阅读说明：本技术 一种非匹配滤波的单脉冲多通道数据处理方法及装置 (Single-pulse multi-channel data processing method and device for non-matched filtering ) 是由 吴姿妍 刘波 颜子恒 眭晓林 赵晓龙 张浩然 周寿桓 于 2020-11-24 设计创作，主要内容包括：本发明公开了一种非匹配滤波的单脉冲多通道数据处理方法、装置及采用该装置的激光测距测速系统,采用V型调频单脉冲作为发射信号,回波信号通过多通道模拟频移后与本振信号混合,利用有限带宽的探测器进行采集,得到的电信号采用非匹配滤波方式进行滤波,然后对卷积结果进行排序判断,利用卷积结果得到的两个峰值时刻计算目标的距离和速度信息,最后对目标的真实速度进行反演,得到目标的真实径向运动速度大小和方向。本发明在系统可测范围内,即便在回波的频率范围不在(或超过)发射频率范围的情形下,利用多通道处理技术也能实现速度测量,可以加大可测速度范围,加快获取信息的速度,并有效降低对探测器的带宽要求。(The invention discloses a single-pulse multi-channel data processing method and device of non-matched filtering and a laser ranging and speed measuring system adopting the device. In the measurable range of the system, even if the frequency range of the echo is not within (or exceeds) the transmitting frequency range, the invention can realize speed measurement by utilizing the multi-channel processing technology, can enlarge the measurable speed range, quickens the speed of acquiring information and effectively reduces the bandwidth requirement on the detector.)

1. A single-pulse multi-channel data processing method of non-matched filtering is characterized by comprising the following steps:

s1: receiving target return light;

s2: dividing the target return light into N groups, wherein N is Fd/B, B is 1/2 of V-type frequency modulation bandwidth (-B to + B), and Fd is 1/2 of measurable Doppler change range (-Fd to + Fd) of the system;

s3: n groups of optical signals respectively enter one channel of a multi-channel processing module, a frequency shifter in each channel performs frequency shift processing on the optical signals, and the frequency shift frequency of the mth channel isWherein m is 1, 2, …, N;

s4: combining the optical signals subjected to frequency shift of each channel with a local oscillator respectively to perform heterodyne detection processing;

s5: the detector in each channel detects the optical signal after combination to obtain the electric signal of the channel;

s6: carrying out non-matching filtering processing on the electric signals of each channel;

s7: sequencing and judging the convolution results, and extracting the time delta t when two peak values appear₁' and Δ t₂', and judging the channel number of the effective electric signal;

s8: two peak times Δ t obtained using convolution results₁' and Δ t₂', according toCalculating the distance of the target according toCalculating to obtain speed information of the target, wherein c is the light speed, lambda is the wavelength, k is the absolute value of a V-shaped frequency modulation slope, and T is the half-period width;

s9: and inverting the real speed of the target, and solving the real radial motion speed v and direction of the target according to the channel number of the obtained effective electric signal.

2. The single-pulse multi-channel data processing method according to claim 1, wherein in step S1, the target return light is subjected to amplification processing as necessary;

in the non-matching filtering processing in step S6, a triangular frequency modulation template symmetrical to the V-type frequency modulation is used to perform convolution processing on the electrical signals of each channel.

3. The single-pulse multi-channel data processing method as claimed in claim 2, wherein the sorting determination in step S7 is performed by determining whether the electrical signal of each channel is a valid signal by using a constant false alarm detection method, and extracting the time Δ t at which two peaks appear for the channels of the valid signal₁′、Δt₂' and channel number.

4. As claimed in claims 1 to3, the method of processing monopulse multichannel data is characterized in that the step S9 first judges whether the valid electrical signal is from the secondObtaining each channel, and then carrying out corresponding solution according to a judgment result;

if the valid electrical signal is fromObtaining the actual radial motion speed v ═ v' of the target by each channel, and judging the direction of the radial speed of the target according to the positive and negative values of v, namely when v is positive or negative>When 0, the target Doppler is determined to be the forward direction, and when v<When 0, the target Doppler is determined to be reverse; if the valid electrical signal is not from the secondIf each channel is obtained, the speed information v' subtracts the speed shift v corresponding to the channel_rAnd obtaining the real radial motion speed v of the target, and judging the direction of the radial speed of the target according to the channel number.

