本文選題：激光雷達探測　切入點：CPLD　出處：《西安電子科技大學》2014年碩士論文

【摘要】：作為一種全新的探測技術,激光雷達已廣泛應用于大氣、陸地、海洋探測、空中交會對接、偵察成像、化學試劑探測等領域。與傳統(tǒng)雷達技術相比,激光雷達是一種通過發(fā)射特定波長的激光,處理并分析回波信號,實現(xiàn)目標探測的技術,具有高測量精度、精細的時間和空間分辨率,以及極大的探測距離等優(yōu)點,目前已成為一種重要的探測手段。激光雷達探測系統(tǒng)需采用硬件電路實現(xiàn)系統(tǒng)的控制以及回波信號的處理、分析,從而實現(xiàn)目標距離、速度、姿態(tài)等參數(shù)的測量,因此研制高速、高精度、性能穩(wěn)定、性價比高、保密性強的處理電路,對提升激光雷達探測系統(tǒng)的整體性能有著十分重要的意義。激光雷達系統(tǒng)控制及信號處理電路有多種實現(xiàn)方案,傳統(tǒng)的MCU實現(xiàn)方案較為普遍,但受線程的帶寬限制,且難以提高系統(tǒng)的精度與復雜性;采用FPGA、ARM或DSP實現(xiàn)信號處理架構,一定程度上提高了系統(tǒng)的帶寬與復雜度,但成本較高,功耗較大,且開發(fā)周期較長。針對目前激光目標探測系統(tǒng)中,對系統(tǒng)控制復雜度,信號處理實時性,整體性能與功耗等要求,論文提出了一種基于CPLD與MCU架構的電路改進方案。該方案采用高速并行的現(xiàn)場可編程PLD器件,完成相關電路的控制與回波信號的實時處理、分析;同時選用線程處理優(yōu)勢較強的MCU,實現(xiàn)相關信號的控制與高速串口的收發(fā),完成PC軟件終端的通信。本文結合所提出的基于CPLD與MCU架構的硬件電路設計方案,選用了Altera的MAX II CPLD器件EPM240T100C5N,以及宏晶科技公司的增強型單片機STC12LE5A60S2,實現(xiàn)了激光雷達系統(tǒng)控制及信號處理等功能。文中詳細介紹了實驗系統(tǒng)的設備資源與硬件電路的模塊化設計,完成了相關外設的驅(qū)動控制,并采用CPLD與MCU完成了回波信號的采集、處理與分析,最終通過與所設計PC軟件終端的通信,實現(xiàn)與硬件電路板的實時數(shù)據(jù)上傳。目前板卡在100MHz主頻下工作,可完成10kHz激光器的觸發(fā),并行實現(xiàn)回波信號的實時處理與分析,以及921600波特率下的高速串口通信。結合激光雷達實驗系統(tǒng),多次進行硬件電路的測試與實驗,表明本文設計的激光雷達系統(tǒng)控制及信號處理硬件電路功能正常,性能穩(wěn)定,且功耗低,保密性強,符合設計的需求,實驗證明本文所提出方案的具有一定的可行性。
[Abstract]:As a new detection technology, lidar has been widely used in the atmosphere, land, ocean detection, air rendezvous and docking, reconnaissance imaging, chemical reagent detection and other fields.Compared with traditional radar technology, lidar is a kind of target detection technology, which can process and analyze echo signal by transmitting laser of specific wavelength. It has high measurement precision, fine time and spatial resolution.At present, it has become an important detection method because of its great detection distance and so on.The laser radar detection system needs to use the hardware circuit to realize the control of the system and the processing and analysis of the echo signal so as to realize the measurement of the target distance, velocity, attitude and so on. Therefore, the high speed, high precision, stable performance and high performance / price ratio are developed.It is very important to improve the whole performance of lidar detection system with high confidentiality processing circuit.There are many ways to realize the control and signal processing circuit of lidar system. The traditional MCU implementation scheme is more common, but limited by the bandwidth of thread, and it is difficult to improve the precision and complexity of the system, the FPGA arm or DSP is used to implement the signal processing architecture, and it is difficult to improve the precision and complexity of the system.To some extent, the bandwidth and complexity of the system are improved, but the cost is high, the power consumption is large, and the development cycle is longer.Aiming at the control complexity, real-time signal processing, overall performance and power consumption of laser target detection system, a circuit improvement scheme based on CPLD and MCU architecture is proposed in this paper.This scheme adopts high speed parallel field programmable PLD device to complete the control of correlation circuit and the real-time processing of echo signal, and at the same time, select MCU, which has strong advantage in thread processing, to realize the control of correlation signal and the transceiver of high speed serial port.Complete the communication of PC software terminal.Combined with the proposed hardware circuit design scheme based on CPLD and MCU architecture, the MAX II CPLD device EPM240T100C5N of Altera and the enhanced microcontroller STC12LE5A60S2 of Hongjing Science and Technology Company are selected to realize the functions of lidar system control and signal processing.The modularization design of the equipment resource and hardware circuit of the experimental system is introduced in detail, and the drive control of the related peripheral devices is completed. The acquisition, processing and analysis of the echo signal are accomplished by using CPLD and MCU.Finally, through the communication with the designed PC software terminal, the real time data upload with the hardware circuit board is realized.At present, the board card works in the main frequency of 100MHz, which can complete the trigger of 10kHz laser, realize the real-time processing and analysis of echo signal in parallel, and the high speed serial port communication at 921600 baud rate.Combined with the laser radar experiment system, the hardware circuit is tested and tested for many times. It shows that the control and signal processing hardware circuit designed in this paper has normal function, stable performance, low power consumption and strong confidentiality.In accordance with the design requirements, the experimental results show that the scheme proposed in this paper has a certain feasibility.
【學位授予單位】：西安電子科技大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：TN958.98

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本文編號：1718101