Laser echo timing wander error correction method and system

Abstract

The present invention discloses a method and system for correcting wander errors in laser echo timing. This method uses multiple amplitude data points to generate an amplitude-time calibration curve, then uses the amplitude-time calibration curve to obtain a compensation value, which in turn yields a calibration time value. The wander error is calibrated through digital signal processing, eliminating the need to increase the scale of analog circuits, affecting system sensitivity and ranging accuracy, and avoiding the loss of compensation accuracy caused by the trailing of the echo signal's falling edge. Furthermore, hardware fitting and calculation are relatively time-consuming and resource-intensive. However, this system, after calculation, displays the results as an amplitude-time calibration curve, which can be directly read during use. This approach significantly improves calibration speed and conserves hardware resources for computational logic.

Description

Technical Field

[0001] The present invention relates to the fields of digital circuits and laser radar point cloud signal processing, and in particular to a method and system for correcting laser echo timing wander errors. Background Art

[0002] In recent years, lidar technology has been widely used in civil, military, and aerospace applications. In the TOF pulse ranging method, lidar emits a laser pulse signal, which is reflected by the target and receives an echo. Through photoelectric detection and analog signal processing, this signal is converted into a continuous pulse signal with a fixed amplitude. The target distance is calculated by measuring the relative delay of the pulse at that moment. The result of determining the timing of the echo pulse directly determines the ranging accuracy.

[0003] The most basic laser echo timing method is leading edge timing identification, which uses a high-speed comparator to perform timing identification. When the echo amplitude exceeds a set threshold, the comparator outputs a timing pulse signal. This method has a simple circuit and is easy to implement, but it has inherent drawbacks. Because the comparator's threshold voltage is fixed, echo signals of varying strengths cross the threshold at different times, causing echo timing errors, also known as wander error. Currently, the main wander error correction technology uses analog circuits to detect the leading edge slope or pulse width of the echo, thereby estimating the echo amplitude and compensating for wander error. For example, the dual-threshold timing identification method uses two timing comparators with different threshold levels to obtain the timing pulse signal. The echo leading edge slope is determined by combining the threshold level and the time when the echo crosses the threshold. Based on the relationship that the slope of the echo leading edge is proportional to the intensity, the wander error is revised. This method requires a higher threshold level, which affects the detection sensitivity. In addition, during the slope calculation process, the timing noise of the pulses at two moments is added together, which will deteriorate the system signal-to-noise ratio. Another example is the pulse width compensation method. This method uses a comparator to detect the two edges before and after the echo crosses the threshold to obtain the pulse width of the echo signal. Based on the proportional relationship between the echo intensity and the echo pulse width, the wander error is compensated. In actual use, this method has a tailing phenomenon on the falling edge of the echo signal, which leads to pulse broadening, thereby limiting the compensation accuracy. Summary of the Invention

[0004] Embodiments of the present invention provide a method and system for correcting wander errors in laser echo timing. The method obtains an amplitude-time calibration curve using multiple amplitude data, obtains a compensation value based on the amplitude-time calibration curve, and then obtains a calibration time value. The wander error is calibrated through digital signal processing without increasing the scale of analog circuits, without affecting system sensitivity and ranging accuracy, and avoiding the loss of compensation accuracy caused by the tailing phenomenon of the falling edge of the echo signal.

[0005] To solve the above technical problems, this application provides the following technical solutions:

[0006] In a first aspect, the present application provides a method for correcting a laser echo timing wander error, the method comprising:

[0007] Calculating multiple amplitude data configured by the host computer according to the control signal transmitted by the host computer to obtain an amplitude-time calibration curve;

[0008] According to the current amplitude value, a calibration time value is obtained by combining the amplitude-time calibration curve and the current time information;

[0009] The laser echo timing is calibrated according to the calibration time value.

[0010] Preferably, the calculation of the plurality of amplitude data configured by the host computer according to the control signal transmitted by the host computer to generate the amplitude-time calibration curve includes:

[0011] According to the control signal transmitted by the host computer, the compensation values corresponding to all amplitude values between every two adjacent amplitude data are calculated;

[0012] Fitting is performed based on all the amplitude values and the compensation values to generate the amplitude-time calibration curve.

[0013] Preferably, the calculating of the compensation values corresponding to all amplitude values between every two adjacent amplitude data includes:

[0014] Obtaining the nth and n+1th amplitude data and corresponding compensation data, wherein one or more amplitude values are included between two adjacent amplitude data;

[0015] According to the amplitude value, the nth and n+1th amplitude data and the corresponding compensation data, a compensation value corresponding to each amplitude value is obtained.

