积分时间对TOF激光雷达测距误差影响  

Effect of Integration Time on TOF LiDAR Ranging Error

作　　者：林昊 桂林[2] 王炼栋 邢昊楠 曹明玉 LIN Hao;GUI Lin;WANG Liandong;XING Haonan;CAO Mingyu(School of Resources and Environmental Engineering,Shanghai Polytechnic University,Shanghai 201209,China;School of Computer and Information Engineering,Shanghai Polytechnic University,Shanghai 201209,China;School of Intelligent Manufacturing and Control Engineering,Shanghai Polytechnic University,Shanghai 201209,China)

机构地区：[1]上海第二工业大学资源与环境工程学院,上海201209 [2]上海第二工业大学计算机与信息工程学院,上海201209 [3]上海第二工业大学智能制造与控制工程学院,上海201209

出　　处：《上海第二工业大学学报》2023年第2期133-140,共8页Journal of Shanghai Polytechnic University

摘　　要：结合飞行时间(time of flight,TOF)激光雷达测距的原理和基本模型,着重分析积分时间对于测距误差的影响。TOF激光雷达采集的原始数据包含噪声,故按照如下方法对数据进行处理:(1)利用上位机软件采集TOF激光雷达在不同积分时间下的原始数据;(2)采用均值滤波算法对采集得到的原始数据进行预处理,降低噪声导致的误差;(3)根据信号相对强度进一步滤除低幅值的像素区域,选取有效区域的数据,并根据选取的有效区域进行距离的计算;(4)根据计算结果详细分析不同积分时间对测距误差的影响。在固定距离为0.6 m时,TOF激光雷达测距在最佳积分时间下平均绝对误差下降为22 mm,误差下降率为97.23%,均方根误差为0.8 mm;在0.3~1.0 m的不同距离下,误差下降率达到97%以上,测距准确度大大增加。Combining the principle and basic model of time of flight(TOF)LiDAR ranging,we focus on the effect of integration time as a factor on the ranging error.The raw data collected by TOF LiDAR contains noise,so the data is processed according to the following method.Firstly,the raw data of TOF LiDAR under different integration times are collected using the upper computer software.Secondly,the average filtering algorithm is used to pre-process the acquired raw data to reduce the error caused by noise.Then,the pixel areas with low amplitude are further filtered out according to the relative signal strength,and the data of the valid areas is selected,and the distance is calculated according to the selected valid areas.Finally,the influence of different integration times on the ranging error is analyzed in detail according to the calculation results.At a fixed distance of 0.6 m,the average absolute error of TOF LiDAR ranging under the best integration time decreases to 22 nm,the error decrease rate is 97.23%,the root mean square error is 0.8 mm;at different distances from 0.3 m to 1.0 m,the error reduction rate could reach more than 97%.And the accuracy of ranging is greatly increased.

关 键 词：飞行时间激光雷达 测距 积分时间 误差 

分 类 号：TN29[电子电信—物理电子学]