Lidar measurement method and apparatus

Abstract

The present disclosure relates to a laser radar measurement method and device. The method comprises: acquiring a first detection signal collected by an equidistant distance gate; acquiring first cloud height data according to the first detection signal; determining the position of a self-defined distance gate according to the first cloud height data and a to-be-measured object; and acquiring a second detection signal collected by the self-defined distance gate as measurement data of the to-be-measured object. In the present disclosure, the position of the self-defined distance gate is determined by the information of the cloud and the to-be-measured object, so that more accurate and detailed measurement data of the to-be-measured object can be obtained through the self-defined distance gate.

Description

Technical Field

[0001] The present disclosure relates to the field of laser radar technology, and in particular to a laser radar measurement method and device. Background Art

[0002] Laser wind measurement radar is an atmospheric detection instrument used in the fields of power and electrical engineering, energy science and technology. It has the characteristics of small detection blind area, high accuracy, high stability, small size and light weight. It is mainly used in air pollution tracking, atmospheric research, meteorological climate detection, airport weather detection and wind energy utilization.

[0003] A laser wind radar uses a laser as its light source to emit pulsed laser light into the atmosphere. The laser light interacts with atmospheric aerosol particles, producing backscattered light. Based on the radar's range resolution, the echo time-domain signal is divided using range gates. A fast Fourier transform is then performed on each range gate signal to obtain a frequency estimate. Finally, the radial wind speed is calculated using the Doppler shift formula. This shows that the range gate setting directly affects measurement accuracy. Summary of the Invention

[0004] To overcome the problems in related technologies, the present disclosure provides a laser radar measurement method and device. The technical solution is as follows:

[0005] According to a first aspect of an embodiment of the present disclosure, a laser radar measurement method is provided, comprising:

[0006] Acquire a first detection signal collected by an equidistant range gate;

[0007] acquiring first cloud height data according to the first detection signal;

[0008] determining a position of a custom range gate according to the first cloud height data and the object to be measured;

[0009] A second detection signal collected through the custom range gate is acquired as measurement data of the object to be measured.

[0010] In one embodiment, determining the first cloud height data according to the first detection signal includes:

[0011] Performing Fourier transform on the first detection signal to obtain a frequency domain signal of the first detection signal;

[0012] determining a distortion position where the frequency domain signal of the first detection signal is distorted;

[0013] First cloud height data is determined according to the distorted position.

[0014] In one embodiment, the object to be measured includes wind; and determining the position of the custom range gate according to the first cloud height data and the object to be measured includes:

[0015] When determining the position of a custom range gate, avoid the cloud height position obtained from the first cloud height data.

[0016] In one embodiment, the object to be measured includes a cloud; and determining the custom range gate position based on the first cloud height data and the object to be measured includes:

[0017] The position of the custom range gate is determined to be centered on the cloud height position obtained based on the first cloud height data.

[0018] In one embodiment, the method further comprises:

[0019] Obtaining second cloud height data from a preset information source;

[0020] The position of the custom range gate is determined according to the first cloud height data, the second cloud height data, and the object to be measured.

[0021] In one embodiment, the method further comprises:

[0022] The position of the custom range gate when collecting measurement data next time is determined according to the first detection signal and the second detection signal.

[0023] According to a second aspect of an embodiment of the present disclosure, a laser radar measurement device is provided, comprising:

[0024] A first acquisition module is used to acquire a first detection signal collected by an equidistant range gate;

[0025] A second acquisition module is used to acquire first cloud height data according to the first detection signal;

[0026] a first determining module, configured to determine a position of a custom range gate according to the first cloud height data and an object to be measured;

[0027] The third acquisition module is used to acquire the second detection signal collected by the custom range gate as the measurement data of the object to be measured.

[0028] In one embodiment, the first determining module includes:

[0029] The first determining unit is configured to avoid a cloud height position obtained according to the first cloud height data when determining a position of a custom range gate when the object to be measured includes wind.

[0030] The second determining unit is configured to determine, when the object to be measured includes clouds, that the position of the custom range gate is centered at a cloud height position obtained according to the first cloud height data.

