针对传统固态激光雷达中光束快速扫描控制响应速度和电压控制精度较低的问题，提出了一种基于透镜辅助光束扫描(LABS)技术和现场可编程逻辑门阵列(FPGA)的固态激光雷达测距系统。该系统采用收发一体的结构，系统中的LABS器件由1×16光开关芯片、4×4光纤阵列和透镜组成。根据LABS方案每一级只有一个光开关处于工作状态的特点，通过选择不同的发射器，将光束照亮到透镜的不同位置来实现光束的转向。光束扫描采用FPGA结合外部选通电路进行控制的方式，通过输出电压控制4级马赫-曾德尔干涉仪(MZI)型光开关工作，实现光束的快速切换。实验结果表明，该系统光束转向角度步长为0.35°，最大测距范围可达200 m，9.2 m内的测距误差约为1 cm。

Aiming at the problems of low response speed and voltage control accuracy in traditional solid-state lidar, a solid-state lidar ranging system based on lens-assisted beam scanning(LABS) technology and field programmable logic array(FPGA) is proposed. The system adopts transceiver integrated structure. The LABS device in the system is composed of 1×16 optical switch chip, 4×4 optical fiber array and lens. According to the characteristics of the LABS scheme, only one optical switch is in working state at each level, and the beam is illuminated to different positions of the lens by selecting different emitters. The beam scanning is controlled by FPGA combined with an external elector, and the 4-stage Mach-Zehnder interferometer(MZI) optical switch is controlled by the output voltage to realize the fast switching of the beam. The experimental results show that the beam steering Angle step of the system is 0.35°, the maximum ranging range can reach 200 m, and the ranging error within 9.2 m is about 1 cm.