A signal identification and interference filtering method for a rotating laser positioning system

Abstract

This invention belongs to the field of signal separation technology and relates to a signal identification and interference filtering method for a rotating laser positioning system, comprising: 1) acquiring a mixed laser signal, converting it into a pulse signal sequence X(t) and obtaining the midpoint time of each pulse signal; 2) identifying R(t) and P″(t) from X(t) according to the ratio of the pulse width of the reference pulse signal and the sector pulse signal; 3) dividing R(t) and P″(t) according to the rotation period of each laser emitting base station, and simultaneously filtering out non-co-frequency interference of P″(t) to obtain the corresponding R for each laser emitting base station. id (t) and P′ id (t); 4) Based on the characteristic times of the reference pulse signal and the sector pulse signal, calculate the angle between the sectors of the sector pulse signal and compare it with the theoretical value to realize the P′ id Co-frequency interference filtering of (t) yields P after interference filtering. id (t). It can adaptively identify mixed laser signals as reference pulse signals and sector pulse signals, while filtering out common interferences, improving the fault tolerance of the system algorithm, and increasing environmental applicability.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of electronic information signal separation, and relates to a signal identification and interference filtering method, in particular to a signal identification and interference filtering method for a rotating laser positioning system. BACKGROUND

[0002] The rotating laser positioning system is a large-size space three-dimensional coordinate measurement technology used for industrial and engineering measurement positioning sites. The system mainly comprises a laser emission base station, a photoelectric receiver, a signal processor and an upper computer. During measurement, a plurality of laser emission base stations (usually 4) are arranged on one side of the measured object. Each laser emission base station periodically emits a reference (synchronous light, that is, a reference pulse signal) and two fan lasers (scanning light, that is, fan pulse signals). The attitude relationship of the fan lasers is fixed and unchanged, and the fan lasers jointly rotate and scan in the entire measurement space to form a laser network. The reference is triggered each time the initial position is turned. After the photoelectric receiver obtains the mixed laser signals, the signals are identified and separated by means of the signal processor. The characteristic angle is calculated through the characteristic time, so that the spatial coordinates of the measurement point are solved.

[0003] The conventional signal identification method needs to pre-enter the pulse width thresholds of the reference and the fan, compare the pulse width of each signal with the threshold range, and identify the reference pulse signal and the fan pulse signal respectively. However, in actual application, due to the different distances between the photoelectric receiver and the emission station, the pulse width variation range of the reference and the fan pulse signal will overlap. Therefore, in some specific distance range, the pre-entered pulse width threshold value will be invalid, resulting in signal identification error.

[0004] At the same time, the conventional algorithm does not consider filtering of interference, which will cause that when the fan laser is reflected to the photoelectric receiver and acquired as a pulse signal, the system will not be able to correctly identify the fan pulse signal, so that the angle and coordinate calculation are abnormal.

[0005] In view of the above technical defects of the prior art, it is urgent to develop a new signal identification and interference filtering method. SUMMARY

[0006] The present application aims to overcome the shortcomings in the prior art, and provides a signal identification and interference filtering method for a rotating laser positioning system, which can adaptively identify the mixed laser signals as reference pulse signals and fan pulse signals, and at the same time realize filtering of common interference, improve the fault tolerance of the system algorithm, and increase the environmental practicability.

[0007] In order to achieve the above-mentioned purpose, the present application provides the following technical scheme:

[0008] A signal identification and interference filtering method for a rotating laser positioning system, characterized in that it comprises the following steps:

[0009] 1) The photoelectric receiver acquires the mixed laser signals emitted by each laser emitting base station, converts them into a pulse signal sequence X(t) through a signal processor, and obtains the midpoint time of each pulse signal;

[0010] 2) According to the proportional relationship between the reference pulse signal and the sector pulse signal pulse width, the reference pulse signal sequence R(t) and the sector pulse signal sequence P''(t) are identified from X(t);

[0011] 3) According to the rotation period of each laser emitting base station, the reference pulse signal sequence R(t) and the sector pulse signal sequence P''(t) are divided, and at the same time, non-same-frequency interference filtering of the sector pulse signal sequence P''(t) is realized, obtaining the reference pulse signal sequence R(t) and the sector pulse signal sequence P'(t) corresponding to each laser emitting base station; id i d ;

[0012] 4) According to the characteristic time of the reference pulse signal and the sector pulse signal, the angle between the sectors of the sector pulse signal is calculated and compared with the theoretical value, realizing same-frequency interference filtering of the sector pulse signal sequence P''(t), obtaining the interference-filtered sector pulse signal sequence P'(t). i d id .

