CN103197321B - Full-waveform laser radar system - Google Patents
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- CN103197321B CN103197321B CN201310093384.1A CN201310093384A CN103197321B CN 103197321 B CN103197321 B CN 103197321B CN 201310093384 A CN201310093384 A CN 201310093384A CN 103197321 B CN103197321 B CN 103197321B
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Abstract
The invention discloses a full-waveform laser radar system which is based on the laser measurement technology and the high frequency data collecting and controlling technology. The full-waveform laser radar system comprises a laser emission system, an photoelectric detection system, a data collecting system, a control system and a data analysis system, wherein the laser emission system emits laser pulses with large widths and big light spots, echoes produced after the laser pulses pass a target and are scattered are detected by the photoelectric detection system to obtain complex full-waveform laser echoes with large widths and multiple peak values, full-waveform echo data are collected and stored by the data collecting system, and the control system controls a laser device to emit the laser pulses and controls the data collecting system to collect data. According to the full-waveform laser radar system, long-time continuous measurement under the situation of high repetition frequency measurement is achieved, full-waveform data can be effectively recorded, and the recorded full-waveform data can be displayed in real time on a control program interface of the data collecting system.
Description
Technical field
The invention discloses a kind of Full-waveform laser radar system, this system is based on laser measuring technique and high-frequency data collection and control technology.
Background technology
Traditional pulsed range laser radar system adopts the mode of the time point of record transponder pulse and an echo-pulse to calculate impact point distance, if only have a real goal in the travel path of laser pulse, so primary scattering echo enough completes accurate measurement, but in reality, the target of multiple different elevation may be there is in the travel path of laser, even if also there is this situation for the system of small light spot (pin spot diameter is 0.2m to 2m), at this moment only record echo just can not meet the requirement of measurement.So there is the laser radar system that can record multiecho, the laser radar system of typical multiecho is record first echo-pulse and last echo-pulse (because last echo is often considered to ground point when processing), also has the laser radar system of some multiechos then can record nearly six echoes.But, no matter be record single echo or the system of multiecho, the echo that they record all just is greater than the peak signal of intensity threshold set by system, crest signal is converted to pulse signal to calculate the elevation of measured target, recording impulse number and time depend primarily on choosing of detection method and threshold value.Due to the rising edge information of echo can only be utilized, even if make the potential echo higher than threshold value also cannot be detected.In addition, lower vegetation or in urban area street, if the interval of two objects is less than 1.5m, general detection method likely cannot distinguish two echoes in some forest lands.Therefore, the system that can record multiple echo still can not meet high-precision measurement of higher degree requirement.If but effectively can analyze waveform, just can improve reliability, measuring accuracy and the resolution of waveform detection.And this analysis be must be based upon can record complete echo basis on, and Full wave shape laser radar just can meet this demand.This laser radar system of record echo that can be complete is exactly Full-waveform laser radar system (Full-Waveform LIDAR System), and complete composite wave-shape of its record is just called Full wave shape signal.For conventional discrete laser radar, Full wave shape laser radar can provide more target information, but has higher requirement also to data processing and information extraction simultaneously.Although U.S. NASA has realized the pilot system research of airborne (LVIS) and spaceborne Full wave shape laser radar (GLAS), also there has not been the report of Full-waveform laser radar system in China at present.In the technique study reported abroad, Full wave shape laser radar technique still has its incomplete place: in data storage and transmission, because Full wave shape data volume is very large, and memory module finite capacity, cause in high repetition frequency measurement situation, system cannot carry out long-time test constantly; Data processing aspect, the informative that Full wave shape echo data contains, extracts difficulty large, how can effectively from echo inverting obtain more information, be the emphasis of Full wave shape laser radar area research.
