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

Abstract

This invention relates to the field of radio wave ranging technology, and proposes a long-distance accurate measurement method and system based on a laser scanner. The method includes: emitting laser pulses using a laser scanner, acquiring echo signals at different acquisition times, and constructing a laser ranging sequence; obtaining the fitting values ​​of fitting curves for different order polynomials at the same acquisition time, and determining the fitting overlap, local smoothness, and fit dominance at each acquisition time; performing a weighted summation of the fitting values ​​of the echo signals and the fitting curves for different order polynomials based on the fit dominance to obtain the echo signal correction value at each acquisition time; and combining this with the laser pulses to obtain the long-distance measurement result. This invention can improve the accuracy of laser data correction.

Description

Technical Field

[0001] This invention relates to the field of radio wave ranging technology, and more specifically to a long-distance precision measurement method and system based on a laser scanner. Background Technology

[0002] Due to their high directionality, low divergence, and penetration capability at specific wavelengths, laser scanners offer significant advantages in long-distance measurements. However, laser signals are affected by various factors during propagation and reflection, such as atmospheric conditions, the characteristics of the target reflective surface, and the scanner's own performance. These factors can easily lead to problems such as echo signal attenuation, noise interference, and non-uniform reflectivity, affecting the accuracy of measurement results. Therefore, it is essential to correct the echo signal of the laser scanner.

[0003] Frequency-modulated lasers are affected by factors such as current and temperature, so the laser frequency is inevitably nonlinear. Therefore, the echo signal is usually corrected by a single nonlinear correction. However, nonlinear correction often leads to a smooth transition of the echo signal, resulting in inaccurate laser data after correction. Summary of the Invention

[0004] This invention provides a long-distance precision measurement method and system based on a laser scanner to solve the problem that performing single nonlinear correction on echo signals easily leads to smooth transitions in the echo signal, resulting in inaccurate laser data after correction. The specific technical solution adopted is as follows:

[0005] In a first aspect, one embodiment of the present invention provides a long-distance precision measurement method based on a laser scanner, the method comprising the following steps:

[0006] A laser scanner is used to emit laser pulses and collect echo signals at different collection times within a preset time period to construct a laser ranging sequence.

[0007] Different orders of polynomials are used to fit the laser ranging sequence. The fitting overlap of the acquisition time is determined based on the difference between the fitting values ​​of the fitting curves of different orders of polynomials at the same acquisition time. The local smoothness of the target acquisition time is determined based on the dispersion and difference of the fitting overlap of different acquisition times within the acquisition time and the preset local time period before the acquisition time. The fitting dominance of the same acquisition time is determined by combining the fitting values ​​of the fitting curves of different orders of polynomials at the same acquisition time with the values ​​of the echo signal at the same acquisition time.

[0008] Based on the fit dominance at the acquisition time, the fitted values ​​of the echo signal at the acquisition time and the fitted curves of different order polynomials are weighted and summed to obtain the echo signal correction value at the acquisition time. Combined with the laser pulse, the long-distance measurement result is obtained.

[0009] Furthermore, the specific method for constructing the laser ranging sequence is as follows:

[0010] Arrange the echo signals from all acquisition times in chronological order to obtain the laser ranging sequence.

[0011] Furthermore, the method for determining the fitting overlap at the acquisition time is as follows:

[0012] The interval fluctuation of the acquisition time is determined based on the difference between the fitted values ​​of the fitted curves of polynomials of different orders at the same acquisition time.

[0013] The range of all fitted values ​​contained in the fitted value sequence at the acquisition time is denoted as the first range at the acquisition time.

[0014] The negative correlation between the first range and the interval fluctuation at the acquisition time is denoted as the fitting overlap at the acquisition time.

[0015] Furthermore, the method for obtaining the interval fluctuation is as follows:

[0016] The fitted values ​​of the fitting curves of different polynomials at the same acquisition time are arranged in ascending order to obtain the fitted value sequence at the same acquisition time; the standard deviation of the first difference sequence of the fitted value sequence at the acquisition time is denoted as the interval fluctuation of the acquisition time.

[0017] Furthermore, the method for determining the local smoothness at the target acquisition time is as follows:

[0018] Any acquisition time is denoted as the target acquisition time, and the degree of dispersion of the fitting overlap between the target acquisition time and the first preset number of acquisition times before the target acquisition time is denoted as the local dispersion of the target acquisition time.

[0019] The average of the fitting overlap between the target acquisition time and the first preset number of acquisition times before the target acquisition time is denoted as the local mean of the target acquisition time.

[0020] The negative correlation between the local mean and the local dispersion at the target acquisition time is denoted as the local smoothness at the target acquisition time.

