CN110333514A - More echo laser radar range methods and more echo laser radars - Google Patents
More echo laser radar range methods and more echo laser radars Download PDFInfo
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- CN110333514A CN110333514A CN201811190492.XA CN201811190492A CN110333514A CN 110333514 A CN110333514 A CN 110333514A CN 201811190492 A CN201811190492 A CN 201811190492A CN 110333514 A CN110333514 A CN 110333514A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/491—Details of non-pulse systems
- G01S7/493—Extracting wanted echo signals
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- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
A kind of more echo laser radar range methods are disclosed in the embodiment of the present invention, the first laser echo for currently receiving the period is made to be superimposed and be averaged with the previous second laser echo for receiving the period, obtain superposition echo；The effective echo of superposition is obtained from superposition echo；According to effective echo is superimposed, second effective echo in the first effective echo and second laser echo in first laser echo is obtained；Each first effective echo is arbitrated with corresponding second effective echo；If the arbitration success of first effective echo, according to first effective echo, obtains the distance of testee.In the present invention, the return laser beam that the different reception periods are received is superimposed, can increase the intensity of effective echo, reduces interference signal intensity, can more effective filtering interference signals；In addition, arbitrating in the present invention to effective return laser beam in the different reception periods, filtering interference signals, acquisition valid data the accuracy rate of laser radar can be improved again.
Description
Technical field
The present invention relates to detection field, in particular to a kind of more echo laser radar range methods and more echo laser thunders
It reaches.
Background technique
Laser radar is to detect the radar system of the characteristic quantities such as the position of target, speed, work to emit laser beam
It is first to objective emission exploring laser light light beam, then by the reflected signal of slave target received and transmitting signal as principle
It is compared, after making proper treatment, so that it may obtain target for information about, such as target range, orientation, height, speed, appearance
The parameters such as state, even shape.
In the emission system of laser radar, transmitting laser is pulse laser, therefore, a certain moment, the laser emitted
It is a spherical surface or the hemisphere face centered on laser radar, as shown in Figure 1, outer circle indicates laser spherical surface, intermediate square
Indicate laser radar.
Since most of the object volume in laser radar visual field is less than the volume of laser spherical surface, as shown in Fig. 2, laser ball
A part in face can be reflected when encountering object 201, so that laser radar receives a return laser beam；And remaining ball face
Branch continues forward, to be reflected again after meeting other objects 202, so that laser radar is received again by a return laser beam.Quite
It may be reflected by two or more times in the shoot laser pulse that a certain transmit cycle issues, so that laser radar exists
Corresponding receive receives multiple return laser beams in the period, but multiple return laser beams for receiving of some laser radar it could also be possible that
Interference signal, as shown in figure 3,310 and 320 in Fig. 3 may be the return laser beam of testee, and 330 may be interference letter
Number.
In order to increase the point Yun Xiaoguo of laser radar, the characteristics such as resolution ratio are improved, it is desirable to the laser pulse that will once emit
Corresponding all echoes all receive, and therefrom obtain more information, but want to filter out interference therein.It is existing
Have in technology, means are effectively treated there are no the multiple echoes received for laser radar.
Summary of the invention
A kind of more echo laser radar range methods and more echo laser radars are provided in the embodiment of the present invention, it can be effective
Interference information is filtered out, range accuracy is improved.
In order to solve the above-mentioned technical problem, the embodiment of the invention discloses following technical solutions:
On the one hand, a kind of more echo laser radar range methods are provided, which comprises
The first laser echo for currently receiving the period is set to be superimposed and be averaged with the previous second laser echo for receiving the period,
Obtain superposition echo；
The effective echo of superposition is obtained from the superposition echo；
According to the effective echo of superposition, obtain in the first effective echo and second laser echo in first laser echo
Second effective echo；
Each first effective echo is arbitrated with corresponding second effective echo；
If the arbitration success of first effective echo, according to described first effective echo, obtain testee away from
From.
Optionally, the first laser echo and the previous second laser echo for receiving the period for making currently to receive the period
Before being superimposed and being averaged, the method also includes:
Store the return laser beam received in each reception period.
