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

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-7000 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. © 2021, Editorial Board of Journal of Infrared and Laser Engineering. All right reserved.