提高脉冲激光测距的测程研究
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摘要
本文针对脉冲激光测距系统中,远距离直接探测的情况下,激光回波信号微弱,信噪比低的问题,研究了多脉冲探测的方法,经过理论的模拟和实验的验证提高了系统的信噪比,从而提高了测距机的测程。
研究了激光测距的基本原理和激光测距的能力,介绍了激光测距的一般方程和信噪比方程,并针对本文的实验环境,重点研究了回波信号功率、噪声等效辐照度和接收器的带宽。
根据激光回波的统计特性,在分析了单脉冲测距性能较低的情况下,为了提高测距机的测程,研究了视频累积和二进制累积的探测原理,得出了视频累积的探测的信噪比与脉冲累积次数的定量关系、二进制累积后的探测概率和虚警概率的表达式,推导出了第一门限和第二门限的最佳值。在上述理论研究的基础上,得到了视频累积的性能优于二进制累积。但是在实际的应用中,二进制累积的电路实现比视频累积简单得多。
根据理论研究,本文研制了相应的样机进行实验。在单脉冲测距信噪比较低而无法探测的情况下,通过二进制累积探测提高了信噪比,降低了虚警概率,提高了探测概率,使得测距机达到了850m的测程。
In the case of long-distance direct detection of the pulsed laser ranging system, the signal-to-noise ratio of the echo signal is very weak. In this paper, a multi-pulsed detection method is researched both in the theory and the experiment to solve the problem, so as to improving the range of the laser range finder.
The detection equation and the SNR equation are obtained by researching the basic principle of laser ranging and its detection ability. Based on our experiment environment, the paper focuses on the echo signal power, wave, the noise equivalent irradiance, the bandwidth of acceptor circuit.
According to the statistical character of laser echo, after the analysis of the performance of the single pulsed detection, the detection principle of the video integration and binary integration are studied to improve the measurement of the system. Then the relationship of the SNR of the video integration and the number of the pulses is found. According to the binary integration, the expressions of detection probability and false-alarm probability are developed. Also, the optimum values of the first threshold and the second threshold are gained. The performance of the video integration is better than the binary integration in theory research. But in the usage in our system, the video integration is so complicated that we prefer to use the binary integration.
The experiments are done using a laser ranging system which is designed according to theoretical research. From the experiments, in the distance of 850m, the single pulsed detection is useless. But through the binary integration, the SNR is improved and the distance of 850m is detected.
研究了激光测距的基本原理和激光测距的能力,介绍了激光测距的一般方程和信噪比方程,并针对本文的实验环境,重点研究了回波信号功率、噪声等效辐照度和接收器的带宽。
根据激光回波的统计特性,在分析了单脉冲测距性能较低的情况下,为了提高测距机的测程,研究了视频累积和二进制累积的探测原理,得出了视频累积的探测的信噪比与脉冲累积次数的定量关系、二进制累积后的探测概率和虚警概率的表达式,推导出了第一门限和第二门限的最佳值。在上述理论研究的基础上,得到了视频累积的性能优于二进制累积。但是在实际的应用中,二进制累积的电路实现比视频累积简单得多。
根据理论研究,本文研制了相应的样机进行实验。在单脉冲测距信噪比较低而无法探测的情况下,通过二进制累积探测提高了信噪比,降低了虚警概率,提高了探测概率,使得测距机达到了850m的测程。
In the case of long-distance direct detection of the pulsed laser ranging system, the signal-to-noise ratio of the echo signal is very weak. In this paper, a multi-pulsed detection method is researched both in the theory and the experiment to solve the problem, so as to improving the range of the laser range finder.
The detection equation and the SNR equation are obtained by researching the basic principle of laser ranging and its detection ability. Based on our experiment environment, the paper focuses on the echo signal power, wave, the noise equivalent irradiance, the bandwidth of acceptor circuit.
According to the statistical character of laser echo, after the analysis of the performance of the single pulsed detection, the detection principle of the video integration and binary integration are studied to improve the measurement of the system. Then the relationship of the SNR of the video integration and the number of the pulses is found. According to the binary integration, the expressions of detection probability and false-alarm probability are developed. Also, the optimum values of the first threshold and the second threshold are gained. The performance of the video integration is better than the binary integration in theory research. But in the usage in our system, the video integration is so complicated that we prefer to use the binary integration.
