CN110333514B - Multi-echo laser radar ranging method and multi-echo laser radar - Google Patents
Multi-echo laser radar ranging method and multi-echo laser radar Download PDFInfo
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- CN110333514B CN110333514B CN201811190492.XA CN201811190492A CN110333514B CN 110333514 B CN110333514 B CN 110333514B CN 201811190492 A CN201811190492 A CN 201811190492A CN 110333514 B CN110333514 B CN 110333514B
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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
Abstract
The embodiment of the invention discloses a multi-echo laser radar ranging method, which is characterized in that a first laser echo in a current receiving period and a second laser echo in a previous receiving period are superposed and averaged to obtain a superposed echo; obtaining a superposition effective echo from the superposition echo; according to the superposed effective echoes, obtaining a first effective echo in the first laser echoes and a second effective echo in the second laser echoes; arbitrating each first effective echo and the corresponding second effective echo; and if the arbitration of the first effective echo is successful, acquiring the distance of the measured object according to the first effective echo. According to the invention, the laser echoes received in different receiving periods are superposed, so that the intensity of effective echoes can be increased, the intensity of interference signals can be reduced, and the interference signals can be filtered more effectively; in addition, the invention arbitrates the effective laser echoes in different receiving periods, can filter interference signals again, obtains effective data and improves the accuracy of the laser radar.
Description
Technical Field
The invention relates to the field of detection, in particular to a multi-echo laser radar ranging method and a multi-echo laser radar.
Background
The laser radar is a radar system which emits laser beams to detect the position, speed and other characteristic quantities of a target, and the working principle of the radar system is that the detection laser beams are emitted to the target, then the received signals reflected from the target are compared with the emitted signals, and after appropriate processing, the relevant information of the target, such as the parameters of the target distance, the direction, the height, the speed, the attitude, even the shape and the like, can be obtained.
In the transmitting system of the laser radar, the transmitted laser is a pulse laser, so that at a certain moment, the transmitted laser is a spherical surface or a hemispherical surface with the laser radar as a center, as shown in fig. 1, an outer circle represents the spherical surface of the laser, and a middle square represents the laser radar.
Since most of the object volume in the view field of the laser radar is smaller than the volume of the laser sphere, as shown in fig. 2, a part of the laser sphere is reflected when encountering an object 201, so that the laser radar receives a laser echo; and the rest of the spherical part will continue to move forward and be reflected after meeting other objects 202, so that the laser radar receives a laser echo again. An outgoing laser pulse corresponding to a certain transmission period may be reflected twice or more, so that the lidar receives multiple laser echoes in a corresponding receiving period, but the multiple laser echoes received by a certain lidar may also be interference signals, as shown in fig. 3, 310 and 320 in fig. 3 may be laser echoes of a measured object, and 330 may be interference signals.
In order to increase the point cloud effect of the laser radar and improve the resolution, it is desirable to receive all the echoes corresponding to the laser pulse transmitted at one time and obtain more information from the echoes, but it is desirable to filter out the interference therein. In the prior art, an effective processing means aiming at a plurality of echoes received by the laser radar is not available.
Disclosure of Invention
The embodiment of the invention provides a multi-echo laser radar ranging method and a multi-echo laser radar, which can effectively filter interference information and improve ranging accuracy.
In order to solve the technical problem, the embodiment of the invention discloses the following technical scheme:
in one aspect, a multi-echo lidar ranging method is provided, where the method includes:
superposing and averaging a first laser echo in a current receiving period and a second laser echo in a previous receiving period to obtain a superposed echo;
obtaining a superposition effective echo from the superposition echo;
obtaining a first effective echo in the first laser echo and a second effective echo in the second laser echo according to the superposed effective echoes;
arbitrating each first effective echo and the corresponding second effective echo;
and if the arbitration of the first effective echo is successful, acquiring the distance of the measured object according to the first effective echo.
Optionally, before the first laser echo of the current receiving period is superimposed and averaged with the second laser echo of the previous receiving period, the method further includes:
the laser echoes received in each receive cycle are stored.
