CN106646429B - A kind of device and method of the self-calibration geometrical factor for laser radar - Google Patents
A kind of device and method of the self-calibration geometrical factor for laser radar Download PDFInfo
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- CN106646429B CN106646429B CN201611064924.3A CN201611064924A CN106646429B CN 106646429 B CN106646429 B CN 106646429B CN 201611064924 A CN201611064924 A CN 201611064924A CN 106646429 B CN106646429 B CN 106646429B
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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
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Abstract
The present invention relates to a kind of device and methods of self-calibration geometrical factor for laser radar, belong to atmospheric laser remote sensing technology field.The device includes laser, main pulse generator, secondary reception lens cover, secondary reception mirror, light-conductive optic fibre, main reception lens cover, main reception mirror, mirror of turning back, red green two color to spectroscope, 1064nm narrow band filter, APD detector, bluish-green two color to spectroscope, polarization beam splitter prism, the first 532nm narrow band filter, the first PMT detector, 355nm narrow band filter, the 2nd 532nm narrow band filter, the 2nd PMT detector, the 3rd PMT detector and synthetical collection system.The present invention system scale, cost, ease for use, in terms of have great advantage.
Description
Technical field
The present invention relates to a kind of device and methods of self-calibration geometrical factor for laser radar, and it is distant to belong to atmospheric laser
Feel technical field, which is applied on ground or airborne laser radar, can be improved to short distance cloud, aerosol, temperature,
The remote sensing capabilities of the atmospheric parameters such as humidity.
Background technique
Laser radar is the high-space resolution for realizing a variety of atmospheric parameters (cloud, aerosol, temperature, humidity etc.), high time
It differentiates, the effective means of round-the-clock detection, being widely used in the multiple fields such as weather, meteorology, environment, there is important research to anticipate
Justice and application value.
Typical laser radar apparatus principle is as shown in Figure 1.Laser 1 emits laser pulse in laser radar apparatus, together
Shi Youzhu wave generator 2 acquires laser pulse and completes photoelectric conversion and generate the main wave impulse of triggering, is received by receiving telescope 3
Received Signal, collimated by 4 filter background noise of narrow band filter, effective echo optical signal of transmission enters photoelectricity spy
It surveys device 5 and completes photoelectric signal transformation, enter back into integrated signal acquisition system 6 and complete analog-to-digital conversion or photon counting signal acquisition,
Atmospheric Survey data after acquisition are sent into computer 7 and carry out data inversion.
Its inherent characteristics of typical laser radar apparatus are in the presence of fixed geometrical factor (being called overlap coefficient).Fig. 2 is
Geometrical factor schematic diagram.Due to the matching relationship of field of view of receiver and laser beam divergence, in a certain distance, laser echo signal
It is difficult to enter receiving light path, this section of distance is known as blind area；As detection range increases, a part of echo light initially enters reception light
Road, and the accounting (echo satisfy composition and division in a proportion) in total echo light increases with distance but less than 1, this section of region is known as transition region；Detection
Distance continues growing, and the full composition and division in a proportion of echo reaches 1, and region later is known as saturation area.
Obviously, in blind area and transition region, laser radar signal is distorted with distance, complete to realize that airspace detection is necessary
It tries every possible means to remove blind area while compressing transition region, and high-precision correction is carried out to the full composition and division in a proportion of the echo of transition region.
There are two types of currently used solutions: one is regular condition of external field of creating to be corrected to geometrical factor；The
Two kinds are to share emission system using two sets of reception electro-optical systems.
Wherein the first geometrical factor correcting mode, there is several methods that.Comprise provide that the horizontal survey under the conditions of level is uniform
Amount correction assumes that background atmospheric correction, addition Raman or the Raman in rotary Raman channel without the molten influence of gas are corrected, sent out in recent years
CCD camera scatter correction of exhibition etc..
Second of solution is relatively simple, directlys adopt two sets of reception electro-optical systems, a set of small big visual field system of reception mirror
System for measuring near field echoes, neglect field system and be used to measure far field echo, then carries out data fusion by another set of macro lens.
Above-mentioned first method the problem is that: it is past under conditions of no turntable for most laser radar apparatus
It is past to be difficult to carry out level correction, and the atmospheric conditions (such as in certain height above sea level) without aerosol influence are also relatively difficult to achieve, Raman
Or the methods of CCD scattering needs to be added independent detection channels or detection device increases considerable hardware configuration while is also required to
Complicated inversion method is just able to achieve.Second method the problem is that: requirement to cost and system scale is high.
Summary of the invention
Technology of the invention solves the problems, such as: overcome the deficiencies in the prior art, proposes a kind of marking certainly for laser radar
Determine the device and method of geometrical factor.
