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A single-photon lidar ranging accuracy evaluation model

Single-photon lidar is one of the important development directions of long-range lidar in the future. Since the detection mechanism of single-photon lidar is quite different from the traditional lidar detection system, it is necessary to measure the range walk error caused by its measurement. We analyzed the detection mechanism of single-photon lidar, established a mathematical model of laser echo signal and detector’s timing jitter, and deduced the relationship between the range walk error and timing jitter. Besides simulation, we set up a coaxial lidar and utilized three kinds of Geiger mode avalanche diode(GM-APD) detectors with different timing jitter to verify the simulation results. The results show that with the increase of the detector’s timing jitter, the range walk error of the system also increase, and the two are positively correlated. When the standard deviations of the detector timing jitter are 15ps, 350ps, and 1152ps, the range walk error are 0.88cm, 2.55cm, and 12.56cm, respectively. Finally, an evaluation model of ranging accuracy is established by using appropriate data fitting method, which provides an evaluation model for the ranging accuracy of single-photon radar and it has potential application value.