Scanning laser radar system and detection method

Abstract

The invention belongs to the technical field of laser radars, and particularly relates to a scanning laser radar system and a detection method. The system comprises a sheet laser unit used for emitting sheet-shaped continuous wave laser to a target object; the telescope is used for receiving a reflected light beam after interaction of the target object and the sheet-shaped continuous wave laser; the area-array camera is used for imaging the light beams received by the telescope, and the area-array camera is provided with a set line number in the vertical detection direction; the supporting frame is used for fixing the sheet laser unit, the telescope and the area-array camera; and the scanning platform is used for integrally moving the supporting frame. The system has the advantages that the system can cover a larger pitching view field through single measurement, so that the efficiency can be improved, in addition, mechanical equipment of a pitching angle is reduced under the set detection requirement, and the design cost is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of laser radar, and in particular relates to a scanning laser radar system and a detection method. Background Art

[0002] As an active remote sensing method, LiDAR is playing an increasingly important role in the fields of meteorology, environmental protection, and low-speed and small target detection. However, the laser emission angle and receiving field of view of conventional LiDAR are relatively small. Therefore, when detecting large-scale objects, such as covering a 360° (horizontal direction) x 20° (pitch direction), conventional LiDAR often seems to be unable to cope with it; even though conventional LiDAR can be deployed on a one-dimensional or two-dimensional turntable, its inherent small field of view still makes the detection efficiency very low in specific application scenarios. Summary of the invention

[0003] In order to solve the above technical problems, the present invention proposes a scanning laser radar system and a detection method. The specific technical solutions are as follows:

[0004] A scanning laser radar system, comprising:

[0005] A sheet laser unit, used for emitting sheet-shaped continuous wave laser light toward a target object;

[0006] A telescope, used for receiving a reflected light beam after the target object interacts with the sheet-shaped continuous wave laser;

[0007] An area array camera, used for imaging the light beam received by the telescope, wherein the area array camera is provided with a set number of rows in the pitch detection direction;

[0008] Support frame, used to fix the laser unit, telescope and array camera;

[0009] The scanning platform is used to move the support frame as a whole.

[0010] Specifically, the positional relationship among the laser sheet unit, the telescope and the area array camera installed on the support frame satisfies that: the object plane where any laser beam generated by the laser sheet unit is located, the plane where the telescope is located and the image plane where the area array camera is located intersect at one point, satisfying the Schaffner imaging principle.

[0011] Specifically, the opening angle of the sheet-shaped continuous wave laser emitted by the sheet laser unit in the vertical direction is not less than the field of view angle formed by the area array camera and the telescope in the vertical direction.

[0012] Specifically, the scanning platform is a horizontal rotating platform or a horizontal linear moving platform.

[0013] Specifically, the system also includes a data processing and control unit and a filter; the filter is used to filter out background light other than the same wavelength as the sheet continuous wave laser received by the telescope; the data processing and control unit is respectively connected to the controlled end of the area array camera, the sheet laser unit, and the controlled end of the scanning platform, and the data processing and control unit is used to read and process the image of the area array camera, and at the same time control the opening and closing of the sheet laser unit and control the scanning platform.

[0014] The present application also discloses another inventive concept, a scanning laser radar detection method, comprising:

[0015] The relationship between the pitch angle of the imaging field and the row index in the image collected by the area array camera is established by using the spatial position of the target object with known multiple pitch angles and its corresponding pixel position information on the area array camera; the relationship between the target distance and the column index in the image collected by the area array camera is calibrated by using the distance information of the known target object and its corresponding pixel position information on the area array camera;

[0016] Read the two-dimensional image Q(x,y) generated by the interaction between the target and the sheet continuous wave laser at a certain moment captured by the area array camera, where x=1:N, y=1:M, N and M correspond to the two-dimensional image with N rows and M columns respectively;

[0017] Combined with the calibration information, the laser radar signal p(a,z) with any pitch angle a is obtained from the two-dimensional image Q(x,y), where a=A:B, z=C:D, A and B correspond to the starting and ending values ​​of the pitch angle respectively; C and D correspond to the minimum and maximum values ​​of the detection distance respectively;

[0018] Threshold processing is performed on the laser radar signal p(a,z), and the azimuth, elevation and distance information of the target object is obtained by combining the position information of the scanning platform;

[0019] Combined with the lidar equation, the lidar signal p(a,z) is processed, and combined with the position information of the scanning platform, the atmospheric extinction coefficient profiles at different elevation angles within the angle range of A to B are obtained.