[0013] Preferably, the step 1) is specifically:

[0014] 1.1) The photoelectric receiver and the signal processor convert the mixed laser signal into a pulse signal sequence X(t) through photoelectric conversion and binaryzation, and record the rising edge time x i and the pulse width w i of each pulse signal in the pulse signal sequence X(t) in turn, and x i >> w i , wherein i=1, 2, 3…M, M is the number of pulse signals in the mixed laser signal;

[0015] 1.2) Calculate t i =x i +w i / 2, wherein t i represents the midpoint time of each pulse signal.

[0016] Preferably, the step 2) is specifically:

[0017] ​​​​2.1), initialize variables, let i = 1, j = 2, k = 3, w_real = 0, wherein the variable w_real is used to update the reference pulse width in real time, set the ratio ratio_pr of the sector pulse signal pulse width to the reference pulse signal pulse width, the ratio ratio_rp of the reference pulse signal pulse width to the sector pulse signal pulse width, the ratio ratio_rr between the reference pulse signal pulse widths, and the maximum error offset ratio_pr_offset, ratio_rp_offset, ratio_rr_offset of the ratio law allowed in pulse signal identification;

[0018] 2.2), calculate w j / w i , if |w j / w i | ≤ ratio_pr_offset, go to step 2.3), if |w j / w i | ≤ ratio_rp_offset, go to step 2.4), if none of them is satisfied, go to step 2.5);

[0019] 2.3), determine that w i belongs to the reference pulse signal pulse width and record the midpoint time t i of the pulse width with R(t), determine that w j belongs to the sector pulse signal pulse width and record the midpoint time t j of the pulse width with P"(t), let w_real = w i , and go to step 2.6);

[0020] 2.4), determine that w j belongs to the reference pulse signal pulse width and record the midpoint time t j of the pulse width with R(t), determine that w i belongs to the sector pulse signal pulse width and record the midpoint time t i of the pulse width with P"(t), let w_real = w j , and go to step 2.6);

[0021] 2.5), let i = i + 1, j = j + 1, k = k + 1, and return to step 2.2);

[0022] 2.6), calculate w k / w_real, if |w k / w_real | ≤ ratio_rr_offset, go to step 2.7), if |w kw_real < ratio_pr_offset, go to step 2.8), if none of them is satisfied, go to step 2.9);

[0023] 2.7), determine w k belongs to the reference pulse signal pulse width and record the midpoint time t i of the pulse width with R(t) k , let w_real = w k , go to step 2.9);

[0024] 2.8), determine w i belongs to the sector pulse signal pulse width and record the midpoint time t N of the pulse width with P"(t) m , go to step 2.9);

[0025] 2.9), let k = k + 1, determine whether k is greater than M, if not, go to step 2.6), if yes, go to step 2.10);

[0026] 2.10), save R(t) and P"(t), wherein R(t) contains the midpoint time of the reference pulse signal pulse width of all base stations, P"(t) contains the midpoint time of the sector pulse signal pulse width of all base stations and non-same frequency and same frequency interference.

[0027] Preferably, in the step 2.1), ratio_rr = 1, ratio_pr_offset = 0.05, ratio_rp_offset = 0.002, ratio_rr_offset = 0.1.

[0028] Preferably, the step 3) is specifically:

[0029] 3.1), initialize variables, let l = 1, m = 2, n = 3, id = 1, wherein id represents the serial number of the laser emitting base station, record R_max and P" _max as the number of pulse signals in the sequence R(t) and P"(t) respectively, set the number of laser emitting base stations N and the respective periods T1, T2, T3…T i N+1, and set the maximum error offset T_offset allowed during frequency division and interference filtering;

[0030] 3.2), calculate t m -t l , t n -t m , wherein t l , t m , t n respectively represent the lth, mth and nth midpoint time in the sequence R(t), if |t m -t l -T id|≤T_offset&&|t n -t m -T id If |≤T_offset, proceed to step 3.3); if not, proceed to step 3.6.

