论文总字数：9592字

摘 要

当前出现了一种新型的激光成像技术，激光雷达成像技术，这种技术将激光和雷达技术融合在一起，该新型技术不仅在军事上广泛应用，还与人们的现实生活密切相关。这项新技术的研发，也在一定程度上给人们的生活带来了便利，那便是在自动驾驶技术方面的应用。而自动驾驶技术的核心则是激光雷达----一种新型的高精度成像传感器。这种传感器的优点较多，比如分辨率高和抗干扰能力强等。本文从激光原理切入，简要介绍了激光形成的条件；同时对对激光雷达的发展进行了研究分析，接着对涉及到的雷达技术进行了介绍，并分析了激光成像技术的数学仿真模型；最后，介绍了激光雷达在自动驾驶技术方面的应用，解析VLS-128激光雷达。

关键词：激光雷达；成像技术；数学模型；自动驾驶

Abstract：Laser radar imaging technology is a new technology combined with laser technology and radar technology. This new technology is not only widely used in military, but also closely related to people"s real life. The development of this new technology has also brought convenience to people"s life to a certain extent, that is, the application of automatic driving technology. The core of automatic driving technology is lidar, a new high-precision imaging sensor. It has the practicability of angular resolution, high range resolution and strong anti-interference ability. In this paper, the conditions of laser formation are briefly introduced from the principle of laser, and then the research history and development prospect of laser radar are analyzed. After that, the laser radar imaging technology, the mathematical model of laser radar imaging and its simulation are introduced in detail. Finally, the application of laser ray Da in automatic driving technology is introduced. VLS-128 laser radar is parsed.

Keywords：Laser radar; imaging technology; mathematical model; automatic driving.

目 录

1. 引言······················································ 4
2. 激光雷达·················································· 4

2.1 激光雷达的发展历史······································ 4

2.2 激光雷达的发展前景······································ 5

1. 激光雷达成像技术·········································· 6

3.1 激光雷达成像的数学模型·································· 6

3.1.1 激光测距原理·········································· 6

3.1.2 全波形分析············································ 7

3.1.3 噪声模型·············································· 8

3.2 激光雷达成像仿真········································ 8

1. 激光雷达的应用············································ 11

4.1 自动驾驶技术的核心--激光雷达···························· 11

4.1.1 车载激光雷达探测功能·································· 11

4.1.2 Velodyne 128线激光雷达······························· 12

4.2 其他应用················································ 14

结论························································· 15

参考文献····················································· 16

致谢························································· 17

1 引言

在21世纪的发明史上，激光的发明对人类文明的发展起到了重要作用，对人类社会向前发展起到了推动作用。在现代社会生活中，激光的应用十分普遍，不仅仅在科技研究中，而且在军事领域中的应用也较多。除此之外，随着社会技术的发展，激光技术已经被应用在社会的各个领域中，包括科技、农业、医学、工业等。

激光在自动驾驶技术中的应用莫过于激光雷达的问世，激光雷达是目前无人驾驶中的关键技术，激光雷达在自动驾驶中是扮演着传感器的角色，这种传感器的精度和分辨率是其他传感器无法比拟的，并且随着现代新型技术的发展，激光雷达技术的应用将会取得更大的成就 ^[1,2]。

在实际应用中，激光雷达的使用不会受到环境的影响，所以，针对这个物理特性，自动驾驶技术使用激光雷达恰到好处，在自动导航中，激光雷达能根据地形和目标进行正确的识别。

但是，尽管如此，在实际应用中，激光雷达仍然具有一定的局限性。由于激光的波长较短，所以激光的衰减较快，激光雷达覆盖的范围有限。这些年随着激光器件等技术的发展，激光成像技术能够避免激光波长短、覆盖范围小的特点^[3]，目前已经应用在多个领域中。

1. 激光雷达

激光雷达也是一种雷达系统，这种系统主要是利用激光束探测目标的位置和速度。激光雷达在工作中首先发射激光信息，然后通过对比发射信号和反射信号，通过对信号的处理，从而确定目标的相关信息，比如目标的位置和速度等信息。为了飞行器，导弹在飞行过程中需要密切监控和跟踪。激光雷达系统主要由四个部分组成，即激光发射器、光接收器、转台和信息处理系统。激光在工作时，会转变脉冲信号，通过将电脉冲转变成光脉冲，在光接收器工作时再转变成电脉冲，从而将信息显示出来。

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