CN106707291B - Double-frequency linear frequency modulation coherent wind lidar - Google Patents
Double-frequency linear frequency modulation coherent wind lidarDownload PDFInfo
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- CN106707291B CN106707291BCN201611130242.8ACN201611130242ACN106707291BCN 106707291 BCN106707291 BCN 106707291BCN 201611130242 ACN201611130242 ACN 201611130242ACN 106707291 BCN106707291 BCN 106707291B
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- 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
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G—PHYSICS
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- 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
- G01S17/34—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及雷达领域，特别是涉及一种双频线性调频相干测风激光雷达。The invention relates to the field of radar, in particular to a dual-frequency linear frequency modulation coherent wind-measuring laser radar.
背景技术Background technique
随着光学技术的发展，激光雷达由于其方向性好、时间分辨率和空间分辨率高、精度高、非接触测量等优势，在导航、航天、气象要素测量与大气环境监测等领域发展迅速，应用广泛。With the development of optical technology, lidar has developed rapidly in the fields of navigation, aerospace, meteorological element measurement and atmospheric environment monitoring due to its advantages of good directionality, high temporal and spatial resolution, high precision, and non-contact measurement. Wide range of applications.
激光雷达是以发射激光束探测目标的位置、速度等特征量的雷达系统，主要由激光发射机、光学接收机和信息处理系统等组成。通过向目标发射探测信号(激光束)，然后将接收到的从目标反射回来的信号(目标回波)与发射信号进行相应处理后，就可获得目标的有关信息，如目标距离、方位、高度、速度、姿态、甚至形状等参数，从而实现对飞机、导弹等目标进行探测、跟踪和识别。Lidar is a radar system that emits a laser beam to detect the position, velocity and other characteristic quantities of a target. It is mainly composed of a laser transmitter, an optical receiver and an information processing system. By transmitting a detection signal (laser beam) to the target, and then processing the received signal (target echo) reflected from the target and the transmitted signal, relevant information about the target, such as target distance, azimuth, and altitude, can be obtained. , speed, attitude, and even shape and other parameters, so as to detect, track and identify targets such as aircraft and missiles.
双频相干激光雷达是一种通过相干拍频检测双波长多普勒频移的差异反演被测目标速度的雷达体制，需提取信息从多普勒频移转变为多普勒频移差值，抑制了由散斑噪声造成的多普勒频移谱线展宽，极大降低了大气湍流引起的散斑噪声对测速分辨率的影响，并将信号处理环节从光路部分转变为技术成熟的电路部分。可实现近距离或远距离精确测速，在远程或便携式探测，大气遥感等领域有很大的应用潜能。但双频相干激光雷达难以实现同时测距测速。另一方面，传统激光雷达应用线性调频技术后距离分辨力极高，在近距离精密探测、三维距离成像和太空舱自主安全软着陆中有重要应用，但非线性调频和大气湍流效应严重影响了其系统实际测距分辨率和测速分辨率。Dual-frequency coherent lidar is a radar system that inverts the velocity of the measured target by detecting the difference between the Doppler frequency shifts of dual wavelengths by coherent beat frequencies. , suppressing the Doppler frequency shift spectrum line broadening caused by speckle noise, greatly reducing the impact of speckle noise caused by atmospheric turbulence on velocity measurement resolution, and changing the signal processing link from the optical path to a mature circuit part. It can realize short-range or long-distance accurate speed measurement, and has great application potential in remote or portable detection, atmospheric remote sensing and other fields. However, dual-frequency coherent lidar is difficult to achieve simultaneous ranging and speed measurement. On the other hand, the traditional lidar has extremely high range resolution after applying linear frequency modulation technology, and has important applications in close-range precision detection, 3D range imaging, and autonomous and safe soft landing of space capsules, but nonlinear frequency modulation and atmospheric turbulence effects seriously affect The actual ranging resolution and speed measurement resolution of its system.
发明内容SUMMARY OF THE INVENTION
本发明实施例的目的是提供一种双频线性调频相干测风激光雷达，可同时实现对被测目标测距测速、并极大降低非线性扫频和大气湍流效应对测速分辨率的影响，距离分辨力和速度分辨力高，抗电磁干扰且无距离盲区。The purpose of the embodiments of the present invention is to provide a dual-frequency chirp coherent wind-measuring lidar, which can simultaneously measure the distance and velocity of the measured target, and greatly reduce the influence of nonlinear frequency sweeping and atmospheric turbulence effects on the velocity measurement resolution, High range resolution and speed resolution, anti-electromagnetic interference and no distance blind spots.