[0031] 3.3) Identify t l As a reference belonging to the id-th laser transmitting base station and using R id (t) record;

[0032] 3.4) Let l = l + 1, m = l + 1, n = l + 2, and determine whether l is greater than R_max - 2. If not, go to step 3.2); if yes, go to step 3.7.

[0033] 3.5) Let m = m + 1, n = m + 1, and determine whether m is greater than R_max - 1. If not, go to step 3.2); if yes, go to step 3.4.

[0034] 3.6) Let n = n + 1, and determine whether n is greater than R_max. If not, go to step 3.2); if yes, go to step 3.5.

[0035] 3.7) Calculate t m -t l t n -t m , where t l t m t n Let |t''(t)| represent the l-th, m-th, and n-th midpoint times in the sequence P″(t), respectively. m -t l -T id |≤T_offset&&|t n -t m -T id If |≤T_offset, proceed to step 3.8); if not, proceed to step 3.11.

[0036] 3.8) Identify t l Let P' be the sector belonging to the id-th laser emitting base station. id (t) record;

[0037] 3.9) Let l = l + 1, m = l + 1, n = l + 2, determine whether l is greater than P″_max - 2. If not, go to step 3.7); if yes, go to step 3.12.

[0038] 3.10) Let m = m + 1, n = m + 1, determine if m is greater than P″_max - 1. If not, go to step 3.7); if yes, go to step 3.9.

[0039] 3.11), let n = n + 1, judge whether n is greater than P" max, if not, go to step 3.7), if yes, go to step 3.10);

[0040] 3.12), let id = id + 1, judge whether id is greater than N, if not, let 1 = 1, m = 2, n = 3, go to step 3.2), if yes, go to step 3.13);

[0041] 3.13), save all R id (t), P' id (t), wherein R id (t) contains the middle point time of the pulse width of the reference pulse signal of the idth laser emission base station, P' id (t) contains the middle point time of the pulse width of the sector pulse signal of the idth laser emission base station and the co-frequency interference.

[0042] Preferably, the step 4) is specifically:

[0043] 4.1), initialize variables, let o = 1, p = 1, q = 2, id = 1, and record R id _max as the number of sector pulse signals in the sequence R id (t), set the initial angle θ of the sector normal vectors of the two sector pulse signals, and the maximum error offset θ_offset allowed in interference filtering;

[0044] 4.2), judge whether t o < t p < t q < t o+1 is true, wherein t o represents the oth middle point time in R id (t), t p , t q respectively represent the pth and qth middle point time in P' id (t), if yes, go to step 4.3), if not, go to step 4.4);

[0045] 4.3), calculate wherein θ' is the angle between the sectors of the sector pulse signals represented by t p , t q , if |θ-θ'|≤θ_offset is satisfied, it is determined that t p , t q are respectively the middle point time of the reference pulse signal r o corresponding to the two sector pulse signals p o 1 , p o2 , and P id(t) record, go to step 4.5), if not, go to step 4.6);

[0046] 4.4), let p=p+1, q=p+1, go to step 4.2);

[0047] 4.5), let o=o+1, judge whether o is greater than R id _max, if not, go to step 4.4), if yes, go to step 4.7);

[0048] 4.6), let q=q+1, if t q <t o+1 , go to step 4.3), if not, go to step 4.4);

[0049] 4.7), let id=id+1, judge whether id is greater than N, if not, let o=1, p=1, q=2, go to step 4.2), if yes, go to step 4.8);

[0050] 4.8), save all P id (t) which contains the time point of the midpoint of the pulse width of the fan pulse signal of the idth laser emitting base station.

[0051] Compared with the prior art, the signal recognition and interference filtering method for the rotating laser positioning system has one or more of the following beneficial technical effects:

[0052] 1. The present application can adaptively identify the mixed laser signal as the reference pulse signal and the fan pulse signal, thereby eliminating the need to pre-enter the pulse width threshold of the reference and the fan.

[0053] 2. The present application can filter out non-same-frequency interference by extracting approximate frequency components in the frequency division process, and filter out same-frequency interference by comparing the angle with the theoretical value in the angle solving process.

