CPC G01S 17/42 (2013.01) [G01S 17/04 (2020.01); G01S 17/931 (2020.01)] | 14 Claims |
1. A ranging method based on a laser radar system, comprising:
receiving ranging data obtained by measuring via a plurality of laser radars of the laser radar system, wherein the ranging data comprises distances between the laser radars and obstacles in measurement ranges of the laser radars;
establishing a three-dimensional coordinate model according to the ranging data, wherein the three-dimensional coordinate model comprises a coordinate of each laser radar and a coordinate of an obstacle measured by each laser radar; and
determining a distance between a target unmanned device and each obstacle according to the three-dimensional coordinate model;
wherein the plurality of laser radars comprises a target laser radar installed on the target unmanned device;
the establishing a three-dimensional coordinate model according to the ranging data comprises:
establishing a three-dimensional coordinate system with a location of the target unmanned device as an origin, according to a target ranging data obtained by the target laser radar installed on the target unmanned device; and
determining a coordinate of other laser radar and a coordinate of each obstacle in a measurement range of the other laser radar according to other ranging data except the target ranging data in the ranging data, to obtain the three-dimensional coordinate model, wherein the other laser radar is a laser radar except the target laser radar among the plurality of laser radars of the laser radar system.
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