CN209486291U - A kind of calibration system of laser radar - Google Patents
A kind of calibration system of laser radar Download PDFInfo
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- CN209486291U CN209486291U CN201821539391.4U CN201821539391U CN209486291U CN 209486291 U CN209486291 U CN 209486291U CN 201821539391 U CN201821539391 U CN 201821539391U CN 209486291 U CN209486291 U CN 209486291U
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Abstract
This application discloses a kind of calibration systems of laser radar, the calibration system includes laser radar, calibration chamber, heating chamber and at least two temperature sensors, heater, which is located at, demarcates intracavitary portion, laser radar is located at outside calibration chamber, for emitting laser pulse to calibration chamber, laser pulse can pass through calibration chamber and propagate outward；Chamber is inside and outside is deployed with temperature sensor for calibration, for acquiring laser pulse temperature on the way；Laser radar is also used to receive the corresponding echo-signal of laser pulse, to determine height quantum number channel signal ratio according to echo-signal, and then according to the calibration of temperature, height quantum number channel signal ratio and inverting function realization laser radar.The calibration system can artificially manufacture temperature difference by heater, and then obtain biggish temperature gradient, in addition, carrying out calibration being demarcated along horizontal direction, will not generate positional shift, further improve the accuracy of calibration result.
Description
Technical field
This application involves calibration field more particularly to a kind of calibration systems of laser radar.
Background technique
Climatic prediction is usually based on temperature profile and realizes.Temperature profile refers to that temperature is with height distribution in atmosphere
Curve.Temperature profile can generally be obtained by the atmospheric temperature of laser radar detection different height, and laser radar emits laser
Then beam determines the temperature of corresponding position, and then temperature profile according to the echo scattered signal of return.In order to obtain more
Accurate temperature profile needs first to demarcate the laser radar of measurement temperature.
Currently, the calibration of laser radar is realized by meteorological gradient tower method or radiosonde method.Meteorological gradient
There is temperature sensor according to high deployment on tower, temperature can be obtained according to the temperature data that the temperature sensor of different height acquires
Spend profile.Radiosonde rule is divided in radiosonde uphill process by the sensing element of radiosonde
Not Ce Liang the data such as the corresponding atmospheric temperature of different height, to obtain temperature profile.
However, the detection height of meteorological gradient tower method is limited by tower height, detection altitude range is typically not greater than hundred meters, big
In gas-bearing formation, the corresponding temperature gradient of the altitude range is smaller, affects the accuracy of laser radar calibration result.Radio sounding
Instrument method detection height is big, can obtain biggish temperature gradient, but radiosonde can be generated gradually partially in uphill process
It moves, causing detection data with actual position profile, there are certain errors.
Utility model content
In view of this, the system utilizes the artificial temperature of heater this application provides a kind of calibration system of laser radar
Difference to obtain biggish temperature gradient, and uses level calibration mode, overcomes position offset problem, improves calibration knot
The accuracy of fruit.
The application first aspect provides a kind of calibration system of laser radar, and the system comprises laser radars, calibration
Chamber, heater and at least two temperature sensors:
The heater is located at the intracavitary portion of calibration, for promoting the temperature in the intracavitary portion of calibration；
The laser radar is located at outside the calibration chamber, for emitting laser arteries and veins to the calibration chamber in the horizontal direction
Punching, the laser pulse can pass through the calibration chamber and propagate outward；
The temperature sensor is deployed with outside the intracavitary portion of the calibration and the calibration chamber, the temperature sensor is used
In the acquisition laser pulse on the way temperature；
The laser radar is also used to receive the corresponding echo-signal of the laser pulse, so as to according to the echo-signal
Determine height quantum number channel signal ratio, and then according to the temperature, the height quantum number channel signal ratio and described high
The inverting function of low amounts subnumber channel signal ratio realizes the calibration of the laser radar.
Optionally, the laser radar is Raman lidar.
