设计了一种基于双振镜的多元并扫激光雷达，能够实现30°×30°的视场，成像帧速率最大可以达到10 Hz。详细分析了该激光雷达的发射和接收光学对于振镜的不同需求，计算出不影响系统性能情况下的最小振镜几何形状，为振镜小型化设计提供了理论依据；同时通过激光雷达坐标计算的理论公式推导并分析了系统的误差影响，根据分析结果设计了系统误差标定实验，实验获得的图像的平面共面精度达到3.6 cm，和理论计算值相符。

A dual galvanometer based multi-points parallel scanning lidar is designed, which provides 30°×30° field of view (FOV) and maximum 10 Hz imaging frame rate. We analyze the lidar′s emitting and receiving optic different demands for galvanometers, and figure out geometric minimum shapes of galvanometers without reducing the system performance, which provides theoretical basis to design smaller galvanometers. Moreover, we analyze the system errors through the footprint coordinate formula of the lidar, and carry out a systematic error calibration experiment according to the analysis results. The co-planarity errors of images acquired in the experiment are 3.6 cm after post-processing, which correspond to theoretical calculations.