CN108761426A - A kind of coherent pulse laser radar - Google Patents
A kind of coherent pulse laser radar Download PDFInfo
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- CN108761426A CN108761426A CN201811030771.XA CN201811030771A CN108761426A CN 108761426 A CN108761426 A CN 108761426A CN 201811030771 A CN201811030771 A CN 201811030771A CN 108761426 A CN108761426 A CN 108761426A
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- 238000012545 processing Methods 0.000 claims abstract description 28
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims abstract description 19
- 230000035559 beat frequency Effects 0.000 claims abstract description 17
- 238000006243 chemical reaction Methods 0.000 claims description 14
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Classifications
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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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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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
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
Coherent pulse laser radar of the present invention, including：Seed signal generation device, signal transmitting and receiving module, local oscillation signal modulating device and mixer device.Seed signal generation device is for generating narrow linewidth seed laser signal.Signal transmitting and receiving module is used to after narrow linewidth seed laser signal is modulated, is amplified launch, and receives through the reflected end face heliogram of measured target.Local oscillation signal modulating device is used to carry out impulse modulation to narrow linewidth seed laser signal, obtains modulated signal.Mixer device is used to carry out beat frequency processing to end face heliogram and modulated signal, obtains Beat Signal.The technical program increases local oscillation signal modulating device in local oscillator light path, to carry out impulse modulation to narrow linewidth seed laser signal, obtain modulated signal, and then when carrying out beat frequency processing with the end face heliogram, beat frequency treated pulse distortion and intensity distortion are reduced, finally to restore end face information as far as possible.
Description
Technical field
The invention belongs to Radar Technology fields, and in particular to a kind of coherent pulse laser radar.
Background technology
When coherent pulse laser radar is detected, intrinsic detection blind area is had, theoretically there is the pulsewidth * lighies velocity/2m's
Detection blind area, present inventor have found during invention the application：Existing coherent pulse laser radar is because adjust
All rising edges of device processed itself and failing edge limitation, pulsewidth is it is not possible that modulates is sufficiently small, for the pulsewidth of objective reality
Limitation, when emit coherent pulse, pulse the position that output end face and optical antenna are contacted can occur light echo pulse and by force
The distortion of degree will produce pulse broadening, practical blind area about exists after carrying out Coherent processing with local oscillation signal on time-domain signal
The 1.5 times of pulsewidth * lighies velocity/2m, while abnormal frequency spectrum can be parsed.
Invention content
In consideration of it, the purpose of the present invention is to provide a kind of coherent pulse laser radars, to effectively improve the above problem.
What the embodiment of the present invention was realized in：
An embodiment of the present invention provides a kind of coherent pulse laser radars, including：Seed signal generation device, signal transmitting
Receiving module, local oscillation signal modulating device and mixer device；The seed signal generation device, for generating narrow linewidth seed
Laser signal；The signal transmitting and receiving module is connect with the seed signal generation device, the signal transmitting and receiving module
For launching after the narrow linewidth seed laser signal is modulated, is amplified, and receives and be reflected back through measured target
The end face heliogram come；The local oscillation signal modulating device is connect with the seed signal generation device, the local oscillation signal
Modulating device is used to carry out impulse modulation to the narrow linewidth seed laser signal, obtains modulated signal；The mixer device point
It is not connect with the local oscillation signal modulating device and the signal transmitting and receiving module, the mixer device is used for the end face
Heliogram and the modulated signal carry out beat frequency processing, obtain Beat Signal.
In optional embodiment of the present invention, the coherent pulse laser radar further includes：Photoelectric conversion device, it is described mixed
Frequency device is connect with the photoelectric conversion device, and the photoelectric conversion device is used to the Beat Signal being converted to electrical signal
Output.
In optional embodiment of the present invention, the coherent pulse laser radar further includes：Signal processing apparatus, the light
Electrical switching device is connect with the signal processing apparatus, and the signal processing apparatus from the electrical signal for parsing institute
The detection information needed, wherein the detection information includes：Range information apart from the measured target and the measured target
Travel frequency information.