Optionally, the laser radar is specifically used for:
The corresponding echo-signal of the laser pulse is received by receiving telescope.
Optionally, the temperature sensor is uniformly distributed in the horizontal direction.
As can be seen from the above technical solutions, the embodiment of the present application has the advantage that
A kind of calibration system of laser radar is provided in the embodiment of the present application, which includes laser radar, mark
Determine chamber, heating chamber and at least two temperature sensors, temperature sensor setting is inside and outside in calibration chamber, demarcates intracavitary portion
With heater, by heater can artificial temperature difference, biggish temperature gradient is obtained, in this way, being conducive to improve laser
The accuracy of Radar Calibration result, in addition, the calibration system is inside and outside by calibration chamber when demarcating to laser radar
Temperature sensor realize calibration, be not to be demarcated along vertical direction, because without generating positional shift, just not yet
Error caused by generating because of positional shift further improves the accuracy of calibration result.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of structural schematic diagram of the calibration system of laser radar in the embodiment of the present application；
Fig. 2 is the curve graph of the temperature of different location temperature sensor acquisition in the embodiment of the present application；
Fig. 3 is the temperature and laser radar inverting temperature of synchronization different temperatures sensor acquisition in the embodiment of the present application
Schematic diagram；
Fig. 4 is the temperature and laser radar inverting temperature that a temperature sensor is acquired in different moments in the embodiment of the present application
Schematic diagram.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only this
Apply for a part of the embodiment, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall in the protection scope of this application.
The description and claims of this application and term " first ", " second ", " third ", " in above-mentioned attached drawing
The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage
The data that solution uses in this way are interchangeable under appropriate circumstances, so that embodiments herein described herein for example can be to remove
Sequence other than those of illustrating or describe herein is implemented.In addition, term " includes " and " having " and theirs is any
Deformation, it is intended that cover it is non-exclusive include, for example, containing the process, method of a series of steps or units, system, production
Product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for this
A little process, methods, the other step or units of product or equipment inherently.
For the not high technical problem of meteorological gradient tower method and radiosonde method Calibration of Laser radar accuracy degree, originally
Application provides a kind of calibration system of laser radar, which includes laser radar, calibration chamber, heating chamber and at least
Two temperature sensors, temperature sensor setting is inside and outside in calibration chamber, demarcates intracavitary portion with heater, passes through heating
Device can artificial temperature difference, obtain biggish temperature gradient, in this way, be conducive to improve laser radar calibration result it is accurate
Degree, in addition, the calibration system is to realize mark by the inside and outside temperature sensor of calibration chamber when demarcating to laser radar
Fixed, it is not to be demarcated along vertical direction, because would not generate because positional shift is led without generating positional shift yet
The error of cause further improves the accuracy of calibration result.
Below in conjunction with attached drawing, the calibration system of laser radar provided by the embodiments of the present application is introduced.Referring to figure
1, the calibration system of the laser radar includes laser radar 10, calibration chamber 20, heater 30 and at least two temperature sensors
40, in which:
The heater 30 is located inside the calibration chamber 20, for promoting the temperature inside the calibration chamber 20；
The laser radar 10 is located at outside the calibration chamber 20, for swashing in the horizontal direction to the calibration chamber 20 transmitting
Light pulse, the laser pulse can pass through the calibration chamber 20 and propagate outward；
It is deployed with the temperature sensor 40 outside 20 inside of calibration chamber and the calibration chamber 20, the temperature passes
Sensor 40 is for acquiring laser pulse temperature on the way；
The laser radar 10 is also used to receive the corresponding echo-signal of the laser pulse, so as to according to the echo
Signal determines height quantum number channel signal ratio, and then according to the temperature, the height quantum number channel signal ratio and institute
The inverting function for stating height quantum number channel signal ratio realizes the calibration of the laser radar 10.