Optionally, the obtaining a superposition effective echo from the superposition echo includes:
and if the amplitude of the echo in the superposition echo is greater than or equal to a trigger threshold, the echo is considered as a superposition effective echo.
Optionally, the obtaining a first effective echo in the first laser echo and a second effective echo in the second laser echo according to the superimposed effective echoes includes:
obtaining a trigger position of each superposed effective echo;
obtaining a triggering position of each corresponding first effective echo according to the triggering position of each superposed effective echo, and obtaining a triggering position of each corresponding second effective echo;
acquiring a first effective echo according to the trigger position of the first effective echo, and acquiring a second effective echo according to the trigger position of the second effective echo;
the triggering position of the echo is the position of the data point of which the echo amplitude is equal to the triggering threshold and the position is forward by a preset number.
Optionally, arbitrating the first effective echo and the corresponding second effective echo includes:
subtracting the peak value and the peak value position of the first effective echo from the peak value and the peak value position of the corresponding second effective echo to obtain a peak value difference value and a position difference value;
and if the peak difference value is within a preset peak fault tolerance range and the position difference value is within a preset position fault tolerance range, the first effective echo is judged to be successfully arbitrated.
Optionally, if the arbitration of the first effective echo is successful, obtaining the distance of the object to be measured according to the first effective echo includes:
the distance of the measured object is as follows: and the sum of the distance corresponding to the trigger position of the first effective echo and the distance corresponding to the waveform of the first effective echo.
In a second aspect, there is provided a multi-echo ranging lidar comprising:
the superposition averaging unit is used for superposing and averaging a first laser echo in the current receiving period and a second laser echo in the previous receiving period to obtain a superposed echo;
the trigger unit is used for obtaining the superposition effective echo from the superposition echo;
the triggering unit is further used for obtaining a first effective echo in the first laser echoes and a second effective echo in the second laser echoes according to the superposed effective echoes;
the arbitration unit is used for arbitrating each first effective echo and the corresponding second effective echo;
and the distance measuring unit is used for obtaining the distance of the measured object according to the first effective echo if the arbitration of the first effective echo is successful.
Optionally, the triggering unit is further configured to:
obtaining a trigger position of each superposed effective echo;
obtaining a triggering position of each corresponding first effective echo according to the triggering position of each superposed effective echo, and obtaining a triggering position of each corresponding second effective echo;
acquiring a first effective echo according to the trigger position of the first effective echo, and acquiring a second effective echo according to the trigger position of the second effective echo;
the triggering position of the echo is the position of the data point of which the echo amplitude is equal to the triggering threshold and the position is forward by a preset number.
Optionally, the arbitration unit is further configured to:
subtracting the peak value and the peak value position of the first effective echo from the peak value and the peak value position of the corresponding second effective echo to obtain a peak value difference value and a position difference value;
and if the peak difference value is within a preset peak fault tolerance range and the position difference value is within a preset position fault tolerance range, the first effective echo is judged to be successfully arbitrated.
In a third aspect, a multi-echo ranging lidar is provided, wherein the lidar comprises:
a receiver for receiving laser echoes;
a memory for storing the received laser echo;
the processor is used for superposing and averaging a first laser echo in the current receiving period and a second laser echo in the previous receiving period to obtain a superposed echo;
the processor is further used for obtaining a superposition effective echo from the superposition echo;
the processor is further used for obtaining a first effective echo in the first laser echoes and a second effective echo in the second laser echoes according to the superposed effective echoes;
the processor is further configured to arbitrate each first valid echo with a corresponding second valid echo;
and the processor is further used for acquiring the distance of the measured object according to the first effective echo if the arbitration of the first effective echo is successful.
