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

doi:10.13700/j.bh.1001-5965.2019.0244

近程动态范围激光雷达测距系统设计及误差分析

doi: 10.13700/j.bh.1001-5965.2019.0244

北京航空航天大学仪器科学与光电工程学院, 北京 100083

基金项目:

国家重点研发计划 2018YFB0504500

国家自然科学基金 61671038

国家自然科学基金 61721091

详细信息

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

通讯作者:
李小路.E-mail: xiaoluli@buaa.edu.cn

中图分类号: TN958.98;V11
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- 被引次数: 0
出版历程
- 收稿日期: 2019-05-22
- 录用日期: 2019-08-30
- 网络出版日期: 2020-02-20

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

School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100083, China

Funds:

National Key R & D Program of China 2018YFB0504500

National Natural Science Foundation of China 61671038

National Natural Science Foundation of China 61721091

More Information

Corresponding author: LI Xiaolu. E-mail: xiaoluli@buaa.edu.cn

摘要

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。
- 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.
- LiDAR /
- short-distance dynamic range /
- automatic gain control (AGC) /
- constant fraction discriminator (CFD) /
- ranging system /
- ranging precision

HTML全文

图 1 行走误差

Figure 1. Walk error

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图 2 恒比定时鉴别器原理

Figure 2. Constant fraction discriminator principle

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图 3 测距单元设计

Figure 3. Design of ranging unit

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图 4 自动增益控制原理

Figure 4. Automatic gain control principle

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图 5 恒比定时鉴别器设计

Figure 5. Constant fraction discriminator design

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图 6 TDC-GP22测量流程

Figure 6. TDC-GP22 measurement process

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图 7 10~100 m测距精密度及校正后准确度变化曲线

Figure 7. Change curves of 10-100 m ranging precision and corrected accuracy

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图 8 扫描目标成像

Figure 8. Scanning target imaging

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图 9 平面拟合均方根误差与静态测距精度对比

Figure 9. Comparison of planar fitting root mean square error and static ranging precision

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图 10 室外扫描目标照片及点云示意图

Figure 10. Outdoor scanning target photo and point cloud image

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图 11 截取点云到拟合平面距离的误差分布

Figure 11. Error distribution of distance from interception point cloud to fitted plane

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表 1 脉冲激光器主要指标

Table 1. Pulse laser main indicators

指标	数值
激光波长/nm	1 064
单脉冲能量/μJ	16.6
脉冲宽度/ns	10
重复频率/kHz	1~5
发散角/mrad	1.5
平均功率/mW	93.55

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