A laser communication ranging method, device and system
By using laser communication ranging methods, the arrival time of pulse signals across clock domains is calculated using multi-level delay chains and synchronous clocks, solving the problems of high complexity and cost in satellite ranging systems and achieving high-precision ranging results.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SUZHOU BANFU PHOTOELECTRIC TECH CO LTD
- Filing Date
- 2022-11-30
- Publication Date
- 2026-05-29
AI Technical Summary
In existing technologies, the ranging process between satellites requires a time-frequency synchronization system, which results in high system complexity and cost, making it difficult to balance ranging accuracy and system cost.
The laser communication ranging method is adopted. By sending and receiving ranging query and response data frames in different clock domains, and using multi-level delay chains and synchronous clocks for time measurement, the arrival time of the pulse signal across clock domains is calculated to realize the ranging value.
Achieving high-precision ranging in non-interrupted communication mode reduces system complexity and cost, and does not rely on specific optical communication modulation formats, enabling sub-symbol-level ranging accuracy.
Smart Images
Figure CN115856852B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of laser communication, and in particular to a laser communication ranging method, apparatus and system. Background Technology
[0002] Obtaining relative position information between satellites is a prerequisite for ensuring the normal operation of the constellation. Therefore, satellites need to perform precise inter-satellite and satellite-to-ground ranging on their own to determine the relative inter-satellite status or satellite-to-ground status within the constellation.
[0003] Simultaneously, to conserve platform resources required for the ranging system and significantly reduce the mass, size, and power consumption of the satellite payload, related technologies integrate the ranging process into the communication protocol, completing distance and time difference measurements simultaneously with communication. This further reduces the mass, size, and power consumption of the satellite payload.
[0004] However, due to the existence of different clock domains during communication, in order to ensure ranging accuracy, it is necessary to synchronize the pulse signals of different clock domains in terms of time and frequency. This process requires the use of a time and frequency synchronization system, such as a network clock, to synchronize the frequency, which makes the overall system more complex and costly, making it difficult to balance ranging accuracy and system cost. Summary of the Invention
[0005] The main objective of this invention is to provide a laser communication ranging method, device, and system that aims to balance the ranging complexity and accuracy of the laser communication system when using laser communication for ranging.
[0006] In a first aspect, the present invention provides a laser communication ranging method, which adopts the following scheme:
[0007] A laser communication ranging method, comprising:
[0008] Send a ranging query data frame to the second device from within the side clock domain;
[0009] The response time is the time between the second device receiving the ranging query data frame and sending the ranging response data frame, measured by the second device according to a set time measurement method.
[0010] After receiving the ranging response in the clock domain of the receiving side, the ranging response time between the sending of the ranging query data frame and the receiving of the ranging response data frame is measured according to the set time measurement method.
[0011] The ranging value is calculated based on the ranging response time and the response time.
[0012] The time measurement method includes performing a progressive delay on a pulse signal spanning a clock domain with multiple identical or different set delay times, and measuring the arrival time of the pulse signal spanning the clock domain based on the set delay times.
[0013] In some embodiments, the time measurement method includes:
[0014] Multiple delay chains with the same or different set delay times are cascaded in multiple stages to delay pulse signals across clock domains step by step.
[0015] Parallel sampling values are obtained by using a synchronous clock to sample the multi-stage taps of the delay chain in parallel.
[0016] Find the transition position of the pulse signal across the clock domain in the parallel sampled values, and obtain the arrival time of the pulse signal across the clock domain based on the transition position and a set delay time.
[0017] Perform a bitwise OR operation on the parallel sampled values to obtain the resampled pulse signal corresponding to the cross-clock domain pulse signal;
[0018] Based on the arrival time of the pulse signal across clock domains, the time length between two pulse signals belonging to different clock domains is calculated.
[0019] In some embodiments, while sending a ranging query data frame to the second device in the transmitting side clock domain, a ranging query transmission flag pulse is also sent in the transmitting side clock domain.
