CN204649962U

CN204649962U - A kind of atmospheric remote sensing laser radar optical receiver assembly based on telescope array

Info

Publication number: CN204649962U
Application number: CN201520327705.4U
Authority: CN
Inventors: 刘�东; 杨甬英; 罗敬; 周雨迪; 成中涛
Original assignee: Zhejiang University ZJU
Current assignee: Zhejiang University ZJU
Priority date: 2015-05-19
Filing date: 2015-05-19
Publication date: 2015-09-16
Anticipated expiration: 2025-05-19

Abstract

The utility model discloses an atmospheric remote sensing laser radar optical receiving device based on a telescope array. The utility model solves the problem that the echo signal is weak due to the small receiving area of a single telescope in the laser radar, thereby limiting the effective detection distance. The utility model replaces a single telescope in the traditional laser radar with a combination of multiple telescopes, uses a symmetrically arranged receiving optical path, and uses a specially designed reflective prism to ensure that the backscatter echo signals received by different telescopes and occurring in the same area are detected by the photoelectric The detectors record synchronously, making the telescope array equivalent to a single telescope with a larger aperture, thereby increasing the echo signal strength and effective detection range of the system with a larger receiving area. Compared with the method of increasing the aperture of a single telescope, the telescope array method can greatly reduce the cost. This method is applicable to all lidar systems that use telescopes as receiving devices, and provides a new direction for the popularization and development of lidar technology.

Description

An Atmospheric Remote Sensing LiDAR Optical Receiver Based on Telescope Array

技术领域technical field

本实用新型涉及激光雷达，特别是一种基于望远镜阵列的大气遥感激光雷达光学接收装置。The utility model relates to a laser radar, in particular to an atmospheric remote sensing laser radar optical receiving device based on a telescope array.

背景技术Background technique

大气遥感激光雷达技术是一种主动式的实时探测技术，其基本原理是向目标大气发射一束高质量的激光，利用望远镜等装置接收多种粒子后向散射的回波信号，通过光学元件和电子器件对回波信号进行分析对比，最终反演出大气中粒子的种类，浓度，运动状态和温度等有用信息。激光雷达技术的主要难点在于回波信号的强度太弱，使得其对激光器脉冲能量，望远镜接收面积，光学元件和电子器件等都有很高的要求，进而导致激光雷达系统成本很高。如果要在现有的激光雷达基础上进一步增加回波信号的强度或者扩大有效探测范围，常采用的方法有：加大激光器脉冲能量；使用口径更大的望远镜；应用性能更加优良的光电探测器等。鉴于一般激光雷达采用的都是高脉冲能量的激光器，如果想在已有激光器条件下继续增加脉冲能量，并且保证发射激光的脉宽、Jitter时间等参数都符合激光雷达的要求，其成本会急剧上升，而且高能量激光带来的危险系数也随之加大。激光雷达系统采用的光电探测器性能都非常优越，暂时很难有较大的突破。因此，增加接收面积成为继续提高激光雷达性能最直接，也是最简便的方法。但是大口径望远镜的加工难度远远高于小口径望远镜，故其价格是小口径望远镜的数倍甚至数十倍，而且大口径望远镜的尺寸也存在上限。Atmospheric remote sensing lidar technology is an active real-time detection technology. Its basic principle is to emit a beam of high-quality laser light to the target atmosphere, use telescopes and other devices to receive backscattered echo signals of various particles, and pass optical components and The electronic device analyzes and compares the echo signals, and finally retrieves useful information such as the type, concentration, motion state and temperature of particles in the atmosphere. The main difficulty of lidar technology is that the intensity of the echo signal is too weak, which makes it have high requirements for laser pulse energy, telescope receiving area, optical components and electronic devices, which leads to high cost of lidar system. If you want to further increase the intensity of the echo signal or expand the effective detection range on the basis of the existing laser radar, the commonly used methods are: increase the pulse energy of the laser; use a telescope with a larger aperture; apply a photoelectric detector with better performance wait. In view of the fact that generally laser radars use lasers with high pulse energy, if you want to continue to increase the pulse energy under the existing laser conditions, and ensure that the pulse width of the emitted laser, Jitter time and other parameters meet the requirements of the laser radar, the cost will be sharp. And the risk factor brought by high-energy lasers has also increased. The performance of the photodetectors used in the lidar system is very superior, and it is difficult to make a major breakthrough for the time being. Therefore, increasing the receiving area becomes the most direct and easiest way to continue to improve the performance of lidar. However, the processing difficulty of large-aperture telescopes is much higher than that of small-aperture telescopes, so its price is several times or even dozens of times that of small-aperture telescopes, and there is also an upper limit for the size of large-aperture telescopes.

