What question did this study set out to answer?

To address the issue of point deviation in laser radar due to echo delay at high rotational speeds and long distances.

February 26, 2026Open Access

转速调控下的激光雷达探测器位置像移匹配方法

Puntos clave

To address the issue of point deviation in laser radar due to echo delay at high rotational speeds and long distances.
Developed a mathematical model of OSEDR to relate point deviation to scan mirror speed and target parameters.
Adjusted the scan mirror speed based on the mathematical model to replace specific long-distance targets for calibration.
Conducted experiments comparing traditional and proposed methods in a laser radar system.
Achieved a 96% increase in maximum detection distance, from 1,020 m to 2,000 m at a rate of 50 r/s.
Confirmed consistent and stable point clouds with no significant gaps within the enhanced detection range.
Extended the selection range of feedback targets during calibration for mechanical scanning laser radar.

Resumen

针对机械扫描式激光雷达在高转速、远距离探测工况下，因回波滞后角导致像点偏离探测器中心，限制其光学扫描有效探测范围（Optical Scanning Effective Detection Range，OSEDR）的问题，提出一种基于扫描镜转速调控的探测器位置匹配方法。首先，建立了OSEDR数学模型，定量描述像点偏移与扫描镜转速、目标距离/方位及光学系统参数间的关系。其次，基于数学模型调控扫描镜转速，使常规稳定目标能够替代传统方法中必需的特定远距离目标，作为反馈基准完成探测器位置匹配。实验结果表明：采用该方法调试某款激光雷达系统后，在50 r/s额定转速下，最远探测距离由1 020 m提升至2 000 m，增幅约96%，达到理论探测范围指标要求，且该范围内点云连续稳定、无明显缺失。本研究扩展了调试过程中反馈目标的选择范围，为机械扫描激光雷达的装调提供了一种可靠、高效的探测器位置匹配方法。

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