[0054] 3. The present application can adaptively identify the signal by comparing the pulse width of the pulse signal, efficiently measure at different distances, filter out common reflective interference by using the period and angle, correctly solve in the interference environment, thereby improving the fault tolerance of the system algorithm and increasing the environmental practicability. BRIEF DESCRIPTION OF DRAWINGS

[0055] Figure 1 is the flow chart of the signal recognition and interference filtering method for the rotating laser positioning system of the present application. DETAILED DESCRIPTION

[0056] The present application will be further described below in combination with the drawings and examples, and the content of the examples is not regarded as a limitation on the protection scope of the present application.

[0057] In view of the low fault tolerance and poor environmental practicability of the traditional signal identification and solution method, the application provides a signal identification and interference filtering method for a rotary laser positioning system, which can adaptively identify mixed laser signals as reference pulse signals and sector pulse signals, filter common interference, improve the fault tolerance of the system algorithm, and increase the environmental practicability.

[0058] Figure 1 A flowchart of the signal identification and interference filtering method for the rotary laser positioning system of the application is shown. As shown in Figure 1 the signal identification and interference filtering method for the rotary laser positioning system of the application comprises the following steps:

[0059] I. The photoelectric receiver acquires the mixed laser signals emitted by the laser emission base station, and converts them into a pulse signal sequence X(t) through the signal processor.

[0060] The photoelectric receiver and the signal processor convert the acquired mixed laser signals (including reference pulse signals, sector pulse signals and interference signals) into a pulse signal sequence X(t) through photoelectric conversion and binaryzation. In order to facilitate the subsequent steps in the application, the midpoint time of all pulse signals needs to be calculated.

[0061] In the application, the specific steps of the photoelectric receiver acquiring the mixed laser signals emitted by the laser emission base station and converting them into a pulse signal sequence X(t) through the signal processor include:

[0062] 1.1. The photoelectric receiver and the signal processor convert the acquired mixed laser signals (including reference pulse signals, sector pulse signals and interference signals) into a pulse signal sequence X(t) through photoelectric conversion and binaryzation, and record the rising edge time x i and the pulse width w i of each pulse signal in sequence, and x i >> w i , wherein i=1, 2, 3…M, and M is the number of pulse signals in the pulse signal sequence X(t).

[0063] 1.2. Calculate t i =x i +w i / 2, wherein t i represents the midpoint time of each pulse signal.

[0064] II. According to the proportional relationship between the pulse widths of the reference pulse signals and the sector pulse signals, the reference pulse information sequence R(t) and the sector pulse signal sequence P''(t) are identified from X(t).

[0065] The current signal is determined to be the reference pulse signal or the sector pulse signal according to the proportional relationship between the pulse width of the current signal and the pulse width of the real-time updated reference pulse signal, and the reference pulse signal sequence R(t) and the sector pulse signal sequence P"(t) are identified from X(t).

[0066] In the present application, the specific steps of identifying the reference pulse signal sequence R(t) and the sector pulse signal sequence P"(t) from X(t) according to the proportional relationship between the pulse width of the reference pulse signal and the pulse width of the sector pulse signal include:

[0067] 2.1, initialize variables, let i=1, j=2, k=3, w_real=0, wherein the variable w_real is used to update the pulse width of the reference pulse signal in real time, set the proportion ratio_pr(>1) of the pulse width of the sector pulse signal to the pulse width of the reference pulse signal, the proportion ratio_rp(<1) of the pulse width of the reference signal to the pulse width of the sector signal, the proportion ratio_rr(equal to 1) of the pulse width of the reference signal, and the maximum error offset of the proportion rule allowed during signal identification ratio_pr_offset(≈0.05), ratio_rp_offset(≈0.002), ratio_rr_offset(≈0.1). According to the proportional relationship between the pulse width of the current signal and the pulse width of the real-time updated reference pulse signal, it is determined whether the current signal belongs to the reference pulse signal or the sector pulse signal.

[0068] 2.2, calculate w j / w i , if |w j / w i -ratio_pr|≤ratio_pr_offset, go to step 2.3, if |w j / w i -ratio_rp|≤ratio_rp_offset, go to step 2.4, if none of them is satisfied, go to step 2.5.

[0069] 2.3, determine that w i belongs to the pulse width of the reference pulse signal and record the midpoint time t i of the pulse width with R(t), determine that w j belongs to the pulse width of the sector pulse signal and record the midpoint time t j of the pulse width with P"(t), let w_real=w i , and go to step 2.6.