Patent object of the present invention is to solve the problem that above-mentioned Full-waveform laser radar system cannot carry out long-time test constantly in high repetition frequency measurement situation, and the method for employing is based on laser measuring technique and high-frequency data collection and control technology.Build Full wave shape laser radar lab platform system, by the appropriate design to capture card working method, system is enable to complete the long-time actual measurement continued, and can effectively record Full wave shape data, survey the data basis that the data obtained can be used as waveform computation precision and information extraction algorithm.Laser instrument Emission Lasers and data collecting card image data is controlled, both guarantees synchronous working by making it to the appropriate design of control module working method.The following function of main realization: 1. build Full wave shape laser radar lab platform system, enables system complete the long-time actual measurement continued, and can effectively record Full wave shape data.2. gathered data store with binary form, and can show on the control panel in real time.3. laser instrument and Data Acquisition Card can synchronous workings.
Summary of the invention
The invention discloses a kind of Full-waveform laser radar system, this system is based on laser measuring technique and high-frequency data collection and control technology.By the following technical solutions:
The invention discloses a kind of Full-waveform laser radar system, this system is based on laser measuring technique and high-frequency data collection and control technology; This Full-waveform laser radar system comprises laser transmitting system, Photodetection system, data acquisition system (DAS), control system and data analysis system; The laser pulse that described laser transmitting system transponder pulse is wide, hot spot is large, the echo that scattering produces after target is detected by described Photodetection system, obtains the complicated Full wave shape return laser beam of broad pulse, multi-peak; Described Full wave shape echo data is by described data acquisition system and storage, and described control system controls laser instrument Emission Lasers pulse and data acquisition system data; Patent of the present invention can realize long-time test constantly in high repetition frequency measurement situation, and can effectively record Full wave shape data, and the Full wave shape data recorded can show in real time on the control program interface of described data acquisition system (DAS).
Wherein, described laser transmitting system comprises laser instrument and laser beam expanding system; Described laser instrument is the near-infrared wavelength laser instrument of 1064nm, and the pulsewidth of laser instrument is 6 to 10ns, and laser beam divergence is greater than 1.5mrad, can produce the large spot coverage effect of long-range detection target; Described laser instrument repetition frequency range is 1-5kHz, can control the pulse of laser instrument Emission Lasers by described control system; Described laser beam expanding system is used for the diameter of expanded beam; By using laser beam expanding system to make laser beam become less parallel light beam, and obtain high power hot spot.
Wherein, described Photodetection system comprises laser condensing lens, photodetector, fiber coupler; Described laser condensing lens aperture is 35mm, and outer layer lens is coated with infrared anti-reflection film, the infrared band laser pulse energy of being returned by target scattering collected by increase; Described photodetector can be PIN diode type detector or APD avalanche diode, described Full-waveform laser radar system adopts the PIN detector with 4GHZ bandwidth at present, the laser echo signal that after can effectively detecting described laser pulse and target, scattering obtains; Described fiber coupler is used for realizing light signal along separate routes, and make 90% of pulsed laser energy with transponder pulse detectable signal, the energy of residue 10% directly enters detector, effectively record transmitting pulse waveform and time.
Wherein, described data acquisition system (DAS) is NI high-speed data acquisition card, and have the real-time sampling rate of single channel 1GS/s, bandwidth can reach 2GS/s; Described control system is NI high-speed digitization instrument, comprises FPGA module and adaptor module; Described two kinds of boards are inserted in the 8 scouring machine casees of NI, and Windows XP operating system supported by this cabinet; Described control module exports two-way start pulse signal from the digital output of high-speed digitization instrument and controls laser instrument Emission Lasers and data collecting card image data as control signal; The output of described start pulse signal is by the FPGA module programming realization of control module.