The technical solution of the invention is as follows:
A kind of device of the self-calibration geometrical factor for laser radar, the device include laser, main wave impulse generation
Device, secondary reception lens cover, secondary reception mirror, light-conductive optic fibre, main reception lens cover, main reception mirror, mirror of turning back, red green two color to spectroscope,
1064nm narrow band filter, APD detector, bluish-green two color to spectroscope, polarization beam splitter prism, the first 532nm narrow band filter,
First PMT detector, 355nm narrow band filter, the 2nd 532nm narrow band filter, the 2nd PMT detector, the 3rd PMT detector
With synthetical collection system；
The laser pulse of laser transmitting tri- wavelength of 1064nm, 532nm and 355nm is directly entered atmosphere, laser
Glass surface reflects a part of laser pulse and is imported into main pulse generator by optical fiber；Light in main pulse generator
Rectangle electric pulse is converted and be shaped as to the laser pulse that main pulse generator receives by electric converting unit, and rectangle electric pulse is made
Synthetical collection system is output to by cable for trigger collection signal；
It is connect by the rear orientation light comprising tri- wavelength of 1064nm, 532nm and 355nm of atmospheric scattering by main reception mirror
It receives, main reception mirror generates directional light after the rear orientation light received is focused and is collimated and is transferred to red green two color to light splitting
On mirror；
It is connect by the rear orientation light comprising tri- wavelength of 1064nm, 532nm and 355nm of atmospheric scattering by secondary reception mirror
It receives, secondary reception mirror, which is focused the rear orientation light received and is transmitted by optical fiber and be collimated into directional light, reaches mirror of turning back
On, mirror of turning back will receive directional light and be reflected into red green two color on spectroscope；
The light of 1064nm wavelength is reflected in red green two color on spectroscope, the light of 532nm wavelength and 355nm wavelength
Light is transmitted in red green two color on spectroscope；
The light of 1064nm wavelength in the directional light received is reflected into the narrowband 1064nm to spectroscope and filtered by red green two color
On mating plate, the light of 1064nm wavelength reaches on APD detector through after 1064nm narrow band filter, and APD detector is to receiving
The optical signal of 1064nm wavelength to carry out photoelectric conversion be electric signal, electric signal gives synthetical collection system by cable transmission, comprehensive
Acquisition system is closed to be acquired the electric signal received under the triggering of rectangle electric pulse；
The light of the light of 532nm wavelength and 355nm wavelength is through red green two color to reaching bluish-green two color to light splitting after spectroscope
The light of mirror, 532nm wavelength is reflected in bluish-green two color on spectroscope, and the light of 355nm wavelength is in bluish-green two color to spectroscope
On transmitted；
The light of the 532nm wavelength received is reflected on polarization beam splitter prism by bluish-green two color to spectroscope, wherein 532nm
P light in the light of wavelength reaches the first 532nm narrow-band-filter on piece through polarization beam splitter prism, the P light in the light of 532nm wavelength
It is reached on the first PMT detector through the first 532nm narrow band filter again, the first PMT detector is to receiving 532nm wavelength
It is electric signal that P light in light, which carries out photoelectric conversion, and electric signal gives synthetical collection system by cable transmission, and synthetical collection system exists
The electric signal received is acquired under the triggering of rectangle electric pulse；
S light in the light of 532nm wavelength reaches the 2nd 532nm narrow-band-filter on piece after reflecting by polarization beam splitter prism,
S light in the light of 532nm wavelength reaches the 3rd PMT detector, the 3rd PMT detection after penetrating the 2nd 532nm narrow band filter again
It is electric signal that device, which carries out photoelectric conversion to the S light in the light of the 532nm wavelength received, and electric signal is by cable transmission to synthesis
Acquisition system, synthetical collection system are acquired the electric signal received under the triggering of rectangle electric pulse；
The light of 355nm wavelength through bluish-green two color to reaching 355nm narrow-band-filter on piece after spectroscope, 355nm wavelength
Light reaches the 2nd PMT detector after penetrating 355nm narrow band filter again, and the 2nd PMT detector is to the 355nm wavelength received
It is electric signal that light, which carries out photoelectric conversion, and electric signal gives synthetical collection system by cable transmission, and synthetical collection system is in rectangle electricity
The electric signal received is acquired under the triggering of pulse.
Synthetical collection system it is received to all electric signals computer is transferred to by data line, computer is to receiving
Electric signal carry out data processing after obtain geometrical factor.
The laser is all solid state laser of 355nm, 532nm, 1064nm wavelength；
The main pulse generator is the photodiode and pulse generation circuit for monitoring laser firing pulses；
Described reception lens cover is used to carry out light to secondary reception mirror to block；
It is arbitrarily to be used for the received receiving telescope of spectral information that described time, which receives mirror,；
The light-conductive optic fibre is multimode fibre, couples a collimation camera lens at fiber exit end；
The main reception lens cover is used to carry out light to main reception mirror 7 to block；
The main reception mirror is arbitrarily to be used for the received receiving telescope of spectral information；
The mirror of turning back is high reflectance plane mirror.
Red green two color to spectroscope be light splitting for 1064nm high reflection, to 532nm and 355nm wavelength high transmission
Mirror；
Bluish-green two color is to oppose the high two saturating colors of 355nm wavelength to light splitting piece to 532nm wavelength height to spectroscope；
The polarization beam splitter prism is the High Extinction Ratio polarization beam splitter prism for 532nm wavelength.
The APD detector is the detector highly sensitive to 1064nm wavelength；
The first PMT detector and the 3rd PMT detector are to visit to the photomultiplier tube of the highly sensitive detection of 532nm wavelength
Survey device；
The 2nd PMT detector is the photomultiplier tube detectors to the highly sensitive detection of 355nm wavelength.
The 1064nm narrow band filter is the interferometric filter to 1064nm wavelength high out-of-side rejection；
The 355nm narrow band filter is the interferometric filter to 355nm wavelength high out-of-side rejection；
The first 532nm narrow band filter and the 2nd 532nm narrow band filter are to 532nm wavelength high out-of-side rejection
Interferometric filter.
