Analysis of scannerless imaging lidar in large field of view condition

摘要

Scannerless lidar has advantages of high frame-rate, large field of view (FOV) and miniaturization etc, it is especially valuable for military and aerospace engineering applications such as 3D vision, target recognition, autonomous machinery guidance and collision avoidance etc. In this paper, we analyzed the performance of scannerless imaging lidar, to investigate this, the overall system is divided into 6 modules according to various functions including transmitter, optical antenna, atmospheric transmission, target property, detector, data processor etc., whereas the physical processes of every module have been studied and corresponding mathematical models are also set up. The fundamental problem of imaging lidar system is numerical solution of lidar equation, however common lidar equation regards target as a point reflector with the assumption that back reflecting light is distributed uniformly in all directions in 2? solid angle, which is not for large FOV situation. In large FOV condition, the target can be regarded as a Lambertian reflector; the intensity of light back reflected from different part of the target is not same but follows the Lambert cosine law, so we make a modification for lidar equation, and finally all data from every module are coupled into lidar equation, through modified lidar equation calculation, the relationship between maximum acquisition range and emission power is discussed.