40results about How to "Improve ranging accuracy" patented technology

The invention discloses a vehicle distance measurement and calibration method based on laser radar and binocular vision fusion, relates to the technical field of measurement and calibration, and is used for solving the problem that the precision of a vehicle distance calibration result is reduced when a laser radar used for calibrating a highway vehicle distance snapshot system is under the conditions of rain, snow, wet and slippery or waterlogging road surfaces. Joint modeling is carried out on spatial distribution and echo energy characteristics of laser radar low-height point cloud, a point cloud echo coefficient and a low-height number proportion are introduced, a specular reflection state code is constructed, a self-calibration mechanism is adaptively triggered accordingly, and a specular reflection state is obtained. The discrete characteristic of a laser radar vehicle distance time sequence and the degradation trend of binocular vision parallax connectivity are subjected to quantitative analysis, the dominant source of ranging abnormity is judged through symbolic analysis, and an offset calibration or fusion correction strategy is selected according to the dominant source. Reliability and engineering adaptability of vehicle distance measurement under the wet and slippery road surface condition can be improved under the condition of not depending on an additional sensor.

This invention discloses an optimization method for a dual-source FSI ranging system based on wavelet synchronous compression transform, mainly addressing the problems of high system complexity and poor performance in existing dual-source FSI ranging systems when separating mixed interference signals. The solution includes: constructing a dual-source FSI ranging optical path to generate mixed interference signals; building a signal processing module based on the wavelet synchronous compression transform algorithm; sending the mixed interference signals to the signal processing module through a data acquisition device in the ranging optical path; using wavelet synchronous compression transform to separate the interference signals generated by the two lasers in the frequency domain; then achieving separation of the individual interference signals by reconstructing the frequency bands of the two interference signals; and finally using the separated two interference signals to calculate the distance and obtain the final ranging result. This invention can guarantee ranging accuracy without increasing the complexity and design cost of the dual-source FSI ranging system.

This invention provides a wireless ranging and clock synchronization method for aviation search and rescue scenarios, relating to the fields of spread spectrum communication and wireless ranging technology. The method includes: determining the relative motion state; performing unilateral bidirectional ranging between two nodes; obtaining clock offset and clock frequency offset estimates using the least squares method; and processing these estimates according to different motion states. When the master node and slave node are in a high-speed radial motion state, the slave node sends a spread spectrum signal to the master node to obtain pseudorange and carrier phase observations. Based on the clock offset estimate, compensation calculations are performed on the pseudorange observations; and based on the clock frequency offset estimate, compensation calculations are performed on the carrier distance increment. Based on the compensated pseudorange observations and the compensated carrier distance increment, carrier smoothing pseudorange recursion is performed to obtain the ranging result. Through this method, the cumulative errors of clock offset and clock frequency offset are suppressed within a unified smoothing framework, effectively improving ranging accuracy under high-speed motion conditions.

The application discloses a ranging method and system, wherein the method comprises the following steps: acquiring a ranging image; acquiring a contour in the ranging image, determining a plurality of positioning points according to the contour, and obtaining a positioning point cluster; determining a two-dimensional code in the ranging image according to the positioning point cluster; determining a three-dimensional coordinate of the two-dimensional code in a camera coordinate system according to the two-dimensional code and an internal parameter matrix and a distortion matrix of the camera; converting the three-dimensional coordinate of the two-dimensional code to a world coordinate system, and determining a vertical distance from the two-dimensional code to a plane formed by an xy axis group of an origin of the world coordinate system. The method has the advantages of high ranging accuracy, simple method, fast calculation speed and wide application range. The system has the advantages of low ranging cost, low cost and low technical risk, and can provide accurate ranging with low error.

The invention relates to the technical field of radars, and discloses an FMCW laser radar ranging method, device and equipment and a storage medium, and the method comprises the steps: receiving an echo signal reflected by a target object; performing frequency mixing on the echo signal and the local oscillator signal to obtain a frequency mixing signal; generating a target reference signal based on the mixing signal and the initial control signal; performing phase-locked amplification on the frequency mixing signal based on the target reference signal to generate a detection amplitude, and determining the distance between the target object and the laser radar and the position of the target object based on the detection amplitude; and generating a PID control signal as a new initial control signal based on the position of the target object, and returning to the step of receiving the echo signal obtained by reflecting the laser signal emitted to the target object. By dynamically generating the target reference signal, the adaptive capacity to targets with different distances is improved, high-precision distance measurement in a complex detection environment is realized through phase-locked amplification, and meanwhile, the flexibility and dynamic adaptability of the laser radar are enhanced through dynamic distance measurement.