When demarcating to laser radar 10, laser radar 10 and calibration chamber 20 are generally placed in calibration experiment room
It is interior.Wherein, outside calibration chamber 20, the distance to calibration chamber 20 can be arranged laser radar 10 according to actual needs, as
One example, laser radar 10 can be 30 meters with distance calibration chamber.When being demarcated, laser radar 10 is in the horizontal direction to calibration
20 transmitting laser pulses, the laser pulse can pass through calibration 20 and propagate outward, be based on this, can distinguish in calibration 20 two sides of chamber
Aperture, so that laser pulse passes through calibration chamber 20 by the hole.Wherein, the height in hole and the height of laser radar are consistent, in this way,
The laser pulse that 10 horizontal direction of laser radar can be enabled to emit passes through calibration chamber 20.The size in hole can be rule of thumb
Value setting, the present embodiment are not construed as limiting this.As the specific example of the application, for 6 meters long of calibration chamber, two sides
Opening diameter can be 40 centimetres.
When heater 30 is in the open state, the air in calibration chamber 20 can be heated, to improve calibration chamber
Temperature inside 20.In this way, inside calibration chamber 20, calibration experiment chamber interior and calibration chamber 20 outside and calibration experiment outdoor
Biggish temperature difference is formed, biggish temperature gradient can be so obtained.
Specifically may refer to Fig. 2, Fig. 2 is the curve graph of the temperature of different location temperature sensor acquisition, as shown in Fig. 2,
R1 and R2 respectively corresponds the two sides of calibration chamber 20, and R3 corresponds to the side of calibration experiment room, then in Fig. 2, R1 left area is corresponding
The region of 20 outside of chamber and calibration experiment chamber interior is demarcated, R1 to R2 corresponds to the region inside calibration chamber 20, and R2 to R3 is corresponding
The region of 20 outside of chamber and calibration experiment chamber interior is demarcated, and R3 right area corresponds to the region of calibration experiment outdoor, by Fig. 2
It is found that the temperature inside calibration chamber 20 can achieve 40 DEG C (degree Celsius), and demarcate 20 extrinsic calibration laboratory internal region of chamber
Temperature of the temperature generally outside 20 DEG C or so, calibration experiment room at 10 DEG C or so, in above-mentioned three kinds of regions, temperature change compared with
Greatly, biggish temperature gradient is obtained by artificial temperature difference.
When specific implementation, in order to obtain preferable temperature rise effect, it can be heated using multiple heaters, or use
Powerful heater is heated, and the application is not construed as limiting the quantity and power of heater, can be according to actual needs
Select corresponding heater.
In the present embodiment, chamber 20 is inside and outside is deployed with temperature sensor 40 for calibration, in this way, mark can be collected
20 internal temperature of chamber and calibration 20 external temperature of chamber are determined, to be demarcated according to the calibration inside and outside temperature of chamber 20.It needs
It is noted that referring to the region other than calibration chamber 20 outside calibration chamber 20, two parts can be classified as, a part is calibration
Indoor region is tested, a part is the region outside calibration experiment room.Temperature sensor outside calibration chamber 20 can be deployed in
It in calibration experiment, can also be deployed in outside calibration experiment room, or be disposed in calibration experiment room and outside calibration experiment room.?
In a kind of possible implementation, temperature sensor 40 can be uniformly distributed in the horizontal direction, when specific implementation, can swashed
Temperature sensor 40 is uniformly disposed in the direction in light pulse propagation path.
Temperature sensor 40 collects temperature data, can use the temperature data and demarcates to laser radar 10.Temperature
Degree sensor accuracy is higher, and the accuracy demarcated to laser radar 10 is higher.As the specific example of the application, can adopt
It is demarcated with the temperature sensor that precision is 0.01 DEG C.
