CN101034160A - Coherent laser range finder capable of obtaining target position information and range finding method thereof - Google Patents
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Abstract
一种可获得目标位置信息的相干激光测距仪及其测距方法，该相干激光测距仪采用连续波和相干探测体制，系统包括发射机和接收机两大部分。发射机由发射激光器、光调制器、发射光学系统组成，接收机由接收光学系统、本振激光器、光桥接器、光电探测器、锁相环路，以及CCD摄像机、干涉图像处理软件组成。接收机在相干探测得到传输距离信息的同时，利用回波和本振光波在CCD摄像机上得到的干涉图，经计算机图像处理和分析，获得的目标位置信息和目标距离信息，实时控制光学系统的机电部分，保证测距仪的发射望远镜和接收望远镜瞄准目标。本发明可实现性能更完善、最大测程更远的相干激光测距。本发明方法也可应用到相干激光通信中。
A coherent laser rangefinder and a distance measurement method thereof capable of obtaining target position information. The coherent laser rangefinder adopts a continuous wave and coherent detection system, and the system includes two major parts: a transmitter and a receiver. The transmitter is composed of a transmitting laser, an optical modulator, and a transmitting optical system, and the receiver is composed of a receiving optical system, a local oscillator laser, an optical bridge, a photodetector, a phase-locked loop, a CCD camera, and interference image processing software. While the receiver obtains the transmission distance information through coherent detection, it uses the interference pattern obtained by the echo and the local oscillator light wave on the CCD camera to obtain the target position information and target distance information through computer image processing and analysis, and controls the electromechanical part of the optical system in real time to ensure that the transmitting telescope and the receiving telescope of the rangefinder aim at the target. The present invention can realize coherent laser ranging with more perfect performance and longer maximum measurement range. The method of the present invention can also be applied to coherent laser communication.
Description
Technical field
The present invention relates to laser ranging, is a kind of coherent laser stadimeter and distance-finding method thereof that obtains target position information.This laser range finder is when obtaining target range information, obtain target position information by processing to interference image, and with it as feedback signal, adjust the dynamo-electric inflector assembly of stadimeter in real time, guarantee the transmitter-telescope and the receiving telescope run-home of stadimeter.The present invention also may be used in the coherent laser communication, receiver is when obtaining transmitting information, also can obtain the positional information of communication counterpart, the positional information of communication counterpart is controlled the system that takes aim at of following of communication terminal, guarantees the isologue of receiving telescope and transmitter-telescope.
Background technology
Laser ranging has characteristics such as long ranging, high precision, high resolving power, antijamming capability are strong, small size because of it, be widely used in military various range finding, to realize the accurate strike to target.Equip our troops the end of the sixties in last century in batches.So far developed first generation ruby laser range finder, second generation Nd:YAG laser range finder, the third generation Solid State Laser and CO to eye-safe
2Laser range finder, just towards the eye-safe remote laser range finding development of the miniaturization of the 4th generation, systematization, general purpose moduleization, maximum ranging is estimated to reach the hundreds of thousands kilometer, and precision reaches a millimeter magnitude.
Laser ranging can be divided into pulse laser laser welder and continuous wave laser stadimeter according to emission light beam type.Present military laser range finder is based on pulse mode, and adopts solid state laser more.Survey system two kinds of direct detection and coherent detections are arranged.Adopt the relevant stadimeter of coherent detection method, in echo, added the local oscillator ripple, survey the mixing light beam of the two, improve detection sensitivity greatly, thereby increased the maximum ranging of stadimeter, and coherent detection has good wavelength selectivity and anti-ground unrest performance, and these characteristics have been improved the performance of laser range finder, thereby has obtained very big concern in the last few years.
Maximum ranging except relevant with practical application conditions such as the illuminated area of target, target reflectivities, also is subjected to receiver sensitivity and optical system quality influence as one of main performance of laser range finder to a great extent.The coherent laser distance-finding method is the effective way that significantly improves the maximum ranging of laser range finder.And employing continuous wave system is convenient to the control to light beam, and bundle is closed in the mixing that is beneficial to local oscillator ripple and echo.
