CN111830523B - Photoelectric detector flight time correction system and method - Google Patents
Photoelectric detector flight time correction system and method Download PDFInfo
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- CN111830523B CN111830523B CN202010720220.7A CN202010720220A CN111830523B CN 111830523 B CN111830523 B CN 111830523B CN 202010720220 A CN202010720220 A CN 202010720220A CN 111830523 B CN111830523 B CN 111830523B
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- 238000012360 testing method Methods 0.000 claims abstract description 17
- 230000001360 synchronised effect Effects 0.000 claims abstract description 13
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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
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
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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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4861—Circuits for detection, sampling, integration or read-out
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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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
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- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention discloses a system and a method for correcting the flight time of a photoelectric detector, wherein the system comprises a signal source, a laser, an optical attenuator and a test system which are sequentially connected, wherein the signal source acts on the laser to drive the laser to emit laser, the optical attenuator is used for adjusting an optical signal input into the test system, the test system is used for correcting and outputting the flight time, the optical attenuator is adjusted by respectively connecting a synchronous signal of the signal source, an analog signal of a detector module and a digital signal of a time identification module into a first channel, a second channel and a third channel of an oscilloscope, corresponding first time intervals and pulse widths under a plurality of analog signal amplitudes are recorded, data fitting is carried out on a plurality of groups of data according to a fitting correction model, and the corrected flight time is corrected and output so as to solve the problem of time wander errors caused by the change of circuit characteristics under fixed threshold values due to the change of signal amplitudes and slopes.
Description
Technical Field
The invention relates to the technical field of optical ranging, in particular to a flight time correction system and method for a photoelectric detector.
Background
The laser ranging measures the flight time of laser to a target, calculates the target distance by utilizing the light velocity, has the advantages of long acting distance, high speed, strong interference resistance and the like, and is widely applied to the fields of military, aerospace, mapping, traffic, three-dimensional imaging and the like.
The time of flight of the laser is usually divided into phase and pulse methods, wherein the pulse method is widely used because of its simple system and long range of action, and the principle is that the time of the main wave signal and the echo signal is directly distinguished, and then the time interval between the two time points is measured. However, the pulse method has the disadvantage that the accuracy is easily affected by time discrimination, i.e. echo signals with different signal amplitudes drift from time to time due to the change of the slope under a fixed threshold. At present, the moment discrimination error caused by amplitude is mainly a constant ratio threshold method, namely the discrimination moment always takes a specific proportion of the amplitude of an echo signal as a threshold value, the effect obtained by the method is influenced by a constant ratio threshold circuit, and when the signal is saturated, the circuit delay characteristic is changed, so that tiny moment wander can occur.
Disclosure of Invention
The invention aims to solve the technical problem of providing a system and a method for correcting the flight time of a photoelectric detector, so as to solve the problem of moment wandering errors caused by signal amplitude and slope changes and circuit characteristic changes after signal saturation when the flight time is measured by adopting a pulse method.
In order to solve the problems, the invention provides a photoelectric detector flight time correction system, which comprises a signal source, a laser, an optical attenuator and a test system, wherein the signal source, the laser, the optical attenuator and the test system are sequentially connected, the signal source is used for generating a pulse signal to drive the laser to emit laser, the laser inputs an optical signal into the test system through the optical attenuator, and the test system is used for correcting and outputting flight time;
the test system comprises a detector module, a time identification module, a timing module and a microprocessor which are sequentially connected, wherein the detector module is used for receiving an optical signal input by an optical attenuator, converting the optical signal into an analog signal and then transmitting the analog signal to the time identification module, the time identification module is used for receiving the analog signal transmitted by the detector module, converting the analog signal into a digital signal and transmitting the digital signal to the timing module, simultaneously triggering the timing module to count time, and the timing module is used for measuring and outputting a time interval and a corresponding pulse width, and the microprocessor is used for correcting the original flight time according to the pulse width.
Furthermore, the photoelectric detector flight time correction system further comprises an oscilloscope, and the synchronous signal of the signal source, the analog signal of the detector module and the digital signal of the time identification module are respectively connected into a first channel, a second channel and a third channel of the oscilloscope.
