CN106324608B - A kind of interior optical path phase compensating method and system based on laser ranging - Google Patents
A kind of interior optical path phase compensating method and system based on laser ranging Download PDFInfo
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- CN106324608B CN106324608B CN201610776324.3A CN201610776324A CN106324608B CN 106324608 B CN106324608 B CN 106324608B CN 201610776324 A CN201610776324 A CN 201610776324A CN 106324608 B CN106324608 B CN 106324608B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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Abstract
The present invention discloses a kind of interior optical path phase compensating method based on laser ranging and system, method include：The voltage for adjusting avalanche diode, makes interior optical path signal amplitude between maximum voltage peak-to-peak value and minimum voltage peak-to-peak value；Obtain outer optical path signal amplitude；When outer optical path signal amplitude is greater than maximum voltage peak-to-peak value or outer optical path signal amplitude is less than minimum voltage peak-to-peak value, interior optical path signal amplitude is adjusted by adjusting avalanche diode voltage and/or interior optical path laser diode power, outer optical path signal amplitude is adjusted by adjusting avalanche diode voltage, falls in interior optical path signal amplitude and outer optical path signal amplitude between maximum voltage peak-to-peak value and minimum voltage peak-to-peak value；The true phase for calculating inside and outside optical path is poor；Distance value is calculated according to the true phase difference of inside and outside optical path.Method of the invention, the interior optical path phase difference of real-time compensation, improves ranging range.
Description
Technical field
The present invention relates to laser ranging fields, more particularly to a kind of interior optical path phase compensating method based on laser ranging
And system.
Background technique
Phase-shift laser rangefinder is divided into four kinds of distance measuring methods by optical path：Single-shot list receipts, single-emission and double-receiving, double bills are received, are double
Hair is double to be received.
Beat method realization all can be used in four kinds of ranging schemes：Main vibration signal is launched by laser diode, by distance D
Reflection signal is reflected to form by reflective surface, signal is reflected after distance D, into avalanche diode (Avalanche Photo
Diode, APD), and it is mixed in APD with local oscillation signal, mixer output signal is amplified, is filtered and obtains low frequency letter
Number, single-chip microcontroller acquisition low frequency signal and carry out analog-to-digital conversion, Digital Signal Processing obtains phase.
Wherein double bills, which are received, double hairs are double receives in two kinds of ranging schemes, inside and outside when the circuit element characteristic of inside and outside optical path is consistent
The phase changing capacity of optical path is approximately equal, can cancel out each other, therefore the phase difference of inside and outside optical path can be made to remain unchanged.
In actual measurement process, with the increase of measurement distance and reflective surface variation degree, inside and outside optical path signal width
Value variation is very big.Currently used method is to change APD voltage to change the circuit gain of signal path, however operating
Inside and outside optical path APD voltage must be made to keep equal in journey, be otherwise not easy to offset and produced because of the difference of inside and outside optical path APD voltage
Phase difference, the variation range that this allows for interior optical path signal amplitude is very small, thus also leads to outer optical path signal amplitude variation model
It encloses also smaller.Therefore the simple method for changing APD voltage is difficult to adapt to far measuring distance and reflective surface changes big occasion, uncomfortable
For actual measurement.
Interior optical path signal amplitude can be adjusted by way of the power of optical path laser diode in changing, however outer
The power of optical path laser diode is usually fixation, and the power that this allows for inside and outside optical path laser diode is different.Meanwhile because
The phase delay of inside and outside optical path caused by the power of inside and outside optical path laser diode is different can not be eliminated.
Summary of the invention
The present invention changes big laser ranging occasion to adapt to remote and reflective surface, while in order to compensate for inside and outside optical path
Laser diode power difference caused by phase delay, the present invention provides a kind of interior optical path phase based on laser ranging
Position compensation method and system.
To achieve the above object, the present invention provides following schemes：
A kind of interior optical path phase compensating method based on laser ranging, including：
The voltage for adjusting avalanche diode, makes interior optical path signal amplitude between maximum voltage peak-to-peak value and minimum voltage peak peak
Between value；
Obtain outer optical path signal amplitude；
The outer optical path signal amplitude is compared with the maximum voltage peak-to-peak value and the minimum voltage peak-to-peak value；
When the outer optical path signal amplitude is between the maximum voltage peak-to-peak value and the minimum voltage peak-to-peak value,
Obtain the phase difference of the inside and outside optical path of measurement；
When the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value or the outer optical path signal amplitude less than institute
When stating minimum voltage peak-to-peak value, adjusted in described by adjusting avalanche diode voltage and/or interior optical path laser diode power
Optical path signal amplitude adjusts the outer optical path signal amplitude by adjusting avalanche diode voltage, makes the interior optical path signal width
Value and the outer optical path signal amplitude are fallen between the maximum voltage peak-to-peak value and the minimum voltage peak-to-peak value；
The true phase for calculating inside and outside optical path is poor；
Distance value is calculated according to the true phase difference of the inside and outside optical path.
Optionally, described when the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value or the outer optical path signal
When amplitude is less than the minimum voltage peak-to-peak value, by adjusting avalanche diode voltage and/or interior optical path laser diode power
The interior optical path signal amplitude is adjusted, the outer optical path signal amplitude is adjusted by adjusting avalanche diode voltage, makes in described
Optical path signal amplitude and the outer optical path signal amplitude fall in the maximum voltage peak-to-peak value and the minimum voltage peak-to-peak value it
Between, it specifically includes：
When the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, by reducing avalanche diode voltage
And/or optical path laser diode power adjusts the interior optical path signal amplitude in increasing；By reducing avalanche diode voltage tune
The outer optical path signal amplitude is saved, the interior optical path signal amplitude and the outer optical path signal amplitude is made to fall in the maximum voltage
Between peak-to-peak value and the minimum voltage peak-to-peak value；
When the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, by increasing the avalanche diode electricity
It presses and/or reduces the interior optical path laser diode power and adjust the interior optical path signal amplitude, by increasing the snowslide two
Pole pipe voltage adjusts the outer optical path signal amplitude, and the interior optical path signal amplitude and the outer optical path signal amplitude is made to fall in institute
It states between maximum voltage peak-to-peak value and the minimum voltage peak-to-peak value.
Optionally, described when the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, by reducing snowslide
Optical path laser diode power adjusts the interior optical path signal amplitude in diode voltage and/or increase；By reducing snowslide two
Pole pipe voltage adjusts the outer optical path signal amplitude, and the interior optical path signal amplitude and the outer optical path signal amplitude is made to fall in institute
It states between maximum voltage peak-to-peak value and the minimum voltage peak-to-peak value, specifically includes：
Judge whether the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, obtains the first judging result；When
When first judging result indicates that the outer optical path signal amplitude is not more than the maximum voltage peak-to-peak value, terminate measurement；When
When first judging result indicates that the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, by reducing the snow
It collapses diode voltage and adjusts the interior optical path signal amplitude and the outer optical path signal amplitude, make described interior optical path signal amplitude etc.
In minimum voltage peak-to-peak value；
Obtain the interior optical path phase of measurement, the interior optical path phase delay before being changed power；
Judge whether the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, obtains the second judging result；When
When second judging result indicates that the outer optical path signal amplitude is not more than the maximum voltage peak-to-peak value, terminate measurement；When
When second judging result indicates that the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, by increasing in described
Optical path laser diode power adjusts the interior optical path signal amplitude, and the interior optical path signal amplitude is made to be equal to the maximum voltage
Peak-to-peak value；
In the case where the interior optical path signal amplitude is not less than the minimum voltage peak-to-peak value, by reducing the snowslide
Diode voltage further decreases the outer optical path signal amplitude and the interior optical path signal amplitude；
Judge whether the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, obtains third judging result；When
When the third judging result indicates that the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, it is determined as wrong place
Reason issues error handle signal and terminates to measure；When the third judging result indicates that the outer optical path signal amplitude is not more than
When the maximum voltage peak-to-peak value, the interior optical path phase delay, interior optical path phase and outer optical path phase of measurement are obtained, is changed
The interior optical path phase after interior optical path phase delay, change power after power and the outer optical path phase after change power, record survey
Amount result simultaneously terminates to measure.
