A Timestamp Marking Accuracy Measurement System and Method for a Composite Measuring Device

Abstract

The present invention relates to a timestamp marking accuracy measurement system and method for a composite measurement device. The system includes a turntable, on which a composite measurement device and a laser are fixedly arranged; a pulse generation module, which is signal-connected to both the composite measurement device and the pulse measurement module; a target simulator, which is signal-connected to the composite measurement device; a laser detector, which is signal-connected to the pulse measurement module; by adjusting the turntable angle and the position of the target simulator, the composite measurement device on the turntable can receive the target simulation signal output by the target simulator, and the laser signal output by the laser can enable the laser detector to output the strongest detection voltage signal; rotate the turntable to obtain the delay between the peak point of the detection voltage on the pulse measurement module and the pulse signal reference, record the timestamp output by the composite measurement device, and calculate the error value of the timestamp marking. The present invention realizes high measurement accuracy at a low cost.

Description

Technical Field

[0001] The present invention relates to the technical field of target tracking and high-precision measurement, and particularly to a timestamp marking accuracy measurement system and method for a composite measurement device. Background Art

[0002] High-precision composite measurement devices usually adopt measurement devices in an integrated composite form of multiple systems such as optical angle measurement, microwave distance measurement, or laser angle and distance measurement. Each of the multiple systems has its own advantages and disadvantages, and better measurement performance can be obtained through the form of composite measurement. While high-precision measurement information is required, it is necessary to perform timestamp marking and calibration of the measurement time for measurement information such as target angles and distances output by the composite measurement device, which is convenient for subsequent fusion processing of multi-system measurement information and information utilization and accurate prediction of target motion trends when the upper computer executes tasks. There are currently many studies and high-precision marking methods for marking timestamps for measurement information, but there is less research on the measurement of timestamp marking accuracy.

[0003] The existing technologies mainly measure the marking methods of measurement information timestamps and the measurement and calibration of the relative errors of timestamps of different sensors, without solving the measurement of the absolute time marking error of the measurement device for marking timestamps. Summary of the Invention

[0004] To solve the above problems, the present invention provides a timestamp marking accuracy measurement system and method for a composite measurement device. By using the characteristics of the extremely small beam divergence angle, narrow detection field of view, and low-delay output detection voltage of the laser detector of the laser, the timestamp of the target measurement information when the composite measurement device outputs a specific angle is presented through the method of laser synchronous detection, realizing the accurate test of the timestamp marking error output by the composite measurement device (especially optical angle measurement, laser angle measurement, etc.), improving the timestamp marking accuracy and facilitating subsequent multi-system measurement information fusion and high-accuracy prediction of the target motion trend by the upper computer.

[0005] Preferably, the timestamp marking accuracy measurement system of the composite measurement device includes:

[0006] A turntable, on which a composite measurement device and a laser are fixedly arranged. The turntable can drive the composite measurement device and the laser thereon to rotate, and the laser outputs laser signals at different angles by rotating the turntable.

[0007] A pulse generation module and a pulse measurement module, where the pulse generation module is signal-connected to both the composite measurement device and the pulse measurement module, and is used to output two pulse signals with the same time reference. One path is output to the composite measurement device as the time reference of the timestamp, and the other path is output to the pulse measurement module as the delay measurement reference.

[0008] A target simulator, which is signal-connected to the composite measurement device and outputs a target simulation signal to the rotatable composite measurement device;

[0009] The composite measurement device can receive the target simulation signal at different angles and output the target measurement information with timestamps;

[0010] A laser detector, which is signal-connected to the pulse measurement module and outputs detection voltages with different intensities to the pulse measurement module according to the laser signals at different angles;

[0011] Obtain the delay time of the detection voltage signal on the pulse measurement module, and record the timestamps output by the composite measurement device at the turntable position corresponding to the delay time, and calculate the difference between the delay time and the timestamps, then the timestamp marking error can be obtained.

[0012] Preferably, taking the pulse signal as a reference, the delay time of the detection voltage signal is the time delay at the peak point of the detection voltage signal.

