CN116224361A - Single photon laser radar imaging detection system - Google Patents

Single photon laser radar imaging detection system Download PDF

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Publication number
CN116224361A
CN116224361A CN202310244176.0A CN202310244176A CN116224361A CN 116224361 A CN116224361 A CN 116224361A CN 202310244176 A CN202310244176 A CN 202310244176A CN 116224361 A CN116224361 A CN 116224361A
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subsystem
imaging detection
laser
detection system
detected
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Inventor
祝月兵
任瑞
冯波
叶鹏
刘志辉
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Sichuan Jiuzhou Electric Group Co Ltd
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Sichuan Jiuzhou Electric Group Co Ltd
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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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • 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
    • G01S17/50—Systems of measurement based on relative movement of target
    • 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
    • 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
    • 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
    • G01S7/483—Details of pulse systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

The invention discloses a single photon laser radar imaging detection system, which comprises: the system comprises a laser emission subsystem, a laser receiving subsystem, a time sequence control subsystem and a data processing subsystem; the laser emission subsystem is used for realizing pulse laser emission and outputting an optical output synchronous signal at the same time; the time sequence control and data processing subsystem is used for receiving the light-emitting synchronous signal output by the laser emission subsystem, outputting a trigger signal for the laser receiving subsystem and processing the detection data output by the laser receiving subsystem; the laser receiving subsystem receives signals according to preset frequency or based on a trigger signal output by the time sequence control and data processing subsystem; the photon laser radar imaging detection system performs imaging detection in a fast scanning operation mode or an adaptive range gating operation mode. The fast scanning and the self-adaptive distance gating are combined, so that the space scanning efficiency of the system is improved, and the defects of long dead time and low detection efficiency of the conventional geiger focal plane detector are overcome.

Description

Single photon laser radar imaging detection system
Technical Field
The invention belongs to the field of radar imaging detection, and particularly relates to a single-photon laser radar imaging detection system.
Background
A single-photon detector (SPD) is a high-sensitivity photodetector capable of responding to photon-level signals, and is the basis of the fields of single-photon radar detection, quantum communication, and the like. With the continuous development of basic software and hardware technologies, the single-photon laser non-scanning laser radar three-dimensional imaging detection technology based on a geiger focal plane camera is more and more focused, more research results are provided, the effects of action distance, imaging effect and the like are greatly improved, and the application value is higher.
The existing single photon detector has long dead time and severely limits the detection efficiency. Taking a set of single-photon laser radars with a detection range of 0-150 km as an example, the laser echo signals reflected by the target may arrive at any time within 1ms after the system emits a laser pulse signal, which requires that the single-photon detector must be in a moment standby state in the 1ms period. However, the geiger focal plane camera works in a gating state, and the dead time of the detector is long, so that the photon echo signal reflected by the detection target cannot be prepared in real time. Taking the existing geiger focal plane camera as an example, the maximum working frequency is 25kHz, the longest effective detection time is 4us, namely, in the frame period of the shortest 40us, only 1/10 of the time can normally receive signals, and the rest of the time is dead time, photon echo signals cannot be received, so that the requirement of real-time standby within 1ms cannot be met.
In order to solve the above contradiction, a new single-photon laser radar imaging detection system is needed to be designed.
Disclosure of Invention
The invention aims at: in order to overcome the problems in the prior art, a novel single-photon laser radar imaging detection system is disclosed, and the space scanning efficiency of the system is improved by combining fast scanning with self-adaptive range gating, so that the defects of long dead time and low detection efficiency of the existing geiger focal plane detector are overcome.
The aim of the invention is achieved by the following technical scheme:
a single-photon lidar imaging detection system, the single-photon lidar imaging detection system comprising: the system comprises a laser emission subsystem, a laser receiving subsystem, a time sequence control subsystem and a data processing subsystem; the laser emission subsystem is used for realizing pulse laser emission and outputting an optical output synchronous signal at the same time; the time sequence control and data processing subsystem is used for receiving the light-emitting synchronous signal output by the laser emission subsystem, outputting a trigger signal for the laser receiving subsystem and processing the detection data output by the laser receiving subsystem; the laser receiving subsystem receives signals according to preset frequency or trigger signals output by the time sequence control and data processing subsystem; the photon laser radar imaging detection system performs imaging detection in a fast scanning working mode or an adaptive range gating working mode.
