基于CPLD与MCU的激光雷达系统控制及信号处理电路研制

发布时间：2018-04-06 05:11

本文选题：激光雷达探测　切入点：CPLD　出处：《西安电子科技大学》2014年硕士论文

【摘要】：作为一种全新的探测技术,激光雷达已广泛应用于大气、陆地、海洋探测、空中交会对接、侦察成像、化学试剂探测等领域。与传统雷达技术相比,激光雷达是一种通过发射特定波长的激光,处理并分析回波信号,实现目标探测的技术,具有高测量精度、精细的时间和空间分辨率,以及极大的探测距离等优点,目前已成为一种重要的探测手段。激光雷达探测系统需采用硬件电路实现系统的控制以及回波信号的处理、分析,从而实现目标距离、速度、姿态等参数的测量,因此研制高速、高精度、性能稳定、性价比高、保密性强的处理电路,对提升激光雷达探测系统的整体性能有着十分重要的意义。激光雷达系统控制及信号处理电路有多种实现方案,传统的MCU实现方案较为普遍,但受线程的带宽限制,且难以提高系统的精度与复杂性;采用FPGA、ARM或DSP实现信号处理架构,一定程度上提高了系统的带宽与复杂度,但成本较高,功耗较大,且开发周期较长。针对目前激光目标探测系统中,对系统控制复杂度,信号处理实时性,整体性能与功耗等要求,论文提出了一种基于CPLD与MCU架构的电路改进方案。该方案采用高速并行的现场可编程PLD器件,完成相关电路的控制与回波信号的实时处理、分析;同时选用线程处理优势较强的MCU,实现相关信号的控制与高速串口的收发,完成PC软件终端的通信。本文结合所提出的基于CPLD与MCU架构的硬件电路设计方案,选用了Altera的MAX II CPLD器件EPM240T100C5N,以及宏晶科技公司的增强型单片机STC12LE5A60S2,实现了激光雷达系统控制及信号处理等功能。文中详细介绍了实验系统的设备资源与硬件电路的模块化设计,完成了相关外设的驱动控制,并采用CPLD与MCU完成了回波信号的采集、处理与分析,最终通过与所设计PC软件终端的通信,实现与硬件电路板的实时数据上传。目前板卡在100MHz主频下工作,可完成10kHz激光器的触发,并行实现回波信号的实时处理与分析,以及921600波特率下的高速串口通信。结合激光雷达实验系统,多次进行硬件电路的测试与实验,表明本文设计的激光雷达系统控制及信号处理硬件电路功能正常,性能稳定,且功耗低,保密性强,符合设计的需求,实验证明本文所提出方案的具有一定的可行性。
[Abstract]:As a new detection technology, lidar has been widely used in the atmosphere, land, ocean detection, air rendezvous and docking, reconnaissance imaging, chemical reagent detection and other fields.Compared with traditional radar technology, lidar is a kind of target detection technology, which can process and analyze echo signal by transmitting laser of specific wavelength. It has high measurement precision, fine time and spatial resolution.At present, it has become an important detection method because of its great detection distance and so on.The laser radar detection system needs to use the hardware circuit to realize the control of the system and the processing and analysis of the echo signal so as to realize the measurement of the target distance, velocity, attitude and so on. Therefore, the high speed, high precision, stable performance and high performance / price ratio are developed.It is very important to improve the whole performance of lidar detection system with high confidentiality processing circuit.There are many ways to realize the control and signal processing circuit of lidar system. The traditional MCU implementation scheme is more common, but limited by the bandwidth of thread, and it is difficult to improve the precision and complexity of the system, the FPGA arm or DSP is used to implement the signal processing architecture, and it is difficult to improve the precision and complexity of the system.To some extent, the bandwidth and complexity of the system are improved, but the cost is high, the power consumption is large, and the development cycle is longer.Aiming at the control complexity, real-time signal processing, overall performance and power consumption of laser target detection system, a circuit improvement scheme based on CPLD and MCU architecture is proposed in this paper.This scheme adopts high speed parallel field programmable PLD device to complete the control of correlation circuit and the real-time processing of echo signal, and at the same time, select MCU, which has strong advantage in thread processing, to realize the control of correlation signal and the transceiver of high speed serial port.Complete the communication of PC software terminal.Combined with the proposed hardware circuit design scheme based on CPLD and MCU architecture, the MAX II CPLD device EPM240T100C5N of Altera and the enhanced microcontroller STC12LE5A60S2 of Hongjing Science and Technology Company are selected to realize the functions of lidar system control and signal processing.The modularization design of the equipment resource and hardware circuit of the experimental system is introduced in detail, and the drive control of the related peripheral devices is completed. The acquisition, processing and analysis of the echo signal are accomplished by using CPLD and MCU.Finally, through the communication with the designed PC software terminal, the real time data upload with the hardware circuit board is realized.At present, the board card works in the main frequency of 100MHz, which can complete the trigger of 10kHz laser, realize the real-time processing and analysis of echo signal in parallel, and the high speed serial port communication at 921600 baud rate.Combined with the laser radar experiment system, the hardware circuit is tested and tested for many times. It shows that the control and signal processing hardware circuit designed in this paper has normal function, stable performance, low power consumption and strong confidentiality.In accordance with the design requirements, the experimental results show that the scheme proposed in this paper has a certain feasibility.
【学位授予单位】：西安电子科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TN958.98

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