[0013] Preferably, the composite measurement device is also communicatively connected to the host computer, and the host computer controls the state of the composite measurement device and performs telemetry display.

[0014] Preferably, the composite measurement device obtains the azimuth angle and elevation angle of the target simulation signal and outputs the azimuth angle and elevation angle information to the host computer.

[0015] Preferably, the laser signal emitted by the laser is output to the laser detector through a reflector.

[0016] Preferably, the pulse measurement module is an oscilloscope.

[0017] Preferably, the pulse generation module is connected to the first channel of the pulse measurement module, the second channel of the pulse measurement module is connected to the laser detector, and the input of the second channel of the pulse measurement module is set as the trigger source.

[0018] Preferably, the timestamp marking accuracy measurement system can be used to implement a method for measuring the timestamp marking accuracy of a composite measurement device, including the following steps:

[0019] S0. The pulse signal output by the pulse generation module is divided into two paths. The first path is output to the composite measurement device as the synchronization reference for the timestamp, and the second path is output to the first channel of the pulse measurement module as the delay measurement reference;

[0020] S1. Adjust the turntable angle to the first position and adjust the position of the target simulator so that the composite measurement device on the turntable can receive the target simulation signal output by the target simulator, and the laser signal output by the laser at the first position can make the laser detector output the strongest detection voltage signal;

[0021] S2. Adjust the turntable angle to the second position and set the turntable rotation speed so that the turntable can rotate from the second position through the first position to the third position that is mirror-symmetrical to the second position;

[0022] S3. During the execution of S2, the delay time of the peak point of the detected voltage on the pulse measurement module can be obtained, and the timestamp output when the composite measurement device receives the target analog signal at the first position is recorded, and the error value marked by the timestamp is calculated.

[0023] Preferably, S4. Repeat steps S2 and S3 multiple times to obtain multiple timestamp marking error values, and calculate the root mean square of the multiple timestamp marking error values.

[0024] The present invention has the following specific beneficial effects:

[0025] 1) It can measure the error between the timestamp calibration mark value and the actual measured absolute time, rather than just the relative error of the timestamp calibration marks between multiple systems or multiple products;

[0026] 2) By using traditional test equipment and instruments, high measurement accuracy can be achieved at a relatively low cost;

[0027] 3) The applicable calibration mark object is a high-frame-rate and high-precision composite measurement device, rather than general sensors or audio and video acquisition devices, which belongs to the problems to be solved in the field of high-precision measurement;

[0028] 4) It is applicable to multi-system independent measurement or composite measurement devices such as optical measurement and tracking systems, laser measurement and tracking systems, and microwave measurement and tracking systems, and the test method has universality;

[0029] 5) By using a laser detector with low-delay output of detected voltage and a high-sampling-rate oscilloscope, the test accuracy of the timestamp calibration mark can reach the microsecond level. Description of the Drawings

[0030] Figure 1 It is a block diagram of the timestamp marking accuracy measurement system of the present invention;

[0031] Figure 2 It is a principle block diagram of the test method of the timestamp marking accuracy measurement system of the present invention;

[0032] Figure 3 It is a schematic diagram of the setup of the timestamp marking accuracy measurement system of the present invention.

[0033] Figure 4 It is a flowchart of the timestamp marking accuracy measurement method of the present invention;

[0034] Figure 5 It is a measurement diagram of the oscilloscope measuring the delay between the laser echo voltage signal and the pulse signal. Specific Embodiments

[0035] The following further elaborates in detail on the timestamp marking accuracy measurement system for a high-precision composite measurement device proposed by the present invention in conjunction with the accompanying drawings and specific embodiments.