[0031] According to a third aspect of an embodiment of the present disclosure, a laser radar measurement device is provided, comprising:

[0032] processor;

[0033] a memory for storing processor-executable instructions;

[0034] Wherein, the processor is configured to:

[0035] Acquire a first detection signal collected by an equidistant range gate;

[0036] acquiring first cloud height data according to the first detection signal;

[0037] determining a position of a custom range gate according to the first cloud height data and the object to be measured;

[0038] A second detection signal collected through the custom range gate is acquired as measurement data of the object to be measured.

[0039] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer instructions are stored, and when the instructions are executed by a processor, the steps of any one of the methods described in the first aspect are implemented.

[0040] The technical solution of the present invention has the following beneficial effects: first, a first detection signal is collected through equidistant range gates to determine cloud information within the largest possible measurement range. The position of the custom range gate is determined by the cloud information and the object to be measured, so that more accurate and detailed measurement data of the object to be measured can be obtained through the custom range gate.

[0041] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0043] Figure 1 The figure is a flowchart of a laser radar measurement method according to an exemplary embodiment.

[0044] Figure 2 Schematic diagram of equidistant range gates in a lidar measurement method according to an exemplary embodiment.

[0045] Figure 3 is a schematic diagram showing signal distortion according to an exemplary embodiment.

[0046] Figure 4 The figure is a flowchart of a laser radar measurement method according to an exemplary embodiment.

[0047] Figure 5 The figure is a flowchart of a laser radar measurement method according to an exemplary embodiment.

[0048] Figure 6 is a block diagram of a laser radar measurement device according to an exemplary embodiment.

[0049] Figure 7 is a block diagram of a laser radar measurement device according to an exemplary embodiment. DETAILED DESCRIPTION

[0050] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0051] Current wind speed detection technologies using laser radar typically employ either fixed or adaptive range gates. Fixed range gates can lead to measurement errors and loss of detail. Adaptive range gates, on the other hand, continuously correct data based on the data collected, resulting in inaccuracies and incompleteness.

[0052] In order to overcome the problems existing in the related art, the present disclosure proposes a laser radar measurement method.

[0053] Figure 1 is a flow chart of a laser radar measurement method according to an exemplary embodiment. Figure 1 As shown, the method includes the following steps S101-S104:

[0054] In step S101 , a first detection signal collected by an equidistant range gate is acquired.

[0055] In one embodiment, the equidistant range gates need to cover as large a measurement range as possible, so the number of equidistant range gates can be set to be large, and each range gate is arranged according to a predetermined interval. In addition, the measurement accuracy needs to be improved as much as possible, so the intervals between the equidistant range gates are small and fixed. Figure 2 FIG. 1 is a schematic diagram of an exemplary equidistant range gate. Figure 2 As shown in , the sampling time of the echo signal corresponds to the optical path, that is, the detection distance of the laser radar. The echo time domain signal is divided by the range gate, and the sampling time is divided into multiple range gates at predetermined intervals. The length of each range gate is equal, as shown in Figure 2In range gate 0, range gate 1, range gate 2, ..., range gate n-1, range gate n, the amplitude of the echo signal is periodically sampled by the range gate.

[0056] In step S102 , first cloud height data is acquired according to the first detection signal.

[0057] In step S103 , the position of a custom range gate is determined according to the first cloud height data and the object to be measured.

[0058] Determining the position of a custom range gate based on cloud height data and different objects to be measured can make the position of the custom range gate more accurate.

[0059] In step S104, a second detection signal collected by the custom range gate is acquired as measurement data of the object to be measured.

[0060] In this embodiment, the number of the equidistant range gates is relatively large, and the positions of the equidistant range gates are arranged according to predetermined intervals; the number of the custom range gates is relatively small, and the position of each range gate can be adjusted individually.

[0061] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: first, a first detection signal is collected through equidistant range gates to determine cloud height data within the largest possible measurement range. The position of the custom range gate is determined by the cloud height data and the object to be measured, so that more accurate and detailed measurement data of the object to be measured can be obtained through the custom range gate.