The experiments are done using a laser ranging system which is designed according to theoretical research. From the experiments, in the distance of 850m, the single pulsed detection is useless. But through the binary integration, the SNR is improved and the distance of 850m is detected.
引文
[1]于彦梅.激光测距机及发展趋势.情报指挥控制系统与仿真技术,2002(8):19-21
[2]王丽,许安涛,王瑛.激光器的发展及激光测距的方法.焦作大学学报,2007(4):55-71
[3]林溪波。激光技术应用综述。上海航天,1996(2):4852
[4]王古常,孙斌,万强,程勇.军用脉冲激光测距技术与研究现状.光学与光电技术,2003,1(4):5559
[5]刘峰.脉冲半导体激光测距机的研制及应用.红外与激光工程,2003,32(2):118-122
[6]谭显裕.脉冲激光测距仪的发展及军用前景。光电子技术与信息,1996,6(3):5-11
[7]戴永江.激光雷达原理.第1版。北京:国防工业出版社,2002
[8]Chang Chih-yao,Yu Hao-cheng et al,A Propagation Delay Ring Time-to-Digital Converter for High Repetition Laser Ranging.Journal of Opto-electronics,Laser 2000,11(3):289-294
[9]S F Collins,M M Murphy,K T V Grattan,et al.A simple laser diode ranging scheme using an intensity,modulation FWCM approach[J].Meas.And Tech.,1993(4):1437-1439
[10]徐敲阳,杨坤涛,王新兵,许德胜。蓝绿激光雷达海洋探测.北京:国防工业出版社,2002
[11]McIntyre,R.J.Multiplication Noise in Uniform Avalanche Diodes.IEEE Transactions,Electron Devices.1966(13):164-168
[12]PerkinElmer Inc.Avalanche Photodiodes:A User's Guide.PerkinElmer Inc,1998
[13]Hamamatsu Photonics.Characteristics and use of Si APD.Hamamatsu Photonics,2001
[14]Nagib Zo Hakim,Bahaa E.A.Saleh,Malvin C.Teicho Signal-to-Noise Ratio for Lightwave Systems Using Avalanche Photodiodes.Journal of Lightwave Technology,1991,9(3):318-320
[15]V.Rajamani,RChakrabarti.Noise Performance.of an InP/InGaAs Superlattice Avalanche Photodiode.Optical and Quantum Electronics.1999,31:69-76
[16]江月松,阎平,刘振玉.光电技术与实验.北京:北京理工大学出版社,2000
[17]Mischa Schwartz.A Coincidece Procedure for Signal Detection.IRE Transactions on Information Theory.1956:135-139
[18]J.I.Marcum.A Statistical Theory of Target Detection By Pulsed Radar.RAND Research Memo.1947:59-267
[19]孙再龙译。红外光电系统手册(第6卷).北京:航天工业总公司第三研究院8358所,1993
[20]张海武,李松山,耿林.低信噪比激光弱小回波信号的数字化检测和仿真.激光与红外,2007,37(3):211-213
[21]J.W.GOODMAN.Some Effects of Target-Induced Scintillation on Optical Radar Performance.Proceedings of The IEEE.1965,11(11):1688-1700
[22]J.V.HARRINGTON.Signal-to-Noise Improvement Through Integration in a Storage Tube.Proceedings of The I.R.E.1950,10:1197-1203
[23]Schell,J.A.,Lachs,G.Detection Statistics for a Pulsed Laser Radar.Aerospace and Electronic Systems,IEEE Transactions.1971,AES-7(6):1207-1211
[24]南京电子技术研究所译.雷达系统分析与建模.北京:电子工业出版社,2007
[25]高林奎,宋玮.激光测距.北京:人民铁道出版社,1977.4
[26]胡桂兰译.激光雷达系统与技术.北京:国防工业出版社,1982
[27]谢卓译.雷达手册。北京:国防工业出版社,1978
[28]Robert N.McDonough,Anthony D.Whalen.噪声中的信号检测.北京:电子工业出版社,2006
[29]Timo E Rahkonen,J Kostamovaara.The use of stabilized CMOS delay lines for the digitization of short time intervals[J].IEEE Trans,Instr.and Meas.,1997,46(4):851-856
[30]Barton,D.K.Simple Procedures for Radar Detection Calculation.IEEE Trans.Aerospace and Electronic Systems.1969,9(5):837-846
[31]Merrill I.Skolnik.雷达系统导论.左群声等译.第三版。北京:电子工业出版社,2007
[32]张志涌.精通MATLAB.第一版.北京:北京航空航天大学出版社,2003
[33]侯建刚,陶然,单涛,齐林.m序列在激光测距雷达中的应用.兵工学报,2005,26(1):37-41
[34]张宇,赵远,杨勇,唐勐,勒辰飞,孙秀冬.激光多脉冲探测的计算机模拟与实验研究.红外与激光工程,2007,36(1):60-63
[35]钟声远,李松山.脉冲串激光测距技术研究.激光与红外,2006,36(增刊):797799
[36]王永刚.APD探测器低噪声前端电子学研究.核电子学与探测技术,2006,26(3):280-283
[37]Kenneth A.Norton,Arthur C.Omberg.The Maximum Range of a Radar Set.Proceedings of the I.R.E.and Waves and Electrons.1947:4-24
[38]E.H.Moore.A Unified Approach to the Detection of Fluctuating Pulsed Signals in Noise.IEEE Transactions on Information theory.1967:608-610
[39]Altera.Cyclone Device Handbook.http://www.altera.com.