The application discloses a warehouse scene mobile robot and sensor network node cooperative positioning method, which comprises the following steps: S1, arranging sensor network nodes, starting the robot, collecting robot motion information, robot and node distance measurement information and node distance measurement information, and filtering the relevant distance measurement information; S2, establishing a distance measurement correction model, and using the least square method to fit to obtain distance measurement correction parameters and initial values of position coordinates of unknown nodes in the sensor network; S3, establishing a state equation and a measurement equation of the robot-sensor network system; and S4, based on the derived system state equation and measurement equation, the overall state of the system is estimated based on the improved extended Kalman filter algorithm, and the simultaneous positioning of the mobile robot and the sensor network node in the warehouse scene is realized. The method can improve the distance measurement accuracy in a complex environment and the positioning accuracy of the robot and the sensor network node.

In order to solve the problems that a circuit structure is simple, and distance measurement with good accuracy and precision can be achieved, the invention provides a method which does not need to adopt an array antenna, does not need to measure time difference, and only measures phases of two pilot frequency signals to achieve ambiguity-free and high-precision distance measurement. Different from the existing mode of solving the distance by measuring the phase difference, the new method directly uses a distance measurement equation for measuring the phase. In order to eliminate phase ambiguity, the frequency interval of two different-frequency signals is limited to ensure that the same wavelength integer cycle number exists during different-frequency phase detection on the detected distance length. On the basis, the wavelength whole cycle number can be solved through joint solution of a double-frequency phase ranging equation set. And then the detection distance can be obtained by using the phase distance measurement equation again. Simulation analysis shows that in a distance range without phase shift ambiguity, the double-frequency phase distance measurement method is not only good in accuracy, but also capable of obtaining distance measurement precision smaller than 0.2%.

This invention discloses a laser pulse phase-based ranging system with low walking error, comprising a TIA circuit, a pulse amplification unit, a timing discrimination circuit, an RS latch circuit, and an ADC circuit. The output of the TIA circuit is connected to the pulse amplification unit, the output of the pulse amplification unit is connected to the timing discrimination circuit, and the output of the timing discrimination circuit is connected to the RS latch circuit and the ADC circuit. The pulse amplification circuit includes a differential amplification circuit and a post-amplifier circuit connected to the output of the differential amplification circuit. This invention proposes that the phase-based ranging section directly performs undersampling of the acquired analog pulse signal to a sine wave using an ADC, eliminating the need for a subsequent mixing and filtering circuit unit, thus simplifying the system circuitry and reducing power consumption. Furthermore, it proposes using the comparator delay to compensate for the walking error of pulses with different amplitudes, thereby reducing the walking error of pulses with different amplitudes and overcoming the negative impact of comparator delay on walking error.

The application provides a pulse pile-up effect error correction method of a dTOF module, comprising: determining a second function based on actual depth data of a direct flight time module and a first function; determining a third function based on the first function and the second function, performing Fourier series fitting on error data based on the third function to obtain a periodic error model; and performing error correction on corresponding actual depth data according to the periodic error model; in this way, the overall trend of the actual depth data is separated from the nonlinear error introduced by the pulse pile-up effect by fitting the second function, and only the error component containing periodic fluctuations is reserved; the nonlinear change trend of the error is fitted by the third function, and the periodic fluctuation component is accurately modeled by the Fourier series, which can completely cover the nonlinear error characteristics of the pulse pile-up effect, so that the compensation value completely matched with the actual error can be calculated, thereby realizing accurate compensation of the error.

The application provides a surface topography measuring device and method, and an object surface height calculation method, and applies to the technical field of optical precision measurement, and comprises a fiber F-P interference measuring head and a three-dimensional displacement table; the fiber F-P interference measuring head is composed of a fiber head array and a microlens array, and an object to be measured is fixed on the three-dimensional displacement table; a light beam is transmitted to the fiber F-P interference measuring head, is emitted from an exit surface of the microlens array after passing through the fiber head array and the microlens array, and is collimated and irradiated to the surface of the object to be measured; and the three-dimensional displacement table drives the object to be measured to perform three-dimensional movement to measure the surface topography of the object to be measured. Through the scanning measurement scheme of the combination of the fiber head array and the microlens array and the three-dimensional displacement table, the problems of small measurement range and slow measurement speed of the fiber F-P interference measuring head are solved, the measurement range and the measurement speed of the fiber F-P interference surface topography detection product are improved, and the cost thereof is reduced.