In optional embodiment of the present invention, the signal transmitting and receiving module includes：Emit modulating apparatus, amplification
Device, signal distinguishing device and signal sending and receiving apparatus；The seed signal generation device, transmitting signal modulation dress
It sets, the amplifier, the signal distinguishing device and the signal sending and receiving apparatus are sequentially connected, the signaling zone packing
It sets and is also connect with the mixer device；The transmitting modulating apparatus is used for the amplitude to the narrow linewidth seed laser signal
It is modulated with frequency；The amplifier is for being amplified modulated narrow linewidth seed laser signal；The signaling zone
The end of the separating device for being received to amplified narrow linewidth seed laser signal and through the signal sending and receiving apparatus
Face heliogram distinguishes；The signal sending and receiving apparatus is for launching amplified narrow linewidth seed laser signal
It goes, and receives through the reflected end face heliogram of measured target.
In optional embodiment of the present invention, the local oscillation signal modulating device is electrooptical switching, magneto-optic shutter or acousto-optic
Switch.
In optional embodiment of the present invention, the local oscillation signal modulating device is modulator.
In optional embodiment of the present invention, the signal distinguishing device includes optical circulators part.
In optional embodiment of the present invention, the signal sending and receiving apparatus includes mounting of telescope.
In optional embodiment of the present invention, it is acousto-optic modulator to state transmitting modulating apparatus.
Coherent pulse laser radar provided in an embodiment of the present invention, including：Seed signal generation device, signal transmitting receive
Module, local oscillation signal modulating device and mixer device.Seed signal generation device respectively with signal transmitting and receiving module and this
The modulating apparatus that shakes connects, and mixer device is connect with signal transmitting and receiving module and local oscillation signal modulating device respectively.Seed
Signal generation device is for generating narrow linewidth seed laser signal.Signal transmitting and receiving module is for believing narrow linewidth seed laser
Number be modulated, amplify after launch, and receive through the reflected end face heliogram of measured target.Local oscillation signal tune
Device processed is used to carry out impulse modulation to narrow linewidth seed laser signal, obtains modulated signal.Mixer device is used to go back to end face
Optical signal and modulated signal carry out beat frequency processing, obtain Beat Signal.The technical program increases local oscillator letter in local oscillator light path
Number modulating device obtains modulated signal to carry out impulse modulation to narrow linewidth seed laser signal, so with the end face
When heliogram carries out beat frequency processing, beat frequency treated pulse distortion and intensity distortion are reduced, finally to restore as far as possible
End face information reduces end face interference, while reducing distortion blind area.
Other features and advantages of the present invention will be illustrated in subsequent specification, also, partly be become from specification
It is clear that being understood by implementing the embodiment of the present invention.The purpose of the present invention and other advantages can be by being write
Specifically noted structure is realized and is obtained in specification, claims and attached drawing.
Description of the drawings
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 present 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.Shown in attached drawing, above and other purpose of the invention, feature and advantage will be more clear.In whole
Identical reference numeral indicates identical part in attached drawing.Actual size equal proportion scaling is not pressed deliberately draws attached drawing, emphasis
It is that the purport of the present invention is shown.
Fig. 1 shows the structural schematic diagram of existing coherent pulse laser radar.
Fig. 2 shows the structural schematic diagrams for the coherent pulse laser radar that one embodiment of the invention provides.
Fig. 3 shows the structural schematic diagram of the signal transmitting and receiving module in Fig. 2 provided in an embodiment of the present invention.
Fig. 4 shows the structural schematic diagram for the coherent pulse laser radar that further embodiment of this invention provides.
Icon：100- coherent pulse laser radars；11- seed signal generation devices；20- signal transmitting and receiving modules；
12- emits modulating apparatus；13- amplifiers；14- signal distinguishing devices；15- signal sending and receiving apparatus；16- sheets
Shake modulating apparatus；17- mixer devices；18- photoelectric conversion devices；19- signal processing apparatus.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
The every other embodiment that technical staff is obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "inner",
The orientation or positional relationship of the instructions such as "outside" be based on the orientation or positional relationship shown in the drawings or the invention product use
When the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, rather than indicate or imply
Signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as to this
The limitation of invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and it should not be understood as instruction or dark
Show relative importance.Furthermore term "and/or" in the application, only it is a kind of description affiliated partner incidence relation, expression can
With there are three kinds of relationships, for example, A and/or B, can indicate：Individualism A exists simultaneously A and B, these three feelings of individualism B
Condition.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, can also be electrical connection；It can be directly connected, it can also be indirect by intermediary
It is connected, can is the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Referring to Fig. 1, Fig. 1 is the structural schematic diagram of existing coherent pulse laser radar.Existing coherent pulse laser thunder
Up in measuring technique, the laser signal that coherent source 1 generates is put after the adjustment of modulation device 2 using amplifier 3
Greatly, using 5 emission detection of ring-shaped device 4 and optical antenna, while the echo-signal returned is received by optical antenna 5,
The echo-signal with local oscillator optical signal at device 7 after ring-shaped device 4 by carrying out Coherent processing, using Electro-Optical Sensor Set
8 are converted to electric signal is handled eventually by data processing equipment 9.Present inventor is during invention the application
It was found that：Because of all rising edges of modulation device 2 itself and failing edge limitation, pulsewidth is it is not possible that modulates is sufficiently small, for visitor
Existing pulsewidth limitation is seen, when emitting coherent pulse, pulse can occur in the position that output end face and optical antenna 5 are contacted
The distortion of light echo pulse and intensity will produce pulse broadening after carrying out Coherent processing with local oscillation signal on time-domain signal, real
Border blind area can parse abnormal frequency spectrum about in the 1.5 times of pulsewidth * lighies velocity/2m.