发明内容Contents of the invention

本实用新型的目的是克服激光雷达中单个望远镜接收面积小的困难，提出一种基于望远镜阵列的激光雷达光学接收装置，通过多个相同望远镜阵列的方式加大激光雷达系统的接收面积。The purpose of this utility model is to overcome the difficulty of the small receiving area of a single telescope in the laser radar, and propose a laser radar optical receiving device based on a telescope array, and increase the receiving area of the laser radar system by means of multiple identical telescope arrays.

为了解决上述问题，本实用新型采用的技术方案如下：In order to solve the above problems, the technical scheme adopted by the utility model is as follows:

本实用新型基于望远镜阵列的大气遥感激光雷达，包括激光器、望远镜阵列、视场光阑、准直透镜、反射棱镜、后续光路处理模块、光电探测器；望远镜阵列中各望远镜相对于激光器发射出的激光旋转对称分布，各望远镜的光轴与出射激光光轴互相平行且等距，使得重叠因子相同。The utility model is an atmospheric remote sensing laser radar based on a telescope array, including a laser, a telescope array, a field diaphragm, a collimating lens, a reflective prism, a follow-up optical path processing module, and a photoelectric detector; The laser is distributed symmetrically in rotation, and the optical axis of each telescope is parallel to and equidistant from the optical axis of the outgoing laser, so that the overlap factor is the same.

激光器发射的激光入射到某一目标区域大气，由该区域中粒子后向散射生成的回波信号被望远镜阵列中各望远镜同时接收，形成多个相对于发射激光旋转对称分布的接收光路；每个光路被各自光路上的视场光阑滤除视场外的背景光，经准直透镜后变为平行光，再由同一个反射棱镜将上述所有光路中方向不同的平行光转折汇聚为方向相同的反射光，通过后续光路处理模块进行滤波、再汇聚，最后被光电探测器同时接收。The laser light emitted by the laser enters the atmosphere of a certain target area, and the echo signals generated by the backscattering of particles in this area are received by the telescopes in the telescope array at the same time, forming multiple receiving optical paths that are rotationally symmetrically distributed relative to the emitted laser light; each The optical path is filtered by the field of view diaphragm on each optical path to filter out the background light outside the field of view, and becomes parallel light after passing through the collimating lens. The reflected light is filtered by the subsequent optical path processing module, then converged, and finally received by the photodetector at the same time.

所述的望远镜阵列可以由两个望远镜组成，称为双望远镜阵，同理还可以根据探测需要设置三望远镜阵列、四望远镜阵列甚至多望远镜阵列。The telescope array can be composed of two telescopes, which is called a double-telescope array. Similarly, three-telescope arrays, four-telescope arrays, or even multi-telescope arrays can also be set up according to detection needs.

所述的望远镜阵列包括n个望远镜，n≥2；若n＝2时，对应的反射棱镜是等腰直角棱镜；若n≥3时，对应的反射棱镜要求是底面为正n边形的等腰棱锥，底边D和腰H之间需要满足The telescope array includes n telescopes, n≥2; if n=2, the corresponding reflective prism is an isosceles rectangular prism; if n≥3, the corresponding reflective prism is required to have a regular n-gon bottom surface For a girdle pyramid, the distance between the base D and the girdle H needs to satisfy

$H h = = \frac{D D.}{22 sin sin ((\frac{π π}{n no}))} \sqrt{11 + + {cos cos}^{22} ((\frac{π π}{n no}))} ((n no = = 3,4,5,6 3,4,5,6 . . . . . . . . . . . . . . . .)) . . - - - - - - ((11))$

进一步地，所述的反射棱镜的反射面均镀增反膜。Further, the reflective surfaces of the reflective prisms are all coated with anti-reflection coatings.

