线阵激光雷达系统光电传感电路

发布时间：2018-06-14 23:40

本文选题：激光雷达 + 三维成像　；参考：《南京大学》2016年硕士论文

【摘要】：三维成像激光雷达按扫描方式可分为单元探测器二维扫描,面阵探测器非凝视扫描和线阵探测器一维扫描。单元探测器二维推扫采用单元探测器接收回波,只能获得单像素的距离和回波强度信息,通过二维逐像素扫描得到完整的目标信息。该成像探测成像技术在目前已经发展成熟,但存在着成像速率低,体积大耗能多的缺点。面阵探测器非凝视扫描采用探测器阵列接收回波,不需要对目标进行推扫,可一次得到目标的距离和强度信息。该三维成像技术不仅成像速率高,而且体积小。但信息采集受到探测器阵列制作工艺及后端读出电路的制约,使得高像素广视角的理想图像很难获得。线阵探测器一维扫描使用行或者列探测器接收回波,每次可获得一行(列)像素的信息,可以采用一个方向的推扫获得所有的像素数据。适用于广视场大角度的探测,其成像速率仅次于面阵探测器非凝视扫描,能获得较高分辨率图像,是一种颇具有优势和潜能的成像探测技术。本文阐述了激光三维雷达成像技术的工作原理,根据系统参数制定硬件实现方案,主要研究了APD读出电路和低噪声电源模块以及基于PIN探测器的同步扫描方案。该方案能有效接收激光脉冲并将其转化成电压信号,同时由PIN的TTL输出带动移动转台实现同步扫描。APD读出电路采用互阻放大器的典型电路进行转换处理,选用的运放LMH6629是低输入噪声电压,低输入误差电流的精密放大器,电容作为补偿元件对相位进行补偿。电源方案选用开关电源以及LDO协同工作的方式,在提高了电源效率的同时减少了输出电流的纹波,最大能够同时给64路APD模块供电。同步扫描方案把PIN探测器的输出加以变换,输出能够驱动电机的宽脉冲。采用电机驱动SH2024A,测量的精度高达0.00031250,实现了激光脉冲和电机的同步。最后通过实验验证了硬件系统的性能。
[Abstract]:The three-dimensional imaging laser radar can be divided into two-dimensional scanning of unit detector, non stare scanning of array detector and one dimension scan of linear array detector. The unit detector uses unit detector to receive echo, and can only obtain the single pixel distance and echo intensity information, and the complete target is obtained by two-dimensional pixel by pixel scan. Information. The imaging detection imaging technology has developed well now, but it has the disadvantages of low imaging rate and large energy consumption. The non staring scan of the array detector uses detector array to receive echo. It does not need to push the target, and can get the distance and intensity information of the target at a time. The three-dimensional imaging technology is not only imaging rate. It is high and small. But the information acquisition is restricted by the fabrication process of detector array and the back end readout circuit, which makes the ideal image of high pixel and wide angle difficult to obtain. One dimension scan of the linear array detector uses a row or column detector to receive the echo, which can obtain one line (column) pixel information each time, and can be obtained by one direction push. All the pixel data. It is suitable for wide field of view detection. The imaging rate is second only to the non stare scanning of the array detector. It can obtain high resolution image. It is a kind of imaging detection technology with great advantage and potential. This paper describes the working principle of the laser 3D radar imaging technology and makes hardware implementation according to the system parameters. The scheme mainly studies the APD readout circuit, the low noise power supply module and the synchronous scanning scheme based on the PIN detector. The scheme can effectively receive the laser pulse and convert it into voltage signal. At the same time, the TTL output of PIN drives the mobile turntable to realize the synchronous scanning.APD readout circuit using the typical circuit of the mutual hindrance amplifier. The selection of operational amplifier LMH6629 is a precision amplifier with low input noise voltage, low input error current, and capacitor as compensation element to compensate the phase. The power supply scheme selects switching power supply and LDO cooperative work. It improves the power efficiency and reduces the ripple of the output current. The maximum can be given to 64 APD modes at the same time. The synchronous scanning scheme transforms the output of the PIN detector and outputs the wide pulse that can drive the motor. Using the motor drive SH2024A, the measurement accuracy is up to 0.00031250, and the synchronization between the laser pulse and the motor is realized. Finally, the performance of the hardware system is verified by the experiment.
【学位授予单位】：南京大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TN958.98

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