According to a preferred embodiment, when the photonic laser radar imaging detection system performs imaging detection in a fast scanning mode of operation, the following steps are performed:
s1: the laser emitting module emits a laser pulse once and outputs a light emitting synchronous signal to the time sequence control and data processing subsystem to be used as a starting point of pulse flight time timing;
s2: after the timing control and data processing subsystem receives the rising edge of the light-emitting synchronous signal, the timing control and data processing subsystem actively delays and presets the pulse phase d x Outputting n periodic pulse trains to the laser receiving subsystem as external trigger signals of detectors in the laser receiving subsystem, completing n detection periods by the detectors under the action of the n external trigger pulses, outputting n frames of detection data, and inputting the data into a time sequence control and data processing subsystem for target detection;
s3: changing pulse phased x From d 1 ～d m Performing m delay circulation traversals to complete one-time complete scanning of the space to be detected;
s4: and sending the detection data into a time sequence control and data processing subsystem to detect the target, and inverting the target distance and the target three-dimensional imaging from the detection result.
According to a preferred embodiment, m has the value: m=t f /T w Wherein T is f For measuring period, T, of detector in laser receiving subsystem w For the effective operating time in the measurement cycle of the detector in the laser receiving subsystem.
According to a preferred embodiment, the pulse phase d x The calculation mode of (a) is as follows:
d x ＝D+(x-1)T w ；x＝1,2,…m
d is an inherent time delay, and the minimum distance L from the space to be detected to the system min Determining, namely, the calculation mode is as follows:
Figure BDA0004125503820000021
wherein c represents the speed of light, through delay d x Incrementally, a near-to-far scan of the target area is achieved.
According to a preferred embodiment, the pulse phase d x The calculation mode of (a) is as follows:
d x ＝D+(m-x)T w ；x＝1,2,…m
d is an inherent time delay, and the minimum distance L from the space to be detected to the system min Determining, namely, the calculation mode is as follows:
Figure BDA0004125503820000022
wherein c represents the speed of light, through delay d x In a decreasing manner, a far-to-near scan of the target area is achieved.
According to a preferred embodimentWhen the photon laser radar imaging detection system is in a rapid scanning working mode, each pulse phase d x The corresponding measurement times are N, and N is a positive integer constant.
According to a preferred embodiment, when the photonic laser radar imaging detection system performs imaging detection in an adaptive range-gating operation mode, the following steps are performed:
when the photon laser radar imaging detection system scans the whole space of the space to be detected in a rapid scanning working mode, the pulse phase d is used for detecting the whole space of the space to be detected x When no target is detected in the changing process, finishing m delay circulation traversals from d1 to dm until finishing complete scanning of the space to be detected;
when in pulse phase d x When a target is detected in the changing process, the delay pulse phase of the next measuring period is updated to be P according to the detected target distance, so that a detector in the laser receiving subsystem is in an effective working state when a photon echo signal reflected by the target arrives;
when the target is not detected for more than k times continuously in the tracking detection process, k is a preset value, the target is lost, the system enters a fast scanning working mode, traverses the airspace to be detected again until the target is detected again, and the system is switched to a self-adaptive distance gating working mode.
The foregoing inventive concepts and various further alternatives thereof may be freely combined to form multiple concepts, all of which are contemplated and claimed herein. Various combinations will be apparent to those skilled in the art from a review of the present disclosure, and are not intended to be exhaustive or all of the present disclosure.
The invention has the beneficial effects that: the single-photon laser radar imaging detection system utilizes the advantage of high frame frequency of the single-photon detector, and makes up the defect of long dead time of the detector by strict time sequence matching, thereby effectively improving the detection efficiency of the system. And by combining the fast scanning mode and the self-adaptive range gating mode, the method can be effectively suitable for detecting the high-speed moving target in the air.
