CN106908801B - Correlation imaging guidance method and device - Google Patents
Correlation imaging guidance method and device Download PDFInfo
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- CN106908801B CN106908801B CN201710075188.XA CN201710075188A CN106908801B CN 106908801 B CN106908801 B CN 106908801B CN 201710075188 A CN201710075188 A CN 201710075188A CN 106908801 B CN106908801 B CN 106908801B
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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
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J11/00—Measuring the characteristics of individual optical pulses or of optical pulse trains
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J1/00—Photometry, e.g. photographic exposure meter
- G01J1/42—Photometry, e.g. photographic exposure meter using electric radiation detectors
- G01J2001/4238—Pulsed light
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Abstract
The embodiment of the present invention provides a kind of relevance imaging method of guidance and device, which comprises generates structure light-pulse generator using hadamard matrix modulation pulse laser；Using the structure light-pulse generator and high speed bucket detector, m- light intensity when being obtained by spline interpolation；Point when reading described on m- light intensity is associated operation and obtains subject image；Using the subject image and it is described when m- light intensity obtain the range information of target.Above-mentioned technical proposal has the following beneficial effects: the advantages of by combining flying time technology and calculating relevance imaging technology.Relevance imaging with depth information is carried out to target, the accurately range information of target is provided for image guidance, and this imaging system has to be imaged under the low light condition of pole, not by cloud and mist interference and the advantages of high resolution, to solve the problems, such as that current image guidance provides new resolving ideas.
Description
Technical field
The present invention relates to the relevance imaging method of guidance of flying time technology more particularly to a kind of relevance imaging method of guidance
And device.
Background technique
It is at present infrared imaging guidance in the Imaging Guidance technology that aircraft terminal guidance field mainly uses and greatly develops
It is guided with laser imaging.Infrared imaging is a kind of real time scan infrared imagery technique, and detection is small between target and background
Radiation profiles image caused by error or radiation frequency difference makes aircraft lose target vulnerable to natural disturbance and human interference.Swash
The influence vulnerable to cloud, mist and flue dust is imaged in light, round-the-clock cannot use, while its imaging resolution is low, difficult under extremely weak background
With imaging, this also causes early warning distance to shorten.
Current image guidance method following points limitation: (1) image is easy by weather such as cloud and mist, haze, sleet
Interference；(2) lens photographic system traditional under remote extremely weak background can not be imaged；(3) resolution ratio is low, can not resolution ratio mesh
Mark and background.
Summary of the invention
The embodiment of the present invention provides a kind of relevance imaging method of guidance and device, to provide the accurate of target for image guidance
Range information, and overcome and be imaged under the low light condition of pole, the technical issues of vulnerable to cloud and mist interference.
On the one hand, the embodiment of the invention provides a kind of relevance imaging method of guidance, which comprises
Structure light-pulse generator is generated using hadamard matrix modulation pulse laser；
Using the structure light-pulse generator and high speed bucket detector, m- light intensity when being obtained by spline interpolation；
Point when reading described on m- light intensity is associated operation and obtains subject image；
Using the subject image and it is described when m- light intensity obtain the range information of target.
On the other hand, the embodiment of the invention provides a kind of relevance imaging guidance device, described device includes:
Modulation unit, for generating structure light-pulse generator using hadamard matrix modulation pulse laser；
Interpolating unit, for utilizing the structure light-pulse generator and high speed bucket detector, when being obtained by spline interpolation
M- light intensity；
Arithmetic element, point when for reading described on m- light intensity are associated operation and obtain subject image；
Distance acquiring unit, for using the subject image and it is described when m- light intensity obtain range-to-go
Information.
Above-mentioned technical proposal has the following beneficial effects: by combining flying time technology and calculating relevance imaging technology
Advantage.Relevance imaging with depth information is carried out to target, provides the accurately range information of target for image guidance, and
And this imaging system has and is imaged under the low light condition of pole, not by cloud and mist interference and the advantages of high resolution, to solve figure at present
As the problem of guidance provides new resolving ideas.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of relevance imaging method of guidance flow chart of the embodiment of the present invention；
Fig. 2 is a kind of relevance imaging guidance device structural schematic diagram of the embodiment of the present invention；
Fig. 3 is that single armed of the embodiment of the present invention calculates relevance imaging schematic diagram；
Fig. 4 is that pulse laser of the embodiment of the present invention emits laser pulse progress light modulation structural representation under certain frequency
Figure；
Fig. 5 is that the embodiment of the present invention is based on flying time technology relevance imaging guidance system structural block diagram；
Fig. 6 m- intensity of reflected light discrete point diagram when being the embodiment of the present invention；
Fig. 7 is the when m- light intensity figure that cubic spline of embodiment of the present invention difference obtains；
Fig. 8 is flying time technology of embodiment of the present invention schematic diagram.