[0070] 2.4, determine that w j belongs to the pulse width of the reference pulse signal and record the midpoint time t j of the pulse width with R(t), determine that w iw belongs to the reference pulse signal pulse width and record the midpoint time t of this pulse width with R(t) i w_real = w j Step 2.6.

[0071] 2.5, i = i + 1, j = j + 1, k = k + 1, return to step 2.2.

[0072] 2.6, calculate w k / w_real, if |w k / w_real - ratio_rr| ≤ ratio_rr_offset, go to step 2.7, if |w k / w_real - ratio_pr| ≤ ratio_pr_offset, go to step 2.8, if none of them, go to step 2.9.

[0073] 2.7, determine w k belongs to the reference pulse signal pulse width and record the midpoint time t of this pulse width with R(t) i w_real = w k Step 2.9.

[0074] 2.8, determine w k belongs to the fan pulse signal pulse width and record the midpoint time t of this pulse width with P″(t) i Step 2.9.

[0075] 2.9, k = k + 1, determine whether k is greater than M, if not, go to step 2.6, if yes, go to step 2.10.

[0076] 2.10, save R(t) and P″(t), wherein R(t) contains the midpoint time of the reference pulse signal pulse width of all laser emitting stations, and P″(t) contains the midpoint time of the fan pulse signal pulse width of all laser emitting stations and non-coherent and coherent interference.

[0077] III. According to the rotation period of each laser emitting station, frequency division is performed on the two sequences R(t) and P″(t) described in step II, and at the same time, non-coherent interference of the fan pulse signal sequence P″(t) is filtered out, to obtain the reference pulse signal sequence R id (t) and the fan pulse signal sequence P′ id (t) corresponding to each laser emitting station.

[0078] Among them, by extracting the components with approximately equal frequencies in R(t) and P″(t) respectively, frequency division is performed on the mixed signal, and at the same time, interference signals without periodic rules or different periods from the laser emitting stations (i.e. non-coherent interference) are filtered out.

[0079] In this invention, based on the rotation period of each laser emitting base station, the two sequences R(t) and P″(t) described in step two are frequency-divided, while simultaneously filtering out non-co-frequency interference of the sector pulse signal sequence P″(t), thus obtaining the reference pulse signal sequence R corresponding to each laser emitting base station. id (t) and the fan-shaped pulse signal sequence P′ id The specific steps of (t) include:

[0080] 3.1 Initialize variables: Let l = 1, m = 2, n = 3, id = 1, where id represents the sequence number of the laser transmitting base station. Let R_max and P″_max be the number of pulse signals in the sequences R(t) and P″(t), respectively. Set the number of laser transmitting base stations N and their respective periods T1, T2, T3…T N The maximum allowable periodic error offset T_offset during frequency division and interference filtering is also specified. By extracting the components with approximately equal frequencies from R(t) and P″(t), the mixed laser signal is frequency divided, while simultaneously filtering out interference signals that have no periodicity or whose period differs from that of the laser transmitter station (i.e., non-co-frequency interference).

[0081] 3.2 Calculate t m -t l t n -t m , where t l t m t n Let |t| represent the l-th, m-th, and n-th midpoint times in the sequence R(t), respectively. If |t| m -t l -T id |≤T_offset&&|t n -t m -T id If |≤T_offset, proceed to step 3.3; if not, proceed to step 3.6.

[0082] 3.3, Identification of t l As a reference belonging to the id-th transmitting base station and using R id (t) record.

[0083] 3.4. Let l = l + 1, m = l + 1, n = l + 2. Determine whether l is greater than R_max - 2. If not, go to step 3.2. If yes, go to step 3.7.

[0084] 3.5. Let m = m + 1 and n = m + 1. Determine if m is greater than R_max - 1. If not, go to step 3.2. If yes, go to step 3.4.

[0085] 3.6, let n = n + 1, judge whether n is greater than R_max, if not, go to step 3.2, if yes, go to step 3.5.

[0086] 3.7, calculate t m -t l , t n -t m , where t l , t m , t n respectively represent the lth, mth, nth mid-point time in sequence P"(t), if |t m -t l -T id |≤T_offset&&|t n -t m -T id |≤T_offset, go to step 3.8, if not, go to step 3.11.