The synthetical collection system is to carry out high speed to the echo-signal of tri- wavelength of above-mentioned 1064nm, 532nm, 355nm
The embedded electronic system of acquisition；
The computer is the industrial computer system for installing laser radar system control software.
A kind of method of the self-calibration geometrical factor of the device progress laser radar, step are as follows:
(1) the main reception lens cover being located on main reception mirror is opened, the secondary secondary reception lens cover received on mirror will be located at and covered,
By the electric signal of all characterization atmospheric echos of synthetical collection system acquisition, the atmospheric echo data in any channel are indicated at this time
For f1(R)；
(2) the main reception lens cover being located on main reception mirror being covered, the secondary reception lens cover that will be located on time reception mirror is opened,
By the electric signal of all characterization atmospheric echos of synthetical collection system acquisition, the atmospheric echo data in any channel are indicated at this time
For f2(R)；
(3) P channel for the channel 1064nm, 532nm and the channel 355nm, geometrical factor are obtained by following formula:
Wherein C is the normaliztion constant of two kinds of electric signals, is acquired by saturation region data scaling.
The geometrical factor of the channel S of 532nm uses the geometrical factor of the P channel of 532nm.
The method can be used in 375nm, 387nm, 407nm, 580nm, 607nm, 660nm Raman scattering echo channel
The calibration of geometrical factor.
Beneficial effect
(1) it is several that laser radar system can be realized in the algorithm that the device of the invention does not need additional self-contained unit or complexity
What factor is marked certainly；
(2) present invention realizes cloud, aerosol Atmospheric Survey using three wavelength, is conducive to adapt to complicated visibility ring
Border；
The present invention realizes cloud, aerosol Atmospheric Survey using three wavelength, is advantageously implemented the assessment of particle size；
The present invention realizes that atmosphere moves back Polarization Detection using the channel 532nm, and the identification of cloud phase and shape of particle area may be implemented
Point；
The present invention only joined the big small-sized reception optical element of visual field of one group of low cost in former receiving light path and can be realized
Before using complex scenario geometrical factor demarcate, system scale, cost, ease for use, in terms of have greatly it is excellent
Gesture.
The method for the self-calibration geometrical factor that the present invention uses, it is other can also to extend to vibrating Raman, rotary Raman etc.
The laser radar system for needing to carry out geometrical factor calibration improves the efficiency-cost ratio of such system.
The invention belongs to aerospace optical sensor technical fields.Method measurement is split in order to solve traditional total platform
Benchmark disunity, the consistency and stability of optical axis are difficult to ensure that target far field consistency matching precision is poor, system bulk
Greatly, the big problem of weight.The integrated light-splitting method of optical path is total to using a kind of EO-1 hyperion and laser radar, is EO-1 hyperion and laser thunder
The effective light splitting scheme for sharing Receiver aperture is provided up to system.
Diaphragm (or slit) is set at the focal plane for receiving primary mirror, by grating spectrograph spectral, is imaged in spectrometer
It is respectively arranged to receive the imaging detector of the Electro-Optical Sensor Set of range laser echo and EO-1 hyperion detection at focal plane, realize
Ranging matches reception with being total to optical path integrated high-accuracy with spectrum.
Present apparatus geometrical factor self-calibration process is relatively simple.Small reception lens cover is used during normal atmosphere detection operations
3 shelter from small reception camera lens 4.Quiet steady meteorological condition is selected to carry out geometrical factor correction, mainly point three steps.(1) it is working normally
Under the conditions of, acquire the atmospheric echo data of certain time；(2) the big small reception lens cover 3 of visual field is opened, big reception lens cover 6 is covered, then
Acquire the atmospheric echo data of certain time；(3) in addition to 532nm vertical channel, under other three channels, two kinds of operating conditions
Data, which are directly divided by, can be realized geometrical factor calibration.
Detailed description of the invention
Fig. 1 is typical transmitting-receiving non co axial laser radar apparatus schematic diagram；
Fig. 2 is geometrical factor schematic diagram；
Fig. 3 is the structural schematic diagram of the device of the invention.
