CN104833979B - A kind of method of the signal transacting of laser ranging and laser ranging data - Google Patents
A kind of method of the signal transacting of laser ranging and laser ranging data Download PDFInfo
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- CN104833979B CN104833979B CN201510205921.6A CN201510205921A CN104833979B CN 104833979 B CN104833979 B CN 104833979B CN 201510205921 A CN201510205921 A CN 201510205921A CN 104833979 B CN104833979 B CN 104833979B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4808—Evaluating distance, position or velocity data
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Abstract
The invention discloses a kind of utilization single-photon detecting survey technology carries out method and the signal processing method of pulsed laser ranging.In the case where receiving terminal echo signal intensity is far below noise, signal to noise ratio is improved by the way of multiple signal is cumulative, it is modeled with noise characteristic for system signal, calculates under current wavelength visibility environments, estimating detectable signal to noise ratio need to carries out cumulative minimum number N.For the situation that backscattering peak severe jamming echo signal in the cumulative echo-signal of n times judges, formulating special threshold scheme using wavelet multi_resolution analysis with reference to priori carries out disturbing the signal processing method with noise reduction.
Description
Technical field
The present invention relates to a kind of pulsed laser ranging method, and the method for the signal transacting of laser ranging data, belong to
Laser ranging technique field.
Background technology
The general principle of pulsed laser ranging is, actively to objective emission laser pulse, the laser for detecting target reflection is returned
Ripple, and accurate measurement laser pulse sends and the time difference between reception is the flight time, for calculating the distance of target.To remote
When being found range apart from noncooperative target, echo-signal may be very faint, or even is significantly smaller than noise floor value.Therefore to micro-
The ability detected by weak echo signal is the major issue of relation range capability.Signal transacting is in pulsed laser ranging system
Pith, there are many noise sources in LDMS, have influence on the indexs such as its detection efficient, precision.At signal
The purpose of reason is raising signal to noise ratio, exclusion interference of the noise to signal to greatest extent, recovers echo signal exactly.How to adopt
Effective signal processing method is taken, and the weight that weak target signal is LDMS is extracted from the noise background of echo-signal
Want problem.
Content of the invention
It is an object of the invention to overcoming the deficiencies in the prior art, there is provided a kind of faint using single photon detection technology for detection
Signal, for the extremely faint occasion that repeatedly need to be added up of echo-signal, receives effect according to air current wavelength visibility with system
Rate calculates the accumulative frequency that need to be completed；In data after repeatedly adding up, solve because backscatter peak is too strong and make
Into the problem for being difficult to differentiate echo signal.
The object of the invention is achieved by following technical solution：A kind of signal processing method of laser ranging data, its
It is characterised by comprising the following steps：
A () calculates the flashlight probability of acceptance according to present laser wavelength atmospheric extinction coefficient and target range discreet value L
Ps；
B () carries out K scanning superposition to the echo data of the target reflection for gathering under conditions of laser is not launched, its
In take K>10, and detect that photo-event occurs number N um, current atmospheric delustring system in each time slot after superposition by counting mode
Several slotted noise detection probability P that place an ordern=Num/K；
C the minimum accumulative frequency N that need to be completed of detecting signal, N=9P are wanted in () estimationn·(1-Pn)/Ps 2；
D () opens laser, gather the echo data of target reflection；
E () carries out n times to the echo data of the target reflection for gathering and adds up；
(f) to add up after data carry out matched filtering；
G () uses ' db3 ' small echo that filtered data are decomposed 4 layers；
H () makes the 4th layer of approximation component be equal to this layer of approximation component minimum modulus value the 4th layer of approximation component；
I () the 4th layer of details carries out threshold process using first threshold function；Obtain F (Y, T)；
J () carries out threshold process to 1,2,3 layers of detail wavelet coefficients using Second Threshold function；Obtain D (I, Y)；
K () carries out wavelet reconstruction in each layer wavelet coefficient；
(l) using threshold detection method detect reconstruct after signal peak value and judged, if not existing more than given threshold
Peak value or there are multiple peak values more than given threshold, feed back without target；If existence anduniquess is more than the peak value of given threshold,
Target range, feedback target distance are calculated according to peak value position；
M () range finding terminates.
