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CN109521439B - Coding method for range-gated laser radar full-field-depth imaging - Google Patents

Coding method for range-gated laser radar full-field-depth imaging Download PDF

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CN109521439B
CN109521439B CN201811470053.4A CN201811470053A CN109521439B CN 109521439 B CN109521439 B CN 109521439B CN 201811470053 A CN201811470053 A CN 201811470053A CN 109521439 B CN109521439 B CN 109521439B
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金东东
纪春恒
张晓晖
韩宏伟
楚新波
裴崇雷
彭勃
孙磊
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Shandong Institute of Space Electronic Technology
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Abstract

本发明涉及一种距离选通激光雷达全景深成像的编码方法，根据激光雷达工作介质中的光衰减系数，确定总探测距离，根据选通成像参数确定单切片景深，根据总探测距离和单切片景深确定所需要的切片数量，确定各个切片实际对应的探测距离和各个切片实际对应的实际ICCD开门时刻。根据光能量相等原理，确定各个切片所需要分配的激光脉冲数比值，得到一维数组，并求出一维数组的和sum；根据选通成像参数确定单帧成像的总激光脉冲数目，确定各个切片实际分配的脉冲数；确定各个切片实际分配的脉冲数。采用本编码方法，可以实现探测距离内的全景深成像，提高探测效率。

Figure 201811470053

The invention relates to a coding method for range-gated laser radar panoramic depth imaging. The total detection distance is determined according to the light attenuation coefficient in the laser radar working medium, the single-slice depth of field is determined according to the gating imaging parameters, and the total detection distance and the single-slice depth are determined according to the The depth of field determines the number of slices required, and determines the actual detection distance corresponding to each slice and the actual ICCD door opening time actually corresponding to each slice. According to the principle of equal light energy, determine the ratio of the number of laser pulses to be allocated to each slice, obtain a one-dimensional array, and obtain the sum of the one-dimensional array; Number of pulses actually assigned to the slice; determines the number of pulses actually assigned to each slice. By adopting the coding method, panoramic depth imaging within the detection distance can be realized, and the detection efficiency can be improved.

Figure 201811470053

Description

一种距离选通激光雷达全景深成像的编码方法A coding method for range-gated lidar panoramic depth imaging

技术领域technical field

本发明涉及一种实现距离选通激光雷达全景深成像的编码方法，属于激光技术、光电探测、机器视觉等技术领域。The invention relates to a coding method for realizing panoramic deep imaging of range-gated laser radar, belonging to the technical fields of laser technology, photoelectric detection, machine vision and the like.

背景技术Background technique

基于距离选通的激光雷达系统被广泛应用于水下探测、夜间目标成像及军事侦察等各个方面。距离选通采用切片成像思想，通过时分工作方式分开空间不同距离的目标反射信号和环境后向散射信号。其原理是当激光器发射脉冲激光照亮目标时，探测器快门关闭；而后当目标反射的激光脉冲即将到达探测器时，打开探测器快门，接收反射脉冲后立即关闭。这种工作模式对于目标以外的反射光具有物理屏蔽的作用，很好地屏蔽了后向散射。Lidar systems based on range gating are widely used in underwater detection, night target imaging and military reconnaissance. The distance gating adopts the idea of slice imaging, and separates the target reflected signal and the environmental backscattered signal at different distances in space through time division work. The principle is that when the laser emits pulsed laser light to illuminate the target, the shutter of the detector is closed; then when the laser pulse reflected by the target is about to reach the detector, the shutter of the detector is opened and closed immediately after receiving the reflected pulse. This working mode has a physical shielding effect on the reflected light other than the target, and the backscattering is well shielded.