Specific embodiment
Emit the laser pulse of tri- wavelength of 1064nm, 532nm and 355nm, most laser pulse energies by laser 1
Amount is directly entered atmosphere, and small part pulsed laser energy imports main pulse generator 2 by collecting fiber；Laser pulse hair
While penetrating, main pulse generator 2 receives the laser photon pulse of optical fiber importing, and photon pulse passes through photoelectric conversion and arteries and veins
Shaping is rushed to generate main wave impulse and start collecting work by cable transmission to 20 trigger signal capture card of synthetical collection system；Swash
Light pulse enters the atmospheric backscatter echo generated after atmosphere and is collected by time reception camera lens 4 or main reception mirror 7；Wherein
Directional light, which is directly collimated into, into the main echo light for receiving camera lens 7 enters red green two color to spectroscope 9；Into secondary reception camera lens 4
Echo light enter red green two color to spectroscope 9 by being collimated into thin collimated light beam after light-conductive optic fibre 5, then by turning mirror 8；
1064nm echo light realizes background Xanthophyll cycle by narrow band filter 10 after red green two color is reflected to spectroscope 9, visits into APD
The photoelectric conversion that device 11 realizes echo-signal is surveyed, electric echo signal imports synthetical collection system 20 by cable and realizes that A/D is converted
And signal acquisition；Enter bluish-green two color to spectroscope 12 through the echo light of spectroscope 9；532nm echo light enters after reflection
Polarization beam splitter prism 13, wherein parallel polarization echo realizes bias light suppression by narrow band filter 14 through after beam splitter prism 13
System realizes that the photoelectric conversion of echo-signal, electric echo signal import synthetical collection system 20 by cable into PMT detector 15
Realize A/D conversion (near field) and photon counting (far field) and data acquisition；The orthogonal polarized light reflected through polarization beam splitter prism 13,
Background Xanthophyll cycle is realized also by the narrow band filter 17 of oneself, and the photoelectric conversion of echo-signal is realized into PMT detector 19,
Electric echo signal imports synthetical collection system 20 by cable and realizes that A/D conversion (near field) and photon counting (far field) and data are adopted
Collection；Through bluish-green two color to the 355nm echo-signal light of spectroscope 12, background Xanthophyll cycle is realized by narrow band filter 16, into
Enter the photoelectric conversion that PMT detector 18 realizes echo-signal, electric echo signal imports synthetical collection system 20 by cable and realizes
A/D converts (near field) and photon counting (far field) and data acquisition.It is logical in the atmospheric echo data that synthetical collection system 20 acquires
Cross Ethernet be sent into computer 21 handled, inverting and display.
Present apparatus geometrical factor self-calibration process is relatively simple.
Small reception camera lens 4 is sheltered from using small reception lens cover 3 during normal atmosphere detection operations.Select quiet steady meteorological item
Part carries out geometrical factor correction, mainly point three steps.
A kind of device of the self-calibration geometrical factor for laser radar, the device include laser 1, main wave impulse generation
Device 2, secondary reception lens cover 3, secondary reception mirror 4, light-conductive optic fibre 5, main reception lens cover 6, main reception mirror 7, mirror 8 of turning back, red green two color to
Spectroscope 9,1064nm narrow band filter 10, APD detector 11, bluish-green two color are to spectroscope 12, polarization beam splitter prism 13, first
532nm narrow band filter 14, the first PMT detector 15,355nm narrow band filter 16, the 2nd 532nm narrow band filter 17,
Two PMT detectors 18, the 3rd PMT detector 19, synthetical collection system 20 and computer 21；
The all solid state laser of preferred 355nm, 532nm, 1064nm wavelength of the laser 1；
The main pulse generator 2 is the photodiode and pulse generation circuit for monitoring laser firing pulses；
Described reception lens cover 3, is blocked for carrying out light to secondary reception mirror 4；
Described reception mirror 4, to be arbitrarily used for the received receiving telescope of spectral information；
The light-conductive optic fibre 5, the preferably thicker multimode fibre of core diameter couple a collimation camera lens at fiber exit end；
The main reception lens cover 6 is blocked for carrying out light to main reception mirror 7；
The main reception mirror 7, to be arbitrarily used for the received receiving telescope of spectral information；
The mirror 8 of turning back is high reflectance plane mirror；
Red green two color is to spectroscope 9, to divide 532nm and 355nm wavelength high transmission for 1064nm high reflection
Light microscopic；
The 1064nm narrow band filter 10, for the interferometric filter to 1064nm wavelength high out-of-side rejection；
The APD detector 11, for the detector highly sensitive to 1064nm wavelength；
Bluish-green two color is to spectroscope 12, to oppose the high two saturating colors of 355nm wavelength to light splitting 532nm wavelength height
Piece；
The polarization beam splitter prism 13, for the High Extinction Ratio polarization beam splitter prism for 532nm wavelength；
The first 532nm narrow band filter 14 and the 2nd 532nm narrow band filter 17, outside to 532nm wavelength high band
The interferometric filter of inhibition；
The first PMT detector 15 and the 3rd PMT detector 19, for the photoelectricity of the highly sensitive detection of 532nm wavelength times
Increase pipe detector；
The 355nm narrow band filter 16, for the interferometric filter to 355nm wavelength high out-of-side rejection；
The 2nd PMT detector 18 is the photomultiplier tube detectors to the highly sensitive detection of 355nm wavelength；
The synthetical collection system 20 is to carry out height to the echo-signal of tri- wavelength of above-mentioned 1064nm, 532nm, 355nm
The embedded electronic system of speed acquisition；
The computer 21 is the industrial computer system for installing laser radar system control software.
