中国激光, 2011, 38 (5): 0514001, 网络出版: 2011-05-09
激光雷达的测距特性及其测距精度研究 下载: 1452次
Research on Ranging Property of Laser Radar and Its Range Accuracy
激光技术 激光雷达 测距精度 置信概率 置信区间 信噪比 laser technique laser radar range accuracy confidence probability confidence interval signal to noise rate
摘要
通过实验研究了阈噪比(TNR)不变时信噪比(SNR)对激光雷达测距特性的影响,结果表明,信噪比远高于阈噪比时,激光雷达测距数据的离散分布服从正态分布,且随着信噪比的降低,测距数据离散分布逐渐偏离正态分布,呈现上升沿陡下降沿缓的形式;当信噪比接近阈噪比时,测距数据的离散分布又逐渐趋向于正态分布,但此时激光雷达的漏测率迅速增加。在此基础上,采用置信概率68.2%对应置信区间的一半来衡量激光雷达的测距精度,并给出了测距精度计算方法,它能更准确地表征激光雷达测距数据的密集度,具有更好的普适性。
Abstract
The influences of signal to noise ratio (SNR) on the ranging property of laser radar with constant threshold to noise ratio (TNR) are studied comprehensively by experiments. The results indicate that when SNR is much higher than TNR, the distribution of laser radar′s ranging data obeys the Gaussian distribution. And with the decrease of the SNR, the distribution gradually deviates from the Gaussian distribution, and its rising edge becomes steeper and the falling edge becomes more slowly. While the SNR is approaching the TNR, the distribution returns to the Gaussian distribution, but the missing rate increases rapidly. Based on the experiments, the half of the confidence interval with confidence probability of 68.2% is also introduced to evaluate the range accuracy of laser radar. The corresponding method for calculating the range accuracy is presented and used to evaluate the range accuracy of laser radar under different SNRs.
姜海娇, 来建成, 王春勇, 李振华. 激光雷达的测距特性及其测距精度研究[J]. 中国激光, 2011, 38(5): 0514001. Jiang Haijiao, Lai Jiancheng, Wang Chunyong, Li Zhenhua. Research on Ranging Property of Laser Radar and Its Range Accuracy[J]. Chinese Journal of Lasers, 2011, 38(5): 0514001.