阅读说明：本技术 一种多脉冲激光雷达系统抗干扰处理方法及装置 (Anti-interference processing method and device for multi-pulse laser radar system ) 是由 罗斯特 刘夏 刘冬山 杨珺鹏 于 2020-05-29 设计创作，主要内容包括：一种多脉冲抗干扰信号处理装置,多脉冲抗干扰信号处理装置包括：探测脉冲发送单元(10)以及脉冲接收单元(20)；探测脉冲发送单元(10),用于在一个周期内按照预设发射间隔向目标对象发射多个激光脉冲(S101)；脉冲接收单元(20),用于在一个周期内接收多个外部信号并获取任意两个外部信号的接收间隔,以及根据发射间隔和接收间隔,从多个外部信号中确定与发射的激光脉冲对应的回波信号(S102)。该装置有效地去除光电转换导致的假回波脉冲和其他雷达反馈回来的干扰回波脉冲,提高了目标回波脉冲的信噪比,有效解决了多部雷达之间的相互干扰问题,提高了雷达利用激光脉冲测距的精确度。(A multi-pulse anti-interference signal processing device includes: a probe pulse transmitting unit (10) and a pulse receiving unit (20); a probe pulse transmitting unit (10) for transmitting a plurality of laser pulses to a target object at preset transmission intervals in one cycle (S101); a pulse receiving unit (20) for receiving a plurality of external signals in one cycle and acquiring a receiving interval of any two external signals, and determining an echo signal corresponding to the transmitted laser pulse from the plurality of external signals according to the transmitting interval and the receiving interval (S102). The device effectively gets rid of false echo pulse that photoelectric conversion leads to and the interference echo pulse that other radars fed back, has improved the SNR of target echo pulse, has effectively solved the mutual interference problem between the many radars, has improved the accuracy that the radar utilized laser pulse to find range.)

A multi-pulse anti-interference signal processing method is characterized by comprising the following steps:

in a detection period, sending a plurality of detection pulses to a detection target, wherein the time intervals of the detection pulses are preset time;

capturing a plurality of echo pulses resulting from reflection of the plurality of probe pulses at the probe target;

delaying the echo pulses for the preset time to obtain delayed echo pulses;

and acquiring a target echo pulse according to the echo pulses and the delayed echo pulses.

The multi-pulse interference rejection signal processing method according to claim 1, wherein said obtaining a target echo pulse from said plurality of echo pulses and said plurality of delayed echo pulses further comprises:

and calculating the distance of the detection target according to the time difference between the target echo pulse and the plurality of detection pulses.

The multi-pulse anti-interference signal processing method according to claim 1, wherein the capturing of the multiple echo pulses generated by reflection of the multiple probe pulses at the probe target specifically includes:

and capturing and performing analog-to-digital conversion on a plurality of echo pulses generated by reflecting the plurality of probe pulses at the detection target.

The multi-pulse anti-interference signal processing method according to claim 1, wherein the plurality of probe pulses are two probe pulses, the plurality of echo pulses are two echo pulses, and the delaying the plurality of echo pulses by the preset time to obtain the plurality of delayed echo pulses specifically comprises:

and delaying the two echo pulses according to the preset time to obtain two delayed echo pulses.

The multi-pulse interference rejection signal processing method according to claim 4, wherein said obtaining a target echo pulse from said plurality of echo pulses and said plurality of delayed echo pulses comprises:

adding the two echo pulses and the two delayed echo pulses to generate a superimposed pulse;

taking the absolute value of the difference between the two echo pulses and the two delayed echo pulses as a reference pulse;

and subtracting the difference of the reference pulse from the superposition pulse to be used as the target echo pulse.

The multi-pulse anti-interference signal processing method according to claim 1, wherein the plurality of probe pulses are three probe pulses, the plurality of echo pulses are three echo pulses, and the delaying the plurality of echo pulses by the preset time to obtain the plurality of delayed echo pulses specifically comprises:

and delaying the three echo pulses according to a first preset time to obtain a first three delayed echo pulses, and delaying the three echo pulses according to a second preset time to obtain a second three delayed echo pulses.

