AMCW雷射雷達測距系統研究

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姓名

陳永馨(YUNG-HSIN CHEN) 查詢紙本館藏

畢業系所

光電科學與工程學系

論文名稱

AMCW雷射雷達測距系統研究
(Development of the AMCW LiDAR system)

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摘要(中)

本研究基於傳統振幅調變連續波(AMCW，Amplitude modulated continuous wave)雷射雷達系統使用單一調製頻率，藉由參考訊號與量測訊號進行混頻，通過低通濾波器後，得到具有距離資訊的直流訊號。提出增加使用的調制頻率數量，將數個調制頻率訊號以掃頻(Sweep Frequency)的形式調變參考訊號與雷射輸出訊號。掃頻範圍為21-60 MHz，每一個調制頻率訊號會對應一個直流訊號。將所有的直流訊號紀錄後補零(Zero padding)並做快速傅立葉轉換(FFT，Fast Fourier Transform)，即可得到距離訊號，此時半峰全寬為4.32 m。為減少FFT時與矩形函數的摺積(convolution)，在FFT後利用韋納濾波減少在距離域上的半峰全寬，韋納濾波後1.76 m，讓在同個路徑上有多個物體時可以更好判斷有多個物體。
本研究適用距離範圍為5 m至17.5 m，距離誤差約在10 cm內。同路徑上有兩個物體時，在兩物體相距3.28 m開始可以分辨有兩個物體，在5.6 m開始可以具體分辨兩個物體距離。量測一次距離總耗時長約為0.5 s。

摘要(英)

This thesis is based on the traditional amplitude modulated continuous wave (AMCW) LiDAR(Light detection and ranging) system using a single modulation frequency, mixing the reference signal with the measurement signal, and passing through a low-pass filter to obtain a distance information which is a DC signal. By increasing the number of modulation frequencies used, and modulate several modulation frequency signals in the form of sweep frequency. The frequency sweep range is 21-60 MHz in this paper, and each modulation frequency signal corresponds to a DC signal. After recording all the DC signals with zero padding and doing Fast Fourier Transform (FFT), the distance signal can be obtained. In order to reduce the convolution with the rectangular function during FFT, Weiner filter is used after FFT. Weiner filter can reduce the full width at half maximum in the distance domain, so that if there are multiple objects on the same path, it can be better to distinguish that there are multiple object.
The applicable distance range of this study is 5 m to 17.5 m, and the distance error is about 10 cm. When there are two objects on the same path, the distance between the two objects can be distinguished from 3.28 m. The distance between the two objects can be distinguished accurately is 5.6 m. The total measured time is 0.5 s.

關鍵字(中)

★ 振幅調變連續波
★ 雷射雷達

關鍵字(英)

★ AMCW
★ LiDAR

論文目次

一、緒論 1
1-1 文獻回顧 1
1-2 研究動機 3
二、實驗理論 4
3-1 混頻器 4
2-2-1 二極體非線性特性 4
2-2-2 混頻器原理 5
3-2 低通濾波器 (Low Pass Filter) 7
3-4-1 低通濾波器介紹 7
3-4-2 結合混頻器輸出直流訊號 8
3-3 振幅調製連續波 9
3-4 補零(Zero Padding) 13
2-4-1 離散頻率與離散時間關係 13
2-4-2 補零 14
3-5 韋納濾波器(Wiener Filter) 16
三、 AMCW LiDAR 測距系統計算與模擬 18
3-1 AMCW LiDAR測距系統簡介 18
3-2 AMCW LiDAR測距系統模 21
3-3 物體距離分析 23
3-4 物體分析 24
3-4-1 反射性物體 24
3-4-2 散射性物體 24
3-5 雜訊模擬 26
3-6 同路徑兩物體 27
四、自製電流驅動器 28
4-1 電路圖 28
4-2 電路模擬 30
4-3 電路實驗結果 32
五、 AMCW LiDAR實驗架構與數據分析 33
5-1 AMCW LiDAR調頻雷射次系統 33
5-2 AMCW LiDAR距離偵測次系統 34
5-3 系統干擾訊號與自製電流驅動器頻率響應之修正 36
5-4 距離量測 38
5-4-1 同路徑單一個物體距離量測 39
5-4-2 同路徑多物體量測 42
六、結論與未來展望 44
6-1 結論 44
6-2 未來展望 45
七、參考文獻 47
八、附錄 49

參考文獻

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指導教授

鍾德元(TE-YUAN CHUNG)

審核日期

2021-8-27

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