In another aspect of the present invention, a method for correcting a time of flight of a photo-detector is provided, including any one of the above-mentioned time of flight correction systems, and specifically including the following steps:
s1: the signal source, the detector module and the moment identification module are connected to an oscilloscope;
s2: the signal source drives the laser to generate an optical signal, and simultaneously triggers the timing module to start timing;
s3: the optical signal is input into a detector module through an optical attenuator, and the detector module detects the optical signal and converts the optical signal into an analog signal and then inputs the analog signal into a moment identification module;
s4: changing the intensity of the optical signal input to the detector module, and further adjusting the amplitude of the analog signal to enable the amplitude of the analog signal to be equal to a preset amplitude;
s5: the time identification module converts the received analog signals into digital signals, the digital signals are input into the timing module, the timing module is triggered to finish the first timing at the first time, the first time interval is recorded, the timing module finishes the second timing at the second time, the second time interval is recorded, and the pulse width of the corresponding digital signals is measured;
s6: changing the amplitude of the analog signals, and recording corresponding first time intervals and pulse widths under the amplitudes of a plurality of analog signals;
s7: and the microprocessor obtains a slope fitting correction model and a circuit delay fitting correction model by utilizing the first time interval, the second time interval and the pulse width measured by the timing module according to the fitting correction model so as to correct the original flight time and output the corrected flight time.
Further, the timing module starts timing at the rising edge of the synchronous signal, finishes first timing at the rising edge of the digital signal, and finishes second timing at the falling edge of the digital signal; the first time interval is a time interval between a rising edge of the synchronous signal and a rising edge of the digital signal, and the second time interval is a time interval between the rising edge and the falling edge of the synchronous signal.
Furthermore, the fitting correction model adopts a least square method inverse polynomial model, and the model formula is as follows:
Y＝AX 2 +BX+C；
wherein: x is the pulse width ω of the digital signal, Y is the walk time Δt, A, B, C of the digital signal, and is the model parameter to be solved.
The invention has the beneficial effects that: the method comprises the steps of adjusting an optical attenuator, changing the amplitude of an analog signal, recording corresponding first time intervals and pulse widths under multiple groups of different analog signal amplitudes, dividing the multiple groups of first time intervals and pulse widths into two groups according to the signal before saturation and after saturation, respectively carrying out data fitting on data before saturation and data after saturation by adopting a least square inverse polynomial model, and continuously optimizing model parameters to obtain a final slope correction model and a circuit delay correction model so as to reduce moment wandering errors caused by signal amplitude change and circuit delay characteristic change after signal saturation under a fixed threshold value.
Drawings
FIG. 1 is a system block diagram of a preferred embodiment of a photodetector time-of-flight correction system according to the present invention.
Fig. 2 is a system configuration diagram of the test system of fig. 1.
FIG. 3 is a flow chart of a method for calibrating the time of flight of a photodetector according to the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
In the description of the present invention, unless otherwise specified and defined, it should be noted that the term "connected" should be interpreted broadly, and for example, it may be a mechanical connection or an electrical connection, or may be a connection between two elements, or may be a direct connection or may be an indirect connection through an intermediary, and it will be understood to those skilled in the art that the specific meaning of the term may be interpreted according to the specific circumstances.
Referring to fig. 1, a system structure diagram of a preferred embodiment of a system for correcting a flight time of a photo detector according to the present invention includes a signal source 1, a laser 2, an optical attenuator 3, a test system 4 and an oscilloscope 5, which are sequentially connected, wherein the signal source 1 generates a pulse signal to drive the laser 2 to emit laser light, and the pulse signal generated by the signal source 1 is connected to a first channel of the oscilloscope 5 to be used as a synchronization signal when correcting the flight time. The laser 2 inputs an optical signal into the optical attenuator 3 through an optical fiber. The optical attenuator 3 receives the optical signal and inputs the optical signal into the test system 4. The test system 4 is used to correct the time of flight. The oscilloscope 5 is used to observe and record the walk time and pulse width.
Referring to fig. 2, the test system 4 includes a detector module 41, a time identifying module 42, a timing module 43 and a microprocessor 44, which are sequentially connected, wherein the detector module 41 receives an optical signal input by the optical attenuator 3, converts the optical signal into an analog signal, and then inputs the analog signal to the time identifying module 42, and the analog signal is connected to the second channel of the oscilloscope 5. The time discrimination module 42 receives the analog signal transmitted by the detector module 41, converts the analog signal into a digital signal, and transmits the digital signal to the timing module 43, so as to trigger the timing module to time, and the digital signal is connected to the third channel of the oscilloscope 5. The timing module 43 counts once at the first time and the second time respectively in the same pulse period to obtain a corresponding first time interval and a corresponding second time interval, and further obtain the pulse width of the digital signal; the microprocessor 44 corrects the original time of flight based on the pulse width and outputs the corrected time of flight.