Optionally, described when the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, described in increasing
Avalanche diode voltage and/or the reduction interior optical path laser diode power adjust the interior optical path signal amplitude, pass through increasing
Add the avalanche diode voltage to adjust the outer optical path signal amplitude, makes the interior optical path signal amplitude and the outer optical path letter
Number amplitude is fallen between the maximum voltage peak-to-peak value and the minimum voltage peak-to-peak value, is specifically included：
Judge whether the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, obtains the 4th judging result；When
When 4th judging result indicates that the outer optical path signal amplitude is not less than the minimum voltage peak-to-peak value, terminate measurement；When
When 4th judging result indicates that the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, by increasing the snow
It collapses diode voltage and adjusts the interior optical path signal amplitude and the outer optical path signal amplitude, make described interior optical path signal amplitude etc.
In maximum voltage peak-to-peak value；
Obtain the interior optical path phase of measurement, the interior optical path phase delay before being changed power；
Judge whether the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, obtains the 5th judging result；When
When 5th judging result indicates that the outer optical path signal amplitude is not less than the minimum voltage peak-to-peak value, terminate measurement；When
When 5th judging result indicates that the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, by reducing in described
Optical path laser diode power adjusts the interior optical path signal amplitude, and the interior optical path signal amplitude is made to be equal to the minimum voltage
Peak-to-peak value；
In the case where the interior optical path signal amplitude is not more than the maximum voltage peak-to-peak value, by increasing the snowslide
Diode voltage further increases the outer optical path signal amplitude and the interior optical path signal amplitude；
Judge whether the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, obtains the 6th judging result；When
When 6th judging result indicates that the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, it is determined as wrong place
Reason issues error handle signal and terminates to measure；When the 6th judging result indicates that the outer optical path signal amplitude is not less than
When the minimum voltage peak-to-peak value, the interior optical path phase delay, interior optical path phase and outer optical path phase of measurement are obtained, is changed
The interior optical path phase after interior optical path phase delay, change power after power and the outer optical path phase after change power, record survey
Amount result simultaneously terminates to measure.
Optionally, the true phase of optical path is poor inside and outside the calculating, specifically includes：
When the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value or the outer optical path signal amplitude less than institute
When stating minimum voltage peak-to-peak value, the interior optical path phase that the outer optical path phase after changing power subtracts after changing power is changed function
Inside and outside optical path phase difference after rate；
The interior optical path phase delay that interior optical path phase delay after changing power subtracts before changing power obtains interior optical path phase
Position delay difference；
Inside and outside optical path phase difference after changing power obtains the true of the inside and outside optical path plus interior optical path phase-delay difference
Phase difference.
Optionally, the true phase of optical path is poor inside and outside the calculating, specifically includes：
When the outer optical path signal amplitude is between the maximum voltage peak-to-peak value and the minimum voltage peak-to-peak value,
The true phase difference for determining the inside and outside optical path is the phase difference of the inside and outside optical path.
The invention also discloses a kind of interior optical path Phase Compensation System based on laser ranging, including：
Control module makes interior optical path signal amplitude between maximum voltage peak-to-peak value for adjusting the voltage of avalanche diode
Between minimum voltage peak-to-peak value；Obtain outer optical path signal amplitude；By the outer optical path signal amplitude and the maximum voltage peak
Peak value and the minimum voltage peak-to-peak value compare；When the outer optical path signal amplitude between the maximum voltage peak-to-peak value and
When between the minimum voltage peak-to-peak value, the phase difference of the inside and outside optical path of measurement is obtained；When the outer optical path signal amplitude is greater than
When the maximum voltage peak-to-peak value or the outer optical path signal amplitude are less than the minimum voltage peak-to-peak value, by adjusting snowslide two
Pole pipe voltage and/or interior optical path laser diode power adjust the interior optical path signal amplitude, by adjusting avalanche diode electricity
Pressure adjusts the outer optical path signal amplitude, and the interior optical path signal amplitude and the outer optical path signal amplitude is made to fall in the maximum
Between voltage peak-to-peak value and the minimum voltage peak-to-peak value；The true phase for calculating inside and outside optical path is poor；According to the inside and outside optical path
True phase difference calculate distance value；
Measurement module, for measure outer optical path signal amplitude, interior optical path signal amplitude, interior optical path phase, outer optical path phase,
Interior optical path phase delay, and send the measurements to the control module；
Adjustment module, under the control of the control module, adjusting the voltage of the avalanche diode and described interior
The power of optical path laser diode.
Optionally, the control module includes：
First control unit is obtained for judging whether the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value
To the first judging result；When first judging result indicates that the outer optical path signal amplitude is not more than maximum voltage peak peak
When value, terminate measurement；When first judging result indicates that the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value
When, the interior optical path signal amplitude and the outer optical path signal amplitude are adjusted by reducing the avalanche diode voltage, makes institute
Interior optical path signal amplitude is stated equal to minimum voltage peak-to-peak value；Obtain the interior optical path phase of measurement, the interior light before being changed power
Road phase delay；Judge whether the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, obtains the second judging result；
When second judging result indicates that the outer optical path signal amplitude is not more than the maximum voltage peak-to-peak value, terminate measurement；
When second judging result indicates that the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, described in increasing
Interior optical path laser diode power adjusts the interior optical path signal amplitude, and the interior optical path signal amplitude is made to be equal to the maximum electricity
Voltage crest peak value；In the case where the interior optical path signal amplitude is not less than the minimum voltage peak-to-peak value, by reducing the snow
It collapses diode voltage and further decreases the outer optical path signal amplitude and the interior optical path signal amplitude；Judge the outer optical path letter
Whether number amplitude is greater than the maximum voltage peak-to-peak value, obtains third judging result；Described in third judging result expression
When outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, it is determined as error handle, issue error handle signal and terminates
Measurement；When the third judging result indicates that the outer optical path signal amplitude is not more than the maximum voltage peak-to-peak value, obtain
Interior optical path phase delay, interior optical path phase and the outer optical path phase of measurement, interior optical path phase delay after being changed power change
The outer optical path phase after interior optical path phase and change power after Variable power, recording measurement result simultaneously terminates to measure；
Second control unit is obtained for judging whether the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value
To the 4th judging result；When the 4th judging result indicates that the outer optical path signal amplitude is not less than minimum voltage peak peak
When value, terminate measurement；When the 4th judging result indicates that the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value
When, the interior optical path signal amplitude and the outer optical path signal amplitude are adjusted by increasing the avalanche diode voltage, makes institute
Interior optical path signal amplitude is stated equal to maximum voltage peak-to-peak value；Obtain the interior optical path phase of measurement, the interior light before being changed power
Road phase delay；Judge whether the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, obtains the 5th judging result；
When the 5th judging result indicates that the outer optical path signal amplitude is not less than the minimum voltage peak-to-peak value, terminate measurement；
When the 5th judging result indicates that the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, described in reducing
Interior optical path laser diode power adjusts the interior optical path signal amplitude, and the interior optical path signal amplitude is made to be equal to the minimum electricity
Voltage crest peak value；In the case where the interior optical path signal amplitude is not more than the maximum voltage peak-to-peak value, by increasing the snow
It collapses diode voltage and further increases the outer optical path signal amplitude and the interior optical path signal amplitude；Judge the outer optical path letter
Whether number amplitude is less than the minimum voltage peak-to-peak value, obtains the 6th judging result；Described in the 6th judging result expression
When outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, it is determined as error handle, issue error handle signal and terminates
Measurement；When the 6th judging result indicates that the outer optical path signal amplitude is not less than the minimum voltage peak-to-peak value, obtain
Interior optical path phase delay, interior optical path phase and the outer optical path phase of measurement, interior optical path phase delay after being changed power change
The outer optical path phase after interior optical path phase and change power after Variable power, recording measurement result simultaneously terminates to measure；
Third control unit, for being greater than the maximum voltage peak-to-peak value or the outer light when the outer optical path signal amplitude
When road signal amplitude is less than the minimum voltage peak-to-peak value, the outer optical path phase after change power is subtracted in after changing power
Optical path phase is changed the inside and outside optical path phase difference after power；Interior optical path phase delay after change power is subtracted into change function
Interior optical path phase delay before rate obtains interior optical path phase-delay difference；Inside and outside optical path phase difference after change power is added into interior light
The true phase that road phase-delay difference obtains the inside and outside optical path is poor；
4th control unit, for when the outer optical path signal amplitude is between the maximum voltage peak-to-peak value and the minimum
When between voltage peak-to-peak value, determine that the true phase difference of the inside and outside optical path is the phase difference of the inside and outside optical path.