为解决上述技术问题，本发明实施例提供以下技术方案：In order to solve the above-mentioned technical problems, the embodiments of the present invention provide the following technical solutions:
本发明实施例提供了一种双频线性调频相干测风激光雷达，包括：An embodiment of the present invention provides a dual-frequency chirp coherent wind measurement lidar, including:
光源模块、调制光模块、发射接收模块、探测模块以及信号处理模块；Light source module, modulated light module, transmitting and receiving module, detection module and signal processing module;
其中，所述光源模块用于出射预设波长的双波长激光光束；Wherein, the light source module is used for emitting a dual-wavelength laser beam of preset wavelength;
所述调制光模块用于对所述双波长激光光束进行线性调制，以出射双频线性调频连续波激光光束；The modulating optical module is used for linearly modulating the dual-wavelength laser beam to emit a dual-frequency chirp continuous wave laser beam;
所述发射接收模块用于将所述双频线性调频连续波激光光束分为第一激光光束以及第二激光光束，所述第一激光光束入射至探测目标，所述第二激光光束作为本振光光束；并接收所述探测目标后向散射回波信号；The transmitting and receiving module is used to divide the dual-frequency chirp continuous wave laser beam into a first laser beam and a second laser beam, the first laser beam is incident on the detection target, and the second laser beam is used as a local oscillator light beam; and receive the backscattered echo signal of the detection target;
所述探测模块用于对所述本振光光束与所述回波信号进行光学拍频，以获得多普勒频移信息，同时将光信号转换成电信号；The detection module is used to perform optical beat frequency on the local oscillator light beam and the echo signal to obtain Doppler frequency shift information, and at the same time convert the optical signal into an electrical signal;
所述信号处理模块用于对所述电信号进行微波拍频，以获得多普勒频移差值信息；The signal processing module is configured to perform microwave beat frequency on the electrical signal to obtain Doppler frequency shift difference information;
其中，所述调制光模块包括调制器及信号发生器；所述调制器用于对所述双波长激光光束进行线性调频；所述信号发生器与所述调制器相连，用于为所述调制器提供调制信号，且所述信号发生器为三角波信号发生器以产生三角波调制信息；Wherein, the modulated optical module includes a modulator and a signal generator; the modulator is used to perform linear frequency modulation on the dual-wavelength laser beam; the signal generator is connected to the modulator and is used for the modulator providing a modulation signal, and the signal generator is a triangular wave signal generator to generate triangular wave modulation information;
所述信号处理模块包括采集卡以及数据处理装置；所述采集卡与平衡探测器相连，用于采集信号；所述数据处理装置与所述采集卡相连，用于对所述电信号进行微波拍频，以获得双频多普勒频移差值信号，以此反演目标的距离与速度信息，以消除非线性调频效应产生的误差项。The signal processing module includes an acquisition card and a data processing device; the acquisition card is connected to the balance detector for signal acquisition; the data processing device is connected to the acquisition card for microwave sampling of the electrical signal In order to obtain the dual-frequency Doppler frequency shift difference signal, the distance and velocity information of the target can be inverted to eliminate the error term caused by the nonlinear frequency modulation effect.
优选的，所述调制光模块还包括：Preferably, the modulated optical module further includes:
滤波器，所述滤波器与所述调制器相连，用于对所述双频线性调频连续波激光光束中的背景噪声进行滤除。and a filter, which is connected to the modulator and used for filtering the background noise in the dual-frequency chirp continuous wave laser beam.
优选的，所述调制光模块还包括：Preferably, the modulated optical module further includes:
激光放大器，所述激光放大器与所述滤波器相连，用于将过滤后的双频线性调频连续波激光光束的能量进行放大。A laser amplifier, which is connected with the filter, is used for amplifying the energy of the filtered dual-frequency chirp continuous wave laser beam.
优选的，所述发射接收模块包括：Preferably, the transmitting and receiving module includes:
第一分束器、第二分束器、光学收发装置以及环形器；a first beam splitter, a second beam splitter, an optical transceiver and a circulator;
其中，所述第一分束器与所述激光放大器相连，用于将所述双频线性调频连续波激光光束分为所述第一激光光束以及所述第二激光光束；Wherein, the first beam splitter is connected with the laser amplifier, and is used for dividing the dual-frequency chirp continuous wave laser beam into the first laser beam and the second laser beam;
所述环形器分别与所述光学收发装置、所述第一分束器以及所述The circulator is respectively connected with the optical transceiver, the first beam splitter and the
第二分束器相连，用于将所述第一激光光束入射至所述光学收发装置，将所述第二激光光束入射至所述第二分束器；并将所述回波信号入射到所述第二分束器；The second beam splitter is connected, and is used for entering the first laser beam into the optical transceiver, entering the second laser beam into the second beam splitter; and entering the echo signal into the the second beam splitter;
所述光学收发装置用于将所述第一激光光束入射至所述探测目标上，并接收与所述探测目标相互作用后散射的回波信号并将其入射至所述环形器；The optical transceiver is used for injecting the first laser beam onto the detection target, and receiving echo signals scattered after interacting with the detection target and incident on the circulator;
所述第二分束器用于将所述回波信号与所述第二激光光束入射至所述探测模块。The second beam splitter is used to inject the echo signal and the second laser beam into the detection module.
优选的，所述探测模块包括：所述平衡探测器，所述平衡探测器与所述第二分束器相连，用于对所述第二激光光束与所述回波信号进行光学拍频，以获得双频多普勒频移信号。Preferably, the detection module includes: the balance detector, which is connected to the second beam splitter and used to perform optical beat frequency on the second laser beam and the echo signal, to obtain a dual-frequency Doppler-shifted signal.
优选的，所述发射接收模块还包括：Preferably, the transmitting and receiving module further includes:
衰减器，分别与所述第一分束器与所述第二分束器相连，用于对所述第二激光光束进行衰减，经衰减后的光束作为所述本振光光束。The attenuator is connected to the first beam splitter and the second beam splitter respectively, and is used for attenuating the second laser beam, and the attenuated beam is used as the local oscillator light beam.
