Full-angle laser gas telemetering device and detection method

Abstract

The invention relates to the technical field of devices for measuring physical or chemical properties of substances by using an optical means, in particular to a full-angle laser gas telemetering device and a detection method. A full-angle laser gas telemetering device comprises a laser telemetering module and a reflective mirror, the reflective mirror is installed on a reflective mirror support in a hinged mode, the hinged axis of the reflective mirror support and the reflective mirror extends horizontally, and a pitching adjusting mechanism for driving the reflective mirror to conduct pitching adjustment is further arranged between the reflective mirror support and the reflective mirror. The reflector support is rotatably installed on the shell, and the rotating axis of the reflector support and the rotating axis of the shell extend in the vertical direction. By arranging the reflective mirror, the excited laser can be conveniently reflected, and the laser can be reflected to different positions through the change of the reflective mirror, so that the measurement of the different positions can be conveniently carried out; the problems that in the prior art, the measurement result is not timely and the precision degree of the laser telemetering module is easily reduced due to the fact that an electric holder is used for controlling the angle of the laser telemetering module are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of devices for measuring physical or chemical properties of substances by optical means, and in particular to a full-angle laser gas telemetry device and a detection method. Background Art

[0002] With the proposal of China's "dual carbon" goal, natural gas, as a low-carbon clean energy, has seen a blowout in demand for both factory activities and residents in recent years, so the construction of natural gas transportation and storage facilities has also begun in full swing. However, with the use of these equipment, gas leakage accidents have occurred frequently, causing significant losses to the safety of life and property of the people and the country. Therefore, in order to quickly and accurately understand the gas leakage situation, monitoring personnel need a method with fast detection speed, wide monitoring range and inherent safety to realize the remote detection of methane gas leakage in gas storage, transportation pipelines, factories and residential areas.

[0003] In the prior art, there is a laser telemetry gas detection device based on the tunable diode laser absorption spectroscopy (TDLAS) technology. The TDLAS technology relies on the use of a tunable diode laser as a light source. The wavelength of light emitted by the laser can be adjusted to match the specific absorption line of the target gas molecule. When the laser passes through a sample containing the target gas, light of a specific wavelength will be selectively absorbed by the gas molecules. By analyzing the change in light intensity, the presence of the gas and its concentration can be determined. Specifically, the wavelength of the laser is adjusted to a value that can be absorbed by methane. After the laser beam is emitted by the transmitting device, it passes through a certain space and is shot to the position to be detected. After being reflected at this position, part of the light returns along the original path and is received by the receiving device integrated with the transmitting device. By comparing the emitted light and the received light, it is analyzed whether there is methane in the gas and the concentration of methane.

[0004] For example, the Chinese invention patent application with the application publication date of January 17, 2023 and the application publication number CN115615619A discloses a dual-band laser detection system and method for natural gas station leak detection. In this scheme, in order to detect different positions, an electric pan-tilt platform is arranged under the laser telemetry module. The electric pan-tilt platform can drive the laser telemetry module to rotate, thereby obtaining the gas concentration at different positions.

[0005] However, in the above technical solution, the electric pan-tilt needs to drive the laser telemetry module to rotate. The laser telemetry module itself has a large mass, and the inertia force of the electric pan-tilt is large, so its rotation speed will not be too fast, which leads to insufficient data in the process of scanning multiple points. In addition, the laser telemetry module is a precision instrument. During the rotation process, the coordination between the various components may become loose due to the rotation of the electric pan-tilt, thereby affecting the precision of the laser telemetry module. Summary of the invention

[0006] In view of this, the present invention provides a full-angle laser gas telemetry device to solve the problem in the prior art that the angle control of the laser telemetry module using an electric pan / tilt platform causes the measurement results to be untimely and easily leads to a reduction in the precision of the laser telemetry module.