5. The single-pulse multi-channel data processing method of claim 4, wherein the set-up effect signal is selected from the group consisting ofThe channel is obtained, and the real radial motion speed of the target is v ═ v' -v_rWherein

When an effective electric signal is received fromWhen the channel of (2) is output, the target Doppler is determined to be the forward direction; when an effective electric signal is received fromWhen the target doppler is output, the target doppler is determined to be the reverse direction.

6. A single-pulse multi-channel data processing apparatus with unmatched filtering, comprising:

a first beam splitter for splitting the received target return light into N groups, where N is Fd/B, B is 1/2 of V-type frequency modulation bandwidth (-B to + B), and Fd is 1/2 of system measurable doppler change range (-Fd to + Fd);

the multi-channel processing module comprises N channels, and each channel comprises a frequency shifter, a beam combiner, a detector, a digital filter and a sequencing judgment unit which are sequentially connected; the frequency shifter is used for performing frequency shift processing on the target return light from the first beam splitter in the channel, and the frequency shift frequency of the mth channel is Wherein m is 1, 2, …, N; the beam combiner is used for combining the target return light subjected to frequency shift in the channel with a local oscillator to perform heterodyne detection processing; the detector is used for detecting the optical signal after being combined in the channel to obtain an electric signal of the channel; the digital filter is used for carrying out non-matched filtering processing on the electric signal of the channel; the sorting judgment unit is used for sorting and judging the convolution result and extracting the time delta t when two peak values appear₁' and Δ t₂', and judging the channel number of the effective electric signal;

a calculation unit for using the two peak time Δ t provided by the sorting determination unit₁′、Δt₂'and channel number information of the effective electric signal, calculating the distance L and the speed information v' of the target, and inverting the real speed of the target.

7. The single-pulse multi-channel data processing apparatus according to claim 6, further comprising an optical amplifier for amplifying the received target return light;

the digital filter adopts a triangular frequency modulation template symmetrical to V-shaped frequency modulation to carry out convolution processing on the electric signals of each channel;

the sequencing judging unit adopts a constant false alarm detection method to judge whether the electric signals of each channel are effective signals, and extracts the time delta t when two peak values appear for the channels of the effective signals₁′、Δt₂' and channel number.

8. The monopulse multichannel data processing device as claimed in claim 6 or 7, characterized in that said calculation unit uses the two peak time instants Δ t provided by the sorting decision unit₁' and Δ t₂', according to Calculating the distance of the target according toCalculating to obtain speed information of the target, wherein c is the light speed, lambda is the wavelength, k is the absolute value of a V-shaped frequency modulation slope, and T is the half-period width;

when the calculating unit inverts the real speed of the target, firstly, whether the effective electric signal is from the second place or not is judgedObtaining each channel, and then carrying out corresponding solving according to a judgment result: if the valid electrical signal is fromOne channel is obtained for the purpose ofThe target real radial motion speed v ═ v', and the direction of the target radial speed is judged according to the positive and negative of the v value, namely when v is positive and negative>When 0, the target Doppler is determined to be the forward direction, and when v<When 0, the target Doppler is determined to be reverse; if the valid electrical signal is not from the second If each channel is obtained, the speed information v' subtracts the speed shift v corresponding to the channel_rAnd obtaining the real radial motion speed v of the target, and judging the direction of the radial speed of the target according to the channel number.

9. The single-pulse multi-channel data processing apparatus of claim 8, wherein the set-up effect electrical signal is selected from the group consisting ofThe channel is obtained, and the real radial motion speed of the target is v ═ v' -v_rWherein

When an effective electric signal is received fromWhen the channel of (2) is output, the target Doppler is determined to be the forward direction; when an effective electric signal is received fromWhen the target doppler is output, the target doppler is determined to be the reverse direction.

10. A laser distance and speed measuring system using the single-pulse multi-channel data processing device as claimed in claim 9, wherein the laser distance and speed measuring system further comprises:

a laser source for providing a laser source for the system;

the second beam splitter is used for splitting laser emitted by the laser source into signal light and N beams of local oscillator light, and the N beams of local oscillator light are respectively used for combining with targets in N channels in the multi-channel processing module to form beams;

the chopping frequency modulator is used for carrying out V-shaped frequency modulation processing on the signal light provided by the second beam splitter;

the waveform transmitter is used for transmitting the V-shaped frequency modulation pulse laser;

and a waveform receiver for receiving the target return light.