[0020] After receiving a ranging response in the receiving side clock domain, the ranging response time between sending a ranging interrogation data frame and receiving a ranging response data frame is measured according to a set time measurement method, including:
[0021] The receiving-side clock measures the time at which the ranging interrogation transmission flag pulse is sent according to a set time measurement method.
[0022] After receiving a ranging response data frame in the receiving side clock domain, a ranging response reception flag pulse is emitted in the receiving side clock domain, and the time of emitting the ranging response reception flag pulse is measured.
[0023] The ranging response time is measured based on the time of sending the ranging interrogation flag pulse and the time of sending the ranging response reception flag pulse.
[0024] In some embodiments, multiple of the set delay times are the same.
[0025] In some embodiments, a laser communication ranging method includes the following steps:
[0026] The receiving side receives ranging query data frames sent by the first device within its clock domain;
[0027] A ranging response data frame is sent to the first device from the side clock domain;
[0028] According to the set time measurement method, the response time between receiving the ranging query data frame and sending the ranging response data frame is obtained and sent to the first device;
[0029] The time measurement method includes performing a progressive delay on a pulse signal spanning a clock domain with multiple identical or different set delay times, and measuring the arrival time of the pulse signal spanning the clock domain based on the set delay times.
[0030] In some embodiments, the time measurement method includes:
[0031] Multiple delay chains with the same or different set delay times are cascaded in multiple stages to delay pulse signals across clock domains step by step.
[0032] Parallel sampling values are obtained by using a synchronous clock to sample the multi-stage taps of the delay chain in parallel.
[0033] Find the transition position of the pulse signal across the clock domain in the parallel sampled values, and obtain the arrival time of the pulse signal across the clock domain based on the transition position and a set delay time.
[0034] Perform a bitwise OR operation on the parallel sampled values to obtain the resampled pulse signal corresponding to the cross-clock domain pulse signal;
[0035] Based on the arrival time of the pulse signal across clock domains, the time length between two pulse signals belonging to different clock domains is calculated.
[0036] In some embodiments, while receiving the ranging interrogation data frame sent by the first device in the receiving side clock domain, a ranging interrogation reception flag pulse is sent in the receiving side clock domain.
[0037] According to the set time measurement method, the response time between receiving a ranging query data frame and sending a ranging response data frame is obtained and sent to the first device, including:
[0038] The transmitting side clock measures the time of receiving the ranging interrogation data frame according to the set time measurement method;
[0039] After sending a ranging response data frame in the transmitting side clock domain, a ranging response transmission flag pulse is sent in the transmitting side clock domain, and the time of sending the ranging response transmission flag pulse is measured.
[0040] The response time is measured based on the time of receiving the ranging interrogation data frame and the time of sending the ranging response transmission flag pulse.
[0041] Secondly, this application provides a laser communication ranging device, which adopts the following technical solution:
[0042] A laser communication ranging device, comprising:
[0043] An electro-optic modulation module, configured to convert electrical signals into optical signals and output optical signals;
[0044] An optoelectronic demodulation module, configured to receive optical signals and demodulate them into electrical signals;
[0045] A digital logic circuit is configured to send a ranging query data frame to a second device within the transmitting clock domain; receive a response time, wherein the response time is the response time between the second device receiving the ranging query data frame and sending a ranging response data frame, measured by the second device according to a set time measurement method; after receiving a ranging response within the receiving clock domain, the ranging response time between sending the ranging query data frame and receiving the ranging response data frame is measured according to the set time measurement method; and a ranging value is calculated based on the ranging response time and the response time; wherein the time measurement method includes progressively delaying a pulse signal across clock domains by multiple identical or different set delay times, and measuring the arrival time of the pulse signal across clock domains based on the set delay times.
[0046] A laser communication ranging device, comprising:
[0047] An electro-optic modulation module, configured to convert electrical signals into optical signals and output optical signals;
[0048] An optoelectronic demodulation module, configured to receive optical signals and demodulate them into electrical signals;
[0049] A digital logic circuit is configured to receive a ranging interrogation data frame from a first device in the receiving clock domain; send a ranging response data frame to the first device in the sending clock domain; and, according to a set time measurement method, obtain the response time between receiving the ranging interrogation data frame and sending the ranging response data frame, and send it to the first device; wherein the time measurement method includes performing a step-by-step delay on a pulse signal across clock domains with multiple identical or different set delay times, and measuring the arrival time of the pulse signal across clock domains based on the set delay times.