Relevant stadimeter is made up of transmitter and receiver two parts usually.Transmitter mainly comprises emitting laser, photomodulator, optical transmitting system etc.Receiver mainly comprises receiving optics, light bridge, photodetection, local oscillator laser instrument and phase-locked loop composition.The beam modulation of transmitter is after the transmitter-telescope compression angle of divergence aims at the measured target emission.The echo that is returned by target enters local oscillator ripple mixing in light bridge that receiving telescope carries out after the filtering and the local oscillator laser instrument sends, and the mixing light beam obtains the range information of target through signal Processing such as photodetection, demodulation.Range information is regulated the local oscillator laser instrument by phase-locked loop simultaneously also as control signal, makes the phase relation of local oscillator ripple and transmitted wave keep constant.The shortcoming of this relevant stadimeter is the range information that can only obtain target.
Summary of the invention
The objective of the invention is to overcome above-mentioned the deficiencies in the prior art, a kind of coherent laser stadimeter and distance-finding method thereof that obtains target position information is provided, this stadimeter both can obtain target range information, can obtain target position information again.
Technical solution of the present invention is as follows:
A kind of coherent laser stadimeter that obtains target position information, comprise transmitter and receiver, transmitter is by emitting laser, photomodulator, optical transmitting system is formed, receiver comprises receiving optics, the local oscillator laser instrument, light bridge, photodetector, phase-locked loop and ccd video camera, be characterized in that (9) two input ends of described light bridge connect described receiving optics and local oscillator laser instrument respectively, the output terminal of this light bridge connects described photodetector and ccd video camera respectively, described photodetector links to each other with the local oscillator laser instrument through phase-locked loop, the computing machine that the output terminal of described ccd video camera and has the interference image process software links to each other, and the output terminal of this computing machine links to each other with the control section of described receiving optics and optical transmitting system.
The frequency of described emitting laser and local oscillator laser instrument is identical or different.
Described phase-locked loop is balance phaselocked loop, costas phase lock loop road, decision-making driving phase-locked loop, synchronization bit phase-locked loop or higher-order of oscillation phase-locked loop.
Utilize the distance-finding method of described coherent laser stadimeter, comprise the following steps:
1. at first open emitting laser, the local oscillator laser instrument wouldn't be worked, the light beam that emitting laser sends is by after the light modulator modulates, by optical transmitting system the light beam after modulating is expanded bundle, collimation, deflection aiming back is to the target emission, through behind the target reflection, by receiving optics receive, filtering, obtain echo, the hot spot that only has echo to produce on the ccd video camera;
2. if echo drops on the pole axis of polar coordinate system just at the hot spot on the ccd video camera, illustrate that the azimuthal angle beta of echo under the coordinate system of former demarcation is zero, funtcional relationship is one to one just arranged between the bias R of angle of pitch α and interference image center this moment;
3. if echo at the hot spot on the ccd video camera not on the pole axis in polar coordinate system, need the polar coordinate system of rotation ccd video camera, hot spot is dropped on the pole axis of new polar coordinate system, and the azimuthal angle beta of echo under new coordinate system is zero, and target direction angle β equals the angle of former coordinate system rotation;
4. open the local oscillator laser instrument this moment again, the local oscillator ripple of echo and the emission of local oscillator laser instrument obtains the mixing light beam together by the light bridge mixing, and this mixing light beam obtains interference image on ccd video camera;
5. the interference image of Huo Deing is transferred to through data line and carries out Treatment Analysis in the computing machine that the interference image process software is housed, and finally obtains comprising the target position information of angle of pitch α and azimuthal angle beta;
6. with target position signal as control signal, be transferred to the control section of optical transmitting system and receiving optics, the control section of optical transmitting system compares transmitter-telescope deflection angle and the actual target locations information that obtains, with both difference as feedback signal, drive telescopical mechanical part and carry out deflection, the telescopical yawing moment of correct transmission, guarantee the real-time run-home of transmitter-telescope, the control section of same receiving optics also with the difference of receiving telescope deflection angle and actual target locations information as feedback signal, drive the mechanical part of receiving telescope, guarantee to receive and penetrate the real-time run-home of telescope;
7. when interference image is handled, the mixing light beam obtains the target range signal after photodetector is surveyed, handled, and pass through the control signal that phase-locked loop is transformed to the local oscillator laser instrument, regulate the local oscillator light wave, with the phase relation that guarantees that echo and local oscillator ripple are fixing between the two.