传统距离选通成像方法具有定距成像的特点，即一次只能对某一选通切片成像，探测和搜索效率较低。为了克服这一缺点，文献“一种水下高重频脉冲激光全选通成像雷达”(张晓晖、钟炜、管风、韩宏伟，申请号：CN 201610152283)给出了一种定性解决思路，即将一帧时间内的多个激光脉冲分配到不同距离的选通切片中，实现全选通成像。该文献虽然给出了定性思路，但是并未解决具体分配的编码方法。The traditional range-gated imaging method has the characteristics of fixed-range imaging, that is, only a certain gated slice can be imaged at a time, and the detection and search efficiency is low. In order to overcome this shortcoming, the document "An Underwater High Repetition-Frequency Pulsed Laser Fully Gated Imaging Radar" (Zhang Xiaohui, Zhong Wei, Guan Feng, Han Hongwei, application number: CN 201610152283) gives a qualitative solution. That is, multiple laser pulses within a frame time are distributed into gated slices with different distances to realize fully gated imaging. Although this document gives qualitative ideas, it does not solve the coding method of specific allocation.

发明内容SUMMARY OF THE INVENTION

本发明的目的是实现一种距离选通激光雷达全景深成像的具体编码方法。采用本编码方法，可以实现探测距离内的全景深成像，提高探测效率。The purpose of the present invention is to realize a specific encoding method for range-gated laser radar panoramic depth imaging. By adopting the coding method, panoramic depth imaging within the detection distance can be realized, and the detection efficiency can be improved.

为解决上述技术问题，本发明的距离选通激光雷达全景深成像的编码方法，采用本编码方法，可以实现探测距离内的全景深成像。In order to solve the above-mentioned technical problems, the encoding method of the range-gated laser radar panoramic depth imaging of the present invention can realize the panoramic depth imaging within the detection distance by using the encoding method.

进一步的，具体步骤如下，Further, the specific steps are as follows,

(1)根据激光雷达工作介质(空气或水体)中的光衰减系数，确定总探测距离。(1) Determine the total detection distance according to the light attenuation coefficient in the working medium (air or water) of the lidar.

(2)根据选通成像参数确定单切片景深。设激光脉宽为tl，ICCD选通门宽为tg，则单切片景深

Figure BDA0001890684910000011
其中cv为介质中的光束；(2) Determine the depth of field of a single slice according to the gated imaging parameters. Let the laser pulse width be t l and the ICCD gate width be t g , then the depth of field of a single slice
Figure BDA0001890684910000011
where cv is the light beam in the medium;

(3)根据总探测距离和单切片景深确定所需要的切片数量，

Figure BDA0001890684910000012
其中round()表示取四舍五入最临近整数；(3) Determine the required number of slices according to the total detection distance and the depth of field of a single slice,
Figure BDA0001890684910000012
where round() means rounding to the nearest integer;

(4)确定各个切片实际对应的探测距离，设Rm为第m个切片对应的探测距离，则Rm＝mds；(4) Determine the actual corresponding detection distance of each slice, and let R m be the detection distance corresponding to the mth slice, then R m =md s ;

(5)确定各个切片实际对应的实际ICCD开门时刻(初始时刻为0)，则

Figure BDA0001890684910000021
(5) Determine the actual opening time of the ICCD corresponding to each slice (the initial time is 0), then
Figure BDA0001890684910000021

(6)确定各个切片数所需要分配的激光脉冲数比值。设n1＝1为第1个切片需要分配的脉冲数，nm为第m个切片需要分配的脉冲数，则

Figure BDA0001890684910000022
(6) Determine the ratio of the number of laser pulses to be allocated for each number of slices. Let n 1 =1 be the number of pulses to be allocated to the first slice, and n m to be the number of pulses to be allocated to the m-th slice, then
Figure BDA0001890684910000022

(7)根据步骤(5)得到一维数组(1，n2，n3，...,nN)，并求出一维数组的和sum；(7) Obtain a one-dimensional array (1, n 2 , n 3 , ..., n N ) according to step (5), and obtain the sum of the one-dimensional array;

(8)根据选通成像参数确定单帧成像的总激光脉冲数目，设激光重频为F，单帧曝光时间为dt，则单帧成像的总激光脉冲数目Nnum＝Fdt；(8) Determine the total number of laser pulses for single-frame imaging according to the gated imaging parameters, set the laser repetition frequency as F, and set the single-frame exposure time as dt, then the total number of laser pulses for single-frame imaging N num =Fdt;

