Large-dynamic-range centimeter-level-precision laser distance measuring method

Abstract

The invention belongs to the field of laser distance measuring, and particularly relates to a large-dynamic-range centimeter-level-precision laser distance measuring method. Precise distance information is obtained according to the following synthetic algorithm procedures: if the AD impulse amplitude does not achieve a set saturation threshold value, AD distance information is corrected accordingto a system calibration result, and intensity information is obtained according to the impulse amplitude; if the AD impulse amplitude achieves the set threshold value, the AD distance information is replaced with TDC distance information, the TDC distance information is corrected according to the impulse width and the system calibration result, and the corresponding echo intensity is obtained according to the impulse width; and furthermore, and through calibration of the echo intensity of different distances and different target reflectivity, the target reflectivity can be estimated using thedistance information and the echo intensity. According to the large-dynamic-range centimeter-level-precision laser distance measuring method, a waveform sampling and threshold value comparing processing method is combined, under the condition of large-dynamic-range echo, the target distance and echo intensity are precisely obtained, the distance measuring precision can achieve the centimeter level, and the target reflectivity is estimated according to the echo intensity.

Description

technical field [0001] The invention belongs to the field of laser ranging, and in particular relates to a centimeter-level precision laser ranging method with a large dynamic range. Background technique [0002] Environmental perception is one of the key technologies in the research of unmanned and autonomous ground unmanned platform mobile robots. Lidar can directly obtain the target distance and realize the three-dimensional perception of the surrounding environment. It is considered to be one of the most valuable sensors among many sensors. Lidar based on pulsed laser time-of-flight (TOF) is the most widely used in the above scenarios due to its fast measurement speed, simple processing, and no distance ambiguity. The lidar mentioned below is based on the principle of TOF, so I won’t go into details. [0003] Depending on the application conditions of the platform, the operating distance of the lidar needs to reach 100-200 meters, or even 300 meters. At the same time, ...

AI Technical Summary

Problems solved by technology

[0015] The technical problem to be solved by the present invention is: the existing large dynamic range detection method cannot solve the problem of accurately obtaining the distance information and echo intensity under the condition of large dynamic range at the same time.

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