Laser radar echo reconstruction method, device, storage medium and system

Abstract

The invention discloses a laser radar echo reconstruction method, device, storage medium and system. The laser radar echo reconstruction method comprises the following steps of: V1, acquiring a plurality of sampling data, wherein the plurality of sampling data are obtained by sequentially and circularly sampling a sampling signal S3 by a multi-path high-speed ADC according to a sampling clock; andV2, splicing the plurality of sampling data according to the sampling clock to obtain full-waveform data. The laser radar echo reconstruction system comprises a laser, a photoelectric detector APD, an amplifier, a high-speed clock source and a multi-path high-speed ADC. According to the laser radar echo reconstruction method, device, storage medium and system provided by the invention, echo reconstruction can be realized at a high speed and high timeliness through the multi-path high-speed ADC according to a certain sampling clock parallel sampling, and the technology is easy to realize.

Description

technical field [0001] The invention belongs to the technical field of laser ranging, and in particular relates to a laser radar echo reconstruction method, device, storage medium and system. Background technique [0002] Due to its advantages of high ranging accuracy and long measurement distance, laser scanners have been widely used in surveying and mapping, disaster monitoring, bridge and tunnel construction monitoring, and assisted driving. Traditional pulsed laser scanners mostly use the frontier discrimination method. First, the pulse frontier is extracted, and the flight time is accurately calculated by the high-precision time measurement circuit TDC, and then the distance is calculated according to the flight time. Using this method to measure the distance is greatly affected by the jitter of the pulse edge discrimination circuit of the front-end analog receiving circuit, which directly affects the accuracy of laser ranging, and the further improvement of accuracy en...

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Problems solved by technology

However, both methods have disadvantages. Method 1 is relatively high in sampling efficiency, but requires high signal integrity. It is difficult to implement PCB circuit board technology. At the same time, the supply of ultra-high-speed ADCs is deeply affected by domestic technical bottlenecks and foreign embargoes. Procurement is difficult, which is not conducive to large-scale production and use; method 2 is relatively low in production costs, and the technology is relatively easy to implement, but the sampling rate is too slow, the timeliness cannot be guaranteed, and it is invalid for non-periodic echo pulses and multi-pulses

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