Wherein, it should be noted that be inventor by practice and careful for the defect present in above scheme
It is being obtained after research as a result, therefore, the discovery procedure of the above problem and the hereinafter embodiment of the present invention institute regarding to the issue above
The solution of proposition all should be the contribution that inventor makes the present invention in process of the present invention.
In consideration of it, the embodiment of the present application provides a kind of coherent pulse laser radar 100, as shown in Figure 2.The coherent pulse
Laser radar 100, including：Seed signal generation device 11, signal transmitting and receiving module 20, local oscillation signal modulating device 16 and
Mixer device 17.Wherein, seed signal generation device 11 respectively with signal transmitting and receiving module 20 and local oscillation signal modulating device
16 connections, mixer device 17 are connect with signal transmitting and receiving module 20 and local oscillation signal modulating device 16 respectively.
Wherein, seed signal generation device 11 is for generating narrow linewidth seed laser signal.On the one hand, the narrow linewidth seed
Laser signal passes through signal transmitting and receiving module 20, so that the signal transmitting and receiving module 20 is used for the narrow linewidth seed
Laser signal is modulated, amplify after launch, and receive through the reflected end face heliogram of measured target.It is another
Aspect, which also passes through local oscillation signal modulating device 16, so as to the local oscillation signal modulating device 16
For carrying out impulse modulation to the narrow linewidth seed laser signal, modulated signal is obtained, and then to swash to narrow linewidth seed
Optical signal carries out impulse modulation, obtains modulated signal, and then when carrying out beat frequency processing with the end face heliogram, reduces and clap
Frequently pulse distortion that treated and intensity distortion reduce end face interference, reduce simultaneously finally to restore end face information as far as possible
Distortion blind area.
Wherein, the local oscillation signal modulating device 16 is used to carry out impulse modulation to narrow linewidth seed laser signal, obtains
Modulated signal, meanwhile, it is synchronized with transmitting signal, when carrying out beat frequency processing with the end face heliogram, to reduce beat frequency
Pulse distortion that treated and intensity distortion reduce end face interference, while reducing abnormal finally to restore end face information as far as possible
Become blind area.Optionally, which is electrooptical switching, magneto-optic shutter or acoustooptic switch.Pass through control
It switches on and the shut-in time, you can by narrow linewidth seed laser signal modulation at pulse signal.As another optional
Mode, which can be modulator, for example, amplitude modulaor etc..
Wherein, the mixer device 17 respectively with the local oscillation signal modulating device 16 and the signal transmitting and receiving module
20 connections.Indispensable component of the mixer device 17 as coherent detection laser radar, for the end face heliogram
(V) and the modulated signal (V0) beat frequency processing is carried out, Beat Signal is obtained, the interference of other optical signallings is reduced.
The signal transmitting and receiving module 20 after the narrow linewidth seed laser signal is modulated, is amplified for emitting
It goes out, and receives through the reflected end face heliogram of measured target.As an alternative embodiment, such as Fig. 3 institutes
Show, which includes：Emit modulating apparatus 12, amplifier 13, signal distinguishing device 14 and letter
Number sending and receiving apparatus 15.Wherein, the seed signal generation device 11, the transmitting modulating apparatus 12, the amplification
Device 13, the signal distinguishing device 14 and the signal sending and receiving apparatus 15 are sequentially connected, the signal distinguishing device 14
Also it is connect with the mixer device 17.