[0016] Preferably, obtaining the compensation value corresponding to each amplitude value according to the amplitude value, the nth and n+1th amplitude data and the corresponding compensation data includes:

[0017] Calculating a compensation difference between compensation data corresponding to the (n+1)th amplitude data and compensation data corresponding to the (n)th amplitude data;

[0018] Calculating a difference between the amplitude value and the nth amplitude data to obtain a first amplitude difference;

[0019] Calculating a product of the compensation difference and the first amplitude difference;

[0020] Calculating the difference between the n+1th amplitude data and the nth amplitude data to obtain a second amplitude difference;

[0021] calculating a ratio of the product to the second amplitude difference;

[0022] The sum of the ratio and the compensation data corresponding to the n-th amplitude data is calculated to obtain a compensation value corresponding to the amplitude value.

[0023] Preferably, the step of calculating the plurality of amplitude data configured by the host computer according to the control signal transmitted by the host computer to generate the amplitude-time calibration curve further includes:

[0024] All amplitude data were normalized.

[0025] Preferably, the laser echo timing wander error correction method further includes:

[0026] Acquiring the current amplitude value through a pulse peak voltage detection device;

[0027] The current time information is acquired through a time-to-digital converter.

[0028] In a second aspect, the present application provides a laser echo timing wander error correction system, the laser echo timing wander error correction system comprising:

[0029] Compensation calculation module: calculates multiple amplitude data configured by the host computer according to the control signal transmitted by the host computer to obtain an amplitude-time calibration curve;

[0030] Calibration calculation module: obtains a calibration time value according to the current amplitude value, the amplitude-time calibration curve and the current time information;

[0031] Calibration module: calibrates the laser echo timing according to the calibration time value.

[0032] Preferably, the compensation calculation module includes:

[0033] Compensation calculation unit: calculates the compensation values corresponding to all amplitude values between every two adjacent amplitude data according to the control signal transmitted by the host computer;

[0034] Curve fitting unit: performs fitting according to all the amplitude values and the compensation values to generate the amplitude-time calibration curve.

[0035] At the same time, the present invention also provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the above method is implemented when the processor executes the computer program.

[0036] At the same time, the present invention also provides a computer-readable storage medium, which stores a computer program for executing the above method.

[0037] As can be seen from the above technical solution, the present application provides a method and system for correcting wander errors in laser echo timing. This method generates an amplitude-time calibration curve from multiple amplitude data points, obtains a compensation value based on the amplitude-time calibration curve, and then obtains a calibration time value. The wander error is calibrated through digital signal processing, eliminating the need to increase the scale of analog circuits, without affecting system sensitivity and ranging accuracy, and avoiding the loss of compensation accuracy caused by the trailing of the echo signal's falling edge. Meanwhile, hardware fitting and calculation are relatively time-consuming and resource-intensive. However, after the calculation is completed using this system, the calculation results are displayed as an amplitude-time calibration curve, which can be directly read during use. This approach can significantly improve calibration speed and save hardware resources for computational logic.

[0038] In order to make the above and other objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 Schematic diagram of a flow chart of a laser echo timing wander error correction method in an embodiment of the present application.

[0041] Figure 2 Schematic diagram of the binding point calculation principle in a laser echo timing wander error correction method in an embodiment of the present application.

[0042] Figure 3 A signal flow diagram for calculating and storing a laser echo timing wander error correction method in an embodiment of the present application.

[0043] Figure 4 Schematic diagram of the structure of a laser echo timing wander error correction system in an embodiment of the present application.

[0044] Figure 5 A calibration framework diagram of a laser echo timing wander error correction system according to an embodiment of the present application;

[0045] Figure 6 This is an overall framework diagram of a laser echo timing wander error correction system solution in an embodiment of the present application.

[0046] Figure 7 Schematic diagram of the structure of the electronic device in the application embodiment. DETAILED DESCRIPTION

[0047] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0048] Currently, the main wander error correction technology uses analog circuits to detect the leading edge slope or pulse width of the echo, thereby evaluating the echo amplitude for compensation of the wander error. The present application provides a laser echo timing wander error correction method, system, electronic device and computer-readable storage medium. The method obtains an amplitude-time calibration curve through multiple amplitude data, obtains a compensation value based on the amplitude-time calibration curve, and then obtains a calibration time value. The wander error is calibrated through digital signal processing without increasing the scale of the analog circuit, without affecting the system sensitivity and ranging accuracy, and avoiding the loss of compensation accuracy caused by the tailing phenomenon of the falling edge of the echo signal.

