https://wiki.yanding.com/ 2026-07-09T23:34:34+00:00 https://wiki.yanding.com/ https://wiki.yanding.com/lib/tpl/myconfluence/images/favicon.ico text/html 2026-07-09T11:14:26+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.yanding.com/doku.php?id=en:yanding:%E6%88%90%E5%83%8F%E8%B4%A8%E9%87%8F%E8%AF%84%E4%BB%B7:%E5%B7%A5%E5%85%B7:%E6%BF%80%E5%85%89%E9%9B%B7%E8%BE%BE:%E6%B5%8B%E8%B7%9D%E8%83%BD%E5%8A%9B&rev=1783595666&do=diff FIXME This page is not fully translated, yet. Please help completing the translation. (remove this paragraph once the translation is finished) 测距能力 一、前言 测距能力是评价激光雷达探测性能的关键基础指标，直接定义了系统数字化物理世界的$P_t$$A_r$$\alpha$$R$$\sqrt{\rho}$$R \propto \sqrt{\rho}$$$P_r = P_t \cdot \frac{A_r}{R^2} \cdot \rho \cdot \eta_{sys} \cdot \exp(-2\alpha R)$$$P_r$$P_t$$A_r$$R$$\rho$$\eta_{sys}$$\alpha$ text/html 2026-07-09T11:14:26+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.yanding.com/doku.php?id=en:yanding:%E6%88%90%E5%83%8F%E8%B4%A8%E9%87%8F%E8%AF%84%E4%BB%B7:%E5%B7%A5%E5%85%B7:%E6%BF%80%E5%85%89%E9%9B%B7%E8%BE%BE:%E6%BF%80%E5%85%89%E9%9B%B7%E8%BE%BE&rev=1783595666&do=diff FIXME This page is not fully translated, yet. Please help completing the translation. (remove this paragraph once the translation is finished) 激光雷达 一、什么是激光雷达？ 激光雷达（LiDAR）是一种通过发射激光束并解析回波信号（如飞行时间 ToF 或频率差 FMCW等）来获取目标精确维度及空间构型的主动传感技术。相比依赖环境光的被动成像方案（如摄像头），激光雷达具备较强的抗光照干扰能力，在极暗或强逆光条件下仍能稳定输出厘米级精度的三维点云数据，是实现物理环境数字化重构的关键手段。\(\Delta t\)$d = \frac{c \cdot \Delta t}{2}$$(x, y, z)$… text/html 2026-07-09T11:14:26+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.yanding.com/doku.php?id=en:yanding:%E6%88%90%E5%83%8F%E8%B4%A8%E9%87%8F%E8%AF%84%E4%BB%B7:%E5%B7%A5%E5%85%B7:%E6%BF%80%E5%85%89%E9%9B%B7%E8%BE%BE:%E7%82%B9%E4%BA%91&rev=1783595666&do=diff FIXME This page is not fully translated, yet. Please help completing the translation. (remove this paragraph once the translation is finished) 点云 (Point Cloud) 一、定义： 点云是激光雷达输出的对三维空间获取的点的集合。它通过记录激光脉冲在物体表面的反射，将物理世界的几何形状转化为海量离散的空间坐标点，是自动驾驶环境感知、定位与高精地图构建等的核心底层数据。 text/html 2026-07-09T11:14:26+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.yanding.com/doku.php?id=en:yanding:%E6%88%90%E5%83%8F%E8%B4%A8%E9%87%8F%E8%AF%84%E4%BB%B7:%E5%B7%A5%E5%85%B7:%E6%BF%80%E5%85%89%E9%9B%B7%E8%BE%BE:%E8%A7%92%E5%BA%A6%E5%88%86%E8%BE%A8%E7%8E%87&rev=1783595666&do=diff FIXME This page is not fully translated, yet. Please help completing the translation. (remove this paragraph once the translation is finished) 角度分辨率 一、什么是角度分辨率？ 角度分辨率是指激光雷达在扫描探测过程中，相邻两个激光探测点主轴线在测距中心处所形成的夹角。根据扫描方向，可分为$\Delta L$$$\Delta L = d \cdot \tan(\theta) \approx d \cdot \theta \quad (\theta \text{ 以弧度计})$$$(d_{\text{Nmin}} + 1\ \text{m})_{-5}^{+5}\ \text{cm}$… text/html 2026-07-09T11:14:26+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.yanding.com/doku.php?id=en:yanding:%E6%88%90%E5%83%8F%E8%B4%A8%E9%87%8F%E8%AF%84%E4%BB%B7:%E5%B7%A5%E5%85%B7:%E6%BF%80%E5%85%89%E9%9B%B7%E8%BE%BE:%E8%B0%83%E9%A2%91%E8%BF%9E%E7%BB%AD%E6%B3%A2fmcw&rev=1783595666&do=diff FIXME This page is not fully translated, yet. Please help completing the translation. (remove this paragraph once the translation is finished) 调频连续波FMCW 一. 定义与原理： 调频连续波FMCW (Frequency Modulated Continuous Wave) 是一种基于相干检测技术的高阶感知方案。不同于传统 ToF（飞行时间法）通过脉冲“打表计时”，FMCW 发射的是频率随时间受控变化的连续激光束。它利用波的干涉原理，测量回波与当前发射信号之间的$\Delta t$$\Delta t/2$$c$$3 \times 10^8 \, \text{m/s}$$$r = \frac{\Delta t}{2} \times c$$$f_d$$\lambda$$$v = \frac{f_d \times \lambda}{2}$$… text/html 2026-07-09T11:14:26+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.yanding.com/doku.php?id=en:yanding:%E6%88%90%E5%83%8F%E8%B4%A8%E9%87%8F%E8%AF%84%E4%BB%B7:%E5%B7%A5%E5%85%B7:%E6%BF%80%E5%85%89%E9%9B%B7%E8%BE%BE:%E9%A3%9E%E8%A1%8C%E6%97%B6%E9%97%B4%E6%B3%95tof&rev=1783595666&do=diff FIXME This page is not fully translated, yet. Please help completing the translation. (remove this paragraph once the translation is finished) 飞行时间法ToF 飞行时间法（Time of Flight，简称 ToF）是一种通过测量光、声或颗粒在介质中飞行一段距离所需的时间，来获取目标物体深度或距离的传感技术。$\Delta t$$ c $$$d = \frac{c \cdot \Delta t}{2}$$