Connection relationship:
The laser pulse that laser 1 emits tri- wavelength of 1064nm, 532nm and 355nm is directly entered atmosphere, laser 1
Glass surface reflect a part of laser pulse and imported into main pulse generator 2 by optical fiber；In main pulse generator 2
Photoelectric conversion unit rectangle electric pulse is converted and be shaped as to the laser pulse that main pulse generator 2 receives, rectangle electricity
Pulse is output to synthetical collection system 20 by cable as trigger collection signal；
It is connect by the rear orientation light comprising tri- wavelength of 1064nm, 532nm and 355nm of atmospheric scattering by main reception mirror 7
Receive, main receptions mirror 7 rear orientation light received is focused and is collimated after generate directional light be transferred to red green two color to divide
On light microscopic 9；
It is connect by the rear orientation light comprising tri- wavelength of 1064nm, 532nm and 355nm of atmospheric scattering by secondary reception mirror 4
Receive, secondary receptions mirror 4 rear orientation light received is focused and pass through optical fiber 5 transmit and be collimated into directional light reach turn back
On mirror 8, mirror 8 of turning back will receive directional light and be reflected into red green two color on spectroscope 9；
The light of 1064nm wavelength is reflected in red green two color on spectroscope 9, the light and 355nm wavelength of 532nm wavelength
Light transmitted in red green two color on spectroscope 9；
The light of 1064nm wavelength in the directional light received is reflected into the narrowband 1064nm to spectroscope 9 and filtered by red green two color
On mating plate 10, the light of 1064nm wavelength reaches on APD detector 11 through after 1064nm narrow band filter 10, APD detector 11
Carrying out photoelectric conversion to the optical signal of the 1064nm wavelength received is electric signal, and electric signal is by cable transmission to synthetical collection
System 20, synthetical collection system 20 are acquired the electric signal received under the triggering of rectangle electric pulse；
The light of the light of 532nm wavelength and 355nm wavelength is through red green two color to reaching bluish-green two color to light splitting after spectroscope 9
The light of mirror 12,532nm wavelength is reflected in bluish-green two color on spectroscope 12, the light of 355nm wavelength bluish-green two color to point
It is transmitted on light microscopic 12；
The light of the 532nm wavelength received is reflected on polarization beam splitter prism 13 by bluish-green two color to spectroscope 12, wherein
P light in the light of 532nm wavelength reaches on the first 532nm narrow band filter 14 through polarization beam splitter prism 13,532nm wavelength
P light in light penetrates the first 532nm narrow band filter 14 again and reaches on the first PMT detector 15, the docking of the first PMT detector 15
Receiving the P light in the light of 532nm wavelength and carrying out photoelectric conversion is electric signal, and electric signal gives synthetical collection system by cable transmission
20, synthetical collection system 20 is acquired the electric signal received under the triggering of rectangle electric pulse；
S light in the light of 532nm wavelength reaches the 2nd 532nm narrow band filter 17 after reflecting by polarization beam splitter prism 13
On, the S light in the light of 532nm wavelength reaches the 3rd PMT detector 19, third after penetrating the 2nd 532nm narrow band filter 17 again
It is electric signal that PMT detector 19, which carries out photoelectric conversion to the S light in the light of the 532nm wavelength received, and electric signal passes through cable
It is transferred to synthetical collection system 20, synthetical collection system 20 adopts the electric signal received under the triggering of rectangle electric pulse
Collection；
The light of 355nm wavelength reaches on 355nm narrow band filter 16 through bluish-green two color to after spectroscope 12,355nm wave
Long light penetrates again reaches the 2nd PMT detector 18 after 355nm narrow band filter 16, and the 2nd PMT detector 18 is to receiving
It is electric signal that the light of 355nm wavelength, which carries out photoelectric conversion, and electric signal is by cable transmission to synthetical collection system 20, synthetical collection
System 20 is acquired the electric signal received under the triggering of rectangle electric pulse；
Synthetical collection system 20 it is received to all electric signals computer 21 is transferred to by data line, computer 21 is right
The electric signal received obtains geometrical factor after carrying out data processing.
A method of for the self-calibration geometrical factor of laser radar, step are as follows:
(1) the main reception lens cover 6 being located on main reception mirror 7 is opened, the secondary reception lens cover 3 on time reception mirror 4 will be located at
It covers, the electric signal of all characterization atmospheric echos is acquired by synthetical collection system 20, and calculating is transferred to by data line
Machine 21, the atmospheric echo data in any channel are expressed as f at this time1(R)；
(2) the main reception lens cover 6 being located on main reception mirror 7 is covered, the secondary reception lens cover 3 on time reception mirror 4 will be located at
It opens, the electric signal of all characterization atmospheric echos is acquired by synthetical collection system 20, and calculating is transferred to by data line
Machine 21, the atmospheric echo data in any channel are expressed as f at this time2(R)；
(3) P channel for the channel 1064nm, 532nm and the channel 355nm, geometrical factor can pass through following formula
It obtains:
Wherein C is the normaliztion constant of two kinds of electric signals, can be acquired with supersaturated area data scaling；
The geometrical factor of the channel S of 532nm uses the geometrical factor of the P channel of 532nm.
The device and method can be used for the Ramans such as 375nm, 387nm, 407nm, 580nm, 607nm, 660nm and dissipate
Penetrate the calibration of echo channel geometrical factor；
The detector also could alternatively be the photon counting detectors such as GM-APD, MPPC.
