Study On The Modeling And Processing Algorithm Of The Full Waveform Of Pulsed Lidar

Pulsed Lidar has been widely used in the field of urban intelligent perception due to its high efficiency,long range measurement and strong anti-interference ability.With the rising requirements of the information quantity and accuracy of the environmental perception,it becomes a research hotspot how to obtain the target distance and surface characteristic from the echo signal effectively.Based on the theory of Lidar ranging,this paper focuses on the study of the modeling and processing algorithm of the full waveform of echo-signal.Firstly,the fullwaveform system-level model and modeling software of pulsed semiconductor Lidar are developed based on the characteristics of the semiconductor laser,beam propagation and response of the detection circuit.Secondly,the relevant algorithms of fullwaveform processing are designed and simulated.The adaptive threshold algorithm is designed,which realizes the high accuracy calculation of echo time and intensity information synchronously.The waveform centroid algorithm is optimized based on the optimal window width,by which the measurement accuracy with high noise is improved.A new multi-pulse superimposed echo processing algorithm is designed to reduce the computational complexity of multi-target echo calculation.Based on the characteristics of different algorithms,the design criteria of the resolution and sampling rate of the full-waveform Lidar system are proposed.Finally,a test platform of single line pulsed Lidar is built and the waveform measurement experiments are carried out.The results show that the constructed model is highly adapted to the real echo and the precision of the proposed algorithms is consistent with the simulation results.The adaptive threshold algorithm gets the maximum deviation of 0.47 ns and the standard deviation of 0.25 ns under the sampling rate of 500 MSPS.This paper shows high value in the design of the pulsed Lidar system and the study of full-waveform echo-signal processing technology.In addition,this paper benefits the application and development of pulsed Lidar in the field of intelligent perception.