The specific embodiment provided according to the present invention, the invention discloses following technical effects：
1, technical solution of the present invention is improved on the basis of changing APD voltage merely, to make of the invention
The technical solution that technical solution changes merely the progress ranging of APD voltage relatively realizes larger range of inside and outside optical path signal amplitude
Variation, to make that technical solution of the present invention can adapt to far measuring distance and reflective surface changes big occasion.
2, technical solution of the present invention is measured and is compensated by the signal amplitude in real time to inside and outside optical path, makes this hair
Bright technical solution can be realized to be compensated to because changing phase delay caused by laser diode power, thus one
Determine to eliminate the phase difference because caused by changing laser diode power in degree.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is that double bills receive type in a kind of interior optical path phase compensating method embodiment based on laser ranging of the present invention
The round-trip schematic diagram of signal；
Fig. 2, which is that double hairs are double in a kind of interior optical path phase compensating method embodiment based on laser ranging of the present invention, receives type
The round-trip schematic diagram of signal；
Fig. 3 is a kind of method flow diagram of the interior optical path phase compensating method embodiment based on laser ranging of the present invention；
Fig. 4 is a kind of outer optical path signal amplitude of the interior optical path phase compensating method embodiment based on laser ranging of the present invention
Signal when greater than maximum voltage peak-to-peak value adjusts flow chart；
Fig. 5 is a kind of outer optical path signal amplitude of the interior optical path phase compensating method embodiment based on laser ranging of the present invention
Signal when less than minimum voltage peak-to-peak value adjusts flow chart；
Fig. 6 is a kind of system construction drawing of the interior optical path Phase Compensation System embodiment based on laser ranging of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of interior optical path phase compensating method and system based on laser ranging.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
In laser ranging field, the type of laser ranging can distinguish single-shot list receipts, single-shot pair according to optical path classification
It receives, double bills are received, four seed types of double double receipts of hair.The present processes are directed to double bills and receive and the double types received of double hairs.
Fig. 1 is that double bills receive type in a kind of interior optical path phase compensating method embodiment based on laser ranging of the present invention
The round-trip schematic diagram of signal.
Referring to Fig. 1, double bills are received in the laser distance measurement method of type, and the laser range finder used uses outer optical path laser
Diode 1, interior optical path laser diode 2, avalanche diode 3, signal processing unit 4, single-pole double-throw switch (SPDT) 5.
Main vibration signal is divided into two-way, outer optical path signal and interior optical path signal, outer optical path signal warp after single-pole double-throw switch (SPDT) 5
It crosses outer optical path laser diode 1 to be launched away, be received after the reflective surface 6 of target object reflects by avalanche diode 3；Interior light
Road signal is directly received by avalanche diode 3.Avalanche diode 3 carries out local oscillation signal, outer optical path signal and interior optical path signal
Mixing is sent to signal processing unit 4, and signal processing unit 4 calculates mesh after being filtered enhanced processing to the signal received
Mark object at a distance from laser range finder.
Fig. 2, which is that double hairs are double in a kind of interior optical path phase compensating method embodiment based on laser ranging of the present invention, receives type
The round-trip schematic diagram of signal.
Referring to fig. 2, in the double laser distance measurement methods for receiving type of double hairs, the laser range finder used uses outer optical path laser
Diode 1, interior optical path laser diode 2, outer optical path avalanche diode 7, interior optical path avalanche diode 8, signal processing unit 4.
Main vibration signal is divided into two-way, outer optical path signal and interior optical path signal, and outer optical path signal passes through outer two pole of optical path laser
Pipe 1 is launched away, is received after target object reflects by outer optical path avalanche diode 7, and outer optical path avalanche diode 7 will receive
To outer optical path signal and local oscillation signal be mixed after be sent to signal processing unit 4；Interior optical path signal passes through interior optical path
Laser diode 2 is launched away, is received after the reflective surface 6 of target object reflects by interior optical path avalanche diode 8, interior optical path
Avalanche diode 7 is sent to signal processing unit 4 after being mixed the interior optical path signal and local oscillation signal that receive；Signal
Processing unit 4 is filtered enhanced processing to the signal received, and calculate target object at a distance from laser range finder.
The principle for carrying out ranging using the method that difference frequency surveys phase is as follows：
If local oscillation signal is：Main vibration signal is：G (t)=Bsin (ω t+ β0), wherein ωL
For local oscillation signal angular frequency,For local oscillation signal initial phase, shake signal angular frequency based on ω, β0Based on shake signal initial phase
Position.So receiving signal is：G (t)=Bsin (ω t+ β0+ Δ β), wherein Δ β represents what main vibration signal was generated by distance 2D
Phase delay, Δ β=ω Δ t, wherein Δ t is represented from signal and is sent to the received time interval of signal.At this point it is possible to calculate
The phase difference of inside and outside optical path is：
WhereinOuter optical path low frequency signal phase is represented,In representative
Optical path low frequency signal phase.
So measure distance
Wherein, C is the light velocity, the frequency for the signal that shakes based on f.
Fig. 3 is a kind of method flow diagram of the interior optical path phase compensating method embodiment based on laser ranging of the present invention.
Referring to Fig. 3, for above-mentioned principle, the invention discloses a kind of interior optical path phase compensation side based on laser ranging
Method, including：
Step 301：The voltage for adjusting avalanche diode, makes interior optical path signal amplitude between maximum voltage peak-to-peak value VPPmax
With minimum voltage peak-to-peak value VPPminBetween [VPPmin, VPPmax]；
Step 302：Obtain outer optical path signal amplitude；
Step 303：By the outer optical path signal amplitude and the maximum voltage peak-to-peak value VPPmaxWith the minimum voltage peak
Peak value VPPminIt compares；
Step 304：When the outer optical path signal amplitude is between the maximum voltage peak-to-peak value VPPmaxWith the minimum voltage
Peak-to-peak value VPPminBetween when, obtain the phase difference β of the inside and outside optical path of measurement；
Step 305：When the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value VPPmaxOr the outer optical path letter
Number amplitude is less than the minimum voltage peak-to-peak value VPPminWhen, by adjusting avalanche diode voltage and/or interior two pole of optical path laser
Tube power adjusts the interior optical path signal amplitude, adjusts the outer optical path signal amplitude by adjusting avalanche diode voltage, makes
The interior optical path signal amplitude and the outer optical path signal amplitude fall in the maximum voltage peak-to-peak value VPPmaxWith the minimum electricity
Voltage crest peak value VPPminBetween [VPPmin, VPPmax]；
Step 306：Calculate the true phase difference Δ β of inside and outside optical pathR；
Step 307：According to the true phase difference Δ β of the inside and outside optical pathRCalculate distance value D.