The application discloses a ranging method, comprising: obtaining a mapping relationship between serial numbers of actual data boxes and serial numbers of preset data boxes, wherein each actual data box is mapped to at least one preset data box; obtaining ranging data, assigning storage space to the actual data boxes and storing the ranging data; determining a target data box and a serial number of the target data box according to data distribution of the ranging data in the actual data boxes; determining a target value of a preset data box corresponding to the target data box according to the mapping relationship between the serial numbers of the actual data boxes and the serial numbers of the preset data boxes and according to a preset algorithm; and determining a distance of a measured target according to the target value of the preset data box and a width of the preset data box. The application also provides a ranging system, which can reduce storage space.

The utility model discloses a low noise continuous wave modulation laser drive source for high speed laser range finder, the utility model discloses a clock chip of CDCEL925 series is used to generate clock signal, and generates fundamental wave main vibration signal with this, wherein, compared with remaining frequency synthesis technique, it can produce the clock signal of lower phase noise, so, can generate the fundamental wave main vibration signal of low phase noise, simultaneously, through low noise direct current voltage module, the bias current of laser is generated, and it is combined with the fundamental wave main vibration signal of low phase noise through ac coupling, then can constitute the laser drive source of low phase noise, based on this, then can effectively reduce the random error of phase difference measurement, in addition, the utility model discloses still through optical power feedback module to carry out the power feedback of laser, and through integral regulator to feedback and adjust the bias current of laser loop, so, then can realize the transient stability of optical power in the modulation process, to further improve the ranging precision.

This application discloses a method, apparatus, storage medium, and lidar for measuring distance and reflectivity. Specifically, it applies to a lidar that obtains an echo signal based on the echo light reflected from a target object. The echo signal is an electrical signal corresponding to the echo light. The application measures the echo signal based on both a distance threshold and a reflectivity threshold. The distance threshold determines the distance of the target object relative to the lidar, and the reflectivity threshold determines the reflectivity of the target object. The reflectivity threshold is higher than the distance threshold. By using different threshold values ​​to determine the distance and reflectivity of the target object, and with the reflectivity threshold being higher than the distance threshold, this application achieves higher ranging accuracy and higher reflectivity discrimination when measuring the reflectivity of the target object, thereby improving the accuracy of distance measurement and reflectivity calculations.

The application discloses a multi-channel parallel test system and a self-calibration method for a digital-analog hybrid chip, and relates to the technical field of chip testing. The application discloses a multi-channel parallel test system and a self-calibration method for a digital-analog hybrid chip, and relates to the technical field of chip testing. The application discloses a multi-channel parallel test system and a self-calibration method for a digital-analog hybrid chip, and relates to the technical field of chip testing. The application discloses a multi-channel parallel test system and a self-calibration method for a digital-analog hybrid chip, and relates to the technical field of chip testing. The application discloses a multi-channel parallel test system and a self-calibration method for a digital-analog hybrid chip, and relates to the technical field of chip testing. The application discloses a multi-channel parallel test system and a self-calibration method for a digital-analog hybrid chip, and relates to the technical field of chip testing. The application discloses a multi-channel parallel test system and a self-calibration method for a digital-analog hybrid chip, and relates to the technical field of chip testing. The application discloses a multi-channel parallel test system

The application provides a DTOF sensor, a ranging method, a laser receiving module and a ranging device. The DTOF sensor comprises a SPAD pixel and a quenching circuit, a clock management circuit, M different resolution TDCs, M histogram circuits, a digital processing circuit and an interface circuit. The M different resolution TDCs work simultaneously, have a large ranging range and high time resolution under limited hardware conditions, and the data output by the different resolution TDCs is processed by different histogram circuits. The M histograms obtained by the M histogram circuits are output to the digital processing circuit or an external device for processing to determine the time of flight and the distance information of the object to be measured. The DTOF sensor output frame rate is improved, the M histograms obtained simultaneously do not have the mutual covering problem, the subsequent algorithm can further process and optimize the data, and the ranging accuracy is improved.

The application proposes a GPS spoofing signal ranging and velocity measurement method for improving carrier synchronization loop compensation Doppler, which firstly uses square spectrum to perform Doppler coarse estimation on intermediate frequency echo signal; then uses phase-locked loop to obtain accurate Doppler frequency, estimates target velocity and performs Doppler compensation before matched filtering, thereby avoiding the influence of autocorrelation loss caused by Doppler sensitivity on matched filtering effect; finally, the interpolation method is used to improve the ranging accuracy of matched filtering. Simulation experiments show that the method can effectively improve the ranging and velocity measurement accuracy without improving the sampling rate.