Wherein, the working method of described data collecting card gathers N number of point for triggering Posterior circle, in collection interval by data upload, is stored in the hard disk of described 8 scouring machine casees in a binary fashion; By this working method, the plate of described data collecting card being stored as of short duration transfer, is not final storage space, thus avoids carrying the too small collection interruption caused by described data acquisition clamp; The driver workflow of described data collecting card is: parameters before data acquisition starts, select acquisition channel and store path, described triggering mode selects simulation edging trigger, be beneficial to by external signal control data capture card image data, after optimum configurations completes, wait for the arrival of trigger pip, when trigger pip arrives, initialization data gathers, and starts to record data; In the process of the N number of point of described data collecting card circle collection, often enter and once circulate, this N number of point is also stored in the hard disk of described 8 scouring machine casees by the N number of point of data collecting card record, and the Wave data collected can show in real time in the control inerface of described data collecting card.
Wherein, described data acquisition system (DAS) and control system all support that LabView programmes, programmed by the driver of LabView software to described data collecting card, come the parameter of setting data capture card and the working method of data acquisition, achieve data acquisition and be stuck in the function that data are stored to cabinet hard disk by each collection interval, meet Full wave shape laser radar to the real-time of data acquisition system (DAS) and high-speed demand, programmed by the FPGA module of LabView software to described control system, described control module is made to produce trigger pulse according to certain frequency, and be input to the control end of laser instrument and the trigger end of data collecting card simultaneously, laser instrument is Emission Lasers pulse after receiving pulse control signal, after detector, electric signal is transformed into by the echoed signal of scattering after target, after a period of time, data collecting card receives the pulse control signal of control module transmitting and starts to gather echo data, interval time and the sampling duration of two pulse control signals are decided by detection range and investigative range.
Wherein, described data analysis system reads the binary file that stores and then carries out treatment and analysis according to certain method to Full wave shape echo data, to obtain required target information.
Beneficial effect of the present invention: built Full wave shape laser radar lab platform system, system is enable to complete the long-time actual measurement continued, described laser instrument and Data Acquisition Card can synchronous workings, and can effectively record Full wave shape data, the data gathered store with binary form, and can show on the control panel in real time.Survey the data basis that the data obtained can be used as waveform computation precision and information extraction algorithm, algorithm is verified.This achievement in research can provide theoretical and experimental basis for the independent research of China's Full-waveform laser radar system.
Accompanying drawing explanation
Fig. 1 is the overall design drawing of Full-waveform laser radar system;
Fig. 2 is the laser pulse figure that laser instrument is launched;
Fig. 3 is the workflow diagram of Full-waveform laser radar system;
Fig. 4 is the workflow diagram of control system;
Fig. 5 is that final Wave data integrates schematic diagram;
Fig. 6 is the workflow diagram of data collecting card;
Fig. 7 is the control program front panel of data collecting card.
Embodiment
The invention discloses a kind of Full-waveform laser radar system, this system is based on laser measuring technique and high-frequency data collection and control technology; As shown in Figure 1, described Full-waveform laser radar system comprises optical design part and electrical design part, and opticator comprises laser instrument, beam expanding lens, laser condensing lens, fiber coupler, photodetector.Laser instrument is the topmost component part of Full-waveform laser radar system, the generating laser being suitable as Full-waveform laser radar system has semiconductor, optical fiber, solid state laser, solid state laser has the advantages that volume is little, firm, output power is high, easy to use, particularly the Nd:YAG laser conversion efficiency of semiconductor diode excitation is high, pulse repetition rate is high, good reliability, and therefore native system adopts the near-infrared solid laser device of domestic 1064nm.In addition, the very important parameter when pulsewidth of laser pulse is also system.Under same sample frequency, laser firing pulses is wider, then lower to the resolution of impact point in laser emission path, because the overlapping phenomenon of broad pulse is more obvious, is unfavorable for the subsequent analysis to echo; But when pulsewidth is narrow, can increase the requirement of sample frequency, thus increase the error between echoed signal and actual signal of restoring, and when the sample rate of needs cannot be reached, the distortion of tracer signal will be caused.In conjunction with existing equipment condition, selected laser instrument pulsewidth is 6 to 10ns.Due to native system at present main environment for use be indoor, therefore do not need king-sized output energy, selected laser instrument single pulse energy is 16.6uJ rank, and other laser pulse of this energy level can tell on good laser waveform in the use of indoor.In order to the effect making system produce large spot, before laser instrument delivery, add beam expanding lens again, selected laser divergence angle is 1.5mrad, adds the angle of divergence that beam expanding lens can reduce laser instrument institute Emission Lasers bundle, make laser beam become less parallel light beam, and obtain high power hot spot.The laser pulse that laser instrument is launched as shown in Figure 2.
