调幅扫频激光测距同相频率鉴频方法

潘映伶; 纪荣祎; 董登峰; 李佳蒙; 周维虎

doi:10.37188/CO.2025-0159

调幅扫频激光测距同相频率鉴频方法

doi: 10.37188/CO.2025-0159

cstr: 32171.14.CO.2025-0159

潘映伶^{1, 2,},
纪荣祎^{1, 2, ,},
董登峰^{1, 2},
李佳蒙^{1, 2},
周维虎^{1, 2}

1.
中国科学院微电子研究所, 北京 100094
2.
中国科学院大学, 北京 100049

基金项目: 国家重点研发计划项目（No. 2023YFB3407901）

详细信息

作者简介:
潘映伶（1994—），女，四川凉山人，2015 年于西安电子科技大学获得学士学位，2018 年于北京航空航天大学获得硕士学位；现为中国科学院微电子研究所工程师，中国科学院大学博士生，主要从事激光精密测量、激光测距等方面的研究。E-mail：panyingling@ime.ac.cn

纪荣祎（1984—），男，陕西富平人，副研究员。2006 年于北京化工大学获得学士学位，2012 年于北京理工大学获得博士学位；现为中国科学院微电子研究所副研究员，主要从事激光精密测量、激光测距等方面的研究。E-mail：jirongyi@ime.ac.cn

中图分类号: TH741;TN249
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出版历程
- 收稿日期: 2025-12-18
- 录用日期: 2026-02-13
- 网络出版日期: 2026-04-24

In-phase frequency detection method for frequency-sweep amplitude-modulation laser ranging

PAN Ying-ling^{1, 2
,},
JI Rong-yi^{1, 2
, ,},
DONG Deng-feng^{1, 2},
LI Jia-meng^{1, 2},
ZHOU Wei-hu^{1, 2}

1.
Institute of Microelectronics Chinese Academy of Sciences, Beijing 100094, China
2.
University of Chinese Academy of Sciences, Beijing 100049, China

Funds: Supported by the National Key Research and Development Program of China (No. 2023YFB3407901)

More Information

Corresponding author: jirongyi@ime.ac.cn

摘要

摘要:
调幅扫频激光测距是一种通过确定同相频率以实现待测距离求解的测距方法，具备高测量精度及低系统复杂度的特点。针对含同相频率信息采样波形的信噪比不佳，同相频率求解准确度受限等问题，提出基于奇异谱分析结合局部抛物线拟合(SSA-LPF)的鉴频方法。首先介绍调幅扫频激光测距的原理以及分析测距精度依赖于同相频率的准确求解；仿真对比相同采样波形经SSA法滤波后摇摆法、抛物线拟合、三阶及四阶拟合最小二乘法对同相频率求解准确性的差异，验证了抛物线拟合法求解同相频率精度相较于摇摆法平均绝对偏差提升95.7%，相较于其他最小二乘法拟合方法提升65.6%；搭建测距系统实测分析，实验结果表明，SSA-LPF法在不同距离及不同扫频步长下测距均方差优于30 μm；调幅扫频激光测距采用SSA-LPF鉴频法可以提升测距效率同时保障测距精度。
- 激光测距 /
- 调幅扫频 /
- 极值检测 /
- 奇异谱分析 /
- 局部抛物线拟合
Abstract:
Frequency-sweep Amplitude-modulation Laser Ranging (FSAMLR) is a ranging method that determines the target distance by solving for the in-phase frequency, characterized by high measurement accuracy and low system complexity. To address issues such as the low signal-to-noise ratio in sampled waveforms containing in-phase frequencies and the resulting limitations in solving accuracy, a method based on Singular Spectrum Analysis combined with Local Parabolic Fitting (SSA-LPF) is proposed. The principle of FSAMLR is outlined, emphasizing that ranging accuracy depends on the precision of the in-phase frequencies. Subsequently, simulations compare the solving accuracy of in-phase frequencies among the swing method, parabolic fitting, cubic fitting, and quartic fitting, using identical sampled waveforms filtered via the SSA method. Parabolic fitting is verified to enhance solution accuracy. Simulation results demonstrate that parabolic fitting achieves a 95.7% reduction in mean absolute deviation relative to the swing method and a 65.6% improvement over other least-squares fitting methods. Experimental analysis indicates that the SSA-LPF method yields a ranging standard deviation below 30 μm across varying distances and sweep steps. Adopting the SSA-LPF method in FSAMLR enhances ranging efficiency while maintaining high ranging accuracy.
- laser ranging /
- frequency-sweep amplitude-modulation /
- extreme detection /
- singular spectrum analysis /
- local parabolic fitting