It is optionally, described that the effective echo of superposition is obtained from superposition echo, comprising:
If the amplitude of the echo in the superposition echo is more than or equal to trigger threshold, then it is assumed that the echo is that superposition is effective
Echo.
Optionally, described according to effective echo is superimposed, it obtains first effective echo in first laser echo and second and swashs
Second effective echo in optical echo, comprising:
Obtain the trigger position of each effective echo of superposition；
According to the trigger position of each effective echo of superposition, the trigger bit of corresponding each first effective echo is obtained
It sets, obtains the trigger position of corresponding each second effective echo；
According to the trigger position of described first effective echo, first effective echo is obtained, according to described second effective echo
Trigger position, obtain second effective echo；
The trigger position of echo is the position for the position data point of predetermined number forward that echo amplitude is equal to trigger threshold.
Optionally, first effective echo is arbitrated with corresponding second effective echo, comprising:
By the peak value of first effective echo and the peak value and peak position phase of peak position and corresponding second effective echo
Subtract, obtains peak difference values and position difference；
If the peak difference values are in pre-set peak value error tolerance, and the position difference is in predeterminated position error tolerance
It is interior, then it is assumed that first effective echo is arbitrated successfully.
Optionally, the arbitration success of described first effective echo, then according to first effective echo, obtain testee away from
From, comprising:
The distance of the testee are as follows: the corresponding distance of trigger position of first effective echo, with described first
The corresponding sum of the distance of waveform of effective echo.
Second aspect, provides a kind of more echo ranging laser radars, and the laser radar includes:
Superposed average unit, for making the second of the first laser echo for currently receiving the period and previous reception period to swash
Optical echo is superimposed and is averaged, and obtains superposition echo；
Trigger unit, for obtaining the effective echo of superposition from the superposition echo；
Trigger unit be also used to be obtained according to the effective echo of the superposition first effective echo in first laser echo and
Second effective echo in second laser echo；
Arbitration unit, for being arbitrated to each first effective echo with corresponding second effective echo；
Distance measuring unit, if the arbitration success for described first effective echo is obtained according to described first effective echo
The distance of testee.
Optionally, the trigger unit is also used to:
Obtain the trigger position of each effective echo of superposition；
According to the trigger position of each effective echo of superposition, the trigger bit of corresponding each first effective echo is obtained
It sets, obtains the trigger position of corresponding each second effective echo；
According to the trigger position of described first effective echo, first effective echo is obtained, according to described second effective echo
Trigger position, obtain second effective echo；
The trigger position of echo is the position for the position data point of predetermined number forward that echo amplitude is equal to trigger threshold.
Optionally, the arbitration unit is also used to:
By the peak value of first effective echo and the peak value and peak position phase of peak position and corresponding second effective echo
Subtract, obtains peak difference values and position difference；
If the peak difference values are in pre-set peak value error tolerance, and the position difference is in predeterminated position error tolerance
It is interior, then it is assumed that first effective echo is arbitrated successfully.
The third aspect provides a kind of more echo ranging laser radars, which is characterized in that the laser radar includes:
Receiver, for receiving return laser beam；
Memory, for storing the return laser beam received；
Processor, for making the first laser echo for currently receiving the period and the previous second laser echo for receiving the period
It is superimposed and is averaged, obtain superposition echo；
The processor is also used to obtain the effective echo of superposition from the superposition echo；
The processor is also used to obtain first effective echo in first laser echo according to the effective echo of superposition
With second effective echo in second laser echo；
The processor is also used to arbitrate each first effective echo with corresponding second effective echo；
If the processor is also used to the arbitration success of described first effective echo, according to described first effective echo,
Obtain the distance of testee.
