Laser radar ranging method in rain and haze environment

A technology of laser radar and distance measurement method, which is applied in the direction of measuring device, radio wave measurement system, electromagnetic wave reradiation, etc., and can solve the problem of ineffective distance measurement

Pending Publication Date: 2021-01-19
BENEWAKE BEIJING TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The embodiment of the present application is to propose a lidar ranging method in a rainy and hazy environment to solve the problem of ineffective ranging in the rainy and hazy environment existing in the prior art

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  • Laser radar ranging method in rain and haze environment
  • Laser radar ranging method in rain and haze environment

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Embodiment Construction

[0028] The technical solution of the present application will be further described below in conjunction with the accompanying drawings and through specific implementation methods.

[0029] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0030] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by perso...

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Abstract

The invention relates to the field of laser radar ranging, in particular to a laser radar ranging method in a rain and haze environment. The invention discloses a laser radar ranging method in a rainand haze environment, and the method comprises the steps: enabling a laser radar to carry out the low-gain measurement, and recording a distance dist1 corresponding to a first echo; enabling the laserradar to perform high-gain measurement and records distances dist2 and dist3 corresponding to the second echo and the third echo; removing invalid values in the dist1, the dist2 and the dist3, and taking the dist3 as a measurement result when the dist3 is valid; and when the dist3 is invalid, taking an effective value or a larger value in the dist1 and the dist2 as a measurement result. Low-gainmeasurement and high-gain measurement are adopted, different gains are adopted for alternate measurement, an effective value is selected from measurement results to serve as a credible measurement value, and effective distance measurement can be achieved in the environments of rain, haze and the like.

Description

technical field [0001] The application of the present invention relates to the field of laser radar distance measurement, in particular to a method for laser radar distance measurement in a rainy and foggy environment. Background technique [0002] Lidar has the advantages of small size, high resolution, strong anti-interference ability, etc., and can be used for speed measurement, distance measurement, precise tracking, guidance, navigation, etc. AR and other fields are widely used. [0003] However, there are also certain limitations in the application of lidar. An important factor restricting the application of lidar is the dust environment of rain, fog and haze, because the emitted light of lidar is generally interfered by the reflection and refraction of rain, fog and haze particles, resulting in errors. Most of the existing solutions start with algorithms, and remove the rain, smog and haze in the environment as dynamic interference. However, removing too many interf...

Claims

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Application Information

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IPC IPC(8): G01S17/08
CPCG01S17/08
Inventor 卢锁疏达李远
Owner BENEWAKE BEIJING TECH CO LTD
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