Optionally, described when the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value VPPmaxOr the outer light
Road signal amplitude is less than the minimum voltage peak-to-peak value VPPminWhen, by adjusting avalanche diode voltage and/or interior optical path laser
Diode power adjusts the interior optical path signal amplitude, adjusts the outer optical path signal width by adjusting avalanche diode voltage
Value, makes the interior optical path signal amplitude and the outer optical path signal amplitude fall in the maximum voltage peak-to-peak value VPPmaxWith it is described
Minimum voltage peak-to-peak value VPPminBetween [VPPmin, VPPmax], it specifically includes：
When the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value VPPmaxWhen, by reducing avalanche diode
Optical path laser diode power adjusts the interior optical path signal amplitude in voltage and/or increase；By reducing avalanche diode electricity
Pressure adjusts the outer optical path signal amplitude, and the interior optical path signal amplitude and the outer optical path signal amplitude is made to fall in the maximum
Voltage peak-to-peak value VPPmaxWith the minimum voltage peak-to-peak value VPPminBetween [VPPmin, VPPmax]；
When the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value VPPminWhen, by increasing the snowslide two
Pole pipe voltage and/or the reduction interior optical path laser diode power adjust the interior optical path signal amplitude, described in increasing
Avalanche diode voltage adjusts the outer optical path signal amplitude, makes the interior optical path signal amplitude and the outer optical path signal amplitude
Fall in the maximum voltage peak-to-peak value VPPmaxWith the minimum voltage peak-to-peak value VPPminBetween [VPPmin, VPPmax]。
Fig. 4 is a kind of outer optical path signal amplitude of the interior optical path phase compensating method embodiment based on laser ranging of the present invention
Signal when greater than maximum voltage peak-to-peak value adjusts flow chart.
Fig. 4 reflects when outer optical path signal amplitude is greater than maximum voltage peak-to-peak value VPPmaxWhen, guarantee interior optical path signal amplitude
Not less than minimum voltage peak-to-peak value VPPminUnder conditions of, it is adjusted by reducing avalanche diode voltage, if outer optical path signal
Amplitude is still greater than maximum voltage peak-to-peak value VPPmax, by the power of optical path laser diode in enhancing, make interior optical path signal width
It is worth close to maximum voltage peak-to-peak value VPPmax, then optical path signal amplitude is not less than minimum voltage peak-to-peak value VPP in guaranteeingmin's
Under the conditions of, continue to reduce avalanche diode voltage.Concrete scheme is as follows：
Referring to fig. 4, described when the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value VPPmaxWhen, pass through drop
Optical path laser diode power adjusts the interior optical path signal amplitude in low avalanche diode voltage and/or increase；Pass through reduction
Avalanche diode voltage adjusts the outer optical path signal amplitude, makes the interior optical path signal amplitude and the outer optical path signal amplitude
Fall in the maximum voltage peak-to-peak value VPPmaxWith the minimum voltage peak-to-peak value VPPminBetween [VPPmin, VPPmax], it is specific to wrap
It includes：
Step 401：Optical path signal amplitude is between maximum voltage peak-to-peak value and minimum voltage peak-to-peak value in guaranteeing
On the basis of reduce avalanche diode voltage to the full extent：Judge whether the outer optical path signal amplitude is greater than the maximum voltage
Peak-to-peak value VPPmax, obtain the first judging result；When first judging result indicates that the outer optical path signal amplitude is not more than institute
State maximum voltage peak-to-peak value VPPmaxWhen, terminate measurement；When first judging result indicates that the outer optical path signal amplitude is greater than
The maximum voltage peak-to-peak value VPPmaxWhen, by reduce the avalanche diode voltage adjust the interior optical path signal amplitude and
The outer optical path signal amplitude makes the interior optical path signal amplitude be equal to minimum voltage peak-to-peak value VPPmin；
During actual measurement, it will generally guarantee that the voltage of the avalanche diode of inside and outside optical path is equal, otherwise be not easy
Offset the unequal caused phase difference of voltage of the avalanche diode of inside and outside optical path.Therefore in the set-up procedure need to adjust simultaneously
The voltage of the avalanche diode of outer optical path (receive in type, and inside and outside optical path shares an avalanche diode, changes the snowslide by double bills
Diode voltage is equal to while adjusting interior optical path signal amplitude and outer optical path signal amplitude；And in double double receipts types of hair, inside and outside light
Respectively there is an avalanche diode on road, needs the voltage to the avalanche diode of inside and outside optical path at this time while being adjusted, in guarantee
The voltage of the avalanche diode of outer optical path keeps identical).Reduced degree is that the interior optical path signal amplitude is made to be equal to minimum electricity
Voltage crest peak value, the degree are that optical path signal peak value is in maximum voltage peak-to-peak value VPP within meetingmaxWith minimum voltage peak-to-peak value
VPPminBetween [VPPmin, VPPmax] in the case where can reduce utmostly, to reduce outer optical path signal to the full extent
Amplitude makes in outer optical path signal amplitude maximum degree close to maximum voltage peak-to-peak value VPPmaxWith minimum voltage peak-to-peak value VPPminIt
Between [VPPmin, VPPmax] range.
Step 402：Obtain the interior optical path phase of measurement, the interior optical path phase delay before being changed power；
Step 403：Optical path signal amplitude is between maximum voltage peak-to-peak value and minimum voltage peak-to-peak value in guaranteeing
On the basis of increase to the full extent in optical path laser diode power：Judge the outer optical path signal amplitude whether be greater than it is described most
Big voltage peak-to-peak value VPPmax, obtain the second judging result；When second judging result indicates the outer optical path signal amplitude not
Greater than the maximum voltage peak-to-peak value VPPmaxWhen, terminate measurement；When second judging result indicates the outer optical path signal width
Value is greater than the maximum voltage peak-to-peak value VPPmaxWhen, the interior light is adjusted by increasing the interior optical path laser diode power
Road signal amplitude makes the interior optical path signal amplitude be equal to the maximum voltage peak-to-peak value VPPmax；
The step is after the adjustment by avalanche diode, and outer optical path signal amplitude is still greater than maximum voltage peak peak
Value VPPmaxIn the case where the adjustment that carries out.Increase interior optical path signal amplitude by optical path laser diode power in increasing, protects
Optical path signal amplitude is in maximum voltage peak-to-peak value VPP in demonstrate,provingmaxWith minimum voltage peak-to-peak value VPPminBetween [VPPmin, VPPmax]
In the case where increase to the full extent in optical path signal amplitude.The step is intended to increase interior optical path signal amplitude, the purpose is to for
It is adjusted again by avalanche diode voltage is reduced.Step 401 reduces avalanche diode to the full extent
Voltage, since interior optical path signal amplitude has been preferably minimized within the allowable range, so cannot be further continued for reducing avalanche diode
Voltage.Step 403 increases interior optical path signal amplitude again, makes avalanche diode voltage can continue to reduce, to continue to subtract
Small outer optical path signal amplitude.
Step 404：The outer optical path signal amplitude and described is further decreased by reducing the avalanche diode voltage
Interior optical path signal amplitude makes the interior optical path signal amplitude be equal to the minimum voltage peak-to-peak value VPPmin；
In increasing to the full extent in step 403 after optical path signal amplitude, so that the voltage of avalanche diode is again
Has the condition that can be reduced.The step reduces the voltage of avalanche diode again, so that outer optical path signal amplitude is in step
Continue to reduce after 401 adjusting, certainly interior optical path signal amplitude can also be followed by reduction.Optical path signal amplitude meets in guaranteeing
In maximum voltage peak-to-peak value VPPmaxWith minimum voltage peak-to-peak value VPPminBetween [VPPmin, VPPmax] under conditions of, utmostly
Upper reduction avalanche diode voltage makes outer optical path signal amplitude maximum journey to reduce outer optical path signal amplitude to the full extent
Close to maximum voltage peak-to-peak value VPP on degreemaxWith minimum voltage peak-to-peak value VPPminBetween [VPPmin, VPPmax] range.