Embodiment
As shown in figure 3, a kind of device of the self-calibration geometrical factor for laser radar, which includes laser 1, master
Pulse generator 2, secondary reception lens cover 3, secondary reception mirror 4, light-conductive optic fibre 5, main reception lens cover 6, main reception mirror 7, mirror 8 of turning back,
Red green two color is to spectroscope 9,1064nm narrow band filter 10, APD detector 11, bluish-green two color to spectroscope 12, polarization beam splitting
Prism 13, the first 532nm narrow band filter 14, the first PMT detector 15,355nm narrow band filter 16, the 2nd narrowband 532nm
Optical filter 17, the 2nd PMT detector 18, the 3rd PMT detector 19, synthetical collection system 20 and computer 21；
The laser 1 is all solid state laser containing 355nm, 532nm, 1064nm wavelength；
The main pulse generator 2 is the photodiode and pulse generation circuit for monitoring laser firing pulses；
Described reception lens cover 3 is used to carry out light to secondary reception mirror 4 to block；
It is Cassegrain's formula receiving telescope that described time, which receives mirror 4,；
The light-conductive optic fibre 5 is the multimode fibre of core diameter 1mm, couples a collimation camera lens at fiber exit end；
The main reception lens cover 6 is used to carry out light to main reception mirror 7 to block；
The main reception mirror 7 is Cassegrain's formula receiving telescope；
The mirror 8 of turning back is the plane mirror that reflectivity is 99.5%；
Red green two color is to divide for 1064nm high reflection 532nm and 355nm wavelength high transmission to spectroscope 9
Light microscopic；
The 1064nm narrow band filter 10 is the interferometric filter to 1064nm wavelength high out-of-side rejection；
The APD detector 11 is the detector of 1064nm wavelength；
Bluish-green two color to spectroscope 12 be to 532nm wavelength high reflection, two colors highly transmissive to 355nm wavelength to point
Mating plate；
The polarization beam splitter prism 13 is the High Extinction Ratio polarization beam splitter prism for 532nm wavelength；
The first 532nm narrow band filter 14 and the 2nd 532nm narrow band filter 17, outside to 532nm wavelength high band
The interferometric filter of inhibition；
The first PMT detector 15 and the 3rd PMT detector 19 are the photomultiplier tube detectors of 532nm wavelength；
The 355nm narrow band filter 16 is the interferometric filter to 355nm wavelength high out-of-side rejection；
The 2nd PMT detector 18 is the photomultiplier tube detectors of 355nm wavelength；
The synthetical collection system 20 is to adopt to the echo-signal of above-mentioned tri- wavelength of 1064nm, 532nm, 355nm
The embedded electronic system of collection；
The computer 21 is the industrial computer system for installing laser radar system control software.
Above-mentioned high reflection refer to reflectivity not less than 90%, it is highly transmissive to refer to transmissivity not less than 90%；High Extinction Ratio:
Refer to extinction ratio not less than 500:1；High out-of-side rejection refers to: inhibiting than being not less than 104；
The laser pulse that laser 1 emits tri- wavelength of 1064nm, 532nm and 355nm is directly entered atmosphere, laser 1
Glass surface reflect a part of laser pulse and imported into main pulse generator 2 by optical fiber；In main pulse generator 2
Photoelectric conversion unit rectangle electric pulse is converted and be shaped as to the laser pulse that main pulse generator 2 receives, rectangle electricity
Pulse is output to synthetical collection system 20 by cable as trigger collection signal；
It is connect by the rear orientation light comprising tri- wavelength of 1064nm, 532nm and 355nm of atmospheric scattering by main reception mirror 7
Receive, main receptions mirror 7 rear orientation light received is focused and is collimated after generate directional light be transferred to red green two color to divide
On light microscopic 9；
It is connect by the rear orientation light comprising tri- wavelength of 1064nm, 532nm and 355nm of atmospheric scattering by secondary reception mirror 4
Receive, secondary receptions mirror 4 rear orientation light received is focused and pass through optical fiber 5 transmit and be collimated into directional light reach turn back
On mirror 8, mirror 8 of turning back will receive directional light and be reflected into red green two color on spectroscope 9；
The light of 1064nm wavelength is reflected in red green two color on spectroscope 9, the light and 355nm wavelength of 532nm wavelength
Light transmitted in red green two color on spectroscope 9；
The light of 1064nm wavelength in the directional light received is reflected into the narrowband 1064nm to spectroscope 9 and filtered by red green two color
On mating plate 10, the light of 1064nm wavelength reaches on APD detector 11 through after 1064nm narrow band filter 10, APD detector 11
Carrying out photoelectric conversion to the optical signal of the 1064nm wavelength received is electric signal, and electric signal is by cable transmission to synthetical collection
System 20, synthetical collection system 20 are acquired the electric signal received under the triggering of rectangle electric pulse；
The light of the light of 532nm wavelength and 355nm wavelength is through red green two color to reaching bluish-green two color to light splitting after spectroscope 9
The light of mirror 12,532nm wavelength is reflected in bluish-green two color on spectroscope 12, the light of 355nm wavelength bluish-green two color to point
It is transmitted on light microscopic 12；
The light of the 532nm wavelength received is reflected on polarization beam splitter prism 13 by bluish-green two color to spectroscope 12, wherein
P light in the light of 532nm wavelength reaches on the first 532nm narrow band filter 14 through polarization beam splitter prism 13,532nm wavelength
P light in light penetrates the first 532nm narrow band filter 14 again and reaches on the first PMT detector 15, the docking of the first PMT detector 15
Receiving the P light in the light of 532nm wavelength and carrying out photoelectric conversion is electric signal, and electric signal gives synthetical collection system by cable transmission
20, synthetical collection system 20 is acquired the electric signal received under the triggering of rectangle electric pulse；
S light in the light of 532nm wavelength reaches the 2nd 532nm narrow band filter 17 after reflecting by polarization beam splitter prism 13
On, the S light in the light of 532nm wavelength reaches the 3rd PMT detector 19, third after penetrating the 2nd 532nm narrow band filter 17 again
It is electric signal that PMT detector 19, which carries out photoelectric conversion to the S light in the light of the 532nm wavelength received, and electric signal passes through cable
It is transferred to synthetical collection system 20, synthetical collection system 20 adopts the electric signal received under the triggering of rectangle electric pulse
Collection；
The light of 355nm wavelength reaches on 355nm narrow band filter 16 through bluish-green two color to after spectroscope 12,355nm wave
Long light penetrates again reaches the 2nd PMT detector 18 after 355nm narrow band filter 16, and the 2nd PMT detector 18 is to receiving
It is electric signal that the light of 355nm wavelength, which carries out photoelectric conversion, and electric signal is by cable transmission to synthetical collection system 20, synthetical collection
System 20 is acquired the electric signal received under the triggering of rectangle electric pulse；
Synthetical collection system 20 it is received to all electric signals computer 21 is transferred to by data line, computer 21 is right
The electric signal received obtains geometrical factor after carrying out data processing.
