CN107167789A - The calibration system and method for a kind of laser radar - Google Patents
The calibration system and method for a kind of laser radar Download PDFInfo
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- CN107167789A CN107167789A CN201710335190.6A CN201710335190A CN107167789A CN 107167789 A CN107167789 A CN 107167789A CN 201710335190 A CN201710335190 A CN 201710335190A CN 107167789 A CN107167789 A CN 107167789A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000001069 Raman spectroscopy Methods 0.000 claims abstract description 67
- 230000008033 biological extinction Effects 0.000 claims description 17
- 239000000443 aerosol Substances 0.000 claims description 16
- 239000013256 coordination polymer Substances 0.000 claims description 7
- 239000005436 troposphere Substances 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims 1
- 239000005427 atmospheric aerosol Substances 0.000 description 13
- 239000002245 particle Substances 0.000 description 13
- 238000005259 measurement Methods 0.000 description 6
- 241000209094 Oryza Species 0.000 description 5
- 235000007164 Oryza sativa Nutrition 0.000 description 5
- 235000009566 rice Nutrition 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 239000007789 gas Substances 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- IJGRMHOSHXDMSA-UHFFFAOYSA-N nitrogen Substances N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 3
- 241000931526 Acer campestre Species 0.000 description 2
- 239000006185 dispersion Substances 0.000 description 2
- 230000028161 membrane depolarization Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- UHLRPXXFPYMCAE-UHFFFAOYSA-N 4-isopropylcalix[4]arene Chemical compound C1C(C=2O)=CC(C(C)C)=CC=2CC(C=2O)=CC(C(C)C)=CC=2CC(C=2O)=CC(C(C)C)=CC=2CC2=CC(C(C)C)=CC1=C2O UHLRPXXFPYMCAE-UHFFFAOYSA-N 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 229910052757 nitrogen Inorganic materials 0.000 description 1
- QJGQUHMNIGDVPM-UHFFFAOYSA-N nitrogen group Chemical group [N] QJGQUHMNIGDVPM-UHFFFAOYSA-N 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
Classifications
-
- 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
- G01S7/497—Means for monitoring or calibrating
-
- 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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/95—Lidar systems specially adapted for specific applications for meteorological use
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Investigating, Analyzing Materials By Fluorescence Or Luminescence (AREA)
Abstract
The invention discloses a kind of laser radar calibration system, the Mie scattering lidar for passing through network connection including Raman radar and with Raman radar, position the positional information of Raman radar and Mie scattering lidar, Mie scattering lidar passes through Network Capture Raman radar site information, and its air line distance with itself is calculated, the use of closest Raman radar data is calibration source；Or Raman radar is by the positional information of Network Capture Mie scattering lidar, and its air line distance with itself is calculated, the Raman radar data of itself is sent into the Mie scattering lidar to preset range as calibration source.Meanwhile, a kind of implementation method of above-mentioned calibration system is also disclosed, to improve the measurable amount accuracy of Mie scattering lidar, cost is saved.
Description
Technical field
The present invention relates to laser radar technique field, and in particular to the system of Raman radar calibration Mie scattering lidar and
Method.
Background technology
Atmospheric aerosol refers to be suspended in solid and liquid particles in air, and particulate is by absorbing and scattering too
Sun radiation and the change of earth long-wave radiation influence weather and weather.Due to natural cause and human factor, aerosol attribute
There is very big mobility over time and space, it is right the need for being studied based on global meteorological change and environmental protection aspect
The research that the observation of aerosol is included to aerosol vertical distribution needs continuous strengthen.
Laser radar is by atmospheric emission laser beam, being medium using the aerosol in air, carrying out atmospheric remote sensing spy
Survey.Because optical maser wavelength is shorter and pulse width is very narrow, thus it can realize that the high-precision high-spatial and temporal resolution in endoatmosphere is visited
Survey.
When laser is transmitted in atmospheric medium, the Rayleigh of molecule and small yardstick atmospheric aerosol particle can be produced
(Rayleigh) scattering, rice (Mie) scattering of large scale atmospheric aerosol particle, the depolarization of nonspherical particle are shaken
(Depolarization) Raman (Raman) that scattering, scattering frequency change scatters and scattering strength is than molecule Rayleigh
Scatter a variety of scattering processes such as resonance fluorescence (Resonance Fluorescence) scattering of big several order of magnitude.
Mie scattering is dispersion wavelength with a kind of elastic scattering processes of incident wavelength identical compared with formula is put in other scatterings, rice
Scattering has larger scattering section, makes Mie scattering radar echo signal generally larger, thus as atmospheric sounding aerosol point
The effective tool of cloth.
