Rangefinding system

• US 4,153,366 A
• Filed: 06/21/1977
• Issued: 05/08/1979
• Est. Priority Date: 06/21/1977
• Status: Expired due to Term

• Current Assignee: Charles Stark Draper Laboratory Incorporated
• Original Assignee: Charles Stark Draper Laboratory Incorporated
• Inventors: Youmans, Douglas G., Volp, Jeffrey A., Mamon, Glenn
• Primary Examiner(s): Buczinski, S. C.
• Application Number:
  US05/808,461
• Time in Patent Office: 686 Days
• Field of Search: 356/5, 343/5 CM, 343/5 DP, 343/13 R, 328/129, 328/130
• US Class Current: 356/5.03
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications

Abstract

A system for determining the range between a reference point and a target by transmitting a pulse toward the target and measuring the time until receipt of a pulse reflected by the target. In an airborne laser altimeter configuration, the reference point may be located on an aircraft and a pulsed laser is directed along a vertical path to the ground. The system measures the duration of a pulse sequence including a first (or start) pulse, representing a pulse transmitted from the reference point, and the last of one or more associated subsequent return pulses, where the return pulses represent reflections of the transmitted pulse from both the ground and interfering objects located between the reference point and the ground. The system generates a replica of the start pulse and subsequent pulses, with the replica being delayed by a predetermined period from the start pulse and associated subsequent return pulses. The undelayed pulse sequence is processed to determine the number of return pulses in that sequence, and this detected number of pulses is utilized to enable a gate which passes only the last return pulse in the delayed pulse sequence. A time interval measurement is performed by a single precision time interval counter which is initiated by the start pulse of the delayed pulse sequence and is disabled by the gated last, or stop, pulse of the delayed pulse sequence.

Claims

1. A system for measuring the duration of a first pulse sequence, said first pulse sequence including a first pulse and n subsequent pulses, comprising:

A. delay means for delaying said first pulse sequence to provide a second pulse sequence corresponding to said first pulse sequence but delayed by a predetermined period,

B. first counting means responsive to said first pulse sequence to count the pulses of said first pulse sequence,

C. second counting means responsive to said second pulse sequence to count the pulses of said second pulse sequence,

D. first detection means to detect the occurrence of the first pulse in said second pulse sequence,

E. second detection means and associated gate means, said second detection means being responsive to said first and second counting means to provide an enabling signal when said second counting means has counted the first n--1 of said subsequent pulses of said second pulse sequence, and said gate means being responsive to said enabling signal and said second pulse sequence to pass only the last pulse of said second pulse sequence, and

F. interval timing means responsive to said first detection means to begin timing the duration of said second pulse sequence in response to said detected occurrence of said first pulse in said second pulse sequence, and responsive to said last pulse passed by said gate means to terminate timing, the duration of said second pulse sequence being representative of the duration of said first pulse sequence.

2. The system of claim 1 wherein said first counting means is operative only for a first predetermined interval including a predetermined arrival period in which the last pulse of said first pulse sequence is expected to occur, said first pulse interval being shorter than the duration of said first pulse sequence, and wherein said second counting means is operative only for a second predetermined interval, said second predetermined interval corresponding to said first predetermined interval but delayed by said predetermined period.

3. The system of claim 2 wherein the length of said predetermined period and the length of said first and second predetermined intervals are related so that said first and second predetermined intervals are non-overlapping, and

wherein said first and second counter means comprise a bi-directional counter operative to count in one direction in said first predetermined interval, and to count in the other direction in said second predetermined interval.

4. A system for measuring the duration of a first pulse sequence, said first pulse sequence including a first pulse and n subsequent pulses, comprising:

A. gating means for generating a gated pulse sequence including a gated first pulse and gated subsequent pulses respectively corresponding to said first pulse and ones of said n subsequent pulses occurring within a first time interval, said first time interval having a predetermined length L1 and including the last of said subsequent pulses,

B. delay means responsive to said gating means, said delay means for generating a delayed pulse sequence including a delayed first pulse and delayed subsequent pulses respectively corresponding to said gated first pulse and said gated subsequent pulses but delayed by a delay period Δ

equal to or greater than the length L1 of said first time interval,

C. first counter means operative during said first time interval to count said gated subsequent pulses,

D. second counter means operative during a second time interval having a length L2 equal to or greater than the length L1 of said first time interval and including points in time displayed by Δ

from the beginning and end of said first time interval, said second counter means including means to count said delayed subsequent pulses,

E. first detection means responsive to said delay means to detect the occurrence of said delayed first pulse and to generate a start control signal representative thereof,

F. second detection means and associated gating means responsive to said first and second counter means to provide an enabling signal when said second counter means has counted the first n-1 of said delayed subsequent pulses, and said associated gating means being responsive to said enabling signal and said delay means to detect the occurrence of the last of said delayed subsequent pulses and to generate a stop control signal representative thereof,

G. interval timing means responsive to said start control signal to begin timing the duration of said second pulse sequence and to said stop control signal to terminate timing the duration of said second pulse sequence, the duration of said second pulse sequence being representative of the duration of said first pulse sequence.