The embodiment of the invention discloses a multi-echo laser radar ranging method, wherein in the method, a first laser echo of a current receiving period and a second laser echo of a previous receiving period are superposed and averaged to obtain a superposed echo; obtaining a superposition effective echo from the superposition echo; obtaining a first effective echo in the first laser echo and a second effective echo in the second laser echo according to the superposed effective echoes; arbitrating each first effective echo and the corresponding second effective echo; and if the arbitration of the first effective echo is successful, acquiring the distance of the measured object according to the first effective echo. According to the invention, the laser echoes received in different receiving periods are superposed, so that the intensity of effective echoes can be increased, and the intensity of interference signals can be reduced, thereby more effectively filtering the interference signals; in addition, the invention arbitrates the effective laser echoes in different receiving periods, can filter interference signals again and obtain effective data, thereby reducing interference and improving the accuracy of the laser radar.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of a pulsed laser emitted by a lidar;
FIG. 2 is a schematic diagram of the principle of multi-echo generation of a lidar;
FIG. 3 shows a laser echo diagram of a lidar;
FIG. 4 is a flowchart illustrating a multi-echo lidar ranging method according to an embodiment of the present invention;
fig. 5 is a schematic diagram of laser echo according to an embodiment of the present invention.
Detailed Description
The following embodiments of the invention provide a multi-echo laser radar ranging method and a multi-echo laser radar, which can effectively filter interference information and improve ranging accuracy.
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 4 is a flowchart of a method for measuring a distance by using a multi-echo lidar according to an embodiment of the present invention, where as shown in fig. 4, the method includes:
step 410, superposing and averaging a first laser echo in a current receiving period and a second laser echo in a previous receiving period to obtain a superposed echo;
and 450, if the arbitration of the first effective echo is successful, acquiring the distance of the measured object according to the first effective echo.
The embodiment of the invention discloses a multi-echo laser radar ranging method, wherein laser echoes received in different receiving periods are superposed, so that the intensity of effective echoes can be increased, and the intensity of interference signals can be reduced, thereby more effectively filtering the interference signals; in addition, the invention arbitrates the effective laser echoes in different receiving periods, can filter interference signals again and obtain effective data, thereby reducing interference and improving the accuracy of the laser radar.
In an embodiment of the present invention, before step 410, that is, before the overlapping and averaging the first laser echo of the current receiving period and the second laser echo of the previous receiving period, the method further includes:
the laser echoes received in each receive cycle are stored.
In this embodiment of the present invention, in step 420, the obtaining a superposition effective echo from the superposition echoes includes:
and if the amplitude of the echo in the superposition echo is greater than or equal to a trigger threshold, the echo is considered as a superposition effective echo.
Referring to fig. 3, in fig. 3, the trigger threshold is shown as a dashed line, and 310 and 320 can be considered as valid echoes, 330 bits of interference signals.
In this embodiment of the present invention, in step 430, obtaining a first effective echo in the first laser echoes and a second effective echo in the second laser echoes includes:
obtaining a trigger position of each superposed effective echo;
obtaining a triggering position of each corresponding first effective echo according to the triggering position of each superposed effective echo, and obtaining a triggering position of each corresponding second effective echo;
acquiring a first effective echo according to the trigger position of the first effective echo, and acquiring a second effective echo according to the trigger position of the second effective echo;
the triggering position of the echo is the position of the data point of which the echo amplitude is equal to the triggering threshold and the position is forward by a preset number.
In this embodiment of the present invention, in step 440, arbitrating the first effective echo and the corresponding second effective echo includes:
subtracting the peak value and the peak value position of the first effective echo from the peak value and the peak value position of the corresponding second effective echo to obtain a peak value difference value and a position difference value;
and if the peak difference value is within a preset peak fault tolerance range and the position difference value is within a preset position fault tolerance range, the first effective echo is judged to be successfully arbitrated.
Fig. 5 is a schematic diagram of laser echo according to an embodiment of the present invention.
Fig. 5(a) shows a first laser echo received in the previous reception period, fig. 5(b) shows a second laser echo received in the current period, and fig. 5(c) shows a superposition echo.
By using the method of step 420, it can be known that there are two superimposed effective echoes, which are respectively labeled 531 and 532, in the superimposed echo of fig. 5(c), and 533 is an interference signal.
As can be seen from fig. 5(c), the ratio of the effective echo signals 531, 532 to the interference signal 533 after superposition and averaging is greater than the corresponding ratio in fig. 5 (b).
The trigger positions of the superimposed effective echoes 531 and 532 are the points C1 and C2, respectively.
