激光成像雷达前视成像仿真及障碍物识别方法研究

飞行器前视激光雷达通过测距得到前方三维距离像，由三维距离像可以获得飞行器前面障碍物的形状、高度、宽度等信息，从而为飞行器进行地形跟踪和障碍物回避提供依据。文中根据激光成像雷达原理，推导了激光雷达前视成像方程。在三维地形图上，由前视成像方程仿真得到激光雷达前视三维距离像。在三维距离像上提出了障碍物信息提取方法，并在三维地形图上进行了前视成像仿真实验和障碍物信息提取实验。

The front-view imaging simulation of imaging laser radar and the obstacles identification approach

Front view distance image is achieved through the scanning of laser radar. From the distance image, the information of obstacles can be achieved, which is a basis of terrain follow and terrain avoiding (TF/TA) of the aircraft on the inertia navigation system (INS). According to the theory of laser radar imaging, the front view imaging formula of laser radar is deduced, and the algorithm which identifies barrier from the 3D distance image is presented. In the end, the image of 3D distance is achieved by the simulation on the 3D terrain map, and the experiment of obstacles detection is completed with the 3D distance image.