[0062] In one embodiment, the above step S102 includes the following sub-steps A1-A3:

[0063] In step A1, the first detection signal is subjected to Fourier transform to obtain a frequency domain signal of the first detection signal;

[0064] For example, the first detection signal includes the detection signal of each range gate among all equidistant range gates. By performing fast Fourier transform on the detection signal of each range gate, a frequency domain signal corresponding to the detection signal of each range gate can be obtained.

[0065] In step A2, a distortion position where the frequency domain signal of the first detection signal is distorted is determined.

[0066] For example, Figure 3As shown, distortion occurs when the power spectrum signal is continuously too large within a certain distance. For example, the power spectrum signal can be integrated within a bandwidth extending bMHz on both sides of the echo center frequency aMHz, that is, the frequency domain values ​​within the range of (ab)MHz to (a+b)MHz are integrated (b is a constant). If the integrated value is greater than a preset value, it is determined to be the distorted position. The distorted position indicates that there are clouds or obstacles at that location because the obstruction of the entity causes the echo signal to be too strong within the distance segment, and the frequency information will also cause confusion.

[0067] In step A3, first cloud height data is determined according to the distorted position.

[0068] Among them, the first cloud height data can be determined according to the position where the power spectrum signal is first distorted. The position where the power spectrum signal is first distorted corresponds to the base of the first cloud layer touched from bottom to top, and the first cloud height data can be determined based on this.

[0069] In this embodiment, the first cloud height data is obtained by finding the distorted position of the frequency domain signal of the first detection signal. The position of the custom range gate is determined by the distorted position returned by the equidistant range gate, so that more accurate measurement data with more details can be obtained through the custom range gate.

[0070] Based on the above embodiment, different objects to be measured may correspond to different solutions for determining the position of the custom range gate. In one embodiment, the object to be measured includes wind. The above step S103 of determining the custom range gate includes the following sub-step B1:

[0071] In step B1, when determining the position of the custom range gate, the cloud height position obtained according to the first cloud height data is avoided.

[0072] In one embodiment, in addition to avoiding cloud height positions, the custom range gate can also be concentrated at other positions where wind speed information changes rapidly.

[0073] In one embodiment, the object to be measured includes a cloud. The step S103 of determining the custom range gate includes the following sub-step B2:

[0074] In step B2, the position of the custom range gate is determined to be centered on the cloud height position obtained according to the first cloud height data.

[0075] In one embodiment, the self-defined range gate is not only concentrated at the cloud height position, but also includes positions above the cloud height position until the power spectrum signal distortion ends.

[0076] The above embodiment can be applied to a two-in-one device that combines a ground-based pulsed wind lidar and a ceilometer. The device can measure wind speed data and cloud data. The wind lidar generates signal light from a laser and transmits it into the air to be measured. The pulsed laser interacts with the aerosol particles in the atmosphere to generate a backscattered signal that carries their speed information. According to the Doppler principle, the Doppler frequency shift of the echo signal is proportional to the speed of the aerosol particles (i.e., wind speed). Therefore, the wind field information of the target to be measured can be obtained based on the backscattered signal. The ceilometer emits laser pulses from the ground to the sky, and detects and analyzes the components of the atmosphere at different heights by receiving the backscattering of the light pulses by the atmosphere. The water vapor component contributes greatly to the backscattering of light, thereby analyzing the cloud height information. When wind measurement is required, the wind lidar obtains measurement data through the custom range gate to obtain wind field information, including wind speed and direction. When cloud measurement is required, the ceilometer obtains measurement data through the custom range gate to obtain cloud information, including aerosols, cloud height, cloud thickness, cloud amount, and vertical visibility.

[0077] The above embodiments all determine the position of the custom range gate based on the device's own measurement data. In one embodiment of the present application, cloud information can also be obtained from other places such as the Internet. Based on the above embodiment, the lidar measurement method further includes steps C1-C2:

[0078] In step C1, second cloud height data is obtained from a preset information source.

[0079] The preset information source is, for example, one or more information sources such as the Internet, other measurement equipment, etc. that can provide local cloud height data.

[0080] The above step S103 includes the following sub-step C2:

[0081] In step C2, the position of the custom range gate is determined according to the first cloud height data, the second cloud height data and the object to be measured.