[0050] Thirdly, this application provides an integrated laser communication and ranging system, which adopts the following technical solution:
[0051] A first device is configured to send a ranging query data frame to a second device; receive a response time, wherein the response time is the time between the second device receiving the ranging query data frame and initiating a ranging response, measured by the second device according to a set time measurement method; after receiving a ranging response in the receiving clock domain, the second device measures the ranging response time between sending the ranging query data frame and receiving the ranging response data frame, according to the set time measurement method; and calculates a ranging value based on the ranging response time and the response time; wherein the time measurement method includes progressively delaying a pulse signal across clock domains with multiple identical or different set delay times, and measuring the arrival time of the pulse signal across clock domains based on the set delay times.
[0052] The second device is configured to receive a ranging query data frame from the first device; initiate a ranging response to the first device; and, according to a set time measurement method, obtain the response time between receiving the ranging query data frame and initiating the ranging response, and send it to the first device; wherein the time measurement method includes performing a progressive delay on a pulse signal across clock domains with multiple identical or different set delay times, and measuring the arrival time of the pulse signal across clock domains based on the set delay times.
[0053] This invention enables the insertion of a small amount of ranging information into normal data transmission without interrupting the normal communication mode or requiring network clock frequency synchronization. This reduces the complexity of the time-frequency synchronization system and the cost of the entire communication ranging system. Furthermore, the ranging process does not depend on a specific optical communication modulation format or a second pulse input, enabling high update rate ranging. The ranging accuracy depends on the accuracy of the delay chain in the set time measurement method, i.e., the set delay time. Under current technical conditions, sub-symbol level ranging accuracy can be achieved, solving the problem of simultaneously balancing ranging accuracy and system cost in existing technologies. Attached Figure Description
[0054] Figure 1 This is a schematic diagram of the functional modules of the laser communication ranging device involved in the embodiments of the present invention;
[0055] Figure 2 This is a functional structure diagram of the laser communication ranging system of the present invention.
[0056] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0057] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
[0058] In a first aspect, embodiments of the present invention provide a laser communication ranging method, which includes at least the following steps that a first device needs to perform:
[0059] S100: Send a ranging query data frame to the second device from the side clock domain;
[0060] S200, Receive response time, wherein the response time is the response time between the second device receiving the ranging interrogation data frame and sending the ranging response data frame, measured by the second device according to a set time measurement method;
[0061] S300: After receiving the ranging response in the receiving side clock domain, the ranging response time between sending the ranging inquiry data frame and receiving the ranging response data frame is measured according to the set time measurement method.
[0062] S400. Calculate the ranging value based on the ranging response time and the response time.
[0063] The time measurement method includes performing a progressive delay on a pulse signal spanning a clock domain with multiple identical or different set delay times, and measuring the arrival time of the pulse signal spanning the clock domain based on the set delay times.
[0064] Furthermore, the time measurement method includes the following steps in sequence:
[0065] Multiple delay chains with the same or different set delay times are cascaded in multiple stages to delay pulse signals across clock domains step by step.
[0066] Parallel sampling values are obtained by using a synchronous clock to sample the multi-stage taps of the delay chain in parallel.
[0067] Find the transition position of the pulse signal across the clock domain in the parallel sampled values, and obtain the arrival time of the pulse signal across the clock domain based on the transition position and a set delay time.
[0068] Perform a bitwise OR operation on the parallel sampled values to obtain the resampled pulse signal corresponding to the cross-clock domain pulse signal;
[0069] Based on the arrival time of the pulse signal across clock domains, the time length between two pulse signals belonging to different clock domains is calculated.
[0070] Furthermore, while sending a ranging query data frame to the second device in the transmitting side clock domain, a ranging query transmission flag pulse is also sent in the transmitting side clock domain.