[0087] 3.8, determine t l as belonging to the idth sector of the laser emitting base station and record it with P' id (t).

[0088] 3.9, let l = l + 1, m = l + 1, n = l + 2, judge whether l is greater than P"

[0089] 3.10, let m = m + 1, n = m + 1, judge whether m is greater than P"

[0090] 3.11, let n = n + 1, judge whether n is greater than P"

[0091] 3.12, let id = id + 1, judge whether id is greater than N, if not, let l = 1, m = 2, n = 3, go to step 3.2, if yes, go to step 3.13.

[0092] 3.13, save all R id (t), P' id (t), where R id (t) contains the mid-point time of the reference pulse signal of the idth laser emitting base station, P' id (t) contains the mid-point time of the sector pulse signal of the idth laser emitting base station and the co-frequency interference.

[0093] Four, according to the characteristic time of the reference pulse signal and the sector pulse signal, calculate the angle between the sectors of the sector pulse signal and compare with the theoretical value, realize the sequence P'id After filtering out co-frequency interference in (t), the resulting sector pulse signal sequence P after interference filtering is obtained. id (t).

[0094] Specifically, based on the characteristic times of the reference pulse signal and the sector pulse signal, the angle between the sectors is calculated pairwise. Two signals in each cycle that are approximately equal to the theoretical value are considered the correct sector pulse signals and extracted, while the rest are considered interference. This process achieves the optimization of the sequence P′. id Co-frequency interference filtering (t).

[0095] In this invention, based on the characteristic times of the reference pulse signal and the sector pulse signal, the angle between the sectors of the sector pulse signal is calculated and compared with the theoretical value, thereby realizing the processing of the sequence P′. id After filtering out co-frequency interference in (t), the resulting sector pulse signal sequence P after interference filtering is obtained. id The specific steps of (t) include:

[0096] 4.1 Initialize variables: Let o = 1, p = 1, q = 2, id = 1, and denote R as... id _max is the sequence R id The number of signals in (t) is set, the initial angle θ between the two sector normal vectors is set, and the maximum allowable angle error offset θ_offset during interference filtering is set. Based on the characteristic times of the reference pulse signal and the sector pulse signal, the angle between each pair of sectors is calculated. Two signals in each cycle that are approximately equal to the theoretical value are considered as the correct sector signals and extracted; the rest are considered interference. This achieves the filtering of sector P′. id Co-frequency interference filtering (t).

[0097] 4.2 Determine t o <t p <t q <t o+1 Whether it is true or not, where t o R represents id At the o-th midpoint time in (t), t p t q They represent P′ respectively id At the p-th and q-th midpoint times in (t), if yes, proceed to step 4.3; otherwise, proceed to step 4.4.

[0098] 4.3 Calculation Where θ is t p t q These represent the angles between the sector signals. If |θ-θ′|≤θ_offset, then t is considered... p t q The reference signal r of base station id respectively o Corresponding to two sector signals po1 , p o2 midpoint of the sector signal pulse width of the base station with the id number and record P id (t) and go to step 4.5, if not, go to step 4.6.

[0099] 4.4, let p=p+1, q=p+1, go to step 4.2.

[0100] 4.5, let o=o+1, judge whether o is greater than R id _max, if not, go to step 4.4, if yes, go to step 4.7.

[0101] 4.6, let q=q+1, if t q <t o+1 , go to step 4.3, if not, go to step 4.4.

[0102] 4.7, let id=id+1, judge whether id is greater than N, if not, let o=1, p=1, q=2, go to step 4.2, if yes, go to step 4.8.

[0103] 4.8, save all P id (t) which contains the midpoint of the sector signal pulse width of the base station with the id number.

[0104] The present application can adaptively identify the mixed laser signal as the reference pulse signal and the sector pulse signal, filter the common interference, improve the fault tolerance of the system algorithm and increase the environmental practicability.

[0105] The above embodiments of the present application are only examples for clearly explaining the present application, and are not the limitation of the embodiments of the present application. Other different forms of changes or variations can be made on the basis of the above description for the ordinary skilled in the art. All the embodiments cannot be exhausted here. Any obvious changes or variations derived from the technical solutions of the present application are still within the protection scope of the present application.