[0082] In this embodiment, in addition to considering the cloud height data measured by the device itself, local cloud height data can also be obtained through various methods. These data are used to determine the position of the custom range gate, so that the position of the custom range gate can be adjusted more reasonably to calculate the wind speed and cloud information at the appropriate location.

[0083] In the above embodiment, after determining the custom range gate position based on the first cloud height data, or determining the custom range gate position based on the first cloud height data and the second cloud height data, the second detection signal can be acquired through the custom range gate. During the next data acquisition, the data acquired in the previous acquisition can be used to set and determine the custom range gate position. Based on the above embodiment, the lidar measurement method further includes steps D1-D2:

[0084] In step D1, third cloud height data is acquired according to the second detection signal.

[0085] For example, the ceilometer may obtain the third cloud height data by acquiring the second detection signal through a custom range gate.

[0086] In step D2, the position of the custom range gate for next measurement data collection is determined based on the first cloud height data and the third cloud height data.

[0087] In this embodiment, before the next data acquisition, the position of the custom range gate for the next data collection is determined based on the cloud height data obtained last time, so that the next custom range gate position avoids the position that causes signal distortion (wind measurement) or focuses on the position that causes signal distortion (cloud measurement), thereby selectively obtaining more details of the desired data.

[0088] The implementation process of this application is described in detail below through several embodiments.

[0089] Figure 4 FIG. 1 is a flow chart of a laser radar measurement method according to an exemplary embodiment. The method can be implemented by a laser radar measurement device. In this embodiment, the laser radar measurement device is used for wind measurement. Figure 4 As shown, the method includes the following steps S401-S407:

[0090] In step S401, equidistant distance gates are set.

[0091] In step S402, a first detection signal collected by an equidistant range gate is acquired.

[0092] In step S403, a frequency domain signal of the first detection signal is acquired.

[0093] In step S404, a distortion position where the frequency domain signal of the first detection signal is distorted is determined.

[0094] In step S405 , wind information of a cloud-free location is determined based on the frequency domain signal of the first detection signal.

[0095] In step S406, the position of the custom range gate is determined. According to the wind information at the cloudless position, the position of the custom range gate is set at a distance where the wind speed varies greatly, while avoiding distorted positions where the frequency domain signal is distorted.

[0096] In step S407, wind information is obtained according to the second detection signal collected through the custom range gate.

[0097] In this embodiment, because the position of the custom range gate is determined by the signal distortion position data returned by the equidistant range gate, the custom range gate used for wind measurement avoids the cloud (signal distortion) position detected by the equidistant range gate. Therefore, the lidar measurement device can avoid clouds and obstacles when measuring wind, selectively obtaining more detailed desired data. Wind information can include wind speed, wind direction, etc.

[0098] Figure 5 FIG. 1 is a flow chart of a laser radar measurement method according to an exemplary embodiment. The method can be implemented by a laser radar measurement device. In this embodiment, the laser radar measurement device is used for cloud measurement. Figure 5 As shown, the method includes the following steps S501-S506:

[0099] In step S501, equidistant distance gates are set.

[0100] In step S502, a first detection signal collected by an equidistant range gate is acquired.

[0101] In step S503, a frequency domain signal of the first detection signal is acquired.

[0102] In step S504, a distortion position where the frequency domain signal of the first detection signal is distorted is determined.

[0103] In step S505 , the position of the custom range gate is determined to be centered on the distortion position.

[0104] In step S506, cloud information is obtained according to the second detection signal collected through the custom range gate.

[0105] In this embodiment, since the position of the custom range gate is determined by the distorted position data returned by the equidistant range gate, the custom range gate used for cloud measurement is centrally set at the position where the equidistant range gate detects clouds (signal distortion). Therefore, the lidar measurement equipment can obtain more details of the desired data when measuring clouds.

[0106] The following are embodiments of the apparatus disclosed herein, which can be used to execute embodiments of the method disclosed herein.

[0107] Figure 6 This is a block diagram of a laser radar measurement device according to an exemplary embodiment. The device can be implemented as part or all of an electronic device through software, hardware, or a combination of both.