Drawings
FIG. 1 is a schematic diagram of a single photon lidar imaging detection system of the present invention;
FIG. 2 is a schematic diagram of the fast scan timing relationship of the single photon lidar imaging detection system of the present invention.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. In addition, in the present invention, if a specific structure, connection relationship, position relationship, power source relationship, etc. are not specifically written, the structure, connection relationship, position relationship, power source relationship, etc. related to the present invention can be known by those skilled in the art without any creative effort.
Example 1:
referring to fig. 1, there is shown a single photon lidar imaging detection system comprising: the system comprises a laser emission subsystem, a laser receiving subsystem, a time sequence control subsystem and a data processing subsystem. The photon laser radar imaging detection system can be divided into two working modes: the first is a fast scan mode of operation and the second is an adaptive range gating mode.
The laser emission subsystem is used for realizing pulse laser emission and outputting an optical synchronous signal at the same time; the time sequence control and data processing subsystem is used for receiving the light-emitting synchronous signal output by the laser emission subsystem, outputting a trigger signal for the laser receiving subsystem and processing the detection data output by the laser receiving subsystem; the laser receiving subsystem receives signals according to preset frequency or trigger signals output by the time sequence control and data processing subsystem.
Fast scan mode of operation
Referring to fig. 2, the fast scan operation mode performs fast scan and traversal of the region to be detected Td mainly under the condition of unknown target distance. The region Td to be detected herein represents a time range in which a laser pulse reflected by a target with a certain distance arrives, for example, it is assumed that the system is to detect a target with a distance of 15km to 150km, an arrival time range of a reflected laser pulse echo is 0.1ms to 1ms, the corresponding band detection region Td is 0.9ms, where the minimum detection distance of the system is Lmin and the maximum detection distance is Lmax.
When the photon laser radar imaging detection system carries out imaging detection in a rapid scanning working mode, the method comprises the following steps:
s1: the laser emitting module emits a laser pulse once and outputs a light emitting synchronous signal to the time sequence control and data processing subsystem as the starting point of pulse flight time timing.
S2: after the timing control and data processing subsystem receives the rising edge of the light-emitting synchronous signal, the timing control and data processing subsystem actively delays and presets the pulse phase d x And then outputting n periodic pulse trains to the laser receiving subsystem as external trigger signals of detectors in the laser receiving subsystem, completing n detection periods by the detectors under the action of the n external trigger pulses, outputting n frames of detection data, and inputting the data into the time sequence control and data processing subsystem for target detection. By adopting a 1:n time sequence control scheme, the laser emits a laser pulse, the detector works n times, and the scanning efficiency of the system is greatly improved.
After the laser receiving subsystem receives the external trigger pulse signal, the geiger focal plane detector starts to enter into an effective working state, and the continuous effective working time length of the detector is T in response to the received optical signal w The rest time is dead time, the probeThe detector fails to respond to the optical signal, wherein T w The size is determined by the detector itself, and the effective working time length is generally far smaller than the detection period T f . As shown in fig. 2, for convenience of description, it is assumed herein that the high level width of each trigger pulse represents the effective operating time of the detector. (in practice, the effective working time of the detector and the trigger level width do not necessarily have actual correspondence, and only an expression mode of the image is shown here)
S3: changing pulse phase d x From d 1 ～d m And performing m delay circulation traversals to complete one-time complete scanning of the space to be detected.
S4: and sending the detection data into a time sequence control and data processing subsystem to detect the target, and inverting the target distance and the target three-dimensional imaging from the detection result. The target distance is calculated based on the laser pulse flight time.
As shown in FIG. 2, d x Representing the delay of the external trigger signal, m delays are provided, corresponding to m detection phases, and after the system traverses all phases, one scanning of the area to be detected can be realized.
The value of m is as follows: m=t f /T w Wherein T is f For measuring period, T, of detector in laser receiving subsystem w For the effective operating time in the measurement cycle of the detector in the laser receiving subsystem.
