阅读说明：本技术 基于连续波测距的补偿方法、装置和激光雷达 (Compensation method and device based on continuous wave ranging and laser radar ) 是由 何一雄 于 2020-03-27 设计创作，主要内容包括：本申请公开了一种基于连续波测距的补偿方法、装置和激光雷达。本申请通过物体的反射率自适应的选择目标DRNU校准补偿矩阵对接收单元探测到的物体的距离进行补偿,解决相关技术中使用固定的DRNU校准补偿矩阵进行距离补偿带来的测距精度不高的问题,因此可以提高测距的精度。(The application discloses a compensation method and device based on continuous wave ranging and a laser radar. The method and the device compensate the distance of the object detected by the receiving unit through the reflectivity self-adaptive selected target DRNU calibration compensation matrix of the object, solve the problem that the distance measurement precision is not high due to the fact that the fixed DRNU calibration compensation matrix is used for distance compensation in the related technology, and therefore the precision of distance measurement can be improved.)

A compensation method based on continuous wave distance measurement is characterized by comprising the following steps:

calculating the reflectivity of the object detected by the receiving unit;

inquiring a target DRNU calibration compensation matrix associated with the reflectivity according to a preset mapping relation;

and compensating the distance of the object detected by the receiving unit according to the target DRNU calibration compensation matrix.

The method of claim 1, wherein the calculating the reflectivity of the object detected by the receiving unit comprises:

and calculating the reflectivity of the object detected by the receiving unit according to a preset calibration distance, the distance of the object detected by the receiving unit and the amplitude of the echo signal detected by the receiving unit.

The method of claim 2, wherein calculating the reflectivity of the object detected by the receiving unit according to the preset calibration distance, the distance of the object detected by the receiving unit and the amplitude of the echo signal detected by the receiving unit comprises:

calculating the reflectivity of the object detected by the receiving unit according to the following formula:

wherein f is₁Is the reflectivity, R, of the object detected by the receiving unit₀For the predetermined calibration distance, A₁Representing the amplitude of the echo signal detected by the receiving unit, d₁Representing the distance of the object detected by the receiving unit,and the fitting function represents the relation between the reflectivity and the amplitude at the preset calibration distance.

The method of claim 3, wherein prior to calculating the reflectivity of the object detected by the receiving unit, further comprising:

measuring calibration amplitudes corresponding to the plurality of calibration reflectances respectively under the calibration distance;

and fitting the calibration reflectivities and the calibration amplitudes corresponding to the calibration reflectivities to obtain the fitting function.

The method of claim 2, wherein calculating the reflectivity of the object detected by the receiving unit according to the preset calibration distance, the distance of the object detected by the receiving unit and the amplitude of the echo signal detected by the receiving unit comprises:

and calculating the reflectivity of the object detected by the receiving unit according to a preset lookup table, the preset calibration distance, the distance of the object detected by the receiving unit and the amplitude of the echo signal detected by the receiving unit.

The method of claim 5, wherein prior to calculating the reflectivity of the object detected by the receiving unit, further comprising:

measuring calibration amplitudes corresponding to the plurality of calibration reflectances respectively under the calibration distance;

and mapping the calibration distance, the plurality of calibration reflectivities and the calibration amplitudes corresponding to the plurality of calibration reflectivities to obtain the lookup table.

The method of claim 4 or 6, further comprising:

calculating DRNU calibration compensation matrixes corresponding to the plurality of calibrated reflectivities respectively;

and mapping the plurality of calibration reflectivities and the corresponding DRNU calibration compensation matrixes to generate the mapping relation, and storing the mapping relation.

A compensation device based on continuous wave ranging, comprising:

a calculation unit for calculating the reflectivity of the object detected by the receiving unit;

the query unit is used for querying a target DRNU calibration compensation matrix associated with the reflectivity according to a preset mapping relation;

and the compensation unit is used for compensating the distance of the object detected by the receiving unit according to the target DRNU calibration compensation matrix.

A computer program product, characterized in that it comprises instructions which, when run on a computer, cause the computer to carry out the method according to any one of claims 1 to 7.

A continuous wave ranging-based compensation apparatus comprising a processor, a memory, a transmitter and a receiver, the processor being coupled to the transmitter and the receiver, the memory being configured to store a computer program or instructions, the processor being configured to execute the computer program or instructions in the memory to control the receiver and the transmitter to transceive signals; the processor, when executing the computer program or instructions, is further configured to implement the method of any of claims 1 to 7.

Lidar characterized in that it comprises a distance compensation device according to claim 8 or 10.