阅读说明：本技术 一种激光雷达近场饱和问题的判别及优化方法 (Method for judging and optimizing near-field saturation problem of laser radar ) 是由 赵读亮 王燕飞 余龙宝 于 2020-11-19 设计创作，主要内容包括：本发明公开一种激光雷达近场饱和问题的判别及优化方法,该判断包括以下步骤：步骤一、获取参考线相关系数；步骤二、计算大气透气率和高消光值空间范围；步骤三、获得线性相关系数,并判断该值是否超标；水平探测模式下,采集数据并保存,几何重叠因子修正后,绘制出ln(P(r)*r~2)与r的关系曲线,选取0～3km高度范围内,采用最小二乘法对该曲线进行线性拟合,并得到线性相关系数；如果得到的线性相关系数低于80％,或者低于参考线性相关系数的90％,则认为光电探测器进入非正常的饱和区；本发明具有判别探测器是否进入非正常的饱和状态,通过控制算法,解决近场饱和问题,提高激光雷达相关产品的数据准确性能力强的特点。(The invention discloses a method for judging and optimizing a near field saturation problem of a laser radar, which comprises the following steps: step one, obtaining a reference line correlation coefficient; step two, calculating the space range of the air permeability and the high extinction value; step three, obtaining a linear correlation coefficient, and judging whether the value exceeds the standard or not; in the horizontal detection mode, data are collected and stored, and ln (P (r) is drawn after the geometric overlapping factor is corrected 2 ) Selecting a relation curve with r within the height range of 0-3 km, and performing linear fitting on the curve by adopting a least square method to obtain a linear correlation coefficient; if the obtained linear correlation coefficient is lower than 80% or lower than 90% of the reference linear correlation coefficient, the photoelectric detector is considered to enter an abnormal saturation region; the invention has the advantages of judging whether the detector enters an abnormal saturation state, solving the problem of near-field saturation through a control algorithm, improving the data accuracy of related products of the laser radar and having strong capabilityIs characterized in that.)

1. The discrimination of the near field saturation problem of the laser radar is characterized by comprising the following steps;

step one, obtaining a reference line correlation coefficient; plotting ln (P (r) r²) Selecting a correlation curve within the height range of 0-3 km from the relation curve of r, and performing linear fitting on the correlation curve by adopting a least square method to obtain a reference linear correlation coefficient; wherein, P (r) is the optical power of the backward scattering echo signal of the laser radar, and r is the distance from the detection point to the laser radar;

step two, calculating the space range of the air permeability and the high extinction value; when the laser radar is normally used, the analysis software calculates the atmospheric transmittance within the range of 0-3 km in real time, and simultaneously calculates the distance range of the extinction coefficient above the maximum extinction value of 90%;

step three, obtaining a linear correlation coefficient, and judging whether the value exceeds the standard or not; in the horizontal detection mode, data are collected and stored, and ln (P (r) is drawn after the geometric overlapping factor is corrected²) Selecting a relation curve with r within the height range of 0-3 km, and performing linear fitting on the curve by adopting a least square method to obtain a linear correlation coefficient; if the obtained linear correlation coefficient is lower than 80% or lower than 90% of the reference linear correlation coefficient, the photoelectric detector is considered to enter an abnormal saturation region;

in the first step, ln (p (r) is plotted²) The method of the relation curve with r is as follows: the good weather conditions are selected and the weather conditions,setting the laser radar as a horizontal detection mode, collecting and storing data, and drawing ln (P (r) × r) after correcting geometric overlapping factors²) Curve with r.

2. The method for discriminating the near-field saturation problem of the lidar according to claim 1, wherein in the second step, the lidar adopts one of horizontal detection or vertical detection; if the laser radar detection mode is used for vertical detection, the requirement that the atmospheric transmittance is lower than a certain set value or the distance range of the extinction coefficient above 90% of the maximum extinction value is 1km is met; and then setting the radar to be in a horizontal state, and then calculating, judging, adjusting and correcting.