Further, in the step (a), the method for acquisition optical maser wavelength atmospheric extinction coefficient is：Measured using visibility meter
Or the current visibility data of laser wavelength are obtained from meteorological department's inquiry.
Further, flashlight probability of acceptance P in the step (a)sComputational methods as follows；
Ps=e-γLηeηrτη0D2Ei/(8EpL2)
Wherein, γ is atmospheric extinction coefficient, and L is target range discreet value L, ηeFor optical transmitting system transmitance, ηrFor connecing
Receive transmissivity of optical system；τ be target object reflectivity, η0For single-photon detector quantum efficiency, D is that receiving optics is straight
Footpath, EiFor laser instrument single pulse energy, EpFor photon energy.
Further, described in the step (i), first threshold function is as follows：
In formula, Y is wavelet coefficient, and T is threshold value, if 4 layers of detail wavelet coefficients maximum modulus value are M,And record
Meet | Y |>The interval P of T.
Further, described in the step (j), Second Threshold function is as follows：
In formula, I is this layer of wavelet coefficient index value, and P is to meet | Y | in the 4th layer of detail wavelet coefficients>The interval of T, Y is
Wavelet coefficient values.
A kind of pulsed laser ranging method based on pulsed laser ranging system, the pulsed laser ranging system are provided simultaneously
System includes middle control and signal processing module [101], flight time measurement module [102], laser instrument [103], optical transmitting antenna
[104], optical receiver antenna [105], optical filter [106], single-photon detector [107]；It is characterized in that including as follows
Step：
(1) control and signal processing module [101] in starting up, open transmitting optical antenna [104] and receive optics day
Line [105], starts flight time measurement module [102], starts single-photon detector [107], starts laser instrument [103], middle control
Self-inspection is booted up to each part with signal processing module [101]；
(2) in, control obtains optical maser wavelength atmospheric extinction coefficient and rough estimate target range with signal processing module [101]
Value, calculates flashlight probability of acceptance Ps；
(3) under the standby pattern for not launching laser of laser instrument, K scanning is carried out, by flight time measurement module
[102] echo-signal that record single-photon detector [107] is gathered, carries out K scanning superposition, wherein takes K>10, after superposition
By counting mode, each time slot detects that photo-event occurs number N um, photo-event is sent out by flight time measurement module [102]
Raw number N um is sent to middle control and signal processing module [101], and middle control calculates current atmospheric with signal processing module [101] and disappears
Backscatter extinction logarithmic ratio places an order slotted noise detection probability Pn=Num/K；
(4) in, control wants the minimum accumulative frequency N that need to be completed of detecting signal, N=with signal processing module [101] estimation
9Pn·(1-Pn)/Ps 2；
(5) in, control launches a laser pulse with signal processing module [101] control laser instrument [103], while triggering flies
Row time measurement module [102], laser pulse to objective emission, are radiated at after optical transmitting antenna [104] expands shaping
The laser pulse of target surface forms target echo by diffusing reflection, after receiving through optical receiver antenna [105], is filtered by optics
Ripple device [106] carries out optically filtering, and the echo data for gathering target reflection through single-photon detector [107] was sent to the flight time
Measurement module [102]；
(6) flight time measurement module [102] carries out n times to the echo data of the target reflection for gathering and adds up, and will be tired
Plus after data is activation to middle control with signal processing module [101]；
(7) data after control and signal processing module [101] are to adding up in carry out matched filtering；
(8) in, control uses ' db3 ' small echo by filtered data point with signal processing module [101] to filtered signal
Solution to 4 layers；To the 4th layer of approximation component, processed by the way of making which be equal to this layer of approximate signal minimum modulus value；4th layer of details
Threshold process is carried out using first threshold function；To 1,2,3 layers of detail wavelet coefficients, carried out at threshold value using Second Threshold function
Reason；
(9) in, control carries out wavelet reconstruction with signal processing module [101] in each layer wavelet coefficient；
(10) in, control and is sentenced using the peak value of signal after threshold detection method detection reconstruct with signal processing module [101]
Disconnected, if without meet condition peak value or exist multiple meet condition peak value, feed back without target；If detecting qualified list
One peak value, calculates target range, feedback target distance according to peak value position；
(11) range finding terminates.
