Long-distance accurate measurement method and system based on laser scanner

Abstract

The invention relates to the technical field of radio wave ranging, and provides a long-distance accurate measurement method and system based on a laser scanner, and the method comprises the steps: transmitting a laser pulse through the laser scanner, collecting echo signals at different collection moments, and constructing a laser ranging sequence; fitting values of fitting curves of different-order polynomials at the same collection moment are obtained, and the fitting overlapping degree, the local smoothness and the fitting dominance degree of the collection moment are determined; and performing weighted summation on the echo signal and the fitting value of the fitting curve of the polynomial of different orders according to the fitting dominance, obtaining an echo signal correction value at the acquisition moment, and obtaining a long-distance measurement result in combination with the laser pulse. The accuracy of laser data correction can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of radio wave ranging, in particular to a long-distance precise measurement method and system based on a laser scanner. BACKGROUND

[0002] Due to the high directivity, low divergence and penetration ability of a specific wavelength of the laser scanner, the laser scanner has a significant advantage in long-distance measurement. However, the return signal is easily affected by factors such as atmospheric conditions, characteristics of the target reflecting surface, and performance of the scanner itself during propagation and reflection, which may cause problems such as signal attenuation, noise interference, and uneven reflectivity, affecting the accuracy of the measurement results. Therefore, it is necessary to correct the return signal of the laser scanner.

[0003] The frequency of the frequency-modulated laser is inevitably nonlinear due to the influence of current, temperature and other characteristics. Therefore, the return signal is generally corrected by single nonlinear correction. However, the nonlinear correction often causes the return signal to be too smooth, resulting in inaccurate laser data after correction. SUMMARY

[0004] The present application provides a long-distance precise measurement method and system based on a laser scanner to solve the problem of single nonlinear correction of the return signal, which easily causes the return signal to be too smooth, resulting in inaccurate laser data after correction. The technical solution adopted is as follows: In a first aspect, an embodiment of the present application provides a long-distance precise measurement method based on a laser scanner, which includes the following steps: Using the laser scanner to emit a laser pulse and collect return signals at different collection times within a preset time period to construct a laser ranging sequence; Using different order polynomials to curve fit the laser ranging sequence respectively, determining the fitting overlap degree of the collection time according to the difference between the fitting values of the fitting curves of the different order polynomials at the same collection time, determining the local smoothness of the target collection time according to the dispersion degree and difference of the fitting overlap degrees of different collection times within a preset local time period before the collection time, and determining the fitting advantage degree of the same collection time according to the difference between the fitting values of the fitting curves of different order polynomials at the same collection time and the values of the return signals at the same collection time. According to the fitting advantage degree of the collection time, the return signal at the collection time and the fitting value of the fitting curve of the different order polynomials are weighted and summed to obtain the return signal correction value at the collection time, and combined with the laser pulse to obtain a long-distance measurement result.

[0005] Further, the method for constructing the laser ranging sequence includes the following specific method: Arranging the echo signals of all the collection time points in the order of the collection time points to obtain a laser ranging sequence.

[0006] Further, the determination method of the fitting overlap degree of the collection time point is: According to the difference between the fitting values of the fitting curves of different order polynomials at the same collection time point, determine the interval fluctuation degree of the collection time point; The range of all the fitting values contained in the fitting value sequence of the collection time point is recorded as the first range of the collection time point. The negative correlation processing result of the first range of the collection time point and the interval fluctuation degree is recorded as the fitting overlap degree of the collection time point.

[0007] Further, the acquisition method of the interval fluctuation degree is: Arranging the fitting values of the fitting curves of different order polynomials at the same collection time point in the order from small to large to obtain the fitting value sequence of the same collection time point; The standard deviation of the first difference sequence of the fitting value sequence of the collection time point is recorded as the interval fluctuation degree of the collection time point.

[0008] Further, the determination method of the local smoothness of the target collection time point is: Record any one collection time point as a target collection time point, and the dispersion degree of the fitting overlap degree of the target collection time point and the first preset number of collection time points before the target collection time point is recorded as the local dispersion degree of the target collection time point. The mean value of the fitting overlap degree of the target collection time point and the first preset number of collection time points before the target collection time point is recorded as the local mean value of the target collection time point. The negative correlation processing result of the local mean value and the local dispersion degree of the target collection time point is recorded as the local smoothness of the target collection time point.