优选的，所述数据处理装置包括：Preferably, the data processing device includes:
DSP数据处理单元以及计算机。DSP data processing unit and computer.
本发明实施例提供了一种双频线性调频相干测风激光雷达，包括光源模块、调制光模块、发射接收模块、探测模块以及信号处理模块；通过对双波长激光光束经调制光模块进行线性调制转化为双频线性调频连续波激光光束；将其中一束光作为本振光光束，另一束光用于与探测目标相互作用并经探测目标散射回波信号；通过对本振光光束与回波信号进行相干拍频以获得双波长多普勒频移差值信息。The embodiment of the present invention provides a dual-frequency linear frequency modulation coherent wind-measuring laser radar, which includes a light source module, a modulated optical module, a transmitting and receiving module, a detection module and a signal processing module; the dual-wavelength laser beam is linearly modulated by the modulated optical module. It is converted into a dual-frequency chirp continuous wave laser beam; one of the beams is used as the local oscillator light beam, and the other beam is used to interact with the detection target and scatter the echo signal by the detection target; The signal is coherently beat frequency to obtain dual-wavelength Doppler shift difference information.
本申请技术方案采用双波长线性调频激光，系统结构和信号处理部分相比现有技术较为简单；由于大气湍流对两个调频光束影响相同，故降低了因探测目标不平整和大气湍流效应引起的散斑噪声的影响；由于采用线性连续波作为相干光束，故其距离分辨力高、距离无盲区；此外，可实现对探测目标同时进行测距测速。在光学拍频的基础上进一步进行微波拍频以获得多普勒频移差值信息，由于任何同时作用在两个频率不同的线性调频信号的相位上的误差项，都不会影响微波拍频所得的差频信号的相位，故解决了扫频非线性问题；由于差频信号的频率相比日常生活中常用的中频信号的频率要低的多，故一定程度上可抗电磁干扰。The technical solution of the present application adopts dual-wavelength linear frequency modulation laser, and the system structure and signal processing part are relatively simple compared with the prior art; since atmospheric turbulence has the same effect on the two frequency-modulated beams, it reduces the detection target unevenness and atmospheric turbulence effect. The influence of speckle noise; because the linear continuous wave is used as the coherent beam, the distance resolution is high, and the distance has no blind spot; in addition, the range and speed measurement of the detection target can be realized at the same time. On the basis of the optical beat frequency, the microwave beat frequency is further carried out to obtain the Doppler frequency shift difference information. Since any error term acting on the phase of the two chirp signals with different frequencies at the same time will not affect the microwave beat frequency The phase of the obtained beat frequency signal solves the nonlinear problem of sweep frequency; because the frequency of the beat frequency signal is much lower than that of the intermediate frequency signal commonly used in daily life, it can resist electromagnetic interference to a certain extent.
附图说明Description of drawings
为了更清楚的说明本发明实施例或现有技术的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单的介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following will briefly introduce the accompanying drawings used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only For some embodiments of the present invention, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.
图1为本发明实施例提供的双频线性调频相干测风激光雷达在一种具体实施方式的结构框图；FIG. 1 is a structural block diagram of a specific implementation manner of a dual-frequency chirp coherent wind-measuring lidar provided by an embodiment of the present invention;
图2为本发明实施例提供的一个示例性应用场景的系统结构示意图；FIG. 2 is a schematic diagram of a system structure of an exemplary application scenario provided by an embodiment of the present invention;
图3为图2中双频线性调频相干测风激光雷达的工作原理示意图。FIG. 3 is a schematic diagram of the working principle of the dual-frequency chirp coherent wind lidar in FIG. 2 .
具体实施方式Detailed ways
为了使本技术领域的人员更好地理解本发明方案，下面结合附图和具体实施方式对本发明作进一步的详细说明。显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make those skilled in the art better understand the solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are only some, but not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”“第四”等是用于区别不同的对象，而不是用于描述特定的顺序。此外术语“包括”和“具有”以及他们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可包括没有列出的步骤或单元。The terms "first", "second", "third", "fourth", etc. in the description and claims of the present application and the above drawings are used to distinguish different objects, rather than to describe a specific order. . Furthermore, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or elements is not limited to the listed steps or elements, but may include unlisted steps or elements.
请参阅图1，图1为本发明实施例提供的一种具体实施方式下的双频线性调频相干测风激光雷达结构框图。Please refer to FIG. 1. FIG. 1 is a structural block diagram of a dual-frequency chirp coherent wind measurement lidar according to a specific implementation manner provided by an embodiment of the present invention.
双频线性调频相干测风激光雷达可包括光源模块101、调制光模块102、发射接收模块103、探测模块104以及信号处理模块105。The dual-frequency chirp coherent wind lidar may include a
光源模块101用于出射预设波长的双波长激光光束，两束激光光束的中心频率不同，波长的值可根据用户或实验人员的需求进行选择，本发明对此不做任何限定。光源模块可为一台双频激光源，也可为两台激光源发射两束不同波长的激光。The
在一种具体的实施方式中，激光源可为双频激光器、锁模激光器或种子注入半导体激光器。In a specific embodiment, the laser source may be a dual-frequency laser, a mode-locked laser, or a seeded semiconductor laser.
