Lidar Echo Characteristic Modeling And Simulator Development

Lidar echo simulation is the key link of indoor detection and semi-physical simulation of lidar.Its performance directly affects the accuracy of detection and the validity of simulation results.To this end,the paper theoretically models and analyzes the echo characteristics of the lidar,and verifies the feasibility of the simulator principle.Technically,the software and hardware design and experiments of the lidar echo simulator are realized,which provides a theoretical and hardware basis for the development of a lidar indoor detection system.Theoretically,a mathematical model of lidar target echo calculation is established,and a design scheme and workflow of a lidar target echo simulator based on the principle of pulse staggered superposition are given.The echo calculation model was applied to single-target and multi-target scenarios,and the lidar target echo waveform theoretical calculation program was written in the MATLAB software environment.The theoretical waveforms of the lidar echo under different incident angles and different target conditions were obtained.The simulation results of pulse staggered superposition simulated laser echo waveforms verify the correctness of the method for developing an echo simulator based on the principle of pulse staggered superposition.Based on this,combined with the study of the influence of the waveform fitting degree on the lidar ranging output,the quantitative requirement that the key indicator of the lidar echo simulator "waveform fitting degree" must be greater than or equal to 0.99 is obtained.Technically,the paper proposes a technical solution for multi-pulse laser delayed light emission combined with fiber combining to achieve a multi-pulse staggered superposition of lidar target echo simulator.Based on the hardware system design,the control software for Lab View upper computer software is completed and debug;and completed the calibration of the lidar echo simulator,which can realize the lidar echo simulation based on the theoretical and experimental waveforms.The experimental verification shows that the echo fitting degree of the echo waveform of the lidar echo simulator can reach above 0.99,which can meet the requirements of lidar indoor detection and semi-physical simulation research.The research results of this paper have important reference value for the study of lidar echo characteristics and simulation methods.