It discloses a kind of more echo laser radar range methods in the embodiment of the present invention, in the method, makes currently to connect
The first laser echo for receiving the period is superimposed and is averaged with the previous second laser echo for receiving the period, obtains superposition echo；From
It is obtained in the superposition echo and is superimposed effective echo；According to the effective echo of superposition, first in first laser echo is obtained
Second effective echo in effective echo and second laser echo；To each first effective echo and corresponding second effective echo
It is arbitrated；If the arbitration success of first effective echo, according to described first effective echo, obtain testee away from
From.In the present invention, the return laser beam that the different reception periods are received is superimposed, can increase the intensity of effective echo, reduces dry
Signal strength is disturbed, so as to more effective filtering interference signals；In addition, in the present invention, to effective in the different reception periods
Return laser beam is arbitrated, and filtering interference signals, acquisition valid data can improve laser thunder to reduce interference again
The accuracy rate reached.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 show the pulse laser schematic diagram of laser radar transmitting；
Fig. 2 show more echo production principle schematic diagrames of laser radar；
Fig. 3 show the return laser beam figure of laser radar；
Fig. 4 show more echo laser radar range method flow diagrams of the embodiment of the present invention；
Fig. 5 show the return laser beam schematic diagram of the embodiment of the present invention.
Specific embodiment
Following examples of the present invention provide a kind of more echo laser radar range methods and more echo laser radars, can have
Effect filters out interference information, improves range accuracy.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Whole description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 4 show more echo laser radar range method flow diagrams of the embodiment of the present invention, as shown in figure 4, the side
Method includes:
Step 410, make the first laser echo for currently receiving the period and the previous second laser echo for receiving the period folded
Adduction is average, obtains superposition echo；
Step 420, the effective echo of superposition is obtained from the superposition echo；
Step 430, it according to the effective echo of superposition, obtains first effective echo in first laser echo and second and swashs
Second effective echo in optical echo；
Step 440, each first effective echo is arbitrated with corresponding second effective echo；
Step 450, if the arbitration success of first effective echo obtains tested according to described first effective echo
The distance of object.
Above-mentioned more echo laser radar range methods are disclosed in the embodiment of the present invention, and the different reception periods are received
Return laser beam is superimposed, can increase the intensity of effective echo, reduces interference signal intensity, dry so as to more effectively filter out
Disturb signal；In addition, arbitrating, can filtering out again dry to effective return laser beam in the different reception periods in the present invention
Signal is disturbed, valid data is obtained to reduce interference and improves the accuracy rate of laser radar.
In the embodiment of the present invention, before step 410, i.e., make the first laser echo for currently receiving the period with before described
Before the second laser echo in one reception period is superimposed and is averaged, the method also includes:
Store the return laser beam received in each reception period.
It is described that the effective echo of superposition is obtained from superposition echo in step 420 in the embodiment of the present invention, comprising:
If the amplitude of the echo in the superposition echo is more than or equal to trigger threshold, then it is assumed that the echo is that superposition is effective
Echo.
Refering to what is shown in Fig. 3, trigger threshold is shown in dotted line in Fig. 3, it may be considered that 310 and 320 be effective echo, 330
Position interference signal.
In the embodiment of the present invention, in step 430, the first effective echo and second laser obtained in first laser echo is returned
Second effective echo in wave, comprising:
Obtain the trigger position of each effective echo of superposition；
According to the trigger position of each effective echo of superposition, the trigger bit of corresponding each first effective echo is obtained
It sets, obtains the trigger position of corresponding each second effective echo；
According to the trigger position of described first effective echo, first effective echo is obtained, according to described second effective echo
Trigger position, obtain second effective echo；
The trigger position of echo is the position for the position data point of predetermined number forward that echo amplitude is equal to trigger threshold.
In the embodiment of the present invention, in step 440, first effective echo is arbitrated with corresponding second effective echo,
Include:
By the peak value of first effective echo and the peak value and peak position phase of peak position and corresponding second effective echo
Subtract, obtains peak difference values and position difference；
If the peak difference values are in pre-set peak value error tolerance, and the position difference is in predeterminated position error tolerance
It is interior, then it is assumed that first effective echo is arbitrated successfully.
Fig. 5 show the return laser beam schematic diagram of the embodiment of the present invention.
Fig. 5 (a) is upper one and receives the first laser echo received in the period, and Fig. 5 (b) is received in current period
Second laser echo, Fig. 5 (c) be superposition echo.
Using the method for step 420, can learn there are two the effective echoes of superposition in the superposition echo of Fig. 5 (c), respectively
531,532 are denoted as, and 533 be interference signal.
