A single-photon detector full-link simulation method based on monte carlo simulation

Abstract

The application discloses a kind of single-photon detector full-link simulation method based on Monte Carlo simulation, belong to laser characteristic simulation field.Method includes: S1, laser emission simulation is carried out to face array laser emission end, and the photon number of each laser and the initial position of each photon before being incident to atmosphere are obtained;S2, according to the initial position and the target surface parameter of pre-set, the Monte Carlo simulation of whole process of atmospheric transmission is carried out to photon, and the photon number reaching the surface of single-photon face array detector and the position and direction vector of each photon are obtained;S3, according to the photon detection result of the single-photon face array detector and pre-set detector parameter, the full-link transmission data of photon triggering avalanche effect are counted;S4, according to steps S1-S3, simulate multiple times, to generate three-dimensional point cloud data using the full-link transmission data obtained by multiple simulations.The application can improve the simulation accuracy and simulation adaptability of single-photon detector.

Description

Technical Field

[0001] This invention relates to the field of laser characteristic simulation technology, and in particular to a full-link simulation method for single-photon detectors based on Monte Carlo simulation. Background Technology

[0002] When using a single-photon array measurement system for 3D imaging, there are situations where it cannot be used at high laser energies due to the high sensitivity of single photons. When the laser energy is not set properly, the measurement error will increase. Therefore, it is necessary to simulate the entire detection process and determine the laser energy setting in order to achieve ultra-long-distance, high-precision detection and imaging.

[0003] Currently, Monte Carlo simulations of single-photon detectors mainly focus on two aspects: simulating the trajectory of photons in the incident material and simulating the ranging of a single laser beam. However, these methods all suffer from poor adaptability, incomplete simulation, and low simulation accuracy.

[0004] Therefore, there is an urgent need for a Monte Carlo simulation-based full-link simulation method for single-photon detectors to solve the above-mentioned technical problems. Summary of the Invention

[0005] This invention provides a Monte Carlo simulation-based end-to-end simulation method for single-photon detectors, which can effectively improve the simulation accuracy and adaptability of single-photon detectors. The technical solution is as follows:

[0006] On the one hand, a full-link simulation method for single-photon detectors based on Monte Carlo simulation is provided, the method comprising:

[0007] S1. Simulate laser emission from the array laser emitter to obtain the number of photons in each laser beam and the initial position of each photon before it enters the atmosphere.

[0008] S2. Based on the initial position and preset target surface parameters, perform Monte Carlo simulation of the entire atmospheric transmission process of photons to obtain the number of photons reaching the surface of the single-photon array detector and the position and direction vector of each photon.

[0009] S3. Based on the photon detection results of the single-photon array detector and the preset detector parameters, statistically analyze the full-link transmission data of the photons that trigger the avalanche effect;

[0010] S4. Perform multiple simulations according to steps S1-S3 to generate three-dimensional point cloud data using the end-to-end transmission data obtained from the multiple simulations.

[0011] On the other hand, a Monte Carlo simulation-based end-to-end simulation device for single-photon detectors is provided, the device comprising:

[0012] The first simulation module is used to simulate laser emission from the array laser transmitter to obtain the number of photons in each laser beam and the initial position of each photon before it enters the atmosphere.

[0013] The second simulation module is used to perform Monte Carlo simulation of the entire atmospheric transmission process of photons based on the initial position and preset target surface parameters, so as to obtain the number of photons reaching the surface of the single-photon array detector and the position and direction vector of each photon.

[0014] The statistics module is used to statistically analyze the full-link transmission data of photons that trigger the avalanche effect based on the photon detection results of the single-photon array detector and preset detector parameters.

[0015] The generation module is used to execute the simulation process from the first simulation module to the statistics module multiple times to generate three-dimensional point cloud data using the end-to-end transmission data obtained from multiple simulations.

[0016] On the other hand, a computer device is provided, the computer device including a memory and a processor, the memory for storing computer programs, and the processor for executing the computer programs stored in the memory to implement the steps of the single-photon detector full-link simulation method based on Monte Carlo simulation described above.