[0007] A full-angle laser gas telemetry device comprises a laser telemetry module for exciting laser and receiving reflected laser, a reflector is arranged on the propagation path of the laser emitted by the laser telemetry module, the reflector is hingedly mounted on a reflector bracket, the hinge axis between the reflector bracket and the reflector extends horizontally, a pitch adjustment mechanism for driving the reflector to pitch and adjust around the hinge axis between the reflector and the reflector bracket is also arranged between the reflector bracket and the reflector, the reflector bracket is rotatably mounted on a shell fixed relative to the laser telemetry module, and the rotation axis between the reflector bracket and the shell extends in the vertical direction.

[0008] Furthermore, the pitch adjustment mechanism includes a rotatable pitch adjustment gear, to which a swing arm is hingedly connected, one end of the swing arm is eccentrically arranged with the pitch adjustment gear, and the other end is hingedly connected to the reflector, so as to drive the reflector to pitch adjust when the pitch adjustment gear rotates.

[0009] Furthermore, a worm is arranged on the rotation axis between the reflector bracket and the housing, the pitch adjustment gear is a worm wheel matched with the worm, and the worm passes through the reflector bracket and is fixedly connected to the housing, so that the worm wheel rotates relative to the worm during the rotation of the reflector bracket.

[0010] Furthermore, the housing comprises a connecting plate arranged vertically to be connected to the laser telemetry module and a mounting plate arranged perpendicular to the connecting plate, and the reflector bracket is rotatably mounted on the mounting plate.

[0011] Furthermore, a driven gear is fixedly arranged on the upper surface of the reflector bracket, a driving motor is arranged on the housing, and a driving gear for driving the driven gear to rotate is arranged on the output end of the driving motor.

[0012] Furthermore, the ratio of the rotational speeds of the driven gear and the worm gear is greater than 1.

[0013] Furthermore, the shell includes a connecting plate arranged vertically to be connected to the laser telemetry module and a mounting plate arranged perpendicular to the connecting plate, the mirror bracket is rotatably mounted on the mounting plate, a driven gear is fixedly provided on the upper surface of the mirror bracket, a driving motor is provided on the shell, a driving gear for driving the driven gear to rotate is provided on the output end of the driving motor, the worm passes through the rotation axis of the driven gear, and is connected to the driven gear through a bearing.

[0014] The beneficial effects of the full-angle laser gas telemetry device of the present invention are as follows: the full-angle laser gas telemetry device of the present invention facilitates the excitation and reception of lasers by arranging a laser telemetry module; the reflector is hingedly mounted on the reflector bracket, and a pitch adjustment mechanism is arranged between the reflector and the reflector bracket to facilitate the pitch movement of the reflector along the horizontal axis; the reflector bracket is rotatably mounted on the shell, and since the reflector bracket and the rotation axis of the shell are vertically arranged, the reflector bracket can drive the reflector to rotate together, that is, the reflector can simultaneously have pitch adjustment and rotation around the vertical axis, thereby increasing the reflection angle of the reflector and facilitating the laser Reflect to different positions; that is, by setting up a reflector, it is convenient to reflect the excited laser, and then even if the angle of the laser emitted by the laser telemetry module remains unchanged, the laser can be reflected to different positions through the change of the reflector, which is convenient for measurement at different positions; that is, there is no need to drive the movement of the heavy laser telemetry module, only the movement of the small reflector needs to be driven to achieve rapid scanning and detection of the surrounding environment, which is convenient to increase the rotation speed during scanning, and solves the problem in the prior art that the angle control of the laser telemetry module by the electric pan-tilt head leads to untimely measurement results and easily leads to reduced precision of the laser telemetry module.