[0036] As Figures 1 to 3 shown, the timestamp marking accuracy measurement system of the composite measurement device includes:

[0037] A turntable 6, on which a composite measurement device 9 and a laser 4 are fixedly arranged. The turntable 6 can drive the composite measurement device 9 and the laser 4 thereon to rotate. The composite measurement device 9 is used to output target measurement information with timestamps. By rotating the turntable 6, the laser 4 outputs laser signals at different angles; preferably, the turntable 6 is a high-precision turntable, and the laser 4 is a continuous-wave laser;

[0038] A pulse generation module 2 and a pulse measurement module 7. Among them, the pulse generation module 2 is signal-connected to both the composite measurement device 9 and the pulse measurement module 7, and outputs pulse signals with the same time reference in two paths. One path is output to the composite measurement device 9 as the time reference of the timestamp, and the other path is output to the pulse measurement module 7 as the delay measurement reference;

[0039] A target simulator 3 outputs a target simulation signal to the composite measurement device 9. The composite measurement device 9 can rotate with the turntable 6. Therefore, it can output target measurement information with timestamps corresponding to the target simulation signals received at different angles; the target simulator 3 can adopt different types according to the type of the composite measurement device 9. For example, the target simulator 3 can adopt an optical, microwave, and laser composite target simulator, so as to simulate visible light targets, microwave targets, and laser targets;

[0040] A laser detector 8 is signal-connected to the pulse measurement module 7, and outputs detection voltage signals with different intensities to the pulse measurement module 7 according to the laser signals at different angles output by the laser 4; optionally, the model of the laser detector 8 is THORLABS DET10A / M.

[0041] Taking the pulse signal as a reference, obtain the delay time t1 of the peak point of the detected voltage signal on the pulse measurement module 7, and record the position of the turntable 6 corresponding to the peak point; at the position of the corresponding turntable 6, record the timestamp of the target measurement information output by the composite measurement device 9, and calculate the timestamp marking error. The target measurement information includes the target angle measurement value and the target distance measurement value. Among them, the marking error of the first timestamp t2 of the target angle measurement value is Δt1 = t2 - t1, and the marking error of the second timestamp t3 of the target distance measurement value is Δt2 = t3 - t1. According to the larger the marking error, the lower the accuracy, and the smaller the marking error, the higher the accuracy.

[0042] In Figure 2 In the principle block diagram, the pulse generation module 2 generates a pulse signal, and outputs it to the composite measurement device 9 as a time reference, and outputs it to the pulse measurement module 7 as a delay measurement reference. Rotate the turntable 6 to rotate the composite measurement device 9 and the laser 4 installed on the same plane to the first position. After the composite measurement device 9 detects the target simulation signal output by the target simulator 3, it outputs the target measurement information with a timestamp; at the same time, the laser detector 8 receives the laser signal emitted by the laser 4. After receiving the laser signal, the laser detector 8 outputs a detected voltage signal to the pulse measurement module 7, and obtains the delay time of the detected voltage signal, and calculates the time difference between the timestamp and the delay time of the detected voltage signal, so as to accurately measure the timestamp marking accuracy of the composite measurement device.

[0043] Preferably, the composite measurement device 9 is also communicatively connected to the host computer 1, and the state control and telemetry display of the composite measurement device are performed through the host computer 1.

[0044] Preferably, the laser signal emitted by the laser 4 can be output to the laser detector 8 through a further provided mirror 5. In this example, the laser signal uses a reflective type instead of a direct type, which can increase the laser travel and improve the detection angular resolution, and is suitable for high-precision measurements in near fields such as laboratories.

[0045] Preferably, the pulse measurement module 7 is an oscilloscope, and the model is Tektronix MSO 4140B.

[0046] Preferably, the pulse generation module 2 is connected to the first channel of the oscilloscope 7, the second channel of the oscilloscope 7 is connected to the laser detector 8, and the input of the second channel of the oscilloscope 7 is set as the trigger source, and the trigger mode is a single-shot rising edge trigger, so as to ensure that when the laser detector 8 detects a signal, the oscilloscope 7 can display the waveform during the signal reception process.

[0047] This system uses the characteristics of the laser's extremely small beam divergence angle, narrow detection field of view, and the low-delay output detection voltage of the laser detector to build a measurement system, which can test the absolute time error between the timestamp of the measurement information output by the composite measurement device and the actual position of the target based on the actual second pulse, facilitating subsequent multi-system measurement information fusion processing, the use of measurement information by the upper computer, and the accurate prediction of the target's motion trend.