[0049] Based on the above content, the present application also provides a laser echo timing wander error correction device for implementing the laser echo timing wander error correction method provided in one or more embodiments of the present application. The laser echo timing wander error correction device can be communicatively connected with a user client device, and the user client terminal device can be provided with multiple, and the laser echo timing wander error correction device can specifically access the client terminal device through an application server.

[0050] Among them, the laser echo timing wander error correction device can receive a laser echo timing wander error correction instruction from a client terminal device, and control the signal in the laser echo timing wander error correction instruction and multiple amplitude data configured by the client terminal. The laser echo timing wander error correction device processes the amplitude data to generate an amplitude-time calibration curve, and obtains a calibration time value based on the amplitude-time calibration curve and the current amplitude and time information. The laser echo timing wander error correction device outputs the calibration time value and calibrates the laser echo timing based on the calibration time value. Then, the laser echo timing wander error correction device can display the calibration time value to the client device so that the user can obtain the calibration time value based on the client device.

[0051] It is understandable that the client device may include a smart phone, a tablet electronic device, a portable computer, a desktop computer, a personal digital assistant (PDA), etc.

[0052] In another practical application scenario, the portion of the laser echo timing wander error correction process can be performed in the classification processing center described above, or all operations can be completed in the client device. The specific selection can be based on the processing capabilities of the client device and the limitations of the user's usage scenario. This application is not limited to this. If all operations are completed in the client device, the client device may also include a processor for performing the specific processing of the laser echo timing wander error correction process.

[0053] The client device described above may include a communication module (i.e., a communication unit) that can establish a communication connection with a remote server to implement data transmission with the server. For example, the communication unit can send a laser echo timing wander error correction instruction to a server in a classification processing center so that the server can perform laser echo timing wander error correction processing according to the laser echo timing wander error correction instruction. The communication unit can also receive a calibration time value returned by the server. The server may include a server on the task scheduling center side, and other implementation scenarios may also include a server on an intermediate platform, such as a server on a third-party server platform that has a communication link with the task scheduling center server. The server may include a single computer device, a server cluster consisting of multiple servers, or a server structure of a distributed device.

[0054] The server and the client device may communicate using any suitable network protocol, including network protocols that have not yet been developed as of the filing date of this application. Examples of such network protocols include TCP / IP, UDP / IP, HTTP, and HTTPS. Furthermore, examples of such network protocols include RPC (Remote Procedure Call Protocol) and REST (Representational State Transfer) protocols, which are used on top of the aforementioned protocols.

[0055] This application provides a laser echo timing wander error correction method, system, electronic device, and computer-readable storage medium. This method uses multiple amplitude data points to generate an amplitude-time calibration curve, obtains a compensation value based on the amplitude-time calibration curve, and then obtains a calibration time value. The wander error is calibrated through digital signal processing, eliminating the need to increase the scale of analog circuits, without affecting system sensitivity and ranging accuracy, and avoiding the loss of compensation accuracy caused by the trailing of the echo signal's falling edge. Meanwhile, hardware fitting and calculation are relatively time-consuming and resource-intensive. However, after the calculation is completed using this system, the calculation results are displayed as an amplitude-time calibration curve, which can be directly read during use. This approach can significantly improve calibration speed and save hardware resources for computational logic.

[0056] The details are described through the following multiple embodiments and application examples.

[0057] The main wander error correction technology currently uses analog circuits to detect the leading edge slope or pulse width of the echo, thereby evaluating the echo amplitude for compensation of the wander error. This application provides an embodiment of a laser echo timing wander error correction method, see Figure 1 The laser echo timing wander error correction method specifically includes the following contents:

[0058] Step 100: Calculating multiple amplitude data configured by the host computer according to a control signal transmitted by the host computer to obtain an amplitude-time calibration curve;

[0059] Step 200: Obtaining a calibration time value based on the current amplitude value, the amplitude-time calibration curve, and current time information;

[0060] Step 300: Calibrate the laser echo timing according to the calibration time value.

[0061] In this embodiment, based on the amplitude data and control signals configured by the host computer, a compensation value is calculated from the amplitude data. After the calculation is complete, an amplitude-time calibration curve is generated based on the amplitude data and the compensation value. The current amplitude value and current time information are obtained, and the calibration time value is obtained by combining the amplitude-time calibration curve. The laser echo timing is then calibrated based on the calibration time value.

[0062] As can be seen from the foregoing description, the embodiments of the present application provide a method for correcting wander errors in laser echo timing. This method generates an amplitude-time calibration curve from multiple amplitude data points, obtains a compensation value based on the amplitude-time calibration curve, and then obtains a calibration time value. This wander error correction is performed through digital signal processing, eliminating the need to increase the scale of analog circuitry, without affecting system sensitivity and ranging accuracy, and avoiding the loss of compensation accuracy caused by the trailing of the echo signal's falling edge. Furthermore, hardware fitting and calculation are relatively time-consuming and resource-intensive. However, after the calculation is completed, the results of this system are displayed as an amplitude-time calibration curve, which can be directly read during use. This approach significantly improves calibration speed and conserves hardware resources for computational logic.