By Fig. 5 (c) as it can be seen that after being superimposed and being averaged, effective echo-signal 531,532 is greater than with 533 ratio of interference signal
To the corresponding ratio in 5 (b).
The trigger position for being superimposed effective echo 531 and 532 is respectively C1 and C2 point.
The trigger position of echo is the position for the position data point of predetermined number forward that echo amplitude is equal to trigger threshold,
In the embodiment of the present invention, 8,1 data point of predetermined number is equivalent to the flight of light in the duration of 2ns in embodiments of the present invention
Time.
According to above-mentioned C1 and C2 point, trigger position B1 and B2 in first effective echo, that is, Fig. 5 (b) are obtained, obtains second
Trigger position A1 and A2 in effective reflectogram 5 (a).
For being superimposed effective echo 531, corresponding first effective echo is 521, and corresponding second effective echo is
511；For being superimposed for effective echo 532, corresponding first effective echo is 522, and corresponding second effective echo is
512。
Referring to Figure 5, the peak value of effective echo 521 is set as 199, peak position 86, the peak value of effective echo 522
It is 150, peak position 206；The peak position of effective echo 511 is set as 199, peak position 86, effective echo 512
Peak value is 150, peak position 206.
Effective echo 521 and corresponding 511 peak value of effective echo, peak position subtracts each other, and is 0；Effective echo 522 and right
512 peak value of effective echo, the peak position answered subtract each other, and are also 0, then it is assumed that effective echo 521 and 522 is arbitrated successfully.
During the present invention is implemented, in step 450, the arbitration of first effective echo success, then according to first effective echo,
Obtain the distance of testee, comprising:
The distance of the testee are as follows: the corresponding distance of trigger position of first effective echo, with described first
The corresponding sum of the distance of waveform of effective echo.
In the embodiment of the present invention, it is provided with trigger threshold appropriate, part interference signal, such as Fig. 5 (c) can be filtered out
In 533 be interference signal, be filtered.In addition, first effective echo and corresponding second effective echo are arbitrated, it can
To determine that the two correspond to whether effective echo is echo to the same testee, if arbitrating successfully, then it is assumed that be same
The echo of a testee, can be used to ranging, and method of the invention makes to arbitrate each effective echo, also avoid
Omission to useful signal；If arbitrating unsuccessful, then it is assumed that be not the echo of the same testee, it may be possible to interference signal,
It is then not used in ranging, is equivalent to and has filtered off interference signal again.As it can be seen that the method for the embodiment of the present invention, can effectively filter out interference
Signal, and effective echo is taken full advantage of, improve the accuracy of laser radar.
In the above embodiment of the present invention, effective echo 521 and effective echo 522 are punched successfully, according to effective 521 He of echo
Effective echo 523 gets the distance of two corresponding testees.
Corresponding with above-mentioned more echo laser radar range methods, the embodiment of the invention also provides a kind of more echo rangings
Laser radar, the laser radar include:
Superposed average unit, for making the second of the first laser echo for currently receiving the period and previous reception period to swash
Optical echo is superimposed and is averaged, and obtains superposition echo；
Trigger unit, for obtaining the effective echo of superposition from the superposition echo；
Trigger unit be also used to be obtained according to the effective echo of the superposition first effective echo in first laser echo and
Second effective echo in second laser echo；
Arbitration unit, for being arbitrated to each first effective echo with corresponding second effective echo；
Distance measuring unit, if the arbitration success for described first effective echo is obtained according to described first effective echo
The distance of testee.
In the embodiment of the present invention, the trigger unit is also used to:
Obtain the trigger position of each effective echo of superposition；
According to the trigger position of each effective echo of superposition, the trigger bit of corresponding each first effective echo is obtained
It sets, obtains the trigger position of corresponding each second effective echo；
According to the trigger position of described first effective echo, first effective echo is obtained, according to described second effective echo
Trigger position, obtain second effective echo；
The trigger position of echo is the position for the position data point of predetermined number forward that echo amplitude is equal to trigger threshold.