[40]章正宇,眭晓林.激光测距弱信号数字相关检测技术的研究和仿真.中国激光,2002.29(7):661665
[41]陈千颂,杨成伟,潘志文,霍玉晶.激光飞行时间测距关键技术进展.激光与红外,2002,32(1):710
[42]霍玉晶,陈千颂,潘志文.脉冲激光雷达的时间间隔测量综述.激光与红外,2001.31(3):136139
[43]严惠民,倪旭翔,陈奇霖,陆祖康.无扫描三维激光雷达的研究.中国激光,2000,27(9):861864
[44]耿素,王琳.半导体激光器及其在军事领域的应用.激光与红外,2003,33(4):311-312
[45]孙荣忠.美军新一代精确制导导弹。国防科技,2005,3:9-12
[46]童雄辉.美军重点发展的小型精确制导武器.中国航天,2005,1:4042
[47]谭显裕.激光雷达测距方程研究.电光与控制,2001,81(1):1218
[48]刘永昌,吴鹏.未来光电精确寻的制导技术发展前景预测.现代防御技术,2003,31(6):46-51
[49]王海先,叶艾.大气衰减系数对机关测距能力影响的研究.舰船科学技术,2007,29(6):116-119
[2]王丽,许安涛,王瑛.激光器的发展及激光测距的方法.焦作大学学报,2007(4):55-71
[3]林溪波。激光技术应用综述。上海航天,1996(2):4852
[4]王古常,孙斌,万强,程勇.军用脉冲激光测距技术与研究现状.光学与光电技术,2003,1(4):5559
[5]刘峰.脉冲半导体激光测距机的研制及应用.红外与激光工程,2003,32(2):118-122
[6]谭显裕.脉冲激光测距仪的发展及军用前景。光电子技术与信息,1996,6(3):5-11
[7]戴永江.激光雷达原理.第1版。北京:国防工业出版社,2002
[8]Chang Chih-yao,Yu Hao-cheng et al,A Propagation Delay Ring Time-to-Digital Converter for High Repetition Laser Ranging.Journal of Opto-electronics,Laser 2000,11(3):289-294
[9]S F Collins,M M Murphy,K T V Grattan,et al.A simple laser diode ranging scheme using an intensity,modulation FWCM approach[J].Meas.And Tech.,1993(4):1437-1439
[10]徐敲阳,杨坤涛,王新兵,许德胜。蓝绿激光雷达海洋探测.北京:国防工业出版社,2002
[11]McIntyre,R.J.Multiplication Noise in Uniform Avalanche Diodes.IEEE Transactions,Electron Devices.1966(13):164-168
[12]PerkinElmer Inc.Avalanche Photodiodes:A User's Guide.PerkinElmer Inc,1998
[13]Hamamatsu Photonics.Characteristics and use of Si APD.Hamamatsu Photonics,2001
[14]Nagib Zo Hakim,Bahaa E.A.Saleh,Malvin C.Teicho Signal-to-Noise Ratio for Lightwave Systems Using Avalanche Photodiodes.Journal of Lightwave Technology,1991,9(3):318-320
[15]V.Rajamani,RChakrabarti.Noise Performance.of an InP/InGaAs Superlattice Avalanche Photodiode.Optical and Quantum Electronics.1999,31:69-76
[16]江月松,阎平,刘振玉.光电技术与实验.北京:北京理工大学出版社,2000
[17]Mischa Schwartz.A Coincidece Procedure for Signal Detection.IRE Transactions on Information Theory.1956:135-139
[18]J.I.Marcum.A Statistical Theory of Target Detection By Pulsed Radar.RAND Research Memo.1947:59-267
[19]孙再龙译。红外光电系统手册(第6卷).北京:航天工业总公司第三研究院8358所,1993
[20]张海武,李松山,耿林.低信噪比激光弱小回波信号的数字化检测和仿真.激光与红外,2007,37(3):211-213
