北京航空航天大学学报 ›› 2020, Vol. 46 ›› Issue (2): 422-429.doi: 10.13700/j.bh.1001-5965.2019.0244

• 论文 • 上一篇    下一篇

近程动态范围激光雷达测距系统设计及误差分析

王皓, 罗沛, 李小路   

  1. 北京航空航天大学 仪器科学与光电工程学院, 北京 100083
  • 收稿日期:2019-05-22 发布日期:2020-03-11
  • 通讯作者: 李小路 E-mail:xiaoluli@buaa.edu.cn
  • 作者简介:王皓,男,硕士研究生。主要研究方向:激光雷达硬件开发设计;李小路,女,博士,副教授。主要研究方向:激光雷达及光信号处理。
  • 基金资助:
    国家重点研发计划(2018YFB0504500);国家自然科学基金(61671038,61721091)

Design of LiDAR ranging system for short-distance dynamic range and error analysis

WANG Hao, LUO Pei, LI Xiaolu   

  1. School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100083, China
  • Received:2019-05-22 Published:2020-03-11
  • Supported by:
    National Key R & D Program of China (2018YFB0504500); National Natural Science Foundation of China (61671038,61721091)

摘要: 针对脉冲激光雷达测距精度受限于距离动态变化导致的行走误差和时刻抖动误差的问题,设计了一种基于自动增益控制(AGC)技术及恒比定时鉴别(CFD)技术的激光雷达测距系统,可适应进程动态范围的测量目标,并提高测距精度。激光雷达测距系统在10~100 m的静态测距实验中,测距精度达到厘米级别。在动态三维扫描实验中,室内测量得到11.4~31.2 m范围内靶标的平面拟合均方根误差为2.05~4.35 cm,室外测量得到距离15.97 m处目标平面拟合均方根误差为3.54 cm。

关键词: 激光雷达, 近程动态范围, 自动增益控制(AGC), 恒比定时鉴别(CFD), 测距系统, 测距精度

Abstract: In this paper, a ranging system of LiDAR based on automatic gain control (AGC) circuit and constant fraction discriminator (CFD) circuit is designed for the problem that pulsed time of flight LiDAR ranging precision is limited by the walking error and time jitter error caused by dynamic range changes. It can adapt to measure the distance in short-distance dynamic range with better ranging precision. Through a series of experiments, within 10-100 m detection, the ranging precision is estimated to be on centimeter-scale. In the experiment of three-dimensional dynamic scanning, the planer fitting root mean square error of the target at 11.4-31.2 m achieves 2.05-4.35 cm indoors, and the planer fitting root mean square error of the target at 15.97 m achieves 3.54 cm outdoors.

Key words: LiDAR, short-distance dynamic range, automatic gain control (AGC), constant fraction discriminator (CFD), ranging system, ranging precision

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