[0009] Further, the difference between the fitting values of the fitting curves of different order polynomials at the same collection time point and the values of the echo signals at the same collection time point is determined as the fitting advantage degree of the same collection time point, which includes the specific method: According to the difference between the fitting values of the fitting curves of different order polynomials at the same collection time point and the echo signals at the same collection time point, determine the smoothness difference between the collection time points. According to the local smoothness of the collection time point and the smoothness difference, determine the fitting advantage degree of the collection time point.

[0010] Further, the determination method of the smoothness difference is: The mean value of the absolute value of the difference between the fitting values of the fitting curves of different order polynomials at the same collection time point and the echo signals at the same collection time point is recorded as the smoothness difference of the same collection time point.

[0011] Further, the specific method for determining the fitting advantage degree of the acquisition time according to the local smoothness and the smoothness difference between the acquisition times comprises: The normalized value of the ratio of the local smoothness and the smoothness difference between the acquisition times is recorded as the fitting advantage degree of the acquisition time.

[0012] Further, the specific method for obtaining the echo signal correction value of the acquisition time by performing weighted summation on the fitting values of the echo signal and the fitting curves of different order polynomials at the acquisition time according to the fitting advantage degree of the acquisition time comprises: The difference between the number 1 and the fitting advantage degree is taken as the weight of the mean value of the fitting values of the fitting curves of all different order polynomials at the same acquisition time, the fitting advantage degree is taken as the weight of the echo signal at the same acquisition time, and the weighted summation is performed to obtain the echo signal correction value at the same acquisition time.

[0013] In the second aspect, the embodiments of the present application further provide a long-distance precise measurement system based on a laser scanner, which comprises a memory, a processor and a computer program stored in the memory and running on the processor, and the processor implements the steps of the method in any one of the above aspects when executing the computer program.

[0014] The present application has the following beneficial effects: Based on the characteristic that noise will cause the collected echo signal to deviate from the true echo signal value and reduce the smoothness of the laser ranging sequence composed of the collected echo signals, the present application uses different order polynomials to perform curve fitting on the laser ranging sequence to achieve different degrees of smoothing of the echo signal, and determines the fitting overlap and local smoothness at the acquisition moment. The combined overlap is used to evaluate the overlap degree of the fitting curves of different order polynomials at the acquisition moment, and the local smoothness is used to evaluate the smoothness and confidence of the echo signal at the acquisition moment. The greater the local smoothness, the smoother the echo signal received at the acquisition moment, and the higher the confidence and the more accurate the echo signal received at the acquisition moment. Furthermore, the fitting advantage at the same acquisition moment is determined by combining the differences between the fitting values ​​of the fitting curves of different order polynomials at the same acquisition moment and the values ​​of the echo signal at the same acquisition moment. The fitting advantage is used to evaluate The confidence of the callback data at the acquisition moment is determined. The greater the fitting advantage at the acquisition moment, the more trust should be placed in the received echo data to ensure the accuracy of long-distance precise measurement. Finally, according to the fitting advantage at the acquisition moment, the echo signal at the acquisition moment and the fitting values ​​of the fitting curves of polynomials of different orders are weightedly summed to obtain the echo signal correction value at the acquisition moment. The weighted summation can make the echo signal correction value corresponding to the echo data with higher confidence more dependent on the value of the echo data. At the same time, the echo signal correction value corresponding to the echo data with lower confidence more dependent on the value of the fitting value, thereby improving the accuracy of the echo signal correction value and making the echo signal correction value closer to the true value. Combined with the laser pulse, the long-distance measurement result is obtained, and the problem of single nonlinear correction of the callback signal is solved, which easily makes the echo signal transition smooth and leads to inaccurate laser data after correction, thereby improving the accuracy of the long-distance measurement of the laser scanner. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 A schematic flow chart of a long-distance precision measurement method based on a laser scanner provided in one embodiment of the present invention; Figure 2 A flowchart of obtaining the fitting overlap provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0017] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of the present application.