调制光模块102用于对双波长激光进行线性调制，以出射双频线性调频连续波激光光束。可采用频率调制，也可为相位调制，当对其进行的是频率调制时，出射的即为出射双频线性调频连续波激光光束。由于通过在时间上对两个中心频率不同的光束进行频率调制，对于后续操作处理比对相位调制较为简单，故优选的，可选择对两束光的频率进行线性调制。由于线性连续波对于探测目标而言，具有探测无盲区、距离分辨力高等优势，故选择双频线性调频连续波激光光束作为相干光束对探测目标进行探测。The modulating
具体的，调制光模块102可包括调制器以及信号发生器。调制器与激光器相连，用于对双波长激光进行线性调制，EOM调制器有良好的特性，故可选EOM调制器对双波长激光进行线性调制，当然，也可为其他任何一种类型的调制器。信号发生器与调制器相连用于为调制器提供调制信号，信号发生器可为三角波信号发生器或锯齿波信号发生器，当然，也可选择其他信号的发生器，例如方波信号发生器。Specifically, the modulated
可选的，在本实施例的一些实施方式中，调制光模块102例如还可以包括：Optionally, in some implementations of this embodiment, the modulating
滤波器，滤波器与调制器相连，用于对双频线性调频连续波激光光束中的背景噪声进行滤除。由于在激光器发射激光光束时难免会掺有非预设波长的激光光束的杂光、在激光光束传输过程或在进行调制时，系统也不可避免的会混有其他与有用信号无关的一切干扰，故需要进行滤除，以获得较为纯净的相干光束，有利于提高探测精度。The filter is connected with the modulator, and is used for filtering the background noise in the double-frequency chirp continuous wave laser beam. Because when the laser emits the laser beam, stray light of the laser beam with a non-preset wavelength will inevitably be mixed, and during the laser beam transmission process or modulation, the system will inevitably be mixed with all other interferences unrelated to the useful signal. Therefore, filtering is required to obtain a relatively pure coherent beam, which is beneficial to improve the detection accuracy.
滤波器可选用高通滤波器、低通滤波器、数字滤波器或光栅，具体采用哪一种类型，相关技术人员可根据实际需求做选择，本发明并对此不做任何限定。The filter can be selected from a high-pass filter, a low-pass filter, a digital filter or a grating, and which type to use can be selected by a person skilled in the art according to actual needs, which is not limited in the present invention.
在本实施例的另一些实施方式中，还可包括：In other implementations of this embodiment, it may further include:
激光放大器，激光放大器可与滤波器相连，用于将过滤后的双频线性调频连续波激光光束的能量进行放大。由于某些场合激光光束受限(例如受非线性效应如受激布里渊散射)的影响，激光光束的功率(能量)较小(较低)，对后续操作不利，很有可能会影响探测精度，故需要增加激光放大器对相干光束的功率进行放大。有利于提高激光雷达的时间分辨率、空间分辨率和探测距离，也有利于提高探测精度。The laser amplifier, which can be connected with the filter, is used to amplify the energy of the filtered dual-frequency chirp continuous wave laser beam. Due to the limitation of the laser beam in some cases (for example, due to nonlinear effects such as stimulated Brillouin scattering), the power (energy) of the laser beam is small (lower), which is unfavorable for subsequent operations and may affect the detection. Therefore, it is necessary to increase the laser amplifier to amplify the power of the coherent beam. It is beneficial to improve the temporal resolution, spatial resolution and detection distance of the lidar, as well as to improve the detection accuracy.
需要说明的是，如果系统中没有滤波器，激光放大器可直接与调制器相连。It should be noted that if there is no filter in the system, the laser amplifier can be directly connected to the modulator.
发射接收模块103用于将双频线性调频连续波激光光束分为第一激光光束以及第二激光光束，第一激光光束入射至探测目标，第二激光光束作为本振光光束；接收探测目标出射的回波信号。The transmitting and receiving
具体的，发射接收模块103可包括第一分束器、环形器、光学收发装置以及第二分束器。Specifically, the transmitting and receiving
第一分束器可与激光放大器相连，用于将双频线性调频连续波激光光束分成两束，即第一激光光束与第二激光光束。The first beam splitter can be connected with the laser amplifier, and is used for dividing the dual-frequency chirped continuous wave laser beam into two beams, namely the first laser beam and the second laser beam.
分束器将两束激光进行分离，使其各自按照预设的光路进行传输。分束器将双波长激光分束的第一激光光束作为信号光光束用于与探测目标发生相互作用，并产生回波信号，第二激光光束作为本振光光束，用于与回波信号发生相干，以获得多普勒频移信息。The beam splitter separates the two laser beams and makes them each transmit according to the preset optical path. The beam splitter uses the first laser beam split by the dual-wavelength laser beam as a signal beam for interacting with the detection target and generates an echo signal, and the second laser beam as a local oscillator beam for generating echo signals. coherent to obtain Doppler shift information.
分束器可为光分束器、光纤分束器、偏振分束器等，具体采用哪一种类型，相关技术人员可根据实际需求做选择，本发明并对此不做任何限定。The beam splitter may be an optical beam splitter, an optical fiber beam splitter, a polarization beam splitter, etc. The specific type to be used can be selected by the relevant technical personnel according to actual needs, which is not limited in the present invention.
环形器分别与光学收发装置、第一分束器以及第二分束器相连，用于将第一激光光束入射至光学收发装置上，将第二激光光束入射至The circulator is respectively connected with the optical transceiver, the first beam splitter and the second beam splitter, and is used for injecting the first laser beam to the optical transceiver and injecting the second laser beam to the optical transceiver.