5. A system according to claim 4 and adapted to measure the respective durations of a succession of first pulse sequences, wherein the duration D_i of the i^th first pulse sequence is in the range:

space="preserve" listing-type="equation">D.sub.i-1 -α

≦

D.sub.i ≦

D.sub.i-l +β

where i is an integer greater than zero, D_i-1 is the duration of the i-1^th first pulse sequence, and α and

β

are predetermined constants and are greater than or equal to zero and the sum α

+β

is greater than zero, further comprising;

A. gate control means operative for the i^th first pulse sequence to generate a gate enabling signal for said gate means, said gate enabling signal including for the i^th first pulse sequence;

i. a first portion coincident with the first pulse of said first pulse sequence, and

ii. a second portion having a duration L1, and where said second portion extends at least from D_i-1 -α

after said first gated pulse, to D_i-1 +β

after said first gated pulse, said second portion defining said first time interval,

B. first counter control means operative for the i^th first pulse sequence to generate a first counter enabling signal for said first counter means, said first counter enabling signal including a portion coincident with said second portion of said gate enabling signal, and

C. second counter control means operative for the i^th first pulse sequence to generate a second counter enabling signal for said second counter means, said second counter enabling signal including a portion having a duration greater than or equal to L1 and including points in time displaced by Δ

from the beginning of said second portion of said gate enabling signal, said second counter enabling signal defining said second time interval.

6. A system according to claim 5 wherein said first and second counter means comprise a bi-directional counter operative to count in one direction during said first time interval and to count in the other direction during said second time interval.

7. A system according to claim 4 and adapted to measure the respective durations of a succession of first pulse sequences, wherein the duration D_i of the i^th first pulse sequence is in the range:

space="preserve" listing-type="equation">D.sub.i-1 -α

D.sub.i ≦

D.sub.i-1 +β

where i is an integer greater than zero, D_i-1 is the duration of the i-1^th first pulse sequence, and α and

β

are predetermined constants and are greater than or equal to zero, and the sum α

+β

is greater than zero, further comprising;

A. clock generator for generating a clock pulse signal having a predetermined repetition rate,

B. third counter means, said third counter means being responsive to the first pulse of the i^th first pulse sequence to preset to a first predetermined count state, and thereafter to increment with each clock pulse, said first predetermined count state being representative of a time period greater than or equal to Δ

at said clock rate,

C. latch means responsive to each of said gated pulses of said i^th first pulse sequence to store the complement of the current count state of said third counter means,

D. fourth counter means responsive to said first pulse of said i^th first pulse sequence to preset said fourth counter means to the count state corresponding to said complement stored in said latch means, and said complement being representative of the complement of the count state S_i-1 of said third counter means associated with the last of said subsequent pulses of the i-1⁶ th first pulse sequence, and thereafter to increment with each clock pulse,

E. first counter control means operative for the i^th first pulse sequence and including a first decoding network responsive to the count state of said fourth counter means to generate a first counter enabling signal when the count state of said fourth counter means is less than S_i-1 by A counts and until the count state of said fourth counter means exceeds S_i-1 by B counts, where A and B are integers and the sum of A and B equals the product L1 and said clock rate, said first counter enabling signal defining said first time interval,

F. second counter control means operative for the i^th first pulse sequence and including a second decoding network responsive to the count state of said fourth counter means to generate a second counter enabling signal when the count state of said fourth counting means is greater than S_i-1 + B and less than S_i-1 + C and at least until the count state of said fourth counter means exceeds S_i-1 + C+ A+ B, where C is less than the product of Δ and

said clock rate less A, said second counter enabling signal defining said second time interval, and

G. gate control means opertive during each first pulse sequence and including a logic network responsive to said first pulse and to said first decoding network to generate a gate enabling signal for said gate means, said gate enabling signal including

i. a first portion coincident with the first pulse of said first pulse sequence, and

ii. a second portion coincident with said first counter enabling signal.

8. A system according to claim 7 wherein said first and second counter means comprise a bi-directional counter operative to count in one direction during said first time interval and to count in the other direction during said second time interval.

9. A system according to claim 4 wherein said first and second counter means comprise a bi-directional counter operative to count in one direction during said first time interval and to count in the other direction during said second time interval.

10. Laser rangefinding system comprising:

means to transmit at least one laser pulse from a reference point to a target,

means to detect at said reference point a first pulse sequence including a first pulse, said first pulse corresponding to said laser pulse, and further including n subsequent pulses, said subsequent pulses being reflections of said laser pulse, and

means for measuring the duration of said first pulse sequence comprising;

A. gating means for generating a gated pulse sequence including a gated first pulse and gated subsequent pulses respectively corresponding to said first pulse and ones of said n subsequent pulses occurring within a first time interval, said first time interval having a predetermined length L1 and including the last of said subsequent pulses,

B. delay means responsive to said gating means, said delay means for generating a delayed pulse sequence including a delayed first pulse and delayed subsequent pulses respectively corresponding to said gated first pulse and said gated subsequent pulses but delayed by a delay period Δ

equal to or greater than the length L1 of said first time interval,

C. first counter means operative during said first time interval to count said gated subsequent pulses,

D. second counter means operative during a second time interval having a length L2 equal to or greater than the length L1 of said first time interval and including points in time displaced by Δ

from the beginning and end of said first time interval, said second counter means including means to count said delayed subsequent pulses,