[0071] After receiving a ranging response in the receiving side clock domain, the ranging response time between sending a ranging query data frame and receiving a ranging response data frame is measured according to a set time measurement method, including the following steps:
[0072] The receiving-side clock measures the time at which the ranging interrogation transmission flag pulse is sent according to a set time measurement method.
[0073] After receiving a ranging response data frame in the receiving side clock domain, a ranging response reception flag pulse is emitted in the receiving side clock domain, and the time of emitting the ranging response reception flag pulse is measured.
[0074] The ranging response time is measured based on the time of sending the ranging interrogation flag pulse and the time of sending the ranging response reception flag pulse.
[0075] Furthermore, in this embodiment, the multiple set delay times are all the same, and the set delay time is specifically a sub-symbol level time length, so that when the pulse signal across the clock domain is delayed and measured step by step, it is easy to obtain the arrival time of the pulse signal across the clock domain, and at the same time, sub-symbol level ranging accuracy can be achieved, solving the problem that ranging accuracy and system cost are not easy to balance simultaneously in the prior art.
[0076] In other embodiments, the multiple set delay times can be different. For example, when delaying a pulse signal across clock domains step by step, the duration of the set delay time used gradually decreases. In the early stage of step-by-step delay, the number of delays can be effectively reduced, simplifying the process. In the later stage of step-by-step delay, the accuracy of determining the arrival time of the pulse signal can be effectively improved. Therefore, technicians can adjust the multiple set delay times differently based on the arrival time range of the pulse signal across clock domains.
[0077] In addition, the laser communication ranging method may also include the following steps that the second device needs to perform:
[0078] S100: Receive the ranging query data frame sent by the first device within the clock domain of the receiving side;
[0079] S200: Send a ranging response data frame to the first device from the transmitting side clock domain;
[0080] S300: According to the set time measurement method, obtain the response time between receiving the ranging query data frame and sending the ranging response data frame, and send it to the first device;
[0081] The time measurement method includes performing a progressive delay on a pulse signal spanning a clock domain with multiple identical or different set delay times, and measuring the arrival time of the pulse signal spanning the clock domain based on the set delay times.
[0082] Specifically, the first device and the second device use the same time measurement method, but the pulse signal applied varies depending on the stage.
[0083] Furthermore, while receiving the ranging query data frame sent by the first device in the receiving side clock domain, a ranging query reception flag pulse is sent in the receiving side clock domain.
[0084] According to the set time measurement method, the response time between receiving a ranging query data frame and sending a ranging response data frame is obtained and sent to the first device, including:
[0085] The transmitting side clock measures the time of receiving the ranging interrogation data frame according to the set time measurement method;
[0086] After sending a ranging response data frame in the transmitting side clock domain, a ranging response transmission flag pulse is sent in the transmitting side clock domain, and the time of sending the ranging response transmission flag pulse is measured.
[0087] The response time is measured based on the time of receiving the ranging interrogation data frame and the time of sending the ranging response transmission flag pulse.
[0088] See Figure 2 Specifically, in this embodiment, when combining the first device and the second device, the laser communication ranging method includes:
[0089] S1: The test control and calculation module 205 of the first device sends a ranging query request INQ_REQ to the data frame assembly module 200;
[0090] S2: After receiving the ranging query request INQ_REQ, the data frame assembly module 200 of the first device inserts the ranging query data marker INQ_IND at an appropriate position according to the communication protocol; when sending a data frame containing the ranging query data marker INQ_IND, it outputs the ranging query transmission flag pulse INQ_SEND with a specific position of the data frame as a marker.
[0091] S3: The TDC time measurement module 202 of the first device uses the receiving-side clock to perform TDC measurement on the ranging interrogation transmission flag pulse INQ_SEND using the set time measurement method, and outputs the ranging interrogation transmission time t. inq_s1 =n pulse1 *T delay The ranging query for resampling sends a flag pulse INQ_SEND_RT = |TDC_SEND.