第二分束器上；并将探测目标散射的回波信号入射到第二分束器上。on the second beam splitter; and the echo signal scattered by the detection target is incident on the second beam splitter.
环形器主要用于对多路信号进行转换，当然也可采用其他器件，只要可以起到环形器的作用即可，本发明对此并不做任何限定。The circulator is mainly used to convert multi-channel signals. Of course, other devices can also be used, as long as it can function as a circulator, which is not limited in the present invention.
光学收发装置用于将第一激光光束入射至探测目标上，并接收与探测目标相互作用后出射的回波信号并将其入射至环形器上。The optical transceiver is used to inject the first laser beam to the detection target, and to receive the echo signal emitted after interacting with the detection target, and to incident the first laser beam on the circulator.
光学收发装置集发射与接收于一体，可采用kc705光学收发器、sfp光学收发器、图形图像光学收发器、通信协议光学收发器、fmc子卡光学收发器或dsp光学收发器等等，具体采用哪一种类型，相关技术人员可根据实际需求做选择，本发明并不对此做任何限定。The optical transceiver device integrates transmission and reception, and can use kc705 optical transceiver, sfp optical transceiver, graphic image optical transceiver, communication protocol optical transceiver, fmc daughter card optical transceiver or dsp optical transceiver, etc. Which type, relevant technical personnel can choose according to actual needs, and the present invention does not make any limitation to this.
第二分束器用于将回波信号与第二激光光束入射至探测模块。The second beam splitter is used to inject the echo signal and the second laser beam into the detection module.
需要说明的是，如果系统中没有激光放大器，第一分光器可与滤波器相连；如果系统中没有滤波器，第一分光器可直接与调制器相连。It should be noted that, if there is no laser amplifier in the system, the first optical splitter can be connected to the filter; if there is no filter in the system, the first optical splitter can be directly connected to the modulator.
可选的，在本实施例的一些实施方式中，例如还可以包括：Optionally, in some implementations of this embodiment, for example, it may further include:
衰减器，分别与第一分束器与所述第二分束器相连，用于对第二激光光束进行衰减，经衰减后的光束作为所述本振光光束。衰减器用于通过模拟光束在大气中的衰减过程对第二激光光束(本振光光束)进行衰减。通过对本振光光束的衰减处理，使得本振光光束与回波信号的传输过程经历的衰减相类似，有利于两束光的相干，有利于获得更加准确的多普勒频移信息，从而有利于提高探测精度。The attenuator is connected to the first beam splitter and the second beam splitter respectively, and is used for attenuating the second laser beam, and the attenuated beam is used as the local oscillator light beam. The attenuator is used to attenuate the second laser beam (local oscillator beam) by simulating the attenuation process of the beam in the atmosphere. Through the attenuation processing of the local oscillator light beam, the attenuation experienced by the local oscillator light beam and the echo signal in the transmission process is similar, which is conducive to the coherence of the two beams, and is conducive to obtaining more accurate Doppler frequency shift information, thereby enabling It is beneficial to improve the detection accuracy.
在一种优选的实施方式中，衰减器可选择连续可调衰减器。当然，也可采用其他类型的衰减器，具体采用哪一种类型，相关技术人员可根据实际需求做选择，本发明并不对此做任何限定。In a preferred embodiment, the attenuator can be selected as a continuously adjustable attenuator. Of course, other types of attenuators can also be used, and the specific type to be used can be selected by a person skilled in the art according to actual needs, which is not limited in the present invention.
需要说明的是，在没有衰减器的情况下，第二激光光束将经第一分束器发射到第二分束器；但是在有衰减器时，第二激光光束将经第一分束器发射到衰减器，经过衰减器进行衰减后发射至第二分束器。It should be noted that without the attenuator, the second laser beam will be transmitted to the second beam splitter through the first beam splitter; but with the attenuator, the second laser beam will be transmitted through the first beam splitter It is transmitted to the attenuator, attenuated by the attenuator, and then transmitted to the second beam splitter.
探测模块104用于对本振光光束与回波信号进行光学拍频获得多普勒频移信息，同时将光信号转换成电信号。可包括平衡探测器。The
平衡探测器与第二分束器相连，用于对第二激光光束与回波信号进行光学拍频，以获得双频多普勒频移信号。第二分束器将回波信号与第二激光光束入射至平衡探测器，回波信号与第二激光光束在该探测器的光敏面上混频后，可采用光学拍频的方式分别得到两束光的双频多普勒频移值。当然，也可采用其他探测器，例如光电探测器。The balanced detector is connected with the second beam splitter, and is used for performing optical beat frequency on the second laser beam and the echo signal to obtain a dual-frequency Doppler frequency-shifted signal. The second beam splitter injects the echo signal and the second laser beam into the balanced detector. After the echo signal and the second laser beam are mixed on the photosensitive surface of the detector, two optical beat frequencies can be used to obtain two The dual-frequency Doppler shift value of the beam. Of course, other detectors, such as photodetectors, may also be used.
信号处理模块105用于对电信号进行微波拍频获得多普勒频移差值信息，包括模数转换、数据采集与数据处理。The
信号处理模块105可包括：The
采集卡以及数据处理装置。Acquisition card and data processing device.