It is appreciated that laser radar 10, after emitting laser pulse, laser pulse can produce echo in transmission process
Signal.Specifically, when temperature changes, the distribution of air can also change, and therefore, be formed between the air of different temperatures
There is interface, in interface back scattering occurs for laser pulse, to form backscattering echo signal.The backscattering echo
Signal is returned according to the transmission path of laser pulse, is received by laser radar 10.It is appreciated that laser radar 10, which has, receives system
System, reception system are used to receive echo-signal caused by the laser pulse of its transmitting.In some possible implementations,
Reception system includes receiving telescope, and laser radar 10 receives the corresponding echo-signal of laser pulse by receiving telescope.
Laser radar 10 receives after laser pulse corresponds to echo-signal, can analyze echo-signal, with determination
Height quantum number channel signal ratio.Wherein, height quantum number channel signal ratio refers to low amounts subnumber channel and high quantum number channel
The ratio between signal value, for ease of description, height quantum number channel signal ratio is denoted as R, since R and temperature T has correlation,
It can also be denoted as R (T).
In order to make it easy to understand, height quantum number channel signal ratio is introduced by taking Raman lidar as an example.Raman swashs
After the reception system receives echo-signal of optical radar, four pure rotational Raman scattering spectral lines of separation and Extraction, corresponding four channels will
The channel of low amounts subnumber symmetric signal is combined into a channel, and the channel of high quantum number symmetric signal is combined into a channel, can
To obtain a low amounts subnumber channel and a high quantum number channel.
Specifically, low amounts subnumber channel received returned photon numbers within the unit time are as follows:
High quantum number channel received returned photon numbers within the unit time are as follows:
Wherein, subscript "-" indicates low amounts subnumber channel, subscript "+" high quantum number channel, n[-]Indicate low amounts subnumber channel
Received returned photon numbers, n within the unit time[+]Indicate high quantum number channel received returned photon numbers within the unit time.
Subscript N2Indicate nitrogen, subscript O2Indicate that oxygen, Δ v indicate that Raman frequency shift, subscript stokes correspond to subscript antistokes
One group of symmetric signal, such as one group of low amounts subnumber symmetric signal or one group of high quantum number symmetric signal.
The signal value and high quantum number that low amounts subnumber channel in cumulative time Δ t can be calculated based on formula (1) and formula (2) are logical
The signal value in road specifically may refer to following formula:
N[-]=n[-]Δt (3)
N[+]=n[+]Δt (4)
Wherein, N[-]Indicate the signal value in low amounts subnumber channel, N[+]Indicate the signal value in high quantum number channel.
In cumulative time Δ t, the height quantum number channel signal ratio of following temperature sensing is realized are as follows:
Wherein, KiFor system factor, βiFor Raman backscattering coefficient, α (vi, x) and it is that the atmosphere that frequency is v at x height disappears
Backscatter extinction logarithmic ratio.
Laser radar can based on the above principles analyze received echo-signal, determine corresponding height quantum
Number channel signal ratio.
It is appreciated that height quantum number channel signal ratio R can also be according to the inverting letter of height quantum number channel signal ratio
Number R (T) determines.Inverting function R (T) is used as laser radar apparatus function, can be calculated according to laser radar parameter primary data
It obtains, or is obtained according to laser radar calibration result.The inverting function R (T) obtained when calibration can be by the multinomial of T
Formula approximation algorithm provides, specific as follows:
Wherein, T is temperature, and A is multinomial coefficient.
In specific processing, formula (6) can be handled as follows, specially take logarithm, single order then is taken to T, then formula
(6) it can develop are as follows:
Wherein, α is the A in formula (6)1, β is the A in formula (6)0Opposite number-A0。
The better astringency of formula (6), since expansion uses family of functions, which describes the intensity of spectral line and temperature
Actual relationship, thus expression formula can guarantee ideal approximation when using lower order polynomial expressions, that is, formula (7).
Based on formula (7), calibration constant α and β can be determined by a variety of implementations.A kind of implementation is at least to give
Fixed two groups of nominal datas, every group of nominal data includes the temperature T and height quantum number channel signal ratio R under corresponding temperature
(T), then above-mentioned at least two groups nominal data constructs equation group, and calibration constant α and β are determined by way of solve system of equation.