During the present invention is implemented, the arbitration unit is also used to:
By the peak value of first effective echo and the peak value and peak position phase of peak position and corresponding second effective echo
Subtract, obtains peak difference values and position difference；
If the peak difference values are in pre-set peak value error tolerance, and the position difference is in predeterminated position error tolerance
It is interior, then it is assumed that first effective echo is arbitrated successfully.
More echo laser radars of the embodiment of the present invention can effectively filter out interference information, improve range accuracy.
Corresponding with above-mentioned more echo laser radar range methods, the embodiment of the invention also provides a kind of more echo rangings
Laser radar, the laser radar include:
Receiver, for receiving return laser beam；
Memory, for storing the return laser beam received；
Processor, for making the first laser echo for currently receiving the period and the previous second laser echo for receiving the period
It is superimposed and is averaged, obtain superposition echo；
The processor is also used to obtain the effective echo of superposition from the superposition echo；
The processor is also used to obtain first effective echo in first laser echo according to the effective echo of superposition
With second effective echo in second laser echo；
The processor is also used to arbitrate each first effective echo with corresponding second effective echo；
If the processor is also used to the arbitration success of described first effective echo, according to described first effective echo,
Obtain the distance of testee.
More echo laser radars of the embodiment of the present invention can effectively filter out interference information, improve range accuracy.
A kind of more echo laser radar range methods and more echo laser radars are disclosed in the embodiment of the present invention, it is described
In method, the first laser echo for currently receiving the period is made to be superimposed and be averaged with the previous second laser echo for receiving the period,
Obtain superposition echo；The effective echo of superposition is obtained from the superposition echo；According to the effective echo of superposition, obtains first and swash
First effective echo in optical echo and second effective echo in second laser echo；To each first effective echo with it is corresponding
Second effective echo arbitrated；If the arbitration success of first effective echo, according to described first effective echo, is obtained
Take the distance of testee.In the present invention, the return laser beam that the different reception periods are received is superimposed, can increase effective echo
Intensity, reduce interference signal intensity, so as to more effective filtering interference signals；In addition, in the present invention, to different receptions
Effective return laser beam in period is arbitrated, and filtering interference signals, acquisition valid data can be done again to reduce
It disturbs, improves the accuracy rate of laser radar.
It is required that those skilled in the art can be understood that the technology in the embodiment of the present invention can add by software
The mode of common hardware realize that common hardware includes universal integrated circuit, universal cpu, general-purpose storage, universal elements
Deng, naturally it is also possible to it by specialized hardware include specific integrated circuit, dedicated cpu, private memory, special components and parts etc. come real
It is existing, but the former is more preferably embodiment in many cases.Based on this understanding, the technical solution sheet in the embodiment of the present invention
The part that contributes to existing technology can be embodied in the form of software products in other words in matter, which produces
Product can store in storage medium, as read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), magnetic disk, CD etc., including some instructions are used so that computer equipment (can be
People's computer, server or network equipment etc.) it executes described in certain parts of each embodiment of the present invention or embodiment
Method.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
The embodiments of the present invention described above are not intended to limit the scope of the present invention.It is any in the present invention
Spirit and principle within made modifications, equivalent substitutions and improvements etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of more echo laser radar range methods, which is characterized in that the described method includes:
So that the first laser echo for currently receiving the period is superimposed and is averaged with the previous second laser echo for receiving the period, obtains
It is superimposed echo；
The effective echo of superposition is obtained from the superposition echo；
According to the effective echo of the superposition, the in the first effective echo and second laser echo in first laser echo is obtained
Two effective echoes；
Each first effective echo is arbitrated with corresponding second effective echo；
If the arbitration success of first effective echo, according to described first effective echo, obtains the distance of testee.
2. the method as described in claim 1, which is characterized in that it is described make currently receive the period first laser echo with it is previous
Before a second laser echo for receiving the period is superimposed and is averaged, the method also includes:
Store the return laser beam received in each reception period.
3. the method as described in claim 1, which is characterized in that described to obtain the effective echo of superposition from superposition echo, comprising:
If the amplitude of the echo in the superposition echo is more than or equal to trigger threshold, then it is assumed that the echo is that superposition is effectively returned
Wave.
