雪崩光电二极管线阵激光雷达多路飞行时间并行测量系统研究

Research of Flight Time Parallel Measuring System with Multichannel for APD Linear Array LiDAR

设计并实现了8路高精度时间间隔并行测量系统,解决了1×8雪崩光电二极管(APD)线阵激光雷达同时测量8路激光回波飞行时间的问题。系统硬件由计时板和控制板组成,具有互换性和扩展性;计时板包含1片可测量8路激光飞行时间的TDC-GPX芯片;控制板包含1片ARM STM32处理器,用于配置TDC-GPX芯片、读取测量数据、并上传数据至PC机。系统软件采用事件驱动模式编程,并融合了循环FIFO数据结构与中断技术。由测距实验及数据分析表明:该系统稳定可靠,不同通道距离测量一致性误差小于2 ns。

Design and implementation of 8 channels time interval parallel measuring system with high precision were provided,and solved measuring problem of 8 channel laser echo flight time for 1 × 8 linear array LiDAR.The hardware consists of timing board and control board,it is easy to exchange and extend,there is an ARM STM32 processor on the control board that configures TDC-GPX,reads measuring data,and uploads data to PC computer.The software adopts event driven programming method,and combines circular FIFO data structure and interrupt technique.Ranging experiment and data analyzing indicates that the measuring system is stable and reliable,and the conformity error is less than 2 nanoseconds for measuring same distance by different channels.