Real-time measurement technique of the echo signal magnitude in ToF laser scanners

Zygmunt, Marek; Jakubaszek, Marcin; Sędek, Bartosz; Drozd, Tadeusz

doi:10.1016/j.measurement.2023.112453

Cited by 3 publications

(4 citation statements)

References 17 publications

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“…This shows that both methods mentioned above are not optimal. For this reason, we proposed another approach [20]. It was proven that in order to effectively compensate for the walk error, it is possible to use the knowledge about the absolute magnitude of the echo signal.…”

Section: Walk Error Analysismentioning

confidence: 99%

“…Equation (1) shows that the dynamic range of the echo signal can be at least several thousand, which means that the effects of saturation are inevitable. For this reason, we proposed the novel electronics solution called the Echo Signal Magnitude Measurement Circuit (ESMMC), which allows signal magnitude measurement even if saturated [20]. Figure 3a shows the effect of the echo signal pulse duration with the comparison threshold set at 90% of the A 1 signal magnitude.…”

Section: Walk Error Analysismentioning

confidence: 99%

“…This paper presents an analog walk error compensation method based on echo signal magnitude measurement. The measurement of echo signal magnitude was implemented using the ESMMC (Echo Signal Magnitude Measurement Circuit) presented by the authors in the [20]. In addition, the article presents a new laboratory method for calibrating the walk error compensation curve.…”

Section: Introductionmentioning

confidence: 99%

“…Figure 5. Test results of the ESMMC (a) echo signal at the input of the transimpedance amplifier, (b)signal at the output of the transimpedance amplifier, (c) signal at the output of the integration circuit, and (d) conversion of the magnitude of the echo signal "a", into the area under the integration curve "c"[20].…”

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Real-Time Walk Error Compensation Method Using Echo Signal Magnitude Measurement in ToF Laser Scanners

Sędek,

Zygmunt,

Jakubaszek

et al. 2024

Sensors

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The rapid advancement of mobile laser scanner technology used for terrain mapping, among other things, imposes increasing requirements for scanning frequency and distance measurement accuracy. To meet these requirements, rangefinder modules are expected to operate with high echo signal dynamics and to allow accurate distance measurement even based on single-laser-pulse echo detection. Such performance can be potentially achieved using pulsed time-of-flight (ToF) laser rangefinders (LRF). In conventional ToF modules, however, the STOP signal (for time counter interruption) is generated using a straightforward fixed-threshold comparator method. Unfortunately, it corresponds to the so-called walk error, i.e., the dependence of the measured time of flight on the magnitude of the echo signal. In most ranging applications, however, the LRF detection channel can be exposed to an extremely large span of received echo power levels, which depend on the distance measured, type of target surface, atmospheric transmission, etc. Thus, the walk error is an inseparable element of the conventional ToF technique and creates a fundamental limit for its precision. This article presents a novel method of walk error compensation in real time. By using our authorial electronic circuit for measuring the magnitude of the echo signal, it is possible to effectively compensate for the walk error even when the echo signal brings the detection channel amplifiers into saturation. In addition, the paper presents a laboratory method for calibrating the walk error compensation curve.

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Section: Walk Error Analysismentioning

confidence: 99%

Section: Walk Error Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

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