Step 405：Judge whether the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value VPPmax, obtain
Three judging results；When the third judging result indicates that the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value
VPPmaxWhen, it is determined as error handle, issues error handle signal and terminate to measure；Described in third judging result expression
Outer optical path signal amplitude is not more than the maximum voltage peak-to-peak value VPPmaxWhen, obtain interior optical path phase delay, the interior optical path of measurement
Phase and outer optical path phase, the interior optical path phase and change after interior optical path phase delay, change power after being changed power
Outer optical path phase after power records measurement result and terminates to measure.
After the adjustment of step 401~404, outer optical path signal amplitude have already decreased to it is minimum, if outer light at this time
Road signal amplitude is still greater than maximum voltage peak-to-peak value VPPmax, and minimum voltage peak-to-peak value VPP cannot be fallen inminAnd maximum voltage
Peak-to-peak value VPPmaxBetween [VPPmin, VPPmax] in the range of, then can only illustrate that outer optical path signal is too strong, so that outer optical path is believed
Number amplitude is very big, and maximum voltage peak-to-peak value VPP cannot be reduced to by this methodmaxWith minimum voltage peak-to-peak value VPPminBetween
[VPPmin, VPPmax] in the range of.However, if outer optical path signal amplitude is after the adjustment of step 401~404
Fall in minimum voltage peak-to-peak value VPPminWith maximum voltage peak-to-peak value VPPmaxBetween [VPPmin, VPPmax] in the range of, then saying
Bright adjustment has expected effect, meets expected condition, can carry out the measurement of related data.
Fig. 5 is a kind of outer optical path signal amplitude of the interior optical path phase compensating method embodiment based on laser ranging of the present invention
Signal when less than minimum voltage peak-to-peak value adjusts flow chart.
Fig. 5 reflects when outer optical path signal amplitude is less than minimum voltage peak-to-peak value VPPminWhen, guarantee interior optical path signal amplitude
No more than maximum voltage peak-to-peak value VPPmaxUnder conditions of, it is adjusted by increasing avalanche diode voltage, if outer optical path signal
Amplitude is still less than minimum voltage peak-to-peak value VPPmin, by the power of optical path laser diode in reducing, make interior optical path signal width
It is worth close to minimum voltage peak-to-peak value VPPmin, then optical path signal amplitude is not more than maximum voltage peak-to-peak value VPP in guaranteeingmax's
Under the conditions of, continue growing avalanche diode voltage.
It is described when the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value VPP referring to Fig. 5minWhen, pass through increasing
Add the avalanche diode voltage and/or reduce the interior optical path laser diode power and adjusts the interior optical path signal amplitude,
The outer optical path signal amplitude is adjusted by increasing the avalanche diode voltage, makes the interior optical path signal amplitude and described outer
Optical path signal amplitude falls in the maximum voltage peak-to-peak value VPPmaxWith the minimum voltage peak-to-peak value VPPminBetween [VPPmin,
VPPmax], it specifically includes：
Step 501：Judge whether the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value VPPmin, obtain
Four judging results；When the 4th judging result indicates that the outer optical path signal amplitude is not less than the minimum voltage peak-to-peak value
VPPminWhen, terminate measurement；When the 4th judging result indicates that the outer optical path signal amplitude is less than minimum voltage peak peak
Value VPPminWhen, the interior optical path signal amplitude and the outer optical path signal width are adjusted by increasing the avalanche diode voltage
Value makes the interior optical path signal amplitude be equal to maximum voltage peak-to-peak value VPPmax；
During actual measurement, it will generally guarantee that the voltage of the avalanche diode of inside and outside optical path is equal, otherwise be not easy
Offset the unequal caused phase difference of voltage of the avalanche diode of inside and outside optical path.Therefore in the set-up procedure need to adjust simultaneously
The voltage of the avalanche diode of outer optical path (receive in type, and inside and outside optical path shares an avalanche diode, changes the snowslide by double bills
Diode voltage is equal to while adjusting interior optical path signal amplitude and outer optical path signal amplitude；And in double double receipts types of hair, inside and outside light
Respectively there is an avalanche diode on road, needs the voltage to the avalanche diode of inside and outside optical path at this time while being adjusted, in guarantee
The voltage of the avalanche diode of outer optical path keeps identical).Increased degree is that the interior optical path signal amplitude is made to be equal to maximum electricity
Voltage crest peak value VPPmax, which is that optical path signal peak value is in maximum voltage peak-to-peak value VPP within meetingmaxWith minimum voltage peak
Peak value VPPminBetween [VPPmin, VPPmax] in the case where can it is increased utmostly, to increase outer optical path to the full extent
Signal amplitude makes in outer optical path signal amplitude maximum degree close to maximum voltage peak-to-peak value VPPmaxWith minimum voltage peak-to-peak value
VPPminBetween [VPPmin, VPPmax] range.
Step 502：Obtain the interior optical path phase of measurement, the interior optical path phase delay before being changed power；
Step 503：Judge whether the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value VPPmin, obtain
Five judging results；When the 5th judging result indicates that the outer optical path signal amplitude is equal to the minimum voltage peak-to-peak value
VPPminWhen, terminate measurement；When the 5th judging result indicates that the outer optical path signal amplitude is less than minimum voltage peak peak
Value VPPminWhen, the interior optical path signal amplitude is adjusted by reducing the interior optical path laser diode power, makes the interior optical path
Signal amplitude is not more than the minimum voltage peak-to-peak value VPPmin；
The step is after the adjustment by avalanche diode, and outer optical path signal amplitude is still less than minimum voltage peak peak
Value VPPminIn the case where the adjustment that carries out.Reduce interior optical path signal amplitude by optical path laser diode power in reducing, protects
Optical path signal amplitude is in maximum voltage peak-to-peak value VPP in demonstrate,provingmaxWith minimum voltage peak-to-peak value VPPminBetween [VPPmin, VPPmax]
In the case where reduce to the full extent in optical path signal amplitude.The step is intended to reduce interior optical path signal amplitude, the purpose is to for
It is adjusted again by avalanche diode voltage is increased.Step 501 increases avalanche diode to the full extent
Voltage, since interior optical path signal amplitude increases to highest within the allowable range, so cannot be further continued for increasing by two pole of snowslide
The voltage of pipe.Step 403 reduces interior optical path signal amplitude again, makes avalanche diode voltage can continue to increase, to continue
Increase outer optical path signal amplitude.
Step 504：The outer optical path signal amplitude and described is further increased by increasing the avalanche diode voltage
Interior optical path signal amplitude makes the interior optical path signal amplitude be equal to the maximum voltage peak-to-peak value VPPmax；
In reducing to the full extent in step 503 after optical path signal amplitude, so that the voltage of avalanche diode is again
Having can be with increased condition.The step 504 increases the voltage of avalanche diode again, so that outer optical path signal amplitude is in step
Continue to increase after rapid 501 adjusting, certainly interior optical path signal amplitude, which can be also followed by, to be increased.Optical path signal amplitude is full in guaranteeing
Foot is in maximum voltage peak-to-peak value VPPmaxWith minimum voltage peak-to-peak value VPPminBetween [VPPmin, VPPmax] under conditions of, maximum journey
Increase avalanche diode voltage on degree, to increase outer optical path signal amplitude to the full extent, makes outer optical path signal amplitude maximum
Close to maximum voltage peak-to-peak value VPP in degreemaxWith minimum voltage peak-to-peak value VPPminBetween [VPPmin, VPPmax] range.