Preferably, the pulse phase d x The calculation mode of (a) can be as follows:
d x ＝D+(x-1)T w ；x＝1,2,…m
d is an inherent time delay, and the minimum distance L from the space to be detected to the system min Determining, namely, the calculation mode is as follows:
Figure BDA0004125503820000051
wherein c represents the speed of light, through delay d x Incrementally, a near-to-far scan of the target area is achieved.
Preferably, the pulsesPhase d x The calculation mode of (a) can also be as follows:
d x ＝D+(m-x)T w ；x＝1,2,…m
d is an inherent time delay, and the minimum distance L from the space to be detected to the system min Determining, namely, the calculation mode is as follows:
Figure BDA0004125503820000052
wherein c represents the speed of light, through delay d x In a decreasing manner, a far-to-near scan of the target area is achieved.
The phases d of the above two pulses x The calculation mode of the method is only a typical processing method, the specific mode can be more flexible, only m delay values can be traversed, and the method is not exemplified one by one, the patent aims to protect the time sequence splicing realized by using the traversing phase mode, and the specific traversing mode change is only the special condition of the splicing scheme and belongs to the protection category of the patent.
Preferably, each pulse phase d when the photonic laser radar imaging detection system is in the fast scanning mode of operation x The corresponding measurement times are N, and N is a positive integer constant. By at each pulse phase d x And the measurement accuracy of the detection system is ensured by repeated detection.
Adaptive range gating mode of operation
The basic time sequence control flow of the self-adaptive distance gating working mode is the same as that of the fast scanning working mode, and the main difference is that the dx acquisition modes are different.
When the photon laser radar imaging detection system carries out imaging detection in a self-adaptive range gating working mode, the method comprises the following steps:
when the photon laser radar imaging detection system scans the whole space of the space to be detected in a rapid scanning working mode, the pulse phase d is used for detecting the whole space of the space to be detected x When no target is detected in the changing process, finishing m delay circulation traversals from d1 to dm until finishing complete scanning of the space to be detected;
when in pulse phase d x When a target is detected in the changing process, the delay pulse phase of the next measuring period is updated to be P according to the detected target distance, so that when a photon echo signal reflected by the target arrives, a detector in the laser receiving subsystem is in an effective working state. Therefore, each laser pulse reflected by the target can be effectively received, and self-adaptive distance gating tracking detection is realized.
When the target is not detected for more than k times continuously in the tracking detection process, k is a preset value, the target is lost, the system enters a fast scanning working mode, traverses the airspace to be detected again until the target is detected again, and the system is switched to a self-adaptive distance gating working mode.
The single-photon laser radar imaging detection system utilizes the advantage of high frame frequency of the single-photon detector, and makes up the defect of long dead time of the detector by strict time sequence matching, thereby effectively improving the detection efficiency of the system. And by combining the fast scanning mode and the self-adaptive range gating mode, the method can be effectively suitable for detecting the high-speed moving target in the air.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims (10)

1. A single photon lidar imaging detection system, the single photon lidar imaging detection system comprising: the system comprises a laser emission subsystem, a laser receiving subsystem, a time sequence control subsystem and a data processing subsystem;
the laser emission subsystem is used for realizing pulse laser emission and outputting an optical output synchronous signal at the same time; the time sequence control and data processing subsystem is used for receiving the light-emitting synchronous signal output by the laser emission subsystem, outputting a trigger signal for the laser receiving subsystem and processing the detection data output by the laser receiving subsystem; the laser receiving subsystem receives signals according to preset frequency or trigger signals output by the time sequence control and data processing subsystem;
the photon laser radar imaging detection system performs imaging detection in a fast scanning working mode or an adaptive range gating working mode.
2. The single photon lidar imaging detection system of claim 1, wherein when the photonic lidar imaging detection system performs imaging detection in a fast scan mode of operation, the following steps are performed:
s1: the laser emitting module emits a laser pulse once and outputs a light emitting synchronous signal to the time sequence control and data processing subsystem to be used as a starting point of pulse flight time timing;
s2: after the timing control and data processing subsystem receives the rising edge of the light-emitting synchronous signal, the timing control and data processing subsystem actively delays and presets the pulse phase d x Outputting n periodic pulse trains to the laser receiving subsystem as external trigger signals of detectors in the laser receiving subsystem, completing n detection periods by the detectors under the action of the n external trigger pulses, outputting n frames of detection data, and inputting the data into a time sequence control and data processing subsystem for target detection;
s3: changing pulse phase d x From d 1 ～d m Performing m delay circulation traversals to complete one-time complete scanning of the space to be detected;
s4: and sending the detection data into a time sequence control and data processing subsystem to detect the target, and inverting the target distance and the target three-dimensional imaging from the detection result.