[21]J.W.GOODMAN.Some Effects of Target-Induced Scintillation on Optical Radar Performance.Proceedings of The IEEE.1965,11(11):1688-1700
[22]J.V.HARRINGTON.Signal-to-Noise Improvement Through Integration in a Storage Tube.Proceedings of The I.R.E.1950,10:1197-1203
[23]Schell,J.A.,Lachs,G.Detection Statistics for a Pulsed Laser Radar.Aerospace and Electronic Systems,IEEE Transactions.1971,AES-7(6):1207-1211
[24]南京电子技术研究所译.雷达系统分析与建模.北京:电子工业出版社,2007
[25]高林奎,宋玮.激光测距.北京:人民铁道出版社,1977.4
[26]胡桂兰译.激光雷达系统与技术.北京:国防工业出版社,1982
[27]谢卓译.雷达手册。北京:国防工业出版社,1978
[28]Robert N.McDonough,Anthony D.Whalen.噪声中的信号检测.北京:电子工业出版社,2006
[29]Timo E Rahkonen,J Kostamovaara.The use of stabilized CMOS delay lines for the digitization of short time intervals[J].IEEE Trans,Instr.and Meas.,1997,46(4):851-856
[30]Barton,D.K.Simple Procedures for Radar Detection Calculation.IEEE Trans.Aerospace and Electronic Systems.1969,9(5):837-846
[31]Merrill I.Skolnik.雷达系统导论.左群声等译.第三版。北京:电子工业出版社,2007
[32]张志涌.精通MATLAB.第一版.北京:北京航空航天大学出版社,2003
[33]侯建刚,陶然,单涛,齐林.m序列在激光测距雷达中的应用.兵工学报,2005,26(1):37-41
[34]张宇,赵远,杨勇,唐勐,勒辰飞,孙秀冬.激光多脉冲探测的计算机模拟与实验研究.红外与激光工程,2007,36(1):60-63
[35]钟声远,李松山.脉冲串激光测距技术研究.激光与红外,2006,36(增刊):797799
[36]王永刚.APD探测器低噪声前端电子学研究.核电子学与探测技术,2006,26(3):280-283
[37]Kenneth A.Norton,Arthur C.Omberg.The Maximum Range of a Radar Set.Proceedings of the I.R.E.and Waves and Electrons.1947:4-24
[38]E.H.Moore.A Unified Approach to the Detection of Fluctuating Pulsed Signals in Noise.IEEE Transactions on Information theory.1967:608-610
[39]Altera.Cyclone Device Handbook.http://www.altera.com.
[40]章正宇,眭晓林.激光测距弱信号数字相关检测技术的研究和仿真.中国激光,2002.29(7):661665
[41]陈千颂,杨成伟,潘志文,霍玉晶.激光飞行时间测距关键技术进展.激光与红外,2002,32(1):710
[42]霍玉晶,陈千颂,潘志文.脉冲激光雷达的时间间隔测量综述.激光与红外,2001.31(3):136139
[43]严惠民,倪旭翔,陈奇霖,陆祖康.无扫描三维激光雷达的研究.中国激光,2000,27(9):861864
[44]耿素,王琳.半导体激光器及其在军事领域的应用.激光与红外,2003,33(4):311-312
[45]孙荣忠.美军新一代精确制导导弹。国防科技,2005,3:9-12
[46]童雄辉.美军重点发展的小型精确制导武器.中国航天,2005,1:4042
[47]谭显裕.激光雷达测距方程研究.电光与控制,2001,81(1):1218
[48]刘永昌,吴鹏.未来光电精确寻的制导技术发展前景预测.现代防御技术,2003,31(6):46-51
[49]王海先,叶艾.大气衰减系数对机关测距能力影响的研究.舰船科学技术,2007,29(6):116-119
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