(9)确定各个切片实际分配的脉冲数，第一个切片分配的脉冲数为

Figure BDA0001890684910000023
第m个切片分配的脉冲数为
Figure BDA0001890684910000024
其中fix()表示向下取整；(9) Determine the number of pulses actually assigned to each slice, and the number of pulses assigned to the first slice is
Figure BDA0001890684910000023
The number of pulses assigned to the mth slice is
Figure BDA0001890684910000024
where fix() means round down;

(10)确定各个切片实际分配的脉冲数，如果有分配为0的情况，则实际分配为1，同时最后一个切片的分配脉冲数相应减去1，保证单帧下的总脉冲数小于等于Nnum。(10) Determine the actual number of pulses allocated to each slice. If there is an allocation of 0, the actual allocation is 1. At the same time, the allocated pulse number of the last slice is correspondingly subtracted by 1 to ensure that the total number of pulses in a single frame is less than or equal to N num .

进一步的，激光雷达的探测距离最大为5个光学衰减长度，即5AL；设介质中的光学衰减系数为c，则1AL＝1/c。Further, the detection distance of the lidar is a maximum of 5 optical attenuation lengths, namely 5AL; if the optical attenuation coefficient in the medium is c, then 1AL=1/c.

进一步的，各个切片所分配的脉冲数比值是根据光能量相等原理推出。目标位于R1和R2处，探测器接收到目标反射光的照度比值为Further, the ratio of the number of pulses assigned to each slice is deduced according to the principle of equal light energy. The target is located at R 1 and R 2 , and the illuminance ratio of the reflected light from the target received by the detector is

Figure BDA0001890684910000025
Figure BDA0001890684910000025

因此根据能量相等原理，则分配到R1和R2处的激光脉冲数应该是Therefore, according to the principle of equal energy, the number of laser pulses assigned to R 1 and R 2 should be

Figure BDA0001890684910000026
Figure BDA0001890684910000026

通过对本技术方案的实施，可达到如下效果：Through the implementation of this technical solution, the following effects can be achieved:

(1)采用本编码方法，可以实现单帧内探测距离内的全景深成像，提高距离选通激光雷达的探测效率，适应于水下、空气中等不同探测环境；(1) By using this coding method, panoramic deep imaging within the detection distance in a single frame can be realized, the detection efficiency of the range-gated lidar can be improved, and it is suitable for different detection environments such as underwater and air;

(2)本编码方法简单有效，可以快速集成于嵌入式控制系统中，形成全选通成像的初始化编码。(2) The encoding method is simple and effective, and can be quickly integrated into an embedded control system to form an initialization encoding for full-gated imaging.

附图说明Description of drawings

下面结合附图和具体实施方式对本发明作进一步详细的说明。The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

图1是固定距离选通成像方法的示意图。Figure 1 is a schematic diagram of a fixed distance gated imaging method.

图2是全选通成像方法的示意图。FIG. 2 is a schematic diagram of a fully gated imaging method.

具体实施方式Detailed ways

本发明的距离选通激光雷达全景深成像的编码方法，具体步骤如下，The encoding method for range-gated laser radar panoramic deep imaging of the present invention has the following specific steps:

(1)根据激光雷达工作介质(空气或水体)中的光衰减系数，确定总探测距离。(1) Determine the total detection distance according to the light attenuation coefficient in the working medium (air or water) of the lidar.