[0021] Furthermore, the method for determining the fit dominance at the same acquisition time by combining the fitted curves of different order polynomials at the same acquisition time with the values ​​of the echo signal at the same acquisition time includes the following specific methods:

[0022] Based on the differences between the fitted curves of different order polynomials at the same acquisition time and the echo signal at the same acquisition time, the smoothing difference at the same acquisition time is determined.

[0023] The goodness of fit at the acquisition time is determined based on the local smoothness and the difference between smoothness at the acquisition time.

[0024] Furthermore, the method for determining the smoothing difference is as follows:

[0025] The mean of the absolute values ​​of the differences between the fitted curves of different orders of polynomials at the same acquisition time and the echo signal at the same acquisition time is denoted as the smoothing difference at the same acquisition time.

[0026] Furthermore, the specific method for determining the fit advantage at the acquisition time based on the local smoothness and the difference between smoothing intervals at the acquisition time includes:

[0027] The normalized value of the ratio of local smoothness to smoothing difference at the acquisition time is denoted as the goodness of fit at the acquisition time.

[0028] Furthermore, the method for obtaining the echo signal correction value at the acquisition time by weighted summation of the fitted values ​​of the echo signal at the acquisition time and the fitted curves of polynomials of different orders based on the fit dominance at the acquisition time includes the following specific methods:

[0029] The difference between the number 1 and the fit advantage is used as the weight of the mean of the fitted curves of all polynomials of different orders at the same acquisition time. The fit advantage is used as the weight of the echo signal at the same acquisition time. The weighted sum is then performed to obtain the corrected value of the echo signal at the same acquisition time.

[0030] Secondly, embodiments of the present invention also provide a long-distance precision measurement system based on a laser scanner, including a memory, a processor, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the steps of any of the methods described above.

[0031] The beneficial effects of this invention are:

[0032] This application leverages the characteristic that noise causes the acquired echo signal to deviate from the true echo signal value, and simultaneously reduces the smoothness of the laser ranging sequence composed of the acquired echo signals. It applies different orders of polynomials to curve fit the laser ranging sequence, achieving varying degrees of smoothness for the echo signal. The application determines the fitting overlap and local smoothness at the acquisition time. The overlap is used to evaluate the degree of overlap of the fitting curves of different orders of polynomials at the acquisition time. Local smoothness is used to evaluate the smoothness and confidence of the echo signal at the acquisition time. Greater local smoothness results in a smoother echo signal received at the acquisition time, leading to higher confidence and accuracy of the received echo signal. Furthermore, by combining the differences between the fitted values ​​of the fitting curves of different orders of polynomials at the same acquisition time and the echo signal values ​​at the same acquisition time, the application determines the fitting dominance at the same acquisition time. The fitting dominance is used to evaluate... The confidence level of the echo data at the corresponding acquisition time is determined by the fit dominance. A higher fit dominance at the acquisition time indicates greater trust in the received echo data, ensuring the accuracy of long-distance measurements. Finally, based on the fit dominance at the acquisition time, a weighted sum is performed on the echo signal and the fitted values ​​of different order polynomials to obtain the echo signal correction value at the acquisition time. This weighted summation makes the echo signal correction value for higher confidence echo data more dependent on the echo data values, while making the echo signal correction value for lower confidence echo data more dependent on the fitted values. This improves the accuracy of the echo signal correction value, making it closer to the true value. Combined with laser pulses, this method obtains long-distance measurement results, solving the problem that a single nonlinear correction of the echo signal can easily lead to a smooth transition in the echo signal, resulting in inaccurate corrected laser data. This improves the accuracy of long-distance measurements using laser scanners. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a flowchart illustrating a long-distance precision measurement method based on a laser scanner, provided in one embodiment of the present invention.

[0035] Figure 2 This is a flowchart illustrating the process of obtaining the fitting overlap degree according to an embodiment of the present invention. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Please see Figure 1 The diagram illustrates a flowchart of a long-distance precision measurement method based on a laser scanner according to an embodiment of the present invention. The method includes the following steps:

[0038] Step S001: 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.

[0039] A laser scanner emits laser pulses towards the distance to be measured. The laser pulses are reflected back to the laser scanner at the distance to be measured, and the laser scanner receives the reflected echo signals through a laser receiver. The echo signals from all the acquisition times are arranged in chronological order to obtain the laser ranging sequence.

[0040] In a preferred embodiment of this application, the sampling frequency for acquiring the echo signals is 1MHz, and echo signals within a total of 0.01 seconds are acquired. This means the obtained laser ranging sequence includes all echo signals acquired within 0.01 seconds. In practical applications, as other implementation methods, the implementer can determine the sampling frequency and the length of the sampling period according to the actual situation; this application does not impose any special restrictions.