Claims

1. A signal recognition and interference filtering method for a rotating laser positioning system, characterized in that, The method comprises the following steps: 1) the photoelectric receiver acquires the mixed laser signals emitted by each laser emitting base station, converts them into pulse signal sequences X(t) through a signal processor, and obtains the midpoint time of each pulse signal; 2) according to the proportional relationship between the reference pulse signal and the sector pulse signal pulse width, the reference pulse signal sequence R(t) and the sector pulse signal sequence P''(t) are identified from X(t) respectively; 3) According to the rotation period of each laser emission base station, the reference pulse signal sequence R(t) and the sector pulse signal sequence P"(t) are divided, and at the same time, the non-same frequency interference of the sector pulse signal sequence P"(t) is filtered out, to obtain the reference pulse signal sequence R id (t) corresponding to each laser emission base station and the sector pulse signal sequence P' id (t); 4) According to the characteristic time of the reference pulse signal and the sector pulse signal, the angle between the sectors of the sector pulse signal is calculated and compared with the theoretical value, to realize the sector pulse signal sequence P' id (t) is filtered to obtain the sector pulse signal sequence P id (t) after interference filtering.

2. The signal identification and interference rejection method for a rotating laser positioning system according to claim 1, characterized in that, The step 1) is specifically: 1.1), the photoelectric receiver and signal processor converts the mixed laser signal into a pulse signal sequence X(t) through photoelectric conversion and binaryzation, and records the rising edge time x i and pulse width w i of each pulse signal in the pulse signal sequence X(t) in turn, and x i >> w i , where i = 1, 2, 3…M, and M is the number of pulse signals in the mixed laser signal; 1.2), calculate t i = x i + w i / 2, where t i denotes the midpoint of each pulse signal.

3. The signal identification and interference rejection method for a rotating laser positioning system of claim 2, wherein, The step 2) is specifically: 2.1) initialize the variables, let i = 1, j = 2, k = 3, w_real = 0, wherein the variable w_real is used to update the reference pulse width in real time, set the proportion ratio_pr of the sector pulse signal pulse width and the reference pulse signal pulse width, the proportion ratio_rp of the reference pulse signal pulse width and the sector pulse signal pulse width, the proportion ratio_rr between the reference pulse signal pulse widths, and the maximum error offset of the proportion rule allowed during pulse signal identification ratio_pr_offset, ratio_rp_offset, ratio_rr_offset; 2.2), calculate w j / w i , if |w j / w i -ratio_pr|≤ratio_pr_offset, go to step 2.3), if |w j / w i -ratio_rp|≤ratio_rp_offset, go to step 2.4), if none of them is satisfied, go to step 2.5); 2.3), determine w i belonging to the reference pulse signal and record the time t of the middle of this pulse width with R(t) i , determine w j belonging to the sector pulse signal and record the time t of the middle of this pulse width with P"(t) j , let w_real = w i go to step 2.6) 2.4) identify w j belonging to the reference pulse signal and record the time t of the middle of this pulse width with R(t) j , identify w i belonging to the sector pulse signal and record the time t of the middle of this pulse width with P"(t) i , set w_real = w j and go to step 2.6) 2.5) let i = i + 1, j = j + 1, k = k + 1, and return to step 2.2); 2.6) calculate w k / w_real, if |w k / w_real-ratio_rr| ≤ ratio_rr_offset, go to step 2.7), if |w k / w_real-ratio_pr| ≤ ratio_pr_offset, go to step 2.8), if none of the above, go to step 2.9); 2.7), determine w k The time t at which the midpoint of the pulse width of the reference pulse signal is recorded as R(t) i w_real = w k Go to step 2.9). 2.8), identifying w k The midpoint of the pulse width of the sector pulse signal is recorded as t i Go to step 2.9). 2.9) let k = k + 1, and judge whether k is greater than M, if not, go to step 2.6), if yes, go to step 2.10); 2.10) save R(t) and P''(t), wherein R(t) contains the midpoint time of the reference pulse signal pulse width of all base stations, and P''(t) contains the midpoint time of the sector pulse signal pulse width of all base stations and non-same frequency and same frequency interference.

4. The signal identification and interference rejection method for a rotating laser positioning system according to claim 3, characterized in that, In the step 2.1), ratio_rr = 1, ratio_pr_offset = 0.05, ratio_rp_offset = 0.002, and ratio_rr_offset = 0.