[0063] In one embodiment of a laser echo timing wander error correction method provided in the present application, the calculation of multiple amplitude data configured by the host computer according to a control signal transmitted by the host computer to generate an amplitude-time calibration curve includes:

[0064] According to the control signal transmitted by the host computer, the compensation values corresponding to all amplitude values between every two adjacent amplitude data are calculated;

[0065] Fitting is performed based on all the amplitude values and the compensation values to generate the amplitude-time calibration curve.

[0066] In this embodiment, each amplitude data corresponds to a compensation data, and one or more amplitude values are included between each two adjacent amplitude data. After normalizing each amplitude data, the compensation value is calculated. For example, the acquired amplitude data is recorded as X, and the compensation data is recorded as Y. Among the multiple amplitude data configured by the host computer, two adjacent amplitude data X1 and X2 and their corresponding compensation data Y1 and Y2 are taken, and the compensation value Y corresponding to all values between X1 and X2 is calculated. According to all the amplitude data, the corresponding compensation data, the amplitude values and the corresponding compensation values, a fitting is performed to obtain the amplitude-time calibration curve, see Figure 2 .

[0067] In one embodiment of a laser echo timing walk error correction method provided by the present application, the calculating of compensation values corresponding to all amplitude values between every two adjacent amplitude data includes:

[0068] Calculating a compensation difference between compensation data corresponding to the (n+1)th amplitude data and compensation data corresponding to the (n)th amplitude data;

[0069] Calculating a difference between the amplitude value and the nth amplitude data to obtain a first amplitude difference;

[0070] Calculating a product of the compensation difference and the first amplitude difference;

[0071] Calculating the difference between the n+1th amplitude data and the nth amplitude data to obtain a second amplitude difference;

[0072] calculating a ratio of the product to the second amplitude difference;

[0073] The sum of the ratio and the compensation data corresponding to the n-th amplitude data is calculated to obtain a compensation value corresponding to the amplitude value.

[0074] In this embodiment, the above steps can be summarized as the following formula:

[0075] Y=Y n +(Y n+1 –Y n )*(XX n ) / (X n+1 -X n )

[0076] The compensation difference Y between the compensation data corresponding to the n+1th amplitude data and the compensation data corresponding to the nth amplitude data is calculated. n+1 –Y n ;

[0077] Calculate the difference between the amplitude value and the nth amplitude data to obtain the first amplitude difference XX n ;

[0078] Calculate the product of the compensation difference and the first amplitude difference (Y n+1 –Y n )*(XX n );

[0079] Calculate the difference between the n+1th amplitude data and the nth amplitude data to obtain the second amplitude difference X n+1 -X n ;

[0080] Calculate the ratio of the product to the second amplitude difference (Y n+1 –Y n )*(XX n ) / (X n+1 -X n );

[0081] The sum of the ratio and the compensation data corresponding to the n-th amplitude data is calculated to obtain a compensation value Y corresponding to the amplitude value.

[0082] In one embodiment of a laser echo timing wander error correction method provided in the present application, the laser echo timing wander error correction method further includes:

[0083] Acquiring the current amplitude value through a pulse peak voltage detection device;

[0084] The current time information is acquired through a time-to-digital converter.

[0085] In this embodiment, the time and intensity signals of the echo pulse are obtained through a TDC (Time-of-Digital Converter) and a PDH (Peak Detect and Hold) circuit.

[0086] The following combination Figure 3 , a laser echo timing wander error correction method provided in an embodiment of the present application is specifically described:

[0087] The first step is to Figure 3 As shown in the apb_to_calc module in the figure, it receives amplitude data and control signals configured by the host computer through the APB bus. The control signal is the initialization end signal, and the amplitude data is an array with a depth of 64. The horizontal and vertical coordinate values of 64 sets of binding points are written. After all the coordinate values are written, the control signal init_done is written to indicate that all binding points have been written.