E. first detection means responsive to said delay means to detect the occurrence of said delayed first pulse and to generate a start control signal representative thereof,

F. second detection means and associated gating means responsive to said first and second counter means to provide an enabling signal when said second counter means has counted the first n-1 of said delayed subsequent pulses, and said associated gating means being responsive to said enabling signal and said delay means to detect the occurrence of the last of said delayed subsequent pulses and to generate a stop control signal representative thereof,

G. interval timing means responsive to said start control signal to begin timing the duration of said second pulse sequence and to said stop control signal to terminate timing the duration of said second pulse sequence, the duration of said second pulse sequence being representative of the duration of said first pulse sequence.

11. A system according to claim 10 and adapted to measure the respective durations of a succession of first pulse sequences, wherein the duration D_i of the i^th first pulse sequence is in the range:

space="preserve" listing-type="equation">D.sub.i-1 -α

≦

D.sub.i-1 +β

where i is an integer greater than zero, D_i-1 is the duration of the i-1^th first pulse sequence, and α and

β

are predetermined constants and are greater than or equal to zero, and the sum α

+β

is greater than zero, further comprising;

A. gate control means operative for the i^th first pulse sequence to generate a gate enabling signal for said gate means, said gate enabling signal including for the i^th first pulse sequence;

i. a first portion coincident with the first pulse of said first pulse sequence, and

ii. a second portion having a duration L1, and where said second portion extends at least from D_i-1 -α

after said first gated pulse, to D_i-1 +β

after said first gated pulse, said second portion defining said first time interval,

B. first counter control means operative for the i^th first pulse sequence to generate a first counter enabling signal for said first counter means, said first counter enabling signal including a portion coincident with said second portion of said gate enabling signal, and

C. second counter control means operative for the i^th first pulse sequence to generate a second counter enabling signal for said second counter means, said second counter enabling signal including a portion having a duration greater than or equal to L1 and including points in time displaced by Δ

from the beginning of said second portion of said gate enabling signal, said second counter enabling signal defining said second time interval.

12. A system according to claim 11 wherein said first and second counter means comprise a bi-directional counter operative to count in one direction during said first time interval and to count in the other direction during said second time interval.

13. A system according to claim 10 and adapted to measure the respective durations of a succession of first pulse sequences, wherein the duration D_i of the i^th first pulse sequence is in the range:

space="preserve" listing-type="equation">D.sub.i-1 -α

≦

D.sub.i ≦

D.sub.i-1 +β

where i is an integer greater than zero, D_i-1 is the duration of the i-1^th first pulse sequence, and α and

β

are predetermined constants and are greater than or equal to zero, and the sum α

+β

is greater than zero, further comprising;

A. clock generator for generating a clock pulse signal having a predetermined repetition rate,

B. third counter means, said third counter means being responsive to the first pulse of the i^th first pulse sequence to preset to a first predetermined count state, and thereafter to increment with each clock pulse, said first predetermined count state being representative of a time period greater than or equal to Δ

at said clock rate,

C. latch means responsive to each of said gated pulses of the i^th first pulse sequence to store the complement of the current count state of said third counter means,

D. fourth counter means responsive to said first pulse of said i^th first pulse sequence to preset said fourth counter means to the count state corresponding to said complement stored in said latch means, and said complement being representative of the complement of the count state S_i-1 of said third counter means associated with the last of said subsequent pulses of the i-1^th first pulse sequence, and thereafter to increment with each clock pulse,

E. first counter control means operative for the i^th first pulse sequence and including a first decoding network responsive to the count state of said fourth counter means to generate a first counter enabling signal when the count state of said fourth counter means is less than S_i-1 by A counts and until the count state of said fourth counter means exceeds S_i-1 by B counts, where A and B are integers and the sum of A and B equals the product L1 and said clock rate, said first counter enabling signal defining said first time interval,

F. second counter control means operative for the i^th first pulse sequence and including a second decoding network responsive to the count state of said fourth counter means to generate a second counter enabling signal when the count state of said fourth counting means is greater than S_i-1 + B and less than S_i-1 + C and at least until the count state of said fourth counter means exceeds S_i-1 + C+ A+ B, where C is less than the product of Δ and

said clock rate less A, said second counter enabling signal defining said second time interval, and

G. gate control means operative during each first pulse sequence and including a logic network responsive to said first pulse and to said first decoding network to generate a gate enabling signal for said gate means, said gate enabling signal including

i. a first portion coincident with the first pulse of said first pulse sequence, and

ii. a second portion coincident with said first counter enabling signal.

14. A system according to claim 13 wherein said first and second counter means comprise a bi-directional counter operative to count in one direction during said first time interval and to count in the other direction during said second time interval.

15. A system according to claim 10 wherein said first and second counter means comprise a bi-directional counter operative to count in one direction during said first time interval and to count in the other direction during said second time interval.