本实用新型的有益效果：The beneficial effects of the utility model:

本实用新型用望远镜阵列代替传统激光雷达中的单个望远镜，利用旋转对称分布的接收光路，结合与望远镜对应的反射棱镜，保持各个望远镜出射的回波信号到光电探测器的光程相同，同一大气区域回波信号被同步探测，使得望远镜阵列等价于单个更大口径的望远镜，从而以一种较低成本的方式加大激光雷达系统的接收面积，增加激光雷达系统的回波信号强度和有效探测范围。The utility model uses a telescope array to replace a single telescope in the traditional laser radar, and uses a rotationally symmetrically distributed receiving optical path, combined with a reflective prism corresponding to the telescope, to keep the same optical path from the echo signals emitted by each telescope to the photoelectric detector, and the same atmosphere. The regional echo signals are detected synchronously, making the telescope array equivalent to a single larger-caliber telescope, thereby increasing the receiving area of the lidar system in a low-cost way, increasing the echo signal strength and effective efficiency of the lidar system detection range.

附图说明Description of drawings

图1是基于双望远镜阵列的激光雷达系统示意图；Figure 1 is a schematic diagram of a lidar system based on a dual-telescope array;

图2是基于双望远镜阵列激光雷达系统俯视图；Figure 2 is a top view of a laser radar system based on a dual-telescope array;

图3是适用于双望远镜阵列激光雷达系统中的反射棱镜示意图；Fig. 3 is a schematic diagram of a reflective prism suitable for use in a dual-telescope array lidar system;

图4是基于三望远镜阵列的激光雷达系统俯视图；Figure 4 is a top view of a lidar system based on a three-telescope array;

图5是适用于三望远镜阵列激光雷达系统中的反射棱镜示意图；Fig. 5 is a schematic diagram of a reflective prism suitable for a three-telescope array lidar system;

图6是基于四望远镜阵列的激光雷达系统俯视图；Figure 6 is a top view of a lidar system based on a four-telescope array;

图7是基于多望远镜阵列的激光雷达系统俯视图；Figure 7 is a top view of a laser radar system based on a multi-telescope array;

图8是适用于四望远镜阵列激光雷达系统中的反射棱镜示意图。Fig. 8 is a schematic diagram of a reflective prism suitable for a four-telescope array lidar system.

其中1为激光器，2为望远镜，3为望远镜副镜，4为视场光阑，5为准直透镜，6为反射棱镜，7为后续光路处理模块，8为光电探测器，9为发射激光光束。Among them, 1 is the laser, 2 is the telescope, 3 is the secondary mirror of the telescope, 4 is the field diaphragm, 5 is the collimator lens, 6 is the reflective prism, 7 is the subsequent optical path processing module, 8 is the photodetector, and 9 is the laser emission beam.

具体实施方式Detailed ways

下面结合具体实施例对本实用新型做进一步的分析。Below in conjunction with specific embodiment, the utility model is further analyzed.

基本的激光雷达方程是The basic lidar equation is

$P P ((r r)) = = CY Cy ((r r)) \frac{A A}{{r r}^{22}} β β ((r r)) {T T}^{22} ((r r)),, - - - - - - ((22))$

式中P(r)表示回波信号强度，C表示系统常数，包括发射激光的能量，系统的透过率等，Y(r)是发射激光与望远镜视场的重叠因子，β(r)表示后向散射系数，T²(r)指大气消光系数，A是望远镜的有效接收面积。从上式可以看出，回波信号强度与接收面积成正比，通过增加接收面积来加大有效探测距离是很多激光雷达系统的优先选择。In the formula, P(r) represents the echo signal intensity, C represents the system constant, including the energy of the emitted laser, the transmittance of the system, etc., Y(r) is the overlap factor between the emitted laser and the field of view of the telescope, and β(r) represents The backscatter coefficient, T ² (r) refers to the atmospheric extinction coefficient, and A is the effective receiving area of the telescope. It can be seen from the above formula that the echo signal strength is proportional to the receiving area, and increasing the effective detection distance by increasing the receiving area is the preferred choice of many lidar systems.

图1表示了双望远镜阵列作为接收器件的大气遥感激光雷达系统示意图。图中激光器1向目标大气中发射一束高质量的激光，经过大气中多种粒子的消光、散射、吸收等作用之后，后向散射回波信号分别由两个望远镜2同时接收，并经望远镜副镜3反射的回波信号被视场光阑4滤除视场之外的背景光，经准直透镜5后变为平行光，再由反射棱镜6将来自两个望远镜2的方向相反的回波信号变为方向相同的反射光，通过后续处理光路7进行滤波，汇聚，最后被光电探测器8记录。由式(2)得到双望远镜阵列的激光雷达方程为Figure 1 shows a schematic diagram of an atmospheric remote sensing lidar system with a dual-telescope array as a receiving device. In the figure, laser 1 emits a beam of high-quality laser light into the target atmosphere. After the extinction, scattering, and absorption of various particles in the atmosphere, the backscattered echo signals are received by two telescopes 2 at the same time, and transmitted through the telescope. The echo signal reflected by the secondary mirror 3 is filtered by the field diaphragm 4 to filter out the background light outside the field of view, and becomes parallel light after passing through the collimator lens 5, and then the reflection prism 6 converts the light from the two telescopes 2 in opposite directions. The echo signal becomes reflected light with the same direction, which is filtered and converged by the optical path 7 for subsequent processing, and finally recorded by the photodetector 8 . The lidar equation of the dual-telescope array is obtained from formula (2) as

