建立了激光成像雷达探测目标的数学模型,分析了目标成像点轨迹形成的整个过程,讨论了距离像上的目标回波强度与目标距离之间的关系,得出了单次脉冲成像回波峰值点在像面上的坐标分布函数。设计实验并提出了一种动目标三维轨迹检测的方法,利用自适应阈值法对激光雷达实验图像进行了处理,得到了目标成像点轨迹分布;对比了距离像的理论和实验数据,结果表明理论模型检测的目标轨迹结果与实验结果误差控制在2%以内,具有较高的吻合度,所得结论可为目标轨迹预测以及意图判断提供参考意义。 The mathematical model of the laser radar imaging target was set up. The whole process of the trajectory formation of the target imaging point was analyzed. The relationship between the target echo intensity and the target distance on the distance image was discussed. The single pulse imaging echo peak Point coordinate distribution function on the image plane. Design experiments and proposed a three-dimensional moving target trajectory detection method, the use of adaptive thresholding method of laser radar experimental images were processed to obtain the trajectory of the target imaging point distribution; contrast distance theory and experimental data, the results show that the theory The error between target trajectory and experimental result of model detection is less than 2%, which has a good agreement degree. The conclusion can provide reference for target trajectory prediction and intent determination.