As shown in fig. 3, a flowchart of a method for correcting the flight time of a photodetector according to the present invention specifically includes the following steps:
s1: and (5) building a platform.
The signal source 1, the detector module 41 and the time discrimination module 42 are connected to the oscilloscope 5 so as to observe and record the walk-in time Δt and the pulse width ω of the digital signal at the corresponding time in the oscilloscope 5.
S2: an optical signal is generated.
The signal source 1 sends pulse signals and drives the laser 2 to generate optical signals; and simultaneously, the pulse signal is used as a synchronous signal to be connected into a first channel of the oscilloscope 5, and the timing module 43 is triggered to start timing when the synchronous signal rises.
S3: the optical signal is detected.
The optical signal is input into the detector module 41 through the optical attenuator 3, the detector module 41 receives the optical signal, converts the optical signal into an analog signal, and then inputs the analog signal into the time identification module 42, and simultaneously, the analog signal is connected into the second channel of the oscilloscope 5.
S4: the optical attenuator is adjusted.
Adjusting the optical attenuator 3 to change the intensity of the optical signal input to the detector module 41, thereby changing the amplitude of the analog signal such that the amplitude of the analog signal is equal to a preset amplitude V; the preset amplitude V is the minimum level triggering the moment identification module 42, and the range of the preset amplitude V is:
V t ＜V＜V ih
wherein: v (V) t For the threshold level of the time discrimination module 42, V ih To ensure that the minimum input high allowed when the time discrimination module 42 outputs high.
S5: data is acquired.
The time discrimination module 42 converts the received analog signal into a digital signal, and then inputs the digital signal into the timing module 43, and triggers the timing module 43 to perform timing, and simultaneously, the digital signal is connected to the third channel of the oscilloscope 5. Within the same pulse period, the timing module 43 at the first time t 1 When the first time is finished, i.e. the first time is finished at the rising edge of the digital signal, and the first time interval deltat is recorded 1 First time interval deltat 1 For the time interval between the rising edge of the synchronous signal and the rising edge of the digital signal, the first time interval Deltat 1 Namely the excursion time delta t of the digital signal under the amplitude of the analog signal; the timing module 43 at the second time t 2 A second timing is completed, namely, the second timing is completed at the falling edge of the digital signal, and a second time interval delta t is recorded 2 A second time interval deltat 2 For rising of synchronous signalThe time interval from the edge to the falling edge of the digital signal is calculated to obtain the pulse width omega of the digital signal under the amplitude of the analog signal. The pulse width ω is then: ω=Δt 2 -Δt 1 。
S6: and repeatedly acquiring data.
The optical attenuator 3 is adjusted to change the amplitude of the analog signal, and step S5 is repeated to record the corresponding run-out time Δt and pulse width ω for a plurality of different analog signal amplitudes.
S7: and (5) data processing.
Dividing the running time Δt and the pulse width ω measured in step S5 into two groups according to the pulse signal before saturation and after saturation, respectively writing each group of the running time Δt and the pulse width ω into the microprocessor 44, and performing data fitting on the running time Δt and the pulse width ω measured by the timing module 43 according to a fitting correction model by the microprocessor 44 to obtain a slope fitting correction model and a circuit delay fitting correction model so as to correct the original flight time and output the corrected flight time.
The fitting correction model adopts a least square method inverse polynomial model, and the model formula is as follows:
Y＝AX 2 +BX+C
wherein: x is the pulse width ω of the digital signal, Y is the walk time Δt, A, B, C of the digital signal, and is the model parameter to be solved.
The measured travel time Δt and pulse width ω are written into the microprocessor 44, which microprocessor 44 derives A, B, C values from a fitting equation, and by measuring multiple sets of travel time Δt and pulse width ω, the values of A, B, C are continually optimized such that |AX 2 The value of +BX+C-Y| reaches the minimum, and then a slope fitting correction model and a circuit delay fitting correction model are obtained to correct the moment wandering error caused by slope change before the pulse signal is saturated and correct the moment wandering error caused by circuit delay characteristic change after the pulse signal is saturated respectively.