[0092] S4: When the data frame deframe module 201 of the second device receives a data frame containing the ranging query data flag INQ_IND, it outputs the ranging query reception flag pulse INQ_RECV, using a specific position in the data frame as a marker, and simultaneously outputs the parallel synchronization bit sliding value b. slip2 ;
[0093] S5: The TDC time measurement module 202 of the second device uses the transmitting side clock to perform TDC measurement on the ranging interrogation reception flag pulse INQ_RECV, and outputs the ranging interrogation reception time t. inq_r2 =n pulse2 *T delay The ranging interrogation receive flag pulse INQ_RECV_RT = |TDC_RECV; and the resampling;
[0094] S6: After receiving the ranging query reception flag pulse INQ_RECV_RT, the response time measurement module 203 of the second device initiates a ranging response request RSP_REQ;
[0095] S7: After receiving the ranging response request RSP_REQ, the data frame assembly module 200 of the second device inserts the ranging response data marker RSP_IND at an appropriate position according to the communication protocol; when sending a data frame containing the ranging response data marker RSP_IND, it outputs the ranging response sending flag pulse RSP_SEND with a specific position of the data frame as a marker.
[0096] S8: The response time measurement module 203 of the second device starts with the resampled ranging interrogation reception flag pulse INQ_RECV_RT and ends with the ranging response transmission flag pulse RSP_SEND, measuring the response clock count n. rsp2 According to the number of response clocks n rsp2 Parallel synchronization bit sliding value b slip2 and ranging query reception time t inq_r2 Then, based on the parallel clock cycle value T clk and communication symbol period value T bit Calculate the response time t rsp2 =n rsp2 *T clk +b slip2 *T bit -t inq_r2 .
[0097] S9: The data frame framing module 200 of the second device receives a response response time t rsp2 Then, according to the communication protocol, it is inserted into the data frame at the appropriate position;
[0098] S10: When the data frame deframe module 201 of the first device receives a data frame containing the ranging response data flag RSP_IND, it outputs a ranging response reception flag pulse RSP_RECV, using a specific position in the data frame as a marker, and simultaneously outputs the parallel synchronization bit sliding value b. slip1 .
[0099] S11: The ranging response time measurement module 204 of the first device starts with the resampled ranging query transmission flag pulse INQ_SEND_RT and ends with the ranging response reception flag pulse RSP_RECV, measuring the ranging response clock count n. rsp1 According to the number of ranging response clocks n rsp1 Parallel synchronization bit sliding value b slip1 and ranging query sending time t inq_s1 Then, based on the parallel clock cycle value T clk and communication symbol period value T bit Calculate the ranging response time t rsp1 =n rsp1 *T clk +b slip1 *T bit -t inq_s1 ;
[0100] S12: The first device's data frame deframe module 201 receives a data frame containing the response time t. rsp2 When a data frame is received, it is parsed and output to the ranging control and calculation module;
[0101] S13: The ranging control and calculation module of the first device calculates the ranging response time t_rsp1 and the response time t_rsp1 returned by the other terminal. rsp2 Calculate the distance value t dist =(t rsp1 -t rsp2 ) / 2.
[0102] In the above steps, when the TDC time measurement module 202 measures the relevant cross-clock domain pulse signals using the set time measurement method, the specific process is as follows: the TDC time measurement module 202 measures n pulse signals with a set delay time T. delay The delay chain is cascaded in multiple stages to delay the input signal stage by stage. A synchronous clock is used to sample the multiple taps of the delay chain in parallel, obtaining parallel sampled values TDC_DATA[1:n]. The parallel sampled values are then subjected to a bitwise OR operation to obtain the resampled pulse signal TDC_RT = |TDC_DATA. The transition position n in the parallel sampled values is then located. pulse Multiply by the set delay time T of the delay chain delay The arrival time t of the input pulse signal is obtained. inq=n pulse *T delay .
