A laser radar waveform time identification method and online ranging system

Abstract

The invention discloses a laser radar waveform time identification method and an online ranging system, which realize online processing and real-time ranging of laser radar signal waveforms; the laser radar high-speed acquisition and processing unit acquires the pulse signal output by the detection and receiving unit, and high-speed acquisition and processing The programmable processor of the unit determines the objective function and its fitting parameter vector through the waveform characteristics, determines the effective range of the signal to realize waveform clipping; calculates the initial fitting objective function online based on the clipped waveform, and calculates the difference between the initial fitting objective function and the collected signal in real time Determine the residual vector, calculate the partial derivative of the residual vector in parallel to determine the Jacobian matrix; determine the optimal situation of the residual vector based on the Jacobian matrix, and calculate the final fitting objective function online; determine the pulse time based on the online fitting parameter vector, and calculate the target distance After combining the ranging data and waveform data, upload them to the host computer for display and storage; the invention can realize online waveform parameter vector extraction, distance calculation 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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