高精度多路激光测控系统的设计与实现

发布时间：2019-01-14 08:30

【摘要】：脉冲式激光测距在三维成像领域有着重要的作用,因此,对于其高精度测距方法的研究以及其控制系统的设计有着重要的意义。本课题来源于实验室项目,旨在设计用于室外三维成像的高精度多路激光雷达测控系统,该系统具有宽量程、高精度、可定制化等优点。本文首先对系统整体需求进行了分析,并介绍了系统的整体架构,根据功能需求和性能指标对整个系统进行了模块划分,并分别对各个子模块的具体设计进行了详细介绍。系统核心测距部分由三个模块共同完成,其中,信号调理模块用于调理激光回波脉冲以及激光接收器控制脉冲;时序发生模块通过预测激光返回时间调整激光接收机开启延时和开启时间;测时模块用于完成激光发射与返回的脉冲时间间隔测量,测时核心芯片采用德国ACAM公司的TDC-GPX时数转换芯片,并分别用I模式和G模式完成了8路10μs以内以及2路10μs~100μs测时。系统控制相关部分包括GPS授时、激光反射镜旋转控制与转角读取、存储体系、用户交互、以及核心集成控制,其中GPS授时采用FPGA与外部北斗BD-126模块共同协作完成,授时精度达到1μs,授时频率最高5kHz;反射镜实际旋转方式依据用户设定的旋转速度和角度进行,激光发射角度读取精度达0.000 044°;用户交互部分由参数配置软件及数据转换软件组成,用户可对系统初始化运行参数进行个性化配置;核心集成控制模块将系统中的各个子模块进行合理调用,使系统能够控制设备有条不紊地完成测试全过程,完成系统功能集成化。最后,本文对系统的整体性能进行了测试和分析。测试结果表明系统整体功能满足系统需求,各项性能指标均达到预期要求。
[Abstract]:Pulse laser ranging plays an important role in the field of 3D imaging. Therefore, it is of great significance to study its high-precision ranging method and design its control system. The purpose of this project is to design a high precision multi-channel laser radar measurement and control system for outdoor 3D imaging. The system has the advantages of wide range, high accuracy and customizability. In this paper, the overall requirements of the system are analyzed, and the overall architecture of the system is introduced. According to the functional requirements and performance indicators, the whole system is divided into modules, and the specific design of each sub-module is introduced in detail. The core of the system is composed of three modules. The signal conditioning module is used to adjust the laser echo pulse and the laser receiver control pulse. The timing module adjusts the time delay and time of the laser receiver by predicting the laser return time. The time measuring module is used to measure the pulse time interval of laser emission and return. The core chip of time measurement is TDC-GPX hour conversion chip of ACAM Company of Germany. The time measurement of 8 channels within 10 渭 s and 2 channels of 10 渭 s or 100 渭 s is accomplished by I mode and G mode, respectively. The related parts of the system control include GPS timing, laser mirror rotation control and angle reading, storage system, user interaction, and core integration control. The GPS timing is accomplished by the cooperation of FPGA and external Beidou BD-126 module. The precision of timing is 1 渭 s and the highest frequency is 5 kHz. The actual rotation mode of the mirror is based on the rotation speed and angle set by the user, and the reading accuracy of the laser emission angle is 0.000 掳. The user interaction part is composed of parameter configuration software and data conversion software. The core integrated control module calls each sub-module of the system reasonably, so that the system can control the equipment to complete the whole testing process methodically, and complete the system function integration. Finally, the overall performance of the system is tested and analyzed. The test results show that the whole function of the system meets the requirements of the system, and all the performance indexes meet the expected requirements.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TN249

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