3. The single photon lidar imaging detection system of claim 2, wherein the value of m is: m=t f /T w Wherein T is f For measuring period, T, of detector in laser receiving subsystem w For the effective operating time in the measurement cycle of the detector in the laser receiving subsystem.
4. A single photon lidar as claimed in claim 3An imaging detection system, characterized by a pulse phase d x The calculation mode of (a) is as follows:
d x ＝D+(x-1)T w ；x＝1,2,…m
d is an inherent time delay, and the minimum distance L from the space to be detected to the system min Determining, namely, the calculation mode is as follows:
Figure FDA0004125503810000021
wherein c represents the speed of light, through delay d x Incrementally, a near-to-far scan of the target area is achieved.
5. The single photon lidar imaging detection system of claim 3, wherein the pulse phase d x The calculation mode of (a) is as follows:
d x ＝D+(m-x)T w ；x＝1,2,…m
d is an inherent time delay, and the minimum distance L from the space to be detected to the system min Determining, namely, the calculation mode is as follows:
Figure FDA0004125503810000022
wherein c represents the speed of light, through delay d x In a decreasing manner, a far-to-near scan of the target area is achieved.
6. The single photon lidar imaging detection system of claim 2, wherein each pulse has a phase d when the photon lidar imaging detection system is in a fast scan mode of operation x The corresponding measurement times are N, and N is a positive integer constant.
7. The single photon lidar imaging detection system of claim 1, wherein when the photonic lidar imaging detection system performs imaging detection in an adaptive range-gated mode of operation, the following steps are performed:
when the photon laser radar imaging detection system scans the whole space of the space to be detected in a rapid scanning working mode, the pulse phase d is used for detecting the whole space of the space to be detected x When no target is detected in the changing process, finishing m delay circulation traversals from d1 to dm until finishing complete scanning of the space to be detected;
when in pulse phase d x When a target is detected in the changing process, the delay pulse phase of the next measuring period is updated to be P according to the detected target distance, so that a detector in the laser receiving subsystem is in an effective working state when a photon echo signal reflected by the target arrives;
when the target is not detected for more than k times continuously in the tracking detection process, k is a preset value, the target is lost, the system enters a fast scanning working mode, traverses the airspace to be detected again until the target is detected again, and the system is switched to a self-adaptive distance gating working mode.
8. The single photon lidar imaging detection system of claim 7, wherein the value of m is: m=t f /T w Wherein T is f For measuring period, T, of detector in laser receiving subsystem w For the effective operating time in the measurement cycle of the detector in the laser receiving subsystem.
9. The single photon lidar imaging detection system of claim 8, wherein the pulse phase d x The calculation mode of (a) is as follows:
d x ＝D+(x-1)T w ；x＝1,2,…m
d is an inherent time delay, and the minimum distance L from the space to be detected to the system min Determining, namely, the calculation mode is as follows:
Figure FDA0004125503810000031
wherein c represents the speed of light, passing throughTime d x Incrementally, a near-to-far scan of the target area is achieved.
10. The single photon lidar imaging detection system of claim 8, wherein the pulse phase d x The calculation mode of (a) is as follows:
d x ＝D+(m-x)T w ；x＝1,2,…m
d is an inherent time delay, and the minimum distance L from the space to be detected to the system min Determining, namely, the calculation mode is as follows:
Figure FDA0004125503810000032
wherein c represents the speed of light, through delay d x In a decreasing manner, a far-to-near scan of the target area is achieved.
CN202310244176.0A 2023-03-14 2023-03-14 Single photon laser radar imaging detection system Pending CN116224361A (en)

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