3. The method for discriminating the near-field saturation problem of the lidar according to claim 1, wherein in the second step, the precondition for discriminating the saturation region of the lidar detector is as follows: if the atmospheric transmittance is lower than a certain set value, or the distance range with the extinction coefficient above 90% of the maximum extinction value is 1km, the radar needs to be set to be in a horizontal detection mode, and then the saturation area of the detector is judged.

4. A method for optimizing a near-field saturation problem of a laser radar is characterized by comprising the following steps:

step S1, obtaining a reference line correlation coefficient;

step S2, calculating the air permeability and the high extinction value space range;

step S3, obtaining a linear correlation coefficient, and judging whether the value exceeds the standard; in the horizontal detection mode, data are collected and stored, and ln (P (r) is drawn after the geometric overlapping factor is corrected²) Selecting a relation curve with r within the height range of 0-3 km, performing linear fitting on the curve by adopting a least square method, and obtaining a linear correlation coefficient, wherein if the obtained linear correlation coefficient is lower than 80% or lower than 90% of a reference linear correlation coefficient, the photoelectric detector is considered to enter an abnormal saturation region;

step S4, the photoelectric detector is connected with a voltage regulator through an engineering machine, and the voltage regulator is connected with the photoelectric detector through a high-voltage power supply voltage; the engineering machine is internally provided with a data collector, collection software, analysis software and a voltage regulation algorithm, wherein the data collector is connected to the photoelectric detector and is controlled by the collection software, the collection software is in data connection with the analysis software, the analysis software is internally provided with an inversion algorithm and saturation judgment, and the saturation judgment is output to the voltage regulation algorithm; outputting a voltage regulation algorithm to a voltage regulation controller;

the voltage regulation controller regulates the high-voltage power supply voltage of the laser radar, when laser passes through the atmosphere, the laser and molecules and particles in the atmosphere have physical effects of scattering, absorption and the like, part of optical signals scattered by the particles and the molecules return along the direction opposite to the laser propagation direction, and the photoelectric detector receives the optical signals and converts the optical signals into electric signals which are collected by a data collector in the engineering machine and stored by binary data; the stored binary data reaches saturation judgment through an inversion algorithm in analysis software and finally becomes the desired atmospheric parameters; the saturation judgment controls a voltage regulation controller through a voltage regulation algorithm;

the engineering machine is connected with the voltage regulation controller through the acquisition software, the analysis software and the voltage regulation algorithm by utilizing the RS232 interface, reduces the power supply high voltage of the photoelectric detector in a small range, repeats the operation of the step S4 and iterates repeatedly until the judgment condition set in the step S4 is met;

when the power supply voltage of the photoelectric detector is reduced, the adjusted amplitude is adjusted according to an optimization algorithm;

and S5, finishing the optimization of the linear working area of the photoelectric detector, and entering a normal use mode of the laser radar.

5. The method for optimizing the lidar near-field saturation problem according to claim 4, wherein the optimization algorithm comprises:

step S41, calculating an initial difference value of the current fitting linear correlation coefficient and the reference correlation coefficient;

and step S42, introducing a classical Proportional Integral Derivative (PID) algorithm in a region which meets the normal linear working voltage of the photoelectric detector.

Technical Field

The invention relates to a method for judging and optimizing a near field saturation problem of a laser radar, in particular to a method for judging and optimizing the near field saturation problem of the laser radar, which can judge whether a detector enters an abnormal saturation state, solve the near field saturation problem through a control algorithm and improve the data accuracy of related products of the laser radar.