(2)根据选通成像参数确定单切片景深。设激光脉宽为tl，ICCD选通门宽为tg，则单切片景深

Figure BDA0001890684910000031
其中cv为介质中的光束；(2) Determine the depth of field of a single slice according to the gated imaging parameters. Let the laser pulse width be t l and the ICCD gate width be t g , then the depth of field of a single slice
Figure BDA0001890684910000031
where cv is the light beam in the medium;

(3)根据总探测距离和单切片景深确定所需要的切片数量，

Figure BDA0001890684910000032
其中round()表示取四舍五入最临近整数；(3) Determine the required number of slices according to the total detection distance and the depth of field of a single slice,
Figure BDA0001890684910000032
where round() means rounding to the nearest integer;

(4)确定各个切片实际对应的探测距离，设Rm为第m个切片对应的探测距离，则Rm＝mds；(4) Determine the actual corresponding detection distance of each slice, and let R m be the detection distance corresponding to the mth slice, then R m =md s ;

(5)确定各个切片实际对应的实际ICCD开门时刻(初始时刻为0)，则

Figure BDA0001890684910000033
(5) Determine the actual opening time of the ICCD corresponding to each slice (the initial time is 0), then
Figure BDA0001890684910000033

(6)确定各个切片数所需要分配的激光脉冲数比值。设n1＝1为第1个切片需要分配的脉冲数，nm为第m个切片需要分配的脉冲数，则

Figure BDA0001890684910000034
(6) Determine the ratio of the number of laser pulses to be allocated for each number of slices. Let n 1 =1 be the number of pulses to be allocated to the first slice, and n m to be the number of pulses to be allocated to the m-th slice, then
Figure BDA0001890684910000034

(7)根据步骤(5)得到一维数组(1，n2，n3，...,nN)，并求出一维数组的和sum；(7) Obtain a one-dimensional array (1, n 2 , n 3 , ..., n N ) according to step (5), and obtain the sum of the one-dimensional array;

(8)根据选通成像参数确定单帧成像的总激光脉冲数目，设激光重频为F，单帧曝光时间为dt，则单帧成像的总激光脉冲数目Nnum＝Fdt；(8) Determine the total number of laser pulses for single-frame imaging according to the gated imaging parameters, set the laser repetition frequency as F, and set the single-frame exposure time as dt, then the total number of laser pulses for single-frame imaging N num =Fdt;

(9)确定各个切片实际分配的脉冲数，第一个切片分配的脉冲数为

Figure BDA0001890684910000041
第m个切片分配的脉冲数为
Figure BDA0001890684910000042
其中fix()表示向下取整；(9) Determine the number of pulses actually assigned to each slice, and the number of pulses assigned to the first slice is
Figure BDA0001890684910000041
The number of pulses assigned to the mth slice is
Figure BDA0001890684910000042
where fix() means round down;

(10)确定各个切片实际分配的脉冲数，如果有分配为0的情况，则实际分配为1，同时最后一个切片的分配脉冲数相应减去1，保证单帧下的总脉冲数小于等于Nnum。(10) Determine the actual number of pulses allocated to each slice. If there is an allocation of 0, the actual allocation is 1. At the same time, the allocated pulse number of the last slice is correspondingly subtracted by 1 to ensure that the total number of pulses in a single frame is less than or equal to N num .

进一步的，所述步骤(1)中，设介质中的光衰减系数为c，单个衰减长度1AL＝1/c。Further, in the step (1), the light attenuation coefficient in the medium is set as c, and the single attenuation length 1AL=1/c.

进一步的，所述步骤(1)中，激光雷达的探测距离大于5AL，则总探测距离为Rmax＝5/c。Further, in the step (1), if the detection distance of the lidar is greater than 5AL, the total detection distance is R max =5/c.

下面结合附图和实施例对本发明做进一步详细说明。The present invention will be described in further detail below with reference to the accompanying drawings and embodiments.

(1)固定距离选通成像方法(1) Fixed distance gating imaging method

如图1所示，传统固定距离选通成像装置包括激光器、ICCD和控制系统。控制系统触发激光器产生激光脉冲，根据探测目标的距离确定目标反射光到达ICCD的时间，控制器产生选通信号控制ICCD开门，接收目标反射光。As shown in FIG. 1, a conventional fixed distance gated imaging device includes a laser, an ICCD and a control system. The control system triggers the laser to generate laser pulses, and determines the time when the reflected light from the target reaches the ICCD according to the distance of the detected target. The controller generates a gating signal to control the ICCD to open the door and receive the reflected light from the target.