$\{\begin{matrix} {P P}_{11} (({r r}_{11})) = = {C C}_{11} {Y Y}_{11} (({r r}_{11})) \frac{{A A}_{11}}{{r r}_{11}^{22}} β β (({r r}_{11})) {T T}^{22} (({r r}_{11})) \\ {P P}_{22} (({r r}_{22})) = = {C C}_{22} {Y Y}_{22} (({r r}_{22})) \frac{{A A}_{22}}{{r r}_{22}^{22}} β β (({r r}_{22})) {T T}^{22} (({r r}_{22})) \end{matrix} . . - - - - - - ((33))$

为了达到增加接收面积的目的，需要将两个望远镜等价于一个更大口径的望远镜，要求满足的条件有In order to achieve the purpose of increasing the receiving area, two telescopes need to be equivalent to a telescope with a larger aperture, and the conditions required to be met are:

Y₁(r)＝Y₂(r)， (4)Y ₁ (r) = Y ₂ (r), (4)

同时还要求来自不同望远镜的、经过同一区域大气后向散射的两束回波信号同时到达光电探测器，则式(3)变为At the same time, it is also required that the two beams of echo signals from different telescopes and backscattered by the atmosphere in the same area reach the photodetector at the same time, then the formula (3) becomes

$P P ((r r)) = = {P P}_{11} ((r r)) + + {P P}_{22} ((r r)) = = CY Cy ((r r)) \frac{{A A}_{11} + + {A A}_{22}}{{r r}^{22}} β β ((r r)) {T T}^{22} ((r r)) . . - - - - - - ((55))$

在双望远镜阵列的基础上，还可以衍生出三望远镜阵列、四望远镜阵列等多望远镜阵列激光雷达系统，如图4、图6和图7所示，需要满足条件与上面一样，式(5)可以变为On the basis of the dual-telescope array, multi-telescope array lidar systems such as three-telescope arrays and four-telescope arrays can also be derived, as shown in Figure 4, Figure 6 and Figure 7, and the same conditions need to be met as above, formula (5) can become

$P P ((r r)) = = {Σ Σ}_{i i = = 11}^{i i = = n no} {P P}_{i i} ((r r)) = = {Σ Σ}_{i i = = 11}^{i i = = n no} {A A}_{i i} CY Cy ((r r)) \frac{11}{{r r}^{22}} β β ((r r)) {T T}^{22} ((r r)) . . - - - - - - ((66))$

我们先考虑第二个条件：来自不同望远镜2的、经过同一区域大气后向散射的两束回波信号同时到达光电探测器，需要满足从激光出射到被光电探测器接收经过的光程一致。望远镜相对于发射光束旋转对称分布，保证了从激光出射到被不同望远镜接收，所经过的光程是相等的。同样由于阵列望远镜对称分布，不同望远镜出射的回波信号到反射棱镜6的光程也相同，但是其方向不同，甚至相反。如图1所示，反射棱镜6将来自各个对称分布望远镜、方向不同的光汇合成一束直径很小的出射光。根据不同数目的望远镜组成的望远镜阵列，本实用新型分别设计了不同的反射棱镜。反射棱镜需要将不同方向的平行光路都转折90°变为方向相同的平行光，将反射棱镜设计成底面是正多边形的等腰棱锥。望远镜阵列设有n个望远镜，若n＝2时，对应的反射棱镜是等腰直角棱镜；若n≥3时，对应的反射棱镜要求是底面为正n边形的等腰棱锥，底边D和腰H之间需要满足Let's consider the second condition first: two echo signals from different telescopes 2 that are backscattered by the atmosphere in the same area arrive at the photodetector at the same time, and the optical path from the laser emission to the photodetector reception needs to be consistent. The distribution of the telescope relative to the rotational symmetry of the emitted beam ensures that the optical paths from the laser output to the reception by different telescopes are equal. Also due to the symmetrical distribution of the array telescopes, the echo signals from different telescopes have the same optical path to the reflective prism 6, but their directions are different or even opposite. As shown in FIG. 1 , the reflective prism 6 combines light from various symmetrically distributed telescopes with different directions into a beam of outgoing light with a small diameter. According to the telescope arrays formed by different numbers of telescopes, the utility model designs different reflecting prisms respectively. The reflective prism needs to turn the parallel light paths in different directions by 90° into parallel light with the same direction, and the reflective prism is designed as an isosceles pyramid whose base is a regular polygon. The telescope array is equipped with n telescopes. If n=2, the corresponding reflective prism is an isosceles rectangular prism; and waist H need to meet