Background

In practical application, due to the influence of different weather, a backscattering signal, particularly a near-field scattering signal of the laser radar is obviously enhanced, the backscattering signal of the laser radar is generally received by a photoelectric detector and converted into an electric signal, the photoelectric detector has a normal working linear area in the conversion process, once the strength of the backscattering signal received by the detector exceeds the highest tolerance of the detector, the detector enters a saturation area, the output signal is distorted, and finally, the errors of atmospheric parameters (atmospheric components) such as an aerosol extinction coefficient, a depolarization ratio, ozone concentration and a water-vapor mixing ratio obtained by inversion of the laser radar are increased, and the performance of the laser radar is seriously caused.

The patent of application No. 2018106201271 discloses a laser radar for preventing signal saturation, which can roughly improve the problem by adjusting the output optical power of a laser and the power supply high voltage of a detector, but has no specific implementation scheme on how to judge whether a near-field scattered optical signal is saturated, the adjustment value of hardware related parameters, the sequence and logic relationship of hardware adjustment, the effect evaluation after adjustment, and the like. In addition, the patent mentions that by adjusting the output power of the laser, although the problem of near-field saturation can be improved, the system parameters of the laser radar, such as the change of the geometric overlapping factor, are changed correspondingly; therefore, the inverted data needs further correction, which increases the workload.

Laser radars can in principle detect atmospheric parameters at heights of tens of meters to thousands of meters; in practical application, the general environmental protection department pays special attention to the aerosol extinction coefficient in the height range from the near ground to 3km, and the concentration of pollutants is reflected; selecting weather conditions with clean weather and light pollution when the laser radar parameters are optimized and debugged; when the pollution is heavy, the cloud is low and the humidity is high, the detector enters a saturation area due to the enhancement of near-field light scattering echo signals, at the moment, electric signals output by the detector cannot correctly reflect light signal intensity information, the error of a radar inversion result is increased, even unexpected data appears, the basic performance of the laser radar is greatly reduced, and the use requirements of environmental protection departments and the like cannot be met; the method solves the problems of how to realize the judgment of whether the detector is saturated, automatically adjust parameters, optimize laser radar parameters and always enable the detector to work in a linear area, and has important engineering practical value.

Disclosure of Invention

The invention aims to provide a method for judging and optimizing the near field saturation problem of a laser radar, which can judge whether a detector enters an abnormal saturation state, solve the near field saturation problem through a control algorithm and improve the data accuracy of related products of the laser radar.

The purpose of the invention can be realized by the following technical scheme:

the discrimination of the near field saturation problem of the laser radar comprises the following steps:

step one, obtaining a reference line correlation coefficient; plotting ln (P (r) r²) Selecting a correlation curve within the height range of 0-3 km from the relation curve of r, and performing linear fitting on the correlation curve by adopting a least square method to obtain a reference linear correlation coefficient; wherein, P (r) is the optical power of the backward scattering echo signal of the laser radar, and r is the distance from the detection point to the laser radar;

step two, calculating the space range of the air permeability and the high extinction value; when the laser radar is normally used, the analysis software calculates the atmospheric transmittance within the range of 0-3 km in real time, and simultaneously calculates the distance range of the extinction coefficient above the maximum extinction value of 90%;

step three, obtaining a linear correlation coefficient, and judging whether the value exceeds the standard or not; in the horizontal detection mode, data are collected and stored, and ln (P (r) is drawn after the geometric overlapping factor is corrected²) Selecting a relation curve with r within the height range of 0-3 km, and performing linear fitting on the curve by adopting a least square method to obtain a linear correlation coefficient; if the obtained linear correlation coefficient is lower than 80% or lower than 90% of the reference linear correlation coefficient, the photoelectric detector is considered to enter an abnormal saturation region;

in the first step, ln (p (r) is plotted²) The method of the relation curve with r is as follows: selectingDetermining good weather conditions, setting the laser radar into a horizontal detection mode, collecting and storing data, correcting geometric overlapping factors, and drawing ln (P (r) × r)²) A plot of r;