The present invention is had the advantage that compared with prior art：
(1) by setting up signal noise Mathematical Modeling, calculate and measure target under certain condition and need to carry out cumulative time
Number N, it is to avoid the accumulative frequency that makes repeated attempts, substantially increase operating efficiency.
(2) for cumulative problem of the back to scattering peak severe jamming of n times, using wavelet decomposition by signal decomposition to four
Layer, formulates corresponding threshold scheme according to each layer wavelet coefficient feature, successfully eliminates high-frequency noise and low frequency backscattering peak
Interference.
(3) signal transacting is carried out using Technique of Weak Signal Detection, effectively extracts weak echo signal, greatly improve sharp
The range capability of optar, reduces false alarm rate.
Description of the drawings
Fig. 1 is the structured flowchart of pulsed laser ranging system of the present invention；
Fig. 2 is signal and noise amplitude result after repeatedly accumulation；
Fig. 3 is LDMS multiecho cumulative signal result；
Fig. 4 is the result that signal Mallat is decomposed ' db3 ' small echo four layers；Wherein figure (a) is one layer of approximation component, (b)
For one layer of details coefficients, it is (c) two layers of approximation component, is (d) two layers of details coefficients, (e) three layers of approximation component, (f) three layers thin
Section component, (g) four layers of approximation component, (h) four layers of details coefficients；
Fig. 5 is wavelet reconstruction signal；
Fig. 6 is system operation procedures flow chart.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and detailed description：
Include middle control and signal processing module [101], flight time measurement module referring to Fig. 1 pulsed laser ranging systems
[102], laser instrument [103], optical transmitting antenna [104], optical receiver antenna [105], optical filter [106], single photon
Detector [107].
The operating process of system is：Control and signal processing in being first powered on starting, open transmitting optical antenna and connect
Optical antenna is received, starts flight time measurement, start single-photon detector, start laser instrument, middle control end is opened to each part
Machine self-inspection, according to atmospheric extinction coefficient and system parameters and estimation target range estimating signal optical detection probability；Subsequently
Under standby (not lighting) pattern of laser instrument, M scanning is carried out, single-photon detector is recorded by flight time measurement circuit and is adopted
The echo-signal of collection, calculates noise detection probability, obtains minimum accumulative frequency N；Subsequently laser instrument is switched to mode of operation, middle control
End control laser instrument is luminous to be started simultaneously at flight time measurement module timing, and cumulative by n times echo-signal, the flight time surveys
Control and signal processing during the data after circuit will add up are returned is measured, and echo signal is obtained after carrying out signal transacting, according to mesh
Mark position calculation of the signal in time series goes out target range.
The present invention technical solution be：Under concrete measuring environment, by the way such as visibility meter, meteorological department's data
Footpath, knows the atmospheric extinction coefficient of current range finding environment optical maser wavelength, estimates target range and when coupling system parameter estimation goes out
Between in the T of gap individual pulse system probability of acceptance Ps, the signal for being certain number of times K adds up, according to the average for receiving signal, meter
Calculate the detection probability P of ambient noise under current environmentn.Signal is detected in current environment next one time slot and noise is equal
Meet bi-distribution, it follows that cumulative n times, that detects noise is contemplated to be PnN, detect signal are contemplated to be Ps·N.
As, on whole time shaft, the height of noise is the substrate of whole signal, and the height of signal position is (Ps+Pn) N, shadow
Ring signal determining is not the difference of cumulative rear signal peak position amplitude and noise average, but signal peak position amplitude is inclined with noise
From the difference of its desired undulating value, as shown in Figure 2.Noise deviates its difference that expects and is weighed with standard deviation, asThe value for deviateing its average due to being superimposed noise amplitude after n times approximately meets normal distribution, can use 3 σ criterions
Whether the difference for weighing echo signal position amplitude with its neighbouring noise can detect echo signal, i.e., when target peak position amplitude is super
The noise amplitude that crosses in the range of 3 σ of noise average, is considered as signal strength signal intensity and detects enough from noise, namely：
Thus can calculate, meet signal and be detected the accumulative frequency N that need to be completed.