[0015] A detection method for a full-angle laser gas remote sensing device, using the full-angle laser gas remote sensing device, at time t, according to the target gas concentration value x measured by the laser remote sensing module t , a k-1 order polynomial is used to fit the target gas concentration data y output by the telemetry device t for:

[0016]

[0017] The time window of the designed filter is: 2n+1. By selecting n moments before and after moment t, 2n+1 measurement values ​​can be obtained, which are x t-n ,…,x t ,…,x t+n , and then we get:

[0018]

[0019] make It can be simplified to:

[0020] Y = X * A;

[0021] When 2n+1>k is satisfied, the least squares solution of A can be calculated:

[0022]

[0023] Will Substituting into formula (1) we can get:

[0024]

[0025] The beneficial effect of the full-angle laser gas telemetry method in the present invention is that the full-angle laser gas telemetry method in the present invention facilitates gas detection at multiple angles and multiple positions by using the above-mentioned device. Since the laser telemetry module will receive multiple detection results in real time during the rapid rotation of the reflector, and these results have certain errors, in order to better process the data, multiple data are selected within a relatively short period of time, and a fast filtering algorithm of polynomial fitting is used for these data, and the data after fitting calculation is output in combination with the least squares method. Since the amount of calculation is small, it can be quickly processed in a short time to obtain the data of the target gas concentration and output the data. Since the reflector rotation mode is used to control the laser, the laser scanning speed is fast and the data needs to be obtained as soon as possible. The above-mentioned calculation method with a small amount of calculation is conducive to fast calculation and fast response, and can solve the problem of untimely measurement results and easy reduction of the precision of the laser telemetry module caused by using an electric pan-tilt head to control the angle of the laser telemetry module in the prior art together with the above-mentioned device. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. 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 creative work.

[0027] Figure 1 It is a structural schematic diagram of an embodiment of the full-angle laser gas telemetry device of the present invention;

[0028] Figure 2 It is a cross-sectional schematic diagram of an embodiment of the full-angle laser gas telemetry device of the present invention;

[0029] Figure 3 It is a structural schematic diagram of another perspective of an embodiment of the full-angle laser gas telemetry device of the present invention;

[0030] Figure 4 A schematic diagram of the scanning range of an embodiment of the full-angle laser gas telemetry device of the present invention;

[0031] Figure 5 A schematic diagram of the scanning trajectory of an embodiment of the full-angle laser gas telemetry device of the present invention;

[0032] Figure 6 FIG. 4 is a schematic diagram of the scanning trajectory (the other direction) of an embodiment of the full-angle laser gas telemetry device of the present invention.

[0033] The meanings of the numbers in the figure are: 1. Laser telemetry module; 11. Laser; 21. Bottom shell; 22. Connecting plate; 23. Mounting plate; 31. Driving motor; 32. Driving gear; 33. Driven gear; 34. Reflector bracket; 341. Connecting bracket; 41. Vertical plate; 42. Worm gear; 43. Worm; 44. Bearing; 45. Swing arm; 5. Reflector. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is described below by the specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0035] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "a", "said" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0036] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms and should not be understood as indicating or implying relative importance. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0037] In the description of the present invention, it is necessary to understand that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0038] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0039] In the following description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings. Therefore, "module" and "component" can be used interchangeably.

[0040] In order to better understand the technical solution of the present invention, the present invention is described in detail below with reference to the accompanying drawings.

[0041] In the embodiment 1 of the full-angle laser gas telemetry device (hereinafter referred to as telemetry device) of the present invention:

[0042] In this embodiment, the telemetry device is provided with a laser telemetry module and a reflector, so that the laser can be reflected to different positions by the reflector. Since the reflector is light in weight, the motion of the laser telemetry module is no longer controlled, but the motion of the reflector is controlled by a transmission mechanism, so that the propagation direction of the laser can be changed quickly and conveniently, and full-angle laser telemetry can be realized.

[0043] like Figure 1 , Figure 2 and Figure 3As shown, the telemetry device in this embodiment includes a housing, in which a laser telemetry module 1 for exciting laser 11 and receiving reflected laser 11 and a reflector 5 arranged on the propagation path of the laser 11 emitted by the laser telemetry module 1 are respectively arranged. The laser telemetry module 1 can emit laser 11 and shoot it to the target area under the reflection of the reflector 5, and detect the target area. After diffuse reflection in the target area, part of the laser 11 will return to the laser telemetry module 1, and the gas concentration on the propagation path of the laser 11 will be obtained through the built-in algorithm. The reflector 5 can be rotated and pitched relative to the housing, so as to facilitate the reflection of the laser 11 to a wider range and facilitate rapid measurement of multiple points.