in the second step, the laser radar adopts one of horizontal detection or vertical detection; if the laser radar detection mode is used for vertical detection, the requirement that the atmospheric transmittance is lower than a certain set value or the distance range of the extinction coefficient above 90% of the maximum extinction value is 1km is met; then setting the radar to be in a horizontal state, and then calculating, judging, adjusting and correcting;

in the second step, the precondition for discriminating the saturation region of the laser radar detector is as follows: if the atmospheric transmittance is lower than a certain set value or the distance range with the extinction coefficient above 90% of the maximum extinction value is 1km, the radar needs to be set to be in a horizontal detection mode, and then the saturated area of the detector is judged;

a method for optimizing a near-field saturation problem of a laser radar comprises the following steps:

step S1, obtaining a reference line correlation coefficient;

step S2, calculating the air permeability and the high extinction value space range;

step S3, obtaining a linear correlation coefficient, and judging whether the value exceeds the standard; in the horizontal detection mode, data are collected and stored, and ln (P (r) is drawn after the geometric overlapping factor is corrected²) Selecting a relation curve with r within the height range of 0-3 km, performing linear fitting on the curve by adopting a least square method, and obtaining a linear correlation coefficient, wherein if the obtained linear correlation coefficient is lower than 80% or lower than 90% of a reference linear correlation coefficient, the photoelectric detector is considered to enter an abnormal saturation region;

step S4, the photoelectric detector is connected with a voltage regulator through an engineering machine, and the voltage regulator is connected with the photoelectric detector through a high-voltage power supply voltage; the engineering machine is internally provided with a data collector, collection software, analysis software and a voltage regulation algorithm, wherein the data collector is connected to the photoelectric detector and is controlled by the collection software, the collection software is in data connection with the analysis software, the analysis software is internally provided with an inversion algorithm and saturation judgment, and the saturation judgment is output to the voltage regulation algorithm; outputting a voltage regulation algorithm to a voltage regulation controller;

the voltage regulation controller regulates the high-voltage power supply voltage of the laser radar, when laser passes through the atmosphere, the laser and molecules and particles in the atmosphere have physical effects of scattering, absorption and the like, part of optical signals scattered by the particles and the molecules return along the direction opposite to the laser propagation direction, and the photoelectric detector receives the optical signals and converts the optical signals into electric signals which are collected by a data collector in the engineering machine and stored by binary data; the stored binary data reaches saturation judgment through an inversion algorithm in analysis software and finally becomes the desired atmospheric parameters; the saturation judgment controls a voltage regulation controller through a voltage regulation algorithm;

the engineering machine is connected with the voltage regulation controller through the acquisition software, the analysis software and the voltage regulation algorithm by utilizing the RS232 interface, reduces the power supply high voltage of the photoelectric detector in a small range, repeats the operation of the step S4 and iterates repeatedly until the judgment condition set in the step S4 is met;

when the power supply voltage of the photoelectric detector is reduced, the adjusted amplitude is adjusted according to an optimization algorithm;

s5, completing optimization of a linear working area of the photoelectric detector, and entering a normal use mode of the laser radar;

the optimization algorithm comprises the following steps:

step S41, calculating an initial difference value of the current fitting linear correlation coefficient and the reference correlation coefficient;

and step S42, introducing a classical Proportional Integral Derivative (PID) algorithm in a region which meets the normal linear working voltage of the photoelectric detector.

The invention provides a method for judging and optimizing the near field saturation problem of a laser radar, which has the characteristics of judging whether a detector enters an abnormal saturation state, solving the near field saturation problem through a control algorithm and improving the data accuracy of related products of the laser radar. The invention has the beneficial effects that: taking logarithm of two sides of a radar formula, and then obtaining a derivative; shows ln (P (r) r²) The relationship between the two changes with the distance r is good under the ideal conditionLinear relation, straight line is ideal state, square point represents actual detection data;

using pairs of ln (P (r) r²) Fitting with r linearly, and judging whether the detector enters an abnormal saturation state by taking a linear correlation coefficient as an important index;

by means of a mode of reducing the high power supply voltage of the photoelectric detector, the detector is guaranteed to work in a linear region under the condition that light input light is enhanced, inherent parameters of the laser radar, such as geometric overlapping factors, are guaranteed not to change, and when the power supply voltage of the detector is adjusted, a PID algorithm is introduced, so that the purpose of rapidness and stability is achieved;

and (3) judging whether the laser radar needs to carry out detector saturation optimization in the working process by using the atmospheric transmission rate of 0-3 km and the distance range of 90% of the maximum extinction value as important indexes.