设t＝0时刻，发出激光脉冲，当目标距离为R1时，则ICCD的开门时刻为

Figure BDA0001890684910000043
当目标距离为R2时，则ICCD的开门时刻为
Figure BDA0001890684910000044
由此可见，不同的距离处的目标对应不同开门时刻。Set t=0 time, send out laser pulse, when the target distance is R 1 , then the opening time of ICCD is
Figure BDA0001890684910000043
When the target distance is R 2 , the door opening moment of the ICCD is
Figure BDA0001890684910000044
It can be seen that the targets at different distances correspond to different opening times.

传统的距离选通只能针对特定距离处的目标进行成像。当目标距离未知时，无法确定目标反射光的对应开门时刻，因此探测效率较低。Traditional range gating can only image targets at specific distances. When the target distance is unknown, the corresponding door opening moment of the reflected light from the target cannot be determined, so the detection efficiency is low.

(2)全选通成像方法(2) All-gated imaging method

全选通成像的思路是采用高重频激光克服以上缺点。高重频激光脉冲频率可达us级，高速ICCD相机可以达到ns级电子快门控制。因此，可以在单帧图像时间内，将多个激光脉冲按照一定规则分配到不同距离的选通切片，实现景深成像。The idea of fully gated imaging is to use high repetition frequency laser to overcome the above shortcomings. The high repetition frequency laser pulse frequency can reach us level, and the high-speed ICCD camera can achieve ns level electronic shutter control. Therefore, within a single frame of image time, multiple laser pulses can be distributed to gated slices at different distances according to certain rules to achieve depth-of-field imaging.

如图2所示，将最大探测距离分成不同的切片，在单帧成像时间内，为每个切片分配一定的脉冲数。这样，即使目标在整个探测距离内移动，总会相应的位于某一切片处，全景深成像总能捕捉到目标。As shown in Figure 2, the maximum detection distance is divided into different slices, and each slice is assigned a certain number of pulses within the imaging time of a single frame. In this way, even if the target moves within the entire detection distance, it will always be located at a certain slice, and the panoramic depth imaging can always capture the target.

(3)激光传输能量比值(3) Laser transmission energy ratio

如图1所示，假设P0为出射激光功率，Φ1为激光发射角，k为ICCD镜头的透过系数，D为镜头口径，f为镜头焦距，ρm为目标的反射率，R为目标距离，c为介质中的光衰减系数,则ICCD接收到目标反射光的照度公式为As shown in Figure 1, suppose P 0 is the outgoing laser power, Φ 1 is the laser emission angle, k is the transmission coefficient of the ICCD lens, D is the lens diameter, f is the lens focal length, ρ m is the reflectivity of the target, and R is the The target distance, c is the light attenuation coefficient in the medium, then the illuminance formula of the reflected light from the target received by the ICCD is:

Figure BDA0001890684910000051
Figure BDA0001890684910000051

目标位于R1和R2处，ICCD接收到目标反射光的照度比值为The target is located at R 1 and R 2 , and the illuminance ratio of the reflected light from the target received by the ICCD is

Figure BDA0001890684910000052
Figure BDA0001890684910000052

因此根据能量相等原理，则分配到R1和R2处的激光脉冲数应该是Therefore, according to the principle of equal energy, the number of laser pulses assigned to R 1 and R 2 should be

Figure BDA0001890684910000053
Figure BDA0001890684910000053

(4)水下全选通编码实例(4) Example of underwater fully gated coding

由于不同水体中的光衰减系数c差异，详细见表1。这里假设c＝0.15,水体中光速等于2.256×108m/s。Due to the difference in the light attenuation coefficient c in different water bodies, see Table 1 for details. It is assumed here that c=0.15, and the speed of light in water is equal to 2.256×10 8 m/s.

