基于运动非合作目标激光测距精度提高方法研究

发布时间：2018-01-09 23:00

本文关键词：基于运动非合作目标激光测距精度提高方法研究　出处：《中国科学院大学(中国科学院光电技术研究所)》2017年硕士论文　论文类型：学位论文

【摘要】：运动非合作目标位置预测越准确,飞行时间测量越精确,目标测距精度也越高。本文根据实际应用建立了运动非合作目标主动测距、被动测角相结合的三维空间数学模型以及运动模型。为了提高测距精度,本文从目标跟踪预测精度和脉冲激光测距装置对激光飞行时间测量精度两个方面来讨论。首先,针对目标的运动特性,建立了目标运动数学模型和状态空间模型,介绍了卡尔曼滤波的原理和它的改进算法扩展卡尔曼滤波与无迹卡尔曼滤波。运用扩展卡尔曼滤波算法和无迹卡尔曼滤波算法对目标的位置或方位进行预测仿真,验证两种算法预测的目标位置与目标运动实际位置的误差。然后分析和对比了扩展卡尔曼滤波和无迹卡尔曼滤波的优缺点和预测精度。然后,就脉冲激光测距装置的组成进行了分析和设计,主要包括:脉冲半导体激光发射技术、光信号接收和处理技术、时刻鉴别及测量技术。根据对半导体激光器驱动原理的分析,设计了大电流、窄脉冲半导体激光发射单元电路;分析了APD光电转换器的工作原理,设计了光电转换单元电路以及相应的放大整形电路;通过对时刻鉴别技术原理的分析和对比,设计了恒定时刻鉴别电路。为了减小时间间隔测量误差,对比了多种时间间隔测量方法的复杂度和精度,选择了高精度时间测量芯片TDC-GP2,并根据该款芯片的数据手册设计了它的外围电路作为计时模块,测时精度达50ps量级。最后,本文就预测算法和时间测量两个方面对非合作运动目标测距精度的影响做出了分析和总结。运动非合作目标位置预测越准确,飞行时间测量越精确,目标测距精度也越高。
[Abstract]:The more accurate the location prediction of moving non-cooperative target, the more accurate the measurement of flight time and the higher the precision of target ranging. In order to improve the accuracy of ranging, the mathematical model of three-dimensional space and the model of motion are combined with passive angle measurement. In this paper, the prediction accuracy of target tracking and the accuracy of laser time of flight measurement by pulsed laser ranging device are discussed. Firstly, the motion characteristics of the target are discussed. The mathematical model and state space model of target motion are established. This paper introduces the principle of Kalman filter and its improved algorithms, extended Kalman filter and unscented Kalman filter. The location or azimuth of target is predicted by using extended Kalman filter and unscented Kalman filter. . The error between the target position predicted by the two algorithms and the actual position of the target motion is verified. Then the advantages and disadvantages of the extended Kalman filter and the unscented Kalman filter are analyzed and compared with the prediction accuracy. The composition of pulse laser ranging device is analyzed and designed, including: pulse semiconductor laser emission technology, optical signal receiving and processing technology. Based on the analysis of the driving principle of semiconductor laser, the high current and narrow pulse semiconductor laser emitter unit circuit is designed. The working principle of APD photoelectric converter is analyzed, and the photoelectric conversion unit circuit and the corresponding amplifying and shaping circuit are designed. Through the analysis and comparison of the principle of time discriminant, a constant time discriminant circuit is designed. In order to reduce the error of time interval measurement, the complexity and accuracy of various time interval measurement methods are compared. The high precision time measurement chip TDC-GP2was selected, and its peripheral circuit was designed as timing module according to the data manual of the chip. The precision of time measurement was 50 PS. Finally. In this paper, the influence of prediction algorithm and time measurement on the ranging accuracy of non-cooperative moving target is analyzed and summarized. The more accurate the location prediction of moving non-cooperative target, the more accurate the measurement of flight time. Target ranging accuracy is also higher.
【学位授予单位】：中国科学院大学(中国科学院光电技术研究所)
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TN249

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