[0041] The missing echo signals in the laser ranging sequence are completed using linear interpolation. The use of linear interpolation to complete the missing data is a well-known technique and will not be elaborated further.

[0042] At this point, the laser ranging sequence has been obtained.

[0043] Step S002: Curve fitting is performed on the laser ranging sequence using polynomials of different orders. Based on the difference between the fitted values ​​of the fitted curves of different polynomials at the same acquisition time, the fitting overlap of the acquisition time is determined. Based on the dispersion and difference of the fitting overlap of different acquisition times within the preset local time period before the acquisition time, the local smoothness of the target acquisition time is determined. Combining the difference between the fitted values ​​of the fitted curves of different polynomials at the same acquisition time and the values ​​of the echo signals at the same acquisition time, the fitting dominance of the same acquisition time is determined.

[0044] Because the laser pulse is affected by airflow during its propagation in the air, noise is introduced into the echo signal received by the laser receiver in the laser scanner. This causes the acquired echo signal to deviate from the true echo signal value, and at the same time, it reduces the smoothness of the laser ranging sequence composed of the acquired echo signals.

[0045] Polynomial fitting can be used to smooth data, and different orders produce different degrees of smoothness. Different orders of polynomials are used to fit curves to the laser ranging sequence. Based on the differences in the fitted curves of different orders of polynomials at the same acquisition time, the interval fluctuation of the acquisition time is determined.

[0046] The laser ranging sequence was fitted with second-order, third-order, fourth-order, fifth-order, and sixth-order polynomials, respectively, to obtain the fitting curves for each polynomial. Based on the fitting curves, the fitting values ​​of the fitting curves for each polynomial at each acquisition time were calculated.

[0047] Polynomial curve fitting and the calculation of fitted values ​​based on the fitted curve are well-known techniques and will not be elaborated further.

[0048] For the fitted curves of different orders of polynomials at the same acquisition time, the smaller the difference between these fitted values, the greater the overlap and smoothness of the fitted curves of different orders at the corresponding acquisition time, and the higher the confidence level of the echo signal received at the corresponding acquisition time.

[0049] The fitted curves of second-order, third-order, fourth-order, fifth-order, and sixth-order polynomials are arranged in ascending order at the same acquisition time to obtain the fitted value sequence at the same acquisition time. The standard deviation of the first-order difference sequence of the fitted value sequence at the acquisition time is denoted as the interval fluctuation of the acquisition time.

[0050] Interval volatility is used to evaluate the difference between the fitted values ​​of the corresponding multi-order polynomial fitting curve at the corresponding acquisition time. The method of obtaining the first-order difference sequence is a well-known technique and will not be elaborated further.

[0051] The range of all fitted values ​​contained in the fitted value sequence at the acquisition time is denoted as the first range at the acquisition time. The result of the negative correlation processing between the first range at the acquisition time and the interval fluctuation is denoted as the fitting overlap degree at the acquisition time.

[0052] It is understood that negative correlation processing is applied to the first range and interval volatility at the acquisition time, ensuring that the first range and interval volatility at the acquisition time are negatively correlated with the fitting overlap at the acquisition time. It is understood that the negative correlation in this application refers to the relationship between the independent and dependent variables, where the independent variables are the first range and interval volatility at the acquisition time, and the dependent variable is the fitting overlap at the acquisition time. The negative correlation means that the dependent variable decreases (increases) as the independent variable increases (decreases), and can be an inverse relationship, a subtraction relationship, etc.

[0053] Preferably, as an embodiment of this application, the reciprocal of the product of the first range at the acquisition time and the interval fluctuation is denoted as the fitting overlap at the acquisition time.

[0054] In the process of reciprocal calculation, to avoid the denominator of the fraction corresponding to the reciprocal being zero, a preset value needs to be added to the denominator. In this example, the preset value is 0.01. The preset value should be greater than or equal to 0.01 and less than or equal to 10.

[0055] The fitting overlap at the acquisition time is used to evaluate the degree of overlap between the fitting curves of polynomials of different orders at the acquisition time. The smaller the difference between the fitting values ​​of the fitting curves of different orders of polynomials at the same acquisition time, the greater the degree of overlap between the fitting curves of different orders of polynomials at the acquisition time, the higher the smoothness of the echo signal acquired at the acquisition time, and the higher the confidence and accuracy of the received echo signal. The flowchart for obtaining the fitting overlap is as follows. Figure 2 As shown.

