激光三维成像雷达的高精度数据采集

发布时间：2018-07-22 16:46

【摘要】：数据采集、预处理及批量传输在激光测距、激光三维成像雷达、视频监控、立体显示、工业控制、生医工程和科学研究等领域的应用日益广泛,这些应用对系统的采集实时性、预处理能力、传输速率等提出了越来越高的要求。随着微电子工艺技术的提高、FPGA芯片价格的降低和电子设计方案的优化,基于FPGA硬件平台的数据采集、预处理及批量传输的方法越来越得到研究机构、高校及公司的应用。数据采集设备作为激光三维成像雷达接收端的前沿组成部分,承担着数据采集、缓存、变换和传输的任务,有其举足轻重的作用。因此,设计一种高数据量、实时性好、可扩展性强、集成度高、性价比可观的数据采集系统就有着重要的实际意义。本文介绍了国内外激光三维成像雷达技术的研究背景,根据激光三维成像雷达系统中的应用需求,分别研究了激光相位测距中的单通道采集技术和激光三维成像雷达中的多通道高速采集技术。激光相位测距中的单通道采集系统采用ADC(模拟数字转换器)实现激光回波的数字化,选用Altera公司的FPGA作为采集系统的核心控制硬件平台,实现激光回波的数据缓存处理、跨时钟域处理、专用FFT设计、中端ADC芯片驱动和USB芯片驱动、数字滤波的功能。激光三维成像雷达中的多通道高速采集系统采用高速多通道ADC实现多路回波的并行采集,选用Xilinx公司的FPGA作为采集系统的核心控制硬件平台,实现多通道脉冲激光回波的数据对齐训练、多级跨时钟域及缓存处理、基于TDC的激光内光路的精细矫正、以太网传输和ADC芯片驱动的功能。另外,本论文在设计采集系统中的相关算法及处理的同时,采用modelsim、 matlab和komodo软件,为激光相位测距采集系统和激光脉冲多通道采集系统搭建了简易高效的验证平台,采用断言验证、约束随机激励测试等验证手段,大幅度提高了RTL级代码设计的正确率,并且缩短了研发周期。本论文提出的两种数据采集系统均经过器件选型、算法模型设计、RTL级代码设计、软件调试和实验结果的优化与分析。经实际检验,基于FPGA的采集系统具有高速采集、实时处理、高集成度、可扩展性、低成本等优点,可以作为其他应用领域中的一部分,可用价值较高。
[Abstract]:Data acquisition, preprocessing and mass transmission are widely used in the fields of laser ranging, laser 3D imaging radar, video surveillance, stereoscopic display, industrial control, biomedical engineering and scientific research. The preprocessing ability, transmission rate and so on put forward the higher and higher request. With the increase of microelectronic technology, the price of FPGA chip is reduced and the electronic design scheme is optimized. The methods of data acquisition, pretreatment and batch transmission based on FPGA hardware platform have been applied more and more by research institutions, universities and companies. Data acquisition equipment, as a forward component of laser 3D imaging radar receiver, plays an important role in data acquisition, cache, transformation and transmission. Therefore, it is of great practical significance to design a kind of data acquisition system with high data volume, good real-time, high expansibility, high integration and considerable performance and price ratio. This paper introduces the research background of the laser 3D imaging radar technology at home and abroad, according to the application requirement of the laser three-dimensional imaging radar system, The single channel acquisition technology in laser phase ranging and the multi channel high speed acquisition technology in laser three dimensional imaging radar are studied. In the single channel acquisition system of laser phase ranging, ADC (Analog to Digital Converter) is used to realize the digitization of laser echo. Altera is chosen as the core control hardware platform of the acquisition system to realize the data buffer processing of laser echo. Cross-clock domain processing, special FFT design, middle end ADC chip driver and USB chip driver, digital filtering function. The multi-channel high-speed acquisition system of laser three-dimensional imaging radar uses high-speed multi-channel ADC to realize the parallel acquisition of multi-channel echo. The FPGA of Xilinx company is chosen as the core control hardware platform of the acquisition system. Data alignment training of multi-channel pulse laser echo, multi-level cross-clock domain and buffer processing, fine correction of laser inner optical path based on TDC, Ethernet transmission and ADC chip drive function are realized. In addition, while designing the relevant algorithms and processing of the acquisition system, this paper uses modelsim, matlab and komodo software to build a simple and efficient verification platform for the laser phase ranging acquisition system and the laser pulse multi-channel acquisition system. The correctness rate of RTL code design is greatly improved and the R & D cycle is shortened by means of assertion verification and constrained random excitation test. The two data acquisition systems proposed in this paper have been selected by device selection, algorithm model design, RTL code design, software debugging and optimization and analysis of experimental results. The system based on FPGA has the advantages of high speed acquisition, real time processing, high integration, expandability and low cost. It can be used as a part of other application fields and has high available value.
【学位授予单位】：南京大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TN957.52

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