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Laser radar echo processing method based on improved fuzzy neural network filtering

A technology of fuzzy neural network and laser radar, which is applied in the direction of radio wave measurement systems and instruments, can solve the problems of poor smoothness of limiting filter, inability to determine effective signals, and inability to take into account sensitivity and smoothness at the same time, so as to eliminate noise interference Effect

Pending Publication Date: 2021-07-02
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0003] Traditional lidar filtering algorithms include: limiting filtering, mean filtering, median filtering, etc. Among them, limiting filtering has poor smoothness, cannot suppress periodic interference, and cannot determine the effective signal in the signal formed by periodic interference; mean filtering and median filtering cannot take into account both sensitivity and smoothness

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  • Laser radar echo processing method based on improved fuzzy neural network filtering
  • Laser radar echo processing method based on improved fuzzy neural network filtering
  • Laser radar echo processing method based on improved fuzzy neural network filtering

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Embodiment

[0050] A laser radar echo data processing method with improved fuzzy neural network filtering, such as figure 1 As shown, the specific steps are as follows:

[0051] Step 1: The atmospheric pulse lidar equation is derived under the first-order multiple scattering approximation as follows:

[0052]

[0053] In the formula, P r (R) is the sampling signal strength at distance R, β π(R) is the backscattering coefficient, σ(R) is the extinction coefficient, C q is the instrument constant, and the actual lidar receiving signal needs to pass through photodetectors, high-frequency amplifiers, analog-to-digital converters and other devices. According to the actual device parameters, the signal model is further revised. Let the bias level of the amplifier be l v , the sampling frequency of the ADC converter is f, and it is assumed that the average extinction coefficient in the sampling volume between the k-1th sampling point and the kth sampling point is The echo model can be ...

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Abstract

The invention discloses a laser radar echo data processing method for improving fuzzy neural network filtering, and the method comprises the steps: carrying out the modeling of a noise-containing laser radar echo signal, constructing a simulation ideal signal model, and correcting the echo model through improving an atmospheric pulse laser radar equation; secondly, updating a weight parameter of a filtering algorithm system through an LMS (Least Mean Square) algorithm; secondly, designing a self-correcting fuzzy neural network system and simultaneously processing numerical data and language information of laser radar echo signals; and finally, utilizing a fuzzy filtering-X LMS algorithm to update filtering system parameters, and the flight time, and obtainingthe pulse width and the amplitude by checking the signal quality through a signal-to-noise ratio. According to the method, noise can be better eliminated, and the problem of low convergence is solved, so that the performance of a laser radar echo signal data processing system is enhanced.

Description

technical field [0001] The invention belongs to the technical field of laser radar signal processing, and in particular relates to a laser radar echo processing method based on improved fuzzy neural network filtering. Background technique [0002] Lidar (LIDAR) belongs to the field of laser remote sensing. The transmitting end emits laser light to the target surface, the receiving end obtains the reflected signal of the target surface, and obtains other relevant information such as flight time and intensity from the echo signal through signal processing technology. Pulse lidar plays an important role in the military and civilian fields, and its main application is to implement precise distance measurement for targets. The pulse laser echo of the target is often interfered by natural light reflection flicker noise, non-detection target clutter, electrical noise of the photoelectric receiving system, etc., which affect the radar detection accuracy and effective detection dista...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S7/48G01S7/486G01S7/487
CPCG01S7/4802G01S7/4861G01S7/4876Y02A90/10
Inventor 王春勇夏秋澄李振华来建成严伟纪运景戴昊
Owner NANJING UNIV OF SCI & TECH
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