[0056] The local smoothness of the target acquisition time is determined based on the difference in fitting overlap between the acquisition time and different acquisition times within a preset local time period before the acquisition time.

[0057] Any acquisition time is designated as the target acquisition time. The dispersion of the fitting overlap between the target acquisition time and the first preset number of acquisition times before the target acquisition time is designated as the local dispersion of the target acquisition time. The mean of the fitting overlap between the target acquisition time and the first preset number of acquisition times before the target acquisition time is designated as the local mean of the target acquisition time. The negative correlation between the local mean and the local dispersion of the target acquisition time is designated as the local smoothness of the target acquisition time.

[0058] This embodiment uses standard deviation as a specific method to measure the degree of dispersion of the fitting overlap between the target acquisition time and the first preset number of acquisition times before the target acquisition time. In practical applications, as other implementation methods, based on achieving the purpose of evaluating the degree of dispersion, implementers can use other existing methods such as variance, mean absolute value deviation, etc. to evaluate the degree of dispersion. This application does not impose any special restrictions.

[0059] It is understood that negative correlation processing is applied to the local mean and local dispersion at the target acquisition time, ensuring that the local mean and local dispersion at the target acquisition time are negatively correlated with the local smoothness at the target acquisition time. It is understood that the negative correlation in this application refers to the relationship between the independent and dependent variables, where the independent variables are the local mean and local dispersion at the target acquisition time, and the dependent variable is the local smoothness at the target acquisition time.

[0060] Preferably, as an embodiment of this application, the reciprocal of the product of the local mean and the local dispersion at the target acquisition time is denoted as the local smoothness at the target acquisition time.

[0061] In order to avoid the denominator being zero during the reciprocal calculation, a preset value needs to be added to the denominator. In this example, the preset value is 0.01.

[0062] In this context, it can be understood that the target acquisition time and the first preset number of acquisition times preceding it are considered as a local time period of the target acquisition time. The smaller the difference in fitting overlap within this local time period, the closer the fitting curves of polynomials of different orders are, the smoother the fitting values ​​of the fitting curves of polynomials of different orders at the target acquisition time location, and the higher the stability of the echo signal received at the target acquisition time during air propagation, with less influence from noise. The first preset number is a preset parameter; in this embodiment, the first preset number is 11. When the number of acquisition times preceding the target acquisition time is less than the first preset number, the target acquisition time is not analyzed.

[0063] The smaller the dispersion and mean of the fitting overlap of different acquisition times within a local time period of the target acquisition time, the closer the fitting values ​​of the fitting curves of different order polynomials are at the target acquisition time, the smoother the echo signal received at the target acquisition time, and the higher and more accurate the confidence of the echo signal received at the acquisition time. At this time, the local smoothness is greater.

[0064] When echo signals are affected by various factors such as atmospheric conditions, the characteristics of the target reflective surface, and the performance of the scanner itself, the received echo data will contain noise. The greater the impact of noise on the echo data, the greater the difference between the echo data at the same acquisition time and the fitted values ​​of the fitting curves of different order polynomials. In this case, the confidence in the echo data is lower, so as to ensure the accuracy of long-distance precision measurement.

[0065] The smoothing difference at the same acquisition time is determined based on the differences between the fitted curves of different order polynomials at the same acquisition time and the echo signal at the same acquisition time.

[0066] The mean of the absolute values ​​of the differences between the fitted curves of different orders of polynomials at the same acquisition time and the echo signal at the same acquisition time is denoted as the smoothing difference at the same acquisition time.

[0067] The goodness of fit at the acquisition time is determined based on the local smoothness and the difference between smoothness at the acquisition time.

[0068] The normalized value of the ratio of local smoothness to smoothing difference at the acquisition time is denoted as the goodness of fit at the acquisition time.

[0069] In order to avoid the denominator being zero during the ratio calculation process, a preset value needs to be added to the denominator. In this example, the preset value is 0.01.

[0070] The fit odds ratio is used to evaluate the confidence level of the echo data at the corresponding acquisition time. The greater the local smoothness at the acquisition time, and the smaller the difference between the fitted values ​​of the fitting curves of different orders of polynomials at the same acquisition time and the echo signal, the greater the fit odds ratio at the acquisition time. In this case, the received echo data should be trusted more to ensure the accuracy of long-distance precise measurements.

[0071] At this point, the fit dominance at each acquisition time is obtained.

[0072] Step S003: Based on the fit dominance at the acquisition time, the fitted values ​​of the echo signal at the acquisition time and the fitted curves of different order polynomials are weighted and summed to obtain the echo signal correction value at the acquisition time. Combined with the laser pulse, the long-distance measurement result is obtained.