[0018] Please refer to Figure 1 which shows a flowchart of a long-distance precise measurement method based on a laser scanner according to an embodiment of the present application. The method comprises the following steps: In step S001, a laser scanner is used to emit a laser pulse, and echo signals at different collection time points within a preset time period are collected to construct a laser ranging sequence.

[0019] The laser scanner is used to emit a laser pulse to a point to be measured, and the laser pulse is reflected to the laser scanner from the point to be measured. The laser scanner receives the reflected echo signals through a laser receiver. The echo signals at all collection time points are arranged in the order of the collection time points to obtain a laser ranging sequence.

[0020] Preferably, in an embodiment of the present application, the sampling frequency of the echo signals collected by the embodiment is 1 MHz, and the echo signals within 0.01 seconds are collected, i.e., all the echo signals collected within 0.01 seconds are included in the obtained laser ranging sequence. In actual application, as other implementation manners, the implementer can determine the sampling frequency and the length of the sampling period according to the actual situation, and the present application does not make special limitations.

[0021] The missing echo signals included in the laser ranging sequence are completed by a linear interpolation method. The use of the linear interpolation method to complete the missing data is a known technology, and will not be described in detail.

[0022] Thus, the laser ranging sequence is obtained.

[0023] In step S002, different order polynomials are used to curve fit the laser ranging sequence respectively, the fitting overlap degree of the collection time point is determined according to the difference between the fitting values of the fitting curves of the different order polynomials at the same collection time point, the local smoothness of the target collection time point is determined according to the discrete degree and the difference of the fitting overlap degrees of different collection time points within a preset local time period before the collection time point, and the fitting advantage degree of the same collection time point is determined according to the difference between the fitting values of the fitting curves of the different order polynomials at the same collection time point and the values of the echo signals at the same collection time point.

[0024] Due to the influence of air flow on the propagation of laser pulses in the air, noise occurs in the echo signal received by the laser receiver in the laser scanner, the collected echo signal deviates from the true echo signal value, and the smoothness of the laser ranging sequence composed of the collected echo signal is reduced.

[0025] The polynomial fitting can be used to smooth the data, and different orders have different smoothing degrees. The laser ranging sequence is fitted with polynomials of different orders, and the interval fluctuation degree of the collection time is determined according to the difference between the fitting values of the fitting curves of the polynomials of different orders at the same collection time.

[0026] The laser ranging sequence is fitted with polynomials of different orders, and the laser ranging sequence is fitted with polynomials of different orders. The fitting curves of the second-order polynomial, the third-order polynomial, the fourth-order polynomial, the fifth-order polynomial and the sixth-order polynomial are obtained. According to the fitting curve, the fitting values of the fitting curve of the second-order polynomial, the third-order polynomial, the fourth-order polynomial, the fifth-order polynomial and the sixth-order polynomial at each collection time are calculated.

[0027] Among them, the polynomial curve fitting and the calculation of the fitting value according to the fitting curve are well-known technologies, and will not be repeated.

[0028] For the fitting values of the fitting curves of different orders at the same collection time, the smaller the difference between the fitting values, the greater the overlap degree of the fitting curves of different orders at the corresponding collection time, the more similar the smoothness, and the higher the confidence of the received echo signal at the corresponding collection time.

[0029] The fitting values of the fitting curves of the second-order polynomial, the third-order polynomial, the fourth-order polynomial, the fifth-order polynomial and the sixth-order polynomial at the same collection time are arranged in order from small to large, and the fitting value sequence of the same collection time is obtained. The standard deviation of the first-order difference sequence of the fitting value sequence of the collection time is denoted as the interval fluctuation degree of the collection time.

[0030] The interval fluctuation degree is used to evaluate the difference between the fitting values of the fitting curve of the corresponding multi-order polynomial at the corresponding collection time. The first-order difference sequence of the sequence is a well-known technology and will not be repeated.

[0031] The range of all fitting values contained in the fitting value sequence of the collection time is denoted as the first range of the collection time, and the negative correlation processing result of the first range and the interval fluctuation degree is denoted as the fitting overlap degree of the collection time.