Photodetection system comprises laser condensing lens, photodetector and fiber coupler.The major function of laser condensing lens is collected by laser energy back scattered after target, receive backward energy in order to as much as possible more, wish that bore and the field angle of laser condensing lens are the bigger the better, but more veiling glare also can be collected in heavy caliber and Large visual angle angle, thus produce more noise, and its cost of manufacture is also higher, the laser instrument single pulse energy that described Full-waveform laser radar system adopts is 16.6uJ, and detection range requires shorter, do not need bigbore laser condensing lens, after the factor such as considering cost and cost performance, have selected the laser condensing lens that clear aperature is 35mm.Conventional photodetector can be divided into two kinds, and one is PIN diode type, and one is avalanche diode (APD) type.PIN diode is the diode adding the low-doped intrinsic of skim (Intrinsic) semiconductor layer and form in the middle of traditional PN junction, its working mechanism is identical with PN junction, but the intrinsic semiconductor layer increased can improve the response speed of original PN junction, make response speed need not be subject to the restriction of reversed bias voltage size simultaneously.APD be utilize PN junction to produce under high reverse bias voltages avalanche effect to provide a kind of diode of gain in electric current.General laser radar system echo and exomonental energy Ratios are general very little, generally only have 1% to 10%, even less than 1% when conditioned reflex is bad, therefore require higher to the measurement range of detection.The Emission Lasers pulse of described Full-waveform laser radar system only has about 10ns, so require that detector has larger bandwidth, therefore bandwidth is also detector important parameter when selecting.The advantage of PIN detector is that it directly can receive the transponder pulse of laser instrument, and can not produce saturated phenomenon, so select bandwidth to be the PIN detector of 4GHz.
Electricity part mainly comprises data acquisition system (DAS) and control system, the pulse of laser instrument Emission Lasers, through fiber coupler, part energy is directly received by detector, another part energy arrives target, scattering after target, collected by laser energy back scattered after target by laser condensing lens, photodetector converts light signal to electric signal, input and carry out Data acquisition and storage into data acquisition system (DAS), control system controls laser instrument Emission Lasers pulse and trigger data acquisition card image data.Described data acquisition system (DAS) and control system are all based on Nat Instr Corp. (National Instruments, be called for short NI) the integrated equipment produced, the wherein 8 scouring machine casees of to be model be NI PXle-1082 that adopt of cabinet, data collecting card employing model is that 8 high speed numbers of PXI-5154 adopt card, PXI-5154 number adopts the real-time sampling rate that jig has single channel 1GS/s, bandwidth can reach 2GS/s, well meet the requirement of system to sampling rate, it is 8MB/ch that the plate that PXI-5154 number adopts card carries capacity, the memory requirement of the super large data volume of Full wave shape laser radar can not be met, but cabinet NI PXle-1082 then has capacity to be the hard disk of 256GB, by programming to the driver of PXI-5154, data acquisition can be realized and be stuck in the function that data are stored to hard disk by each collection interval, meet Full-waveform laser radar system to the real-time of data acquisition and high-speed demand.It is the data collecting card of NI5751R that control system adopts by model, comprises FPGA module and adaptor module, by FPGA module programming, can realize the control to laser emission frequency and launch time and data collecting card.