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5. The signal identification and interference rejection method for a rotating laser positioning system according to claim 4, characterized in that, The step 3) is specifically: 3.1), initialize variables, let l = 1, m = 2, n = 3, id = 1, where id represents the serial number of the laser emitting base station, record R_max, P" _max as the number of pulse signals in the sequence R(t), P"(t), set the number of laser emitting base stations N and the respective periods T1, T2, T3...T N , and set the maximum error offset T_offset allowed during frequency division and interference filtering. 3.2), calculate t m -t l , t n -t m , where t l , t m , t n respectively represent the lth, mth, nth midpoint time in sequence R(t), if |t m -t l -T id |≤T_offset&&|t n -t m -T id |≤T_offset, go to step 3.3), if not, go to step 3.6); 3.3), identifying t l as a reference to the id-th laser emitting base station and R id (t) recording; 3.4) let l = l + 1, m = l + 1, n = l + 2, judge whether l is greater than R_max-2, if not, go to step 3.2), if yes, go to step 3.7); 3.5) let m = m + 1, n = m + 1, judge whether m is greater than R_max-1, if not, go to step 3.2), if yes, go to step 3.4); 3.6) let n = n + 1, judge whether n is greater than R_max, if not, go to step 3.2), if yes, go to step 3.5); 3.7), calculate t m -t l , t n -t m , where t l , t m , t n respectively represent the lth, mth, nth mid-point time in sequence P"(t), if |t m -t l -T id |≤T_offset&&|t n -t m -T id |≤T_offset, go to step 3.8), if not, go to step 3.11); 3.8), identifying t l to the sector of the idth laser emitting base station and with P' id (t) record; 3.9) let l = l + 1, m = l + 1, n = l + 2, judge whether l is greater than P''_max-2, if not, go to step 3.7), if yes, go to step 3.12); 3.10) let m = m + 1, n = m + 1, judge whether m is greater than P''_max-1, if not, go to step 3.7), if yes, go to step 3.9); 3.11) let n = n + 1, judge whether n is greater than P''_max, if not, go to step 3.7), if yes, go to step 3.10); 3.12), id = id + 1, judge whether id is greater than N, if not, let l = 1, m = 2, n = 3, turn to step 3.2), if yes, turn to step 3.13); 3.13), save all R id (t), P' id (t), where R id (t) contains the time of the mid-point of the pulse width of the reference pulse signal of the laser emitting base station of the id number, P' id (t) contains the time of the mid-point of the pulse width of the sector pulse signal of the laser emitting base station of the id number and the co-frequency interference.

6. The signal identification and interference rejection method for a rotary laser positioning system of claim 5, wherein, The step 4) is specifically: 4.1), initialize variables, let o = 1, p = 1, q = 2, id = 1, and let R id _max be the number of sector pulse signals in the sequence R id (t), set the initial angle θ between the normal vectors of the two sector pulse signals, and set the maximum error offset θ_offset allowed in the interference filtering. 4.2) judge whether t o <t p <t q <t o+1 is true, wherein t o denotes R id the oth midpoint time in (t), t p , t q denote P i ' d the pth and qth midpoint times in (t), if yes, go to step 4.3), if no, go to step 4.4); 4.3) Calculate where θ' is the t p , t q represent the included angle between the sector of the sector pulse signal, if |θ-θ'|≤θ_offset is satisfied, t p , t q respectively the reference pulse signal r o of the id number laser emission base station, the corresponding two sector pulse signal p o1 , p o2 midpoint time, and P id (t) record, turn to step 4.5), if not satisfied, turn to step 4.6); 4.4), p = p + 1, q = p + 1, turn to step 4.2); 4.5) set o = o + 1, determine whether o is greater than R id _max, if not, go to step 4.4), if yes, go to step 4.7); 4.6), let q = q + 1, if t q < t o+1 , go to step 4.3), if not, go to step 4.4); 4.7), id = id + 1, judge whether id is greater than N, if not, let o = 1, p = 1, q = 2, turn to step 4.2), if yes, turn to step 4.8); 4.8), save all P id (t), which comprises the time of the midpoint of the pulse width of the sector pulse signal of the first laser-emitting base station.

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