脉冲调制激光雷达水下成像系统

针对水下目标探测应用场景，给出了相应的532 nm波长激光雷达系统参数，结合条纹管激光雷达和载波调制激光雷达的优点，设计研制了一套水下三维成像增程激光雷达原理样机。相对于常见的微波调制激光产生高频脉冲的方案，该原理样机采取调Q技术压缩激光脉冲，再结合F-P腔的特性产生高频激光脉冲，具有峰值功率高和输出能量高的优点。实验结果表明，该原理样机在清水环境中成像距离优于20 m，能够捕捉到13 m处直径9 mm的目标细节；在浊水环境中的信号处理增程能力达到81.4%，相对距离分辨误差为0.01 m。所获得的实验结果为进一步提升水下激光雷达的成像距离和分辨率进而发展水下成像装备奠定了基础。

Underwater imaging system of pulse modulated lidar

According to the application of underwater target detection, the corresponding 532 nm wavelength lidar system parameters were given. Combining the advantages of streak tube lidar and subcarrier modulated lidar, a prototype of underwater 3D imaging extended range lidar was designed. Compared with the common scheme of microwave modulated laser to generate high frequency pulse, the prototype adopted Q-switch technology to compress laser pulse, and then combined the characteristics of F-P cavity to generate high frequency laser pulse, which had the advantages of high peak power and high output energy. The experimental results show that the imaging distance of the prototype in clear water environment is better than 20 m, and it can capture the target details with a diameter of 9 mm at 13 m. In the turbid water environment, the range-extended capability of signal processing is 81.4%, and the range resolution error is 0.01 m. The experimental results provide a foundation for further improving the imaging range and resolution of underwater lidar and developing underwater imaging equipment.