[0020] Further, obtaining the atmospheric extinction coefficient profile within the angle range of pitch angles A to B includes: obtaining atmospheric extinction coefficient profiles at different pitch angles within the angle range of pitch angles A to B according to the following formula:

[0021]

[0022] Among them, z m is the reference point, which is located between the minimum detection distance C and the maximum detection distance D. The boundary value at the reference point is H(a,z m );z mThe value of is continuously updated according to the sudden change position of the lidar signal p(a,z). m) It is obtained using the piecewise slope method.

[0023] Furthermore, according to the calculated atmospheric extinction coefficient profiles at different elevation angles, it also includes:

[0024] The atmospheric transmittance at different elevation angles is obtained from the calculated atmospheric extinction coefficient profile, and the spatial location information of the atmospheric pollution emission source is determined from the atmospheric extinction coefficient profile.

[0025] Further, obtaining the atmospheric transmittance at different pitch angles by using the atmospheric extinction coefficient profile obtained by calculation includes: obtaining the atmospheric transmittance at different pitch angles by using the atmospheric extinction coefficient profile obtained by calculation according to the following formula:

[0026]

[0027] Furthermore, after calculating the target information at different pitch angles, it also includes:

[0028] Control the scanning platform moving unit distance, detect the next azimuth angle, update the target information, and return to execute the reading of the two-dimensional image Q(x,y) generated by the interaction between the target and the sheet continuous wave laser at a certain moment captured by the area array camera until all the target information within the target range is obtained.

[0029] The advantages of the present invention are:

[0030] (1) This system can cover a larger elevation field of view in a single measurement, thereby improving efficiency. In addition, under the set detection requirements, the mechanical equipment for the elevation angle is reduced, thereby reducing the design cost. In addition, the optical-mechanical linkage in the elevation angle direction is reduced, thereby improving the measurement accuracy.

[0031] (2) The vertical angle of the laser unit is not less than the vertical field angle of the array camera and telescope combination, which ensures that the information of the target object obtained by the laser radar each time is maximized and improves the detection efficiency of the target object.

[0032] (3) The scanning platform moves intermittently for a set distance. This method can ensure that detection is performed intermittently and moves after the detection is completed. This ensures the accuracy of the detection data while being able to perform regional scanning detection and even 360° all-round detection.

[0033] (4) The detection method of the laser radar system mentioned above is based on the present application, which can not only realize the search and discovery of low, slow and small targets, but also can simultaneously obtain the atmospheric extinction coefficient profiles at different pitch angles, and then can simultaneously realize the acquisition of horizontal and oblique atmospheric transmittance information, which has important application value for scenarios such as ensuring the safety of aircraft takeoff and landing at airports.

[0034] (5) The object plane where any laser beam generated by the laser unit described in the present application is located, the plane where the telescope is located, and the image plane where the array camera is located, the three intersect at one point, which can achieve a very small detection blind area, not only can it obtain the atmospheric extinction coefficient and atmospheric transmittance information at different pitch angles, but also can achieve accurate measurement and positioning of the target object at different distances, and even with the cooperation of the precision scanning platform and the appropriate scanning step displacement, it can also image the target object and realize the recognition function. At present, when the low-altitude economy is booming, it has a strong advantage in the detection of low, slow and small targets. In addition, this structure makes the laser radar relatively less affected by environmental factors, and it can continue to provide relatively accurate detection data in an environment with strong interference factors in the low altitude. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of a scanning laser radar system detecting a target object in one embodiment.

[0036] Figure 2 Flow chart of a scanning laser radar system detection method in one embodiment.

[0037] Figure 3 This is an image information diagram collected by a laser radar system at a certain location in one embodiment.

[0038] Figure 4 for Figure 3 The lidar signal graph corresponding to the data in row s.

[0039] In the figure:

[0040] 1. Laser unit; 2. Telescope; 3. Area array camera; 4. Data processing and control unit; 5. Scanning platform; 6. Target object. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application. In the description of the embodiments of the present application, it should be understood that the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0042] Glossary:

[0043] Laser sheet unit: A system that generates a thin linear strip of continuous wave laser light.