[0073] Based on the fit dominance at the acquisition time, the fitted values ​​of the echo signal at the acquisition time and the fitted curves of different order polynomials are weighted and summed to obtain the echo signal correction value at the acquisition time.

[0074] The difference between the number 1 and the fit advantage is used as the weight of the mean of the fitted curves of all polynomials of different orders at the same acquisition time. The fit advantage is used as the weight of the echo signal at the same acquisition time. The mean of the fitted curves of all polynomials of different orders at the same acquisition time and the echo signal are weighted and summed. The result of the weighted summation is recorded as the echo signal correction value at the same acquisition time.

[0075] Weighted summation makes the echo signal correction value for echo data with higher confidence more dependent on the value of the echo data, while making the echo signal correction value for echo data with lower confidence more dependent on the value of the fitted value, thereby improving the accuracy of the echo signal correction value and making the echo signal correction value closer to the true value.

[0076] The echo signal correction values ​​at each acquisition time are used as the actual received echo signals. Combined with the laser pulse, the measurement distance is calculated using the calculation formula for FMCW frequency modulated continuous wave.

[0077] The calculation of the measurement distance using the formula for frequency-modulated continuous waves is a well-known technique and will not be elaborated further.

[0078] This enables long-distance, precise measurement based on a laser scanner.

[0079] Based on the same inventive concept as the above methods, embodiments of the present invention also provide a long-distance precision measurement system based on a laser scanner, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements the steps of any one of the above-described long-distance precision measurement methods based on a laser scanner.

[0080] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A long-distance precision measurement method based on a laser scanner, characterized in that, The method includes the following steps: A laser scanner is used to emit laser pulses and collect echo signals at different collection times within a preset time period to construct a laser ranging sequence. Different orders of polynomials are used to fit the laser ranging sequence. The fitting overlap of the acquisition time is determined based on the difference between the fitting values ​​of the fitting curves of different orders of polynomials at the same acquisition time. The local smoothness of the target acquisition time is determined based on the dispersion and difference of the fitting overlap of different acquisition times within the acquisition time and the preset local time period before the acquisition time. The fitting dominance of the same acquisition time is determined by combining the fitting values ​​of the fitting curves of different orders of polynomials at the same acquisition time with the values ​​of the echo signal at the same acquisition time. Based on the fit dominance at the acquisition time, the fitted values ​​of the echo signal at the acquisition time and the fitted curves of different order polynomials are weighted and summed to obtain the echo signal correction value at the acquisition time. 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 for constructing the laser ranging sequence is as follows: Arrange the echo signals from all acquisition times in chronological order 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 time is as follows: The interval fluctuation of the acquisition time is determined based on the difference between the fitted values ​​of the fitted 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 time is denoted as the first range at the acquisition time. The negative correlation between the first range and the interval fluctuation at the acquisition time is denoted 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 as follows: The fitted values ​​of the fitting curves of different polynomials at the same acquisition time are arranged in ascending order to obtain the fitted value sequence at the same acquisition time; the standard deviation of the first difference sequence of the fitted value sequence at the acquisition time is denoted as the interval fluctuation of the acquisition time.

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 time is as follows: Any acquisition time is denoted as the target acquisition time, and the degree of dispersion of the fitting overlap between the target acquisition time and the first preset number of acquisition times before the target acquisition time is denoted as the local dispersion of the target acquisition time. The average of the fitting overlap between the target acquisition time and the first preset number of acquisition times before the target acquisition time is denoted as the local mean of the target acquisition time. The negative correlation between the local mean and the local dispersion at the target acquisition time is denoted 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 for determining the fit dominance at the same acquisition time by combining the fitted curves of different order polynomials at the same acquisition time with the differences between the fitted values ​​and the echo signal values ​​at the same acquisition time includes the following specific methods: Based on the differences between the fitted curves of different order polynomials at the same acquisition time and the echo signal at the same acquisition time, the smoothing difference at the same acquisition time is determined. The goodness of fit at the acquisition time is determined based on the local smoothness and the difference between smoothness at the acquisition time.

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 as follows: The mean of the absolute values ​​of the differences between the fitted curves of different orders of polynomials at the same acquisition time and the echo signal at the same acquisition time is denoted as the smoothing difference at the same acquisition time.

8. The long-distance precision measurement method based on a laser scanner according to claim 6, characterized in that, The method for determining the fit advantage at the acquisition time based on the local smoothness and the difference between smoothness intervals at the acquisition time includes the following specific methods: The normalized value of the ratio of local smoothness to smoothing difference at the acquisition time is denoted as the goodness of fit at the acquisition time.

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

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, it implements the steps of the method as described in any one of claims 1-9.

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