Energy-Barycenter Based Waveform Centroid Algorithm for Pulse Lidar Ranging System

This paper proposes an energy-barycenter-based waveform centroid algorithm (EWCA) for a high-precision Lidar ranging system. Firstly, the emission and echo pulse models of system are established. Secondly, based on analyzing merits demerits conventional (CWCA) intensity-weighted discrimination (IWCD). Moreover, combined with characteristics energy moment distribution, adaptive strategy is used to select point higher signal as calculation time series, we proposed EWCA calculate timing moment. Finally, compared CWCA IWCD through simulation actual experiments. The experimental results show has accuracy robustness than comparison different SNR. can achieve average error 0.1235 ns, standard deviation 0.0848 variance 0.0072 ns at SNR 5 dB. At same time, established compare these methods further, method be within 20 mm when measured distance 40 m. application range, which potential handle further tasks.