Step 505：Judge whether the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value VPPmin, obtain
Six judging results；When the 6th judging result indicates that the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value
VPPminWhen, it is determined as error handle, issues error handle signal and terminate to measure；Described in the 6th judging result expression
Outer optical path signal amplitude is not less than the minimum voltage peak-to-peak value VPPminWhen, obtain interior optical path phase delay, the interior optical path of measurement
Phase and outer optical path phase, the interior optical path phase and change after interior optical path phase delay, change power after being changed power
Outer optical path phase after power records measurement result and terminates to measure；
After the adjustment of step 501~504, outer optical path signal amplitude has been added to maximum, if outer light at this time
Road signal amplitude is still less than minimum voltage peak-to-peak value VPPmin, and minimum voltage peak-to-peak value VPP cannot be fallen inminAnd maximum voltage
Peak-to-peak value VPPmaxBetween [VPPmin, VPPmax] in the range of, then can only illustrate that outer optical path signal is too weak, so that outer optical path is believed
Number amplitude very little, cannot increase to maximum voltage peak-to-peak value VPP by this methodmaxWith minimum voltage peak-to-peak value VPPminBetween
[VPPmin, VPPmax] in the range of.However, if outer optical path signal amplitude is after the adjustment of step 501~504
Fall in minimum voltage peak-to-peak value VPPminWith maximum voltage peak-to-peak value VPPmaxBetween [VPPmin, VPPmax] in the range of, then saying
Bright adjustment has expected effect, meets expected condition, can carry out the measurement of related data.
Optionally, inside and outside the calculating optical path true phase difference Δ βR, specifically include：
When the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value VPPmaxOr the outer optical path signal amplitude is small
In the minimum voltage peak-to-peak value VPPmaxWhen, the outer optical path phase beta after changing powerePld2Subtract the interior optical path after changing power
Phase betaiPld2Inside and outside optical path phase difference β after being changed powerPld2=βePld2-βiPld2；
Interior optical path phase delay θ after changing poweriPld2Subtract the interior optical path phase delay θ before changing poweriPld1It obtains
Interior optical path phase-delay difference Δ θ=θiPld2-θiPld1；
Inside and outside optical path phase difference β after changing powerPld2In addition interior optical path phase-delay difference Δ θ obtains the inside and outside light
The true phase difference Δ β on roadR=Δ βPld2+Δθ。
Optionally, inside and outside the calculating optical path true phase difference Δ βR, specifically include：
When the outer optical path signal amplitude is between the maximum voltage peak-to-peak value VPPmaxWith the minimum voltage peak-to-peak value
VPPminBetween [VPPmin, VPPmax] when, determine the true phase difference Δ β of the inside and outside optical pathRFor the phase of the inside and outside optical path
Poor Δ β.
Optionally, the true phase difference Δ β according to the inside and outside optical pathRDistance value D is calculated, is specifically included：
The distance value
Fig. 6 is a kind of system construction drawing of the interior optical path Phase Compensation System embodiment based on laser ranging of the present invention.
Referring to Fig. 6, a kind of interior optical path Phase Compensation System based on laser ranging, including：
Control module 601 makes interior optical path signal amplitude between maximum voltage peak peak for adjusting the voltage of avalanche diode
Between value and minimum voltage peak-to-peak value；Obtain outer optical path signal amplitude；By the outer optical path signal amplitude and the maximum voltage
Peak-to-peak value and the minimum voltage peak-to-peak value compare；When the outer optical path signal amplitude is between the maximum voltage peak-to-peak value
When between the minimum voltage peak-to-peak value, the phase difference of the inside and outside optical path of measurement is obtained；When the outer optical path signal amplitude is big
When the maximum voltage peak-to-peak value or the outer optical path signal amplitude are less than the minimum voltage peak-to-peak value, by adjusting snowslide
Diode voltage and/or interior optical path laser diode power adjust the interior optical path signal amplitude, by adjusting avalanche diode
Voltage adjusts the outer optical path signal amplitude, make the interior optical path signal amplitude and the outer optical path signal amplitude fall in it is described most
Between big voltage peak-to-peak value and the minimum voltage peak-to-peak value；The true phase for calculating inside and outside optical path is poor；According to the inside and outside light
The true phase difference on road calculates distance value；
Measurement module 602, for measuring outer optical path signal amplitude, interior optical path signal amplitude, interior optical path phase, outer optical path phase
Position, interior optical path phase delay, and send the measurements to the control module 601；
Adjustment module 603, under the control of the control module 601, adjust the avalanche diode voltage and
The power of the interior optical path laser diode.
Optionally, the control module 601 includes：
First control unit 604, for judging whether the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value,
Obtain the first judging result；When first judging result indicates that the outer optical path signal amplitude is not more than the maximum voltage peak
When peak value, terminate measurement；When first judging result indicates that the outer optical path signal amplitude is greater than maximum voltage peak peak
When value, the interior optical path signal amplitude and the outer optical path signal amplitude are adjusted by reducing the avalanche diode voltage, is made
The interior optical path signal amplitude is equal to minimum voltage peak-to-peak value；The interior optical path phase of measurement is obtained, it is interior before being changed power
Optical path phase delay；Judge whether the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, obtains the second judgement knot
Fruit；When second judging result indicates that the outer optical path signal amplitude is not more than the maximum voltage peak-to-peak value, terminate to survey
Amount；When second judging result indicates that the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, pass through increase
The interior optical path laser diode power adjusts the interior optical path signal amplitude, make the interior optical path signal amplitude be equal to it is described most
Big voltage peak-to-peak value；In the case where the interior optical path signal amplitude is not less than the minimum voltage peak-to-peak value, by reducing institute
It states avalanche diode voltage and further decreases the outer optical path signal amplitude and the interior optical path signal amplitude；Judge the outer light
Whether road signal amplitude is greater than the maximum voltage peak-to-peak value, obtains third judging result；When the third judging result indicates
When the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, it is determined as error handle, issues error handle signal simultaneously
Terminate measurement；When the third judging result indicates that the outer optical path signal amplitude is not more than the maximum voltage peak-to-peak value,
Interior optical path phase delay, interior optical path phase and the outer optical path phase of measurement are obtained, the interior optical path phase after being changed power is prolonged
Late, the outer optical path phase after interior optical path phase and change power after changing power, recording measurement result simultaneously terminates to measure；
Second control unit 605, for judging whether the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value,
Obtain the 4th judging result；When the 4th judging result indicates that the outer optical path signal amplitude is not less than the minimum voltage peak
When peak value, terminate measurement；When the 4th judging result indicates that the outer optical path signal amplitude is less than minimum voltage peak peak
When value, the interior optical path signal amplitude and the outer optical path signal amplitude are adjusted by increasing the avalanche diode voltage, is made
The interior optical path signal amplitude is equal to maximum voltage peak-to-peak value；The interior optical path phase of measurement is obtained, it is interior before being changed power
Optical path phase delay；Judge whether the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, obtains the 5th judgement knot
Fruit；When the 5th judging result indicates that the outer optical path signal amplitude is not less than the minimum voltage peak-to-peak value, terminate to survey
Amount；When the 5th judging result indicates that the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, pass through reduction
The interior optical path laser diode power adjusts the interior optical path signal amplitude, make the interior optical path signal amplitude be equal to it is described most
Small voltage peak-to-peak value；In the case where the interior optical path signal amplitude is not more than the maximum voltage peak-to-peak value, by increasing institute
It states avalanche diode voltage and further increases the outer optical path signal amplitude and the interior optical path signal amplitude；Judge the outer light
Whether road signal amplitude is less than the minimum voltage peak-to-peak value, obtains the 6th judging result；When the 6th judging result indicates
When the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, it is determined as error handle, issues error handle signal simultaneously
Terminate measurement；When the 6th judging result indicates that the outer optical path signal amplitude is not less than the minimum voltage peak-to-peak value,
Interior optical path phase delay, interior optical path phase and the outer optical path phase of measurement are obtained, the interior optical path phase after being changed power is prolonged
Late, the outer optical path phase after interior optical path phase and change power after changing power, recording measurement result simultaneously terminates to measure；
