Laser radar waveform time discriminating method and online distance measuring system

Abstract

The invention discloses a laser radar waveform time discriminating method and an online distance measuring system, wherein online waveform processing of a laser radar signal and real-time distance measuring are realized. The method comprises the steps of acquiring a pulse signal which is output from a detecting and receiving unit by a laser radar high-speed acquiring and processing unit, determining a target function and a fitting parameter vector by a programmable processor of the high-speed acquiring and processing unit through a waveform characteristic, determining a signal effective rangeand realizing waveform cutting, performing online calculation of an initial fitting target function based on the cut waveform, performing real-time calculation of an error between the initial fittingtarget function and the acquired signal for determining a residual error vector, performing parallel calculation on a residual error vector partial derivative and determining a Jacobian matrix; determining an optimal condition of the residual error vector based on the Jacobian matrix, and performing online calculation of a final fitting target function; determining a pulse time based on an onlinefitting parameter vector, calculating a target distance, combining distance measuring data and waveform data, and uploading the combined data to an upper computer for displaying and storage. The laserradar waveform time discriminating method and the online distance measuring system can realize online waveform parameter vector extraction, distance resolving and point cloud generation.

Description

technical field [0001] The invention relates to the field of laser radar measurement, in particular to a laser radar waveform time identification method and an online ranging system. The system performs high-speed multi-channel synchronous acquisition of laser radar signal waveforms based on an analog-to-digital conversion device, through a programmable processor and The waveform time identification method realizes high-speed online processing of signal waveform data, thereby realizing real-time and high-precision measurement of target distance. Background technique [0002] Lidar technology is an active remote sensing detection method, which has the advantages of all-weather and all-weather, and has strong anti-interference ability and high resolution. It can be used to obtain the 3D point cloud of the target, and is widely used in digital cities, automatic driving and terrain surveying and mapping. Laser ranging is the core of lidar technology, and its ranging accuracy di...

AI Technical Summary

Problems solved by technology

However, the above method has a fixed step size when establishing the exponential function lookup table, does not consider resource issues, occupies more computing resources of the programmable processor, and cannot meet the real-time requirements of the waveform fitting algorithm in the online digital ranging technology.

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