Optical distance measurement

• US 6,753,950 B2
• Filed: 10/21/2002
• Issued: 06/22/2004
• Est. Priority Date: 01/26/2000
• Status: Expired due to Fees

• Current Assignee: Instro Precision Limited (S. Reisman Ltd.)
• Original Assignee: Instro Precision Limited (S. Reisman Ltd.)
• Inventors: Morcom, John
• Primary Examiner(s): Buczinski, Stephen C.
• Application Number:
  US10/182,458
• Publication Number:
  US 20030048430A1
• Time in Patent Office: 610 Days
• Field of Search: 356/4.01, 356/5.15, 342/145
• US Class Current: 356/4.01
• CPC Class Codes: G01S 17/32 using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated

Abstract

Optical distance equipment transmits an optical signal and determines distance by locating the peak of a correlation with the reflected signal. The number of calculations required for the correlation is greatly reduced by using a combination of a coarse and fine correlation. The accuracy of the distance measurement is also improved by calculating the point of intersection of two best fit lines to either side of the correlation peak. The signal is preferably modulated by a maximum length sequence.

Claims

1. Optical distance measuring equipment comprising

a signal source for supplying a modulation signal,

a transmission system connected to the signal source for transmitting a transmitted optical signal modulated by the modulation signal,

a reception system for receiving a received optical signal which is a reflected and delayed version of the transmitted signal,

and a cross-correlator arranged to carry out the steps of

determining, at a coarse resolution, a time delay of the modulation signal needed to maximise the cross correlation between the time delayed modulation signal and the received signal,

determining at a finer resolution than the coarse resolution, a time delay of the modulation signal needed to maximise the cross correlation between the modulation signal and the received signal as a function of the time delay of the modulation signal with respect to the received signal in a time delay range around the time delay determined at a coarse resolution, and

outputting a measure of distance calculated from the time delay of the modulation signal determined at a finer resolution.

2. Optical distance measuring system according to claim 1 wherein the cross-correlator comprises

a coarse cross-correlator for coarsely determining the time delay of the modulation signal needed to maximise the correlation between the time delayed modulation signal and the received signal, and

a fine cross-correlator for calculating the correlation between the modulation signal and the received signal as a function of the time delay of the modulation signal with respect to the received signal in a time delay range around the time shift determined by the coarse cross-correlator.

3. Optical distance measuring equipment according to claim 2 wherein the coarse cross correlator is clocked at a first frequency and the fine cross-correlator is clocked at a higher second frequency.

4. Optical distance measuring equipment according to claim 3 wherein the signal source is clocked at a sub-multiple of the second clock frequency different to the first clock frequency.

5. Optical distance measuring equipment according to any preceding claim arranged to periodically calculate the time delay at the coarse resolution until a predetermined signal to noise ratio is achieved and then to trigger the determination of correlation at the finer resolution.

6. Optical distance measuring equipment according to any preceding claim wherein the signal source produces a digital modulation signal clocked at a frequency lower than that of a clock input to the cross-correlator.

7. Optical distance measuring equipment according to any preceding claim wherein the digital modulation signal is a maximum length sequence.

8. Optical distance measuring equipment according to any preceding claim further comprising a multiple bit analogue to digital converter for digitising the received signal and outputting a multiple bit output for each clock cycle of the analogue to digital converter.

9. Optical distance measuring equipment according to claim 8 when dependent on claim 3 wherein the analogue to digital converter is clocked at the higher second frequency.

10. Optical distance measuring equipment according to any preceding claim further comprising control electronics for calculating the parameters of a straight line fit to the correlation output by the fine cross-correlator as a function of time delay in the time shift intervals before the peak time shift, for calculating the parameters of a straight line fit to the correlation output by the fine cross-correlator as a function of time delay in the time shift intervals after the peak time shift, and for calculating the peak time shift from the parameters of straight line fits.

11. Optical distance measuring equipment according to any preceding claim further comprising a low pass filter on the input of the coarse cross-correlator.

18. A method of optically measuring distance according to claim according to any of claims 12 to 17 preceding claim further including digitising the received signal to multiple bit resolution.

12. A method of optically measuring distance including

supplying a modulation signal,

transmitting a transmitted optical signal modulated by the modulation signal,

receiving a received optical signal which is a reflected and delayed version of the transmitted signal,

coarsely determining a time delay of the modulation signal needed to maximise the cross correlation between the time-delayed modulation signal and the received signal, and

calculating at a finer resolution the cross correlation between the modulation signal and the received signal as a function of the time delay of the modulation signal with respect to the received signal in a time delay range around the time delay determined by the coarse cross-correlator to give a measure of distance based on the time delay maximising the cross-correlation calculated at a finer resolution.

13. A method of optically measuring distance according to claim 12 wherein the step of coarsely determining the time delay is carried out at a first clock frequency and the step of calculating the correlation is carried out at a second higher clock frequency.

14. A method of optically measuring distance according to claim 13 wherein the signal source is clocked at a sub-multiple of the second clock frequency different to the first clock frequency.

15. A method of optically measuring distance according to claim 13 wherein the signal source produces a digital modulation signal clocked at the first frequency.

16. A method of optically measuring distance according to any of claims 12 to 15 wherein the digital modulation signal is a maximum length sequence.

17. A method according to any of claims 12 to 16 including periodically taking coarsely determining the time delay until a predetermined signal to noise ratio is achieved, and then taking a measurement at the finer resolution.

19. A method of optically measuring distance according to claim 18 when dependent on claim 13 including clocking the analogue to digital converter at the higher second frequency.

20. A method of optically measuring distance according to any of claims 12 to 19 further comprising

calculating the parameters of a straight line fit to the correlation output by the fine cross-correlator as a function of time delay in the time shift intervals before the peak time shift,

calculating the parameters of a straight line fit to the correlation output by the fine cross-correlator as a function of time delay in the time shift intervals after the peak time shift, and

calculating the peak time shift from the fitted parameters of straight line fits.

21. A method of optically measuring distance according to any of claims 12 to 20 further comprising low pass filtering the input on the coarse cross-correlator.