[0108] like Figure 6 As shown, the laser radar measurement device includes:

[0109] A first acquisition module 61 is used to acquire a first detection signal collected by an equidistant range gate;

[0110] A second acquisition module 62 is configured to acquire first cloud height data according to the first detection signal;

[0111] A first determining module 63 is configured to determine a position of a custom range gate according to the first cloud height data and the object to be measured;

[0112] The third acquisition module 64 is configured to acquire the second detection signal collected by the custom range gate as measurement data of the object to be measured.

[0113] In one embodiment, the object to be measured includes wind; the first determining module 63 includes:

[0114] The first determining unit is configured to avoid a cloud height position obtained according to the first cloud height data when determining a position of the custom range gate.

[0115] In one embodiment, the object to be measured includes a cloud; the first determining module 63 includes:

[0116] The second determining unit is configured to determine a position of the custom range gate to be centered on a cloud height position obtained according to the first cloud height data.

[0117] In one embodiment, the second acquisition module 62 includes:

[0118] a transform unit, configured to perform Fourier transform on the first detection signal to obtain a frequency domain signal of the first detection signal;

[0119] a third determining unit, configured to determine a distortion position where the frequency domain signal of the first detection signal is distorted;

[0120] A fourth determining unit determines first cloud height data according to the distorted position.

[0121] In one embodiment, the apparatus further comprises:

[0122] a fourth acquisition module, configured to acquire second cloud height data from a preset information source;

[0123] The second determining module is configured to determine a position of a custom range gate according to the first cloud height data, the second cloud height data, and the object to be measured.

[0124] In one embodiment, the apparatus further comprises:

[0125] a fifth acquisition module, configured to acquire third cloud height data according to the second detection signal;

[0126] The third determining module is configured to set a position of a custom range gate when collecting measurement data next time according to the first cloud height data and the third cloud height data.

[0127] like Figure 7 As shown, the embodiment of the present disclosure further provides a laser radar measurement device 700, comprising:

[0128] Processor 701;

[0129] Memory 702 for storing processor-executable instructions;

[0130] The processor 701 is configured to:

[0131] Acquire a first detection signal collected by an equidistant range gate;

[0132] acquiring first cloud height data according to the first detection signal;

[0133] determining a position of a custom range gate according to the first cloud height data and the object to be measured;

[0134] A second detection signal collected through the custom range gate is acquired as measurement data of the object to be measured.

[0135] In one embodiment, determining the first cloud height data according to the first detection signal includes:

[0136] Performing Fourier transform on the first detection signal to obtain a frequency domain signal of the first detection signal;

[0137] determining a distortion position where the frequency domain signal of the first detection signal is distorted;

[0138] First cloud height data is determined according to the distorted position.

[0139] In one embodiment, the object to be measured includes wind; and determining the position of the custom range gate according to the first cloud height data and the object to be measured includes:

[0140] When determining the position of a custom range gate, avoid the cloud height position obtained from the first cloud height data.

[0141] In one embodiment, the object to be measured includes a cloud; and determining the custom range gate position based on the first cloud height data and the object to be measured includes:

[0142] The position of the custom range gate is determined to be centered on the cloud height position obtained based on the first cloud height data.

[0143] In one embodiment, the processor 701 is further configured to:

[0144] Obtaining second cloud height data from a preset information source;

[0145] The position of the custom range gate is determined according to the first cloud height data, the second cloud height data, and the object to be measured.

[0146] In one embodiment, the processor 701 is further configured to:

[0147] acquiring third cloud height data according to the second detection signal;

[0148] A position of a custom range gate when collecting measurement data next time is determined based on the first cloud height data and the third cloud height data.

[0149] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0150] In an exemplary embodiment, the apparatus 700 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-described methods.

[0151] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory including instructions, and the instructions can be executed by the processor 701 of the apparatus 700 to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0152] A non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by the processor of the device 700, enables the device 700 to perform the above-mentioned lidar measurement method, the method comprising:

[0153] Acquire a first detection signal collected by an equidistant range gate;

[0154] acquiring first cloud height data according to the first detection signal;

[0155] determining a position of a custom range gate according to the first cloud height data and the object to be measured;

[0156] A second detection signal collected through the custom range gate is acquired as measurement data of the object to be measured.

