A Range-Gated LiDAR Imaging Method Based on Adjacent Frame Difference

Abstract

The present invention proposes a range-gated lidar imaging method based on adjacent frame differences, including S1, a signal generator triggering the laser to work, and after Δτ time, the laser emits laser pulses to a single target, and simultaneously triggers the delayer to work; S2, When the delayer is triggered for the first time, the delayer will start timing, and the timing is full Δτ step After that, the delayer triggers the ICCD to work; for each subsequent trigger of the delayer, its delay time will increase by a step Δτ step ; S3, after each ICCD is triggered to work, ICCD receives the reflected laser signal and obtains the intensity image; S4, processes the image data transmitted by the ICCD through the computer, and performs difference processing on two adjacent frames of intensity images to obtain The effective distance corresponding to the front edge and the rear edge of the ICCD gate is obtained; S5, the three-dimensional image of the target can be respectively reconstructed according to each effective distance corresponding to the front edge or the rear edge of the ICCD gate. The method described above has the advantages of fast imaging speed, high distance resolution, large imaging range and simple data processing.

Description

technical field [0001] The invention relates to the technical field of imaging methods, in particular to a range-gated lidar imaging method based on adjacent frame differences. Background technique [0002] Range-gated laser imaging radar can effectively suppress backscatter interference during laser transmission, improve imaging signal-to-noise ratio and contrast, and has the advantages of fast imaging speed, strong anti-interference ability, and high resolution. It can detect and image in three dimensions in the atmosphere and underwater The field of application is becoming more and more extensive. The range-gated lidar imaging radar uses a pulsed laser as the light source, and separates the target from the strong interference background by controlling the gate width and gate delay time, so as to obtain the spatial slice images of the target, and based on these slice images, Retrieve the 3D spatial information of the target. Range-gated lidar imaging generally uses the f...

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Problems solved by technology

[0007] In the slicing method, the distance resolution depends on the gate step and laser pulse width. For narrow pulse laser, if you want to obtain high-precision three-dimensional information of the target, you need a fine gate step, which greatly increases the data processing time; in the trapezoidal In the law, it is strictly required that the gate width must be twice the laser pulse width, while the triangle rule requires that the laser pulse width and the gate width must be strictly consistent. These two methods greatly increase the complexity of the radar system and reduce the stability of the radar system. The centroid method needs to process all two-dimensional intensity maps, the data processing is cumbersome, and it is impossible to perform three-dimensional target imaging on the target in real time

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