[0017] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when the computer program is executed by a processor, it implements the steps of the above-described Monte Carlo simulation-based full-link simulation method for single-photon detectors.

[0018] On the other hand, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the single-photon detector full-link simulation method based on Monte Carlo simulation described above.

[0019] The technical solution provided by this invention can bring at least the following beneficial effects: It performs full-process simulation of a single-photon array measurement system using the Monte Carlo simulation method. The simulation mainly focuses on several modules: the laser emitter, atmospheric attenuation process, target surface reflection, and detector receiving. This allows for the analysis and evaluation of the design parameters, measurement mechanism, and measurement data of the single-photon array detection system, thereby achieving the goal of improving design concepts and measurement accuracy. Attached Figure Description

[0020] 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 some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of a full-link simulation method for single-photon detectors based on Monte Carlo simulation provided in an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of a photon transmission process provided in an embodiment of the present invention;

[0023] Figure 3 This is a structural diagram of a single-photon detector full-link simulation device based on Monte Carlo simulation provided in an embodiment of the present invention;

[0024] Figure 4 This is a hardware architecture diagram of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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 some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0026] As mentioned earlier, existing methods mainly simulate the trajectory of photons incident on materials or single-beam laser ranging. This method has poor adaptability and incomplete simulation.

[0027] Based on this, the concept of this invention is to improve the design concept and increase the measurement accuracy by simulating the entire process, including laser emission, atmospheric transmission, target reflection, and detector reception.

[0028] The following describes the specific implementation of the above concept.

[0029] Please refer to Figure 1 This invention provides a Monte Carlo simulation-based end-to-end simulation method for single-photon detectors, comprising:

[0030] Step S1: Simulate laser emission from the array laser emitter to obtain the number of photons in each laser beam and the initial position of each photon before it enters the atmosphere.

[0031] Step S2: Perform Monte Carlo simulation of the entire atmospheric transmission process of photons based on the initial position and preset target surface parameters to obtain the number of photons reaching the surface of the single-photon array detector and the position and direction vector of each photon.

[0032] Step S3: Based on the photon detection results of the single-photon array detector and the preset detector parameters, statistically analyze the full-link transmission data of the photons that trigger the avalanche effect;

[0033] Step S4: Perform multiple simulations according to steps S1-S3 to generate three-dimensional point cloud data using the end-to-end transmission data obtained from the multiple simulations.

[0034] In this embodiment of the invention, a full-process simulation of a single-photon array measurement system is performed using the Monte Carlo simulation method. The simulation mainly focuses on several modules: the laser emitter, the atmospheric attenuation process, the target surface reflection, and the detector receiver. This is used to analyze and evaluate the design parameters, measurement mechanism, and measurement data of the single-photon array detection system, thereby achieving the goal of improving the design concept and measurement accuracy.

[0035] The following description Figure 1 The execution method for each step is shown.

[0036] First, for step S1, a laser emission simulation is performed on the array laser emitting end to obtain the number of photons in each laser beam and the initial position of each photon before it enters the atmosphere.

[0037] In this embodiment of the invention, the laser generation simulation includes: establishing a three-dimensional coordinate system with the laser emission point as the origin and the emission direction as the positive Z-axis according to the right-hand rule; calculating the direction vector of each laser beam in the three-dimensional coordinate system according to the angle of the area array laser beam after beam expansion by the grating; calculating the number of photons of each laser beam at emission according to the preset parameters of the area array laser emitter and the direction vector of the laser; and randomly generating the initial position and initial direction vector of each photon within the emission position range of each laser beam.

[0038] Specifically, the origin of the entire simulation's coordinate system is set to the point where the laser is emitted from the laser source, and the Z-axis is the direction from the laser emitter to the target. Using a right-handed coordinate system, the laser's emission direction is [0,0,1], and the starting point is [0,0,0]. Then, based on the distance between the laser and the grating, the intersection point of the laser beam on the grating surface is calculated. Based on this intersection point and the characteristics of the grating, the initial point and direction vector of each laser beam emitted from the grating beam expander are calculated. Finally, based on the spatial relationship between the grating and the exit lens, the initial position and direction vector of each laser beam are calculated.