[0157] In one embodiment, determining the first cloud height data according to the first detection signal includes:

[0158] Performing Fourier transform on the first detection signal to obtain a frequency domain signal of the first detection signal;

[0159] determining a distortion position where the frequency domain signal of the first detection signal is distorted;

[0160] First cloud height data is determined according to the distorted position.

[0161] In one embodiment, the object to be measured includes wind; and determining the position of the custom range gate according to the first cloud height data and the object to be measured includes:

[0162] When determining the position of a custom range gate, avoid the cloud height position obtained from the first cloud height data.

[0163] In one embodiment, the object to be measured includes a cloud; and determining the custom range gate position based on the first cloud height data and the object to be measured includes:

[0164] The position of the custom range gate is determined to be centered on the cloud height position obtained based on the first cloud height data.

[0165] In one embodiment, the method further comprises:

[0166] Obtaining second cloud height data from a preset information source;

[0167] The position of the custom range gate is determined according to the first cloud height data, the second cloud height data, and the object to be measured.

[0168] In one embodiment, the method further comprises:

[0169] acquiring third cloud height data according to the second detection signal;

[0170] A position of a custom range gate when collecting measurement data next time is determined based on the first cloud height data and the third cloud height data.

[0171] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0172] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A laser radar measurement method, characterized in that: include: Acquire a first detection signal collected by an equidistant range gate; acquiring first cloud height data according to the first detection signal; determining a position of a custom range gate according to the first cloud height data and the object to be measured; Obtaining the second detection signal collected by the custom range gate as measurement data of the object to be measured; The method further comprises: Obtaining second cloud height data from a preset information source; Determine the position of the custom range gate according to the first cloud height data, the second cloud height data and the object to be measured; The object to be measured includes wind; and determining the position of the custom range gate includes: When determining the position of the custom range gate, avoid the cloud height position obtained based on the first cloud height data; The object to be measured includes a cloud; and determining the custom range gate position includes: The position of the custom range gate is determined to be centered on the cloud height position obtained based on the first cloud height data.

2. The method according to claim 1, characterized in that The determining of first cloud height data according to the first detection signal includes: Performing Fourier transform on the first detection signal to obtain a frequency domain signal of the first detection signal; determining a distortion position where the frequency domain signal of the first detection signal is distorted; First cloud height data is determined according to the distorted position.

3. The method according to claim 1, characterized in that The method further comprises: acquiring third cloud height data according to the second detection signal; A position of a custom range gate when collecting measurement data next time is determined based on the first cloud height data and the third cloud height data.

4. A laser radar measurement device, characterized in that: include: A first acquisition module is used to acquire a first detection signal collected by an equidistant range gate; a second acquisition module, configured to acquire first cloud height data according to the first detection signal, and to acquire second cloud height data from a preset information source; a determination module, configured to determine a position of a custom range gate based on the first cloud height data, the second cloud height data, and the object to be measured; A third acquisition module is used to acquire a second detection signal collected by the custom range gate as measurement data of the object to be measured; The determining module includes: a first determining submodule, configured to avoid a cloud height position obtained according to the first cloud height data when determining a position of a custom range gate when the object to be measured includes wind; The second determining submodule is configured to determine, when the object to be measured includes clouds, that the position of the custom range gate is centered at a cloud height position obtained according to the first cloud height data.

5. A laser radar measurement device, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: Acquire a first detection signal collected by an equidistant range gate; obtaining first cloud height data according to the first detection signal; obtaining second cloud height data from a preset information source; and determining the position of a custom range gate according to the first cloud height data, the second cloud height data, and the object to be measured; Acquire a second detection signal collected through the custom range gate as measurement data of the object to be measured; The object to be measured includes wind; and determining the position of the custom range gate includes: When determining the position of the custom range gate, avoid the cloud height position obtained based on the first cloud height data; The object to be measured includes a cloud; and determining the custom range gate position includes: The position of the custom range gate is determined to be centered on the cloud height position obtained based on the first cloud height data.

6. A computer-readable storage medium having computer instructions stored thereon, characterized in that: When the instruction is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

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