多波束激光雷达的高精度收发配准方法的实验验证

针对三维成像多波束激光雷达系统微弧度量级激光发散角和多元并行收发条件下极高配准精度要求，进行了收发配准技术的研究和验证。提出了多波束激光雷达系统收发配准的方法，实现了一套基于光纤光学的收发光学系统分离的高精度收发光学系统；发射激光的单元发散角达到了近衍射极限的20 rad，接收视场达到60 rad，实现了1 064 nm近红外波段51元的线列并行收发，收发配准精度达到10 rad以下。实验验证结果显示，该收发配准的方法具有较好的可行性，配准的精度能达到理论分析要求。经过温度等环境因素的分析，系统在一定的温度范围内具有较好的稳定性，该温度范围较易控制，能够满足多波束激光雷达系统的工程应用要求。

Experimental verification of transmitting-receiving registration method with high precision used in multi-beam lidar

According to demand on the micro radian order angle of divergence of 3D-imaging multi-beam lidar and high registration precision of multi-element parallel condition, the receiving-transmitting registration technology was studied and verified. A receiving-transmitting registration method of multi-beam lidar was proposed, a receiving-transmitting optical system with high precision was realized by using separated receiving and transmitting optical system based on fiber optics. Element divergent angle of transmitting laser was 20rad which approached the diffraction limit, receiving field of view was 60rad, 51 elements linear parallel receiving-transmitting were realized at near infrared 1 064 nm wavelength. Meantime, the precision of receiving-transmitting registration was under 10rad. Experimental verification result indicates that the receiving-transmitting registration method is feasible. Registration precision reaches theory demand. Through temperature analysis, the optical system has good stability during a reasonable temperature range, which can satisfy the engineering application requirements of the 3D-imaging lidar system.