Third control unit 606, for being greater than the maximum voltage peak-to-peak value or described when the outer optical path signal amplitude
When outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, the outer optical path phase after change power is subtracted after changing power
Interior optical path phase be changed the inside and outside optical path phase difference after power；Interior optical path phase delay after change power is subtracted and is changed
Interior optical path phase delay before Variable power obtains interior optical path phase-delay difference；Inside and outside optical path phase difference after change power is added
The true phase that interior optical path phase-delay difference obtains the inside and outside optical path is poor；
4th control unit 607, for when the outer optical path signal amplitude is between the maximum voltage peak-to-peak value and described
When between minimum voltage peak-to-peak value, determine that the true phase difference of the inside and outside optical path is the phase difference of the inside and outside optical path.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (8)
1. a kind of interior optical path phase compensating method based on laser ranging, which is characterized in that including：
The voltage for adjusting avalanche diode, make interior optical path signal amplitude between maximum voltage peak-to-peak value and minimum voltage peak-to-peak value it
Between；
Obtain outer optical path signal amplitude；
The outer optical path signal amplitude is compared with the maximum voltage peak-to-peak value and the minimum voltage peak-to-peak value；
When the outer optical path signal amplitude is between the maximum voltage peak-to-peak value and the minimum voltage peak-to-peak value, obtain
The phase difference of the inside and outside optical path of measurement；
When the outer optical path signal amplitude be greater than the maximum voltage peak-to-peak value or the outer optical path signal amplitude be less than it is described most
When small voltage peak-to-peak value, the interior optical path is adjusted by adjusting avalanche diode voltage and/or interior optical path laser diode power
Signal amplitude adjusts the outer optical path signal amplitude by adjusting avalanche diode voltage, make the interior optical path signal amplitude and
The outer optical path signal amplitude is fallen between the maximum voltage peak-to-peak value and the minimum voltage peak-to-peak value；
The true phase for calculating inside and outside optical path is poor；
Distance value is calculated according to the true phase difference of the inside and outside optical path.
2. the method according to claim 1, wherein described when the outer optical path signal amplitude is greater than the maximum
When voltage peak-to-peak value or the outer optical path signal amplitude are less than the minimum voltage peak-to-peak value, by adjusting avalanche diode voltage
And/or interior optical path laser diode power adjusts the interior optical path signal amplitude, adjusts institute by adjusting avalanche diode voltage
Outer optical path signal amplitude is stated, the interior optical path signal amplitude and the outer optical path signal amplitude is made to fall in maximum voltage peak peak
Between value and the minimum voltage peak-to-peak value, specifically include：
When the outer optical path signal amplitude be greater than the maximum voltage peak-to-peak value when, by reduce avalanche diode voltage and/or
Optical path laser diode power adjusts the interior optical path signal amplitude in increasing；By reducing described in the adjusting of avalanche diode voltage
Outer optical path signal amplitude makes the interior optical path signal amplitude and the outer optical path signal amplitude fall in the maximum voltage peak-to-peak value
Between the minimum voltage peak-to-peak value；
When the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, by increasing the avalanche diode voltage
And/or reduce the interior optical path laser diode power and adjust the interior optical path signal amplitude, by increasing by two pole of snowslide
Tube voltage adjusts the outer optical path signal amplitude, falls in the interior optical path signal amplitude and the outer optical path signal amplitude described
Between maximum voltage peak-to-peak value and the minimum voltage peak-to-peak value.
3. according to the method described in claim 2, it is characterized in that, described when the outer optical path signal amplitude is greater than the maximum
When voltage peak-to-peak value, the interior light is adjusted by optical path laser diode power in reducing avalanche diode voltage and/or increasing
Road signal amplitude；The outer optical path signal amplitude is adjusted by reducing avalanche diode voltage, makes the interior optical path signal amplitude
And the outer optical path signal amplitude is fallen between the maximum voltage peak-to-peak value and the minimum voltage peak-to-peak value, is specifically included：
Judge whether the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, obtains the first judging result；When described
When first judging result indicates that the outer optical path signal amplitude is not more than the maximum voltage peak-to-peak value, terminate measurement；When described
When first judging result indicates that the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, by reducing the snowslide two
Pole pipe voltage adjusts the interior optical path signal amplitude and the outer optical path signal amplitude, is equal to the interior optical path signal amplitude most
Small voltage peak-to-peak value；
Obtain the interior optical path phase of measurement, the interior optical path phase delay before being changed power；
Judge whether the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, obtains the second judging result；When described
When second judging result indicates that the outer optical path signal amplitude is not more than the maximum voltage peak-to-peak value, terminate measurement；When described
When second judging result indicates that the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, by increasing the interior optical path
Laser diode power adjusts the interior optical path signal amplitude, and the interior optical path signal amplitude is made to be equal to maximum voltage peak peak
Value；
In the case where the interior optical path signal amplitude is not less than the minimum voltage peak-to-peak value, by reducing by two pole of snowslide
Tube voltage further decreases the outer optical path signal amplitude and the interior optical path signal amplitude；
Judge whether the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, obtains third judging result；When described
When third judging result indicates that the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, it is determined as error handle, sends out
It makes mistake and handles signal and terminate to measure；When the third judging result indicates the outer optical path signal amplitude no more than described in most
When big voltage peak-to-peak value, the interior optical path phase delay, interior optical path phase and outer optical path phase of measurement are obtained, after being changed power
Interior optical path phase delay, change power after interior optical path phase and change power after outer optical path phase, record measurement result
And terminate to measure.
4. according to the method described in claim 2, it is characterized in that, described when the outer optical path signal amplitude is less than the minimum
When voltage peak-to-peak value, adjusted by increasing the avalanche diode voltage and/or reducing the interior optical path laser diode power
The interior optical path signal amplitude adjusts the outer optical path signal amplitude by increasing the avalanche diode voltage, makes in described
Optical path signal amplitude and the outer optical path signal amplitude fall in the maximum voltage peak-to-peak value and the minimum voltage peak-to-peak value it
Between, it specifically includes：
Judge whether the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, obtains the 4th judging result；When described
When 4th judging result indicates that the outer optical path signal amplitude is not less than the minimum voltage peak-to-peak value, terminate measurement；When described
When 4th judging result indicates that the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, by increasing the snowslide two
Pole pipe voltage adjusts the interior optical path signal amplitude and the outer optical path signal amplitude, is equal to the interior optical path signal amplitude most
Big voltage peak-to-peak value；
Obtain the interior optical path phase of measurement, the interior optical path phase delay before being changed power；
Judge whether the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, obtains the 5th judging result；When described
When 5th judging result indicates that the outer optical path signal amplitude is not less than the minimum voltage peak-to-peak value, terminate measurement；When described
When 5th judging result indicates that the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, by reducing the interior optical path
Laser diode power adjusts the interior optical path signal amplitude, and the interior optical path signal amplitude is made to be equal to minimum voltage peak peak
Value；
In the case where the interior optical path signal amplitude is not more than the maximum voltage peak-to-peak value, by increasing by two pole of snowslide
Tube voltage further increases the outer optical path signal amplitude and the interior optical path signal amplitude；
Judge whether the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, obtains the 6th judging result；When described
When 6th judging result indicates that the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, it is determined as error handle, sends out
It makes mistake and handles signal and terminate to measure；When the 6th judging result indicates the outer optical path signal amplitude not less than described in most
When small voltage peak-to-peak value, the interior optical path phase delay, interior optical path phase and outer optical path phase of measurement are obtained, after being changed power
Interior optical path phase delay, change power after interior optical path phase and change power after outer optical path phase, record measurement result
And terminate to measure.