A method of for the self-calibration geometrical factor of laser radar, step are as follows:
(1) the main reception lens cover 6 being located on main reception mirror 7 is opened, the secondary reception lens cover 3 on time reception mirror 4 will be located at
It covers, the electric signal of all characterization atmospheric echos is acquired by synthetical collection system 20, and calculating is transferred to by data line
Machine 21, the atmospheric echo data in each channel are expressed as f at this timea1064(R)、fa532P(R)、fa532S(R)、fa355(R)。
(2) the main reception lens cover 6 being located on main reception mirror 7 is covered, the secondary reception lens cover 3 on time reception mirror 4 will be located at
It opens, the electric signal of all characterization atmospheric echos is acquired by synthetical collection system 20, and calculating is transferred to by data line
Machine 21, the atmospheric echo data in each channel are expressed as f at this timeb1064(R)、fb532P(R)、fb532S(R)、fb355(R)。
(3) for the channel 1064nm, if its geometrical factor is expressed as O1064(R), then have,
In signal saturation area, geometrical factor O1064(R)=1 constant C, therefore, can thus be demarcated1064, thus obtain geometry because
Son:
Similarly, for the channel 532nmP, geometrical factor are as follows:
Similarly, for the channel 355nm, geometrical factor are as follows:
The geometrical factor of the channel S of 532nm uses the geometrical factor of the P channel of 532nm.
Claims (10)
1. a kind of device of the self-calibration geometrical factor for laser radar, it is characterised in that: the device includes laser, main wave
Impulse generator, secondary reception lens cover, secondary reception mirror, light-conductive optic fibre, main reception lens cover, main reception mirror, mirror of turning back, red green two color to
Spectroscope, 1064nm narrow band filter, APD detector, bluish-green two color are to spectroscope, polarization beam splitter prism, the first narrowband 532nm
Optical filter, the first PMT detector, 355nm narrow band filter, the 2nd 532nm narrow band filter, the 2nd PMT detector, third
PMT detector and synthetical collection system；
The laser pulse of laser transmitting tri- wavelength of 1064nm, 532nm and 355nm is directly entered atmosphere, the glass of laser
A part of laser pulse of surface reflection is imported into main pulse generator by optical fiber；Photoelectricity in main pulse generator turns
It changes unit and the laser pulse that main pulse generator receives is converted to and is shaped as rectangle electric pulse, rectangle electric pulse is used as and adopts
Collect trigger signal and synthetical collection system is output to by cable；
It is received by the rear orientation light comprising tri- wavelength of 1064nm, 532nm and 355nm of atmospheric scattering by main reception mirror, it is main
It receives generation directional light after mirror is focused and collimates to the rear orientation light received and is transferred to red green two color on spectroscope；
It is received by the rear orientation light comprising tri- wavelength of 1064nm, 532nm and 355nm of atmospheric scattering by secondary reception mirror, it is secondary
Reception mirror is focused the rear orientation light received and is transmitted by optical fiber and be collimated into directional light arrival and turns back on mirror, rolls over
Tilting mirror will receive directional light and be reflected into red green two color on spectroscope；
The light of 1064nm wavelength is reflected in red green two color on spectroscope, and the light of 532nm wavelength and the light of 355nm wavelength exist
Red green two color is transmitted on spectroscope；
The light of 1064nm wavelength in the directional light received is reflected into 1064nm narrow band filter to spectroscope by red green two color
On, the light of 1064nm wavelength reaches on APD detector through after 1064nm narrow band filter, and APD detector is to receiving
It is electric signal that the optical signal of 1064nm wavelength, which carries out photoelectric conversion, and electric signal gives synthetical collection system by cable transmission, comprehensive
Acquisition system is acquired the electric signal received under the triggering of rectangle electric pulse；
The light of the light of 532nm wavelength and 355nm wavelength through red green two color to reaching bluish-green two color after spectroscope to spectroscope,
The light of 532nm wavelength is reflected in bluish-green two color on spectroscope, and the light of 355nm wavelength is enterprising to spectroscope in bluish-green two color
Row transmission；
The light of the 532nm wavelength received is reflected on polarization beam splitter prism by bluish-green two color to spectroscope, wherein 532nm wavelength
Light in P light reach the first 532nm narrow-band-filter on piece through polarization beam splitter prism, the P light in the light of 532nm wavelength is saturating again
It crosses the first 532nm narrow band filter to reach on the first PMT detector, the first PMT detector is in the light for receiving 532nm wavelength
P light to carry out photoelectric conversion be electric signal, electric signal gives synthetical collection system by cable transmission, and synthetical collection system is in rectangle
The electric signal received is acquired under the triggering of electric pulse；
S light in the light of 532nm wavelength reaches the 2nd 532nm narrow-band-filter on piece, 532nm after reflecting by polarization beam splitter prism
S light in the light of wavelength reaches the 3rd PMT detector, the docking of the 3rd PMT detector after penetrating the 2nd 532nm narrow band filter again
It is electric signal that S light in the light of the 532nm wavelength received, which carries out photoelectric conversion, and electric signal gives synthetical collection system by cable transmission
System, synthetical collection system are acquired the electric signal received under the triggering of rectangle electric pulse；
The light of 355nm wavelength is through bluish-green two color to arrival 355nm narrow-band-filter on piece after spectroscope, and the light of 355nm wavelength is again
Through reaching the 2nd PMT detector after 355nm narrow band filter, the 2nd PMT detector to the light of the 355nm wavelength received into
Row photoelectric conversion is electric signal, and electric signal gives synthetical collection system by cable transmission, and synthetical collection system is in rectangle electric pulse
Triggering under the electric signal received is acquired.