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图 1 调幅扫频激光测距系统示意图

Figure 1. FSAMLR system block diagram

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图 2 不同距离积分幅值波形

Figure 2. Integral amplitude waveforms at varying distances

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图 3 距离求解流程图

Figure 3. Distance calculation flowchart

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图 4 局部原始波形及去噪局部积分幅值波形

Figure 4. Original and denoised local IA waveforms

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图 5 不同距离平均绝对偏差分布

Figure 5. MAD distribution across target distances

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图 6 不同扫频步长平均绝对偏差分布

Figure 6. MAD distribution under varying frequency sweep steps

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图 7 调幅扫频测距系统实物图

Figure 7. FSAMLR system schematic

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图 8 待测距离约20 m时积分幅值波形(a)两个相邻同相频率连续扫频扫频步长(b)100 kHz(c)10 kHz(d)1 kHz

Figure 8. IA waveforms at 20 m target distance: (a) Two adjacent IPF continuous sweeps; (b) 100 kHz sweep step; (c) 10 kHz; (d) 1 kHz

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图 9 不同实测距离及扫频步长下不同方法求解距离均方差

Figure 9. Distance standard deviation distribution for different methods under varying distances and sweep steps

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表 1 含噪及去噪积分幅值波形平均绝对偏差(单位：μm)

Table 1. MAD for noisy and denoised IA waveforms (Unit: μm)

方法组别	摇摆法	抛物线拟合	三阶拟合	四阶拟合
含噪波形	74956.6	6.0	16.3	15.6
去噪波形	51.6	2.2	6.4	6.3

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表 2 不同方法求解距离值偏差(单位：μm)

Table 2. Distance deviation across methods (Unit: μm)

方法组别	摇摆法	抛物线拟合	三阶拟合	四阶拟合
1	30.189	0.644	−1.791	−1.791
2	−70.175	−4.211	−14.727	−14.466
3	54.340	1.608	2.687	2.767
平均绝对偏差	51.6	2.2	6.4	6.3

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表 3 不同起始扫频频点下求解的平均绝对偏差(单位：μm)

Table 3. MAD versus initial sweep frequency (Unit: μm)

方法频偏	摇摆法	抛物线拟合	三阶拟合	四阶拟合
8 kHz	25156.2	9.6	17.4	15.2
6 kHz	50051.3	19.1	37.8	37.6
4 kHz	75035.4	6.2	33.1	35.4
2 kHz	25270.6	10.7	37.6	38.8

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表 4 不同实测距离及扫频步长下不同方法求解距离均方差(单位：μm)

Table 4. Standard deviation of distance for different methods under varying distances and sweep steps (Unit: μm)

方法扫频步长	摇摆法	抛物线拟合	三阶拟合	四阶拟合
待测距离≈5 m
100 kHz	/	8.8	10.6	9.2
10 kHz	41.5	30.0	48.1	48.7
1 kHz	48.6	11.2	49.5	19.8
待测距离≈20 m
100 kHz	/	3.8	3.2	2.8
10 kHz	/	4.1	4.2	4.1
1 kHz	4.2	2.5	4.4	4.4
待测距离≈35 m
100 kHz	/	3.9	8.3	9.5
10 kHz	/	5.0	4.6	3.7
1 kHz	8.7	2.6	5.0	5.0
待测距离≈50 m
100 kHz	/	7.1	17.7	6.5
10 kHz	/	6.8	11.1	8.1
1 kHz	13.4	3.5	1.6	1.6

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