses, it is difficult for the amplifying circuit to realize such as image 3 The linear response of the large dynamic range echo is shown. Therefore, the circuit response to the echo signal with a large dynamic range is as follows: Figure 4 shown. Usually, when the echo peak power is below the microwatt level, the echo signal waveform i...

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Abstract

The invention belongs to the field of laser distance measuring, and particularly relates to a large-dynamic-range centimeter-level-precision laser distance measuring method. Precise distance information is obtained according to the following synthetic algorithm procedures: if the AD impulse amplitude does not achieve a set saturation threshold value, AD distance information is corrected accordingto a system calibration result, and intensity information is obtained according to the impulse amplitude; if the AD impulse amplitude achieves the set threshold value, the AD distance information is replaced with TDC distance information, the TDC distance information is corrected according to the impulse width and the system calibration result, and the corresponding echo intensity is obtained according to the impulse width; and furthermore, and through calibration of the echo intensity of different distances and different target reflectivity, the target reflectivity can be estimated using thedistance information and the echo intensity. According to the large-dynamic-range centimeter-level-precision laser distance measuring method, a waveform sampling and threshold value comparing processing method is combined, under the condition of large-dynamic-range echo, the target distance and echo intensity are precisely obtained, the distance measuring precision can achieve the centimeter level, and the target reflectivity is estimated according to the echo intensity.

Description

technical field [0001] The invention belongs to the field of laser ranging, and in particular relates to a centimeter-level precision laser ranging method with a large dynamic range. Background technique [0002] Environmental perception is one of the key technologies in the research of unmanned and autonomous ground unmanned platform mobile robots. Lidar can directly obtain the target distance and realize the three-dimensional perception of the surrounding environment. It is considered to be one of the most valuable sensors among many sensors. Lidar based on pulsed laser time-of-flight (TOF) is the most widely used in the above scenarios due to its fast measurement speed, simple processing, and no distance ambiguity. The lidar mentioned below is based on the principle of TOF, so I won’t go into details. [0003] Depending on the application conditions of the platform, the operating distance of the lidar needs to reach 100-200 meters, or even 300 meters. At the same time, ...

Claims

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Application Information

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IPC IPC(8): G01S17/08G01S7/493G01S7/487
CPCG01S7/487G01S7/493G01S17/08
Inventor 高剑波杨镇源宋昭张志坚徐诗月冷杰石振东白杨毛一江
Owner SOUTH WEST INST OF TECHN PHYSICS
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