A Compensation Method for Oblique 45° Laser Radar Scanning Optical Path Error
A technology of laser radar and error compensation, which is applied in the direction of instruments, measuring devices, and using re-radiation, can solve the problems that the technology is difficult to achieve, the angle of view of polygonal mirror scanning is small, and it is unfavorable for large-scale scanning, so as to make up for errors and data precise effect
Active Publication Date: 2022-05-03
四川吉埃智能科技有限公司
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Problems solved by technology
Common reflective mirrors in the reflective scanning system include polygonal mirrors and elliptical mirrors (oblique 45° mirrors). Polygonal mirrors have a small scanning field of view, which is not conducive to large-scale scanning
The design of the optical scanning device needs to consider issues such as the system field of view, scanning speed, aperture, angle measurement requirements, and rotational balance, which are difficult to achieve with existing technologies.
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[0035] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below in conjunction with specific embodiments.
[0036] Ideally, the incident laser is collimated by the laser collimator and then vertically incident on the oblique 45° reflector and reflected. The reflected laser light changes with the angle of rotation scanning to form a scanning section perpendicular to the main frame. The incident laser light should be parallel to the Y axis, and the mirror should be at a 45° angle to the Y axis. However, due to errors in production and installation, such as figure 1 As shown, there is a certain deviation between the incident laser and the emitting mirror, including α is the angle between the incident laser and the Z axis, β is the angle between the incident laser and the X axis; θ is the angle between the reflection plane and the X axis, and γ is The angle be...
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The invention discloses a scanning optical path error compensation method of a laser radar with an oblique 45°, which comprises: obtaining the coordinates of four or more groups of targets in the coordinate system of an oblique 45° laser radar; calculating the incident laser error angle by using the Z-axis coordinates of the targets ; Use the incident laser error angle to calculate the incident error, and use the incident error to calculate the reflection error angle; use the incident laser error angle and the reflection error angle to calculate the scanning section of the oblique 45° lidar after deviation correction. Algorithms are used to make up for the errors in the production and installation of scanning equipment, making the scanned data more accurate and convenient for various later applications.
Description
technical field [0001] The invention relates to a method for compensating the error of an oblique 45° lidar scanning light path. Background technique [0002] Lidar is a radar system that emits laser beams to detect characteristic quantities such as the position and speed of targets. Its working principle is to send a detection signal (laser beam) to the target, and then compare the received signal (target echo) reflected from the target with the transmitted signal, and after proper processing, the relevant information of the target can be obtained, such as Target distance, azimuth, height, speed, attitude, and even shape parameters, so as to detect, track and identify aircraft, missiles and other targets. It consists of a laser transmitter, an optical receiver, a turntable and an information processing system. The laser converts electrical pulses into optical pulses and emits them. The optical receiver then restores the optical pulses reflected from the target into electri...
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IPC IPC(8): G01S17/02G01S7/497
CPCG01S17/02G01S7/497
Inventor 黄陆君虞静唐海龙黄贵余
Owner 四川吉埃智能科技有限公司