[0044] Specifically, the housing includes a bottom shell 21 for mounting the laser telemetry module 1. The bottom shell 21 is hollow cylindrical and has an opening at the top. The laser telemetry module 1 is mounted in the bottom shell 21, and the laser 11 emission port of the laser telemetry module 1 is arranged upward, so as to facilitate the transmission from the bottom shell 21. In order to facilitate the fixation of the laser telemetry module 1, a clamping plate is also provided at the opening of the bottom shell 21 to facilitate the position fixing of the laser telemetry module 1. A vertically extending connecting plate 22 is provided on the bottom shell 21, and a mounting plate 23 vertically arranged with the connecting plate 22 is provided on the top of the connecting plate 22. The reflector 5 is mounted on the reflector bracket 34, and the reflector bracket 34 is mounted on the mounting plate 23, so that the positions of the laser telemetry module 1 and the reflector 5 are relatively determined, so as to facilitate the reflection of the laser 11.

[0045] The reflector bracket 34 is in the shape of a circular plate and is located below the mounting plate 23. The reflector bracket 34 and the mounting plate 23 can rotate relative to each other, and the rotation axis between the two extends vertically. In order to make the two move relative to each other, a driven gear 33 is fixedly arranged on the top of the reflector bracket 34, and a driving motor 31 is arranged above the mounting plate 23. The output shaft of the driving motor 31 passes through the plate surface of the mounting plate 23 and enters between the mounting plate 23 and the reflector bracket 34. A driving gear 32 meshing with the driven gear 33 is also arranged on the output shaft of the driving motor 31. When the driving motor 31 rotates, the driving gear 32 rotates synchronously, and then can drive the driven gear 33 to rotate. The driven gear 33 is fixedly connected to the reflector bracket 34, which facilitates the synchronous rotation of the reflector bracket 34. In this embodiment, the rotation axis of the driven gear 33 passes through the center of the circle of the reflector bracket 34, which facilitates the coaxial rotation of the two. It is worth noting that the output shaft of the driving motor 31 is eccentrically arranged relative to the reflector bracket 34, so that the reflector bracket 34 does not exceed the coverage of the mounting plate 23 when rotating. Of course, in other embodiments, a gear may be integrally formed on the reflector bracket, and then the gear tooth surface is finely processed. Alternatively, in other embodiments, a pulley may be arranged on the output shaft of the driving motor, and another pulley may be fixedly arranged on the upper surface of the reflector bracket, so that the reflector bracket is driven to rotate by the driving motor.

[0046] A connecting bracket 341 for hingedly mounting the reflector 5 extends vertically on the reflector bracket 34, and the hinge axis between the reflector 5 and the connecting bracket 341 extends horizontally, so that when the reflector bracket 34 rotates around the axis in the vertical direction, the reflector 5 can also be driven to rotate. In order to facilitate the pitch adjustment of the reflector 5, a pitch adjustment mechanism is also arranged between the reflector 5 and the reflector bracket 34. The pitch adjustment mechanism includes a rotatable pitch adjustment gear, and the rotation axis of the pitch adjustment gear extends horizontally. A swing arm 45 is hingedly connected to the pitch adjustment gear, one end of the swing arm 45 is eccentrically arranged with the pitch adjustment gear, and the other end is hingedly connected to the reflector 5, so that when the pitch adjustment gear rotates, the swing arm 45 swings, thereby driving the reflector 5 to move. Since the reflector 5 is hingedly arranged on the connecting bracket 341, its movement relative to the reflector bracket 34 can only be pitched along the hinge axis with the connecting bracket 341.

