本文選題：激光雷達 + 成像系統(tǒng)仿真��； 參考：《西安電子科技大學》2016年博士論文

【摘要】：激光雷達成像系統(tǒng)由于具有復雜環(huán)境適應性強、抗干擾能力強、獲取信息量大等特點,被廣泛用于戰(zhàn)場偵察、預警和打擊等國防領(lǐng)域以及機動車輛伺服、人工視覺、地形測繪等民生領(lǐng)域,在現(xiàn)代戰(zhàn)爭和日常生活中都具有不可或缺的地位。激光雷達成像系統(tǒng)的特征預測和性能評估的研究是激光雷達成像系統(tǒng)設(shè)計、特征感知與算法研究、系統(tǒng)方案論證等應用的必不可少的內(nèi)容。基于數(shù)字仿真的激光雷達成像特征預測與應用技術(shù)具有可靠、無破壞性、可多次重復、不受氣象條件和場景空域限制、控制靈活等特點,能夠降低研發(fā)風險、縮短研制周期、節(jié)約研究與試驗經(jīng)費,具有重要意義。本文以實現(xiàn)激光雷達成像系統(tǒng)建模仿真的特征預測和性能評估為研究目標,針對激光雷達成像仿真鏈路、鏈路中的高性能場景建模、高置信度場景建模、成像系統(tǒng)建模與評估等關(guān)鍵問題進行了研究,開展的具體工作如下：第一部分研究了基于系統(tǒng)成像原理的激光雷達仿真鏈路。為了滿足激光雷達成像仿真系統(tǒng)通用性和復雜度擴展性的需求,詳細分析了激光雷達成像系統(tǒng)的基本理論,研究了探測原理和成像模式；其次,以激光雷達成像系統(tǒng)的基本理論為指導,提出了通用的、系統(tǒng)化的“發(fā)射-目標-背景-大氣-成像-點云重構(gòu)”激光雷達成像系統(tǒng)仿真鏈路,并對鏈路中的通用子模塊進行了詳細分析,建立了通用的激光雷達成像仿真模型。第二部分研究了場景輻射特性高性能計算方法。為了解決傳統(tǒng)激光雷達反射場景計算方法動態(tài)性差、計算復雜、無法表現(xiàn)激光相干性等問題,分析了目標和背景的反射特性,研究了激光的空間傳輸特性,通過改進輻射傳輸計算、添加散斑模型等手段,建立了場景輻射特性模型,結(jié)合GPU并行處理機制,提出了激光輻射場景的高性能計算方法,實現(xiàn)了激光雷達成像系統(tǒng)入瞳能量分布的高效計算,并與實際結(jié)果進行了比對分析,驗證了三維散斑模型及仿真方法的可信性和可行性。第三部分研究了場景輻射特性置信度改進方法。為了提高激光輻射場景的精確度,研究了光線跟蹤和計算機視覺渲染的基本原理,分析了光線跟蹤技術(shù)應用在激光雷達系統(tǒng)成像模型的可行性。為了解決激光雷達仿真環(huán)節(jié)中無法準確描述多次反射、半透射及遮蔽等過程的問題,對基本光照模型進行了改造,提出了基于光線跟蹤算法的激光輻射場景的方法,實現(xiàn)了復雜目標的精確模擬計算,有效彌補了傳統(tǒng)方法的缺陷。為了解決激光雷達仿真環(huán)節(jié)中大氣傳輸影響的準確度欠缺的問題,提出了利用指數(shù)韋布爾的湍流模型計算激光輻射場景大氣湍流干擾的方法,建立了綜合大氣湍流傳輸?shù)募す饫走_成像物理模型,實現(xiàn)了大氣傳輸效應對成像質(zhì)量影響的定量計算,計算結(jié)果表明湍流導致能量彌散,引起探測虛警,影響成像能力。第四部分研究了激光雷達成像系統(tǒng)建模及性能評估方法�；谌S能量分布計算的結(jié)果,詳細分析了GMAPD探測原理,建立了基于GMAPD探測的激光雷達系統(tǒng)成像模型。為了載體平臺數(shù)據(jù)匹配精度不高、成像模型通用性差的問題,建立了基于實際數(shù)據(jù)的點云配準模型,并結(jié)合本地坐標轉(zhuǎn)換模型和世界坐標轉(zhuǎn)換模型,實現(xiàn)了載體平臺下激光雷達數(shù)據(jù)的三維點云重建模擬,通過對機載平臺下基于GMAPD探測的激光雷達系統(tǒng)的成像仿真,驗證了方法的可行性和可信性。為了解決傳統(tǒng)方法中環(huán)境噪聲輻射對系統(tǒng)性能干擾影響的計算結(jié)果誤差過大的問題,提出了耦合探測波段的環(huán)境噪聲輻射計算方法,修正了探測像元的入射環(huán)境輻射能量結(jié)果,提高了環(huán)境干擾模型的計算精度。利用復合仿真模型,以異常比和失落比為系統(tǒng)性能評估指標,分別對不同的大氣傳輸、環(huán)境噪聲強度、發(fā)射激光參數(shù)和系統(tǒng)暗電流強度條件下系統(tǒng)性能指標進行了計算,實現(xiàn)了多種工作環(huán)境和系統(tǒng)參數(shù)下激光雷達系統(tǒng)的性能評估。
[Abstract]:Laser radar imaging system has strong adaptability to the complicated environment, strong anti-interference ability, to obtain large amount of information, is widely used in the field of battlefield reconnaissance, warning and Combat Defense and servo motor vehicles, artificial vision, topography and other livelihood areas, has an indispensable role in the modern war and the characteristics of daily life. Prediction and performance evaluation of laser radar imaging system is the design of laser radar imaging system, characteristics of perception and algorithm, the system project applications such as the essential content. Laser radar imaging features and application technology of digital simulation based on reliable, non-invasive, repeatable, not affected by weather conditions and scene airspace restrictions the characteristics, flexible control, can reduce the risk of research and development, shorten the development cycle, saving research and test cost, is of great significance. In this paper, in order to achieve Feature prediction and performance evaluation of laser radar imaging system simulation modeling as the research target, the laser radar imaging simulation link, high performance link in scene modeling, scene modeling with high confidence, the key problem of imaging system modeling and evaluation are studied, the specific work is as follows: the first part of the laser radar simulation link system based on the principle of imaging. In order to meet the demands of scalability of laser radar imaging simulation system versatility and complexity, a detailed analysis of the basic theory of laser radar imaging system, the detection principle and imaging mode; secondly, based on the basic theory of laser radar imaging system as a guide, put forward the general and systematic "emission - target - background - atmosphere - - point cloud reconstruction imaging laser radar imaging system and the simulation of the link, link the general module to conduct a detailed analysis , established a general simulation model of laser radar imaging. The second part discusses the high performance computing method of radiation characteristics of scene. In order to solve the traditional laser radar scene dynamic calculation method, the calculation is complex, not performing laser coherence problems, analysis of the reflection characteristic of target and background, to study the spatial characteristics of the laser beam propagation through. Improvement of radiative transfer calculations, add speckle model, established the radiation characteristics of the scene model, combined with the GPU parallel processing mechanism, puts forward the calculation method of high performance laser radiation scene, realizes the efficient computation of laser radar imaging system of the pupil energy distribution, and compared with the actual results, verify the credibility and feasibility three dimensional speckle model and simulation method. The third part studies the radiation characteristics of the scene confidence improvement method. In order to improve the precision of laser radiation scene Indeed, on the basic principle of ray tracing and rendering of computer vision, the paper analyzes the feasibility of application of ray tracing technology in laser radar imaging model. In order to solve the multiple reflection cannot accurately describe the laser radar simulation process, and the process of the semi transmissive shielding problem, the basic illumination model was improved, and puts forward the method of laser radiation scene ray tracing algorithm based on accurate calculation simulation of complex targets, effectively compensate for the shortcomings of the traditional methods. In order to solve the lack of accuracy of atmospheric transmission of laser radar simulation process influencing the problem, provide a method to calculate the laser radiation scene of atmospheric turbulence disturbance using turbulence model exponential Weibull, establish the laser radar imaging model of integrated turbulence, realized the quantitative effect of atmospheric transmission effect on imaging quality calculation, The calculation results show that turbulence causes energy dispersion, caused by false alarm, affect the imaging ability. The fourth part studies the evaluation methods of modeling and performance of laser radar imaging system. The three-dimensional energy distribution based on the computed results, a detailed analysis of the GMAPD detection principle, a laser radar imaging system based on GMAPD model. In order to detect carrier platform data matching accuracy is not high, the imaging model of the poor generality, the establishment of the actual data of point cloud registration model based on combining local coordinate transformation model and the world coordinate transformation model, and the carrier flat 3D point laser radar data sets under the cloud reconstruction simulation, based on the simulation of imaging laser radar system based on detection of airborne GMAPD the platform to verify the feasibility and credibility method. In order to solve the calculation results of environmental noise in the traditional method of radiation effects on the performance of interference system The problem of error, puts forward the calculation method of noise coupling detection band radiation, fixed pixel detection results of incident radiation energy environment, improves the precision of environmental disturbance model. Using the composite simulation model, the abnormal ratio and loss ratio for the system performance evaluation index, respectively on the atmospheric transmission of environmental noise strength, performance index system laser parameters and system under the condition of dark current intensity was calculated, performance evaluation to achieve a variety of working conditions and system parameters of laser radar system.

【學位授予單位】：西安電子科技大學
【學位級別】：博士
【學位授予年份】：2016
【分類號】：TN957.52

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