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.
Flying time technology is a kind of laser ranging technique, and sensor issues modulated near infrared light, is met anti-after object
It penetrates, sensor is by calculating light transmitting and reflection interval difference or phase difference, come the distance of scenery of being taken that converts, to generate depth
Spend information.
Relevance imaging be a kind of associate feature by between two light arms be reconstructed be calculated target image at
Image space formula, with the fast development of the technologies such as quantum secret communication, quantum teleportation, quantum computer, relevance imaging technology
This has merged the technology of multiple subjects such as quantum mechanics, quantum optices, mathematics, computer science, and calculating relevance imaging is to close
Join one of imaging mode.It calculates relevance imaging and object is irradiated by structure light, collect the total light intensity and table of object reflected light
Show that the matrix correlation operation of structure light light field obtains target image, compared to traditional double light arm relevance imagings, calculates relevance imaging
Advantage be that light field is controllable, and only one light arm, it is easy to accomplish, a kind of new method of guidance can be provided.
As shown in Figure 1, being a kind of relevance imaging method of guidance flow chart of the embodiment of the present invention, which comprises
101, structure light-pulse generator is generated using hadamard matrix modulation pulse laser；
102, using the structure light-pulse generator and high speed bucket detector, m- luminous intensity is bent when being obtained by spline interpolation
Line；
103, point when reading described on m- light intensity is associated operation and obtains subject image；
104, using the subject image and it is described when m- light intensity obtain the range information of target.
Preferably, described to generate structure light-pulse generator using hadamard matrix modulation pulse laser, comprising: pulse laser hair
It is expanded first by beam expanding lens after penetrating and becomes diverging light, diverging light becomes parallel angle pencil of ray by convex lens focusing, parallel width light
The diameter range of beam is 2.5cm~4cm；Parallel angle pencil of ray is radiated at progress light field modulation, spatial light tune in spatial light modulator
Device processed is controlled by the hadamard matrix that 0-1 is formed, and hadamard matrix is expressed as AN×N, hadamard matrix is a kind of orthogonal matrix,
Meet orthogonality between row, column, the matrix size of Hadamard can only be 2n×2nSize.
Preferably, described using the structure light-pulse generator and high speed bucket detector, it is m- when being obtained by spline interpolation
Light intensity, comprising: after structure light-pulse generator is irradiated to target, reflected light is received by high speed bucket detector, and high speed bucket is visited
The reflected light total light intensity discrete point that device is changed over time in a Laser pulse time nt is surveyed, if t moment is corresponding anti-
Penetrating light overall strength is2t moment reflected light overall strength isThe reflected light overall strength that the nt moment obtains isClock synchronization is m-
Reflected light total light intensity discrete point carries out cubic spline interpolation, m- light intensity when obtaining；
Wherein, the cubic spline interpolation formula are as follows:
In formula,M- light when k is
Intensity curve, k=1,2,3,4 indicate four measurements, laser one bundle of pulsed laser of every transmitting, a corresponding hadamard matrix
A corresponding coincidence measurement, coincidence measurement can all obtain m- light intensity k at one each time.
Preferably, the point when reading is described on m- light intensity is associated operation and obtains subject image, wraps
It includes:
T ' the moment is more corresponding in m- light intensity when taking, luminous intensity B'k, utilize reflected light overall strength B'kWith
Modulate the hadamard matrix of laserIt is associated with operation, obtains subject image G2, mathematics computing model are as follows:
In formula,For the Hadamard-modulated matrix that kth time measurement uses, B'kFor in k curve t ' moment reflected light it is total
Ensemble average is sought in intensity,<>expression, and K is pendulous frequency, and pendulous frequency is 4 in example, calculated result G2Be size be 2 × 2
Matrix, withSize it is identical, be the gray level image of target.