[0048] Using the above timestamp marking accuracy measurement system can realize a method for measuring the timestamp marking accuracy of a composite measurement device. The first output of the pulse generation module 2 of the timestamp marking accuracy measurement system is signal-connected to the composite measurement device 9, the second output is signal-connected to the first channel of the pulse measurement module 7, the laser detector 8 is signal-connected to the second channel of the pulse measurement module 7, and the input of the second channel of the pulse measurement module 7 is set as the trigger source; as Figure 4 shown, it specifically includes the following steps:

[0049] S0. The pulse signal output by the pulse generation module 2 is divided into two paths. The first path is output to the composite measurement device 9 as the synchronization reference of the timestamp, and the second path is output to the first channel of the oscilloscope 7 as the time delay measurement reference;

[0050] S1. Adjust the turntable 6 to the first position and adjust the position of the target simulator 3; so that the composite measurement device 9 on the turntable 6 can receive the target simulation signal output by the target simulator 3 at this time, and the laser signal output by the laser 4 on the turntable 6 can enter the laser detector 8 at the strongest signal angle, so that the laser detector 8 outputs the strongest detection voltage signal; the laser detector 8 outputs the detection voltage signal at the current moment to the pulse measurement module 7. Optionally, when the turntable 6 is in the first position, the azimuth angle and elevation angle between the composite measurement device 9 and the target simulation signal are both 0°.

[0051] S2. Adjust the angle of the turntable 6 to the second position and set the rotation speed of the turntable, so that the turntable 6 can start rotating from the second position and further rotate to the third position that is mirror-symmetrical to the second position after passing through the first position. Since the laser detector 8 outputs the strongest detection voltage signal to the pulse measurement module 7 at the first position, when the turntable 6 rotates from the second position to the third position, the peak value of the detection voltage signal obtained in the pulse measurement module 7 corresponds to the turntable 6 being at the first position. Optionally, when the turntable 6 is in the second position, the azimuth angle and elevation angle between the composite measurement device and the target simulation signal are both 5°, the azimuth angle and elevation angle of the third position are both -5°, and the rotation speed of the turntable is 2° / s.

[0052] Furthermore, when adjusting the positions of the turntable 6 and the target simulator 3, the composite measurement device 9 tracks the target simulation signal and outputs the azimuth angle and elevation angle to the upper computer 1, which is displayed by the upper computer 1.

[0053] S3. As shown in Figure 5 the figure, taking the pulse signal as a reference, obtain the delay time t1 of the peak point of the detected voltage on the pulse measurement module 7, record the timestamp output when the composite measurement device receives the target analog signal at the first position, and calculate the difference Δt between the two, then the error of the timestamp marking can be obtained.

[0054] Preferably, the timestamp marking accuracy measurement method further includes: S4. Repeat steps S2 and S3 multiple times to obtain multiple timestamp marking error values, and calculate the root mean square of the multiple timestamp marking error values to reduce the test error.

[0055] In summary, the present invention has the following beneficial effects:

[0056] 1) It can measure the error between the timestamp calibration mark value and the actual measured absolute time, rather than just the relative error of the timestamp calibration marks between multiple systems or multiple products;

[0057] 2) Using traditional test equipment and instruments, high measurement accuracy can be achieved at a relatively low cost;

[0058] 3) The applicable calibration mark object is a composite measurement device with high frame rate and high precision, rather than general sensors or audio - video acquisition devices, which belongs to the problems to be solved in the field of high - precision measurement;

[0059] 4) It is applicable to multi - system independent measurement or composite measurement devices such as optical measurement and tracking systems, laser measurement and tracking systems, and microwave measurement and tracking systems, and the test method has universality;

[0060] 5) Using a laser detector with low - delay output of detected voltage and a high - sampling - rate oscilloscope, the test accuracy of the timestamp calibration mark can reach the microsecond level.