It is appreciated that temperature difference is bigger, calibration result is more accurate, and the calibration constant determined based on this is also more accurate, in this way, can select
The corresponding nominal data building equation group of temperature extremal point in investigative range is selected, calibration is determined by way of solve system of equation
Constant α and β.
As an example, nominal data may includeWithWherein, T1 is most
Big extreme value temperature, T2 are minimum extreme value temperature, can construct the equation about maximum extreme value temperature based on this two groups of data, and close
In the equation of minimum extreme value temperature, calibration constant α and β can be determined by the solving equations formed to above-mentioned two equation.
It willWithFormula (7) are substituted into respectively, can solve to obtain:
Another way is fitted based on given nominal data, to determine calibration constant α and β.Referring to formula (7),
Ln (R) is considered as dependent variable, it is linear relationship between dependent variable and independent variable that 1/T, which is considered as independent variable, can be based on given mark
Fixed number can determine calibration constant α and β according to straight line is fitted, according to the slope of straight line and intercept.
After determining calibration constant, inverting of the characterization height quantum number channel signal than relationship between temperature can be obtained
Function.In this way, the temperature of other points can be acquired, height quantum number channel signal ratio at this temperature is obtained, according to height
Quantum number channel signal ratio and inverting function determine inverting temperature, the temperature collected by comparing and is calculated
Inverting temperature can verify whether calibration system is effective, determine the accuracy of calibration system.
In one possible implementation, for the temperature sensor of N number of different location, wherein N is positive integer, point
The difference of the temperature of the corresponding inverting temperature in each temperature sensor position and temperature sensor acquisition is not calculated；If
The difference is less than first threshold, then completes for the calibration of the laser radar.Wherein, first threshold can be based on experience value
Setting, for example, can be set to 1 DEG C.
The temperature and laser radar inverting temperature of the acquisition of synchronization different temperatures sensor can be specifically shown with Fig. 3, Fig. 3
The schematic diagram of degree, as shown in figure 3, lidar curve indicates the inverting temperature of laser radar, in synchronization, 5 different detection models
The data of temperature sensor are enclosed with the difference of corresponding inverting temperature data within 0.2 DEG C, are less than first threshold, therefore are directed to
The calibration result of laser radar is that reliably, the calibration for the laser radar is completed.
In alternatively possible implementation, the calibration system of laser radar can also be passed for the temperature of any position
Sensor acquires the temperature sensor in the temperature of different moments, and according to the echo-signal under corresponding moment and corresponding temperature
It determines inverting temperature, then calculates the temperature sensor in the difference of different moments temperature collection and inverting temperature, if the difference
Value is less than second threshold, then completes for the calibration of the laser radar.Wherein, second threshold can be set based on experience value,
For example, can be set to 1 DEG C.
Fig. 4 shows the schematic diagram of the temperature that a temperature sensor was acquired in different moments and laser radar inverting temperature,
As shown in figure 4, lidar curve indicate laser radar inverting temperature, in different moments, the temperature sensor acquisition data with
The difference of corresponding inverting temperature data is less than first threshold, therefore is for the calibration result of laser radar within 0.6 DEG C
Reliably, it is completed for the calibration of the laser radar.
From the foregoing, it will be observed that the embodiment of the present application provides a kind of calibration system of laser radar, which includes laser
Radar, calibration chamber, heating chamber and at least two temperature sensors, temperature sensor setting is inside and outside in calibration chamber, mark
Fixed intracavitary portion has heater, by heater can artificial temperature difference, biggish temperature gradient is obtained, in this way, being conducive to
The accuracy of laser radar calibration result is improved, in addition, the calibration system is intracavitary by demarcating when demarcating to laser radar
Portion and external temperature sensor realize calibration, are not to be demarcated along vertical direction, because inclined without generating position
It moves, error caused by would not also generating because of positional shift further improves the accuracy of calibration result.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the application
Portion or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (full name in English: Read-Only
Memory, english abbreviation: ROM), random access memory (full name in English: Random Access Memory, english abbreviation:
RAM), the various media that can store program code such as magnetic or disk.