The interference image process software of described computing machine comprises the handling procedure of interference image:
1. Filtering Processing: purpose is to remove the fuzzy noise spot of image outline in the original interferogram picture, strengthens image outline, improves picture quality;
2. binary conversion treatment: choose suitable gray threshold, gray-scale value greater than the point of threshold value as a setting, its gray-scale value is 0.Point less than threshold value is a region point, and gray-scale value is 1, so just filtered interference image is become bianry image, is convenient to further analysis;
3. extract the edge: gray-scale value sudden change on the light and shade striped border, make to occur extreme point on the gray value profiles, obtain the edge coordinate of interference fringe according to this characteristic;
4. determine central point side-play amount R: utilize the symmetry of ring-type interference fringe on the interference image,, determine central point bias R by the interference fringe edge coordinate that obtains;
5. calculate angle of pitch α: by known local oscillator optical parameter z
0Central point bias R with obtaining utilizes relational expression R=z
0Sin α extrapolates angle of pitch α.
Technique effect of the present invention:
The coherent laser stadimeter that the present invention can obtain target position information adopts the system of continuous wave and coherent detection, and has added the interference image processing on traditional coherent detection basis, can obtain range information and target position information simultaneously.Utilize the target position information that obtains as feedback signal, control the dynamo-electric part of receiving optics in real time, guarantee the receiving telescope run-home of stadimeter.Because what adopt is the method for CCD imaging and Computer Image Processing, the present invention has saved the employed photodiode of photodetection and a large amount of electronic circuit, and theoretical formula is more directly perceived, and actual signal is handled simpler.
The present invention also may be used in the coherent laser communication, and receiver obtains the positional information of transmission information and communication counterpart simultaneously, and positional information is used to control the system that takes aim at of following of communication terminal, guarantees the isologue of receiving telescope and transmitter-telescope.
Description of drawings
Fig. 1 is the coordinate definition synoptic diagram that the present invention has the coherent laser stadimeter that interference image handles.
Fig. 2 is the process flow diagram that the present invention has interference image process software in the coherent laser stadimeter that interference image handles.
Fig. 3 is the system architecture diagram that the present invention has the coherent laser stadimeter of interference image processing.
Fig. 4 is the synoptic diagram of the embodiment of the invention.
Among the figure: 1 is emitting laser; 2 is photomodulator; 3 is optical transmitting system; 4 is target; 5 is receiving optics; 6 is echo; 7 is the local oscillator laser instrument; 8 is the local oscillator ripple; 9 is light bridge; 10 is photodetector; 11 is target range information; 12 is phase-locked loop; 13 is ccd video camera; 14 for having the computing machine of interference image process software; 15 is interference image; 16 is target position signal; 17 is 0 degree phase shift mixing light beam; 18 is 180 degree phase shift mixing light beams; 19 is 90 degree phase shift mixing light beams; 20 is 270 degree phase shift mixing light beams; 21 is Filtering Processing; 22 is binary conversion treatment; 23 for extracting the interference fringe edge; 24 for determining central point side-play amount R; 25 for calculating angle of pitch α.
Embodiment
Further describe the present invention below in conjunction with drawings and Examples, but should not limit protection scope of the present invention with this.
See also Fig. 3 earlier, Fig. 3 is the system architecture diagram that the present invention has the coherent laser stadimeter of interference image processing.As seen from the figure, the present invention can obtain the coherent laser stadimeter of target position information, comprise transmitter and receiver, transmitter is by emitting laser 1, photomodulator 2, optical transmitting system 3 is formed, receiver comprises receiving optics 5, local oscillator laser instrument 7, light bridge 9, photodetector 10, phase-locked loop 12 and ccd video camera 13, two input ends that it is characterized in that described light bridge 9 connect receiving optics 5 and local oscillator laser instrument 7 respectively, the output terminal of this light bridge 9 connects described photodetector 10 and ccd video camera 13 respectively, described photodetector 10 links to each other with local oscillator laser instrument 7 through phase-locked loop 12, the computing machine 14 that the output terminal of described ccd video camera 13 and has the interference image process software links to each other, and the output terminal of this computing machine 14 links to each other with the control section of described receiving optics 5 and optical transmitting system 3.
The frequency of described emitting laser 1 and local oscillator laser instrument 7 can be identical also can be different, the type of photodetector 10 was zero-difference detection when both frequencies were identical, the type of photodetector 10 is a heterodyne detection when different.
For more clear and intuitive, existing is example with the zero-difference detection, illustrates that the present invention obtains the principle of target position information 16 by interference image 15.
See also Fig. 1, described echo 6 is a plane wave, and the field intensity expression formula is:
(1)
Wherein: α is a wave vector
The angle of pitch promptly with z axle clamp angle, β is that the position angle is a wave vector
At xoy plane projection and x axle clamp angle, k
1x, k
1y, k
1zFor
Component on x, y, z axle, A are amplitude,
01Be the initial bit phase.