$H h = = \frac{D D.}{22 sin sin ((\frac{π π}{n no}))} \sqrt{11 + + {cos cos}^{22} ((\frac{π π}{n no}))},, - - - - - - ((77))$

图3是等腰直角棱镜，图5中底面是正三角形的等腰三棱锥，并要求Fig. 3 is an isosceles right-angled prism, and the base in Fig. 5 is an isosceles triangular prism of an equilateral triangle, and requires

∠O₃E₃D₃＝∠O₃F₃D₃＝∠O₃G₃D₃＝45°， (8)∠O ₃ E ₃ D ₃ ＝∠O ₃ F ₃ D ₃ ＝∠O ₃ G ₃ D ₃ ＝45°, (8)

即其腰长H₃与底边边长D₃满足如下关系That is, the waist length _H3 and the bottom side length _D3 satisfy the following relationship

$H h = = \sqrt{\frac{55}{1212}} D D. . . - - - - - - ((99))$

图8中底面是正四边形的等腰四棱锥，并要求The bottom surface in Figure 8 is an isosceles quadrilateral pyramid with a regular quadrilateral, and requires

∠O₄F₄E₄＝∠O₄G₄E₄＝∠O₄H₄E₄＝∠O₄I₄E₄＝45°， (10)∠O ₄ F ₄ E ₄ ＝∠O ₄ G ₄ E ₄ ＝∠O ₄ H ₄ E ₄ ＝∠O ₄ I ₄ E ₄ ＝45°, (10)

即腰长H₄与底边边长D₄满足如下关系That is, the waist length H ₄ and the bottom side length D ₄ satisfy the following relationship

$H h = = \frac{\sqrt{33}}{22} D D. . . - - - - - - ((1111))$

为了尽量避免回波信号的损失，还需要对反射棱镜的每个反射面镀增反膜。图3所示的等腰直角棱镜的反射面A₂B₂D₂E₂和B₂E₂C₂F₂，图5所示的反射面A₃B₃D₃,B₃C₃D₃,A₃C₃D₃和图8所示的反射面A₄B₄E₄,B₄C₄E₄,C₄D₄E₄,D₄A₄E₄都需要镀增反膜。在偏振雷达中，则需要镀保偏增反膜。In order to avoid the loss of the echo signal as much as possible, it is also necessary to coat each reflective surface of the reflective prism with an AR coating. The reflective surfaces A ₂ B ₂ D ₂ E ₂ and B ₂ E ₂ C ₂ F ₂ of the isosceles rectangular prism shown in Figure 3, the reflective surfaces A ₃ B ₃ D ₃ , B ₃ C ₃ D ₃ shown in Figure 5 , A ₃ C ₃ D ₃ and the reflective surfaces A ₄ B ₄ E ₄ , B ₄ C ₄ E ₄ , C ₄ D ₄ E ₄ , and D ₄ A ₄ E ₄ shown in Figure 8 all need to be coated with an AR coating. In polarized radar, it needs to be coated with polarization maintaining and anti-reflection coating.

图1中反射棱镜6之后的后续光路处理模块7，其基本功能是对回波信号进行滤波等处理。在米散射雷达中需要放置干涉滤光片，偏振激光雷达可能有干涉滤光片、半波片、四分之玻片、偏振分光棱镜等。将接收光路中的光学元件更多放置在共同光路中可以更好地保证不同回波信号经过的光程相等。经过上述所有的光路设计，使得第二个条件基本满足。The subsequent optical path processing module 7 after the reflective prism 6 in FIG. 1 has a basic function of filtering echo signals. Interference filters need to be placed in meter scattering radars, and polarization lidars may have interference filters, half-wave plates, quarter glass plates, polarization beamsplitter prisms, etc. Placing more optical elements in the receiving optical path in the common optical path can better ensure that the optical paths of different echo signals are equal. After all the optical path designs mentioned above, the second condition is basically satisfied.