[0044] In order to solve the above problems, Figure 1 As shown, the present application discloses a scanning laser radar system, comprising:

[0045] A sheet laser unit 1, used for emitting sheet-shaped continuous wave laser light toward a target object 6;

[0046] The telescope 2 is used to receive the reflected light beam after the target object 6 interacts with the sheet-shaped continuous wave laser emitted by the sheet laser unit 1;

[0047] An area array camera 3, used for imaging the light beam received by the telescope 2, wherein the area array camera 3 is provided with a set number of rows in the pitch detection direction;

[0048] The scanning platform 5 is used to move the support frame as a whole.

[0049] The sheet laser unit 1 emits sheet-shaped continuous wave laser light to the target object 6, and the target object 6 interacts with the sheet-shaped continuous wave laser light. The laser light emitted by the sheet laser unit 1 has uniform intensity and is in sheet shape.

[0050] The target object 6 may be the atmosphere, a low-speed, small-target drone, a bird, etc.

[0051] Furthermore, if the target object 6 is a low-speed, small-target UAV, the combination of the scanning of the scanning platform and the sheet laser unit 1 can realize the search and discovery of low-speed, small-target UAVs in large airspace;

[0052] Furthermore, when the target object 6 is the atmosphere, the scanning platform is combined with the laser sheet unit 1 to obtain a wide range of atmospheric extinction coefficient profiles, thereby achieving the measurement of horizontal and oblique atmospheric transmittances. The atmospheric extinction coefficient profile obtained can also be used to determine the emission location of atmospheric pollution sources.

[0053] Traditional laser radars that detect low, slow, small targets or atmospheric extinction coefficients usually have relatively small laser divergence angles and receiving fields of view in order to achieve a longer detection distance, such as 0.1°x0.1°. Even if such a divergence angle is scanned, the efficiency is very low. Based on this solution, the laser divergence angle can be as small as 0.1°x20°, and combined with an area array camera, a larger detection range can be achieved.

[0054] In detail, the system also includes a data processing and control unit 4 and a filter (not shown in the figure). The sheet continuous wave laser generated by the sheet laser unit 1 is irradiated onto the target 6. After the sheet continuous wave laser interacts with the target 6 (which can be a soft target - the atmosphere or a hard target - a low, slow and small target), the generated reflection signal is received by the telescope 2, and the image is formed on the area array camera 3 after the background light is filtered out by the filter. The background light is the light received by the telescope other than the light with the same wavelength as the sheet continuous wave laser.

[0055] The data processing and control unit 4 is respectively connected to the controlled end of the area array camera 3, the sheet laser unit 1, and the controlled end of the scanning platform 5. The data processing and control unit 4 is used to read and process the image of the area array camera 4, and at the same time control the opening and closing of the sheet laser unit 1 and control the scanning platform 5 to scan according to the set requirements.

[0056] The system can be applied to the fields of low-altitude economic flight support, industrial pollution source tracing, atmospheric transmittance measurement, surveying and mapping, etc.

[0057] In one embodiment, the positional relationship of the laser sheet unit 1, telescope 2 and array camera 3 installed on the support frame satisfies: the object plane where any laser beam in the laser sheet unit generated by the laser sheet unit 1 is located, the plane where the telescope 2 is located, and the image plane where the array camera 3 is located, the three intersect at one point, satisfying the Schaffer imaging principle. This setting method enables the system to have a large depth of field, so as to accurately obtain the distance information of the target object 6.

[0058] In one embodiment, the vertical angle of the sheet continuous wave laser generated by the sheet laser unit 1 is not less than the vertical field angle formed by the area array camera 3 and the telescope 2. This arrangement can ensure the utilization rate of the detector unit on the area array camera 3, and ensure the validity of the detection data on the area array camera 3, improve the coverage range in the direction of a single pitch angle, improve the detection efficiency, and ensure that the information of the target object 6 obtained by the laser radar in a single detection is maximized.