E
2(x，y，z)＝Bexp(jkr+
02) (2)
Wherein: r=[(x-x
0)
2+ (y-y
0)
2+ (z-z
0)
2]
1/2, k
2Be the wave vector amplitude, B is an amplitude,
02Be the initial bit phase.
This spherical wave has under Fresnel approximation:
If the spherical wave point source (0,0, z
0), be interference surface with the xoy plane, obtain the interference field strength distribution of plane wave and spherical wave:
Rotatable coordinate axis makes azimuthal angle beta=0, and interference surface is transformed under the polar coordinate system, then has following interference field to distribute by force:
Therefore, all maximal point positions, promptly the bright fringes on the interferogram is distributed as:
(r-z
0 sinα)
2＝2nλz
0+z
0 2 sin
2α+Δ
0 (6)
By expression formula (6) form as can be known, the interferogram that obtains is an alternately dark and bright rings shape striped, and the central point side-play amount of circular fringes is:
R＝z
0 sinα (7)
For laser range finder, local oscillator optical parameter z
0Known, the central point side-play amount R of ring-type interference fringe only is the function of echo angle of pitch α.As long as the central point side-play amount R that obtains ring-type interference fringe on the interference image just can extrapolate the angle of pitch α of echo.Under the very little situation of the angle of pitch, for example laser space communication can think that the interference fringe circle ring center position and the angle of pitch are simple line style relation, are more conducive to directly contrast the target location and change.
1, Filtering Processing 21: purpose is to remove original interferogram as the fuzzy noise spot of image outline in 15, strengthens image outline, improves picture quality;
2, binary conversion treatment 22: choose suitable gray threshold, gray-scale value greater than the point of threshold value as a setting, its gray-scale value is 0.Point less than threshold value is a region point, and gray-scale value is 1, so just filtered interference image is become bianry image, is convenient to further analysis;
3, extract edge 23: gray-scale value sudden change on the light and shade striped border, make to occur extreme point on the gray value profiles, obtain the edge coordinate of interference fringe according to this characteristic;
4, determine central point side-play amount R 24: utilize the symmetry of ring-type interference fringe on the interference image 15,, determine central point bias R by the interference fringe edge coordinate that obtains;
5, calculate angle of pitch α 25: by known local oscillator optical parameter z
0Central point bias R with obtaining utilizes relational expression R=z
0Sin α extrapolates angle of pitch α.
Entire work process of the present invention comprehensively is described as follows:
1, at first open emitting laser 1, the local oscillator laser instrument wouldn't be worked, and the light beam that emitting laser 1 sends expands bundle, collimation by the light beam after 3 pairs of modulation of optical transmitting system after modulating by photomodulator 2, and deflection aiming back is to target 4 emissions.
2, through after target 4 reflection, by receiving optics 5 receive, filtering, obtain echo 6.Owing to have only echo 6, there is not local oscillator ripple 8, light bridge does not play the effect of mixing 9 this moments, so the hot spot that only has echo 6 to produce on the ccd video camera 13.
3, if echo 6 drops on the pole axis of polar coordinate system just at the hot spot on the ccd video camera 13, illustrate that the azimuthal angle beta of echo 6 under the coordinate system of former demarcation is zero, funtcional relationship is one to one just arranged at this moment between angle of pitch α and the interference image center R.
4, if echo 6 not on the pole axis in former polar coordinate system, illustrate that the azimuthal angle beta of echo 6 under former demarcation coordinate system is non-vanishing at the hot spot on the ccd video camera 13, between angle of pitch α and the interference image center R less than funtcional relationship one to one.In the case, need the polar coordinate system of rotation ccd video camera 13, hot spot is dropped on the pole axis of new polar coordinate system, the azimuthal angle beta of echo 6 under new coordinate system is zero, and azimuth of target β is obtained by former coordinate system rotation angle.
5, open local oscillator laser instrument 7 this moment again, the local oscillator ripple 8 of echo 6 and 7 emissions of local oscillator laser instrument obtains the mixing light beam together by light bridge 9 mixing, utilizes any a branch of mixing light beam to obtain interference image 15 on ccd video camera 13.
6, the interference image 15 of Huo Deing is transferred in the computing machine 14 that the interference image process software is housed through data line and carries out Treatment Analysis, finally obtains comprising the target position information 16 of angle of pitch α and azimuthal angle beta.