After having carried out n times and be cumulative, measured signal such as Fig. 3, due to the presence of backscattering, is accumulated dorsad through n times
Scattering peak apparently higher than signal peak, under the interference at backscattering peak, it is difficult to which echo signal is positioned.Therefore the present invention is adopted
With the mode of wavelet decomposition, ' db3 ' small echo is used by signal decomposition to 4 layers, as a result as shown in Figure 4.To the 4th layer of approximation component
Process, because which includes the backscattering peak of low frequency, place by the way of making which be equal to this layer of approximate signal minimum modulus value
Reason.
To 4 layers of detail signal, by the way of layered shaping, for the 4th layer of details is using the process of following threshold function table：
In formula, Y is wavelet coefficient, and T is threshold value, if 4 layers of detail wavelet coefficients maximum modulus value are M,And record
Meet | Y |>The interval P of T.
To 1,2,3 layers of detail wavelet coefficients, due to including echo signal component while mainly including a large amount of high-frequency noises
So using the process of following threshold function table：
In formula, I is this layer of wavelet coefficient index value, and P is to meet | Y | in the 4th layer of detail wavelet coefficients>The interval of T, Y is
Wavelet coefficient values.
Through the process to each layer wavelet coefficient, wavelet reconstruction is carried out, echo signal is detected from the signal of wavelet reconstruction.
Decomposition result such as Fig. 4, carries out threshold value setting in conjunction with priori to signal, by threshold process after wavelet coefficient enter
Row wavelet reconstruction, as a result such as Fig. 5.
The ranging process of the present invention is as shown in Figure 6：
Step 601：Start, enter the preparatory stage.
Step 602：Visibility data are obtained, and are measured using visibility meter or laser wavelength are obtained from meteorological department's inquiry
Current visibility data.
Step 603：Calculate that signal light-receiving is general according to present laser wavelength atmospheric extinction coefficient and target range discreet value
Rate Ps.
Step 604：In the case of laser is closed, by noise detection probability P in K sweep measuring current environmentn.
Step 605：The accumulation times N that need to be completed is calculated according to formula (2).
Step 606：Start, carries out data receiver.
Step 607：N times receiving data is accumulated.
Step 608：Will build up on the data obtained carries out matched filtering.
Step 609：' db3 ' small echo is used by signal decomposition to 4 layers.
Step 610：4 layers of approximation wavelet coefficients are set to its minimum modulus value.
Step 611：Press formula (3) and process 4 layers of detailed information.
Step 612：Press formula (4) and process 1,2,3 layers of detailed information.
Step 613：Wavelet reconstruction is carried out on the basis of the process of each layer wavelet coefficient.
Step 614：Peak is detected using threshold detection method.
Step 615：If if without meet condition peak value or exist multiple meet condition peak value, feed back without target.
Step 616：If detecting qualified single peak value, target range is calculated according to peak value position,
Feedback target distance.
Step 617：Range finding terminates.
Based on the pulsed laser ranging method of pulsed laser ranging system, comprise the steps：
(1) control and signal processing module [101] in starting up, open transmitting optical antenna [104] and receive optics day
Line [105], starts flight time measurement module [102], starts single-photon detector [107], starts laser instrument [103] and (is in
Holding state), middle control boots up self-inspection with signal processing module [101] to each part；
(2) in, control obtains optical maser wavelength atmospheric extinction coefficient and target range discreet value L with signal processing module [101],
Calculate flashlight probability of acceptance Ps, target range discreet value L is to adjust the distance estimated using existing mode roughly；
(3) under the standby pattern for not launching laser of laser instrument, K scanning is carried out, by flight time measurement module
[102] echo-signal that record single-photon detector [107] is gathered, carries out K scanning superposition, wherein takes K>10, after superposition
By existing counting mode, each time slot detects that photo-event occurs number N um, flight time measurement module [102] is by photon
There is number N um and send to middle control and signal processing module [101] in event, middle control calculates current with signal processing module [101]
Atmospheric extinction coefficient places an order slotted noise detection probability Pn=Num/K；
(4) in, control wants the minimum accumulative frequency N that need to be completed of detecting signal, N=with signal processing module [101] estimation
9Pn·(1-Pn)/Ps 2；
(5) in, control launches a laser pulse with signal processing module [101] control laser instrument [103], while triggering flies