[0039] Then, for step S2, a Monte Carlo simulation of the entire atmospheric transmission process of photons is performed based on the initial position and preset target surface parameters to obtain the number of photons reaching the surface of the single-photon array detector and the position and direction vector of each photon.

[0040] In embodiments of the present invention, such as Figure 2 As shown, the simulation of the entire atmospheric transmission process of photons includes: using the Monte Carlo simulation method to simulate the transmission of each photon from the grating to the target surface, obtaining the first number of photons reaching the target and the first position and first direction vector of each photon; using the diffuse reflection theory and target surface parameters to simulate the diffuse reflection of each photon when it reaches the target surface, obtaining the second number of diffusely reflected photons and the second position and second direction vector of each photon after diffuse reflection; and using the Monte Carlo simulation method to simulate the transmission of each photon from the target back to the detector, obtaining the third number of photons reaching the detector surface and the third position and third direction vector of each photon.

[0041] In this embodiment of the invention, the transmission simulation process includes: randomly generating step size parameters and direction parameters for the next motion based on the position and direction vector of each photon before its motion; setting probability parameters for transmission, scattering, and absorption of each photon based on atmospheric attenuation parameters; calculating the position and direction vector of the photon after its next motion based on the step size parameters, direction parameters, and probability parameters; repeating this process multiple times until the photon reaches the designated location.

[0042] In this embodiment of the invention, the parameters of the target surface are set as follows: at a fixed distance d, a planar target model is set with its normal vector parallel to the grating normal vector, which is [0,0,d]. The size is comparable to the field of view of the area array laser detection system at this position, and the surface reflectivity is set to be adjustable from 0.2 to 0.9.

[0043] A target model for simulating terrain is set up. This model is obtained by extracting triangular patches from an existing terrain point cloud model, and the normal vector of each triangular patch at different locations is recorded. v_tri The surface reflectivity is set to 0.2.

[0044] In this embodiment of the invention, diffuse reflection simulation includes: calculating the position of the photon reaching the target surface based on the photon's current position and current direction vector; calculating the probability of each photon scattering in different directions based on the photon's position on the target surface, the plane normal vector at that point, and the reflectivity; determining the scattered photons and their scattering directions based on preset Monte Carlo simulation parameters, and discarding photons with more than a preset threshold of diffuse reflection counts to complete the diffuse reflection simulation.

[0045] For step S3, the full-link transmission data of the photons that trigger the avalanche effect are statistically analyzed based on the photon detection results of the single-photon array detector and the preset detector parameters.

[0046] In this embodiment of the invention, the end-to-end transmission data of photons is obtained in the following manner:

[0047] The photons reflected onto the surface of the array detector are randomly numbered from 0 to 1 to determine the photons that satisfy the preset detection probability and enter the detector.

[0048] Based on the position and direction vector of the photon after its next motion generated during the transmission simulation, and the normal vector of the detector surface, the intersection point of the photon entering the detector and the detector surface is calculated, and the number of photons located in the detection unit is counted based on the calculation results.

[0049] Based on the detection probability and dead time of the array detector, it is determined whether the photon located in the detection unit triggers the avalanche effect. If so, it is determined whether the photon located in the detection unit is within the range gate. When the photon enters the range gate, the position of the photon in the detector pixel and the flight time of the photon are recorded. Finally, for the photon recorded in each pixel, the flight time is converted into a distance value to complete the full-link simulation of the array single-photon measurement system.

[0050] For step S4, multiple simulations are performed according to steps S1-S3 to generate three-dimensional point cloud data using the end-to-end transmission data obtained from the multiple simulations.