1)根据成像距离5AL，确定实际成像距离约为33m；1) According to the imaging distance 5AL, the actual imaging distance is determined to be about 33m;

2)水体中成像，宜选用较窄的激光脉宽和ICCD选通门宽，这里取tl＝10ns，tg＝20ns，单切片景深为

Figure BDA0001890684910000054
2) For imaging in water, narrower laser pulse width and ICCD gate width should be selected. Here, t l = 10ns, t g = 20ns, and the depth of field of a single slice is
Figure BDA0001890684910000054

3)根据总探测距离和单切片景深确定所需要的切片数量N＝10；3) Determine the required number of slices N=10 according to the total detection distance and the depth of field of a single slice;

4)各个切片对应的探测距离分别为[3.3 6.6 10 13.5 16.9 20.3 23.7 27 30.433.8]m；4) The detection distance corresponding to each slice is [3.3 6.6 10 13.5 16.9 20.3 23.7 27 30.433.8]m;

5)各个切片对应的ICCD开门时间分别为[30 60 90 120 150 180 210 240 270300]ns5) The ICCD door opening times corresponding to each slice are respectively [30 60 90 120 150 180 210 240 270300]ns

6)设激光重频为F＝20kHz，单帧曝光时间为dt＝100ms，则单帧成像的总激光脉冲数目Nnum＝2000；6) Assuming that the laser repetition frequency is F=20kHz, and the single-frame exposure time is dt=100ms, the total number of laser pulses for single-frame imaging is N num =2000;

7)各个切片分配的激光脉冲数为[1 1 1 1 2 8 32 118 415 1418]次；7) The number of laser pulses allocated to each slice is [1 1 1 1 2 8 32 118 415 1418] times;

以上分配结果，详见表2。The above allocation results are shown in Table 2.

表1不同水质的光衰减常数(经验值，针对532nm绿光)Table 1 Light attenuation constants of different water quality (empirical value, for 532nm green light)

水质类型Type of water quality 衰减系数(/m)Attenuation coefficient (/m) 自来水tap water 0.150.15 特别清澈的海水exceptionally clear water 0.030.03 公海的海水sea water 0.070.07 大陆架的海水seawater on the continental shelf 0.120.12 海滩的海水beach water 0.180.18 近海和港口的海水Offshore and harbour sea water 0.430.43

表2水下全选通成像编码实例(c＝0.15/m,成像距离5AL)Table 2 Examples of underwater fully gated imaging coding (c=0.15/m, imaging distance 5AL)

Figure BDA0001890684910000061
Figure BDA0001890684910000061

Claims (3)

