阅读说明：本技术 回波信号处理方法、设备及存储介质 (Echo signal processing method, device and storage medium ) 是由 许友 陈涵 于 2019-01-09 设计创作，主要内容包括：一种回波信号处理方法、设备及存储介质,该方法包括：发射光脉冲,并获取所述光脉冲对应的多个回波信号；确定所述多个回波信号中每一个回波信号的能量特征参数和距离数据；根据每一个回波信号的能量特征参数和距离数据确定所述每一个回波信号是否为干扰噪点产生的噪点回波信号。通过这种方式能够精准地确定当前采集到的多个回波信号中由干扰噪点产生的噪点回波信号,进而能够有效地提高激光探测设备探测目标的准确性,为可移动平台的安全移动提供了基础。(An echo signal processing method, device and storage medium, the method comprising: emitting light pulses and acquiring a plurality of echo signals corresponding to the light pulses; determining an energy characteristic parameter and range data for each of the plurality of echo signals; and determining whether each echo signal is a noise echo signal generated by interference noise according to the energy characteristic parameter and the distance data of each echo signal. By the method, the noise echo signal generated by the interference noise in the currently acquired multiple echo signals can be accurately determined, so that the accuracy of the laser detection equipment in detecting the target can be effectively improved, and a foundation is provided for the safe movement of the movable platform.)

A method for processing a noise echo signal is applied to laser detection equipment, and is characterized by comprising the following steps:

emitting light pulses and acquiring a plurality of echo signals corresponding to the light pulses;

determining an energy characteristic parameter and range data for each of the plurality of echo signals;

and determining whether each echo signal is a noise echo signal generated by interference noise according to the energy characteristic parameter and the distance data of each echo signal.

The method of claim 1, wherein the energy characterizing parameter is determined from at least one of echo energy, pulse width, height, and area of the echo signal.

The method according to claim 1 or 2,

the determining whether each echo signal is a noise echo signal according to the energy characteristic parameter and the distance data of each echo signal includes:

determining a reference energy characteristic parameter of each echo signal according to the distance data of each echo signal, wherein the reference energy characteristic parameter can be used for indicating the energy characteristic parameter of the echo signal generated by the interference noise point when the interference noise point is at the distance indicated by the distance data;

and determining whether each echo signal is a noise echo signal according to the energy characteristic parameter and the reference energy characteristic parameter of each echo signal.

The method of claim 3, wherein determining whether each echo signal is a noisy echo signal according to the energy characteristic parameter of each echo signal and a reference energy characteristic parameter comprises:

and when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, determining the echo signal as a noise echo signal.

The method of claim 4, wherein determining that the echo signal is a noisy echo signal when the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal comprises:

when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, determining whether the distance data of the echo signal is smaller than reference distance data;

and if so, determining the echo signal as a noise echo signal.

The method of claim 5, wherein the reference range data is determined from a distribution of distances between interfering noise producing noise echo signals and the laser detection device.

The method of claim 6, wherein the distance distribution comprises a Poisson distribution or a Gaussian distribution.

The method according to claim 6 or 7, wherein one or more parameters of the distance distribution are determined based on a user-specified type of interference noise.

The method of claim 4, wherein determining that the echo signal is a noisy echo signal when the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal comprises:

when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, determining the probability corresponding to the distance data according to the distance data and the distance distribution between an interference noise point generating noise point echo and the laser detection equipment;

and when the probability is greater than a preset probability threshold value, determining the echo signal as a noise echo signal.

The method of claim 9, wherein the distance distribution comprises a poisson distribution or a gaussian distribution.

The method of claim 10, wherein one or more parameters of the distance distribution are determined based on a type of interference noise specified by a user.

The method according to any one of claims 3 to 11,

determining whether each echo signal is a noise echo signal according to the energy characteristic parameter and the reference energy characteristic parameter of each echo signal comprises:

and when the energy characteristic parameter of the echo signal is larger than the reference energy characteristic parameter of the echo signal, determining the echo signal as a valid echo signal.

The method according to any one of claims 3-12, wherein said determining a reference energy characteristic parameter of each echo signal from the range data of each echo signal comprises:

and substituting the distance data of the echo signals into a noise point echo filtering curve to determine a reference energy characteristic parameter of the echo signals, wherein the noise point echo filtering curve is used for indicating the reflectivity of interference noise points, and the relationship between the energy information of the echo signals generated by the interference noise points and the distance data corresponding to the energy information.