Technical Field

The invention belongs to the technical field of radar signal transmitting and receiving data processing, and particularly relates to a single-pulse multi-channel data processing technology based on V-shaped frequency modulation non-matched filtering.

Background

The traditional target speed measurement mainly comprises the steps of transmitting a single-frequency pulse signal, reflecting the signal after the signal contacts a target, returning the signal to a transmitting end after the time corresponding to the target distance, carrying out difference frequency on the signal and local oscillator light to obtain Doppler information of the target, and then obtaining the distance and speed information of the target through calculation. However, since high range resolution requires short pulse widths, increasing the emission energy requires long pulse widths. Therefore, in the field of radar, the frequency modulation pulse signal is transmitted, the time bandwidth product (TB product) is improved, and the problems of distance resolution and transmission energy coupling are solved.

In the process of measuring speed and distance by using frequency modulation monopulse, a matched filtering method is adopted, and according to a fuzzy function graph, the distance measurement error caused by target Doppler can be found when a target is measured, so that the function of measuring speed and distance can not be accurately completed. The pulse signal of V-shaped frequency modulation is utilized to carry out matched filtering, the output result can not cause the distance measurement error due to target Doppler, and simultaneously the radial velocity of the target can be obtained, but the radial velocity direction can not be obtained.

When the V-type frequency modulation is used for measuring speed, the measured speed range is restricted by the waveform modulation bandwidth. The bandwidth of the waveform after the difference frequency between the echo and the local oscillator signal must be within the designed modulation bandwidth range, so that the measurable speed range is reduced.

Disclosure of Invention

The embodiment of the invention provides a single-pulse multi-channel data processing method and device for non-matched filtering, and aims to solve the problems of small speed measurement range and low speed measurement efficiency in the conventional V-shaped frequency modulation speed measurement technology.

In a first aspect, an embodiment of the present invention provides a single-pulse multi-channel data processing method for non-matched filtering, including the following steps:

s1: receiving target return light;

s2: dividing the target return light into N groups, wherein N is Fd/B, B is 1/2 of V-type frequency modulation bandwidth (-B to + B), and Fd is 1/2 of measurable Doppler change range (-Fd to + Fd) of the system;

s3: n groups of optical signals respectively enter one channel of a multi-channel processing module, a frequency shifter in each channel performs frequency shift processing on the optical signals, and the frequency shift frequency of the mth channel isWherein m is 1, 2, …, N;

s4: combining the optical signals subjected to frequency shift of each channel with a local oscillator respectively to perform heterodyne detection processing;

s5: the detector in each channel detects the optical signal after combination to obtain the electric signal of the channel;

s6: carrying out non-matching filtering processing on the electric signals of each channel;

s7: sequencing and judging the convolution results, and extracting the time delta t when two peak values appear₁' and Δ t₂', and judging the channel number of the effective electric signal;

s8: two peak times Δ t obtained using convolution results₁' and Δ t₂', according toCalculating the distance of the target according toCalculating to obtain the speed information of the target, wherein c is the speed of light, lambda is the wavelength, and k is the absolute value of the V-type frequency modulation slopeFor values, T is the half-cycle width;

s9: and inverting the real speed of the target. And solving the real radial motion speed v and direction of the target according to the channel number of the obtained effective electric signal.

Alternatively, in the above step S1, the target return light may be subjected to an amplification process as necessary to solve the problem that the target return light is weak.

Optionally, in the non-matched filtering process in step S6, a triangular frequency modulation template symmetric to the V-shaped frequency modulation is used to perform convolution processing on the electrical signals of each channel.

Optionally, in the sorting judgment in the step S7, a constant false alarm detection method is used to judge whether the electrical signal of each channel is an effective signal, and for the channel of the effective signal, the time Δ t when two peaks appear is extracted₁′、Δt₂' and channel number.

Alternatively, in step S9, it is first determined whether the valid electrical signal is from the secondAnd obtaining the channels, and then carrying out corresponding solution according to the judgment result. If the valid electrical signal is fromObtaining the actual radial motion speed v ═ v' of the target by each channel, and judging the direction of the radial speed of the target according to the positive and negative values of v, namely when v is positive or negative>When 0, the target Doppler is determined to be the forward direction, and when v<When 0, the target Doppler is determined to be reverse; if the valid electrical signal is not from the secondIf each channel is obtained, the speed information v' subtracts the speed shift v corresponding to the channel_rAnd obtaining the real radial motion speed v of the target, and judging the direction of the radial speed of the target according to the channel number. Optionally, the set valid electrical signal is from the r-th The channel is obtained, and the real radial motion speed of the target is v ═ v' -v_rWherein When an effective electric signal is received fromWhen the channel of (2) is outputted, the target Doppler is determined to be positive, and when the effective electric signal is outputtedWhen the target doppler is output, the target doppler is determined to be the reverse direction.