[0103] That is, in step S8, the TDC time measurement module 202 used by the ranging query function in the first device uses the receiving side clock to perform TDC measurement on the ranging query transmission flag pulse INQ_SEND, and outputs the ranging query transmission time t. inq_s1 =n pulse1 *T delay The ranging query for resampling sends a flag pulse INQ_SEND_RT = |TDC_SEND;
[0104] Step S3: The TDC time measurement module 202 used in the ranging response function of the second device uses the transmitting side clock to perform TDC measurement on the ranging interrogation reception flag pulse INQ_RECV, and outputs the ranging interrogation reception time t. inq_r2 =n pulse2 *T delay The ranging interrogation receive flag pulse INQ_RECV_RT = |TDC_RECV is used for resampling.
[0105] This configuration allows for the insertion of minimal ranging information into normal data transmission without interrupting normal communication or requiring network clock frequency synchronization. This reduces the complexity of the time-frequency synchronization system and the overall cost of the communication ranging system, achieving a balance between ranging accuracy and system cost. Furthermore, the ranging process is independent of specific optical communication modulation formats and second pulse inputs, enabling high update rates. Ranging accuracy depends on the accuracy of the delay chain in the set time measurement method, i.e., the set delay time. Under current technological conditions, sub-symbol level ranging accuracy can be achieved, resolving the difficulty of simultaneously balancing ranging accuracy and system cost in existing technologies.
[0106] Secondly, this application provides a laser communication ranging device.
[0107] Reference Figure 1 In the first device, the laser communication ranging device includes at least:
[0108] An electro-optic modulation module 102 is configured to convert an electrical signal into an optical signal and output an optical signal.
[0109] The optoelectronic demodulation module 103 is configured to receive optical signals and demodulate the optical signals into electrical signals.
[0110] A digital logic circuit 101 is configured to send a ranging query data frame to a second device within the transmitting clock domain; receive a response time, wherein the response time is the response time between the second device receiving the ranging query data frame and sending a ranging response data frame, measured by the second device according to a set time measurement method; after receiving a ranging response within the receiving clock domain, measuring the ranging response time between sending the ranging query data frame and receiving the ranging response data frame, according to the set time measurement method; and calculate a ranging value based on the ranging response time and the response time; wherein the time measurement method includes progressively delaying a pulse signal across clock domains by multiple identical or different set delay times, and measuring the arrival time of the pulse signal across clock domains based on the set delay times.
[0111] Reference Figure 1 In the second device, the laser communication ranging device includes at least:
[0112] An electro-optic modulation module 102 is configured to convert an electrical signal into an optical signal and output an optical signal.
[0113] The optoelectronic demodulation module 103 is configured to receive optical signals and demodulate the optical signals into electrical signals.
[0114] Digital logic circuit 101 is configured to receive a ranging interrogation data frame from a first device in the receiving clock domain; send a ranging response data frame to the first device in the sending clock domain; and, according to a set time measurement method, obtain the response time between receiving the ranging interrogation data frame and sending the ranging response data frame, and send it to the first device; wherein the time measurement method includes progressively delaying a pulse signal across clock domains by multiple identical or different set delay times, and measuring the arrival time of the pulse signal across clock domains based on the set delay times.
[0115] Specifically, refer to Figure 1In this embodiment, each laser communication ranging device includes a digital logic circuit 101, an electro-optic modulation module 102, and an opto-demodulation module 103. The laser communication ranging device in any device can simultaneously perform ranging inquiry and ranging response functions, implementing these functions in a time-division multiplexing manner. For example, in one ranging process, the first device uses the ranging inquiry function, and the second device uses the ranging response function. After this ranging process is completed, the first device obtains the ranging value. In another ranging process, the second device uses the ranging inquiry function, and the first device uses the ranging response function. After this ranging process is completed, the second device obtains the ranging value. The digital logic circuit 101 implements the communication protocol conversion between the client side and the transmission side and completes the ranging function. The digital logic circuit 101 includes a data frame assembly module 200, a data frame deassembly module 201, a TDC time measurement module 202, a response time measurement module 203, a ranging response time measurement module 204, and a ranging control and calculation module. It implements the laser communication ranging method provided in this embodiment, which will not be described in detail here.
[0116] Thirdly, a laser communication ranging system is provided.