Thus, the resulting slope fit correction model is:
Y 1 ＝0.0018X 1 2 +0.3979X 1 +24.017
the circuit delay fitting correction model is:
Y 2 ＝4E-05X 2 2 +0.0303X 2 +6.5274
it is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The foregoing is only the embodiments of the present invention, and therefore, the patent scope of the invention is not limited thereto, and all equivalent structures made by the description of the invention and the accompanying drawings are directly or indirectly applied to other related technical fields, which are all within the scope of the invention.
Claims (5)
1. A photodetector time-of-flight correction system, characterized by: the system comprises a signal source, a laser, an optical attenuator and a test system which are sequentially connected, wherein the signal source is used for generating a pulse signal to drive the laser to emit laser, the laser inputs an optical signal into the test system through the optical attenuator, and the test system is used for correcting and outputting the flight time;
the test system comprises a detector module, a time discrimination module, a timing module and a microprocessor which are sequentially connected, wherein the detector module is used for receiving an optical signal input by an optical attenuator, converting the optical signal into an analog signal and then transmitting the analog signal to the time discrimination module, the time discrimination module is used for receiving the analog signal transmitted by the detector module, converting the analog signal into a digital signal and transmitting the digital signal to the timing module, and triggering the timing module to time at the same time, the timing module is used for measuring and outputting a time interval and a corresponding pulse width, and the microprocessor is used for correcting the original flight time according to the pulse width;
the optical attenuator is further used for changing the intensity of the optical signal input to the detector module, so as to change the amplitude of the analog signal, and the amplitude of the analog signal is equal to the preset amplitude; the preset amplitude is the minimum level triggering the moment identification module, and is between the threshold level of the moment identification module and the minimum input high level allowed when the moment identification module outputs the high level;
the microprocessor is also used for dividing the measured wandering time and pulse width into two groups according to the pulse signal before saturation and after saturation, respectively writing the wandering time and pulse width of each group into the microprocessor, and carrying out data fitting on the wandering time and pulse width measured by the timing module according to the fitting correction model to obtain a slope fitting correction model and a circuit delay fitting correction model so as to correct the original flight time and output the corrected flight time.
2. A photodetector time of flight correction system as claimed in claim 1, wherein: the photoelectric detector flight time correction system further comprises an oscilloscope, and the synchronous signal of the signal source, the analog signal of the detector module and the digital signal of the time identification module are respectively connected into a first channel, a second channel and a third channel of the oscilloscope.
3. A method of photodetector time-of-flight correction comprising the photodetector time-of-flight correction system of claim 2, comprising the steps of:
s1: the signal source, the detector module and the moment identification module are connected to an oscilloscope;
s2: the signal source drives the laser to generate an optical signal, and simultaneously triggers the timing module to start timing;
s3: the optical signal is input into a detector module through an optical attenuator, and the detector module detects the optical signal and converts the optical signal into an analog signal and then inputs the analog signal into a moment identification module;
s4: changing the intensity of the optical signal input to the detector module, and further adjusting the amplitude of the analog signal to enable the amplitude of the analog signal to be equal to a preset amplitude;
s5: the time identification module converts the received analog signals into digital signals, the digital signals are input into the timing module, the timing module is triggered to finish the first timing at the first time, the first time interval is recorded, the timing module finishes the second timing at the second time, the second time interval is recorded, and the pulse width of the corresponding digital signals is measured;
s6: changing the amplitude of the analog signals, and recording corresponding first time intervals and pulse widths under the amplitudes of a plurality of analog signals;
s7: and the microprocessor obtains a slope fitting correction model and a circuit delay fitting correction model by utilizing the first time interval, the second time interval and the pulse width measured by the timing module according to the fitting correction model so as to correct the original flight time and output the corrected flight time.
4. A method of time-of-flight correction for a photodetector according to claim 3, wherein: the timing module starts timing at the rising edge of the synchronous signal, finishes first timing at the rising edge of the digital signal, and finishes second timing at the falling edge of the digital signal; the first time interval is a time interval between a rising edge of the synchronous signal and a rising edge of the digital signal, and the second time interval is a time interval between the rising edge and the falling edge of the synchronous signal.
5. A method of time-of-flight correction for a photodetector according to claim 3, wherein: the fitting correction model adopts a least square method inverse polynomial model, and the model formula is as follows:
Y＝AX 2 +BX+C；
wherein: x is the pulse width ω of the digital signal, Y is the walk time Δt, A, B, C of the digital signal, and is the model parameter to be solved.
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