The application discloses a roll changing pile falling detection system and method and a roll changing trolley, and relates to the technical field of roll changing. The roll changing pile falling detection system comprises a measuring device and a detection terminal. The measuring device is used for outputting the pitch angle of the roll changing trolley and the first measuring distance between the roll changing trolley and the roll to be changed when the roll changing trolley performs the pile falling detection task of the roll to be changed. The detection terminal is used for outputting the pile falling detection result of the roll to be changed according to the pitch angle and the first measuring distance. Since the pitch angle of the roll changing trolley affects the distance measuring accuracy, the detection system corrects the first measuring distance according to the pitch angle, so that the interval distance between the roll changing trolley and the roll to be changed is determined more accurately, the measurement error caused by the wheel wear or horizontal position deviation of the roll changing trolley is eliminated, the pile falling state of the upper roll during the roll changing of the rolling mill can be detected with high accuracy, and the accuracy of the pile falling detection during the roll changing of the rolling mill is improved.

The invention discloses a robot positioning system and method based on multi-source data fusion, and relates to the field of robot positioning, and the method comprises the steps: calibrating a global coordinate system; the distance between the robot base and the femtosecond laser interference reference point is calculated, the spatial position coordinates of the robot base are solved according to the coordinates and the distance of the femtosecond laser interference reference point, the angle cosine value is calculated through the spatial position coordinates, and the attitude angle of the robot base is determined in combination with IMU data and geometric optimization; the spatial position coordinates and the attitude angle of the robot base are smoothed through a Kalman filtering method, the smoothed six-degree-of-freedom pose is output and bound to a global coordinate system, and a global absolute pose is formed; and fusing the multi-source data to generate a particle weight, and updating and optimizing the six-degree-of-freedom pose according to the particle weight. According to the method, the phase characteristics of the femtosecond laser interference signals are analyzed by adopting a four-step phase shift method, and high-precision extraction of optical path difference changes is realized.

A composite modulation method of linear frequency modulation (LFM) and random code phase modulation for detection devices is disclosed, relating to the fields of radar detection and millimeter-wave signal modulation technology. This method is implemented based on a suitable LFM detection device. A BPSK phase modulation circuit is added between the transceiver components and the transmitting antenna. The LFM signal is synchronously superimposed with random binary phase codes for BPSK phase modulation within each frequency sweep cycle. The complete sequence period of the random binary phase codes is completely consistent with a single frequency sweep cycle. For the sampled echo intermediate frequency signal, correlation processing of the local code and the echo code is performed first, followed by sequential FFT spectrum analysis in the range and velocity dimensions. Asynchronous clutter and interference are processed to exhibit noise characteristics. Target detection and parameter calculation are performed only on the synchronous echo. This invention fundamentally eliminates the range ambiguity problem of the LFM system, significantly improving the anti-interference capability and operational reliability of the detection device in low-altitude scenarios, while retaining the advantages of the LFM system, such as high ranging accuracy, low cost, and ease of engineering.

The invention provides a device searching method based on a LoRa technology, a scanning device and a terminal device. The device searching method comprises the following steps: starting a Sub-GHz LoRa mode to carry out scanning operation, and obtaining an RSSI correction value corresponding to each terminal device; the target terminal device and the target RSSI correction value of the target terminal device are matched from the plurality of terminal devices based on the target device ID of the target terminal device, and under the condition that the scanning device moves forwards along the current direction, if the target RSSI correction value is greater than or equal to a preset RSSI threshold value and the current distance is greater than or equal to a first preset distance threshold value, the target RSSI correction value of the target terminal device is determined to be the target RSSI correction value of the target terminal device. And if so, switching to the 2.4 GHz LoRa mode to search the target terminal equipment. Through dual-frequency cooperative work of the Sub-GHz LoRa and the 2.4 GHz LoRa, the object searching problem in different distance ranges is solved, the object searching automation degree is high, and the object searching efficiency is remarkably improved.

