针对采用盖革模式雪崩光电二极管(Gm-APD)作为探测器的成像激光雷达,介绍了其测距原理及3D成像原理,并对如何提高其探测性能的方法进行了分析。以分析Gm-APD触发信号的统计特性为基础,对出现在距离门内不同位置目标的探测概率和虚警概率进行了研究与仿真,结果表明,目标处在距离门最前面时,探测概率受噪声水平影响最小,虚警概率受信号强度影响最大;目标靠近距离门中间位置时,探测概率随噪声水平增大下降缓慢,虚警概率随信号强度增大下降缓慢;目标处在距离门末尾时探测概率受噪声水平影响最大,而虚警概率几乎与回波信号强度无关。 Aiming at the imaging lidar adopting Geiger-mode avalanche photodiode (Gm-APD) as its detector, the principles of ranging and 3D imaging are introduced, and how to improve its detection performance is analyzed. Based on the analysis of the statistical properties of the Gm-APD trigger signal, the probabilities of probing and false alarm appearing in different positions within the distance gate are studied and simulated. The results show that when the target is at the front of the range gate, the detection probability is affected by The probability of false alarm is the most affected by the signal strength. When the target approaches the middle of the distance gate, the detection probability decreases slowly with the increase of noise level, and the false alarm probability decreases slowly with the increase of signal intensity. When the target is at the end of the distance gate The detection probability is most affected by the noise level, while the false alarm probability is almost independent of the echo signal strength.