A method and device for improving the accuracy of laser ranging

Abstract

The invention discloses a method and a device for improving the precision of laser ranging. When it is detected that the waveform of an echo signal has a concave point above a signal threshold, a specific echo calculation process is entered: the first echo is used as the center to create a second echo. The virtual echo of the echo, and the initial flight time of the virtual echo is determined based on the first function; according to the initial flight time of the virtual echo, the peak corresponding time of the virtual echo and the peak corresponding time of the second echo, we get The initial flight time T of the second echo; according to the initial flight time of the second echo, the corresponding time of the last concave point and the peak height of the last concave point, calculate the superimposed and hidden part of the second echo. Echo intensity; the first function is the functional relationship between the time width of the rising edge of the normal echo and the peak height. The above scheme can ensure that the ranging process is not affected by the interference source in the scene where there are interference sources such as rain, snow and dust, and the target distance can be accurately and stably calculated.

Description

technical field [0001] The invention belongs to the technical field of laser ranging, and more specifically relates to a method and a device for improving the accuracy of laser ranging. Background technique [0002] LiDAR can be used to detect the 3D spatial information of the surrounding environment and complete the reconstruction of the 3D point cloud system. It has a wide range of applications in many fields, and there are many specific application scenarios. At the same time, lidar will also be used in a variety of environments, especially in industrial applications, most of which are used in outdoor environments. The outdoor environment is relatively harsh, and it is easy to be interfered by interference sources such as rain, snow and dust, which will affect the normal detection of LiDAR. [0003] At present, the technical method for lidar to remove the influence of rain, snow and dust is to use multi-echo technology, that is, the echo caused by interference sources su...

AI Technical Summary

Problems solved by technology

[0006] In view of the above defects or improvement needs of the prior art, the present invention provides a method and device for improving the accuracy of laser ranging. The specific echo signal is identified and calculated to obtain the echo intensity of the target echo, thereby solving the problem that in some special application scenarios, the multi-echo technology cannot effectively identify and filter out the influence of interference sources such as rain, snow and dust on the lidar. question

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