Row time measurement module [102], laser pulse to objective emission, are radiated at after optical transmitting antenna [104] expands shaping
The laser pulse of target surface forms target echo by diffusing reflection, after receiving through optical receiver antenna [105], is filtered by optics
Ripple device [106] carries out optically filtering, and the echo data for gathering target reflection through single-photon detector [107] was sent to the flight time
Measurement module [102]；
(6) flight time measurement module [102] carries out n times to the echo data of the target reflection for gathering and adds up, and will be tired
Plus after data is activation to middle control with signal processing module [101]；
(7) data after control and signal processing module [101] are to adding up in carry out matched filtering；
(8) in, control uses ' db3 ' small echo by filtered data point with signal processing module [101] to filtered signal
Solution to 4 layers；To the 4th layer of approximation component, processed by the way of making which be equal to this layer of approximate signal minimum modulus value；4th layer of details
Threshold process is carried out using first threshold function；To 1,2,3 layers of detail wavelet coefficients, carried out at threshold value using Second Threshold function
Reason；
(9) in, control carries out wavelet reconstruction with signal processing module [101] in each layer wavelet coefficient；
(10) in, control and is sentenced using the peak value of signal after threshold detection method detection reconstruct with signal processing module [101]
Disconnected, if without meet condition peak value or exist multiple meet condition peak value, feed back without target；If detecting qualified list
One peak value, calculates target range, feedback target distance according to peak value position；
(11) range finding terminates.
In the case of without departing substantially from spirit of the invention and its essence, those of ordinary skill in the art work as can be according to the present invention
Various corresponding changes and deformation is made, but these corresponding changes and deformation should all belong to appended claims of the invention
Protection domain.
The content not being described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.
Claims (8)
1. a kind of signal processing method of laser ranging data, it is characterised in that comprise the following steps：
A () calculates flashlight probability of acceptance P according to present laser wavelength atmospheric extinction coefficient and target range discreet value Ls；
B () under conditions of laser is not launched carries out K scanning superposition to the echo data of the target reflection for gathering, wherein takes K
>10, and detect that photo-event occurs number N um in each time slot after superposition by counting mode, under current atmospheric extinction coefficient
Single slotted noise detection probability Pn=Num/K；
C the minimum accumulative frequency N that need to be completed of detecting signal is wanted in () estimation, N is more than 9Pn·(1-Pn)/Ps 2Smallest positive integral；
D () opens laser, gather the echo data of target reflection；
E () carries out n times to the echo data of the target reflection for gathering and adds up；
(f) to add up after data carry out matched filtering；
G () uses ' db3 ' small echo that filtered data are decomposed 4 layers；
H () makes the 4th layer of approximation component be equal to this layer of approximation component minimum modulus value the 4th layer of approximation component；
I () the 4th layer of details carries out threshold process using first threshold function；Obtain F (Y, T)；
J () carries out threshold process to 1,2,3 layers of detail wavelet coefficients using Second Threshold function；Obtain D (I, Y)；
K () carries out wavelet reconstruction in each layer wavelet coefficient；
(l) using threshold detection method detect reconstruct after signal peak value and judged, if there is no the peak more than given threshold
Be present multiple peak values more than given threshold in value, feed back without target；If existence anduniquess is more than the peak value of given threshold, basis
Peak value position calculates target range, feedback target distance；
M () range finding terminates.
2. method according to claim 1, it is characterised in that present laser wavelength atmospheric extinction coefficient in the step (a)
Acquisition methods are：Measured using visibility meter or the current visibility data of laser wavelength are obtained from meteorological department's inquiry.
3. method according to claim 1, it is characterised in that flashlight probability of acceptance P in the step (a)sComputational methods
As follows；
Ps=e-γLηeηrτη0D2Ei/(8EpL2)
Wherein, γ is atmospheric extinction coefficient, and L is target range discreet value, ηeFor optical transmitting system transmitance, ηrFor receiving light
System transmitance；τ be target object reflectivity, η0For single-photon detector quantum efficiency, D is receiving optics diameter, Ei
For laser instrument single pulse energy, EpFor photon energy.