[0088] The second step is calculation and storage, such as Figure 3 As shown in the calc_ctl module and the calc module in the figure, the amplitude data is written and the calculation process begins after receiving the init_done signal. calc_ctl sends bind_addr and bind_rd_en to the apb_to_calc module to obtain the data bind_rdata. The obtained PDH amplitude data is recorded as X, and the compensation data is recorded as Y. First, the first two sets of pre-written data are read in, and the four data X1, Y1, X2, and Y2 are taken. Then the calc_begin signal is sent to calc. In the calc module, the Y value corresponding to all values between X1 and X2 is calculated. The calculation formula is:

[0089] Y=Y n +(Y n+1 –Y n )*(XX n ) / (X n+1 -X n )

[0090] X is the x_next signal, and Y is the result signal. After each calculation of a set of XY values, a calc_done signal is output, indicating that the current calculation is complete and can be stored. This continues until last_point is valid, indicating that the current calculation is the last data between X1 and X2. After the last data is calculated, a calc_end signal is output, indicating that the calculation of the interval between X1 and X2 is completed, and the values of X1 and X2 are updated to start the next calculation. During the storage process, first ensure that the lut_ready signal is valid, indicating that the current LUT can update data. Then initiate updata_start, indicating the start of calculation and storage. When lut_valid is valid, data is written until all binding point calculations are completed, updata_done is valid, and writing stops. At this time, the stored content is the compensation value after all calculations are completed and can be used for subsequent compensation calculations.

[0091] The third step is compensation calculation. After receiving the updata_done signal, the PDH amplitude value is input and the corresponding compensation value is read. Since it has already been calculated and stored, the compensation value read at this time is the compensation value after the binding point calculation. This compensation value is then calculated with the time information output by the TDC to obtain the final calibration time value.

[0092] As can be seen from the foregoing description, the present application provides a method for correcting wander errors in laser echo timing. This method uses multiple amplitude data points to generate an amplitude-time calibration curve, then uses the amplitude-time calibration curve to obtain a compensation value, and then a calibration time value. This wander error is calibrated through digital signal processing, eliminating the need to increase the scale of analog circuits, without affecting system sensitivity and ranging accuracy, and avoiding the loss of compensation accuracy caused by the trailing of the echo signal's falling edge. Meanwhile, hardware fitting and calculation are relatively time-consuming and resource-intensive. However, after the calculation is completed using this system, the results are displayed as an amplitude-time calibration curve, which can be directly read during use. This approach significantly improves calibration speed and conserves hardware resources for computational logic.

[0093] Secondly, the current main wander error correction technology uses analog circuits to detect the leading edge slope or pulse width of the echo, thereby evaluating the magnitude of the echo amplitude for compensation of the wander error. This application provides an embodiment of a laser echo timing wander error correction system, see Figure 4 The laser echo timing wander error correction system specifically includes the following contents:

[0094] Compensation calculation module 01: calculates multiple amplitude data configured by the host computer according to the control signal transmitted by the host computer to obtain an amplitude-time calibration curve;

[0095] Calibration calculation module 02: obtains a calibration time value according to the current amplitude value, the amplitude-time calibration curve and the current time information;

[0096] Calibration module 03: calibrates the laser echo timing according to the calibration time value.

[0097] In this embodiment, compensation calculation module 01 calculates the amplitude data based on the amplitude data and control signals configured by the host computer to obtain a compensation value. After the calculation is completed, compensation calculation module 01 obtains an amplitude-time calibration curve based on the amplitude data and the compensation value, and transmits the amplitude data, compensation value, and amplitude-time calibration curve to calibration calculation module 02. Calibration calculation module 02 obtains the current amplitude value and current time information, combines them with the amplitude-time calibration curve to obtain a calibration time value, and calibration calculation module 02 transmits the calibration time value to calibration module 03. Calibration module 03 calibrates the laser echo timing based on the calibration time value.

[0098] As can be seen from the foregoing description, the embodiments of the present application provide a laser echo timing wander error correction system. This method uses multiple amplitude data points to generate an amplitude-time calibration curve, then uses the amplitude-time calibration curve to obtain a compensation value, which in turn yields a calibration time value. This wander error correction is achieved through digital signal processing, eliminating the need to increase analog circuit scale, affecting system sensitivity and ranging accuracy, and avoiding the loss of compensation accuracy caused by the trailing of the echo signal's falling edge. Furthermore, hardware fitting and calculation are relatively time-consuming and resource-intensive. However, this system, upon completion of the calculation, displays the results as an amplitude-time calibration curve, which can be directly read upon use. This approach significantly improves calibration speed and conserves hardware resources for computational logic.

[0099] In other embodiments, the system further includes a storage module. After the compensation calculation module 01 completes the calculation, it obtains an amplitude-time calibration curve based on the amplitude data and the compensation value, and transmits the amplitude data, the compensation value, and the amplitude-time calibration curve to the storage module 04. The calibration calculation module 02 obtains the amplitude-time calibration curve from the storage module 04.