Fig. 3 is the whole workflow diagram of Full-waveform laser radar system, whole measurement can be divided into calibration phase and measuring phases, calibration phase is run when each start, exomonental calibration process is: laser instrument launches 500 to 1000 subpulses, each transponder pulse directly sends into photodetector light-sensitive surface by laser condensing lens, then by capture card to its sampling one section of regular time T0, these 500 to 1000 exomonental waveforms and energy distribution can be obtained, after it is averaged, just can obtain calibrated transponder pulse.The value of T0 determines according to the transmission frequency of laser pulse.Start to gather echo data after demarcation is over, control laser instrument transponder pulse and data collecting card image data by control system.
Fig. 4 is the specific works flow process of described control system: host computer is programmed to the FPGA of described control module by LabView, make described control module control laser instrument Emission Lasers and data collecting card image data according to certain mode, described control module exports two-way digit pulse and controls described laser instrument and described data collecting card.Laser instrument is Emission Lasers pulse after receiving pulse control signal, after detector, electric signal is transformed into by the echoed signal of scattering after target, after a period of time, data collecting card receives the pulse control signal of control module transmitting and starts to gather echo data, and interval time and the sampling duration of two pulse control signals are decided by detection range and investigative range.If the repetition frequency of laser instrument used controls as 5KHz, pulse width is 10ns, be then spaced apart 200us between two pulses, and the primary design detection range of supposing the system is s, and pulse time-of-flight is t
0, the light velocity is c.Detection range s and light velocity c and flight time t
0between pass be: t
0=2 × s/c, calculates according to detection range s=30m, light velocity c=3 × 10
8m/s, then can obtain pulse time-of-flight by this relational expression is 200ns, is far smaller than transponder pulse interval 200us.If sample window chooses N number of point, the sample frequency of data collecting card is set to f, and sampling interval is T, then have relational expression: T=1/f, and sampling time t is: t=N*T.Suppose that sample window N selects 544 points, the sample frequency of data collecting card is 1GHz, then have sampling interval to be 1ns, the sampling time is 544ns, and the length that system can detect is 81.6m.Fig. 5 is that final Wave data integrates schematic diagram, and wherein T0, T1, T2 set according to the condition in actual measurement.Wherein, the fixing duration that T0 samples when being and demarcating transponder pulse, T1 is the time interval between two pulse control signals, is decided by detection range, can be set by the timer of control module, also can be determined by the trigger delay time of data acquisition module.T2 is the acquisition window opening time of capture card, is determined by detection length.Suppose that detection range is 30m, detection length is 81.6m, then can to calculate T1 be 200ns, T2 is 544ns, and investigative range is 30m to 111.6m.The exomonental pulsewidth of laser instrument is 10ns, then T0 can select 20ns.
The data volume of an echo is 544byte, less than 1Kb, if use LabView to programme to PXI-5154 data collecting card, then it can be made data outwards to be transmitted in collection interval, and the transmission speed of the PXI bus of NI instrument can reach 50M/s, meet the requirement of system completely.As long as reasonable design data acquistion and control system just can realize the real-time data acquisition for a long time of Full-waveform laser radar system.Fig. 6 is the workflow diagram of data acquisition system (DAS), circle collection mode is adopted to realize Real-time Collection, the N number of point of each circle collection by data upload, it is only transfer as of short duration that the plate of described like this data collecting card stores, instead of main storage space, thus avoid and carry the too small collection caused by plate and interrupt.Fig. 7 is the LabView front panel of described data collecting card, and can input in the control of front panel or show various parameter, the echo waveform gathered also shows at front panel.The workflow of described data acquisition fixture body is:
(1) select data acquisition signal source and store path: before data acquisition starts, first select cabinet slot and acquisition channel, passage can selector channel 0 and passage 1 here.Resource Name control on LabView front panel is used for selecting the slot of NI PXle-10828 scouring machine case, and Channel Name input control is used for selecting the passage of PXI-5154.The binary file that store path can select a suffix to be called .bin stores, and select the binary file reason of carrying out storing to be that binary file takes up room little, storage speed is fast, and can read binary file by Matlab.File path (dialog if empty) control is used to the file path selecting to have existed.