Preferably, it is described using the subject image and it is described when m- light intensity obtain the range information of target, wrap
It includes:
It utilizes the total light intensity at t ' moment to be associated with operation and obtains target image G2, when m- light intensity k in, laser hair
Penetrating the time is t1, by t'-t1It obtains utilizing formula from Laser emission to the time interval Δ t for receiving target reflecting light
Find out target image G2The range information of middle target,
In formula, s is the distance of target, and c is the light velocity.
Corresponding to above method embodiment, as shown in Fig. 2, being a kind of relevance imaging guidance device structure of the embodiment of the present invention
Schematic diagram, described device include:
Modulation unit 21, for generating structure light-pulse generator using hadamard matrix modulation pulse laser；
Interpolating unit 22 is obtained for utilizing the structure light-pulse generator and high speed bucket detector by spline interpolation
When m- light intensity；
Arithmetic element 23, point when for reading described on m- light intensity are associated operation and obtain subject image；
Distance acquiring unit 24, for using the subject image and it is described when m- light intensity obtain target away from
From information.
Preferably, the modulation unit 21, becomes to send out specifically for expanding by beam expanding lens first after pulse laser emission
Astigmatism, diverging light become parallel angle pencil of ray by convex lens focusing, and the diameter range of parallel angle pencil of ray is 2.5cm~4cm；In parallel
Angle pencil of ray is radiated at progress light field modulation in spatial light modulator, and spatial light modulator is controlled by the hadamard matrix that 0-1 is formed,
Hadamard matrix is expressed as AN×N, hadamard matrix is a kind of orthogonal matrix, meets orthogonality, the square of Hadamard between row, column
Battle array size can only be 2n×2nSize.
Preferably, the interpolating unit 22, after being irradiated to target specifically for structure light-pulse generator, reflected light is by high speed
Bucket detector receive, the reflected light total light intensity that high speed bucket detector is changed over time in a Laser pulse time nt from
Scatterplot, if the corresponding reflected light overall strength of t moment is2t moment reflected light overall strength isThe reflected light that the nt moment obtains
Overall strength isThe m- reflected light total light intensity discrete point of clock synchronization carries out cubic spline interpolation, m- light intensity when obtaining；
Wherein, the cubic spline interpolation formula are as follows:
In formula,M- light when k is
Intensity curve, k=1,2,3,4 indicate four measurements, laser one bundle of pulsed laser of every transmitting, a corresponding hadamard matrixA corresponding coincidence measurement, coincidence measurement can all obtain m- light intensity k at one each time.
Preferably, the arithmetic element 23, the t ' moment is more corresponding in m- light intensity when specifically for taking, light
Intensity is B'k, utilize reflected light overall strength B'kWith the hadamard matrix of modulation laserIt is associated with operation, obtains subject image G2,
Its mathematics computing model are as follows:
In formula,For the Hadamard-modulated matrix that kth time measurement uses, B'kFor in k curve t ' moment reflected light it is total
Ensemble average is sought in intensity,<>expression, and K is pendulous frequency, and pendulous frequency is 4 in example, calculated result G2Be size be 2 × 2
Matrix, withSize it is identical, be the gray level image of target.
Preferably, the distance acquiring unit 24 is specifically used for obtaining target using the total light intensity association operation at t ' moment
Image G2, when m- light intensity k in, laser emission time t1, by t'-t1It obtains from Laser emission to receiving target
The time interval Δ t of reflected light, utilizes formula
Find out target image G2The range information of middle target,
In formula, s is the distance of target, and c is the light velocity.
Above-mentioned technical proposal of the embodiment of the present invention has the following beneficial effects: is closed by combining flying time technology and calculating
The advantages of joining imaging technique.Relevance imaging with depth information is carried out to target, provides the accurate of target for image guidance
Range information, and this imaging system has and is imaged under the low light condition of pole, not by cloud and mist interference and the advantages of high resolution,
To solve the problems, such as that current image guidance provides new resolving ideas.
