高速高精度多线激光雷达信息处理设计及应用

Design and application of high-speed and high-precision information processing of multi-line lidar

为满足多线、高空间分辨率激光雷达大数据量、高实时性、高可靠性要求,研究设计了一种基于Zynq-7000器件的激光雷达信息处理系统。硬件设计充分利用Zynq内部资源配置了多个、多种接口,外接简易电路即实现多个外设控制和状态监控。不同于常用的SMP (Symmetrical Multiprocessing)方式,Zynq内双ARM核处理器的软件设计采用更灵活的AMP (Asymmetric Multiprocessing)方式,两核一主一从独立运行裸机程序,其中主核完成数据处理的时序调度,并与从核以乒乓方式交替计算,双核协同优化改进,在完成了AD全波形匹配法与TDC相结合的高精度测距基础上,进一步设计并实现了实时的距离和强度校正算法,算法不仅研究了校正量与距离和强度的关系,还引入了温度和探测单元差异影响因素。经测试,64线激光雷达可探测处理三次回波,在120 m范围内的测距精度优于1.5 cm,强度数据更客观反映探测目标的特性,雷达单回波数据点率达到2 560 K点/s。

In order to meet the demand for large-volume data,high real-time and high-reliability of multi-line,high spatial-resolution lidar,an information processing system based on Zynq-7 000 was designed.In terms of hardware design,internal resources of Zynq were fully utilized to configure multiple interfaces connecting external simple circuit merely which implement controlling and status monitoring of many peripheral devices.In terms of software design,more flexible AMP mode was adopted,not popular SMP,that each processor,a master and a slave,ran bare-metal program independently,in which a master processor controls time sequencing of data conduct of system and computes alternately with slave processor in ping-pang scheme.Cooperation between processors was optimized and improved.Distance and intensity correction algorithm was proposed and realized further on the basis of high-accuracy combination method of full waveform matching of AD and TDC upon that system,which not only investigate the relationship between correction quantity and distance and intensity,but also study influence of temperature and difference among detectors.In experiments 64-lines lidar has ability of detecting and processing three echoes,distance accuracy of which was better than 1.5 cm within 120 m.Intensity data of lidar expressed target characteristics more objectively and data rate of single echo reached 2 560 K points per second.