Raman scattering is inelastic scattering of the atmospheric molecule to laser, in scattering process, atmospheric molecule and laser photon
Energy exchange is carried out, dispersion wavelength is changed.Raman scattering and the vibration of molecule in itself, rotate closely related, different big
Qi leel correspond to different Raman scattering frequency displacements, therefore different atmospheric molecules can be distinguished using reflected light wavelength.Air
The most molecule of middle content is nitrogen molecular, and its content is stablized relatively in an atmosphere, it is possible to use the Raman scattering letter of nitrogen molecule
Number as other molecules or aerosol in benchmark inverting air spatial distribution.
When a laser pulse emission is into air, laser pulse is by atmospheric aerosol particle and cloud on propagation path
KPT Scatter and delustring, the atmospheric aerosol particle of the size of the rear orientation light of different height (distance) and this height (distance)
Relevant with the scattering properties of cloud particle, its backward scattered light intensity is by laser radar detection, by solving laser radar equation just
Can be with the atmospheric aerosol particle of the corresponding height of inverting (distance) and the extinction coefficient of cloud particle.
The echo equation of Mie scattering lidar is
Atmospheric backscatter echo-signals of the P (z) for receiving at z, P0For transmitting luminous power, C is system constants, α
(z) it is respectively atmospheric extinction coefficient and backscattering coefficient with β (z).
Fernald methods are most ripe, most representational one kind in Aerosol Extinction inversion algorithm, it correct
Property by substantial amounts of detection and be widely applied and confirmed.Fernald methods are by air molecule and atmospheric aerosol particle
Delustring is distinguished by.Laser radar equation is rewritten as
βaAnd β (z)m(z) it is the atmospheric aerosol particle and air molecule backscattering coefficient at z, αmAnd α (z)a
(z) it is the atmospheric aerosol and the extinction coefficient of air molecule at z.The backscattering coefficient and extinction coefficient of air molecule
Exact value can be obtained using United States standard atmosphere model and by Rayleigh scattering theory：
sa=σa(r)/βa(r) it is atmospheric aerosol delustring Back-scattering ratio, Fernald methods assume that it is constant, if known
Certain reference altitude rmAerosol backscattering coefficient, then the aerosol backscattering coefficient below reference altitude can pass through laser
Radar equation is drawn
Atmospheric aerosol delustring Back-scattering ratio is dependent on incident optical maser wavelength, the size distribution of particulate and change
Learn composition, it is assumed that it is that constant then means to assume the yardstick and chemical composition of atmospheric aerosol particle not with height change, because
This this have impact on the measurement accuracy of Mie scattering lidar.Raman lidar equation is：
λLFor laser emitting wavelength, λxFor the wavelength after gas molecule X Raman scatterings, P (λX, r) after for Raman scatterings
To echo-signal, P0(λL) be laser emitting power, C be the system constants unrelated with detection range, ε (r) be geometry it is overlapping because
Son, σxFor gas X backscattering cross, nx(r) number density of molecule for being gas X, αmol(λL, r) and αmol(λx, r) it is air
Molecule is to wavelength XLAnd λxExtinction coefficient, αaer(λL, r) and αaer(λx, r) for aerosol to wavelength XLAnd λxExtinction coefficient.
Aerosol is to laser emitting wavelength XLExtinction coefficient be
From above formula, Raman radar can be with direct solution extinction coefficient.
By Angstorm rules, the relation of Aerosol Extinction and wavelength is
The content of the invention
Therefore, the technical problem to be solved in the present invention is to overcome the measurement of Mie scattering lidar in the prior art accurate
Property poor problem, so as to provide a kind of laser radar calibration system that stable data calibration source is provided with Raman radar.
It is another object of the present invention to be to provide a kind of laser radar calibration method, to improve Mie scattering lidar
Measurement accuracy.
A kind of laser radar calibration system that the present invention is provided, including：Raman radar and pass through net with the Raman radar
The Mie scattering lidar of network connection.
Alternatively, the positional information of positioning Raman radar and Mie scattering lidar, the Mie scattering lidar passes through
Network Capture Raman radar site information, and its air line distance with itself is calculated, use closest Raman radar data
For calibration source.
Alternatively, the positional information of positioning Raman radar and Mie scattering lidar, the Raman radar is obtained by network
Take the positional information of Mie scattering lidar, and calculate its air line distance with itself, using the Raman radar data of itself as
Calibration source sends the Mie scattering lidar to preset range.