In a second aspect, an embodiment of the present invention provides a single-pulse multi-channel data processing apparatus with non-matched filtering, including:

a first beam splitter for splitting the received target return light into N groups, where N is Fd/B, B is 1/2 of V-type frequency modulation bandwidth (-B to + B), and Fd is 1/2 of system measurable doppler change range (-Fd to + Fd);

the multi-channel processing module comprises N channels, and each channel comprises a frequency shifter, a beam combiner, a detector, a digital filter and a sequencing judgment unit which are sequentially connected. The frequency shifter is used for performing frequency shift processing on the target return light from the first beam splitter in the channel, and the frequency shift frequency of the mth channel is Wherein m is 1, 2, …, N; the beam combiner is used for combining the target return light subjected to frequency shift in the channel with the local oscillator to perform heterodyne detectionProcessing; the detector is used for detecting the optical signal after being combined in the channel to obtain an electric signal of the channel; the digital filter is used for carrying out non-matched filtering processing on the electric signal of the channel; the sorting judgment unit is used for sorting and judging the convolution result and extracting the time delta t when two peak values appear₁' and Δ t₂', and judging the channel number of the effective electric signal;

a calculation unit for using the two peak time Δ t provided by the sorting determination unit₁′、Δt₂'and channel number information of the effective electric signal, calculating the distance L and the speed information v' of the target, and inverting the real speed of the target.

Optionally, the single-pulse multichannel data processing apparatus of this embodiment further includes an optical amplifier for performing amplification processing on the received target return light to solve the problem that the target return light is weak.

Optionally, the digital filter performs convolution processing on the electrical signals of each channel by using a triangular frequency modulation template symmetrical to the V-type frequency modulation.

Optionally, the sorting determining unit determines whether the electrical signal of each channel is an effective signal by using a constant false alarm detection method, and extracts a time Δ t at which two peak values appear for the channel of the effective signal₁′、Δt₂' and channel number.

Optionally, the calculating unit utilizes two peak time Δ t provided by the sorting determining unit₁' and Δ t₂', according toCalculating the distance of the target according toAnd calculating to obtain the speed information of the target, wherein c is the light speed, lambda is the wavelength, k is the absolute value of the V-shaped frequency modulation slope, and T is the half-period width.

Optionally, when the computing unit inverts the real speed of the target, it is first determined whether the effective electrical signal is validFrom the firstAnd obtaining the channels, and then carrying out corresponding solution according to the judgment result. If the valid electrical signal is fromObtaining the actual radial motion speed v ═ v' of the target by each channel, and judging the direction of the radial speed of the target according to the positive and negative values of v, namely when v is positive or negative>When 0, the target Doppler is determined to be the forward direction, and when v<When 0, the target Doppler is determined to be reverse; if the valid electrical signal is not from the secondIf each channel is obtained, the speed information v' subtracts the speed shift v corresponding to the channel_rAnd obtaining the real radial motion speed v of the target, and judging the direction of the radial speed of the target according to the channel number. Optionally, the set valid electrical signal is from the r-thThe channel is obtained, and the real radial motion speed of the target is v ═ v' -v_rWhereinWhen an effective electric signal is received from When the channel of (2) is outputted, the target Doppler is determined to be positive, and when the effective electric signal is outputtedWhen the target doppler is output, the target doppler is determined to be the reverse direction.

In a third aspect, an embodiment of the present invention provides a laser distance and speed measurement system using a single-pulse multi-channel data processing apparatus, including:

a laser source for providing a laser source for the system;

the second beam splitter is used for splitting laser emitted by the laser source into signal light and N beams of local oscillator light, and the N beams of local oscillator light are respectively used for combining with targets in N channels in the multi-channel processing module to form beams;

the chopping frequency modulator is used for carrying out V-shaped frequency modulation processing on the signal light provided by the second beam splitter;

the waveform transmitter is used for transmitting V-shaped frequency modulation pulse laser to irradiate a measured target;

a waveform receiver for receiving the target return light;

the structure of the single-pulse multichannel data processing device is described in the second aspect with respect to the single-pulse multichannel data processing device, and the structure is not described again here.