The transmitting modulating apparatus 12 is for adjusting the amplitude and frequency of the narrow linewidth seed laser signal
System.The amplifier 13 is for being amplified modulated narrow linewidth seed laser signal.The signal distinguishing device 14 is used
In the end face light echo received to amplified narrow linewidth seed laser signal and through the signal sending and receiving apparatus 15
Signal distinguishes.The signal sending and receiving apparatus 15 is used to launch amplified narrow linewidth seed laser signal,
And it receives through the reflected end face heliogram of measured target.
Wherein, for the coherent laser radar of different purposes, the modulation system of the transmitting modulating apparatus 12 can be
The modes such as scanning function modulation, impulse modulation.Optionally, which is acousto-optic modulator.
Wherein, the amplifier 13 is used to be amplified preposition modulated narrow linewidth seed laser signal, in order to
It can be detected more at a distance, amplification factor parameter etc. is determined according to specifically used requirement.
Wherein, signal distinguishing device 14 is used for the signal to being sent to signal sending and receiving apparatus 15 and signal transmitting
The end face heliogram that reception device 15 receives distinguishes.The reception of signal and transmitting light path use a kind of knot in the present invention
Structure can minimize light path size and cost etc., and optionally, which includes optical circulators part.
Wherein, the amplified narrow linewidth kind that the signal sending and receiving apparatus 15 is used to send in signal distinguishing device 14
Sub- laser signal is launched, and receives through the reflected end face heliogram of measured target.Wherein, signal transmitting connects
Receiving apparatus 15 includes mounting of telescope.Optionally, which includes optical antenna and lens barrel, is physically being protected
The direction of the launch and Receiver aperture of signal are demonstrate,proved, receiving efficiency etc. is increased.
In addition, as an alternative embodiment, as shown in figure 4, the coherent pulse laser radar 100 further includes：
Photoelectric conversion device 18, the mixer device 17 are connect with the photoelectric conversion device 18, and the photoelectric conversion device 18 is used for
The Beat Signal is converted into electrical signal output.The coherent pulse laser radar 100 further includes：Signal processing apparatus
19, the photoelectric conversion device 18 is connect with the signal processing apparatus 19, and the signal processing apparatus 19 is used for from the electricity
It learns in signal and parses required detection information, wherein the detection information includes：Range information apart from the measured target
And the travel frequency information of the measured target.
Wherein, the application in order to better understand in one of which concrete application scene, surveys wind with coherent pulse and swashs
For optical radar, it is 300ns that traditional coherent pulse anemometry laser radar, which detects pulsewidth, then theoretically detection blind area is
300ns*3*108M/s/2=45m, in actual use, in the pulse laser meeting that the optics endface of emitter is reflected
There is broadening, after carrying out beat frequency with local oscillation signal, practical measurement blind area has reached 60m, and there are 50% gaps with theoretical value.This hair
After 100 technology of coherent pulse laser radar in bright is applied to anemometry laser radar field, to local oscillator optical signal (narrow linewidth seed
Laser signal) it is modulated, while being synchronized with pulse transmission signals, after carrying out beat frequency processing to the signal of endface, due to this
The signal that shakes is modulated, signal strength and waveform are all changed, and can be made up since the pulse signal distortion of endface is brought
It influences, is tested by real system, measurement blind area reduces the signal blind zone in actual use, improve coherent pulse in 50m
Detect the use scope of anemometry laser radar.