[0059] Furthermore, the scanning platform is a horizontal rotating platform or a horizontal linear moving platform. In one embodiment, the scanning platform 5 rotates horizontally and continuously, during which the sheet laser unit continuously scans the target object 6, and obtains corresponding relevant information characterizing the target object 6 at each scanning angle. The scanning platform 5 is a linear rotating platform. In one embodiment, the moving direction of the scanning platform 5 is perpendicular to the laser surface generated by the sheet laser unit 1. Based on the horizontal rotation of the platform, a large airspace scanning detection of the target object is achieved. The rotation angle range of the scanning platform can be selected at any angle. When the rotation range is 360°, the detection range of the laser radar system is maximized.

[0060] Assume that the resolution of the area array camera 3 is N*M, that is, N rows and M columns. The number of rows in any row in the image corresponds one-to-one to the pitch angle of the space where the target 6 is located, and the position of the column pixels in any row in the image corresponds one-to-one to the distance of the space where the target 6 is located. The pixel value of the column pixels in any row in the image represents the reflection intensity after the interaction between the laser beam and the target 6, and to a certain extent characterizes the volume and scattering coefficient of the target 6. It can be seen that N rows represent N pitch angles, thereby realizing the detection of targets within a certain pitch angle range at a certain moment, and realizing large-scale three-dimensional detection through the scanning of the scanning platform 5.

[0061] Furthermore, the scanning platform 5 moves a set distance intermittently or continuously. In one embodiment, the intermittent movement of the set distance can ensure that detection is performed intermittently, and move to the next position after the detection is completed, so as to ensure the accuracy of the detection data while being able to perform scanning detection regionally. When the data processing and control unit 4 reads the image of the area array camera 3, the image is associated with the spatial orientation information. When the exposure time of the area array camera 6 is fast enough, the movement speed can be very fast, and the set distance can be moved continuously.

[0062] The system has a relatively simple structure and has obvious advantages in cost control compared to traditional lidar, making it more competitive in large-scale applications and market promotion. It has the ability to detect a wide range of hard targets and the atmosphere at the same time, and can meet the cost requirements of more users and application scenarios, promoting the popularization and application of lidar technology in more fields.

[0063] like Figure 2 As shown, the present application discloses a scanning laser radar detection method based on the above scanning laser radar detection system, including:

[0064] The relationship between the pitch angle of the imaging field and the row index in the image captured by the area array camera 3 is established by using the spatial position of the target object 6 with multiple known pitch angles and its corresponding pixel position information on the area array camera 3;

[0065] The relationship between the target distance and the column index in the image captured by the area array camera 3 is calibrated by using the distance information of the known target object 6 and the pixel position information corresponding to the target object 6 on the area array camera 3;

[0066] Read the two-dimensional image Q(x, y) generated by the interaction between the target object 6 and the sheet continuous wave laser at a certain moment captured by the area array camera, where x=1:N, y=1:M, N and M correspond to the two-dimensional image with a total of N rows and M columns respectively;

[0067] Combined with the calibration information, the laser radar signal p(a,z) with any pitch angle a can be obtained from the two-dimensional image Q(x,y), where a=A:B, z=C:D, A and B correspond to the starting and ending values ​​of the pitch angle respectively; C and D correspond to the minimum and maximum values ​​of the detection distance respectively;

[0068] Threshold processing is performed on the laser radar signal p(a,z), and the azimuth, elevation and distance information of the target object is obtained by combining the position information of the scanning platform 5;

[0069] The laser radar signal p(a,z) is processed in combination with the laser radar equation, and the atmospheric extinction coefficient profiles at different elevation angles within the elevation angle range of A to B are obtained in combination with the position information of the scanning platform 5.

[0070] In one of the embodiments, threshold processing is performed on the laser radar echo signal p(a,z), and the threshold processing includes fixed threshold processing or adaptive threshold processing.

[0071] In one embodiment, calculating the atmospheric extinction coefficient profile H(a,z) at the pitch angle A to B includes:

[0072]

[0073] Among them, z m is the reference point, which is located between the minimum detection distance C and the maximum detection distance D, and the boundary value is H(a,z m );z m The value of is continuously updated according to the sudden change position of the lidar signal p(a,z). m ) is obtained using the piecewise slope method;

[0074] In one embodiment, after calculating the atmospheric extinction coefficient profile at the pitch angle A to B, the method further includes:

[0075] The atmospheric transmittance at different elevation angles is obtained from the calculated atmospheric extinction coefficient profile, and the spatial location information of the atmospheric pollution emission source is determined from the atmospheric extinction coefficient profile.