The embodiment of the invention provides a single-pulse multi-channel data processing method and device for non-matched filtering and a laser ranging and speed measuring system adopting the device. The embodiment of the invention can realize speed measurement by using a multi-channel processing technology in a measurable range of a system even if the frequency range of the echo is not within (or exceeds) the transmitting frequency range, thereby enlarging the measurable speed range, accelerating the speed of acquiring information and effectively reducing the bandwidth requirement on a detector.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. In the drawings:

FIG. 1 is a flow chart of a single-pulse multi-channel data processing method according to a first embodiment of the present invention;

FIG. 2 is a schematic diagram of a transmit waveform according to an embodiment of the present invention;

FIG. 3 is a diagram illustrating an echo convolution template according to an embodiment of the present invention;

FIG. 4 is a diagram of filter time-frequency analysis according to an embodiment of the present invention;

FIG. 5 is a diagram illustrating the processing results of filter simulation data according to an embodiment of the present invention;

fig. 6 is a schematic diagram of a single-pulse multi-channel data processing apparatus according to a second embodiment of the present invention.

Fig. 7 is a schematic diagram of a laser ranging and speed measuring system using a single-pulse multi-channel data processing device according to a third embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

A first embodiment of the present invention provides a method for processing single-pulse multi-channel data with non-matched filtering, as shown in fig. 1, including the following steps:

s1: target return light is received. Because the Doppler frequency carried by the target return light signal exceeds the receiving bandwidth of the detector, the echo frequency cannot be measured, and therefore the method adopts a multi-channel data processing method for processing. In other embodiments, the target return light may be amplified as needed to solve the problem of weak target return light;

s2: dividing the target return light into N groups, wherein N is Fd/B, B is 1/2 of V-type frequency modulation bandwidth (-B to + B), and Fd is 1/2 of measurable Doppler change range (-Fd to + Fd) of the system;

s3: n groups of optical signals respectively enter one channel of the multi-channel processing module, and the frequency shifter in each channel performs frequency shifting processing on the optical signals. In this embodiment, the frequency shift frequency of channel 1 isThe frequency shift of channel 2 isThe frequency shift of the channel 3 isBy analogy, the frequency shift frequency of the channel m isWherein m is 1, 2, …, N. Setting the Doppler frequency of the target as unknown fd, then returning the target to the V-type frequency modulation with the optical frequency of (B + fd- — B + fd), after passing through each channel, each channel carries the difference frequency of The optical signal of (a);

s4: combining the optical signals subjected to frequency shift of each channel with a local oscillator respectively to perform heterodyne detection processing;

s5: and the detectors in the channels detect the combined optical signals to obtain the electrical signals of the channel. Because the types of the photoelectric detectors of all the channels are consistent, the detection bandwidths are the same, and when the waveform carried frequency of a certain channel completely passes through the detector, only partial frequency of the adjacent channel can pass through or no echo can pass through. Therefore, after the signal waveform of only one channel is subjected to the detector and the filtering, an effective electric signal can be obtained.

S6: and carrying out non-matched filtering processing on the electric signals of each channel. In this embodiment, the digital filter performs convolution processing on the electrical signals of each channel by using a triangular frequency modulation template symmetrical to the V-type frequency modulation, a schematic diagram of a transmission waveform of the V-type frequency modulation is shown in fig. 2, and a schematic diagram of the triangular frequency modulation template is shown in fig. 3;

the transmitted frequency modulation pulse waveform is based on a V type, and the expression of a transmitted time domain is as follows:

the echo time domain expression is as follows:

the time-frequency analysis diagram of the digital filter is shown in fig. 4, and the time domain expression is as follows:

the output of the echo signal and the digital filter is:

the output result is mainly concentrated on the following two items without considering the influence of cross items

From the above analysis, it can be seen that the peak values of the filtering output results are respectively at f_d-kΔt₁' -kT-0 and f_d+kΔt₂' -kT ═ 0, i.e.:

Δt₂' and Δ t₁The' is a value with the same absolute value and opposite sign, which represents the distance measurement error caused by target Doppler, and the sum of the two values is 0, so that the error can be eliminated and the accurate target distance can be obtained. The filter simulation data processing results are shown in fig. 5;

s7: sequencing and judging the convolution results, and extracting the time delta t when two peak values appear₁' and Δ t₂', and determines the channel number where a valid electrical signal is present. In this embodiment, the convolution processing peak values of each channel are sorted from large to small, when the current two peak values exceed Q times of the average number of the convolution processing amplitude values at the back, the electrical signal of the channel is judged to be an effective signal, and the time delta t when the two peak values appear is extracted₁' and Δ t₂', the Q value is set by the user according to the actual situation. Of course, other constant false alarm detection methods can be adopted to determine whether the electrical signals of each channel are valid signals;

s8: two peak times Δ t obtained using convolution results₁' and Δ t₂', according toCalculating the distance of the target according toCalculating to obtain the speed information of the target, wherein c is the speed of light, lambda is the wavelength, and k is the absolute value of V-type frequency modulation slope, that isT is the half-period width;

s9: and inverting the real speed of the target. Because each channel is subjected to frequency shifting processing, the radial velocity obtained after filtering needs to be recalculated. And solving the real radial motion speed v and direction of the target according to the channel number of the obtained effective electric signal. In this embodiment, first, it is determined whether the valid electrical signal is from the secondAnd obtaining the channels, and then carrying out corresponding solution according to the judgment result. If the valid electrical signal is fromObtaining the actual radial motion speed v ═ v' of the target by each channel, and judging the direction of the radial speed of the target according to the positive and negative values of v, namely when v is positive or negative>When 0, the target Doppler is determined to be the forward direction, and when v<When 0, the target Doppler is determined to be reverse; if the valid electrical signal is not from the secondIf each channel is obtained, the speed information v' subtracts the speed shift v corresponding to the channel_rAnd obtaining the real radial motion speed v of the target, and judging the direction of the radial speed of the target according to the channel number. Provided that the effective electric signal is from the r-thThe channel is obtained, and the real radial motion speed of the target is v ═ v' -v_rWhereinWhen an effective electric signal is received from When the channel of (2) is outputted, the target Doppler is determined to be positive, and when the effective electric signal is outputted When the target doppler is output, the target doppler is determined to be the reverse direction.

A second embodiment of the present invention provides a non-matched filtering monopulse multichannel data processing apparatus, as shown in fig. 6, which specifically includes a first beam splitter, a multichannel processing module, and a computing unit. The first beam splitter is used for dividing the received target return light into N groups, wherein N is Fd/B, B is 1/2 of the V-type frequency modulation bandwidth (-B to + B), and Fd is 1/2 of the measurable Doppler change range (-Fd to + Fd) of the system.

The multichannel processing module comprises N channels, and each channel comprises a frequency shifter, a beam combiner, a detector, a digital filter and a sequencing judgment unit which are sequentially connected. The frequency shifter is used for performing frequency shift processing on the target return light from the first beam splitter in the channel, and in the embodiment, the frequency shift frequency of the channel 1 isThe frequency shift of channel 2 isThe frequency shift of the channel 3 is By analogy, the frequency shift frequency of the channel m isWherein m is 1, 2, …, N. Setting the Doppler frequency of the target as unknown fd, then returning the target to the V-type frequency modulation with the optical frequency of (B + fd- — B + fd), after passing through each channel, each channel carries the difference frequency of The optical signal of (a); the beam combiner is used for combining the target return light subjected to frequency shift in the channel with a local oscillator to perform heterodyne detection processing; the detector is used for detecting the optical signal after the beam combination in the channel and acquiring the electric signal of the channel. Because the types of the photoelectric detectors of all the channels are consistent, the detection bandwidths are the same, and when the waveform carried frequency of a certain channel completely passes through the detector, only partial frequency of the adjacent channel can pass through or no echo can pass through. Therefore, after the signal waveform of only one channel is subjected to detector and filtering, an effective electric signal can be obtained; the digital filter is used for carrying out non-matched filtering processing on the electric signals of the channel. In this embodiment, the digital filter performs convolution processing on the electrical signals of each channel by using a triangular frequency modulation template symmetrical to the V-type frequency modulation, a schematic diagram of a transmission waveform of the V-type frequency modulation is shown in fig. 2, a schematic diagram of the triangular frequency modulation template is shown in fig. 3, and a time-frequency analysis diagram of the digital filter is shown in fig. 4. After calculation, the peak values of the filtering output results are respectively at f_d-kΔt₁' -kT-0 and f_d+kΔt₂' -kT-0, i.e. As can be seen, Δ t₂' and Δ t₁' are the same absolute value, opposite sign values, representing the Doppler cause of the targetThe sum of the distance measurement error and the distance measurement error is 0, so that the error can be eliminated, and the accurate target distance can be obtained; the filter simulation data processing results are shown in fig. 5. The sorting judgment unit is used for sorting and judging the convolution result and extracting the time delta t when two peak values appear₁' and Δ t₂', and determines the channel number where a valid electrical signal is present. In this embodiment, the convolution processing peak values of each channel are sorted from large to small, when the current two peak values exceed Q times of the average number of the convolution processing amplitude values at the back, the electrical signal of the channel is judged to be an effective signal, and the time delta t when the two peak values appear is extracted₁' and Δ t₂', the Q value is set by the user according to the actual situation. Of course, other constant false alarm detection methods may also be used to determine whether the electrical signal of each channel is a valid signal.