The application relates to the technical field of laser ranging, in particular to a laser range finder, which comprises a laser emitter, a collimating lens, a receiver, a receiving lens, a collimating lens barrel, a receiving lens barrel and light-shielding cleaning glue; the collimating lens barrel is provided with a first accommodating groove, a first opening of the first accommodating groove corresponds to and covers a side wall of the collimating lens, and extends to a side wall of the collimating lens close to a light-out surface and beyond the side wall, the light-shielding cleaning glue comprises first light-shielding cleaning glue, in a first state, the first light-shielding cleaning glue is filled in the first accommodating groove and covers the side wall of the collimating lens, in a second state, part of the first cleaning glue spreads out from the first opening beyond the side wall and covers the light-out surface of the collimating lens; and / or the receiving lens barrel is provided with a second accommodating groove, a second opening of the second accommodating groove corresponds to and covers a side wall of the receiving lens, and extends to a side wall of the receiving lens close to a light-in surface and beyond the side wall, the light-shielding cleaning glue comprises second light-shielding cleaning glue filled in the second accommodating groove.

This invention belongs to the field of integrated sensing and communication technology, specifically relating to a high-precision ranging method for OFDM-ISAC based on adaptive CZT. First, the communication information of the received signal from the OFDM-ISAC system is extracted to obtain a two-dimensional matrix containing target distance and velocity information. Then, a two-dimensional fast Fourier transform is performed on the two-dimensional matrix to obtain a complex-valued periodic graph. The amplitude features of spectral peaks and their neighboring spectral lines are extracted from the distance slices. Next, the analysis window for CZT spectrum refinement is adaptively determined based on the amplitude difference relationship between adjacent spectral lines to the left and right of the spectral peak. CZT refinement is then performed on the local spectrum within the window to obtain high-resolution spectral information. Finally, based on the refined spectral features, an adaptive peak extraction strategy is used to accurately estimate the spectral peak position, and then the target distance is calculated through the mapping relationship between the peak index and the distance. This invention improves ranging accuracy without introducing significant computational overhead and ensures the robustness of the system.

The application discloses a kind of target-oriented photovoltaic receiver light communication and energy integration system limited dynamic range constraint emission waveform design method, first generate MLS sequence, simultaneously to the original signal of input PAM modulation obtains PAM sequence, PAM sequence is as slow envelope to MLS sequence mean envelope modulation, and the alternating current signal after envelope modulation is obtained, direct current bias B is superimposed in the alternating current signal to constitute the final emission waveform.The application B determines reference light intensity and effective AC budget.In available budget, communication level interval and perception MLS amplitude are determined by amplitude allocation factor ρ together.Under fixed AC budget, ρ determines the trade-off between communication and perception, and B determines the upper limit of feasible dynamic range.The application makes full use of limited amplitude resources, realizes low-bandwidth photovoltaic receiver-oriented efficient information extraction, accurate echo perception and stable energy transmission, and realizes flexible coordination of communication and energy functions.

A distance measuring device (100) is provided with: a light source (10) that irradiates irradiation light to a predetermined range; a light receiving unit (20) having a plurality of pixels that receive reflected light reflected by the irradiation light within a predetermined range; an image recognition unit (30) that acquires an image in which at least a portion of a predetermined range is projected, and detects a predetermined object to be recognized (OBJ) by performing image recognition on the acquired image; a drive control unit (40) that, when the image recognition unit (30) detects the object to be recognized (OBJ), adjusts an irradiation condition in which the light source (10) irradiates the irradiation light on the basis of a first output that is a signal output from each of one or more pixels corresponding to the region of the object to be recognized (OBJ) on the basis of reflected light of the irradiation light irradiated under a predetermined irradiation condition; and a distance calculation unit (50) that calculates the distance to the object to be recognized (OBJ) on the basis of a second output that is a signal output by each of the plurality of pixels on the basis of reflected light of the irradiation light irradiated under the adjusted irradiation condition.

Embodiments of the present application provide a compensation speed obtaining method and device, electronic equipment and readable storage medium, relating to the technical field of radar. The method comprises: when obtaining current frame echo data, judging whether the total number of currently received echo data is greater than a preset value; if greater, obtaining a first speed compensation value calculated according to historical speed estimation values in a speed set, the historical speed estimation values in the speed set being speed estimation values corresponding to multiple historical frame echo data respectively, the number of historical speed estimation values in the speed set not being less than the preset value when the total number is greater than the preset value, the first speed compensation value being used for compensating the current frame echo data. In this way, a speed value with small error for compensation can be obtained, thereby improving the ranging accuracy.