[0100] In one embodiment of a laser echo timing wander error correction system provided in the present application, the compensation calculation module includes:

[0101] Compensation calculation unit: calculates the compensation values corresponding to all amplitude values between every two adjacent amplitude data according to the control signal transmitted by the host computer;

[0102] Curve fitting unit: performs fitting according to all the amplitude values and the compensation values to generate the amplitude-time calibration curve.

[0103] In this embodiment, each amplitude data corresponds to a compensation data, and one or more amplitude values are included between each two adjacent amplitude data. The compensation calculation unit normalizes each amplitude data and calculates the compensation value. The curve fitting unit obtains the amplitude-time calibration curve based on the amplitude value and the compensation value. For example, the acquired amplitude data is recorded as X, and the compensation data is recorded as Y. Among the multiple amplitude data configured by the host computer, two adjacent amplitude data X1 and X2 and their corresponding compensation data Y1 and Y2 are taken, and the compensation value Y corresponding to all values between X1 and X2 is calculated. The amplitude-time calibration curve is obtained by fitting based on all the amplitude data, the corresponding compensation data, the amplitude value and the corresponding compensation value. See Figure 2 .

[0104] The following combination Figure 5 , a laser echo timing wander error correction system provided in an embodiment of the present application is specifically described:

[0105] The scheme first detects the threshold crossing front edge time and pulse peak amplitude of the echo pulse through TDC and PDH, and then uses the timing and amplitude data of the echo as the input of the calibration module, performs table lookup and calculation in the calibration module, and finally obtains the calibrated time value. The overall framework is as follows: Figure 6 shown.

[0106] The entire calibration system is divided into three parts: the CALC module (compensation calculation module 01), the LUT (SRAM) module (storage module), and the CALC_TDC module (calibration calculation module 02). The first part is the CALC module, which is mainly responsible for receiving the binding point data and control signals configured by the host computer, performing calculations, and storing the data in the LUT after the calculation is completed. The second part is the LUT (SRAM) module, which is essentially an SRAM and is mainly responsible for storing the amplitude data calculated by the CALC module. The writing process is performed by the CALC module, and the reading process is performed by the PDH module. The amplitude value output by the PDH module is used as the read address of the LUT, and the compensation value is finally obtained. The third part is the CALC_TDC module, which is responsible for compensating the compensation value with the original data collected by the TDC, and finally obtaining the corrected data.

[0107] The CALC module is mainly responsible for receiving the binding point data and control signals configured by the host computer, and performing calculations. After the calculation is completed, the data is stored in the LUT. During the calibration process, the amplitude data of the PDH can be fitted into a continuous curve of amplitude and calibration value, and the amplitude information provided by the PDH has a large value range. A large amount of data is relatively complicated in the configuration and storage process. Therefore, the binding point method is used here for storage and calculation. Each group of binding points is divided into two data, horizontal and vertical coordinates. The horizontal coordinate is the normalized PDH amplitude information, and the vertical coordinate is the compensation value fitted according to the amplitude information. In this patent, 64 groups of binding points are set, and all values between the binding points are calculated through each two adjacent groups of binding points. The calculated result is approximately equal to the continuous curve, and is finally stored in the LUT for reading by the PDH module.

[0108] From a hardware perspective, the current main wander error correction technology uses analog circuits to detect the leading edge slope or pulse width of the echo, thereby evaluating the echo amplitude to compensate for the wander error. This application provides an embodiment of an electronic device that implements all or part of the laser echo timing wander error correction method. The electronic device specifically includes the following:

[0109] Figure 7 Schematic block diagram of the system structure of the electronic device 9600 according to an embodiment of the present application. Figure 7 As shown, the electronic device 9600 may include a central processing unit 9100 and a memory 9140; the memory 9140 is coupled to the central processing unit 9100. It is worth noting that the Figure 7 is exemplary; other types of structures may also be used to supplement or replace this structure to implement telecommunication functions or other functions.

[0110] In one embodiment, the laser echo timing wander error correction function may be integrated into the central processing unit. The central processing unit may be configured to perform the following control:

[0111] Step 100: Calculating multiple amplitude data configured by the host computer according to a control signal transmitted by the host computer to obtain an amplitude-time calibration curve;

[0112] Step 200: Obtaining a calibration time value based on the current amplitude value, the amplitude-time calibration curve, and current time information;

[0113] Step 300: Calibrate the laser echo timing according to the calibration time value.

[0114] In this embodiment, based on the amplitude data and control signals configured by the host computer, a compensation value is calculated from the amplitude data. After the calculation is complete, an amplitude-time calibration curve is generated based on the amplitude data and the compensation value. The current amplitude value and current time information are obtained, and the calibration time value is obtained by combining the amplitude-time calibration curve. The laser echo timing is then calibrated based on the calibration time value.