It should be appreciated that in this application, " at least one (item) " refers to one or more, and " multiple " refer to two or two
More than a."and/or" indicates may exist three kinds of relationships, for example, " A and/or B " for describing the incidence relation of affiliated partner
It can indicate: only exist A, only exist B and exist simultaneously tri- kinds of situations of A and B, wherein A, B can be odd number or plural number.Word
Symbol "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or"." at least one of following (a) " or its similar expression, refers to
Any combination in these, any combination including individual event (a) or complex item (a).At least one of for example, in a, b or c
(a) can indicate: a, b, c, " a and b ", " a and c ", " b and c ", or " a and b and c ", and wherein a, b, c can be individually, can also
To be multiple.
The above, above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although referring to before
Embodiment is stated the application is described in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.
Claims (4)
1. a kind of calibration system of laser radar, which is characterized in that the system comprises laser radar, calibration chamber, heater with
And at least two temperature sensor:
The heater is located at the intracavitary portion of calibration, for promoting the temperature in the intracavitary portion of calibration；
The laser radar is located at outside the calibration chamber, for emitting laser pulse, the laser pulse to the calibration chamber
The calibration chamber can be passed through to propagate outward；
The temperature sensor is deployed with outside the intracavitary portion of the calibration and the calibration chamber in the horizontal direction, the temperature passes
Sensor is for acquiring laser pulse temperature on the way；
The laser radar is also used to receive the corresponding echo-signal of the laser pulse, to be determined according to the echo-signal
Height quantum number channel signal ratio, and then according to the temperature, the height quantum number channel signal ratio and the high low amounts
The inverting function of subnumber channel signal ratio realizes the calibration of the laser radar.
2. the calibration system of laser radar according to claim 1, which is characterized in that the laser radar is raman laser
Radar.
3. the calibration system of laser radar according to claim 1, which is characterized in that the laser radar is specifically used for:
The corresponding echo-signal of the laser pulse is received by receiving telescope.
4. the calibration system of laser radar according to claim 1, which is characterized in that the temperature sensor is in level side
It is uniformly distributed upwards.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108828565A (en) * | 2018-09-19 | 2018-11-16 | 北京聚恒博联科技有限公司 | A kind of calibration system and method for laser radar |
| CN113433530A (en) * | 2021-05-26 | 2021-09-24 | 田斌 | Water vapor measurement Raman laser radar system calibration device and method |
| CN114441505A (en) * | 2022-03-17 | 2022-05-06 | 中国工程物理研究院机械制造工艺研究所 | Water vapor in-situ calibration device and method for Raman probe and application |
-
2018
- 2018-09-19 CN CN201821539391.4U patent/CN209486291U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108828565A (en) * | 2018-09-19 | 2018-11-16 | 北京聚恒博联科技有限公司 | A kind of calibration system and method for laser radar |
| CN108828565B (en) * | 2018-09-19 | 2023-11-03 | 北京聚恒博联科技有限公司 | Laser radar calibration system and method |
| CN113433530A (en) * | 2021-05-26 | 2021-09-24 | 田斌 | Water vapor measurement Raman laser radar system calibration device and method |
| CN114441505A (en) * | 2022-03-17 | 2022-05-06 | 中国工程物理研究院机械制造工艺研究所 | Water vapor in-situ calibration device and method for Raman probe and application |
| CN114441505B (en) * | 2022-03-17 | 2023-08-18 | 中国工程物理研究院机械制造工艺研究所 | Water vapor in-situ calibration device for Raman probe, calibration method and application |
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