采集卡与平衡探测器相连，用于对双频多普勒频移信号进行采集。在一种优选的实施方式中，采集卡可选择A/D采集卡，当然，也可采用其他类型的采集卡，具体采用哪一种类型，相关技术人员可根据实际需求做选择，本发明并对此做任何限定。The acquisition card is connected with the balanced detector, and is used to acquire the dual-frequency Doppler frequency-shifted signal. In a preferred embodiment, the A/D capture card can be selected as the capture card. Of course, other types of capture cards can also be used. The specific type to be used can be selected by the relevant technical personnel according to the actual needs. make any restrictions on this.
数据处理装置与采集卡相连，用于对电信号进行微波拍频，以获得双频多普勒频移差值信号，以此反演目标的距离与速度信息。The data processing device is connected with the acquisition card, and is used to perform microwave beat frequency on the electrical signal to obtain the dual-frequency Doppler frequency shift difference signal, so as to invert the distance and speed information of the target.
数据处理装置可包括：The data processing means may include:
DSP数据处理单元以及计算机。DSP data processing unit and computer.
DSP数据处理单元，用于对第二激光光束与回波信号转化的电信号进行微波拍频，以获得多普勒频移差值信号。由于任何同时作用在两个频率不同的线性调频信号的相位上的误差项，都不会影响微波拍频所得的差频信号的相位，故解决了扫频非线性和距离速度耦合问题；由于差频信号的频率相比日常生活中常用的中频信号的频率要低的多，故一定程度上可抗电磁干扰，举例来说，传统的相干激光雷达采用中频信号探测风速，中频信号一般在30MHz到300MHz之间，这刚好是广播电台、无线通信设备所使用的波段，该波段覆盖范围广、使用密集。因此，中频信号的使用使传统相干激光雷达容易受电磁环境的干扰，而激光雷达在正常工作时辐射的电磁信号也将对其它电子设备造成干扰。而本发明中，例如当频率间距为20GHz时，30m/s的风速引起的多普勒频移差值仅为4000Hz，避开了此波段，故具有抗电磁干扰的特性。The DSP data processing unit is used to perform microwave beat frequency on the electrical signal converted from the second laser beam and the echo signal to obtain a Doppler frequency shift difference signal. Since any error term acting on the phase of two chirp signals with different frequencies at the same time will not affect the phase of the difference frequency signal obtained by the microwave beat frequency, the problem of frequency sweep nonlinearity and distance-velocity coupling is solved; The frequency of the frequency signal is much lower than that of the intermediate frequency signal commonly used in daily life, so it can resist electromagnetic interference to a certain extent. For example, the traditional coherent lidar uses the intermediate frequency signal to detect the wind speed. Between 300MHz, this is just the band used by radio stations and wireless communication equipment, which has a wide coverage and intensive use. Therefore, the use of intermediate frequency signals makes the traditional coherent lidar susceptible to interference from the electromagnetic environment, and the electromagnetic signals radiated by the lidar during normal operation will also cause interference to other electronic devices. In the present invention, for example, when the frequency spacing is 20 GHz, the Doppler frequency shift difference caused by the wind speed of 30 m/s is only 4000 Hz, which avoids this frequency band and thus has the characteristics of anti-electromagnetic interference.
此外，采用DSP数据处理单元还可实现数据的实时处理和显示，有利于提升使用者的使用体验。In addition, the use of the DSP data processing unit can also realize real-time processing and display of data, which is beneficial to improve the user experience.
计算计用于根据多普勒频移差值信号反演目标的距离与速度信息。例如以大气气溶胶作为探测物，用所述激光雷达系统可实现对大气风速的测量。The calculator is used to invert the distance and velocity information of the target from the Doppler frequency shift difference signal. For example, taking atmospheric aerosols as detection objects, the measurement of atmospheric wind speed can be realized by using the lidar system.
需要说明的是，除了对探测目标的距离与速度进行计算外，还可以对其他关于探测目标的信息进行处理，例如成像、测温等等。It should be noted that, in addition to calculating the distance and speed of the detection target, other information about the detection target can also be processed, such as imaging, temperature measurement, and the like.
通过增加计算模块，可实现根据采集信号进行反演与显示，输出或获得探测目标的相关信息，使整体系统更具有实际意义。By adding a calculation module, inversion and display can be achieved according to the collected signal, and the relevant information of the detection target can be output or obtained, which makes the overall system more practical.
本申请技术方案采用双波长线性调频激光，系统结构和信号处理部分相比现有技术较为简单；由于大气湍流对两个调频光束影响相同，故降低了因探测目标不平整和大气湍流效应引起的散斑噪声的影响；由于采用线性连续波作为相干光束，故其距离分辨力高、距离无盲区；此外，可实现对探测目标同时进行测距测速；在光学拍频的基础上进一步进行微波拍频以获得多普勒频移差值信息，解决了扫频非线性和距离速度耦合问题；而且可抗电磁干扰。The technical solution of the present application adopts dual-wavelength linear frequency modulation laser, and the system structure and signal processing part are relatively simple compared with the prior art; since atmospheric turbulence has the same effect on the two frequency-modulated beams, it reduces the detection target unevenness and atmospheric turbulence effect. The influence of speckle noise; because the linear continuous wave is used as the coherent beam, the distance resolution is high, and the distance has no blind spot; in addition, the detection target can be simultaneously measured for distance and speed; on the basis of the optical beat frequency, the microwave beat frequency is further carried out. To obtain Doppler frequency shift difference information, it solves the problem of frequency sweep nonlinearity and distance-velocity coupling; and it can resist electromagnetic interference.