[0061] Although the content of the present invention has been introduced in detail through the above - mentioned preferred embodiments, it should be recognized that the above description should not be considered as a limitation of the present invention. After those skilled in the art have read the above content, various modifications and substitutions to the present invention will be obvious. Therefore, the protection scope of the present invention should be defined by the appended claims.

Claims

1. A timestamp marking accuracy measurement system for a composite measurement device, characterized in that, Comprising: A turntable, on which a composite measuring device and a laser are fixedly arranged. The turntable can drive the composite measuring device and the laser thereon to rotate, and the laser outputs laser signals at different angles by rotating the turntable. A pulse generation module and a pulse measurement module, wherein the pulse generation module is signal-connected to both the composite measuring device and the pulse measurement module, and is used to output two pulse signals with the same time reference. One path is output to the composite measuring device as the time reference of the time stamp, and the other path is output to the pulse measurement module as the delay measurement reference. A target simulator, which is signal-connected to the composite measuring device and outputs a target simulation signal to the rotatable composite measuring device. The composite measuring device can receive the target simulation signal at different angles and output target measurement information with a time stamp. A laser detector, which is signal-connected to the pulse measurement module and outputs detection voltages with different intensities to the pulse measurement module according to the laser signals at different angles. Obtain the delay time of the detection voltage signal on the pulse measurement module, and record the time stamp output by the composite measuring device at the position of the turntable corresponding to the delay time, and calculate the difference between the delay time and the time stamp, then the time stamp marking error can be obtained.

2. The timestamp marking accuracy measurement system of the composite measurement device according to claim 1, characterized in that, Based on the pulse signal, the delay time of the detection voltage signal is the time delay of the peak point of the detection voltage signal.

3. The timestamp marking accuracy measurement system of the composite measurement device according to claim 1, characterized in that The composite measuring device is also communicatively connected to a host computer, and the host computer controls the state of the composite measuring device and performs telemetry display.

4. The timestamp marking accuracy measurement system of the composite measurement device according to claim 3, characterized in that The composite measuring device obtains the azimuth angle and elevation angle of the target simulation signal and outputs the azimuth angle and elevation angle information to the host computer.

5. The timestamp marking accuracy measurement system of the composite measurement device according to claim 1, characterized in that, The laser signal emitted by the laser passes through a set mirror and is output to the laser detector.

6. The timestamp marking accuracy measurement system of the composite measurement device according to claim 1, characterized in that The pulse measurement module is an oscilloscope.

7. The timestamp marking accuracy measurement system of the composite measurement device according to claim 6, characterized in that The pulse generation module is connected to the first channel of the pulse measurement module, the second channel of the pulse measurement module is connected to the laser detector, and the input of the second channel of the pulse measurement module is set as the trigger source.

8. A method for measuring the timestamp marking accuracy of a composite measurement device, which is implemented by the timestamp marking accuracy measurement system according to any one of claims 1 to 7, characterized in that, Including the following steps: S0: The pulse signal output by the pulse generation module is divided into two paths. The first path is output to the composite measuring device as the synchronization reference of the time stamp, and the second path is output to the first channel of the pulse measurement module as the delay measurement reference. S1: Adjust the turntable angle to the first position, and adjust the position of the target simulator so that the composite measuring device on the turntable can receive the target simulation signal output by the target simulator, and the laser signal output by the laser at this first position can make the laser detector output the strongest detection voltage signal. S2: Adjust the turntable angle to the second position and set the turntable rotation speed so that the turntable can rotate from the second position through the first position to the third position that is mirror-symmetrical to the second position. S3: During the execution of S2, the delay time of the peak point of the detection voltage on the pulse measurement module can be obtained, and the time stamp output by the composite measuring device when receiving the target simulation signal at the first position is recorded, and the error value of the time stamp marking is calculated.

9. The method for measuring the timestamp marking accuracy of the composite measurement device according to claim 8, wherein, It also includes: S4: Repeat steps S2 and S3 multiple times to obtain multiple time stamp marking error values, and calculate the root mean square of the multiple time stamp marking error values.

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