(2) triggering mode is selected: adopt simulation edge mode to trigger, this is because edging trigger mode carries out data acquisition by external control signal control data capture card.Trigger Type is used for selecting triggering mode, can be Immediate triggering mode, Window window triggering mode, Digital digital triggering mode, Hysteresis magnetic hysteresis triggering mode and Edge edging trigger mode immediately, Trigger Source is used for selecting trigger source, here can selector channel 0 or passage 1.Trigger Delay is used to arrange trigger delay time, starts to record data after how long triggering in other words again.The data that Ref Position is used to arrange record account for the ratio before and after triggering, and such as, when being arranged to 50, represent that the data half of record is before triggering, half is the data after triggering.Trigger Level is used for arranging the amplitude of trigger pip, such as when being arranged to edging trigger mode and Trigger Level is arranged to 2, Trigger Slope is arranged to Positive and rising edge triggers, as long as trigger pip rises to 2V from 0, namely data collecting card starts image data.
(3) parameter of signalization collection: also will carry out optimum configurations before entering data acquisition, comprise sample frequency, signal input amplitude range etc., Min.Sample Rate control is used for arranging sample frequency, and Vertical Range control is used for selecting the scope of sampling channel signal amplitude, can select 0-5V here, Vertical Offset is used for arranging the side-play amount of amplitude, Vertical Coupling is used for arranging coupling scheme, DC can be selected to be coupled or AC coupling, or GND.This control of Timeout is used for the maximum durations completed to be collected such as selection, when acquisition tasks does not complete when but acquisition time exceedes the time of setting, program just reports an error.Probe Attenuation is used for arranging the amplitude with the relevant probe of passage, and such as, in time being arranged to 10, explanation is the probe of 10:1.The optimum configurations of horizontal direction, Min.Record Length is used for arranging smallest record length, namely each acquisition and recording how many points, Actual Record Length and Actual Sample Length is display control, is used for showing actual record length and actual sample frequency.Waveform shows the waveform that control is used for showing the data collected, X0, dx, offset, Scale, Last Points Fetched, Total Points Fetched are display controls, be used for some specifying informations of display waveform, represent the starting point of time shaft respectively, interval between each point, side-play amount, amplitude range, counting of last record and counting of altogether recording
(4) actual acquisition process: after above-mentioned parameter is selected and is provided with, data collecting card waits for the arrival of trigger pip, when trigger pip arrives, initialization data collection, and start to record data.Here the mode image data of the N number of point of circle collection is adopted, often enter and once circulate, the N number of point of data collecting card record by data upload, be stored in binary file, to realize the Real-time Collection of data, it is only transfer as of short duration that the plate of described data collecting card stores, and can realize long data acquisition.Be presented on the driver front panel of described data acquisition system (DAS) in real time by data waveform figure in gatherer process, circle collection waits for the arrival of trigger pip again after having counted to, circle collection always, until press STOP key, data acquisition session just terminates.
The above; be only the basic scheme of specific implementation method of the present invention, but protection scope of the present invention is not limited thereto, any those skilled in the art are in technical scope disclosed by the invention; the change that can expect or replacement, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.All fall into claim equivalent implication and scope in change all by be included in claim scope within.