[0032] It can be understood that the first difference and the interval fluctuation degree of the collection time are negatively correlated, that is, the first difference and the interval fluctuation degree of the collection time are negatively correlated with the fitting overlap degree of the collection time. It can be understood that the negative correlation in the present application refers to the relationship between the independent variable and the dependent variable, the independent variable is the first difference and the interval fluctuation degree of the collection time, the dependent variable is the fitting overlap degree of the collection time, the negative correlation is that the dependent variable decreases (increases) with the increase (decrease) of the independent variable, which can be an inverse relationship, a subtraction relationship, etc.

[0033] Preferably, as an embodiment of the present application, the reciprocal of the product of the first difference and the interval fluctuation degree of the collection time is recorded as the fitting overlap degree of the collection time.

[0034] In the process of calculating the reciprocal, in order to avoid the case that the denominator of the reciprocal corresponding fraction is zero, a preset value needs to be added to the denominator, and an embodiment of the preset value is 0.01. The value of the preset value should be greater than or equal to 0.01 and less than or equal to 10.

[0035] The fitting overlap degree of the collection time is used to evaluate the overlapping degree of the fitting curves of different order polynomials at the collection time. The smaller the difference between the fitting values of the fitting curves of different order polynomials at the same collection time, the greater the overlapping degree of the fitting curves of different order polynomials at the collection time, the higher the smoothing degree of the echo signal collected at the collection time, and the higher the confidence and accuracy of the echo signal received at the collection time. The fitting overlap degree acquisition flow chart is shown in Figure 2 .

[0036] According to the difference between the fitting overlap degrees of different collection times in the preset local time period before the collection time, the local smoothing degree of the target collection time is determined.

[0037] Any one collection time is recorded as a target collection time, the discrete degree of the fitting overlap degrees of the target collection time and the first preset number of collection times before the target collection time is recorded as the local discrete degree of the target collection time, the mean value of the fitting overlap degrees of the target collection time and the first preset number of collection times before the target collection time is recorded as the local mean value of the target collection time, and the negative correlation processing result of the local mean value and the local discrete degree of the target collection time is recorded as the local smoothing degree of the target collection time.

[0038] In the actual application process, as other embodiments, the implementer can use other methods such as variance and mean absolute deviation to evaluate the discrete degree on the basis of achieving the purpose of evaluating the discrete degree, and the present application does not make special limitation.

[0039] It can be understood that the local mean and the local dispersion degree of the target acquisition moment are negatively correlated, that is, the local mean and the local dispersion degree of the target acquisition moment are negatively correlated with the local smoothness of the target acquisition moment. It can be understood that the negative correlation of the present application refers to the relationship between the independent variable and the dependent variable, the independent variable is the local mean and the local dispersion degree of the target acquisition moment, and the dependent variable is the local smoothness of the target acquisition moment.

[0040] Preferably, as an embodiment of the present application, the reciprocal of the product of the local mean and the local dispersion degree of the target acquisition moment is recorded as the local smoothness of the target acquisition moment.

[0041] During the reciprocal calculation process, in order to avoid the case that the denominator is zero, a preset value needs to be added to the denominator, and the value of the preset value is 0.01 in an embodiment.

[0042] Among them, it can be understood that the smaller the difference between the fitting overlap degrees in the local time period of the target acquisition moment and the first preset number of acquisition moments before the target acquisition moment, the closer the fitting curves of different order polynomials, the smoother the fitting values of the fitting curves of different order polynomials at the position of the target acquisition moment, the higher the stability of the echo signal received by the target acquisition moment in the air propagation process, and the smaller the influence of noise. The first preset number is a preset parameter, and the value of the first preset number in the present embodiment is 11. When the number of acquisition moments before the target acquisition moment is less than the first preset number, the target acquisition moment is not analyzed.

[0043] The smaller the dispersion degree and the mean of the fitting overlap degrees of different acquisition moments in the local time period of the target acquisition moment, the closer the fitting values of the fitting curves of different order polynomials at the target acquisition moment, the smoother the echo signal received at the target acquisition moment, the higher the confidence of the echo signal received at the acquisition moment, and the more accurate, at this time, the greater the local smoothness.