7, target position signal 16 is transferred to the Electromechanical Control part of optical transmitting system 3 and receiving optics 5 as control signal.Usually, scrambler is installed all on the telescope in the optical system, can obtains the deflection angle of self.The control section of optical transmitting system 3 compares transmitter-telescope deflection angle and the actual target locations information 16 that obtains, with both difference as feedback signal, drive telescopical mechanical part and carry out deflection, the telescopical yawing moment of correct transmission guarantees the real-time run-home 4 of transmitter-telescope.Same, the control section in the receiving optics 5 also with the difference of receiving telescope deflection angle and actual target locations information 16 as feedback signal, drive the mechanical part of receiving telescope, guarantee to receive and penetrate the real-time run-home 4 of telescope;
8, when interference image 15 is handled, the mixing light beam obtains target range signal 11 after photodetector 10 is surveyed, handled, and process phase-locked loop 12 is transformed to the control signal of local oscillator laser instrument 7, regulate local oscillator light wave 8, with the phase relation that guarantees that echo 6 and local oscillator ripple 8 are fixing between the two.
For the different heterodyne detection situation of frequency of emitting laser 1 and local oscillator laser instrument 7, can in like manner obtain having the interference field strength distribution and the bright ring center of two wave vector scale-up factors, do not repeat them here.
For reducing the influence of phase noise to system accuracy, the laser instrument in the laser distance measuring system comprises emitting laser 1 and local oscillator laser instrument 7, should have the high frequency stabilization performance of good narrow linewidth.Experiment shows that operation wavelength can focus on retina at human eye less than the laser energy of 1.4 μ m, therefore considers from the practical application angle, and the operation wavelength of laser range finder should be greater than 1.4 μ m, to guarantee user's eye-safe.
The major function of light bridge 9 be before the accurate composite signal laser wave in space and the local oscillator laser wave before, to produce both difference frequencies.On performance, be divided into the output of 90 degree phase shifts, two passages, structures such as 180 degree phase shift two passages outputs and 90 degree phase shift four-way outputs, 180 degree phase shifts, 2 * 2 light bridges can be used for balance phase-locked loop receiver, 90 degree phase shifts, 2 * 2 light bridges can be used for costas phase lock loop road receiver, and 90 degree phase shifts, 2 * 4 light bridges can be used for the receiver that balance receives and the costas phase lock loop road combines.
The structure need of phase-locked loop 11 and photoelectricity bridge 9 and photoelectricity receive and are complementary.The performance of different phase-locked loop types and all different to using signal type and front end circuit to require.Present widely used phase-locked loop type has balance phaselocked loop (Balanced Phase Locked Loop), costas phase lock loop road (Costas PhaseLocked Loop), decision-making to drive phase-locked loop (Decision-Driven Phased Locked Loop), synchronization bit phase-locked loop (Sync-Bit Phase Locked Loop) and higher-order of oscillation phase-locked loop (Dither Phase LockedLoop).The performance of these several loops is compared as follows table:
| The loop type | Whether need to transmit residual carrier | Whether need 180 °/3dB coupling | Whether need AC coupling front end circuit | Transparent link whether | Phase-locked adjustable power whether |
| Balancing loop | √ | √ | |||
| Section's Stas loop | √ | √ | √ | ||
| Decision-making drives loop | √ | √ | |||
| The synchronization bit loop | √ | √ | √ | ||
| Higher-order of oscillation loop | √ | √ | √ | √ | √ |
The system architecture of embodiment as shown in Figure 3.
Embodiment adopts the zero-difference detection mode, and emitting laser 1 and local oscillator laser instrument 7 are all selected the Nd:YAG laser instrument for use, and operation wavelength is 1.54 μ m, is the eye-safe wavelength coverage.The electrooptic modulator that photomodulator 2 adopts lithium columbate crystal to make.Photodetector 10 is the balance receive mode, and phase-locked loop 12 adopts costas phase lock loop road form to match.Light bridge 9 is selected 90 degree phase shifts 2 * 4 birefringence free space optical bridges [referring to document 1: birefringence free space optical bridge, national inventing patent] for use.Ccd video camera 13 effective dimensions are 500 * 500 pixels, and pixel size is 10 μ m * 10 μ m.Interference image 15 is transferred to the computing machine 14 that image processing software is installed by data line.
