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  • Received: Feb. 27, 2020

    Accepted: May. 6, 2020

    Posted: Sep. 1, 2020

    Published Online: Sep. 16, 2020

    The Author Email: Sun Jianfeng (

    DOI: 10.3788/CJL202047.0910003

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    Xinyu Cai, Jianfeng Sun, Zhiyong Lu, Yuexin Li, Haisheng Cong, Ronglei Han. Distortion Compensation Technology of Coherent Frequency Modulation Continuous Wave Lidar[J]. Chinese Journal of Lasers, 2020, 47(9): 0910003

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Chinese Journal of Lasers, Vol. 47, Issue 9, 0910003 (2020)

Distortion Compensation Technology of Coherent Frequency Modulation Continuous Wave Lidar

Cai Xinyu1,2, Sun Jianfeng1,*, Lu Zhiyong1, Li Yuexin1, Cong Haisheng1, and Han Ronglei1

Author Affiliations

  • 1Key Laboratory of Space Laser Communication and Detection Technology, Shanghai Institute of Optics and Fine Mechanics, Chinese Academy of Sciences, Shanghai 201800, China
  • 2Center of Materials Science and Optoelectronics Engineering, University of Chinese Academy of Sciences,Beijing 100049, China


Scanning lidar plays an irreplaceable role in driverless system, which is a research hotspot in recent years. Because the time of each point is different between the multi pulse periods, and the relative motion between the lidar and the imaging target will cause the distortion of the three-dimensional (3D) image reconstruction of the target, so it is necessary to compensate for the real high-precision 3D imaging. In this paper, a point by point compensation method for motion distortion based on the velocity measurement of coherent frequency modulated continuous wave lidar is proposed. The simulation and experimental results show that the relative velocity error and imaging distance error are 0.52% and ±4.76 cm, respectively. Compared with the traditional accelerometer method, the proposed method does not rely on external measurement such as accelerometer, and has higher universality, which is of great significance for the practical application of lidar.


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