[0117] Reference Figure 2 A laser communication ranging system, comprising:
[0118] A first device is configured to send a ranging query data frame to a second device; receive a response time, wherein the response time is the time between the second device receiving the ranging query data frame and initiating a ranging response, measured by the second device according to a set time measurement method; after receiving a ranging response in the receiving clock domain, the second device measures the ranging response time between sending the ranging query data frame and receiving the ranging response data frame, according to the set time measurement method; and calculates a ranging value based on the ranging response time and the response time; wherein the time measurement method includes progressively delaying a pulse signal across clock domains with multiple identical or different set delay times, and measuring the arrival time of the pulse signal across clock domains based on the set delay times.
[0119] The second device is configured to receive a ranging query data frame from the first device; initiate a ranging response to the first device; and, according to a set time measurement method, obtain the response time between receiving the ranging query data frame and initiating the ranging response, and send it to the first device; wherein the time measurement method includes performing a progressive delay on a pulse signal across clock domains with multiple identical or different set delay times, and measuring the arrival time of the pulse signal across clock domains based on the set delay times.
[0120] In this embodiment, the distinction between the first device and the second device is merely for describing the ranging process. It is understood that in a laser communication ranging system, the same device can simultaneously incorporate the functions of both the first and second devices, thereby achieving bidirectional ranging.
[0121] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.
[0122] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.
[0123] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of the present invention.
[0124] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.
Claims
1. A laser communication ranging method, characterized in that, It includes: Send a ranging query data frame to the second device from within the side clock domain; The response time is the time between the second device receiving the ranging query data frame and sending the ranging response data frame, measured by the second device according to a set time measurement method. After receiving the ranging response in the clock domain of the receiving side, the ranging response time between the sending of the ranging query data frame and the receiving of the ranging response data frame is measured according to the set time measurement method. The ranging value is calculated based on the ranging response time and the response time. The time measurement method includes performing a progressive delay on a pulse signal across clock domains with multiple identical or different set delay times, and measuring the arrival time of the pulse signal across clock domains based on the set delay times. The time measurement method includes: Multiple delay chains with the same or different set delay times are cascaded in multiple stages to delay pulse signals across clock domains step by step. Parallel sampling values are obtained by using a synchronous clock to sample the multi-stage taps of the delay chain in parallel. Find the transition position of the pulse signal across the clock domain in the parallel sampled values, and obtain the arrival time of the pulse signal across the clock domain based on the transition position and a set delay time; perform a bitwise OR operation on the parallel sampled values to obtain the resampled pulse signal corresponding to the pulse signal across the clock domain. Based on the arrival time of the pulse signal across clock domains, the time length between two pulse signals belonging to different clock domains is calculated.
2. The laser communication ranging method as described in claim 1, characterized in that, While sending a ranging query data frame to the second device in the transmitting side clock domain, a ranging query transmission flag pulse is also sent in the transmitting side clock domain. After receiving a ranging response in the receiving side clock domain, the ranging response time between sending a ranging interrogation data frame and receiving a ranging response data frame is measured according to a set time measurement method, including: The receiving-side clock measures the time at which the ranging interrogation transmission flag pulse is sent according to a set time measurement method. After receiving a ranging response data frame in the receiving side clock domain, a ranging response reception flag pulse is emitted in the receiving side clock domain, and the time of emitting the ranging response reception flag pulse is measured. The ranging response time is measured based on the time of sending the ranging interrogation flag pulse and the time of sending the ranging response reception flag pulse.
3. The laser communication ranging method as described in any one of claims 1-2, characterized in that, All of the aforementioned set delay times are the same.
4. A laser communication ranging method, characterized in that, Includes the following steps: The receiving side receives ranging query data frames sent by the first device within its clock domain; A ranging response data frame is sent to the first device from the side clock domain; According to the set time measurement method, the response time between receiving the ranging query data frame and sending the ranging response data frame is obtained and sent to the first device; The time measurement method includes performing a progressive delay on a pulse signal across clock domains with multiple identical or different set delay times, and measuring the arrival time of the pulse signal across clock domains based on the set delay times. The time measurement method includes: Multiple delay chains with the same or different set delay times are cascaded in multiple stages to delay pulse signals across clock domains step by step. Parallel sampling values are obtained by using a synchronous clock to sample the multi-stage taps of the delay chain in parallel. Find the transition position of the pulse signal across the clock domain in the parallel sampled values, and obtain the arrival time of the pulse signal across the clock domain based on the transition position and a set delay time; perform a bitwise OR operation on the parallel sampled values to obtain the resampled pulse signal corresponding to the pulse signal across the clock domain. Based on the arrival time of the pulse signal across clock domains, the time length between two pulse signals belonging to different clock domains is calculated.