[0044] When the echo signal is affected by many factors such as atmospheric conditions, characteristics of the target reflecting surface, and performance of the scanner itself, the received echo data will have noise, and the greater the influence of the echo data by the noise, the greater the difference between the echo data at the same acquisition moment and the fitting values of the fitting curves of different order polynomials at this time, and the lower the trust degree of the echo data, in order to ensure the accuracy of long-distance accurate measurement.

[0045] According to the difference between the fitting values of the fitting curves of different order polynomials at the same acquisition moment and the echo signal at the same acquisition moment, the smoothness difference at the same acquisition moment is determined.

[0046] The mean value of the absolute value of the difference between the fitting value of the fitting curve of the different order polynomials of the same acquisition time and the echo signal of the same acquisition time is recorded as the smooth inter-difference of the same acquisition time.

[0047] The fitting advantage degree of the acquisition time is determined according to the local smoothness and the smooth inter-difference of the acquisition time.

[0048] The normalized value of the ratio of the local smoothness and the smooth inter-difference of the acquisition time is recorded as the fitting advantage degree of the acquisition time.

[0049] In the ratio calculation process, in order to avoid the case that the denominator is zero, a preset value is added to the denominator, and an embodiment of the preset value is 0.01.

[0050] The fitting advantage degree is used to evaluate the confidence of the echo data corresponding to the acquisition time. When the local smoothness of the acquisition time is larger, and the difference between the fitting value of the fitting curve of the different order polynomials of the same acquisition time and the echo signal is smaller, the fitting advantage degree of the acquisition time is larger, at this time, the received echo data should be trusted more to ensure the accuracy of long distance accurate measurement.

[0051] Thus, the fitting advantage degree of each acquisition time is obtained.

[0052] In step S003, the echo signal of the acquisition time and the fitting value of the fitting curve of the different order polynomials are weighted and summed according to the fitting advantage degree of the acquisition time, the echo signal correction value of the acquisition time is obtained, and the long distance measurement result is obtained in combination with the laser pulse.

[0053] The echo signal of the acquisition time and the fitting value of the fitting curve of the different order polynomials are weighted and summed according to the fitting advantage degree of the acquisition time, the echo signal correction value of the acquisition time is obtained.

[0054] The difference between the number 1 and the fitting advantage degree is used as the weight of the mean value of the fitting values of all fitting curves of different order polynomials of the same acquisition time, the fitting advantage degree is used as the weight of the echo signal of the same acquisition time, the mean value of the fitting values of all fitting curves of different order polynomials of the same acquisition time and the echo signal are weighted and summed, and the result of the weighted and summed is recorded as the echo signal correction value of the same acquisition time.

[0055] The weighted and summed can make the echo signal correction value corresponding to the echo data with higher reliability more dependent on the value of the echo data, at the same time, make the echo signal correction value corresponding to the echo data with lower reliability more dependent on the value of the fitting value, improve the accuracy of the echo signal correction value, and make the echo signal correction value closer to the true value.

[0056] The echo signal correction value of each collection moment is taken as a real echo signal received, combined with a laser pulse, and a measurement distance is calculated through a calculation formula of a frequency modulation continuous wave.

[0057] The calculation of the measurement distance through the calculation formula of the frequency modulation continuous wave is a known technology and will not be described in detail.

[0058] Thus, long-distance accurate measurement based on a laser scanner is realized.

[0059] Based on the same inventive concept as the above method, the embodiments of the present application also provide a long-distance accurate measurement system based on a laser scanner, which comprises a memory, a processor, and a computer program stored in the memory and running on the processor, and the processor implements the steps of any one of the above long-distance accurate measurement methods based on a laser scanner when executing the computer program.

[0060] The above description is merely preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A long-distance precision measurement method based on a laser scanner, characterized in that: The method comprises the following steps: Use a laser scanner to emit laser pulses and collect echo signals at different collection times within a preset time period to construct a laser ranging sequence; Curve fitting is performed on the laser ranging sequence using polynomials of different orders. The fitting overlap at the acquisition moment is determined based on the difference between the fitting values ​​of the fitting curves of the different order polynomials at the same acquisition moment. The local smoothness of the target acquisition moment is determined based on the discrete degree and difference of the fitting overlap at different acquisition moments within a local time period preset before the acquisition moment. The fitting dominance at the same acquisition moment is determined based on the difference between the fitting values ​​of the fitting curves of the different order polynomials at the same acquisition moment and the values ​​of the echo signals at the same acquisition moment. According to the fitting advantage at the acquisition moment, the echo signal at the acquisition moment and the fitting values ​​of the fitting curves of different order polynomials are weighted summed to obtain the echo signal correction value at the acquisition moment. Combined with the laser pulse, the long-distance measurement result is obtained.