Drawings

In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.

FIG. 1 is a flow chart of discrimination of near field saturation problem of a lidar in accordance with the present invention;

FIG. 2 is a control block diagram illustrating discrimination of a lidar near field saturation problem of the present invention;

fig. 3 is a diagram of analysis of discrimination data of the lidar near-field saturation problem in embodiment 1.

Detailed Description

The purpose of the invention can be realized by the following technical scheme:

the discrimination of the near field saturation problem of the laser radar is disclosed, referring to fig. 1-2, and the discrimination comprises the following steps:

step one, obtaining a reference line correlation coefficient; plotting ln (P (r) r²) Selecting a correlation curve within the height range of 0-3 km from the relation curve of r, and performing linear fitting on the correlation curve by adopting a least square method to obtain a reference linear correlation coefficient;

step two, calculating the space range of the air permeability and the high extinction value; when the laser radar is normally used, the analysis software calculates the atmospheric transmittance within the range of 0-3 km in real time, and simultaneously calculates the distance range of the extinction coefficient above the maximum extinction value of 90%;

step three, obtaining a linear correlation coefficient, and judging whether the value exceeds the standard or not; in the horizontal detection mode, data are collected and stored, and ln (P (r) is drawn after the geometric overlapping factor is corrected²) Selecting a relation curve with r within the height range of 0-3 km, and performing linear fitting on the curve by adopting a least square method to obtain a linear correlation coefficient; if the obtained linear correlation coefficient is lower than 80% or lower than 90% of the reference linear correlation coefficient, the photoelectric detector is considered to enter an abnormal saturation region;

in the first step, ln (p (r) is plotted²) The method of the relation curve with r is as follows: selecting good weather conditions, setting the laser radar into a horizontal detection mode, collecting and storing data, correcting geometric overlapping factors, and drawing ln (P (r) × r)²) A plot of r;

the optical power of the laser radar backscattering echo signal meets the following radar formula:

wherein P (r) is the laser radar backscattering echo signal light power, C is a laser radar constant, eta (r) is a geometric overlapping factor, beta (r) is the total backscattering coefficient of the atmospheric molecules and the aerosol at the distance Z, r is the distance from a detection point to the laser radar, and alpha (r) is the total extinction coefficient of the atmospheric molecules and the aerosol at the distance Z;

generally, a standard atmospheric mode is utilized to obtain a backscattering coefficient and an extinction coefficient of atmospheric molecules, a radar ratio and a boundary condition of aerosol are assumed, and an extinction profile from the ground to the Z height can be obtained by utilizing a Fernald iterative algorithm; the radar ratio of the aerosol is the ratio of the extinction coefficient of the aerosol to the backscattering coefficient;

taking logarithm of two sides of the radar formula, and then obtaining derivation:

when the laser radar level is detected, the atmospheric level can be considered to be uniform, so that