Above-mentioned technical proposal of the embodiment of the present invention is described in detail below in conjunction with application example:
The embodiment of the present invention proposes a kind of relevance imaging method of guidance based on flying time technology, can be with association
Principle carries out image guidance to object, has highly sensitive, anti-interference and provides the advantage of target range information, pulse laser hair
Pulsed beams are penetrated to spatial light modulator, the laser beam through ovennodulation irradiates object as light source, and reflected light is visited by high speed bucket
It surveys device to receive, obtains target image and range information by receiving curve, the method that the embodiment of the present invention proposes is embodied
Mode is described as follows:
As shown in figure 3, calculating relevance imaging schematic diagram for single armed of the embodiment of the present invention；As shown in figure 4, implementing for the present invention
Example pulse laser emits laser pulse under certain frequency and carries out light modulation structural schematic diagram；As shown in figure 5, implementing for the present invention
Example is based on flying time technology relevance imaging guidance system structural block diagram, and the guidance system of proposition includes Laser Modulation, reflected light
It receives, three processes of data processing operation.It is expanded first by beam expanding lens after pulse laser emission and becomes diverging light, diverging light warp
Excess convexity lens focus becomes parallel angle pencil of ray.The diameter range of parallel angle pencil of ray is 2.5cm~4cm.Identification light is whether flat
The method of light is whether the size of observation laser facula remains unchanged.Parallel angle pencil of ray, which is radiated in spatial light modulator, to carry out
Light field modulation.Common spatial light modulator includes digital micro-mirror device or phase type modulator.Space light modulation in system
Device is controlled by the hadamard matrix that 0-1 is formed.Hadamard matrix is a kind of orthogonal matrix, meets orthogonality between row, column, breathes out
Matrix size up to horse can only be 2n×2nSize, that is, hadamard matrix can only take 2 × 2,4 × 4,8 × 8 ... sizes.And
And the hadamard matrix of each size is unique.Here the hadamard matrix A that size is 4 × 4 is provided4×4As example.
Obtain A4×4Afterwards, every a line is rewritten into the matrix of 2 × 2 sizes, 4 rows obtain 42 × 2 modulation matrixs, with
A4×4The first row for, we obtain matrix
Spatial light modulator existsControl under angle pencil of ray laser is modulated, become pulse structure light field, pulse knot
Structure laser is irradiated on object as light source, and at the end of first laser pulse, the modulation matrix for changing spatial light is
Broad beam laser light field also changes, and so on, four laser pulses are controlled with four hadamard matrixs, and 4 are carried out to object
Secondary association measurement.In practical guidance system, used hadamard matrix is generally 4096 × 4096 sizes, by every a line square
Battle array is write as 64 × 64 control matrix, carries out 4096 coincidence measurements.
After pulse structure laser irradiation to target, reflected light is received by high speed bucket detector, and high speed bucket detector is general
It is made by photodiode and high-speed collection card, temporal resolution is up to 3ns.High speed bucket detector is in a Laser pulse time
The reflected light total light intensity discrete point changed over time in nt, as shown in fig. 6, m- reflective light intensity when being the embodiment of the present invention
Discrete point diagram is spent, if the corresponding reflected light overall strength of t moment is2t moment reflected light overall strength isThe nt moment obtains
Reflected light overall strength isCubic spline interpolation, m- luminous intensity when obtaining are carried out to time-reflected light total light intensity discrete point
Curve, as shown in fig. 7, the when m- light intensity figure obtained for cubic spline of embodiment of the present invention difference.
Cubic spline interpolation formula are as follows:
In formula,Indicate the first derivative of curve,Indicate four measurements.Laser
One bundle of pulsed laser of every transmitting, a corresponding hadamard matrixA corresponding coincidence measurement, coincidence measurement all can each time
A time-light intensity k is obtained, 4 light intensity curves can be obtained in this example, it, will if carrying out 4096 duplex measurements
It can obtain 4096 time-light intensity curves.
Time-light intensity k shows in kth time coincidence measurement reflected light total intensity value within a burst length
Change with time relationship.Take the t ' moment in curve more corresponding, luminous intensity B'k, utilize reflected light overall strength B'kWith tune
The hadamard matrix of laser processedIt is associated with operation, available subject image G2, mathematics computing model are as follows:
In formula,For the Hadamard-modulated matrix that kth time measurement uses, B'kFor in k curve t ' moment reflected light it is total
Ensemble average is sought in intensity,<>expression, and K is pendulous frequency, and pendulous frequency is 4 in example, the calculated result G of formula (4)2It is size
For 2 × 2 matrix, withSize it is identical, be the gray level image of target, when being to obtain using 64 × 64 control matrix
Image pixel number is 64 × 64,
As shown in figure 8, being flying time technology of embodiment of the present invention schematic diagram, the total light intensity association operation at t2 moment is obtained
The total light intensity association operation of target image 1, t3 moment obtains target image 2.In time-light intensity k, Laser emission
Time is t1, pass through t2-t1And t3-t2It is available from Laser emission to the time for receiving two reflected light of target one and target
Interval of delta t1, Δ t2Utilize formula
The range information of target one and target two can be found out, in formula, s is the distance of target, and c is the light velocity.In image
During guidance, the range information for obtaining target helps to improve guidance precision.