The triggering position of the echo is the position of the data points of which the echo amplitude is equal to the triggering threshold and the position is forward by a preset number, in the embodiment of the invention, the preset number is 8, and 1 data point is equivalent to the flight time of light within the duration of 2ns in the embodiment of the invention.
From the above-mentioned points C1 and C2, the first effective echoes, i.e., the trigger positions B1 and B2 in fig. 5(B), are obtained, and the second effective echoes, i.e., the trigger positions a1 and a2 in fig. 5(a), are obtained.
For the superimposed effective echo 531, the corresponding first effective echo is 521, and the corresponding second effective echo is 511; for the superimposed effective echo 532, the corresponding first effective echo is 522 and the corresponding second effective echo is 512.
Referring to fig. 5, the peak value of the effective echo 521 is 199, the peak position is 86, the peak value of the effective echo 522 is 150, and the peak position is 206; the peak position of the effective echo 511 is 199, the peak position is 86, the peak value of the effective echo 512 is 150, and the peak position is 206.
The effective echo 521 is subtracted from the corresponding effective echo 511 peak value and peak value position, and both are 0; the effective echo 522 is subtracted from the peak value and peak position of the corresponding effective echo 512, and if both are 0, the arbitration between the effective echoes 521 and 522 is considered to be successful.
In step 450, if the arbitration of the first effective echo is successful, the obtaining a distance of the object to be measured according to the first effective echo includes:
the distance of the measured object is as follows: and the sum of the distance corresponding to the trigger position of the first effective echo and the distance corresponding to the waveform of the first effective echo.
In the embodiment of the present invention, a proper trigger threshold is set, so as to filter out a part of the interference signals, for example, 533 in fig. 5(c) is the interference signal, which is filtered out. In addition, the first effective echo and the corresponding second effective echo are arbitrated, whether the two corresponding effective echoes are the echoes of the same measured object can be judged, if the arbitration is successful, the two corresponding effective echoes are considered as the echoes of the same measured object and can be used for ranging, and the method enables each effective echo to be arbitrated, so that the omission of effective signals is avoided; if the arbitration is unsuccessful, the echo is not the same measured object, and may be an interference signal, and the echo is not used for ranging, which is equivalent to filtering the interference signal again. Therefore, the method provided by the embodiment of the invention can effectively filter the interference signal, fully utilizes the effective echo and improves the accuracy of the laser radar.
In the above embodiment of the present invention, the effective echo 521 and the effective echo 522 are successfully blanked, and the distance between two corresponding measured objects is obtained according to the effective echo 521 and the effective echo 523.
Corresponding to the multi-echo laser radar ranging method, the embodiment of the invention also provides a multi-echo ranging laser radar, which comprises the following steps:
the superposition averaging unit is used for superposing and averaging a first laser echo in the current receiving period and a second laser echo in the previous receiving period to obtain a superposed echo;
the trigger unit is used for obtaining the superposition effective echo from the superposition echo;
the triggering unit is further used for obtaining a first effective echo in the first laser echoes and a second effective echo in the second laser echoes according to the superposed effective echoes;
the arbitration unit is used for arbitrating each first effective echo and the corresponding second effective echo;
and the distance measuring unit is used for obtaining the distance of the measured object according to the first effective echo if the arbitration of the first effective echo is successful.
In this embodiment of the present invention, the trigger unit is further configured to:
obtaining a trigger position of each superposed effective echo;
obtaining a triggering position of each corresponding first effective echo according to the triggering position of each superposed effective echo, and obtaining a triggering position of each corresponding second effective echo;
acquiring a first effective echo according to the trigger position of the first effective echo, and acquiring a second effective echo according to the trigger position of the second effective echo;
the triggering position of the echo is the position of the data point of which the echo amplitude is equal to the triggering threshold and the position is forward by a preset number.
In an implementation of the present invention, the arbitration unit is further configured to:
subtracting the peak value and the peak value position of the first effective echo from the peak value and the peak value position of the corresponding second effective echo to obtain a peak value difference value and a position difference value;
and if the peak difference value is within a preset peak fault tolerance range and the position difference value is within a preset position fault tolerance range, the first effective echo is judged to be successfully arbitrated.
