基于FPGA的激光雷达多通道数据实时采集系统  

Multi channel real-time data acquisition system of lidar based on FPGA

作　　者：王青 耿丽 WANG Qing;GENG Li(School of Electrical and Energy Engineering,Nantong Institute of Technology,Nantong Jiangsu 226002,China;Nantong Key Laboratory of Intelligent Control and Intelligent Computing,Nantong Jiangsu 226002,China)

机构地区：[1]南通理工学院电气与能源工程学院,江苏南通226002 [2]南通市智能控制与智能计算重点实验室,江苏南通226002

出　　处：《激光杂志》2022年第11期74-77,共4页Laser Journal

基　　金：教育部产学合作协同育人项目(No.202101321010);南通市智能控制与智能计算重点实验室(No.202003);南通理工学院中青年科研骨干培养计划(No.ZQNGG306)。

摘　　要：针对当前激光雷达数据采集误差大,效率低等难题,为了提高激光雷达数据采集精度和速度,设计了基于FPGA的激光雷达多通道数据实时采集系统。首先分析激光雷达多通道数据实时采集系统的工作原理,根据FPGA设计了系统总体架构,然后设计了激光雷达多通道数据实时采集的硬件和软件子系统,最后对激光雷达多通道数据实时采集系统进行了测试,结果表明,本系统抗外界干扰能力强,激光雷达数据采集精度超过93%,远远高于对比系统,同时激光雷达数据采集时间大约为9 ms,激光雷达多通道数据采集效率高,有利于后续激光雷达数据处理。Aiming at the problems of large data acquisition error and low efficiency of lidar, in order to improve the accuracy and speed of lidar data acquisition, a lidar multi-channel real-time data acquisition system based on FPGA is designed. Firstly, the working principle of lidar multi-channel data real-time acquisition system is analyzed, and the overall architecture of the system is designed according to FPGA. Then the hardware and software subsystems of lidar multi-channel data real-time acquisition are designed. Finally, the lidar multi-channel data real-time acquisition system is tested. The results show that the system has strong anti-interference ability, The lidar data acquisition accuracy exceeds 93%, which is much higher than the comparison system. At the same time, the lidar data acquisition time is about 9 ms. The lidar multi-channel data acquisition efficiency is high, which is conducive to the subsequent lidar data processing.

关 键 词：现场可编程门阵列 激光雷达 多通道方式 数据采集精度 数据去噪处理 

分 类 号：TN9291[电子电信—通信与信息系统]