[0076] In one embodiment, after calculating the information of the target 6 at different distances at different pitch angles, the method further includes:

[0077] Control the scanning platform 5 to move the unit distance, detect the next azimuth angle, update the target object information, and return to execute the reading of the two-dimensional image Q (x, y) generated by the interaction between the target object and the laser sheet at a certain moment captured by the array camera until the information of all the targets 6 within the target range is obtained.

[0078] Based on the above system and method, at a certain azimuth angle (corresponding to a certain position of the scanning platform 5), the sheet laser unit 1 emits a sheet of continuous wave laser into the target scene. After the sheet of continuous wave laser interacts with the target object 6, the reflected light beam is received by the telescope and finally imaged on the area array camera 3. The two-dimensional digital image Q (x, y) read by the data processing and control unit 4 is as follows: Figure 3 shown.

[0079] After calibration, the row information of the two-dimensional digital image Q(x, y) corresponds to the pitch angle information of the target object 6, and the column information of the two-dimensional digital image Q(x, y) corresponds to the distance information of the target object 6. Figure 3 It can be seen from the figure that there is an obvious bright spot at the "s" row and the "k" distance. The laser radar signal p(s,z) of the s row at this pitch angle is extracted, as shown in Figure 4 As shown, the laser radar signal p(s,z) is threshold processed. If the threshold is set to 25000, it can be obtained that there is a strong mutation signal at a distance of 50 in the row. Combined with the actual target scene, the target at the pitch angle, azimuth angle and distance can be detected and determined; according to the same method, the detection and discovery of hard targets at all angles from pitch angles A to B can be achieved; it can be seen that the present invention can achieve target detection at a large pitch angle with a single detection; combined with the continuous movement of the scanning platform 5, the detection and discovery of hard targets in a large airspace can be achieved.

[0080] Likewise, Figure 3 The laser radar signal p(s,z) corresponding to the "s" row in the figure is processed. Since there is a sudden change signal at a distance of 50, the reference point z m=50, observe the signal characteristics of p(s,C:50) and p(s,50:D), that is, whether their changes with distance are in a straight line or approximately in a straight line to select the slope of p(s,C:50) or p(s,50:D) as the boundary value H(s,50), and then substitute them into the following formulas respectively:

[0081]

[0082] The atmospheric extinction coefficient profile H(a,z) at the pitch angle can be obtained. Using the same method, the atmospheric extinction coefficient profiles at all pitch angles from A to B can be obtained.

[0083] In one embodiment, obtaining the atmospheric transmittance at different pitch angles by using the calculated atmospheric extinction coefficient profile includes: obtaining the atmospheric transmittance at different pitch angles by using the calculated atmospheric extinction coefficient profile according to the following formula:

[0084]

[0085] It can be seen that a single detection of the present invention can realize the acquisition of the atmospheric extinction coefficient profile at a large pitch angle, and then realize the acquisition of the horizontal and oblique atmospheric transmittance; combined with the continuous movement of the mobile platform 5, the detection of the atmospheric extinction coefficient profile in a large airspace can be realized, and the three-dimensional data of the atmospheric extinction coefficient can provide a basis for tracing the emission sources of pollution.

[0086] In the description of this specification, the description with reference to the terms "some embodiments" or "examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification.

[0087] The above is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any technician in the relevant technical field, without departing from the scope of the technical solution of the present invention, makes any form of equivalent replacement or modification to the technical solution and technical content disclosed in the present invention, which does not depart from the content of the technical solution of the present invention and still falls within the protection scope of the present invention.

Claims

1. A scanning laser radar system, characterized in that: include: A sheet laser unit, used for emitting sheet-shaped continuous wave laser light toward a target object; A telescope, used for receiving a reflected light beam after the target object interacts with the sheet-shaped continuous wave laser; An area array camera, used for imaging the light beam received by the telescope, wherein the area array camera is provided with a set number of rows in the pitch detection direction; Support frame, used to fix the laser unit, telescope and array camera; The scanning platform is used to move the support frame as a whole.