The multi-echo laser radar of the embodiment of the invention can effectively filter interference information and improve the ranging accuracy.
Corresponding to the multi-echo laser radar ranging method, the embodiment of the invention also provides a multi-echo ranging laser radar, which comprises the following steps:
a receiver for receiving laser echoes;
a memory for storing the received laser echo;
the processor is used for superposing and averaging a first laser echo in the current receiving period and a second laser echo in the previous receiving period to obtain a superposed echo;
the processor is further used for obtaining a superposition effective echo from the superposition echo;
the processor is further used for obtaining a first effective echo in the first laser echoes and a second effective echo in the second laser echoes according to the superposed effective echoes;
the processor is further configured to arbitrate each first valid echo with a corresponding second valid echo;
and the processor is further used for acquiring the distance of the measured object according to the first effective echo if the arbitration of the first effective echo is successful.
The multi-echo laser radar of the embodiment of the invention can effectively filter interference information and improve the ranging accuracy.
The embodiment of the invention discloses a multi-echo laser radar ranging method and a multi-echo laser radar, wherein in the method, a first laser echo in a current receiving period and a second laser echo in a previous receiving period are superposed and averaged to obtain a superposed echo; obtaining a superposition effective echo from the superposition echo; obtaining a first effective echo in the first laser echo and a second effective echo in the second laser echo according to the superposed effective echoes; arbitrating each first effective echo and the corresponding second effective echo; and if the arbitration of the first effective echo is successful, acquiring the distance of the measured object according to the first effective echo. According to the invention, the laser echoes received in different receiving periods are superposed, so that the intensity of effective echoes can be increased, and the intensity of interference signals can be reduced, thereby more effectively filtering the interference signals; in addition, the invention arbitrates the effective laser echoes in different receiving periods, can filter interference signals again and obtain effective data, thereby reducing interference and improving the accuracy of the laser radar.
Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention may be implemented by software plus necessary general hardware, including general purpose integrated circuits, general purpose CPUs, general purpose memories, general purpose components, etc., or by special purpose hardware, including special purpose integrated circuits, special purpose CPUs, special purpose memories, special purpose components, etc., but the former is a better implementation in many cases. Based on such understanding, the technical solutions in the embodiments of the present invention may be substantially implemented or portions thereof that contribute to the prior art may be embodied in the form of a software product, which may be stored in a storage medium, such as a Read-Only Memory (ROM), a Random-Access Memory (RAM), a magnetic disk, an optical disk, and so on, and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute the method in the embodiments or some portions thereof.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the system embodiment, since it is substantially similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The above-described embodiments of the present invention do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A multi-echo laser radar ranging method, characterized in that the method comprises:
superposing and averaging a first laser echo in a current receiving period and a second laser echo in a previous receiving period to obtain a superposed echo;
obtaining a superposition effective echo from the superposition echo;
obtaining a first effective echo in the first laser echo and a second effective echo in the second laser echo according to the superposed effective echoes;
arbitrating each first effective echo and the corresponding second effective echo;
if the arbitration of the first effective echo is successful, acquiring the distance of the measured object according to the first effective echo;
the obtaining of the effective echo from the echo stack includes:
if the amplitude of the echo in the superposition echo is greater than or equal to a trigger threshold, the echo is considered as a superposition effective echo;
the obtaining a first effective echo in the first laser echo and a second effective echo in the second laser echo according to the superimposed effective echoes includes:
obtaining a trigger position of each superposed effective echo;
obtaining a triggering position of each corresponding first effective echo according to the triggering position of each superposed effective echo, and obtaining a triggering position of each corresponding second effective echo;
acquiring a first effective echo according to the trigger position of the first effective echo, and acquiring a second effective echo according to the trigger position of the second effective echo;
the triggering position of the echo is the position of the data point of which the echo amplitude is equal to the triggering threshold and the position is forward by a preset number.
2. The method of claim 1, wherein prior to superimposing and averaging the first laser echo of the current receive period with the second laser echo of the previous receive period, the method further comprises:
the laser echoes received in each receive cycle are stored.