The multi-pulse interference rejection signal processing method according to claim 6, wherein said obtaining a target echo pulse from said plurality of echo pulses and said plurality of delayed echo pulses comprises:

adding the three echo pulses and the first and second three delayed echo pulses to generate a three-stack pulse;

taking the absolute value of the difference between the three echo pulses and the first three delayed echo pulses as a first reference pulse;

taking the absolute value of the difference between the three echo pulses and the second three delayed echo pulses as a second reference pulse;

taking the absolute value of the difference between the first three delayed echo pulses and the second three delayed echo pulses as a third reference pulse;

taking an average value of the sum of the first reference pulse and the second reference pulse and the third reference pulse as an average reference pulse;

and subtracting the difference of the average reference pulse from the three superposed pulses to be used as the target echo pulse.

The multi-pulse anti-interference signal processing method according to claim 1, wherein said transmitting a plurality of probe pulses to the probe target in one probe period, wherein a time interval of the plurality of probe pulses is before a preset time further comprises:

generating a plurality of detection pulses within a detection period;

the generating a plurality of probe pulses within one probe cycle includes:

a laser pulse emitted by a laser source is collimated and polarized to obtain pulse light splitting;

the pulse light splitting is performed through different light paths and then is combined to obtain a first group of multiple detection pulses; or

Laser pulses respectively emitted by the two laser sources pass through different optical paths and then are combined to obtain a second group of multiple detection pulses.

The multi-pulse anti-interference signal processing method according to claim 8, wherein the laser pulse emitted by the one laser source is collimated and polarized to obtain a pulse beam; the pulse splitting light is combined after passing through different light paths to acquire a first group of multiple detection pulses, and the method comprises the following steps:

the laser source emits a first original laser pulse, and the first original laser pulse is collimated to obtain a collimated laser pulse;

the collimated laser pulse is subjected to first polarization beam splitting to obtain a first transmission polarization laser pulse and a first reflection polarization laser pulse;

the first transmission polarization laser pulse is subjected to second polarization beam splitting treatment to obtain a first detection pulse;

the first reflection polarization laser pulse is subjected to first total reflection treatment to obtain a first total reflection laser pulse;

the first total reflection laser pulse is subjected to second total reflection treatment to obtain a second total reflection laser pulse;

the second total reflection laser pulse is subjected to second polarization beam splitting treatment to obtain a second detection pulse;

and the first detection pulse and the second detection pulse are output in a unified way after being combined.

The method for multi-pulse anti-interference signal processing according to claim 8, wherein the step of combining the laser pulses emitted by the two laser sources via different optical paths to obtain a second plurality of probe pulses comprises:

the method comprises the following steps that a first laser source emits a second original laser pulse, and the second original laser pulse is subjected to primary collimation processing to obtain a first collimated laser pulse;

the first collimation laser pulse is subjected to first total reflection treatment to obtain a first total reflection laser pulse;

the first total reflection laser pulse is subjected to first polarization light splitting treatment to obtain a third detection pulse;

the second laser source emits a third original laser pulse, and the third original laser pulse is subjected to first polarization beam splitting to obtain a fourth detection pulse;

and the third detection pulse and the fourth detection pulse are output in a unified way after being combined.

A multi-pulse anti-jamming signal processing apparatus, comprising:

the device comprises a detection pulse sending module, a detection target detecting module and a detection pulse sending module, wherein the detection pulse sending module is used for sending a plurality of detection pulses to the detection target in a detection period, and the time intervals of the detection pulses are preset time;

an echo pulse capturing module, configured to capture a plurality of echo pulses generated by reflection of the plurality of probe pulses at the probe target;

the delayed echo pulse acquisition module is used for delaying the multiple echo pulses for the preset time to acquire the multiple delayed echo pulses;

and the target echo pulse acquisition module is used for acquiring a target echo pulse according to the echo pulses and the delay echo pulses.

The multi-pulse interference rejection signal processing apparatus according to claim 11, wherein said multi-pulse interference rejection signal processing apparatus further comprises:

and the detection target distance calculation module is used for calculating the distance of the detection target according to the time difference between the target echo pulse and the detection pulses.

