Lidar One-dimensional Range Image Simulation Generator

Lidar range image simulation can replace the field experiment to provide a database for the subsequent target recognition,and its performance directly affects the robustness of target recognition.In this paper,aiming at the problem that the current lidar range image simulation data is mostly ideal and cannot be changed randomly,a lidar one-dimensional range image simulation generator is developed which can adjust the characteristics of laser signal,noise distribution and target characteristics parameters.In this paper,aiming at the process of forming a range image by scanning ground targets with terminal-sensitive lidar,the generation process of lidar one-dimensional range image is modeled,including laser emission pulse generation,noise generation,echo generation,digital filtering,signal identification and distance calculation.On this basis,the laser echo signals of single and multiple targets in plane with vertical incidence and 30° angle inclined incidence are simulated respectively,and the evolution law of echo waveform is obtained when the laser passes through the target in axial direction from far to near.Through the further simulation of the lidar one-dimensional range image,the influence of lidar parameters(including echo signal,threshold identification level,root mean square noise and target distance)on the quality of the one-dimensional range image is analyzed according to the evaluation parameters of mean square error,peak signal-to-noise ratio and determination coefficient.The circuit and program of the hardware part of the lidar one-dimensional range image simulation generator are designed,and the one-dimensional range image data simulated by the upper computer is transmitted to STM32 and written into the memory.STM32 reads data from the memory and transmits it to the tester at the frequency of 10 k Hz according to the instructions of the backend tester,realizing the real-time simulation output of lidar one-dimensional range image.And the control and display program based on Labview is designed in the upper computer.The statistical distribution of single point ranging data of lidar and the laser echo signal of plane multi-target are studied experimentally.Then,the one-dimensional range image when the lidar is at fixed altitude is studied experimentally,and the effects of laser echo signal and threshold identification level on the quality of one-dimensional range image are studied experimentally.The effect of target distance on one-dimensional range imaging quality is studied in the spiral descent process of lidar.The experimental results are consistent with the simulation results,which prove that the simulation generator is feasible.