3. The method of claim 1, wherein arbitrating for a first valid echo with a corresponding second valid echo comprises:
subtracting the peak value and the peak value position of the first effective echo from the peak value and the peak value position of the corresponding second effective echo to obtain a peak value difference value and a position difference value;
and if the peak difference value is within a preset peak fault tolerance range and the position difference value is within a preset position fault tolerance range, the first effective echo is judged to be successfully arbitrated.
4. The method of claim 3, wherein if the arbitration of the first effective echo is successful, obtaining the distance of the measured object according to the first effective echo comprises:
the distance of the measured object is as follows: and the sum of the distance corresponding to the trigger position of the first effective echo and the distance corresponding to the waveform of the first effective echo.
5. A multi-echo ranging lidar comprising:
the superposition averaging unit is used for superposing and averaging a first laser echo in the current receiving period and a second laser echo in the previous receiving period to obtain a superposed echo;
the trigger unit is used for obtaining the superposition effective echo from the superposition echo; if the amplitude of the echo in the superposition echo is greater than or equal to a trigger threshold, the echo is considered to be a superposition effective echo;
the triggering unit is further used for obtaining a first effective echo in the first laser echoes and a second effective echo in the second laser echoes according to the superposed effective echoes;
the arbitration unit is used for arbitrating each first effective echo and the corresponding second effective echo;
the distance measuring unit is used for obtaining the distance of the measured object according to the first effective echo if the arbitration of the first effective echo is successful;
the trigger unit is further configured to:
obtaining a trigger position of each superposed effective echo;
obtaining a triggering position of each corresponding first effective echo according to the triggering position of each superposed effective echo, and obtaining a triggering position of each corresponding second effective echo;
acquiring a first effective echo according to the trigger position of the first effective echo, and acquiring a second effective echo according to the trigger position of the second effective echo;
the triggering position of the echo is the position of the data point of which the echo amplitude is equal to the triggering threshold and the position is forward by a preset number.
6. The lidar of claim 5, wherein the arbitration unit is further to:
subtracting the peak value and the peak value position of the first effective echo from the peak value and the peak value position of the corresponding second effective echo to obtain a peak value difference value and a position difference value;
and if the peak difference value is within a preset peak fault tolerance range and the position difference value is within a preset position fault tolerance range, the first effective echo is judged to be successfully arbitrated.
7. A multi-echo ranging lidar comprising:
a receiver for receiving laser echoes;
a memory for storing the received laser echo;
the processor is used for superposing and averaging a first laser echo in the current receiving period and a second laser echo in the previous receiving period to obtain a superposed echo;
the processor is further used for obtaining a superposition effective echo from the superposition echo; if the amplitude of the echo in the superposition echo is greater than or equal to a trigger threshold, the echo is considered as a superposition effective echo;
the processor is further used for obtaining a first effective echo in the first laser echoes and a second effective echo in the second laser echoes according to the superposed effective echoes;
the processor is further configured to arbitrate each first valid echo with a corresponding second valid echo;
the processor is further used for obtaining the distance of the measured object according to the first effective echo if the arbitration of the first effective echo is successful;
the processor is further configured to:
obtaining a trigger position of each superposed effective echo;
obtaining a triggering position of each corresponding first effective echo according to the triggering position of each superposed effective echo, and obtaining a triggering position of each corresponding second effective echo;
acquiring a first effective echo according to the trigger position of the first effective echo, and acquiring a second effective echo according to the trigger position of the second effective echo;
the triggering position of the echo is the position of the data point of which the echo amplitude is equal to the triggering threshold and the position is forward by a preset number.
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| CN113050071B (en) * | 2019-12-27 | 2023-05-30 | 北京万集科技股份有限公司 | Laser radar data processing method, device, equipment and storage medium |
| CN117730264A (en) * | 2021-07-28 | 2024-03-19 | 深圳市速腾聚创科技有限公司 | Laser radar anti-interference method and device, readable storage medium and terminal equipment |
| CN113376644B (en) * | 2021-08-16 | 2021-11-30 | 深圳煜炜光学科技有限公司 | Method and device for improving laser ranging precision |
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