The method of claim 13, wherein the noise echo filter curve is calibrated based on a reflectivity of an interference noise, a plurality of energy characterizing parameters of the interference noise, and a plurality of distance data of the interference noise corresponding to the plurality of energy characterizing parameters.

A method according to claim 13 or 14, characterized in that said noise echo filtering curve is determined on the basis of the type of interference noise specified by the user.

A laser detection apparatus, comprising: a laser, a receiver, and a processor, wherein,

the laser is used for emitting light pulses;

the receiver is used for acquiring a plurality of echo signals corresponding to the optical pulses;

the processor is configured to:

determining an energy characteristic parameter and range data for each of the plurality of echo signals;

and determining whether each echo signal is a noise echo signal generated by interference noise according to the energy characteristic parameter and the distance data of each echo signal.

The apparatus of claim 16, wherein the energy characterizing parameter is determined from at least one of echo energy, pulse width, height, and area of the echo signal.

The apparatus according to claim 16 or 17,

the processor is specifically configured to, when determining whether each echo signal is a noise echo signal according to the energy characteristic parameter and the distance data of each echo signal:

determining a reference energy characteristic parameter of each echo signal according to the distance data of each echo signal, wherein the reference energy characteristic parameter can be used for indicating the energy characteristic parameter of the echo signal generated by the interference noise point when the interference noise point is at the distance indicated by the distance data;

and determining whether each echo signal is a noise echo signal according to the energy characteristic parameter and the reference energy characteristic parameter of each echo signal.

The apparatus according to claim 18, wherein the processor is configured to, when determining whether each echo signal is a noisy echo signal according to the energy characteristic parameter of each echo signal and the reference energy characteristic parameter, in particular:

and when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, determining the echo signal as a noise echo signal.

The apparatus according to claim 19, wherein the processor, when determining that the echo signal is a noisy echo signal when the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal, is specifically configured to:

when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, determining whether the distance data of the echo signal is smaller than reference distance data;

and if so, determining the echo signal as a noise echo signal.

The apparatus of claim 20, wherein said reference range data is determined from a distribution of distances between interfering noise producing noise echo signals and said laser detection apparatus.

The apparatus of claim 21, wherein the distance distribution comprises a poisson distribution or a gaussian distribution.

The apparatus of claim 21 or 22, wherein one or more parameters of the distance distribution are determined based on a user-specified type of interference noise.

The apparatus according to claim 19, wherein the processor, when determining that the echo signal is a noisy echo signal when the energy characteristic parameter of the echo signal is less than the reference energy characteristic parameter of the echo signal, is specifically configured to:

when the energy characteristic parameter of the echo signal is smaller than the reference energy characteristic parameter of the echo signal, determining the probability corresponding to the distance data according to the distance data and the distance distribution between an interference noise point generating noise point echo and the laser detection equipment;

and when the probability is greater than a preset probability threshold value, determining the echo signal as a noise echo signal.

The apparatus of claim 24, wherein the distance distribution comprises a poisson distribution or a gaussian distribution.

The apparatus of claim 25, wherein one or more parameters in the distance distribution are determined based on a type of interference noise specified by a user.

The apparatus of any one of claims 18-26,

when the processor determines whether each echo signal is a noise echo signal according to the energy characteristic parameter and the reference energy characteristic parameter of each echo signal, the processor is specifically configured to:

and when the energy characteristic parameter of the echo signal is larger than the reference energy characteristic parameter of the echo signal, determining the echo signal as a valid echo signal.

The device according to any of claims 18 to 27, wherein the processor, when determining the reference energy characteristic parameter of each echo signal from the distance data of each echo signal, is configured to:

and substituting the distance data of the echo signals into a noise echo filtering curve to determine a reference energy characteristic parameter of the echo signals, wherein the noise echo filtering curve is used for indicating the reflectivity of interference noise, the energy information of the echo signals generated by the interference noise and the relation between the distance data corresponding to the energy information.

The apparatus of claim 28, wherein said noise echo filter curve is calibrated based on a reflectivity of an interference noise, a plurality of energy characterizing parameters of the interference noise, and a plurality of distance data of the interference noise corresponding to the plurality of energy characterizing parameters.

The apparatus of claim 28 or 29, characterized in that said noise echo filtering curve is determined according to the type of interference noise specified by the user.

A movable platform, comprising:

a body;

the power system is arranged on the machine body and used for providing power;

and a laser detection device as claimed in any one of claims 16 to 30.

A computer-readable storage medium, having stored thereon a computer program for execution by a processor to perform the method of any one of claims 1-15.