Improved combined noise reduction method based on laser radar echo signal

Abstract

The invention discloses an improved combined noise reduction method based on a laser radar echo signal. The method comprises the following steps of S1, obtaining an echo signal through a laser radar detector, and carrying out the noise reduction through a Gaussian filtering method; S2, performing time domain analysis on the filtered signal to further obtain a one-dimensional space matrix; S3, performing singular value decomposition on the one-dimensional space matrix by utilizing the one-dimensional space matrix; S4, selecting reconstruction subspaces of useful signals according to the acquired signal characteristics; and S5, performing singular value decomposition inverse transformation on the reconstructed subspace to obtain a noise reduction signal. According to the method, problems ofinaccurate signal distortion after filtering and the like caused by troubles of template selection and function width selection of Gaussian filtering in a traditional single noise reduction method aresolved, meanwhile, a problem of long noise reduction time period of a singular value decomposition method is solved, and the interference of noise on signals is greatly reduced through mutual combination and matching of the Gaussian filtering and the singular value decomposition method; useful signals can be effectively reserved, and certain reliability is achieved during post-processing signal data analysis.

Description

technical field [0001] The invention belongs to the technical field of laser radar, in particular to an improved combined noise reduction method based on laser radar echo signals. Background technique [0002] With the rapid development of laser technology and electronics technology, lidar technology has developed rapidly. In recent years, because of its strong anti-interference ability, long measurement range, high efficiency, small size and light weight, it can work all day and all day And many other unique advantages, it shows broad application prospects in many occasions such as unmanned aerial vehicle platform, robot navigation, traffic safety and so on. Usually, the lidar system is mainly composed of a transmitting system, a signal receiving system, a signal acquisition, processing and control system. The data we get is obtained through the signal receiving system, then processed by the signal, and finally useful information is obtained. At present, in the signal con...

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Problems solved by technology

[0009] In order to solve the problem of denoising in a single filtering method in the prior art, the present invention provides an improved combined denoising method based on laser radar echo signals, that is, a method combining Gaussian filtering and singular value decomposition, which can effectively solve the problem of The disadvantage of the traditional noise reduction method is that it can not only smooth the noise but also retain the useful information more completely, so as to achieve the undistorted state

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