2. The long-distance precision measurement method based on a laser scanner according to claim 1, characterized in that: The specific method of constructing the laser ranging sequence includes: Arrange the echo signals at all acquisition moments in the order of acquisition moments to obtain the laser ranging sequence.

3. The long-distance precision measurement method based on a laser scanner according to claim 1, characterized in that: The method for determining the fitting overlap at the acquisition moment is: Determine the interval fluctuation degree of the acquisition time according to the difference between the fitting values ​​of the fitting curves of polynomials of different orders at the same acquisition time; The range of all fitted values ​​contained in the fitted value sequence at the acquisition moment is recorded as the first range at the acquisition moment; The negative correlation processing result of the first range and interval fluctuation at the acquisition time is recorded as the fitting overlap at the acquisition time.

4. The long-distance precision measurement method based on a laser scanner according to claim 3, characterized in that: The method for obtaining the interval fluctuation is: The fitting values ​​of the fitting curves of polynomials of different orders at the same acquisition moment are arranged in ascending order to obtain a fitting value sequence at the same acquisition moment; the standard deviation of the first-order difference sequence of the fitting value sequence at the acquisition moment is recorded as the interval fluctuation of the acquisition moment.

5. The long-distance precision measurement method based on a laser scanner according to claim 1, characterized in that: The method for determining the local smoothness at the target acquisition moment is: Record any collection moment as the target collection moment, and record the degree of dispersion of the fitting overlap between the target collection moment and the first preset number of collection moments before the target collection moment as the local dispersion degree of the target collection moment; The average of the fitting overlaps between the target acquisition moment and the first preset number of acquisition moments before the target acquisition moment is recorded as the local mean of the target acquisition moment; The negative correlation processing result of the local mean and local dispersion degree at the target acquisition time is recorded as the local smoothness at the target acquisition time.

6. The long-distance precision measurement method based on a laser scanner according to claim 1, characterized in that: The method of determining the fitting advantage at the same acquisition moment by combining the differences between the fitting values ​​of the fitting curves of the polynomials of different orders at the same acquisition moment and the values ​​of the echo signals at the same acquisition moment includes the following specific methods: Determining the smoothing difference at the same acquisition moment according to differences between fitting values ​​of fitting curves of polynomials of different orders at the same acquisition moment and the echo signals at the same acquisition moment; The fitting advantage at the acquisition moment is determined based on the local smoothness and the smoothness difference at the acquisition moment.

7. The long-distance precision measurement method based on a laser scanner according to claim 6, characterized in that: The method for determining the smoothing difference is: The average of the absolute values ​​of the differences between the fitting values ​​of the fitting curves of the polynomials of different orders at the same acquisition moment and the echo signals at the same acquisition moment is recorded as the smoothing difference at the same acquisition moment.

8. The long-distance precision measurement method based on a laser scanner according to claim 6, characterized in that: The specific method for determining the fitting advantage at the acquisition moment based on the local smoothness and the smoothness difference at the acquisition moment is as follows: The normalized value of the ratio of the local smoothness at the acquisition moment to the smoothing difference is recorded as the fitting advantage at the acquisition moment.

9. The long-distance precision measurement method based on a laser scanner according to claim 1, characterized in that: The method of performing weighted summation on the echo signal at the acquisition moment and the fitting values ​​of the fitting curves of polynomials of different orders according to the fitting advantage at the acquisition moment to obtain the echo signal correction value at the acquisition moment includes the following specific methods: The difference between the number 1 and the fitting dominance is used as the weight of the mean of the fitting values ​​of the fitting curves of all polynomials of different orders at the same acquisition moment, and the fitting dominance is used as the weight of the echo signal at the same acquisition moment. A weighted sum is performed to obtain the echo signal correction value at the same acquisition moment.

10. A long-distance precision measurement system based on a laser scanner, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

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