[0047] In order to form a drive for the pitch adjustment gear, in this embodiment, the pitch adjustment gear is set as a worm wheel 42, and a worm 43 adapted to the worm wheel 42 is also provided accordingly. The worm 43 passes through the reflector bracket 34 and is fixedly connected to the mounting plate 23. Specifically, the worm 43 passes through the mounting plate 23 and the driven gear 33 and is fixedly provided on the mounting plate 23, and the axis of the worm 43 is colinear with the axis of the driven gear 33. A bearing 44 is also interference-fitted between the driven gear 33 and the worm 43. The worm 43 is fixed on the mounting plate 23. The reflector bracket 34 is rotatably provided on the worm 43 through the bearing 44, so that the height position of the reflector bracket 34 can be maintained. The provision of the bearing 44 can reduce the friction during rotation on the one hand, and can generate a pulling force on the reflector bracket 34 on the other hand, so as to facilitate the position maintenance of the reflector bracket 34. Of course, in other embodiments, the bearing may be eliminated, and a supporting plate may be provided under the reflector to facilitate the support of the reflector bracket. Of course, in this case, a relatively smooth contact surface needs to be maintained between the supporting plate and the reflector bracket, which increases the processing difficulty and also increases the friction resistance.

[0048] The worm 43 itself does not rotate. When the reflector bracket 34 rotates under the action of the driving motor 31, the worm wheel 42 will rotate synchronously with the reflector bracket 34 around the rotation axis of the driven gear 33. Since the axes of the driven gear 33 and the worm 43 are colinear, that is, the worm wheel 42 will rotate around the axis of the worm 43, so that the worm wheel 42 and the worm 43 move relative to each other, so that the worm 43 can drive the worm wheel 42 to rotate around the rotation axis of the worm wheel 42. That is, during the revolution of the worm wheel 42 around the rotation axis of the driven gear 33, it will also rotate around the rotation axis of the worm wheel 42, acting on the reflector 5 so that the reflector 5 has both rotation and pitch adjustment movements. When the driving motor 31 is working, the position of the reflector 5 changes and the laser 11 is reflected to different positions. In this embodiment, the ratio of the rotation speed of the driven gear 33 to the worm gear 42 is greater than 1, that is, the rotation speed of the driven gear 33 is greater than the rotation speed of the worm gear 42, so that the reflected laser 11 can be excited outward in a spiral line during the rotation process, such as Figure 4 , Figure 5 and Figure 6 According to the position arrangement of the detection points, the speed ratio of the driven gear 33 and the worm gear 42 can be adjusted to achieve different trajectories.

[0049] Of course, in other embodiments, a power source may be separately provided for the pitch adjustment mechanism, such as no longer fixing the worm 43 on the housing, but using another motor to drive it separately. In this embodiment, by providing the worm 43 fixed on the housing, the drive of the drive motor 31 can be used, so that the rotation and pitch adjustment of the reflector 5 can be driven by the same power source, and the setting of one power source can be reduced, thereby reducing the cost. More importantly, by reducing one power source, when rotating, only the weight of the worm gear 42, the reflector bracket 34 and the reflector 5 is required, which can greatly reduce the weight of the object to be driven, thereby facilitating rapid driving, shortening the time for the laser 11 to scan a cycle, and further shortening the time from leakage to discovery, and intervening as soon as possible when an accident occurs. At the same time, the smaller weight can also reduce the weight of the drive motor 31, thereby reducing the weight and volume of the telemetry device, making it convenient to use in a smaller space and improving the use scenario.

[0050] In Example 1 of the full-angle laser gas telemetry method (hereinafter referred to as telemetry method) of the present invention:

[0051] In this embodiment, the reflector is driven directly, so the rotation speed of the reflector can be increased. Accordingly, the time required for scanning a circle can be greatly shortened. The data measured by the laser telemetry module usually contains errors, so it needs to be processed by calculation and then output the output data after fitting analysis. A faster scanning speed also requires a faster calculation speed. In this embodiment, the algorithm is optimized to reduce the amount of calculation, so that the results can be output quickly.

