Research On The Signal Processing Algorithms Of3D Laser Vision System With High Sensitivity And Precision

3D laser vision system is one of the most important techniques to get thethree-dimensional imaging, with a series of unique advantages: high angular resolution,high range resolution, high velocity resolution, perfect anti-jamming capability andanti-stealth capability, not only the position information but also the velocityinformation can be obtained. Therefore, intelligent robots, unmanned vehicles,unmanned aerial vehicles, and other military or civilian fields have a wide use of thistechnology. So vigorously the United States, Japan, Europe and other developedcountries have put the technology in the long-term planning of space technology,topographic mapping and ocean monitoring development.This paper presents an eye-safe laser3D vision system with a1.55μm pulsed fiberlaser and an X-Y inspection scanning galvanometer using pulse ranging technology,which is used to obtain the target three-dimensional images or complexenvironments.In the images, the distance information is obtained via pulse flight timeranging method, and the azimuth and elevation information is obtained via thetwo-dimensional X-Y inspection scanning galvanometer. This paper research on twoissues of the3D laser vision system, consist of the high sensitivity echo signal detectingtechnology and the precision time measuring technology. The main works of this paperinclude the following aspects:Firstly, the paper presents the overall design of the3D laser vision system, and thena detailed study of the key technical problems in the program, such as pulsed laserranging theory, detection methods, and how to achieve two-dimensional scanninggalvanometer. Echo signal processing theories and system noise has also been analyzed.Secondly, two kinds of signal recognition algorithms and two kinds of signalaccumulation algorithms for the3D laser vision system are compared and analyzed.From the perspective of false detected probability and detected probability, dosimulation about fixed threshold detection, automatic threshold detection, studies werelimited to a fixed gate signal detection and adaptive signal detection, videoaccumulation, and binary accumulation, finding their advantages and disadvantages.Thirdly, three kinds of judgments algorithms for the pulse arriving time are studiedand simulation, choosing the constant ratio timing algorithm to judgment when thepulse arrived. Analyze the digital time interval interpolation algorithms, proposing anew time interval measurement algorithm, which is consist of rough measurement ofsample data points and precise measurement of interpolation data points, and canachieve precision measurement result higher than the basic time.Finally, a high-precision time interval measurement system and a pulsed laser ranging system are built. Using the real echo signal, delay time measurementexperiments are carried out, experimental results indicating that the time measurementerror is0.96ns, and the ranging error is0.288m.