The advantages of the present invention over the prior art are that:
1, classical record by imaging is radiation field average intensity (or phase) distribution, and quantum imaging record is radiation field point
The association of the intensity, phase and space fluctuation of cloth.Classical imaging system is first-order system, and quantum imaging is second-order system, description
The dimension of target information increased, therefore the anti-interference ability of quantum imaging is inherently better than the anti-interference energy of classical imaging
Power；
2, classical coherence imaging resolution is limited by system diffraction limit, and resolution ratio is lower；Traditional infrared imaging wavelength model
It is trapped among 10-5-10-6M, spectral response bandwidth is 10-6M magnitude, and the wave band of quantum light spectrum image-forming division rank is detailed-oriented to 10-10-10-15M, spectral resolution reach 10-10-10-13The bucket detector combination reference light of m, single photon can be imaged, quantum imaging
Radiometric resolution and the indexs such as spatial resolution be also greatly improved；
3, flying time technology can provide the range information of object, during Imaging Guidance, provide the distance of object
Information, the guidance process for after provide foundation, can be further improved guidance precision.
It should be understood that the particular order or level of the step of during disclosed are the examples of illustrative methods.Based on setting
Count preference, it should be appreciated that in the process the step of particular order or level can be in the feelings for the protection scope for not departing from the disclosure
It is rearranged under condition.Appended claim to a method is not illustratively sequentially to give the element of various steps, and not
It is to be limited to the particular order or level.
In above-mentioned detailed description, various features are combined together in single embodiment, to simplify the disclosure.No
This published method should be construed to reflect such intention, that is, the embodiment of theme claimed needs to compare
The more features of the feature clearly stated in each claim.On the contrary, as appended claims is reflected
Like that, the present invention is in the state fewer than whole features of disclosed single embodiment.Therefore, appended claims
It is hereby expressly incorporated into detailed description, wherein each claim is used as alone the individual preferred embodiment of the present invention.
For can be realized any technical staff in the art or using the present invention, above to disclosed embodiment into
Description is gone.To those skilled in the art；The various modifications mode of these embodiments will be apparent from, and this
The General Principle of text definition can also be suitable for other embodiments on the basis of not departing from the spirit and scope of the disclosure.
Therefore, the disclosure is not limited to embodiments set forth herein, but most wide with principle disclosed in the present application and novel features
Range is consistent.
Description above includes the citing of one or more embodiments.Certainly, in order to describe above-described embodiment and description portion
The all possible combination of part or method is impossible, but it will be appreciated by one of ordinary skill in the art that each implementation
Example can do further combinations and permutations.Therefore, embodiment described herein is intended to cover fall into the appended claims
Protection scope in all such changes, modifications and variations.In addition, with regard to term used in specification or claims
The mode that covers of "comprising", the word is similar to term " includes ", just as " including " solved in the claims as transitional word
As releasing.In addition, the use of any one of specification in claims term "or" being to indicate " non-exclusionism
Or ".
Those skilled in the art will also be appreciated that the various illustrative components, blocks that the embodiment of the present invention is listed
(illustrative logical block), unit and step can by electronic hardware, computer software, or both knot
Conjunction is realized.For the replaceability (interchangeability) for clearly showing that hardware and software, above-mentioned various explanations
Property component (illustrative components), unit and step universally describe their function.Such function
It can be that the design requirement for depending on specific application and whole system is realized by hardware or software.Those skilled in the art
Can be can be used by various methods and realize the function, but this realization is understood not to for every kind of specific application
Range beyond protection of the embodiment of the present invention.