[0115] As can be seen from the foregoing description, an electronic device provided by an embodiment of the present application uses multiple amplitude data points to generate an amplitude-time calibration curve, obtains a compensation value based on the amplitude-time calibration curve, and then obtains a calibration time value. This method calibrates wander errors through digital signal processing, eliminating the need to increase the scale of analog circuitry, without affecting system sensitivity and ranging accuracy, and avoiding the loss of compensation accuracy caused by the trailing of the echo signal's falling edge. Meanwhile, hardware fitting and calculation are relatively time-consuming and resource-intensive. However, after the calculation is completed, the results of this system are displayed as an amplitude-time calibration curve, which can be directly read during use. This approach significantly improves calibration speed and conserves hardware resources for computational logic.

[0116] In another embodiment, the laser echo timing wander error correction device can be configured separately from the central processing unit 9100. For example, the laser echo timing wander error correction device can be configured as a chip connected to the central processing unit 9100, and the laser echo timing wander error correction function can be realized through the control of the central processing unit.

[0117] like Figure 7 As shown, the electronic device 9600 may further include: a communication module 9110, an input unit 9120, an audio processor 9130, a display 9160, and a power supply 9170. It is worth noting that the electronic device 9600 does not necessarily have to include Figure 7 In addition, the electronic device 9600 may also include all components shown in Figure 7 For components not shown, reference may be made to the prior art.

[0118] like Figure 7 As shown, the central processing unit 9100 is sometimes also referred to as a controller or operation control, and may include a microprocessor or other processor device and / or logic device. The central processing unit 9100 receives input and controls the operation of various components of the electronic device 9600.

[0119] Memory 9140 can be, for example, one or more of a cache, flash memory, hard drive, removable media, volatile memory, non-volatile memory, or other suitable devices. It can store the aforementioned failure-related information and also store programs that execute the relevant information. The CPU 9100 can execute the programs stored in memory 9140 to implement information storage or processing.

[0120] The input unit 9120 provides input to the central processing unit 9100. The input unit 9120 may be, for example, a keypad or touch input device. The power supply 9170 is used to provide power to the electronic device 9600. The display 9160 is used to display objects such as images and text. The display may be, for example, an LCD display, but is not limited thereto.

[0121] The memory 9140 may be a solid-state memory, such as a read-only memory (ROM), a random access memory (RAM), or a SIM card. Alternatively, it may be a memory that retains information even when power is off, can be selectively erased, and is provided with more data. Examples of such memory are sometimes referred to as EPROMs. The memory 9140 may also be some other type of device. The memory 9140 includes a buffer memory 9141 (sometimes referred to as a buffer). The memory 9140 may include an application / function storage unit 9142 for storing application programs and function programs or processes for executing the operation of the electronic device 9600 by the central processing unit 9100.

[0122] The memory 9140 may also include a data storage unit 9143 for storing data, such as contacts, digital data, pictures, sounds, and / or any other data used by the electronic device. The driver storage unit 9144 of the memory 9140 may include various driver programs for communication functions of the electronic device and / or for executing other functions of the electronic device (such as messaging applications, address book applications, etc.).

[0123] The communication module 9110 is a transmitter / receiver 9110 that transmits and receives signals via an antenna 9111. The communication module (transmitter / receiver) 9110 is coupled to the central processor 9100 to provide input signals and receive output signals, which may be the same as in a conventional mobile communication terminal.

[0124] Based on different communication technologies, multiple communication modules 9110 can be provided in the same electronic device, such as a cellular network module, a Bluetooth module, and / or a wireless local area network module. The communication module (transmitter / receiver) 9110 is also coupled to a speaker 9131 and a microphone 9132 via an audio processor 9130 to provide audio output via the speaker 9131 and receive audio input from the microphone 9132, thereby implementing common telecommunication functions. The audio processor 9130 may include any suitable buffer, decoder, amplifier, etc. Furthermore, the audio processor 9130 is also coupled to the central processing unit 9100, enabling local recording via the microphone 9132 and playback of stored audio via the speaker 9131.

[0125] The embodiments of the present application also provide a computer-readable storage medium capable of implementing all steps of the laser echo timing wander error correction method in the above-mentioned embodiments. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the computer program implements all steps of the laser echo timing wander error correction method in the above-mentioned embodiments, where the execution subject is a server or a client. For example, when the processor executes the computer program, the following steps are implemented:

[0126] Step 100: Calculating multiple amplitude data configured by the host computer according to a control signal transmitted by the host computer to obtain an amplitude-time calibration curve;

[0127] Step 200: Obtaining a calibration time value based on the current amplitude value, the amplitude-time calibration curve, and current time information;

[0128] Step 300: Calibrate the laser echo timing according to the calibration time value.