2. a kind of device of self-calibration geometrical factor for laser radar according to claim 1, it is characterised in that: comprehensive
Close acquisition system it is received to all electric signals computer is transferred to by data line, computer to the electric signal received into
Geometrical factor is obtained after row data processing.
3. a kind of device of self-calibration geometrical factor for laser radar according to claim 1 or 2, feature exist
In: the laser is all solid state laser of 355nm, 532nm, 1064nm wavelength；
The main pulse generator is the photodiode and pulse generation circuit for monitoring laser firing pulses；
Described reception lens cover is used to carry out light to secondary reception mirror to block；
It is arbitrarily to be used for the received receiving telescope of spectral information that described time, which receives mirror,；
The light-conductive optic fibre is multimode fibre, couples a collimation camera lens at fiber exit end；
The main reception lens cover is used to carry out light to main reception mirror (7) to block；
The main reception mirror is arbitrarily to be used for the received receiving telescope of spectral information；
The mirror of turning back is high reflectance plane mirror.
4. a kind of device of self-calibration geometrical factor for laser radar according to claim 1 or 2, feature exist
In: red green two color to spectroscope be for 1064nm high reflection, to the spectroscope of 532nm and 355nm wavelength high transmission；
Bluish-green two color is to oppose the high two saturating colors of 355nm wavelength to light splitting piece to 532nm wavelength height to spectroscope；
The polarization beam splitter prism is the High Extinction Ratio polarization beam splitter prism for 532nm wavelength.
5. a kind of device of self-calibration geometrical factor for laser radar according to claim 1 or 2, feature exist
In: the APD detector is the detector highly sensitive to 1064nm wavelength；
The first PMT detector and the 3rd PMT detector are to detect to the photomultiplier tube of the highly sensitive detection of 532nm wavelength
Device；
The 2nd PMT detector is the photomultiplier tube detectors to the highly sensitive detection of 355nm wavelength.
6. a kind of device of self-calibration geometrical factor for laser radar according to claim 1 or 2, feature exist
In: the 1064nm narrow band filter is the interferometric filter to 1064nm wavelength high out-of-side rejection；
The 355nm narrow band filter is the interferometric filter to 355nm wavelength high out-of-side rejection；
The first 532nm narrow band filter and the 2nd 532nm narrow band filter are the interference to 532nm wavelength high out-of-side rejection
Optical filter.
7. a kind of device of self-calibration geometrical factor for laser radar according to claim 2, it is characterised in that: institute
Stating synthetical collection system is that the insertion of high speed acquisition is carried out to the echo-signal of tri- wavelength of above-mentioned 1064nm, 532nm, 355nm
Formula electronic system；
The computer is the industrial computer system for installing laser radar system control software.
8. a kind of method for the self-calibration geometrical factor that laser radar is carried out using the device as claimed in claim 1 to 7,
It is characterized in that step are as follows:
(1) the main reception lens cover being located on main reception mirror is opened, the secondary secondary reception lens cover received on mirror will be located at and covered, passed through
The electric signal of all characterization atmospheric echos of synthetical collection system acquisition, the atmospheric echo data in any channel are expressed as f at this time1
(R)；
(2) the main reception lens cover being located on main reception mirror is covered, the secondary reception lens cover that will be located on time reception mirror is opened, and is passed through
The electric signal of all characterization atmospheric echos of synthetical collection system acquisition, the atmospheric echo data in any channel are expressed as f at this time2
(R)；
(3) P channel for the channel 1064nm, 532nm and the channel 355nm, geometrical factor are obtained by following formula:
Wherein C is the normaliztion constant of two kinds of electric signals, is acquired by saturation region data scaling.
9. the method for the self-calibration geometrical factor of laser radar according to claim 8, it is characterised in that: the S of 532nm is logical
The geometrical factor in road uses the geometrical factor of the P channel of 532nm.
10. the method for the self-calibration geometrical factor of laser radar according to claim 8, it is characterised in that: the side
Method can be used in the calibration of 375nm, 387nm, 407nm, 580nm, 607nm, 660nm Raman scattering echo channel geometrical factor.
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