[0052] Specifically, at time t, according to the target gas concentration value x measured by the laser telemetry module t , a k-1 order polynomial is used to fit the target gas concentration data y output by the telemetry device t for:

[0053]

[0054] The time window of the designed filter is: 2n+1. By selecting n moments before and after moment t, 2n+1 measurement values ​​can be obtained, which are x t-n ,…,x t ,…,x t+n , and then we get:

[0055]

[0056] make It can be simplified to:

[0057] Y = X * A;

[0058] When 2n+1>k is satisfied, the least squares solution of A can be calculated:

[0059]

[0060] Will Substituting into formula (1) we can get:

[0061]

[0062] It should be clear that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Claims

1. A full-angle laser gas telemetry device, comprising a laser telemetry module for exciting laser and receiving reflected laser, characterized in that: A reflector is arranged on the propagation path of the laser emitted by the laser telemetry module. The reflector is hingedly mounted on a reflector bracket. The hinge axis between the reflector bracket and the reflector extends horizontally. A pitch adjustment mechanism for driving the reflector to pitch and adjust around the hinge axis between the reflector and the reflector bracket is also arranged between the reflector bracket and the reflector. The mirror bracket is rotatably mounted on a shell fixed relatively to the laser telemetry module, and the rotation axis between the mirror bracket and the shell extends in the vertical direction.

2. The full-angle laser gas remote sensing device according to claim 1, characterized in that: The pitch adjustment mechanism includes a rotatable pitch adjustment gear, on which a swing arm is hingedly connected. One end of the swing arm is eccentrically arranged with the pitch adjustment gear, and the other end is hingedly connected to the reflector, so that the reflector can be driven to pitch and adjust when the pitch adjustment gear rotates.

3. The full-angle laser gas remote sensing device according to claim 2 is characterized in that: A worm is arranged on the rotation axis between the reflector bracket and the housing, the pitch adjustment gear is a worm wheel matched with the worm, and the worm passes through the reflector bracket and is fixedly connected to the housing, so that the worm wheel rotates relative to the worm during the rotation of the reflector bracket.

4. The full-angle laser gas remote sensing device according to any one of claims 1 to 3, characterized in that: The housing comprises a connecting plate arranged vertically to be connected to the laser telemetry module and a mounting plate arranged perpendicular to the connecting plate, and the reflector bracket is rotatably mounted on the mounting plate.

5. The full-angle laser gas remote sensing device according to claim 4, characterized in that: A driven gear is fixedly arranged on the upper surface of the reflector bracket, a driving motor is arranged on the housing, and a driving gear for driving the driven gear to rotate is arranged on the output end of the driving motor.

6. The full-angle laser gas remote sensing device according to claim 5, characterized in that: The ratio of the rotation speeds of the driven gear and the worm gear is greater than 1.

7. The full-angle laser gas remote sensing device according to claim 3 is characterized in that: The shell includes a connecting plate arranged vertically to be connected to the laser telemetry module and a mounting plate arranged perpendicular to the connecting plate. The mirror bracket is rotatably mounted on the mounting plate. A driven gear is fixedly provided on the upper surface of the mirror bracket. A driving motor is provided on the shell. A driving gear for driving the driven gear to rotate is provided on the output end of the driving motor. The worm passes through the rotation axis of the driven gear and is connected to the driven gear through a bearing.

8. A full-angle laser gas remote sensing method, characterized in that: Using the full-angle laser gas telemetry device as described in any one of claims 1 to 7, at time t, according to the target gas concentration value x measured by the laser telemetry module t , a k-1 order polynomial is used to fit the target gas concentration data y output by the telemetry device t for: The time window of the designed filter is: 2n+1. By selecting n moments before and after moment t, 2n+1 measurement values ​​can be obtained, which are x t-n ,…,x t ,…,x t+n , and then we get: make It can be simplified to: Y = X * A; When 2n+1>k is satisfied, the least squares solution of A can be calculated: Will Substituting into formula (1) we can get:

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