This invention discloses a calibration method, apparatus, device, and storage medium for an obstacle detection system, belonging to the field of vehicle calibration technology. When the vehicle is stationary, the invention controls a calibration obstacle to move along a slide rail. When the obstacle moves to a preset distance from an ultrasonic probe, the ultrasonic probe's frequency sweep function is activated, and the operating frequency of the ultrasonic probe after the sweep function is activated is recorded. The ultrasonic probe is then controlled to detect the obstacle according to the operating frequency, and the detection time and air parameters are recorded. The obstacle detection system is calibrated based on the preset distance, operating frequency, detection time, and air parameters. This provides factory online calibration of the obstacle detection system, adaptive calibration for the parameters of each ultrasonic sensor, and real-time secondary calibration during vehicle use. This improves signal strength and ensures ranging accuracy, thereby enhancing the safety of automatic side door opening and closing.

The invention discloses a satellite navigation MBOC signal non-fuzzy tracking method and system based on multiple harmonic components, and solves the technical problem of poor ranging precision caused by the existing multi-harmonic multi-channel subcarrier combined tracking scheme for multiplexing binary offset carrier modulation signals. The method comprises the following steps: acquiring a local carrier parameter initial estimation value and a digital intermediate frequency MBOC signal, generating a baseband signal, and generating a plurality of orthogonal local subcarriers and parameter adjustment amounts; then, combining with the phase estimation value at the historical moment, updating to obtain a subcarrier phase estimation value and a code phase estimation value; after a locking state is reached, calculating a code delay coarse estimation value and an original delay estimation value of each orthogonal local subcarrier so as to obtain a non-fuzzy delay estimation value; and finally, outputting a high-precision unambiguous tracking ranging result based on the tracking jitter variance of each unambiguous delay estimated value by adopting a minimum variance criterion.

The application relates to a power distribution line single-phase grounding fault ranging method, a system and a readable storage medium, and the method comprises the following steps: after a single-phase grounding fault occurs in a power distribution circuit, three-phase voltage and current sampling data at a starting end are acquired, and power frequency phasors are calculated; positive, negative and zero sequence components of three-phase voltage and current at the starting end of the line are calculated by using a symmetrical component method; positive, negative and zero sequence components of voltage and current at any point of the line are calculated by using a hyperbolic function-based distributed parameter line long-line equation, and fault phase voltage and zero sequence and negative sequence transverse current phasors at the point and phases of the phasors are calculated; and the ranging result is acquired by substituting the ranging target function into full-line scanning. The application realizes accurate single-phase grounding fault ranging of the power distribution line by using the hyperbolic function-based distributed parameter line long-line equation and single-phase grounding fault boundary conditions and only using single-end electrical quantities, considers factors of line distributed capacitance and load impedance, and improves the adaptability of the algorithm to transition resistance and load current.

This invention relates to the field of laser communication technology and discloses a high-precision ranging method and system based on spaceborne laser communication. The method includes: when two terminals send communication signals, aligning the falling edge of the last bit of the frame synchronization header of the data frame with the leading edge of the local satellite clock's integer second pulse as a ranging identifier; modulating the baseband signal containing the ranging identifier into an optical signal and transmitting it into free space; receiving the downlink optical signal from the cooperating terminal and demodulating it into a baseband signal; performing multi-level time delay calibration to obtain the time delay parameters of the system's transceiver channel, and using a code synchronization loop in the communication link to recover the symbol clock phase; and calculating the distance and clock difference between the two terminals based on the arrival time of the ranging identifier and the time delay parameters using a bidirectional one-way ranging model. The above method integrates laser communication and ranging, ensuring high ranging accuracy while saving hardware resources, and is suitable for inter-satellite and satellite-to-ground high-precision laser ranging and high-speed data transmission integration scenarios.

Embodiments of the present application relate to the technical field of laser radar, and particularly to a ranging parameter calibration method, a laser radar and a storage medium. According to the embodiments of the present application, a corresponding target compensation function and a target temperature change threshold are obtained according to a target power-on temperature of a laser radar. When a candidate temperature difference corresponding to point clouds in a target time period in an actual ranging process is greater than or equal to the target temperature change threshold, the actual time-of-flight value corresponding to each frame of point cloud is calibrated according to the target compensation function and the frame number of the point cloud, so as to obtain the target time-of-flight value corresponding to each frame of point cloud, improve the adaptability of the laser radar to the temperature change and the time-of-flight change in the fluctuation time, and improve the accuracy of the time-of-flight value. In this way, the accurate distance measurement value can be calculated according to the time-of-flight value, and the ranging accuracy is improved.