二维扫描型激光雷达的扫描特性分析

在光反射矢量理论和反射镜转动定理的基础上,结合反射镜转轴与镜面的偏心距所产生的影响对二维扫描成像特性进行了分析,给出了单点二维扫描的公式,并以此为基础得到了仿真图像。同时对线状发射光的反射情形进行了理论计算,给出了二维扫描镜的联合作用矩阵,得到了经过二维扫描镜两次反射后线状发射光在目标面上的投影长度以及偏转角,为后续的数据处理提供了一些参考依据。最后对二维扫描镜的形状进行了设计分析,以保证在满足接收视场的情况下最大程度地利用扫描镜镜面,降低扫描镜的转动惯量,从而降低负载电机的功耗。

Analysis of Scanning Characteristics of a Two-dimensional Scanning Lidar

On the basis of the vector theory of optical reflection and the mirror rotation theorem, the two-dimensional scanning imaging characteristics of a LIDAR are analyzed in terms of the deviation between a rotation axis and the surface of a scanning mirror. The formula of the single point two-dimensional scanning is given and the emulation image is obtained. At the same time, through the theoretical calculation of the reflection of a line-shape laser beam, the coupling matrix of a two-dimensional scanning mirror is given and the length and deflection of the line-shape laser beam projected on the object after being reflected on two scanning mirrors are obtained. This provides a basis for the subsequent data processing. Finally, the shapes of the two-dimensional scanning mirrors are designed. This design utilizes the surface of a scanning mirror maximally while the requirement of the receiving field of view is satisfied. Thus, the rotation inertia of the scanning mirrors and the power of the load motor are reduced.