The employed programming language of interference image process software is VC++, and programming software is a Microsoft visual c++ 6.0.Its major function is carried out Treatment Analysis to the interference image 15 that ccd video camera 13 obtains, and obtains central point side-play amount R, and then extrapolates angle of pitch α, obtains comprising the target position information 16 of angle of pitch α and azimuthal angle beta.Interference image process software 14 comprises Filtering Processing 21, binary conversion treatment 22, extracts edge 23, determines central point side-play amount R 24 and calculates 25 5 steps of angle of pitch α.The algorithm and the working condition of the concrete employing of these five steps are described respectively below:
1, Filtering Processing 21: embodiment adopts the spatial convoluted method of Sobel operator, utilizes differential to increase the characteristic of radio-frequency component, removes original interferogram and make the fuzzy noise spot of image outline in 15, strengthens to improve picture quality;
2, binary conversion treatment 22: embodiment adopts one dimension maximum entropy threshold method, calculates different segmentation thresholds at the zones of different of image, utilizes Threshold Segmentation that raw image is become bianry image, and background gray levels is 0, and the area grayscale value is 1;
3, extract edge 23: embodiment and adopt the border tracing to obtain the internal boundary points of binary image,, have the zone on closed border can be judged as bright ring, therefore can obtain the position coordinates at all interference fringe edges on the interference image according to the closed of interference fringe;
4, determine central point side-play amount R 24: utilize the symmetry of ring-type interference fringe on the interference image 15,, determine central point bias R by the interference fringe edge coordinate that obtains;
5, calculate angle of pitch α 25: by known local oscillator optical parameter z
0Central point bias R with obtaining utilizes relational expression (6), calculates angle of pitch α.
The whole working condition of the embodiment of the invention is described below.
1) light beam that sends of emitting laser 1 is through photomodulator 2 modulation, and the emission light beam after 3 pairs of modulation of optical transmitting system expands bundle, collimation, adjusts behind the emission angle to target 4 emissions, enters receiver after target 4 reflects.
2) hypothetical target 4 is when initial position, and angle of pitch α is 30 °, and azimuthal angle beta is 45 °.Open emitting laser 1, wouldn't open local oscillator laser instrument 7, the emission light beam obtains echo 6 through target 4 reflections, echo 6 is at the hot spot on the ccd video camera 13 not on the pole axis in polar coordinate system, it is non-vanishing to judge azimuthal angle beta, and rotation ccd video camera 13 polar coordinate systems drop on the pole axis of polar coordinate system hot spot, making the azimuthal angle beta of echo 6 under new polar coordinate system is zero, and obtains target direction angle β=45 ° by the polar coordinate system anglec of rotation.
3) open local oscillator laser instrument 7 then, echo 6 and local oscillator ripple 8 close bundle through light bridge 9 mixing, and four bundle mixing light beams of 90 degree displacements are arranged between any two: 0 degree phase shift mixing light beam, 17,180 degree phase shift mixing light beams, 18,90 degree phase shift mixing light beams, 19,270 degree phase shift mixing light beams 20.The part light that utilizes spectroscope to get 0 degree phase shift mixing light beam 17 obtains interference image 15 on ccd video camera 13.
4) interference image 15 of Huo Deing is transferred in the computing machine 14 that the interference image process software is housed through data line and carries out Treatment Analysis, and the optimum value that records central point side-play amount R is 5.00mm.Utilizing relational expression (6) to extrapolate angle of pitch α at last is 30 °.The entire image processing process finishes, and obtains target position information 16: angle of pitch α=30 °, azimuthal angle beta=45 °.Error is mainly relevant by the pixel size and the interferogram process software 14 used algorithms of the quality of echo 6, ccd video camera 13.Under the above two known situations, algorithm that can be by adjusting the interference image process software also come error is compensated by software processes.
5) move when target 4, the angle of pitch and azimuthal variation are α=45 °, during azimuthal angle beta=60 °, on the basis of measurement result last time, need the hot spot of echo 6 to be dropped on the coordinate axis again with 15 ° of ccd video camera 13 coordinate system rotation, azimuthal angle beta has changed 15 ° as can be known, i.e. β=60 °.The central point side-play amount R of interference image changes drift with the target location simultaneously, and recording optimum value is r=7.07mm.The azimuth angle alpha that is calculated by formula (6) is 45 ° equally, and promptly the angle of pitch α of target has moved 15 ° as can be known.So just obtained the positional information 16 after move the target location: angle of pitch α=45 °, azimuthal angle beta=60 °.