对于第一个条件，重叠因子与发射激光光轴和望远镜光轴相互位置有关。为了满足式(5)，发射激光的轴需要与两个望远镜的轴保持平行，并且间距d₁等于d₂，同样要求望远镜阵列相对于发射光束旋转对称分布。For the first condition, the overlap factor is related to the mutual position of the optical axis of the emitting laser and the optical axis of the telescope. In order to satisfy formula (5), the axis of the emitting laser needs to be kept parallel to the axes of the two telescopes, and the distance d ₁ is equal to d ₂ , and the distribution of the telescope array relative to the emitting beam is also required to be rotationally symmetrical.

为了减小地面到发射激光与望远镜视场完全重叠区域的距离，激光光轴应尽可能靠近望远镜光轴。由于发射激光的光斑直径很小，可以忽略其直径，如图2所示，双望远镜阵列中对于三望远镜阵列和四望远镜阵列，如图4、图6所示，发射激光光轴与各个望远镜光轴最小间距依次为根据探测范围的要求，结合激光器的条件，可以将望远镜阵列增加到更多数量，但是发射激光的光轴与望远镜轴间距会相应增大，造成发射激光与望远镜视场完全重合时高度较高，丢失较多低空大气信息，因此这里只列举到四望远镜阵列激光雷达系统。In order to reduce the distance from the ground to the area where the emitted laser completely overlaps the field of view of the telescope, the optical axis of the laser should be as close as possible to the optical axis of the telescope. Since the spot diameter of the emitted laser is very small, its diameter can be ignored, as shown in Figure 2, in the dual telescope array For three-telescope arrays and four-telescope arrays, as shown in Figure 4 and Figure 6, the minimum distance between the optical axis of the emitting laser and the optical axis of each telescope is According to the requirements of the detection range, combined with the conditions of the laser, the telescope array can be increased to a larger number, but the distance between the optical axis of the emitted laser and the axis of the telescope will increase accordingly, resulting in a higher height when the emitted laser and the field of view of the telescope completely overlap. A lot of low-altitude atmospheric information is lost, so only the four-telescope array lidar system is listed here.

上述实施例并非是对于本实用新型的限制，本实用新型并非仅限于上述实施例，只要符合本实用新型要求，均属于本实用新型的保护范围。The above embodiments are not intended to limit the utility model, and the utility model is not limited to the above embodiments, as long as the requirements of the utility model are met, they all belong to the protection scope of the utility model.

Claims

1. An atmospheric remote sensing lidar optical receiving device based on a telescope array, characterized in that it comprises a telescope array, a field of view diaphragm, a collimating lens, a reflector, a follow-up optical path processing module and a photodetector; each telescope in the telescope array is relatively Since the laser light emitted by the laser is distributed symmetrically in rotation, the optical axis of each telescope is parallel to and equidistant from the optical axis of the outgoing laser light, so that the overlap factor is the same;

The laser light emitted by the laser enters the atmosphere of a certain target area, and the echo signals generated by the backscattering of particles in this area are received by the telescopes in the telescope array at the same time, forming multiple receiving optical paths that are rotationally symmetrically distributed relative to the emitted laser light; each The optical path is filtered by the field of view diaphragm on each optical path to filter out the background light outside the field of view, and becomes parallel light after passing through the collimating lens. The reflected light is filtered by the subsequent optical path processing module, then converged, and finally received by the photodetector at the same time.

2. A telescope array-based atmospheric remote sensing laser radar optical receiving device as claimed in claim 1, characterized in that the optical paths from the echo signals emitted by each telescope to the photodetector are the same.

3. A telescope array-based atmospheric remote sensing lidar optical receiving device as claimed in claim 1, characterized in that said telescope array comprises n telescopes, n≥2.

4. a kind of atmospheric remote sensing lidar optical receiving device based on telescope array as claimed in claim 3, is characterized in that described telescope array being made up of n telescopes, its corresponding reflecting prism is as follows:

If n=2, the corresponding reflective prism is an isosceles rectangular prism;

If n≥3, the corresponding reflective prism is required to be an isosceles pyramid whose base is a regular n-gon, and the distance between the base D and the waist H needs to meet

5. A kind of atmospheric remote sensing lidar optical receiving device based on telescope array as claimed in claim 1, it is characterized in that the reflective surfaces of the described reflective prisms are all coated with anti-reflective coatings.