Alternatively, the Raman radar is provided with computing module and/or locating module, and the Mie scattering lidar is provided with meter
Calculate module and/or locating module.
Alternatively, the locating module is GPS, each GPS one radar IP address of correspondence.
Present invention also offers a kind of calibration method of laser radar system, comprise the following steps：
While Mie scattering lidar gathered data, a range of Raman radar gathered data is obtained in real time；
Raman radar wavelength and Mie scattering lidar wavelength, according to Angstorm rules, Mie scattering radar extinction coefficient
It is scaled：
According to Mie scattering lidar equation, the back scattering system number of Mie scattering lidar, Mie scattering can be directly obtained
Backscattering coefficient is expressed as：
Wherein, because troposphere top aerosol extinction is much smaller than atmospheric molecule delustring, CP0Can be under
Formula is determined
In the case of radar steady operation, CP0It is considered as constant；
After known backscattering coefficient, then the delustring Back-scattering ratio of different height Mie scattering lidar is expressed as：
Preserve the delustring Back-scattering ratio after calibration.
The Mie scattering lidar uses the delustring Back-scattering ratio after calibration in the calculating of follow-up extinction coefficient, directly
To calibrating next time.
Technical solution of the present invention, has the following advantages that：
Raman radar is that content is most by the use of in air and nitrogen molecule stably is as Raman scattering signal, and is made
On the basis of in inverting air other molecules or aerosol spatial distribution, its measurement accuracy is high, but cost is high, and the present invention is by rice
Scattering laser radar is combined with Raman radar, and calibration some Mie scattering laser thunders of source calibration are used as using Raman radar measured data
Reach, on the one hand, make use of Mie scattering lidar that there are stronger echo features, while further through Raman radar data
Stability and veracity improves the measurement accuracy of Mie scattering lidar, it is to avoid assume s using Fernald methodsa=σa(r)/
βa(r) think that the yardstick and chemical composition of atmospheric aerosol particle are constant with height for constant, on the other hand, use drawing
Graceful radar calibrates a range of Mie scattering lidar, has largely saved cost, improves measurement efficiency.Draw
Graceful radar accesses consolidated network with Mie scattering lidar, and the network can be the internet conducted interviews using IP address,
It can be LAN or other dedicated networks, using transmitted data on network, realize allosome remote calibration.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the calibration system overall structure diagram that the embodiment of the present invention one is provided；
Fig. 2 is the calibration flow chart for the laser radar system that the embodiment of the present invention one is provided；
Fig. 3 is the calibration flow chart for the laser radar system that the embodiment of the present invention two is provided.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
As long as in addition, technical characteristic involved in invention described below different embodiments non-structure each other
It can just be combined with each other into conflict.
Embodiment 1
It is shown in Figure 1 the invention provides a kind of laser radar calibration system, specifically include Raman radar and and Raman
Radar is by the Mie scattering lidar of network connection, Raman radar and Mie scattering lidar access consolidated network, here
Network is not limited to the internet or LAN or other dedicated networks conducted interviews using IP address.Raman radar and
Mie scattering lidar is several, in the present embodiment, sets the first Raman radar 2, the second Raman radar 3 and the 3rd Raman
Radar 4 and Mie scattering lidar 1, the second Mie scattering lidar 5 record above-mentioned all Raman radar IP address and form IP
Be equiped with GPS on address list, Raman radar, all Raman radar GPS locations are corresponded with its IP address, by IP address and
GPS lists deposit Mie scattering lidar control computer.
It is shown in Figure 2, Raman radar and Mie scattering lidar synchronous acquisition, Mie scattering lidar is with certain
Time interval inquires about Raman radar GPS lists, and calculates its air line distance with itself GPS location by computing module, inquires about
Time interval can be arranged as required to, and the present embodiment is set to 2 hours；If existing in the range of pre-determined distance closest
Data calibration source, then use its data to carry out the data calibration of Mie scattering lidar as calibration source, if in the pre-determined distance
It is interior then to terminate subsequent calibrations in the absence of Raman radar.
If determining within a preset range behind Raman radar data source, Mie scattering lidar control software by IP address with
The Raman radar control software connection of determination, Mie scattering radar obtains real-time Raman radar extinction coefficient by data-interface.If
Raman lidar wavelength and Mie scattering lidar wavelength are inconsistent, according to Angstorm rules, Mie scattering radar delustring system
Number can be scaled：
If known Mie scattering extinction coefficient, according to Mie scattering lidar equation, can the scattered laser of direct solution rice penetrate radar
Backscattering coefficient.Mie scattering backscattering coefficient is represented by：
Because troposphere top aerosol extinction is much smaller than atmospheric molecule delustring, then CP0It can be determined by following formula
In the case of radar steady operation, CP0It can be considered constant.