The calculation unit is used for utilizing the two peak time deltat provided by the sequencing judgment unit₁′、Δt₂'and channel number information of the effective electric signal, calculating the distance L and the speed information v' of the target, and inverting the real speed of the target. In this embodiment, the calculating unit utilizes the two peak time Δ t provided by the sorting and determining unit₁' and Δ t₂', according toCalculating the distance of the target according to And calculating to obtain the speed information of the target, wherein c is the light speed, lambda is the wavelength, k is the absolute value of the V-shaped frequency modulation slope, and T is the half-period width. Because each channel is subjected to frequency shifting processing, the radial velocity obtained after filtering needs to be recalculated. When the calculating unit inverts the real speed of the target, firstly, whether the effective electric signal is from the second place or not is judgedAnd obtaining the channels, and then carrying out corresponding solution according to the judgment result. If the valid electrical signal is fromObtaining the actual radial motion speed v ═ v' of the target by each channel, and judging the direction of the radial speed of the target according to the positive and negative values of v, namely when v is positive or negative>When 0, the target Doppler is determined to be the forward direction, and when v<When 0, the target Doppler is determined to be reverse; if the valid electrical signal is not from the secondIf each channel is obtained, the speed information v' subtracts the speed shift v corresponding to the channel_rAnd obtaining the real radial motion speed v of the target, and judging the direction of the radial speed of the target according to the channel number. Optionally, the set valid electrical signal is from the r-thThe channel is obtained, and the real radial motion speed of the target is v ═ v' -v_rWhereinWhen an effective electric signal is received fromWhen the channel of (2) is outputted, the target Doppler is determined to be positive, and when the effective electric signal is outputtedWhen the target doppler is output, the target doppler is determined to be the reverse direction.

A third embodiment of the present invention provides a laser distance and speed measuring system using the single-pulse multi-channel data processing apparatus of the present invention, as shown in fig. 7, specifically including:

a laser source for providing a laser source for the system;

and the second beam splitter is used for splitting laser emitted by the laser source into signal light and N beams of local oscillator light, wherein N is Fd/B, B is 1/2 of a V-type frequency modulation bandwidth (-B to + B), and Fd is 1/2 of a measurable Doppler change range (-Fd to + Fd) of the system. The N beams of local oscillator light are respectively used for combining with the targets in the N channels in the multi-channel processing module;

the chopping frequency modulator is used for carrying out V-shaped frequency modulation processing on the signal light provided by the second beam splitter;

the waveform transmitter is used for transmitting V-shaped frequency modulation pulse laser to irradiate a measured target, and a schematic diagram of a transmitting waveform is shown in figure 2;

a waveform receiver for receiving the target return light;

the structure of the single-pulse multichannel data processing device is described in the second embodiment with reference to the single-pulse multichannel data processing device, and the structure is not described again here.

The embodiment of the invention provides a single-pulse multi-channel data processing method and device for non-matched filtering and a laser ranging and speed measuring system adopting the device. The embodiment of the invention can realize speed measurement by using a multi-channel processing technology in a measurable range of a system even if the frequency range of the echo is not within (or exceeds) the transmitting frequency range, thereby enlarging the measurable speed range, accelerating the speed of acquiring information and effectively reducing the bandwidth requirement on a detector.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.