Triangular frequency-modulated continuous-wave (FMCW) laser radars (ladars) are extremely sensitive to vibration errors. An FMCW ladar 3D imaging system may suffer from severe vibrations and can use only one-period echoes for the ranging of each observation spot; consequently, it can provide only few measurement results. These vibrations may cause large errors because conventional vibration compensation methods are ineffective when applied to fast disturbances with limited measurement results. To solve this problem, we analyze the influence of vibrations on FMCW ladar ranging and propose a vibration compensation method based on an instantaneous ranging model for one-period triangular FMCW ladar signals. We first use a synchrosqueezing wavelet transform to extract time-frequency curves of the up- and down-dechirp signals and then build an instantaneous ranging model that can characterize local vibration errors. Based on the instantaneous ranges, we remove the disturbance vibration errors by taking the mean values of the instantaneous ranges and obtain the target range by using the triangular relations of the up and down observations. Experiments based on synthetic and real data verify the effectiveness of the proposed method and its superiority over the three-point method and Doppler shift method in compensating for vibrations with different frequencies and noise levels.

中文翻译：

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基于瞬时测距模型的三角FMCW雷达信号振动补偿方法

三角频率调制连续波（FMCW）激光雷达（激光雷达）对振动误差极为敏感。FMCW激光3D成像系统可能会遭受严重的振动，并且每个观测点的测距只能使用一个周期的回波。因此，它只能提供很少的测量结果。这些振动可能会导致较大的误差，因为当将常规振动补偿方法应用于测量结果有限的快速干扰时，该方法无效。为了解决这一问题，我们分析了振动对FMCW激光雷达测距的影响，提出了基于瞬时测距模型的一周期三角FMCW激光雷达信号的振动补偿方法。我们首先使用同步压缩小波变换来提取上下去chirp信号的时频曲线，然后建立一个可以表征局部振动误差的瞬时测距模型。基于瞬时范围，我们通过获取瞬时范围的平均值来消除干扰振动误差，并通过使用上下观测值的三角关系来获得目标范围。基于合成和真实数据的实验证明了该方法的有效性及其在补偿不同频率和噪声水平的振动方面优于三点法和多普勒频移法。我们通过取瞬时范围的平均值来消除干扰振动误差，并利用上下观测值的三角关系获得目标范围。基于合成和真实数据的实验证明了该方法的有效性及其在补偿不同频率和噪声水平的振动方面优于三点法和多普勒频移法。我们通过取瞬时范围的平均值来消除干扰振动误差，并利用上下观测值的三角关系获得目标范围。基于合成和真实数据的实验证明了该方法的有效性及其在补偿不同频率和噪声水平的振动方面优于三点法和多普勒频移法。