Tracking and ranging laser radar device and method based on single pixel-single photon detector

Abstract

The invention discloses a tracking and ranging laser radar device and method based on a single pixel-single photon detector. The device comprises a narrow pulse laser, a reflecting mirror, an optical transmitting system, a reflecting mirror with a center hole, an optical receiving system, the single pixel-single photon detector, an FPGA data collecting and processing module, a DSP scanning control module and an upper computer. Meanwhile, the invention provides a rapid tracking ranging method, which comprises the following steps of: scanning by using a linear spiral, extracting target flight time by using a peak method and a centroid method, acquiring a light beam pointing angle by using a scanning module, and recording a light beam deflection angle and echo flight time at the moment when a pulse cumulative number of an echo meets a set threshold value; meanwhile, the scanning module rapidly points to the light beam deflection position at the moment, scanning and capturing are conducted again with the position as the center, closed-loop work is formed, and tracking ranging is achieved. According to the device, a single pixel-single photon detector and a scanning system are ingeniously combined, and tracking and ranging can be carried out on a target under long-distance weak echoes in a specified airspace.

Description

technical field [0001] The invention relates to the technical field of laser radar scanning, capturing and tracking in designated airspace, in particular to a tracking and ranging laser radar device and method based on a single-pixel-single-photon detector. Background technique [0002] With the development of science and technology, lidar tracking and ranging technology is more and more widely used in a series of scientific and engineering fields such as aerospace measurement, ships, small unmanned aerial vehicles, and intelligent robots, especially involving target search, tracking, motion avoidance It has important application value in aspects such as obstacles. [0003] For lidar tracking and ranging systems, due to the limitation of lidar energy and repetition frequency, traditional lidar based on classical devices (linear mode APD or PIN diode) cannot achieve weak return outside the range beyond the visible distance. Long-distance non-cooperative target tracking and r...

Images