为了更好的理解本申请技术方案的思想与原理，以下以具体的一种应用场景进行对本发明实施例所提供的技术方案进行阐述。In order to better understand the idea and principle of the technical solution of the present application, the technical solution provided by the embodiment of the present invention is described below with a specific application scenario.
利用调制信号为三角波信号的电光调制器对两束中心频率(f1，f2)不同的连续波激光光束在时间内以调整带宽B，调制频率k进行线性调制，采用如图3所示的双频线性调频相干测风激光雷达结构，通过先光学拍频，在微波拍频提取多普勒频移差值信息，对物体进行测距测速。由图3所示，fd1为中心频率为f1的光束的多普勒频移值，fd2为中心频率为f2的光束的多普勒频移值，fm＝f1-f2为两束光的中心频率差值，fd1-fd2为两束光的多普勒频移差值，τ为本振光与信号光的时间延迟。Two continuous wave laser beams with different center frequencies (f1, f2) are used to linearly modulate the bandwidth B and the modulation frequency k within time by using an electro-optic modulator whose modulation signal is a triangular wave signal. The linear frequency modulated coherent wind lidar structure uses the optical beat frequency first, and then extracts the Doppler frequency shift difference information at the microwave beat frequency to measure the distance and speed of the object. As shown in Figure 3, fd1 is the Doppler frequency shift value of the beam whose center frequency is f1, fd2 is the Doppler frequency shift value of the beam whose center frequency is f2, and fm=f1-f2 is the center frequency of the two beams The difference, fd1-fd2 is the Doppler frequency shift difference between the two beams of light, and τ is the time delay between the local oscillator light and the signal light.
由图3可知，该双频线性调频相干测风激光雷达可包括双频激光源1、EOM电光调制器2、信号发生器3、滤波器4、激光放大器5、分束器6、环形器7、光学收发装置8、探测目标9、连续可调衰减器10、分束器11、平衡探测器12、A/D采集卡13、DSP数据处理系统14与计算机15。It can be seen from Figure 3 that the dual-frequency chirp coherent wind lidar may include a dual-
其中各器件的连接关系如下：The connection relationship of each device is as follows:
双频激光源1的输出端与EOM电光调制器2的输入端连接，EOM电光调制器2输出端与滤波器4的输入端连接，三角波信号发生器3的控制信号输入端与EOM电光调制器2的控制信号输出端连接，滤波器4的输出端与激光放大器5的输入端连接，激光放大器5的输出端与分束器6的输入端连接；分束器6将双频线性连续波激光分成两束，其中端口A输出的为信号光，端口B输出的为本振光；分束器6的输出A端与环形器7的A端口连接，分束器6的输出端B与连续可调衰减器10的输入端连接；环形器7的C端口与分束器11的A端口连接；环形器7的B端口与光学收发装置8连接，光学收发装置8出射的光束照射在探测目标9上，从探测目标9后向散射回的信号经光学收发装置8收集，再先后经环形器7的B端和C端，传输至分束器11；连续可调衰减器10的输出端与分束器11的B端口连接，本振光与信号光通过分束器11混合后接入平衡探测器12，平衡探测器12的输出端与A/D采集卡13的输入端连接，A/D采集卡13的输出端与DSP数据处理系统14的输入端连接，DSP数据处理系统14的输出端与计算机15连接。The output end of the dual-
以下对探测目标测距测速的原理进行阐述，为了模拟实际模拟实际情况下的频率调制非线性，引入fe(t)为线性频率偏差，且有fe(0)＝fe(T/2)＝0，其中一个单频信号经调制后，一个周期内其上扫频段的频率和相位为：The principle of detection target ranging and speed measurement is described below. In order to simulate the frequency modulation nonlinearity in the actual simulation situation, fe (t) is introduced as a linear frequency deviation, and fe (0)=fe (T/2 )=0, after one single-frequency signal is modulated, the frequency and phase of the up-sweep frequency band in one cycle are:
f1+(t)＝f1+kt+fe(t)，f1+ (t)=f1 +kt+fe (t),
式中，k＝B/(T/2)＝2B/T，且δR＝c/2B，B单位为MHz，调制带宽决定于距离分辨率，T为调制周期(ms)，φ1为初始相位。In the formula, k=B/(T/2)=2B/T, andδR =c/2B, the unit of B is MHz, the modulation bandwidth is determined by the distance resolution, T is the modulation period (ms), and φ1 is the initial phase.
一个周期内的双频线性调频激光的电场可为：The electric field of a dual-frequency chirp laser in one cycle can be:
E(t)＝E1(t)+E2(t) t∈(0，T)，E(t)=E1 (t)+E2 (t) t∈(0, T),
式中，E1和E2为振幅，φ1和φ2为相位角。In the formula, E1 and E2 are the amplitudes, and φ1 and φ2 are the phase angles.
探测目标散射信号的电场可表示为：The electric field for detecting the scattered signal of the target can be expressed as:
E'(t)＝E'1(t)+E'2(t) t∈(0，T)，E'(t)=E'1 (t)+E'2 (t) t∈(0, T),
式中，E1`＝E1/α，α为反射光的总损失，信号光与本振光在平衡探测器光敏面混频探测时，由于探测器仅响应带宽范围内的信号。In the formula, E1 `=E1 /α, α is the total loss of reflected light. When the signal light and the local oscillator light are mixed and detected on the photosensitive surface of the balanced detector, since the detector only responds to the signal within the bandwidth range.
