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由于激光雷达光轴夹角的存在和光束质量分布的非均匀性,导致理论回波信号与实际回波信号有较大差别,需要对其进行校正.基于数学推导和软件仿真,给出了激光雷达重叠因子的数学表达式,分析了光轴夹角导致的系统重叠因子在全程探测空间的变化情况;分析了光束分布为高斯分布和均匀分布时的重叠因子变化情况;对激光雷达的距离校正信号和Klett算法公式进行了重叠因子修正,最后在对激光雷达系统参数标定的基础上,在重叠区域利用修正的Klett公式对其所测得到的回波信号进行了修正,在探测盲区利用斜率法修正距离校正信号,进而得到了符合理论与实际情况的激光雷达在全程上校正的消光系数曲线.
Due to the existence of the angle between the optical axis of the laser radar and the nonuniformity of the beam quality distribution, the theoretical echo signal is greatly different from the actual echo signal and needs to be corrected. Based on the mathematical derivation and software simulation, the laser The mathematical expression of the overlap factor of radar is used to analyze the variation of the system overlap factor in the entire detection space caused by the angle of the optical axis. The variation of overlap factor when the beam distribution is Gaussian distribution and uniform distribution is analyzed. Signal and Klett algorithm formula overlap factor correction, and finally based on the calibration of the laser radar system parameters, in the overlap region using a modified Klett formula for the measured echo signal was corrected in the detection of blind areas using the slope method Correction distance correction signal, and then get the theoretical and practical situation of lidar correction coefficient of extinction coefficient curve.