5. according to claim 1, method described in any one of 3,4, which is characterized in that optical path is true inside and outside the calculating
Reality potential difference, specifically includes：
When the outer optical path signal amplitude be greater than the maximum voltage peak-to-peak value or the outer optical path signal amplitude be less than it is described most
When small voltage peak-to-peak value, after the interior optical path phase that the outer optical path phase after changing power subtracts after changing power is changed power
Inside and outside optical path phase difference；
The interior optical path phase delay that interior optical path phase delay after changing power subtracts before changing power obtains interior optical path phase and prolongs
It is poor late；
Inside and outside optical path phase difference after changing power obtains the true phase of the inside and outside optical path plus interior optical path phase-delay difference
Difference.
6. specifically being wrapped the method according to claim 1, wherein the true phase of optical path is poor inside and outside the calculating
It includes：
When the outer optical path signal amplitude is between the maximum voltage peak-to-peak value and the minimum voltage peak-to-peak value, determine
The true phase difference of the inside and outside optical path is the phase difference of the inside and outside optical path.
7. a kind of interior optical path Phase Compensation System based on laser ranging, which is characterized in that including：
Control module makes interior optical path signal amplitude between maximum voltage peak-to-peak value and most for adjusting the voltage of avalanche diode
Between small voltage peak-to-peak value；Obtain outer optical path signal amplitude；By the outer optical path signal amplitude and the maximum voltage peak-to-peak value
It is compared with the minimum voltage peak-to-peak value；When the outer optical path signal amplitude is between the maximum voltage peak-to-peak value and described
When between minimum voltage peak-to-peak value, the phase difference of the inside and outside optical path of measurement is obtained；Described in being greater than when the outer optical path signal amplitude
When maximum voltage peak-to-peak value or the outer optical path signal amplitude are less than the minimum voltage peak-to-peak value, by adjusting avalanche diode
Voltage and/or interior optical path laser diode power adjust the interior optical path signal amplitude, by adjusting avalanche diode voltage tune
The outer optical path signal amplitude is saved, the interior optical path signal amplitude and the outer optical path signal amplitude is made to fall in the maximum voltage
Between peak-to-peak value and the minimum voltage peak-to-peak value；The true phase for calculating inside and outside optical path is poor；According to the true of the inside and outside optical path
Real phase difference calculating distance value；
Measurement module, for measuring outer optical path signal amplitude, interior optical path signal amplitude, interior optical path phase, outer optical path phase, interior light
Road phase delay, and send the measurements to the control module；
Adjustment module, under the control of the control module, adjust the avalanche diode voltage and the interior optical path
The power of laser diode.
8. system according to claim 7, which is characterized in that the control module includes：
First control unit obtains for judging whether the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value
One judging result；When first judging result indicates that the outer optical path signal amplitude is not more than the maximum voltage peak-to-peak value
When, terminate measurement；When first judging result indicates that the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value,
The interior optical path signal amplitude and the outer optical path signal amplitude are adjusted by reducing the avalanche diode voltage, is made in described
Optical path signal amplitude is equal to minimum voltage peak-to-peak value；Obtain the interior optical path phase of measurement, the interior optical path phase before being changed power
Position delay；Judge whether the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, obtains the second judging result；Work as institute
When stating the second judging result indicates the outer optical path signal amplitude no more than the maximum voltage peak-to-peak value, terminate measurement；+ work as institute
When stating the second judging result indicates that the outer optical path signal amplitude is greater than the maximum voltage peak-to-peak value, by increasing the interior light
Road laser diode power adjusts the interior optical path signal amplitude, and the interior optical path signal amplitude is made to be equal to the maximum voltage peak
Peak value；In the case where the interior optical path signal amplitude is not less than institute+state minimum voltage peak-to-peak value, passing through reduces the snowslide two
Pole pipe voltage further decreases the outer optical path signal amplitude and the interior optical path signal amplitude；Judge the outer optical path signal width
Whether value is greater than the maximum voltage peak-to-peak value, obtains third judging result；When the third judging result indicates the outer light
When road signal amplitude is greater than the maximum voltage peak-to-peak value, it is determined as error handle, issue error handle signal and terminates to measure；
When the third judging result indicates that the outer optical path signal amplitude is not more than the maximum voltage peak-to-peak value, measurement is obtained
Interior optical path phase delay, interior optical path phase and outer optical path phase, interior optical path phase delay, change power after being changed power
Interior optical path phase afterwards and the outer optical path phase after change power, recording measurement result simultaneously terminates to measure；
Second control unit obtains for judging whether the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value
Four judging results；When the 4th judging result indicates that the outer optical path signal amplitude is not less than the minimum voltage peak-to-peak value
When, terminate measurement；When the 4th judging result indicates that the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value,
The interior optical path signal amplitude and the outer optical path signal amplitude are adjusted by increasing the avalanche diode voltage, is made in described
Optical path signal amplitude is equal to maximum voltage peak-to-peak value；Obtain the interior optical path phase of measurement, the interior optical path phase before being changed power
Position delay；Judge whether the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, obtains the 5th judging result；Work as institute
When stating the 5th judging result indicates the outer optical path signal amplitude not less than the minimum voltage peak-to-peak value, terminate measurement；Work as institute
When stating the 5th judging result indicates that the outer optical path signal amplitude is less than the minimum voltage peak-to-peak value, by reducing the interior light
Road laser diode power adjusts the interior optical path signal amplitude, and the interior optical path signal amplitude is made to be equal to the minimum voltage peak
Peak value；In the case where the interior optical path signal amplitude is not more than the maximum voltage peak-to-peak value, by increasing the snowslide two
Pole pipe voltage further increases the outer optical path signal amplitude and the interior optical path signal amplitude；Judge the outer optical path signal width
Whether value is less than the minimum voltage peak-to-peak value, obtains the 6th judging result；When the 6th judging result indicates the outer light
When road signal amplitude is less than the minimum voltage peak-to-peak value, it is determined as error handle, issue error handle signal and terminates to measure；
When the 6th judging result indicates that the outer optical path signal amplitude is not less than the minimum voltage peak-to-peak value, measurement is obtained
Interior optical path phase delay, interior optical path phase and outer optical path phase, interior optical path phase delay, change power after being changed power
Interior optical path phase afterwards and the outer optical path phase after change power, recording measurement result simultaneously terminates to measure；
Third control unit, for being greater than the maximum voltage peak-to-peak value or the outer optical path letter when the outer optical path signal amplitude
When number amplitude is less than the minimum voltage peak-to-peak value, the outer optical path phase after power will be changed and subtract the interior optical path after changing power
Phase is changed the inside and outside optical path phase difference after power；Interior optical path phase delay after change power is subtracted before changing power
Interior optical path phase delay obtain interior optical path phase-delay difference；Inside and outside optical path phase difference after change power is added into interior optical path phase
The true phase that position delay difference obtains the inside and outside optical path is poor；
4th control unit, for when the outer optical path signal amplitude is between the maximum voltage peak-to-peak value and the minimum voltage
When between peak-to-peak value, determine that the true phase difference of the inside and outside optical path is the phase difference of the inside and outside optical path.
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| US5760909A (en) * | 1996-03-25 | 1998-06-02 | Trimble Navigation Limited | Integrated apparatus and method for EDM and GPS surveying |
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