2. A scanning laser radar system according to claim 1, characterized in that: The positional relationship of the laser sheet unit, the telescope and the area array camera installed on the support frame satisfies that the object plane where any laser beam generated by the laser sheet unit is located, the plane where the telescope is located and the image plane where the area array camera is located intersect at one point, satisfying the Schaffner imaging principle.

3. A scanning laser radar system according to claim 1, characterized in that: The opening angle of the sheet-shaped continuous wave laser emitted by the sheet laser unit in the vertical direction is not less than the field of view angle formed by the area array camera and the telescope in the vertical direction.

4. A scanning laser radar system according to claim 1, characterized in that: The scanning platform is a horizontal rotating platform or a horizontal linear moving platform.

5. A scanning laser radar system according to claim 1, characterized in that: The system also includes a data processing and control unit and a filter; the filter is used to filter out background light other than the same wavelength as the sheet-shaped continuous wave laser received by the telescope; the data processing and control unit is respectively connected to the controlled end of the area array camera, the sheet laser unit, and the controlled end of the scanning platform, and the data processing and control unit is used to read and process the image of the area array camera, and at the same time control the opening and closing of the sheet laser unit and control the scanning platform.

6. A scanning laser radar detection method, characterized in that: include: The relationship between the pitch angle of the imaging field and the row index in the image collected by the area array camera is established by using the spatial position of the target object with known multiple pitch angles and its corresponding pixel position information on the area array camera; the relationship between the target distance and the column index in the image collected by the area array camera is calibrated by using the distance information of the known target object and its corresponding pixel position information on the area array camera; Read the two-dimensional image Q(x,y) generated by the interaction between the target and the sheet continuous wave laser at a certain moment captured by the area array camera, where x=1:N, y=1:M, N and M correspond to the two-dimensional image with N rows and M columns respectively; Combined with the calibration information, the laser radar signal p(a,z) with any pitch angle a is obtained from the two-dimensional image Q(x,y), where a=A:B, z=C:D, A and B correspond to the starting and ending values ​​of the pitch angle respectively; C and D correspond to the minimum and maximum values ​​of the detection distance respectively; Threshold processing is performed on the laser radar signal p(a,z), and the azimuth, elevation and distance information of the target object is obtained by combining the position information of the scanning platform; Combined with the lidar equation, the lidar signal p(a,z) is processed, and combined with the position information of the scanning platform, the atmospheric extinction coefficient profiles at different elevation angles within the angle range of A to B are obtained.

7. A scanning laser radar system detection method according to claim 6, characterized in that: The obtaining of the atmospheric extinction coefficient profile within the angle range of pitch angles A to B comprises: obtaining the atmospheric extinction coefficient profiles at different pitch angles within the angle range of pitch angles A to B according to the following formula: Among them, z m is the reference point, which is located between the minimum detection distance C and the maximum detection distance D. The boundary value at the reference point is H(a,z m );z m The value of is continuously updated according to the sudden change position of the laser radar signal p(a,z), and the boundary value H(a,z m) It is obtained using the piecewise slope method.

8. A scanning laser radar system detection method according to claim 6 or 7, characterized in that: According to the calculated atmospheric extinction coefficient profiles at different elevation angles, it also includes: The atmospheric transmittance at different elevation angles is obtained from the calculated atmospheric extinction coefficient profile, and the spatial location information of the atmospheric pollution emission source is determined from the atmospheric extinction coefficient profile.

9. A scanning laser radar system detection method according to claim 6 or 7, characterized in that: The method of obtaining the atmospheric transmittance at different elevation angles from the atmospheric extinction coefficient profile obtained by calculation includes: obtaining the atmospheric transmittance at different elevation angles from the atmospheric extinction coefficient profile obtained by calculation according to the following formula: T(a)=∫ c D H(a,z)dz。 10. A scanning laser radar system detection method according to claim 7 or 8, characterized in that: After calculating the target information at different pitch angles, it also includes: Control the scanning platform moving unit distance, detect the next azimuth angle, update the target information, and return to execute the reading of the two-dimensional image Q(x,y) generated by the interaction between the target and the sheet continuous wave laser at a certain moment captured by the area array camera until all the target information within the target range is obtained.

Images