Various illustrative logical blocks or unit described in the embodiment of the present invention can by general processor,
Digital signal processor, specific integrated circuit (ASIC), field programmable gate array or other programmable logic devices, discrete gate
Or transistor logic, discrete hardware components or above-mentioned any combination of design carry out implementation or operation described function.General place
Managing device can be microprocessor, and optionally, which may be any traditional processor, controller, microcontroller
Device or state machine.Processor can also be realized by the combination of computing device, such as digital signal processor and microprocessor,
Multi-microprocessor, one or more microprocessors combine a digital signal processor core or any other like configuration
To realize.
The step of method described in the embodiment of the present invention or algorithm can be directly embedded into hardware, processor execute it is soft
The combination of part module or the two.Software module can store in RAM memory, flash memory, ROM memory, EPROM storage
Other any form of storaging mediums in device, eeprom memory, register, hard disk, moveable magnetic disc, CD-ROM or this field
In.Illustratively, storaging medium can be connect with processor, so that processor can read information from storaging medium, and
It can be to storaging medium stored and written information.Optionally, storaging medium can also be integrated into the processor.Processor and storaging medium can
To be set in asic, ASIC be can be set in user terminal.Optionally, processor and storaging medium also can be set in
In different components in the terminal of family.
In one or more exemplary designs, above-mentioned function described in the embodiment of the present invention can be in hardware, soft
Part, firmware or any combination of this three are realized.If realized in software, these functions be can store and computer-readable
On medium, or it is transferred on a computer readable medium in the form of one or more instructions or code forms.Computer readable medium includes electricity
Brain storaging medium and convenient for so that computer program is allowed to be transferred to from a place telecommunication media in other places.Storaging medium can be with
It is that any general or special computer can be with the useable medium of access.For example, such computer readable media may include but
It is not limited to RAM, ROM, EEPROM, CD-ROM or other optical disc storages, disk storage or other magnetic storage devices or other
What can be used for carry or store with instruct or data structure and it is other can be by general or special computer or general or specially treated
The medium of the program code of device reading form.In addition, any connection can be properly termed computer readable medium, example
Such as, if software is to pass through a coaxial cable, fiber optic cables, double from a web-site, server or other remote resources
Twisted wire, Digital Subscriber Line (DSL) are defined with being also contained in for the wireless way for transmitting such as example infrared, wireless and microwave
In computer readable medium.The disk (disk) and disk (disc) includes compress disk, radium-shine disk, CD, DVD, floppy disk
And Blu-ray Disc, disk is usually with magnetic replicate data, and disk usually carries out optically replicated data with laser.Combinations of the above
Also it may be embodied in computer readable medium.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (6)
1. a kind of relevance imaging method of guidance, which is characterized in that the described method includes:
Structure light-pulse generator is generated using hadamard matrix modulation pulse laser；
Using the structure light-pulse generator and high speed bucket detector, m- light intensity when being obtained by spline interpolation, comprising:
After structure light-pulse generator is irradiated to target, reflected light is received by high speed bucket detector, and high speed bucket detector swashs at one
The reflected light total light intensity discrete point changed over time in optical pulse time nt, if the corresponding reflected light overall strength of t moment is2t moment reflected light overall strength isThe reflected light overall strength that the nt moment obtains isThe m- reflected light total light intensity of clock synchronization from
Scatterplot carries out cubic spline interpolation, m- light intensity when obtaining；
Wherein, the cubic spline interpolation formula are as follows:
In formula,
M- light intensity when k is, k=1,2,3,4 indicate four measurements, laser one bundle of pulsed laser of every transmitting, a corresponding hada
Horse matrixA corresponding coincidence measurement, coincidence measurement can all obtain m- light intensity k at one each time；
Point when reading described on m- light intensity is associated operation and obtains subject image, comprising:
T ' the moment is more corresponding in m- light intensity when taking, luminous intensity B'k, utilize reflected light overall strength B'kWith modulation
The hadamard matrix of laserIt is associated with operation, obtains subject image G2, mathematics computing model are as follows:
In formula, wherein G2Indicate subject image,For the Hadamard-modulated matrix that kth time measurement uses, B 'kFor t ' in k curve
Ensemble average is sought in the overall strength of moment reflected light,<>expression, and K is pendulous frequency, and pendulous frequency is 4 in example, calculated result G2
It is the matrix that size is 2 × 2, withSize it is identical, be the gray level image of target；
Using the subject image and it is described when m- light intensity obtain the range information of target.