4. method according to claim 1, it is characterised in that first threshold function is as follows described in the step (i)：
In formula, Y is wavelet coefficient, and T is threshold value, if the 4th layer of detail wavelet coefficients maximum modulus value is M,And record satisfaction
|Y|>The interval P of T.
5. method according to claim 4, it is characterised in that Second Threshold function is as follows described in the step (j)：
In formula, I is this layer of wavelet coefficient index value, and P is to meet | Y | in the 4th layer of detail wavelet coefficients>The interval of T, Y are small echo
Coefficient value.
6. a kind of pulsed laser ranging method based on pulsed laser ranging system, the pulsed laser ranging system include middle control
With signal processing module [101], flight time measurement module [102], laser instrument [103], optical transmitting antenna [104], optics
Reception antenna [105], optical filter [106], single-photon detector [107]；It is characterized in that comprising the steps：
(1) control and signal processing module [101] in starting up, open optical transmitting antenna [104] and optical receiver antenna
[105], start flight time measurement module [102], start single-photon detector [107], start laser instrument [103], middle control with
Signal processing module [101] boots up self-inspection to each part；
(2) in, control obtains optical maser wavelength atmospheric extinction coefficient and target range discreet value L with signal processing module [101], calculates
Flashlight probability of acceptance Ps；
(3) under the standby pattern for not launching laser of laser instrument, K scanning is carried out, by flight time measurement module [102]
The echo-signal that record single-photon detector [107] is gathered, carries out K scanning superposition, wherein takes K>10, during each after superposition
By counting mode, gap detects that photo-event occurs number N um, photo-event number by flight time measurement module [102] occurs
Num is sent to middle control and signal processing module [101], and middle control calculates current atmospheric extinction coefficient with signal processing module [101]
Place an order slotted noise detection probability Pn=Num/K；
(4) in, control wants the minimum accumulative frequency N that need to be completed of detecting signal with signal processing module [101] estimation, and N is more than 9Pn·
(1-Pn)/Ps 2Smallest positive integral；
(5) in, control launches a laser pulse with signal processing module [101] control laser instrument [103], while when triggering flight
Between measurement module [102], laser pulse to objective emission, is radiated at target after optical transmitting antenna [104] expands shaping
The laser pulse on surface forms target echo by diffusing reflection, after receiving through optical receiver antenna [105], by optical filter
[106] optically filtering is carried out, and the echo data for gathering target reflection through single-photon detector [107] is sent to flight time measurement
Module [102]；
(6) flight time measurement module [102] carries out n times to the echo data of the target reflection for gathering and adds up, and will cumulative after
Data is activation to middle control with signal processing module [101]；
(7) data after control and signal processing module [101] are to adding up in carry out matched filtering；
(8) in, control uses ' db3 ' small echo to decompose filtered data filtered signal with signal processing module [101]
4 layers；To the 4th layer of approximation component, the 4th layer of approximation component is made to be equal to this layer of approximation component minimum modulus value；4th layer of details adopts first
Threshold function table carries out threshold process, obtains F (Y, T)；To 1,2,3 layers of detail wavelet coefficients, threshold is carried out using Second Threshold function
Value process, obtains D (I, Y)；
(9) in, control carries out wavelet reconstruction with signal processing module [101] in each layer wavelet coefficient；
(10) in, control and is judged using the peak value of signal after threshold detection method detection reconstruct with signal processing module [101],
If do not exist more than given threshold peak value or there are multiple peak values more than given threshold, feed back without target；If existence anduniquess
More than the peak value of given threshold, then target range, feedback target distance are calculated according to peak value position；
(11) range finding terminates.
7. method according to claim 6, it is characterised in that first threshold function is as follows described in step (8)：
In formula, Y is wavelet coefficient, and T is threshold value, if the 4th layer of detail wavelet coefficients maximum modulus value is M,And record satisfaction
|Y|>The interval P of T.
8. method according to claim 6, it is characterised in that Second Threshold function is as follows described in step (8)：
In formula, I is this layer of wavelet coefficient index value, and P is to meet | Y | in the 4th layer of detail wavelet coefficients>The interval of T, Y are small echo
Coefficient value.
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| EP3516415B1 (en) * | 2016-09-22 | 2024-12-04 | Apple Inc. | Adaptive transmission power control for a lidar |
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