5. The laser communication ranging method according to claim 4, characterized in that, While receiving the ranging query data frame sent by the first device in the receiving side clock domain, the receiving side clock domain also sends a ranging query reception flag pulse. According to the set time measurement method, the response time between receiving a ranging query data frame and sending a ranging response data frame is obtained and sent to the first device, including: The transmitting side clock measures the time of receiving the ranging interrogation data frame according to the set time measurement method; After sending a ranging response data frame in the transmitting side clock domain, a ranging response transmission flag pulse is sent in the transmitting side clock domain, and the time of sending the ranging response transmission flag pulse is measured. The response time is measured based on the time of receiving the ranging interrogation data frame and the time of sending the ranging response transmission flag pulse.
6. A laser communication ranging device, characterized in that, in order to implement the laser communication ranging method as described in any one of claims 1 to 5, It includes: An electro-optic modulation module, configured to convert electrical signals into optical signals and output optical signals; An optoelectronic demodulation module, configured to receive optical signals and demodulate them into electrical signals; A digital logic circuit configured to send a ranging interrogation data frame to a second device within the transmitting side clock domain; The response time is received, which is the response time between the second device receiving a ranging query data frame and sending a ranging response data frame, measured by the second device according to a set time measurement method. After receiving a ranging response in the receiving clock domain, the ranging response time between sending a ranging query data frame and receiving a ranging response data frame is measured according to the set time measurement method. The ranging value is calculated based on the ranging response time and the response time. The time measurement method includes delaying the pulse signal across clock domains stepwise with multiple identical or different set delay times, and measuring the arrival time of the pulse signal across clock domains based on the set delay time.
7. A laser communication ranging device, characterized in that, in order to implement the laser communication ranging method as described in any one of claims 1 to 5, It includes: An electro-optic modulation module, configured to convert electrical signals into optical signals and output optical signals; An optoelectronic demodulation module, configured to receive optical signals and demodulate them into electrical signals; A digital logic circuit is configured to receive a ranging interrogation data frame from a first device in the receiving clock domain; send a ranging response data frame to the first device in the sending clock domain; and, according to a set time measurement method, obtain the response time between receiving the ranging interrogation data frame and sending the ranging response data frame, and send it to the first device; wherein the time measurement method includes performing a step-by-step delay on a pulse signal across clock domains with multiple identical or different set delay times, and measuring the arrival time of the pulse signal across clock domains based on the set delay times.
8. A laser communication ranging system, implementing the steps of the laser communication ranging method as described in any one of claims 1 to 5, characterized in that, It includes: The first device is configured to send a ranging query data frame to the second device; The response time is received by the second device according to a set time measurement method, which measures the response time between the second device receiving a ranging query data frame and initiating a ranging response. After receiving a ranging response in the receiving clock domain, the ranging response time between sending a ranging query data frame and receiving a ranging response data frame is measured according to the set time measurement method. The ranging value is calculated based on the ranging response time and the response time. The time measurement method includes progressively delaying a pulse signal across clock domains with multiple identical or different set delay times, and measuring the arrival time of the pulse signal across clock domains based on the set delay times. The second device is configured to receive a ranging query data frame from the first device; initiate a ranging response to the first device; and, according to a set time measurement method, obtain the response time between receiving the ranging query data frame and initiating the ranging response, and send it to the first device; wherein the time measurement method includes performing a progressive delay on a pulse signal across clock domains with multiple identical or different set delay times, and measuring the arrival time of the pulse signal across clock domains based on the set delay times.