[0051] In this embodiment of the invention, the three-dimensional point cloud data is generated through the following process: repeatedly performing the simulation process of laser pulses, recording the flight time of each photon and the corresponding pixel each time; calculating the distance value measured by different pulses in each pixel using the histogram peak method according to the spatial relationship between the transmitter and receiver; and calculating the intersection point of each beam on the target surface according to the direction vector of each beam and the measured distance to obtain the three-dimensional point cloud.

[0052] Specifically, repeated test simulations using multiple laser pulses are performed. For the data from each probed pixel, histogram statistics are generated, and the average value of the data within the bin containing the histogram peak is calculated as the distance measured for that pixel. In the histogram, a bin represents an interval or grouping of data distribution. For example, time-of-flight data can be divided into multiple equally wide intervals (e.g., one bin every 1 nanosecond), with each bin containing the number of photons falling within that time range.

[0053] Based on the measured distance and the pre-calculated direction vector, the point cloud data for this measurement can be obtained, calculated as follows:

[0054]

[0055]

[0056]

[0057] in x, y, z For three-dimensional coordinate values, [ pxpypz [ represents the initial position coordinates of the beam emitted,] vxvyvz ] represents the direction vector of the emitted light beam. dis This is the measured distance value calculated from the peak value of the histogram.

[0058] It is worth noting that since each measurement in single-photon mode involves a lot of random noise, multiple measurements are required to reconstruct the true measurement results. Therefore, in repeated simulations under the same initial conditions, it is not necessary to change the parameters; the parameters must be kept consistent.

[0059] Please refer to Figure 3 This invention provides a Monte Carlo simulation-based end-to-end simulation device for single-photon detectors, comprising:

[0060] The first simulation module 300 is used to simulate laser emission from the array laser emitter to obtain the number of photons in each laser beam and the initial position of each photon before it enters the atmosphere.

[0061] The second simulation module 302 is used to perform Monte Carlo simulation of the entire atmospheric transmission process of photons based on the initial position and preset target surface parameters, so as to obtain the number of photons reaching the surface of the single-photon array detector and the position and direction vector of each photon.

[0062] The statistics module 304 is used to statistically analyze the full-link transmission data of the photons that trigger the avalanche effect based on the photon detection results of the single-photon array detector and the preset detector parameters.

[0063] The generation module 306 is used to execute the simulation process from the first simulation module to the statistics module multiple times to generate three-dimensional point cloud data using the end-to-end transmission data obtained from multiple simulations.

[0064] In this embodiment of the invention, the laser emission simulation of the array laser emitter to obtain the number of photons in each laser beam and the initial position of each photon before it enters the atmosphere includes: establishing a three-dimensional coordinate system with the laser emission point as the origin and the emission direction as the positive Z-axis according to the right-hand rule; calculating the direction vector of each laser beam in the three-dimensional coordinate system according to the angle of the array laser beam after beam expansion by the grating; calculating the number of photons in each laser beam at emission according to the preset parameters of the array laser emitter and the direction vector of the laser; and randomly generating the initial position and initial direction vector of each photon within the emission position range of each laser beam.

[0065] In this embodiment of the invention, the step of performing Monte Carlo simulation of the entire atmospheric transmission process of photons based on the initial position and preset target surface parameters to obtain the number of photons reaching the surface of the single-photon array detector and the position and direction vector of each photon includes: performing a Monte Carlo simulation of the transmission of each photon from the grating to the target surface to obtain the first number of photons reaching the target and the first position and first direction vector of each photon; performing a diffuse reflection simulation of each photon reaching the target surface based on diffuse reflection theory and target surface parameters to obtain the second number of diffusely reflected photons and the second position and second direction vector of each photon after diffuse reflection; and performing a Monte Carlo simulation of the transmission of each photon from the target back to the detector to obtain the third number of photons reaching the detector surface and the third position and third direction vector of each photon.