当t∈(τ，T/2)，探测器的光场照度为：When t∈(τ, T/2), the light field illumination of the detector is:
式中，I＝E12+E1，φ1+＝2πf1τ，Δf1+(t)＝kτ+fe(t)-fe(t-τ)＝Δf1+Δfe(t)。In the formula, I=E12 +E1 , φ1+ =2πf1 τ, Δf1+ (t)=kτ+fe (t)−fe (t−τ)=Δf1 +Δfe (t).
若考虑多普勒效应，且设τ随时间变化，可得：If the Doppler effect is considered and τ varies with time, we can get:
同理，可有：Similarly, there may be:
又
式中，fd1＝2νf1/c，fd2＝2νf2/c，ν为探测目标的速度，c为光速。In the formula, fd1 =2νf1 /c, fd2 =2νf2 /c, ν is the speed of the detection target, and c is the speed of light.
当t∈(T/2，T/2+τ)，同理，可有：When t∈(T/2, T/2+τ), in the same way, we can have:
当t∈(T/2+τ，T)，同理，可有：When t∈(T/2+τ, T), in the same way, we can have:
I1(t)与I2(t)可通过探测器探测后由A/D采集卡进行采集，采集后的信号经DSP数据信号处理后再次进行混频处理，对上式展开，其中包含多普勒频移信息的项为：I1 (t) and I2 (t) can be detected by the detector and then collected by the A/D acquisition card. The collected signal is processed by the DSP data signal and then mixed again. The above formula is expanded, which includes many The terms of the Puller shift information are:
式中，
综上，可计算探测目标的距离与速度，如下所示：In summary, the distance and speed of the detected target can be calculated as follows:
式中，当ν为正值时，表示探测目标在靠近激光雷达；若为负值，则说明目标正在远离激光雷达。In the formula, when ν is a positive value, it means that the detection target is approaching the lidar; if it is a negative value, it means that the target is moving away from the lidar.
本发明实施例通过在时间上对两个中心频率不同的连续波的频率进行线性调制，得到双频线性调频激光，其调频带宽B和双频中心频率差值fm均远小于双频中心频率f1和f2，因此大气湍流对两个调频激光的影响几乎相同，具有对大气湍流不敏感的特点。而扫频非线性导致的非线性频率偏差fe(t)，在信号处理过程中，微波拍频使非线性频率偏差项相互抵消，所得差频信号不含非线性频率偏差项。In the embodiment of the present invention, by linearly modulating the frequencies of two continuous waves with different center frequencies in time, a dual-frequency linear frequency modulation laser is obtained, and the frequency modulation bandwidth B and the dual-frequency center frequency difference fm are both far smaller than the dual-frequency center frequency f1 and f2 , so the influence of atmospheric turbulence on the two FM lasers is almost the same, and it has the characteristic of being insensitive to atmospheric turbulence. For the nonlinear frequency deviation fe (t) caused by the nonlinearity of the sweep frequency, in the signal processing process, the microwave beat frequency makes the nonlinear frequency deviation terms cancel each other, and the obtained beat frequency signal does not contain the nonlinear frequency deviation term.
综上所述，双频线性调频相干测风激光雷达不仅实现了对探测目标同时测距测速，极大降低了非线性调频和大气湍流效应对测速分辨率的影响，探测精度高、抗电磁干扰、无距离盲区。To sum up, the dual-frequency chirp coherent wind lidar not only realizes the simultaneous ranging and velocity measurement of the detection target, but also greatly reduces the influence of nonlinear frequency modulation and atmospheric turbulence on the velocity measurement resolution, with high detection accuracy and anti-electromagnetic interference. , No distance blind spot.
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其它实施例的不同之处，各个实施例之间相同或相似部分互相参见即可。对于实施例公开的装置而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments may be referred to each other. As for the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant part can be referred to the description of the method.
专业人员还可以进一步意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。Professionals may further realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two, in order to clearly illustrate the possibilities of hardware and software. Interchangeability, the above description has generally described the components and steps of each example in terms of functionality. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of the present invention.
结合本文中所公开的实施例描述的方法或算法的步骤可以直接用硬件、处理器执行的软件模块，或者二者的结合来实施。软件模块可以置于随机存储器(RAM)、内存、只读存储器(ROM)、电可编程ROM、电可擦除可编程ROM、寄存器、硬盘、可移动磁盘、CD-ROM、或技术领域内所公知的任意其它形式的存储介质中。The steps of a method or algorithm described in connection with the embodiments disclosed herein may be directly implemented in hardware, a software module executed by a processor, or a combination of the two. The software module can be placed in random access memory (RAM), internal memory, read only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other in the technical field. in any other known form of storage medium.
以上对本发明所提供的一种双频线性调频相干测风激光雷达进行了详细介绍。本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以对本发明进行若干改进和修饰，这些改进和修饰也落入本发明权利要求的保护范围内。The dual-frequency chirp coherent wind-measuring lidar provided by the present invention has been described in detail above. The principles and implementations of the present invention are described herein by using specific examples, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can also be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.
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