Claims (5)
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|---|---|---|---|
| CN 200710038662 CN101034160A (en) | 2007-03-29 | 2007-03-29 | Coherent laser range finder capable of obtaining target position information and range finding method thereof |
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| CN101598846A (en) * | 2009-06-30 | 2009-12-09 | 河南中光学集团有限公司 | The terminal display system and the display packing thereof of zoom lens target ranging |
| CN102236946A (en) * | 2010-04-20 | 2011-11-09 | 上海龙放建筑智能系统工程有限公司 | Monitoring device of perimeter intelligent detector |
| CN102313883A (en) * | 2010-06-30 | 2012-01-11 | 株式会社山武 | Signal evaluating device and signal evaluating method |
| CN102508254A (en) * | 2011-11-17 | 2012-06-20 | 长春理工大学 | Square output laser beam projectile launching track test system |
| CN103197321A (en) * | 2013-03-22 | 2013-07-10 | 北京航空航天大学 | Full-waveform laser radar system |
| CN103680206A (en) * | 2013-12-26 | 2014-03-26 | 江苏大学 | Device and method for guiding vehicles in parking lot based on laser guidance |
| CN104330802A (en) * | 2014-10-22 | 2015-02-04 | 谭宏 | Quantum radar and method for realizing target detection by utilizing same |
| CN104380137A (en) * | 2012-05-29 | 2015-02-25 | 莱卡地球系统公开股份有限公司 | Method and handheld distance measurement device for indirect distance measurement by means of image-assisted angle determination function |
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| CN105137447A (en) * | 2015-07-29 | 2015-12-09 | 兖州市顺通机械有限公司 | Response-type laser two-dimensional scanning positioning system and method |
| CN106289049A (en) * | 2016-07-21 | 2017-01-04 | 哈尔滨工业大学 | The quantum interference measurement apparatus injected based on Squeezed Vacuum and method |
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| CN108257137A (en) * | 2017-11-27 | 2018-07-06 | 南京浩梁景信息科技有限公司 | A kind of angle measurement method and system of the automatic interpretation of view-based access control model hot spot |
| CN108982510A (en) * | 2018-06-11 | 2018-12-11 | 东华大学 | Utilize 90 ° of optics mixer Surface profiling dynamic detection systems and method |
| CN109100743A (en) * | 2018-09-07 | 2018-12-28 | 中国科学院上海光学精密机械研究所 | Active-passive composite laser hologram radar |
| CN110226076A (en) * | 2016-12-01 | 2019-09-10 | 乐敏科德公司 | The position indicator device and method referred to using optical projection |
| CN110274907A (en) * | 2018-03-15 | 2019-09-24 | 广西师范大学 | Mirror plane defect detecting system and method based on fan-shaped striped |
| CN110824493A (en) * | 2019-11-12 | 2020-02-21 | 中国科学院光电技术研究所 | A Coherent Lidar Using Optical Phase Locking Technology to Improve Detection Range |
| CN111076729A (en) * | 2019-12-21 | 2020-04-28 | 北京跟踪与通信技术研究所 | Relative position measurement method of deep space spacecraft based on intensity coherent detection array |
| CN111174640A (en) * | 2019-10-22 | 2020-05-19 | 长春军晟科技有限公司 | Laser multi-target indicating equipment capable of simultaneously indicating multiple targets |
| CN111505654A (en) * | 2019-01-30 | 2020-08-07 | 深圳市速腾聚创科技有限公司 | Object position detection method and lidar |
| CN111527417A (en) * | 2018-06-11 | 2020-08-11 | 深圳市镭神智能系统有限公司 | Light emitting module, light emitting unit, optical signal detection module, optical system, and laser radar system |
| CN112051760A (en) * | 2019-06-07 | 2020-12-08 | 英飞凌科技股份有限公司 | Laser scanning control system and method |
| CN112068107A (en) * | 2020-09-09 | 2020-12-11 | 北京理工大学 | Pulse optical phased array laser radar system based on heterodyne phase locking |
| CN114096369A (en) * | 2019-07-11 | 2022-02-25 | 欧姆龙株式会社 | Control device, laser processing system with control device, and laser processing method |
| CN114895319A (en) * | 2022-04-06 | 2022-08-12 | 中国科学院光电技术研究所 | A Coherent Lidar Using Optical Phase-Locked Loop to Identify Complex Moving Targets |
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| CN101598846A (en) * | 2009-06-30 | 2009-12-09 | 河南中光学集团有限公司 | The terminal display system and the display packing thereof of zoom lens target ranging |
| CN102236946A (en) * | 2010-04-20 | 2011-11-09 | 上海龙放建筑智能系统工程有限公司 | Monitoring device of perimeter intelligent detector |