After known backscattering coefficient, then the delustring Back-scattering ratio of different height Mie scattering lidar can be represented
For：
The delustring Back-scattering ratio after calibration is preserved, Mie scattering lidar uses school in the calculating of follow-up extinction coefficient
Delustring Back-scattering ratio after standard, until calibrate next time.
Embodiment 2
The setting of computing module and locating module is in addition to the embodiments described above, shown in Figure 3, can also be in Raman radar
Upper setting computing module and locating module, Mie scattering lidar set locating module, Raman radar and Mie scattering lidar
Synchronous acquisition, Raman radar inquires about Mie scattering lidar GPS lists with every 2 hours intervals, and Raman radar obtains rice and dissipated
The positional information of laser radar is penetrated, and calculates its air line distance with itself, the Raman radar data of itself is regard as calibration source
Send to the Mie scattering lidar in preset range.If there is Mie scattering lidar in the range of pre-determined distance, by it
Data are sent to Mie scattering lidar as calibration source, are terminated if Mie scattering lidar is not present in the pre-determined distance
Subsequent calibrations.Specific calibration method be the same as Example 1, herein no longer Ao Shu.
Obviously, above-described embodiment is only intended to clearly illustrate example, and the not restriction to embodiment.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of change or
Change.There is no necessity and possibility to exhaust all the enbodiments.And the obvious change thus extended out or
Among changing still in the protection domain of the invention.
Claims (7)
1. a kind of laser radar calibration system, it is characterised in that including：Raman radar and connected with the Raman radar by network
The Mie scattering lidar connect.
2. laser radar calibration system according to claim 1, it is characterised in that positioning Raman radar and Mie scattering laser
The positional information of radar, the Mie scattering lidar calculates itself and itself by Network Capture Raman radar site information
Air line distance, using closest Raman radar data be calibration source.
3. laser radar calibration system according to claim 1, it is characterised in that positioning Raman radar and Mie scattering laser
The positional information of radar, the Raman radar by the positional information of Network Capture Mie scattering lidar, and calculate itself and from
The air line distance of body, the Mie scattering lidar to preset range is sent as calibration source using the Raman radar data of itself.
4. the laser radar calibration system according to Claims 2 or 3, it is characterised in that the Raman radar is provided with calculating
Module and/or locating module, the Mie scattering lidar are provided with computing module and/or locating module.
5. laser radar calibration system according to claim 4, it is characterised in that the locating module is GPS, each
GPS one radar IP address of correspondence.
6. a kind of calibration method of laser radar system, it is characterised in that comprise the following steps：
While Mie scattering lidar gathered data, a range of Raman radar gathered data is obtained in real time；
Raman radar wavelength and Mie scattering lidar wavelength, according to Angstorm rules, the conversion of Mie scattering radar extinction coefficient
For：
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According to Mie scattering lidar equation, the back scattering system number of Mie scattering lidar can be directly obtained, Mie scattering is backward
Scattering coefficient is expressed as：
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Wherein, because troposphere top aerosol extinction is much smaller than atmospheric molecule delustring, CP0It can be determined by following formula
In the case of radar steady operation, CP0It is considered as constant；
After known backscattering coefficient, then the delustring Back-scattering ratio of different height Mie scattering lidar is expressed as：
Preserve the delustring Back-scattering ratio after calibration.
7. the calibration method of laser radar according to claim 6, it is characterised in that the Mie scattering lidar is rear
Using the delustring Back-scattering ratio after calibration in the calculating of continuous extinction coefficient, until calibrate next time.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109596594A (en) * | 2018-11-27 | 2019-04-09 | 南京信息工程大学 | Based on Raman-Mie scattering lidar Aerosol Extinction inversion method |
| CN110108672A (en) * | 2019-04-12 | 2019-08-09 | 南京信息工程大学 | A kind of Aerosol Extinction inversion method based on deepness belief network |
| CN110850393A (en) * | 2019-10-31 | 2020-02-28 | 无锡中科光电技术有限公司 | Laser radar data verification method |
| CN112596046A (en) * | 2020-12-23 | 2021-04-02 | 北京遥测技术研究所 | High-precision calibration processing method for satellite-borne atmospheric sounding laser radar |
| CN114815905A (en) * | 2022-06-29 | 2022-07-29 | 中国航空工业集团公司沈阳飞机设计研究所 | Multi-machine continuous landing guide control method and device |
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