The multi-pulse interference rejection signal processing apparatus according to claim 11, wherein said multi-pulse interference rejection signal processing apparatus further comprises:

and the detection pulse generation module is used for generating a plurality of detection pulses in one detection period.

A multi-pulse anti-jamming signal processing apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the multi-pulse anti-jamming signal processing method according to any one of claims 1 to 10 when executing the computer program.

A lidar system, comprising: a laser emitting unit and a laser receiving unit;

the laser emission unit is used for emitting at least two laser pulses to a target object according to a preset emission interval in one period;

the laser receiving unit is configured to receive a plurality of external signals in the period, acquire a receiving interval of any two external signals, and determine an echo signal corresponding to the transmitted laser pulse from the plurality of external signals according to the transmitting interval and the receiving interval.

The system of claim 15, wherein the laser emitting unit comprises a first laser emitter and a laser delay circuit;

the first laser transmitter is used for transmitting a first transmitting laser pulse;

the laser delay optical path is used for receiving the first emitted laser pulse, delaying part of laser in the first emitted laser pulse and outputting at least two laser pulses with emission intervals.

The system of claim 16, wherein the laser delay optical path comprises a laser splitting unit, a laser delay unit, and a laser combining unit;

the laser light splitting unit is used for splitting the first emitted laser pulse into a first laser pulse and a second laser pulse, sending the first laser pulse to the laser delay unit, and sending the second laser pulse to the laser combining unit;

the laser delay unit is used for delaying the received first laser pulse to obtain a third laser pulse, and an emission interval is formed between the third laser pulse and the second laser pulse;

and the laser combining unit transmits the received second laser pulse and the third laser pulse to a target object.

The system of claim 17, wherein the laser splitting unit is a first polarization beamsplitter and the laser combining unit is a second polarization beamsplitter;

the first polarization beam splitter is configured to split the first emission laser pulse into a first laser pulse in an S-polarization state and a second laser pulse in a P-polarization state, transmit the first laser pulse in the S-polarization state to the laser delay unit, and transmit the second laser pulse in the P-polarization state to the second polarization beam splitter;

and the second polarization beam splitter is used for receiving the second laser pulse in the P polarization state, transmitting and outputting the second laser pulse in the P polarization state, receiving the third laser pulse in the S polarization state, and reflecting and outputting the third laser pulse.

The system of claim 18, wherein the laser delay unit includes a first total reflection prism and a second total reflection prism;

the first total reflection prism is used for reflecting the first laser pulse to the second total reflection prism;

and the second total reflection prism is used for reflecting the received laser pulse to the second polarization beam splitter.

The system of claim 19, wherein a distance of an optical path formed by the components in the laser delay unit and the components in the laser splitting unit is adjustable, and the length of the distance is related to the length of the emission interval.

The system of claim 15, wherein the laser emitting unit comprises: the laser combiner comprises a second laser transmitter, a third laser transmitter and a laser combining optical path;

the second laser transmitter and the third laser transmitter time-divisionally transmit a second transmit laser pulse and a third transmit laser pulse within the one period;

and the laser combining light path is used for combining the second emission laser pulse and the third emission laser pulse and emitting the combined laser pulse to a target object.

The system of claim 21, wherein the firing intervals at which the second laser transmitter and the third laser transmitter fire laser pulses are adjustable.

The system of claim 22, wherein the second emitted laser pulse is S-polarized and the third emitted laser pulse is P-polarized, and wherein the laser combining optical path comprises a third polarization beam splitter and a third total reflection prism;

the third total reflection prism is used for reflecting the second emission laser pulse to the third polarization beam splitter;

and the third polarization beam splitter is used for reflecting and outputting the laser pulse sent by the third total reflection prism and transmitting and outputting the third emission laser pulse.

A method for determining a lidar return signal, the method being applied to the lidar system of any of claims 15 to 23, the lidar system comprising a laser transmitter unit and a laser receiver unit;

the laser emission unit emits at least two laser pulses to a target object according to a preset emission interval in one period;

the laser receiving unit receives a plurality of external signals in the period and acquires a receiving interval of any two external signals, and determines an echo signal corresponding to the transmitted laser pulse from the plurality of external signals according to the transmitting interval and the receiving interval.