The extinction coefficient alpha (r) in the horizontal direction is a constant;

as shown in FIG. 3, ln (P (r) is shown²) Along with the change relation of the distance r, under an ideal condition, the distance r and the distance r are in a good linear relation, a straight line is in an ideal state, and square points represent actual detection data; meanwhile, as can be seen from the figure, the smaller the distance is, the less its ln (p (r) × r)²) The larger the value;

in actual data acquisition, due to the fact that the laser radar has a geometric overlapping factor, the situation that a signal is gradually changed from 0 to a maximum value occurs at a near field; this is determined by the mechanical structure of the lidar, after correction by the geometric overlay factor, the actually collected ln (p (r)²) Should approximate a straight line;

in the second step, the laser radar adopts one of horizontal detection or vertical detection; the laser radar adopts horizontal detection or vertical detection and needs the same near-field saturation judgment condition; when the linearity is solved, the laser radar is in a horizontal state; if the laser radar detection mode is used for vertical detection, the requirement that the atmospheric transmittance is lower than a certain set value or the distance range of the extinction coefficient above 90% of the maximum extinction value is 1km is met; then setting the radar to be in a horizontal state, and then calculating, judging, adjusting and correcting;

in the second step, the precondition for discriminating the saturation region of the laser radar detector is as follows: if the atmospheric transmittance is lower than a certain set value or the distance range with the extinction coefficient above 90% of the maximum extinction value is 1km, the radar needs to be set to be in a horizontal detection mode, and then the saturated area of the detector is judged;

a method for optimizing a near-field saturation problem of a laser radar comprises the following steps:

step S1, obtaining a reference line correlation coefficient;

step S2, calculating the air permeability and the high extinction value space range;

step S3, obtaining a linear correlation coefficient, and judging whether the value exceeds the standard; in the horizontal detection mode, data are collected and stored, and ln (P (r) is drawn after the geometric overlapping factor is corrected²) Selecting a relation curve with r within the height range of 0-3 km, performing linear fitting on the curve by adopting a least square method, and obtaining a linear correlation coefficient, wherein if the obtained linear correlation coefficient is lower than 80% or lower than 90% of a reference linear correlation coefficient, the photoelectric detector is considered to enter an abnormal saturation region;

step S4, adjusting the power supply voltage of the photoelectric detector; the photoelectric detector is connected with a voltage regulator through an engineering machine, and the voltage regulator is connected with the photoelectric detector through a high-voltage power supply voltage; the engineering machine is internally provided with a data collector, collection software, analysis software and a voltage regulation algorithm, wherein the data collector is connected to the photoelectric detector and is controlled by the collection software, the collection software is in data connection with the analysis software, the analysis software is internally provided with an inversion algorithm and saturation judgment, and the saturation judgment is output to the voltage regulation algorithm; outputting a voltage regulation algorithm to a voltage regulation controller;

the voltage regulation controller regulates the high-voltage power supply voltage of the laser radar, when laser passes through the atmosphere, the laser and molecules and particles in the atmosphere have physical effects of scattering, absorption and the like, part of optical signals scattered by the particles and the molecules return along the direction opposite to the laser propagation direction, and the photoelectric detector receives the optical signals and converts the optical signals into electric signals which are collected by a data collector in the engineering machine and stored by binary data; the stored binary data reaches saturation judgment through an inversion algorithm in analysis software and finally becomes the desired atmospheric parameters; the saturation judgment controls a voltage regulation controller through a voltage regulation algorithm;

the engineering machine is connected with the voltage regulation controller through the acquisition software, the analysis software and the voltage regulation algorithm by utilizing the RS232 interface, reduces the power supply high voltage of the photoelectric detector in a small range, repeats the operation of the step S4 and iterates repeatedly until the judgment condition set in the step S4 is met;

when the power supply voltage of the photoelectric detector is reduced, the adjusted amplitude is adjusted according to an optimization algorithm;

s5, completing optimization of a linear working area of the photoelectric detector, and entering a normal use mode of the laser radar;

the optimization algorithm comprises the following steps:

step S41, calculating an initial difference value of the current fitting linear correlation coefficient and the reference correlation coefficient;

step S42, introducing a classical Proportional Integral Derivative (PID) algorithm in a region which meets the normal linear working voltage of the photoelectric detector; proportional terms of the PID algorithm proportionally reflect deviation signals of a control system, and once the deviation is generated, a control action is immediately generated to reduce the deviation; the function of the integral link is used for eliminating static error and improving the zero-error degree of the system; the function of the differential link reflects the variation trend of the deviation signal, and the variation trend comprises the variation rate; before the value of the deviation signal becomes too large, an effective early correction signal is introduced into the system, so that the action speed of the system is accelerated, and the adjusting time is shortened; through repeated iteration of the PID algorithm, the aim of quickly stabilizing the linear correlation coefficient of the system at a proper value can be achieved.

