Real-time ranging can boost the imaging performance and speed for full-waveform light detection and ranging (FW-LiDAR). To enhance ranging accuracy and maximum ranging rate, a two-parameter Gauss-Newton (two-GN) based...
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ISBN:
(纸本)9798350380903;9798350380910
Real-time ranging can boost the imaging performance and speed for full-waveform light detection and ranging (FW-LiDAR). To enhance ranging accuracy and maximum ranging rate, a two-parameter Gauss-Newton (two-GN) based real-time ranging method is proposed for high-accuracy real-time ranging with lower hardware resource consumption. The two-GN reduces the coefficient matrix size from 3x3 to 2x2 for obtaining quick iteration step vector solutions. FPGA implementation employs a module-level pipeline to enhance the maximum ranging rate. Experimental results showed that the ranging standard deviation (RStD) of two-GN achieves 1.5 mm@51.90 dB, the absolute of mean ranging error (MRE) is lower than 2.0 mm@12.53 dB. The maximum ranging rate is improved to 2.21 MHz, the FPGA hardware resource and power consumption are reduced by over 30%. It is beneficial for real time imaging applications in autonomous driving and spacecraft space docking.
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