Claims (4)
1. a Full-waveform laser radar system, this system is based on laser measuring technique and high-frequency data collection and control technology; This Full-waveform laser radar system comprises laser transmitting system, Photodetection system, data acquisition system (DAS), control system and data analysis system; The laser pulse that described laser transmitting system transponder pulse is wide, hot spot is large, the echo that scattering produces after target is detected by described Photodetection system, obtains the complicated Full wave shape return laser beam of broad pulse, multi-peak; Described Full wave shape echo data is by described data acquisition system and storage, and described control system controls laser instrument Emission Lasers pulse and data acquisition system data; Can realize long-time test constantly in high repetition frequency measurement situation, and can effectively record Full wave shape data, the Full wave shape data recorded can show in real time on the control program interface of described data acquisition system (DAS); The whole workflow of Full-waveform laser radar system is divided into calibration phase and measuring phases, calibration phase is run when each start, exomonental calibration process is: laser instrument launches 500 to 1000 subpulses, each transponder pulse directly sends into photodetector light-sensitive surface by laser condensing lens, by capture card to its sampling one section of regular time T0, obtain 500 to 1000 exomonental waveforms and energy distribution, just can obtain calibrated transponder pulse after averaging to it, the value of T0 determines according to the transmission frequency of laser pulse; Gather echo data after demarcation, control laser instrument transponder pulse and data collecting card image data by control system; Laser instrument is Emission Lasers pulse after receiving pulse control signal, after detector, electric signal is transformed into by the echoed signal of scattering after target, after a period of time, data collecting card receives the pulse control signal of control module transmitting and starts to gather echo data, and interval time and the sampling duration of two pulse control signals are decided by detection range and investigative range; Circle collection mode is adopted to realize Real-time Collection, the N number of point of each circle collection by data upload, it is only transfer as of short duration that the plate of described like this data collecting card stores, instead of main storage space, thus avoid and carry the too small collection that causes by plate and interrupt, long-time Real-time Collection can be ensured.
2. according to a kind of Full-waveform laser radar system according to claim 1, it is characterized in that described data acquisition system (DAS) is NI high-speed data acquisition card, have the real-time sampling rate of single channel 1GS/s, bandwidth can reach 2GS/s; Described control system is NI high-speed digitization instrument, comprises FPGA module and adaptor module; Described NI high-speed data acquisition card and NI high-speed digitization instrument are inserted in the 8 scouring machine casees of NI, and Windows XP operating system supported by this cabinet; Described control module exports two-way start pulse signal from the digital output of high-speed digitization instrument and controls laser instrument Emission Lasers and data collecting card image data as control signal, and the interval time of two pulse control signals is decided by detection range; The output of described start pulse signal is by the FPGA module programming realization of control module.
3. according to a kind of Full-waveform laser radar system described in claim 1 or 2, it is characterized in that the working method of described data collecting card gathers N number of point for triggering Posterior circle, in collection interval by data upload, be stored in the hard disk of 8 scouring machine casees of NI in a binary fashion; By this working method, the plate of described data collecting card being stored as of short duration transfer, is not final storage space, thus avoids carrying the too small collection interruption caused by described data acquisition clamp; The driver workflow of described data collecting card is: parameters before data acquisition starts, select acquisition channel and store path, described triggering mode selects simulation edging trigger, be beneficial to by external signal control data capture card image data, after optimum configurations completes, wait for the arrival of trigger pip, when trigger pip arrives, initialization data gathers, and starts to record data; In the process of the N number of point of described data collecting card circle collection, often enter and once circulate, this N number of point is also stored in the hard disk of 8 scouring machine casees of NI by the N number of point of data collecting card record, and the Wave data collected can show in real time in the control inerface of described data collecting card.
4., according to a kind of Full-waveform laser radar system described in claim 1 or 2, it is characterized in that described data acquisition system (DAS) and control system all support that LabView programmes; Programmed by the driver of LabView software to described data collecting card, come the parameter of setting data capture card and the working method of data acquisition, achieve data acquisition and be stuck in the function that data are stored to cabinet hard disk by each collection interval, meet Full wave shape laser radar to the real-time of data acquisition system (DAS) and high-speed demand; Programmed by the FPGA module of LabView software to described control system, make described control module produce trigger pulse according to certain frequency, and be input to the control end of laser instrument and the trigger end of data collecting card simultaneously; Input in the control of the LabView front panel of described data collecting card or show various parameter, the echo waveform gathered shows on the LabView front panel of described data collecting card.
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