The working principle of the invention is as follows:

in normal weather conditions, the corrected actual collected data, ln (p (r) × r) are²) Should approximate a straight line, at this moment the data inversion is normal;

if the conditions of pollution aggravation, low cloud, high humidity and the like are met, the P (r) is increased as a whole due to the enhancement of a backscattering signal; if the intensity of P (r) exceeds the tolerance value of the linear area of the photoelectric detector, the near field area is easier to approach the tolerance, the detector enters a saturation area, and at the moment, the output voltage or current signal of the photoelectric detector cannot truly reflect the value of the input light intensity, so that the inversion error of radar data is increased; by ln (P (r) under normal conditions²) Linear relation with r, when the photoelectric detector enters the saturation region, the laser radar actually measures data, and the obtained ln (P (r) r²) The relation with r is not a straight line, and the closer to the ground, the smaller r is, the more serious the linear deformation is, and therefore, the relation can be passed throughA characteristic for judging whether the photoelectric detector enters a saturation state;

taking logarithm of two sides of a radar formula, and then obtaining a derivative; shows ln (P (r) r²) Along with the change relation of the distance r, under an ideal condition, the distance r and the distance r are in a good linear relation, a straight line is in an ideal state, and square points represent actual detection data;

using pairs of ln (P (r) r²) Fitting with r linearly, and judging whether the detector enters an abnormal saturation state by taking a linear correlation coefficient as an important index;

by means of a mode of reducing the high power supply voltage of the photoelectric detector, the detector is guaranteed to work in a linear region under the condition that light input light is enhanced, inherent parameters of the laser radar, such as geometric overlapping factors, are guaranteed not to change, and when the power supply voltage of the detector is adjusted, a PID algorithm is introduced, so that the purpose of rapidness and stability is achieved;

and (3) judging whether the laser radar needs to carry out detector saturation optimization in the working process by using the atmospheric transmission rate of 0-3 km and the distance range of 90% of the maximum extinction value as important indexes.

The invention provides a method for judging and optimizing the near field saturation problem of a laser radar, which has the characteristics of judging whether a detector enters an abnormal saturation state, solving the near field saturation problem through a control algorithm and improving the data accuracy of related products of the laser radar. The invention has the beneficial effects that: taking logarithm of two sides of a radar formula, and then obtaining a derivative; shows ln (P (r) r²) Along with the change relation of the distance r, under an ideal condition, the distance r and the distance r are in a good linear relation, a straight line is in an ideal state, and square points represent actual detection data;

using pairs of ln (P (r) r²) Fitting with r linearly, and judging whether the detector enters an abnormal saturation state by taking a linear correlation coefficient as an important index;

by means of a mode of reducing the high power supply voltage of the photoelectric detector, the detector is guaranteed to work in a linear region under the condition that light input light is enhanced, inherent parameters of the laser radar, such as geometric overlapping factors, are guaranteed not to change, and when the power supply voltage of the detector is adjusted, a PID algorithm is introduced, so that the purpose of rapidness and stability is achieved;

and (3) judging whether the laser radar needs to carry out detector saturation optimization in the working process by using the atmospheric transmission rate of 0-3 km and the distance range of 90% of the maximum extinction value as important indexes.

The foregoing is merely exemplary and illustrative of the present invention and various modifications, additions and substitutions may be made by those skilled in the art to the specific embodiments described without departing from the scope of the invention as defined in the following claims.