离轴激光雷达的归一化重叠因子模型分析与验证  

Analysis and Verification of Normalized Overlap Factor Model for Noncoaxial Lidar

作　　者：魏飞龙 李仕春[1,2] 刘家辉 高迎春 宋跃辉 华灯鑫[1,2] 辛文辉 Wei Feilong;Li Shichun;Liu Jiahui;Gao Yingchun;Song Yuehui;Hua Dengxin;Xin Wenhui(School of Mechanical and Precision Instrument Engineering,Xi’an University of Technology,Xi’an 710048,Shaanxi,China;Collaboration Innovation Centre for Modern-Equipment Environmentally-Conscious Manufacturing of Shaanxi Province,Xi’an 710048,Shaanxi,China)

机构地区：[1]西安理工大学机械与精密仪器工程学院,陕西西安710048 [2]陕西省现代装备绿色制造协同创新中心,陕西西安710048

出　　处：《激光与光电子学进展》2024年第22期325-334,共10页Laser & Optoelectronics Progress

基　　金：国家自然科学基金(42375134,62175199);陕西省自然科学基金(2020JM-445);陕西省教育厅自然科学基金(20JY048)。

摘　　要：针对离轴激光雷达中重叠因子的分析与校正问题,提出归一化重叠因子模型分析方法,将5维组件参数的传统几何面积重叠因子模型简化成4维结构参数描述,实现模型降维与特征点标识。分析了光束准直系数、收发模块半径比、收发模块视场比和收发模块间距半径比4个结构参数对重叠因子的影响规律,分析表明,当光束准直系数在一定范围内变化时,重叠因子曲线在某一探测距离处存在一个特征点,该特征点可作为激光雷达收发双轴调整的对准指标。采用水平实验法,验证该归一化模型及其校正的有效性。结果表明,归一化模型求得的重叠因子与实验法相比在0~1 km的平均误差为0.016,经重叠因子校正后近场有效探测距离从510 m减小至盲区终点107 m。该归一化模型有助于判别激光雷达收发双轴调整的平行度,推动自动调整激光雷达产品的实用化进程。To address the challenges of overlap factor analysis and correction in noncoaxial lidar,we introduce a normalized overlap factor model analysis method.This approach simplifies the traditional five-dimensional geometric area overlap factor model into a four-dimensional structural parameter description.This simplification helps reduce the number of influencing factors and facilitates the identification of key features.The analysis examines the impact of four structural parameters(beam collimation coefficient,transceiver module radius ratio,transceiver module field-of-view ratio,and transceiver module spacing radius ratio)on the overlap factor.Notably,within a specific range of beam collimation coefficient variations,a distinct feature point emerges in the overlap factor curve at a certain detection distance.This feature point serves as a crucial alignment indicator for the biaxial adjustment of the lidar.The validity of our normalized model and its correction method is demonstrated through horizontal experimentation.Experimental results reveal that,compared to traditional methods,the normalized model achieves an average error of 0.016 for the overlap factor within the 0—1 km range.Furthermore,following overlap factor correction,the effective detection distance in the near-field is reduced from 510 m to 107 m.This normalized model offers valuable insights for assessing the parallelism accuracy of noncoaxial lidar adjustments,thereby advancing the practical implementation of automatic lidar product adjustment.

关 键 词：激光雷达 重叠因子 离轴激光雷达 归一化 平行度 

分 类 号：TN958.98[电子电信—信号与信息处理]