Simulation method of frequency-modulated continuous wave laser radar

Abstract

The invention relates to a simulation method of a frequency-modulated continuous wave laser radar. The method comprises steps of loading the customized laser radar sensor model parameters and the customized simulation environment into a computer, and performing single-point scanning on an obstacle in the simulation environment by the sensor model according to a preset scanning track to obtain theposition of the laser radar sensor model at the current moment, the distance value at the current moment and the speed value at the current moment,converting the current data obtained by single-pointscanning into three-dimensional point cloud data containing speed information, and storing the three-dimensional point cloud data,and completing one-time track scanning to obtain a frame of three-dimensional point cloud data containing speed information, packaging the current frame of data, and publishing the data.A high-simulation environment is established, simulation is carried out based on a single-point scanning model, each frame of calculation data is less, and customizable FMCW laser radar simulation data can be generated on a simple calculation platform so as to be used for effect evaluation of optical hardware and system software and practicability analysis of a later algorithm.

Description

technical field [0001] The invention relates to the technical field of laser radar and the field of simulation engine, in particular to a simulation method of frequency modulation continuous wave laser radar. Background technique [0002] FMCW (Frequency Modulated Continuous Wave) detection is a relatively new ranging system developed at the end of the 20th century. For frequency-modulated continuous wave laser radar, due to the time difference between the echo signal and the transmitted signal, after mixing the echo signal and the local oscillator signal, their difference frequency signals can be obtained by balancing the detector. When the symmetrical triangular wave is chirped, the distance and speed information of the measured object can be obtained at the same time. [0003] With the continuous development of laser technology, microwave photon technology, optical communication technology and other related fields, frequency-modulated continuous wave lidar has attracted ...

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Problems solved by technology

[0009] Aiming at the current FMCW laser radar simulation needs complex equipment, high requirements for the environment and computing platform, expensive simulation, and the inability to flexibly customize the parameter data and simulation scenarios that require models, the present invention proposes a frequency-modulated continuous wave laser radar The simulation method is based on a single-point scanning model for simulation, and the amount of data obtained in each frame is less, so that customized lidar sensor model data can be customized on a low-power laptop without a discrete graphics card Simulation of the scene

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