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Application of detector deviation from focal plane in high speed scanning LiDAR
- Optics and Precision Engineering Vol. 31, Issue 21, Pages: 3077-3087(2023)
- 作者机构：
1.武汉大学 遥感信息工程学院，湖北 武汉 430079
- 作者简介：
- 基金信息：
DOI：10.37188/OPE.20233121.3077
CLC：
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周昊,毛庆洲,胡雪晴等.高转速扫描激光雷达中探测器偏离焦平面的应用[J].光学精密工程,2023,31(21):3077-3087.
ZHOU Hao,MAO Qingzhou,HU Xueqing,et al.Application of detector deviation from focal plane in high speed scanning LiDAR[J].Optics and Precision Engineering,2023,31(21):3077-3087.
周昊,毛庆洲,胡雪晴等.高转速扫描激光雷达中探测器偏离焦平面的应用[J].光学精密工程,2023,31(21):3077-3087. DOI： 10.37188/OPE.20233121.3077.
ZHOU Hao,MAO Qingzhou,HU Xueqing,et al.Application of detector deviation from focal plane in high speed scanning LiDAR[J].Optics and Precision Engineering,2023,31(21):3077-3087. DOI： 10.37188/OPE.20233121.3077.
摘要
为了提高激光雷达测距的动态范围，解决高转速扫描激光雷达测量远距离目标时的脱靶问题，提出了探测器偏离焦平面的方法。对远距离回波脱靶现象、探测器在焦平面径向和轴向上偏离的作用原理、回波光斑在焦平面附近的空间能量分布进行研究。根据目标距离、激光扫描线转速、焦距和离焦量，分析回波光斑中心相对于光轴的径向偏离角和径向偏离量。当不同距离回波的像平面、光学系统焦平面和探测器靶面之间的相对位置变化时，分析了回波光斑尺寸在探测器靶面的变化规律。考虑激光高斯光束的能量分布、光学系统孔径光阑、衍射和离焦的影响，分析了回波光斑在探测器平面的能量分布以及探测器靶面的收光率。最后，通过数值仿真和实际测试验证了探测器在偏离焦平面后对不同距离回波的收光率的变化规律。实验结果表明：在75 Hz四棱塔镜扫描方式下，通过调节径向偏离能测到的最远目标距离从约800 m提高至约1 300 m；通过调节轴向偏离，保证远距离回波收光率基本不变的情况下，5 m目标的收光率可降低约70%。该方法基本解决了远距离回波脱靶问题，提高了测距动态范围。
Abstract
In order to improve the dynamic range of LiDAR and to address the issue of off-target measurements in high-speed scanning LiDAR systems when capturing long-range targets， a method that involves deviation of the detector from the focal plane is proposed. The off-target phenomenon of distant targets， the principle of radial and axial deviation of the detector in the focal plane， and the spatial energy distribution of the echo spot near the focal plane are investigated. First， the scanning speed， focal length， and defocusing amount of the laser and the radial deviation angle and radial deviation amount of the echo spot center relative to the optical axis are analyzed according to the target distance. Next， the effect of variation in echo spot size on the detector is analyzed when the relative position relationship between the image plane， the focal plane， and the detector changes. Subsequently， the energy distribution of the echo spot in the detector and the light-receiving efficiency are evaluated， considering the effects of the energy distribution of the Gaussian beam， the aperture diaphragm of the optical system， diffraction， and defocusing. Finally， the variation law of the light-receiving efficiency of the target echo at different distances after the detector deviates from the focal plane is verified using numerical simulations and experiments. The experimental results indicate that the farthest target can be measured from approximately 800 to 1 300 m by adjusting the radial offset under the 75 Hz quadrilateral tower mirror-scanning mode. By adjusting the axial deviation， the light-receiving efficiency of the 5 m target can be decreased by approximately 70%， whereas that of the long-range target remains basically unchanged. The proposed method solves the problem of off-target echo in long-range targets and improves the dynamic range of LiDAR.
关键词
激光雷达动态范围脱靶离焦
Keywords
LiDARdynamic rangeoff-targetdefocusing
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