近程动态范围激光雷达测距系统设计及误差分析

In this paper, a ranging system of LiDAR based on automatic gain control (AGC) circuit and constant fraction discriminator (CFD) circuit is designed for the problem that pulsed time of flight LiDAR ranging precision is limited by the walking error and time jitter error caused by dynamic range changes. It can adapt to measure the distance in short-distance dynamic range with better ranging precision. Through a series of experiments, within 10-100 m detection, the ranging precision is estimated to be on centimeter-scale. In the experiment of three-dimensional dynamic scanning, the planer fitting root mean square error of the target at 11.4-31.2 m achieves 2.05-4.35 cm indoors, and the planer fitting root mean square error of the target at 15.97 m achieves 3.54 cm outdoors.