[0066] In this embodiment of the invention, the transmission simulation includes: randomly generating step size parameters and direction parameters for the next motion based on the position and direction vector of each photon before its motion; setting probability parameters for transmission, scattering, and absorption of each photon based on atmospheric attenuation parameters; and calculating the position and direction vector of the photon after its next motion based on the step size parameters, direction parameters, and probability parameters.

[0067] In this embodiment of the invention, the diffuse reflection simulation includes: calculating the position of the photon reaching the target surface based on the current position and current direction vector of the photon; calculating the probability of each photon scattering in different directions based on the position of the photon on the target surface, the plane normal vector at that point, and the reflectivity; determining the scattered photons and the scattering direction of the scattered photons based on preset Monte Carlo simulation parameters, and discarding photons with more than a preset threshold of diffuse reflection count to complete the diffuse reflection simulation.

[0068] In this embodiment of the invention, the step of statistically analyzing the full-link transmission data of photons that trigger the avalanche effect based on the photon detection results of the single-photon array detector and preset detector parameters includes: performing random number determination on photons reflected onto the surface of the array detector to determine that photons satisfying the preset detection probability are photons entering the detector; calculating the intersection point between the photons entering the detector and the detector surface based on the position and direction vector of the photons after their next motion generated during the transmission simulation process, and the normal vector of the detector surface, and statistically analyzing the number of photons located within the detection unit based on the calculation results; determining whether photons located within the detection unit trigger the avalanche effect based on the detection probability and dead time of the array detector, and if so, determining whether photons located within the detection unit are within the range gate, and recording the position of the photon in the detector pixel and the flight time of the photon when the photon enters the range gate, so as to complete the full-link simulation of the array single-photon measurement system.

[0069] It should be noted that the Monte Carlo simulation-based single-photon detector full-link simulation device provided in the above embodiments is only an example of the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the Monte Carlo simulation-based single-photon detector full-link simulation device and the Monte Carlo simulation-based single-photon detector full-link simulation method embodiments belong to the same concept, and the specific implementation process is detailed in the method embodiments, which will not be repeated here.

[0070] Embodiments of this application also provide a computer device, please refer to... Figure 4 The computer device includes a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, at least one program, code set or instruction set being loaded and executed by the processor to implement the Monte Carlo simulation-based full-link simulation method for single-photon detectors provided in the above-described method embodiments.

[0071] Embodiments of this application also provide a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the Monte Carlo simulation-based full-link simulation method for single-photon detectors provided in the above-described method embodiments.

[0072] Embodiments of this application also provide a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium and executes the computer program, causing the computer device to perform any of the Monte Carlo simulation-based full-link simulation methods for single-photon detectors described in the above embodiments.

[0073] For ease of description, the above systems or devices are described separately as various modules or units based on their functions. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware components.

[0074] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0075] Finally, it should be noted that in this document, relational terms such as first, second, third, and fourth are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0076] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A full-link simulation method for single-photon detectors based on Monte Carlo simulation, characterized in that, The method includes: S1. Simulate laser emission from the array laser emitter to obtain the number of photons in each laser beam and the initial position of each photon before it enters the atmosphere. S2. Based on the initial position and preset target surface parameters, perform Monte Carlo simulation of the entire atmospheric transmission process of photons to obtain the number of photons reaching the surface of the single-photon array detector and the position and direction vector of each photon, including: The Monte Carlo simulation method was used to simulate the transmission of each photon from the grating to the target surface, and the number of the first photons reaching the target and the first position and first direction vector of each photon were obtained. Based on diffuse reflection theory and target surface parameters, a diffuse reflection simulation is performed on each photon when it reaches the target surface to obtain the second number of diffusely reflected photons and the second position and second direction vector of each photon after diffuse reflection. The Monte Carlo simulation method was used to simulate the transmission of each photon from the target back to the detector, and the number of third photons reaching the detector surface, as well as the third position and third direction vector of each photon were obtained. S3. Based on the photon detection results of the single-photon array detector and the preset detector parameters, statistically analyze the full-link transmission data of the photons that trigger the avalanche effect; S4. Perform multiple simulations according to steps S1-S3 to generate three-dimensional point cloud data using the end-to-end transmission data obtained from the multiple simulations. This includes: repeating the simulation process of laser pulses multiple times and recording the flight time and corresponding pixel of each photon each time; calculating the distance value measured by different pulses in each pixel using the histogram peak method based on the spatial relationship between the transmitter and receiver; and calculating the intersection point of each beam on the target surface based on the direction vector of each beam and the measured distance to obtain the three-dimensional point cloud.

