3D非扫描成像激光雷达距离精度的Cramer-Rao下限

利用参数估计的方法进行了3D非扫描成像激光雷达距离精度的研究，根据数理统计的理论，分析了距离估计方差的Cramer-Rao下限（CRLB），推导出了3D非扫描成像激光雷达距离估计方差的CRLB计算公式。 利用Monte Carlo仿真结果证明了推导的距离估计方差的CRLB具有有效性。 通过推导的距离估计方差的CRLB，对3D非扫描成像激光雷达的距离精度影响因素进行了分析，结果表明，减小脉宽、增加脉冲强度、提高采样速率、降低系统噪声、增加探测器量子效率都可以有效提高目标距离精度。 

Cramer-Rao Lower Bound for the Range Accuracy of 3D Flash Imaging Lidar System

The range accuracy of 3D flash imaging lidar system was studied based on the parameter estimation theory. According to the theory of mathematics statistics, the Cramer-Rao low bounds (CRLB) of range estimate variance was analyzed, and the formulas of CRLB were then deduced. The simulation results based on Monte Carlo method demonstrate the effectiveness of the CRLB of range estimate variance. Finally, the influences of the accuracy of 3D flash imaging ladar system were analyzed. The results show that the range accuracy can be improved by decreasing the pulse width, increasing the sampling frequency, reducing system noise and increasing quantum efficiency.