| CN102313883A (en) * | 2010-06-30 | 2012-01-11 | 株式会社山武 | Signal evaluating device and signal evaluating method |
| CN102508254B (en) * | 2011-11-17 | 2014-05-07 | 长春理工大学 | Square output laser beam projectile launching track test system |
| CN102508254A (en) * | 2011-11-17 | 2012-06-20 | 长春理工大学 | Square output laser beam projectile launching track test system |
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| CN103197321A (en) * | 2013-03-22 | 2013-07-10 | 北京航空航天大学 | Full-waveform laser radar system |
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| CN104639235B (en) * | 2015-01-20 | 2017-03-22 | 长春理工大学 | Integrated system with simultaneous laser ranging, polarization imaging and laser communication |
| CN105137447A (en) * | 2015-07-29 | 2015-12-09 | 兖州市顺通机械有限公司 | Response-type laser two-dimensional scanning positioning system and method |
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| CN106289049B (en) * | 2016-07-21 | 2019-04-16 | 哈尔滨工业大学 | Quantum interference measuring device and method based on Squeezed Vacuum injection |
| CN110226076A (en) * | 2016-12-01 | 2019-09-10 | 乐敏科德公司 | The position indicator device and method referred to using optical projection |
| CN106791781A (en) * | 2016-12-15 | 2017-05-31 | 哈尔滨工业大学 | A kind of continuous wave phase measurement formula single pixel 3-D imaging system and method |
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| CN108257137A (en) * | 2017-11-27 | 2018-07-06 | 南京浩梁景信息科技有限公司 | A kind of angle measurement method and system of the automatic interpretation of view-based access control model hot spot |
| CN110274907B (en) * | 2018-03-15 | 2021-10-15 | 广西师范大学 | Mirror plane defect detection system and method based on fan stripe |
| CN110274907A (en) * | 2018-03-15 | 2019-09-24 | 广西师范大学 | Mirror plane defect detecting system and method based on fan-shaped striped |
| CN111527417A (en) * | 2018-06-11 | 2020-08-11 | 深圳市镭神智能系统有限公司 | Light emitting module, light emitting unit, optical signal detection module, optical system, and laser radar system |
| CN111527417B (en) * | 2018-06-11 | 2023-03-21 | 深圳市镭神智能系统有限公司 | Light emitting module, light emitting unit, optical signal detection module, optical system, and laser radar system |
| CN108982510A (en) * | 2018-06-11 | 2018-12-11 | 东华大学 | Utilize 90 ° of optics mixer Surface profiling dynamic detection systems and method |
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| CN109100743A (en) * | 2018-09-07 | 2018-12-28 | 中国科学院上海光学精密机械研究所 | Active-passive composite laser hologram radar |
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| CN114096369B (en) * | 2019-07-11 | 2023-10-10 | 欧姆龙株式会社 | Control device, laser processing system provided with control device, and laser processing method |
| CN114096369A (en) * | 2019-07-11 | 2022-02-25 | 欧姆龙株式会社 | Control device, laser processing system with control device, and laser processing method |
| CN111174640B (en) * | 2019-10-22 | 2022-05-13 | 长春军晟科技有限公司 | Laser multi-target indicating equipment capable of simultaneously indicating multiple targets |
| CN111174640A (en) * | 2019-10-22 | 2020-05-19 | 长春军晟科技有限公司 | Laser multi-target indicating equipment capable of simultaneously indicating multiple targets |
| CN110824493A (en) * | 2019-11-12 | 2020-02-21 | 中国科学院光电技术研究所 | A Coherent Lidar Using Optical Phase Locking Technology to Improve Detection Range |
| CN111076729A (en) * | 2019-12-21 | 2020-04-28 | 北京跟踪与通信技术研究所 | Relative position measurement method of deep space spacecraft based on intensity coherent detection array |
| CN112068107A (en) * | 2020-09-09 | 2020-12-11 | 北京理工大学 | Pulse optical phased array laser radar system based on heterodyne phase locking |
| CN114895319A (en) * | 2022-04-06 | 2022-08-12 | 中国科学院光电技术研究所 | A Coherent Lidar Using Optical Phase-Locked Loop to Identify Complex Moving Targets |
| CN116148869A (en) * | 2023-04-21 | 2023-05-23 | 深圳市龙之源科技股份有限公司 | Hand-held distance measuring instrument |
| CN116148869B (en) * | 2023-04-21 | 2023-08-18 | 深圳市龙之源科技股份有限公司 | Hand-held distance measuring instrument |
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