2. relevance imaging method of guidance as described in claim 1, which is characterized in that described to be swashed using hadamard matrix modulation pulse
Light generates structure light-pulse generator, comprising:
It is expanded first by beam expanding lens after pulse laser emission and becomes diverging light, diverging light becomes parallel width by convex lens focusing
Light beam, the diameter range of parallel angle pencil of ray are 2.5cm~4cm；Parallel angle pencil of ray, which is radiated in spatial light modulator, carries out light field
Modulation, spatial light modulator are controlled by the hadamard matrix that 0-1 is formed, and hadamard matrix is expressed as AN×N, hadamard matrix is one
Orthogonal matrix is planted, meets orthogonality between row, column, the matrix size of Hadamard can only be 2n×2nSize.
3. relevance imaging method of guidance as claimed in claim 2, which is characterized in that it is described using the subject image and it is described when
M- light intensity obtains the range information of target, comprising:
It utilizes the total light intensity at t ' moment to be associated with operation and obtains target image G2, when m- light intensity k in, laser emission time
For t1, by t'-t1It obtains utilizing formula from Laser emission to the time interval Δ t for receiving target reflecting light
Find out target image G2The range information of middle target, wherein G2Indicate subject image；
In formula, s is the distance of target, and c is the light velocity.
4. a kind of relevance imaging guidance device, which is characterized in that described device includes:
Modulation unit, for generating structure light-pulse generator using hadamard matrix modulation pulse laser；
Interpolating unit, for utilizing the structure light-pulse generator and high speed bucket detector, m- light when obtaining by spline interpolation
Intensity curve, after being irradiated to target specifically for structure light-pulse generator, reflected light is received by high speed bucket detector, and high speed bucket is visited
The reflected light total light intensity discrete point that device is changed over time in a Laser pulse time nt is surveyed, if t moment is corresponding anti-
Penetrating light overall strength is2t moment reflected light overall strength isThe reflected light overall strength that the nt moment obtains isClock synchronization is m- anti-
It penetrates light total light intensity discrete point and carries out cubic spline interpolation, m- light intensity when obtaining；
Wherein, the cubic spline interpolation formula are as follows:
In formula,
M- light intensity when k is, k=1,2,3,4 indicate four measurements, laser one bundle of pulsed laser of every transmitting, a corresponding hada
Horse matrixA corresponding coincidence measurement, coincidence measurement can all obtain m- light intensity k at one each time；
Arithmetic element, point when for reading described on m- light intensity are associated operation and obtain subject image, specific to use
T ' the moment is more corresponding in m- light intensity when taking, luminous intensity B'k, utilize reflected light overall strength B'kSwash with modulation
The hadamard matrix of lightIt is associated with operation, obtains subject image G2, mathematics computing model are as follows:
In formula,For the Hadamard-modulated matrix that kth time measurement uses, B 'kFor the overall strength of t ' moment reflected light in k curve,
Ensemble average is sought in<>expression, and K is pendulous frequency, and pendulous frequency is 4 in example, calculated result G2It is the matrix that size is 2 × 2,
WithSize it is identical, be the gray level image of target；
Distance acquiring unit, for using the subject image and it is described when m- light intensity obtain the range information of target.
5. relevance imaging guidance device as claimed in claim 4, which is characterized in that
The modulation unit becomes diverging light specifically for expanding first by beam expanding lens after pulse laser emission, diverging light warp
Excess convexity lens focus becomes parallel angle pencil of ray, and the diameter range of parallel angle pencil of ray is 2.5cm~4cm；Parallel angle pencil of ray is radiated at
Light field modulation is carried out in spatial light modulator, spatial light modulator is controlled by the hadamard matrix that 0-1 is formed, hadamard matrix table
It is shown as AN×N, hadamard matrix is a kind of orthogonal matrix, meets orthogonality between row, column, the matrix size of Hadamard can only be
2n×2nSize.
6. relevance imaging guidance device as claimed in claim 5, which is characterized in that
The distance acquiring unit is specifically used for obtaining target image G using the total light intensity association operation at t ' moment2, when it is m-
In light intensity k, laser emission time t1, by t'-t1It obtains from Laser emission to the time for receiving target reflecting light
Interval of delta t utilizes formula
Find out target image G2The range information of middle target,
In formula, s is the distance of target, and c is the light velocity.
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