2. The method as described in claim 1, characterized in that, The laser emission simulation of the array laser emitter is performed to obtain the number of photons in each laser beam and the initial position of each photon before it enters the atmosphere, including: Establish a three-dimensional coordinate system with the laser emission point as the origin and the emission direction as the positive Z-axis according to the right-hand rule; Based on the angle of the laser beam after beam expansion by the grating, calculate the direction vector of each laser beam in the three-dimensional coordinate system; Based on the preset parameters of the area array laser transmitter and the direction vector of the laser, the number of photons at the time of emission of each laser beam is calculated, and the initial position and initial direction vector of each photon are randomly generated within the emission position range of each laser beam.

3. The method as described in claim 1, characterized in that, The transmission simulation includes: Based on the position and direction vector of each photon before its movement, the step size and direction parameters for the next movement are randomly generated. The probability parameters for transmission, scattering, and absorption of each photon are set based on the atmospheric attenuation parameters. The position and direction vector of the photon after its next motion are calculated based on the step size parameter, direction parameter, and probability parameter.

4. The method as described in claim 1, characterized in that, The diffuse reflection simulation includes: Calculate the position of the photon upon reaching the target surface based on its current position and current direction vector; Based on the position of the photon on the target surface, the plane normal vector at that point, and the reflectivity, calculate the probability of each photon scattering in different directions; Based on the preset Monte Carlo simulation parameters, the scattered photons and their scattering directions are determined, and photons with more than a preset threshold of diffuse reflection are discarded to complete the diffuse reflection simulation.

5. The method as described in claim 1, characterized in that, The step of statistically analyzing the full-link transmission data of photons that trigger the avalanche effect based on the photon detection results of the single-photon array detector and preset detector parameters includes: The photons reflected onto the surface of the array detector are randomly numbered to determine the photons that satisfy the preset detection probability and enter the detector. Based on the position and direction vector of the photon after its next motion generated during the transmission simulation, and the normal vector of the detector surface, the intersection point between the photon entering the detector and the detector surface is calculated, and the number of photons located in the detection unit is counted based on the calculation results. Based on the detection probability and dead time of the array detector, it is determined whether the photon located in the detection unit triggers the avalanche effect. If so, it is determined whether the photon located in the detection unit is within the range gate. When the photon enters the range gate, the position of the photon in the detector pixel and the flight time of the photon are recorded to complete the full-link simulation of the array single-photon measurement system.

6. A full-link simulation device for a single-photon detector based on Monte Carlo simulation, characterized in that, The apparatus, used in the method of any one of claims 1-5, comprises: The first simulation module is used to simulate laser emission from the array laser transmitter to obtain the number of photons in each laser beam and the initial position of each photon before it enters the atmosphere. The second simulation module is used to perform Monte Carlo simulation of the entire atmospheric transmission process of photons based on the initial position and preset target surface parameters, so as to obtain the number of photons reaching the surface of the single-photon array detector and the position and direction vector of each photon. The statistics module is used to statistically analyze the full-link transmission data of photons that trigger the avalanche effect based on the photon detection results of the single-photon array detector and the preset detector parameters. The generation module is used to execute the simulation process from the first simulation module to the statistics module multiple times to generate three-dimensional point cloud data using the end-to-end transmission data obtained from multiple simulations.

7. A computer device, characterized in that, The computer device includes a memory and a processor. The memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory to implement the steps of the method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the steps of the method described in any one of claims 1-5.

9. A computer program product, characterized in that, Includes a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1-5.

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