4. method as claimed in claim 3, which is characterized in that it is described according to effective echo is superimposed, obtain first laser echo
In first effective echo and second laser echo in second effective echo, comprising:
Obtain the trigger position of each effective echo of superposition；
According to the trigger position of each effective echo of superposition, the trigger position of corresponding each first effective echo is obtained,
Obtain the trigger position of corresponding each second effective echo；
According to the trigger position of described first effective echo, first effective echo is obtained, according to the touching of described second effective echo
Position is sent out, second effective echo is obtained；
The trigger position of echo is the position for the position data point of predetermined number forward that echo amplitude is equal to trigger threshold.
5. method as claimed in claim 4, which is characterized in that carried out to first effective echo with corresponding second effective echo
Arbitration, comprising:
The peak value of first effective echo and peak position are subtracted each other with the peak value of corresponding second effective echo and peak position, obtained
Obtain peak difference values and position difference；
If the peak difference values are in pre-set peak value error tolerance, and the position difference is in predeterminated position error tolerance, then
Think that described first effective echo is arbitrated successfully.
6. method as claimed in claim 5, which is characterized in that the arbitration success of first effective echo, then according to first
Effective echo obtains the distance of testee, comprising:
The distance of the testee are as follows: the corresponding distance of trigger position of first effective echo, effectively with described first
The corresponding sum of the distance of the waveform of echo.
7. a kind of more echo ranging laser radars, which is characterized in that the laser radar includes:
Superposed average unit, for returning the first laser echo for currently receiving the period and the previous second laser for receiving the period
Wave is superimposed and is averaged, and obtains superposition echo；
Trigger unit, for obtaining the effective echo of superposition from the superposition echo；
Trigger unit is also used to obtain first effective echo and second in first laser echo according to the effective echo of superposition
Second effective echo in return laser beam；
Arbitration unit, for being arbitrated to each first effective echo with corresponding second effective echo；
Distance measuring unit, if the arbitration success for described first effective echo obtains tested according to described first effective echo
The distance of object.
8. laser radar as claimed in claim 7, which is characterized in that the trigger unit is also used to:
Obtain the trigger position of each effective echo of superposition；
According to the trigger position of each effective echo of superposition, the trigger position of corresponding each first effective echo is obtained,
Obtain the trigger position of corresponding each second effective echo；
According to the trigger position of described first effective echo, first effective echo is obtained, according to the touching of described second effective echo
Position is sent out, second effective echo is obtained；
The trigger position of echo is the position for the position data point of predetermined number forward that echo amplitude is equal to trigger threshold.
9. laser radar as claimed in claim 6, which is characterized in that the arbitration unit is also used to:
The peak value of first effective echo and peak position are subtracted each other with the peak value of corresponding second effective echo and peak position, obtained
Obtain peak difference values and position difference；
If the peak difference values are in pre-set peak value error tolerance, and the position difference is in predeterminated position error tolerance, then
Think that described first effective echo is arbitrated successfully.
10. a kind of more echo ranging laser radars, which is characterized in that the laser radar includes:
Receiver, for receiving return laser beam；
Memory, for storing the return laser beam received；
Processor, for being superimposed the first laser echo for currently receiving the period with the previous second laser echo for receiving the period
And it is average, obtain superposition echo；
The processor is also used to obtain the effective echo of superposition from the superposition echo；
The processor is also used to obtain first effective echo in first laser echo and the according to the effective echo of the superposition
Second effective echo in dual-laser echo；
The processor is also used to arbitrate each first effective echo with corresponding second effective echo；
If the arbitration success that the processor is also used to described first effective echo is obtained according to described first effective echo
The distance of testee.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112639516A (en) * | 2019-12-10 | 2021-04-09 | 深圳市速腾聚创科技有限公司 | Laser radar ranging method and device, computer equipment and storage medium |
| CN113050071A (en) * | 2019-12-27 | 2021-06-29 | 北京万集科技股份有限公司 | Laser radar data processing method, device, equipment and storage medium |
| CN113376644A (en) * | 2021-08-16 | 2021-09-10 | 深圳煜炜光学科技有限公司 | Method and device for improving laser ranging precision |
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