In conclusion coherent pulse laser radar provided by the embodiments of the present application, including：Including：Seed signal generates dress
It sets, signal transmitting and receiving module, local oscillation signal modulating device, mixer device, photoelectric conversion device and signal processing apparatus.Its
In, signal transmitting and receiving module includes：Emit modulating apparatus, amplifier, signal distinguishing device and signal transmitting to receive
Device.Wherein, seed signal generation device, for generating narrow linewidth seed laser signal；The signal transmitting and receiving module is used
Launch after the narrow linewidth seed laser signal is modulated, is amplified, and receives and reflected through measured target
End face heliogram；The local oscillation signal modulating device is used to carry out impulse modulation to the narrow linewidth seed laser signal,
Obtain modulated signal；The mixer device is used to carry out beat frequency processing to the end face heliogram and the modulated signal, obtains
To Beat Signal；The photoelectric conversion device is used to the Beat Signal being converted to electrical signal output；The signal processing
Device from the electrical signal for parsing required detection information, wherein the detection information includes：Apart from the quilt
Survey the range information of target and the travel frequency information of the measured target.The technical program increases this in local oscillator light path
Shake modulating apparatus, to carry out impulse modulation to narrow linewidth seed laser signal, obtains modulated signal, so with it is described
When end face heliogram carries out beat frequency processing, beat frequency is reduced treated pulse distortion and intensity distortion, so as to finally as far as possible
End face information is restored, end face interference is reduced, while reducing distortion blind area.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of coherent pulse laser radar, which is characterized in that including：
Seed signal generation device, for generating narrow linewidth seed laser signal；
Signal transmitting and receiving module, the signal transmitting and receiving module are connect with the seed signal generation device, the signal
Transmitting and receiving module is used to after the narrow linewidth seed laser signal is modulated, is amplified launch, and receives through quilt
Survey the reflected end face heliogram of target；
Local oscillation signal modulating device, the local oscillation signal modulating device are connect with the seed signal generation device, the local oscillator
Modulating apparatus is used to carry out impulse modulation to the narrow linewidth seed laser signal, obtains modulated signal；
And mixer device, the mixer device respectively with the local oscillation signal modulating device and the signal transmitting and receiving module
Connection, the mixer device are used to carry out beat frequency processing to the end face heliogram and the modulated signal, obtain beat letter
Number.
2. coherent pulse laser radar according to claim 1, which is characterized in that the coherent pulse laser radar also wraps
It includes：Photoelectric conversion device, the mixer device are connect with the photoelectric conversion device, and the photoelectric conversion device is used for will be described
Beat Signal is converted to electrical signal output.
3. coherent pulse laser radar according to claim 2, which is characterized in that the coherent pulse laser radar also wraps
It includes：Signal processing apparatus, the photoelectric conversion device are connect with the signal processing apparatus, the signal processing apparatus be used for from
Required detection information is parsed in the electrical signal, wherein the detection information includes：Apart from the measured target away from
From information and the travel frequency information of the measured target.
4. coherent pulse laser radar according to any one of claim 1-3, which is characterized in that the signal transmitting
Receiving module includes：Emit modulating apparatus, amplifier, signal distinguishing device and signal sending and receiving apparatus；Described kind
Subsignal generation device, the transmitting modulating apparatus, the amplifier, the signal distinguishing device and signal hair
It penetrates reception device to be sequentially connected, the signal distinguishing device is also connect with the mixer device；
The transmitting modulating apparatus is for being modulated the amplitude and frequency of the narrow linewidth seed laser signal；
The amplifier is for being amplified modulated narrow linewidth seed laser signal；
The signal distinguishing device is used to amplified narrow linewidth seed laser signal and through the signal emits receive dress
The end face heliogram for setting reception distinguishes；
The signal sending and receiving apparatus is used to launch amplified narrow linewidth seed laser signal, and receives through quilt
Survey the reflected end face heliogram of target.
5. coherent pulse laser radar according to claim 4, which is characterized in that the local oscillation signal modulating device is electricity
Photoswitch, magneto-optic shutter or acoustooptic switch.
6. coherent pulse laser radar according to claim 4, which is characterized in that the local oscillation signal modulating device is to adjust
Device processed.
7. coherent pulse laser radar according to claim 4, which is characterized in that the signal distinguishing device includes optics
Ring-shaped device.
8. coherent pulse laser radar according to claim 4, which is characterized in that the signal sending and receiving apparatus includes
Mounting of telescope.
9. coherent pulse laser radar according to claim 4, which is characterized in that the transmitting modulating apparatus is sound
Optical modulator.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109541636A (en) * | 2018-11-23 | 2019-03-29 | 东华大学 | A kind of non-blind area High Range Resolution laser radar wind measuring system and method |
| CN110133615A (en) * | 2019-04-17 | 2019-08-16 | 深圳市速腾聚创科技有限公司 | A kind of laser radar system |
| CN110133616A (en) * | 2019-04-17 | 2019-08-16 | 深圳市速腾聚创科技有限公司 | A kind of laser radar system |
| CN111337904A (en) * | 2020-03-04 | 2020-06-26 | 广东博智林机器人有限公司 | Signal processing method for laser radar and laser radar |
| CN112444818A (en) * | 2019-09-05 | 2021-03-05 | 华为技术有限公司 | Laser radar |
| CN113447955A (en) * | 2021-06-29 | 2021-09-28 | 北京聚恒博联科技有限公司 | Meteorological detection laser radar |
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