1.一种距离选通激光雷达全景深成像的编码方法，其特征在于：采用本编码方法，可以实现探测距离内的全景深成像，其特征在于：具体步骤如下，1. a coding method for range-gated lidar panoramic depth imaging, it is characterized in that: adopt this coding method, can realize the panoramic depth imaging in detection distance, it is characterized in that: concrete steps are as follows, (1)根据激光雷达空气或水体工作介质中的光衰减系数，确定总探测距离；(1) Determine the total detection distance according to the light attenuation coefficient in the air or water working medium of the lidar; (2)根据选通成像参数确定单切片景深；设激光脉宽为tl，ICCD选通门宽为tg，则单切片景深
Figure FDA0003805913870000011
其中cv为介质中的光束；(2) Determine the depth of field of a single slice according to the gated imaging parameters; set the laser pulse width as t l and the ICCD gate width as t g , then the single slice depth of field
Figure FDA0003805913870000011
where cv is the light beam in the medium; (3)根据总探测距离和单切片景深确定所需要的切片数量，
Figure FDA0003805913870000012
Figure FDA0003805913870000013
其中round()表示取四舍五入最临近整数；(3) Determine the required number of slices according to the total detection distance and the depth of field of a single slice,
Figure FDA0003805913870000012
Figure FDA0003805913870000013
where round() means rounding to the nearest integer; (4)确定各个切片实际对应的探测距离，设Rm为第m个切片对应的探测距离，则Rm＝mds；(4) Determine the actual corresponding detection distance of each slice, and let R m be the detection distance corresponding to the mth slice, then R m =md s ; (5)确定各个切片实际对应的实际ICCD开门时刻，初始时刻为0，则
Figure FDA0003805913870000014
(5) Determine the actual opening time of the ICCD corresponding to each slice, and the initial time is 0, then
Figure FDA0003805913870000014
 (6)确定各个切片数所需要分配的激光脉冲数比值；设n1＝1为第1个切片需要分配的脉冲数，nm为第m个切片需要分配的脉冲数，则
Figure FDA0003805913870000015
其中e为自然常数，c为介质的光学衰减系数；(6) Determine the ratio of the number of laser pulses to be allocated for each slice number; set n 1 =1 to be the number of pulses to be allocated to the first slice, and n m to be the number of pulses to be allocated to the mth slice, then
Figure FDA0003805913870000015
where e is a natural constant, c is the optical attenuation coefficient of the medium; (7)根据步骤(5)得到一维数组(1，n2，n3，...,nN)，并求出一维数组的和sum；(7) Obtain a one-dimensional array (1, n 2 , n 3 , ..., n N ) according to step (5), and obtain the sum of the one-dimensional array; (8)根据选通成像参数确定单帧成像的总激光脉冲数目，设激光重频为F，单帧曝光时间为dt，则单帧成像的总激光脉冲数目Nnum＝Fdt；(8) Determine the total number of laser pulses for single-frame imaging according to the gated imaging parameters, set the laser repetition frequency as F, and set the single-frame exposure time as dt, then the total number of laser pulses for single-frame imaging N num =Fdt; (9)确定各个切片实际分配的脉冲数，第一个切片分配的脉冲数为
Figure FDA0003805913870000016
第m个切片分配的脉冲数为
Figure FDA0003805913870000017
其中fix()表示向下取整；(9) Determine the number of pulses actually assigned to each slice, and the number of pulses assigned to the first slice is
Figure FDA0003805913870000016
The number of pulses assigned to the mth slice is
Figure FDA0003805913870000017
where fix() means round down; (10)确定各个切片实际分配的脉冲数，如果有分配为0的情况，则实际分配为1，同时最后一个切片的分配脉冲数相应减去1，保证单帧下的总脉冲数小于等于Nnum。(10) Determine the actual number of pulses allocated to each slice. If there is an allocation of 0, the actual allocation is 1. At the same time, the allocated pulse number of the last slice is correspondingly subtracted by 1 to ensure that the total number of pulses in a single frame is less than or equal to N num . 2.按照权利要求1所述的距离选通激光雷达全景深成像的编码方法，其特征在于：激光雷达的探测距离最大为5个光学衰减长度，即5AL；设介质中的光学衰减系数为c，则1AL＝1/c。2. according to the coding method of the range-gated lidar panorama deep imaging according to claim 1, it is characterized in that: the detection distance of lidar is maximum 5 optical attenuation lengths, namely 5AL; set the optical attenuation coefficient in the medium to be c , then 1AL=1/c. 3.按照权利要求1所述的距离选通激光雷达全景深成像的编码方法，其特征在于：各个切片所分配的脉冲数比值是根据光能量相等原理推出；目标位于R1和R2处，探测器接收到目标反射光的照度比值为3. according to the coding method of the range-gated lidar panorama deep imaging according to claim 1, it is characterized in that: the pulse number ratio that each slice is distributed is derived according to the principle of equal light energy; the target is located at R 1 and R 2 places, The illuminance ratio of the reflected light from the target received by the detector is
Figure FDA0003805913870000021
Figure FDA0003805913870000021
 因此根据能量相等原理，则分配到R1和R2处的激光脉冲数是Therefore, according to the principle of equal energy, the number of laser pulses assigned to R 1 and R 2 is
Figure FDA0003805913870000022
Figure FDA0003805913870000022
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