Anti-interference processing method and apparatus for multi-pulse laser radar system
This application relates to a multi-pulse anti-interference signal processing apparatus. The multi-pulse anti-interference signal processing apparatus includes a detection pulse sending unit and a pulse receiving unit. The detection pulse sending unit is configured to emit a plurality of laser pulses to a target object based on a preset emission interval within a cycle. The pulse receiving unit is configured to receive a plurality of external signals within the cycle, obtain a reception interval between any two external signals, and determine, in the plurality of external signals based on the emission interval and the reception interval, an echo signal corresponding to the emitted laser pulses. A false echo pulse resulting from optical-to-electrical conversion and an interfering echo pulse fed back by other radar are effectively eliminated. Therefore, a signal-to-noise ratio of a target echo pulse is increased, mutual interference between a plurality of radars is effectively eliminated, and accuracy of ranging performed by a radar by using a laser pulse is improved.
1 . A multi-pulse anti-interference signal processing method, wherein the multi-pulse anti-interference signal processing method comprises:
sending a plurality of detection pulses to a detection target within a detection cycle, wherein a time interval between the plurality of detection pulses is a preset time;
capturing and performing analog-to-digital conversion on a plurality of echo pulses generated by reflecting the plurality of detection pulses at the detection target;
delaying the plurality of echo pulses by the preset time to obtain a plurality of delayed echo pulses;
obtaining a target echo pulse based on the plurality of echo pulses and the plurality of delayed echo pulses; and
calculating a distance of the detection target based on a time difference between the target echo pulse and the plurality of detection pulses,
wherein the plurality of detection pulses are two detection 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 comprises:
delaying the two echo pulses based on the preset time to obtain two delayed echo pulses; and
wherein obtaining the target echo pulse based on the plurality of echo pulses and the plurality of delayed echo pulses comprises:
adding up the two echo pulses and the two delayed echo pulses to generate a superposed pulse;
using an absolute value of a difference between the two echo pulses and the two delayed echo pulses as a reference pulse; and
using a difference obtained by subtracting the reference pulse from the superposed pulse as the target echo pulse.
2 . The multi-pulse anti-interference signal processing method according to claim 1 , wherein before the sending the plurality of detection pulses to the detection target within the detection cycle, wherein the time interval between the plurality of detection pulses is the preset time, the method further comprises:
generating the plurality of detection pulses within the detection cycle; and
the generating the plurality of detection pulses within the detection cycle comprises:
performing collimation and polarized splitting processing on a laser pulse emitted by a laser source to obtain a pulse split beam; and
performing beam combination after the pulse split beam goes through different optical paths to obtain a first group of a plurality of detection pulses; or
performing beam combination after laser pulses emitted by two laser sources go through different optical paths to obtain a second group of a plurality of detection pulses.
3 . The multi-pulse anti-interference signal processing method according to claim 2 , wherein the performing collimation and polarized splitting processing on the laser pulse emitted by the laser source to obtain the pulse split beam, and performing beam combination after the pulse split beam goes through different optical paths to obtain the first group of a plurality of detection pulses comprises:
emitting, by the laser source, a first original laser pulse, and performing collimation processing on the first original laser pulse to obtain a collimated laser pulse;
performing first polarized splitting processing on the collimated laser pulse to obtain a first transmitted polarized laser pulse and a first reflected polarized laser pulse;
performing second polarized splitting processing on the first transmitted polarized laser pulse to obtain a first detection pulse;
performing first total reflection processing on the first reflected polarized laser pulse to obtain a first total reflected laser pulse;
performing second total reflection processing on the first total reflected laser pulse to obtain a second total reflected laser pulse;
performing second polarized splitting processing on the second total reflected laser pulse to obtain a second detection pulse; and
combining the first detection pulse and the second detection pulse for uniform output.
4 . The multi-pulse anti-interference signal processing method according to claim 2 , wherein the performing beam combination after laser pulses emitted by two laser sources go through different optical paths to obtain the second group of a plurality of detection pulses comprises:
emitting, by a first laser source, a second original laser pulse, and performing first collimation processing on the second original laser pulse to obtain a first collimated laser pulse;
performing first total reflection processing on the first collimated laser pulse to obtain a first total reflected laser pulse;
performing first polarized splitting processing on the first total reflected laser pulse to obtain a third detection pulse;
emitting, by a second laser source, a third original laser pulse, and performing first polarized splitting processing on the third original laser pulse to obtain a fourth detection pulse; and
combining the third detection pulse and the fourth detection pulse for uniform output.
5 . A multi-pulse anti-interference signal processing apparatus, comprising:
a memory,
a processor, and
a computer program that is stored in the memory and capable of running on the processor, wherein when executing the computer program, the processor implements a method, the method comprising:
sending a plurality of detection pulses to a detection target within a detection cycle, wherein a time interval between the plurality of detection pulses is a preset time;
capturing and performing analog-to-digital conversion on a plurality of echo pulses generated by reflecting the plurality of detection pulses at the detection target;
delaying the plurality of echo pulses by the preset time to obtain a plurality of delayed echo pulses;
obtaining a target echo pulse based on the plurality of echo pulses and the plurality of delayed echo pulses; and
calculating a distance of the detection target based on a time difference between the target echo pulse and the plurality of detection pulses;
wherein the plurality of detection pulses are two detection pulses, the plurality of echo pulses are two echo pulses, and delaying the plurality of echo pulses by the preset time to obtain the plurality of delayed echo pulses comprises:
delaying the two echo pulses based on the preset time to obtain two delayed echo pulses; and
wherein obtaining the target echo pulse based on the plurality of echo pulses and the plurality of delayed echo pulses comprises:
adding up the two echo pulses and the two delayed echo pulses to generate a superposed pulse;
using an absolute value of a difference between the two echo pulses and the two delayed echo pulses as a reference pulse; and
using a difference obtained by subtracting the reference pulse from the superposed pulse as the target echo pulse.