[0129] In this embodiment, based on the amplitude data and control signals configured by the host computer, a compensation value is calculated from the amplitude data. After the calculation is complete, an amplitude-time calibration curve is generated based on the amplitude data and the compensation value. The current amplitude value and current time information are obtained, and the calibration time value is obtained by combining the amplitude-time calibration curve. The laser echo timing is then calibrated based on the calibration time value.

[0130] As can be seen from the foregoing description, embodiments of the present application provide a computer-readable storage medium that uses multiple amplitude data points to generate an amplitude-time calibration curve, obtains a compensation value based on the amplitude-time calibration curve, and then obtains a calibration time value. This method uses digital signal processing to calibrate wander errors, eliminating the need to increase analog circuit scale, without affecting system sensitivity and ranging accuracy, and avoiding the loss of compensation accuracy caused by the trailing of the echo signal's falling edge. Furthermore, hardware fitting and calculation are relatively time-consuming and resource-intensive. However, after the calculation is completed, the system displays the results as an amplitude-time calibration curve, which can be directly read during use. This approach significantly improves calibration speed and conserves hardware resources for computational logic.

[0131] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, apparatus, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0132] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (apparatus), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as a combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0133] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0134] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0135] Specific embodiments are used in the present invention to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A laser echo timing wander error correction method, characterized in that: include: Calculating multiple amplitude data configured by the host computer according to the control signal transmitted by the host computer to obtain an amplitude-time calibration curve; According to the current amplitude value, a calibration time value is obtained by combining the amplitude-time calibration curve and the current time information; calibrating the laser echo timing according to the calibration time value; The step of calculating the multiple amplitude data configured by the host computer according to the control signal transmitted by the host computer to generate an amplitude-time calibration curve includes: According to the control signal transmitted by the host computer, the compensation values corresponding to all amplitude values between every two adjacent amplitude data are calculated; Perform fitting based on all the amplitude values and the compensation values to generate the amplitude-time calibration curve; The calculating of the compensation values corresponding to all amplitude values between every two adjacent amplitude data includes: Obtaining the nth and n+1th amplitude data and corresponding compensation data, wherein one or more amplitude values are included between two adjacent amplitude data; Obtaining a compensation value corresponding to each amplitude value according to the amplitude value, the nth and n+1th amplitude data, and the corresponding compensation data; Obtaining a compensation value corresponding to each amplitude value according to the amplitude value, the nth and n+1th amplitude data, and the corresponding compensation data, includes: Calculating a compensation difference between compensation data corresponding to the (n+1)th amplitude data and compensation data corresponding to the (n)th amplitude data; Calculating a difference between the amplitude value and the nth amplitude data to obtain a first amplitude difference; Calculating a product of the compensation difference and the first amplitude difference; Calculating the difference between the n+1th amplitude data and the nth amplitude data to obtain a second amplitude difference; calculating a ratio of the product to the second amplitude difference; The sum of the ratio and the compensation data corresponding to the n-th amplitude data is calculated to obtain a compensation value corresponding to the amplitude value.

2. The laser echo timing wander error correction method according to claim 1, characterized in that: The method further comprises calculating a plurality of amplitude data configured by the host computer according to a control signal transmitted by the host computer to generate an amplitude-time calibration curve. All amplitude data were normalized.

3. The laser echo timing wander error correction method according to claim 1, characterized in that: The laser echo timing wander error correction method further includes: Acquiring the current amplitude value through a pulse peak voltage detection device; The current time information is acquired through a time-to-digital converter.

4. A laser echo timing wander error correction system, used to execute the laser echo timing wander error correction method according to any one of claims 1 to 3, characterized in that: include: Compensation calculation module: used to calculate multiple amplitude data configured by the host computer according to the control signal transmitted by the host computer to obtain an amplitude-time calibration curve; Calibration calculation module: used to obtain a calibration time value based on the current amplitude value, the amplitude-time calibration curve and the current time information; Calibration module: used for calibrating the laser echo timing according to the calibration time value.

5. The laser echo timing wander error correction system according to claim 4, characterized in that: The compensation calculation module includes: Compensation calculation unit: used to calculate the compensation values corresponding to all amplitude values between every two adjacent amplitude data according to the control signal transmitted by the host computer; A curve fitting unit is configured to perform fitting based on all the amplitude values and the compensation values to generate the amplitude-time calibration curve.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the laser echo timing wander error correction method according to any one of claims 1 to 3 is implemented.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the laser echo timing wander error correction method according to any one of claims 1 to 3 is implemented.

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