A continuous wavelet transform-based modulus maxima approach for the walk error compensation of pulsed time-of-flight laser rangefinders
A continuous wavelet transform-based modulus maxima approach for the walk error compensation of pulsed time-of-flight laser rangefinders
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DOI：
10.1016/j.ijleo.2015.11.052
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发表时间：
2016-02
期刊：
影响因子：
3.1
通讯作者：
Jin Xiao;Miguel A. López;Xiaoguang Hu;Jizhong Xiao;Fei Yan
中科院分区：
文献类型：
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作者：
Jin Xiao;Miguel A. López;Xiaoguang Hu;Jizhong Xiao;Fei Yan
半导体脉冲飞行时间（TOF）激光测距仪（LRF）一直是许多微型无人机（MUAV）雷达系统配备的主要测距组件。提出了一种新方法来提高脉冲 TOF LRF 的测量精度。该方法首先采用传统的单阈值前沿检测，然后采用基于连续小波变换（CWT）的局部模极大值（LMM）来检测LRF发射脉冲和接收回波的奇异点，并利用检测到的奇异点获得补偿时间来修正测量模型。在所提出的脉冲TOF LRF原型上进行了一系列实验，并通过线性拟合建立了测量模型。利用各小波的补偿值，得到最佳的修正测量模型。结果表明，脉冲 TOF LRF 的单次精度达到 195 ps (∼29 mm)，SNR = 7，绝对误差从 9.25 mm 降低到 6.32 mm。因此，所提出的方法可以更好地补偿现有脉冲TOF LRF的游走误差并提高TOF LRF的性能。
Semiconductor pulsed time-of-flight (TOF) laser rangefinders (LRFs) have been the main distance measurement components equipped by many radar systems of Micro Unmanned Air Vehicles (MUAVs). A novel approach is proposed to improve the measurement accuracy of pulsed TOF LRFs. This approach adopted traditional single-threshold leading edge detection firstly, then employed continuous wavelet transform (CWT)-based local modulus maxima (LMMs) to detect singularities of emitting pulses and receiving echoes of LRFs, and obtained the compensation time with detected singularities to revise the measurement model. A series of experiments were done in a proposed pulsed TOF LRF prototype, and the measurement model is built by linear fitting. With the compensation values of various wavelets, the optimum revised measurement model is obtained. It is demonstrated that the single-shot precision of the pulsed TOF LRF achieves 195 ps (∼29 mm) with SNR = 7, and the absolute error is reduced from 9.25 to 6.32 mm. Therefore, the proposed approach can better compensate the walk error of the existing pulsed TOF LRFs and improve the performance of TOF LRFs.