Theoretical distribution of range data obtained by laser radar and its applications

This paper addresses the distribution of range data obtained by laser radar. An analytical solution of the range distribution was obtained for direct detection laser radar using constant threshold discriminator based on the time-of-flight principle. The analytical solution was verified by experiments and simulations. The results show that the derived analytical function can describe the probability density distribution of the range data obtained by laser radar with a constant threshold discriminator. The probability density distribution of the range data is proportional to the probability density function of the noise and to the slope of the rising edge of the laser echo pulse. The probability density distributions of the range data obtained by laser radar with different pulse shapes, amplitudes, widths and thresholds are also presented. These factors are important for improvements in the design of laser radar systems.

► The analytical solution of the range distribution is derived.
► The range property relays on the noise's PDF and echo pulse's character.
► The range distributions with different system parameters are proposed.