LASER RADAR DEVICE AND RADAR IMAGE GENERATING METHOD

摘要

A system controller 16 determines whether the quality of either a distance image or a light intensity image satisfies reference quality, and, when the quality of either the distance image or the light intensity image dos not satisfy the reference quality, outputs a speed change command to lower a speed, an altitude change command to change a submarine altitude (depth), or the like to a navigation control unit 2, thereby changing a physical relative relation between a measurement plane 3 and a device in question. As an alternative, the system controller changes a beam scanning rate f, a beam divergence θ, or the like within limits at which the amount of variation in a spatial resolution does not exceed a permissible amount.

主权项

1. A laser radar device comprising:
a laser light transmitter and receiver to radiate laser light toward a measurement object while changing a beam scanning angle, and receive said laser light which is reflected by said measurement object and then returns thereto; an elapsed time measurer to measure an elapsed time that elapses from a time when the laser light is radiated from said laser light transmitter and receiver to a time when the laser light is received by said laser light transmitter and receiver; a distance calculator to calculate a distance from said device in question to said measurement object by using the elapsed time measured by said elapsed time measurer; an imager to image the distance calculated by said distance calculator; a quality determinator to determine whether image quality showing either a number of pixels each having a measured distance value or a degree of omission in measurement portions, in of an image generated by said imager, satisfies reference quality; and a relative relation changer to change at least one of a speed and an altitude of said device in question with respect to said measurement object when said quality determinator determines that the image quality does not satisfy the reference quality, wherein said quality determinator determines whether an omission in measurement portions occurs in the image generated by said imager from a relation among a speed of a moving object in which said device in question is mounted, an altitude of said moving object, a beam divergence, and a beam scanning rate, and, when an omission in measurement portions occurs, determines that said image quality does not satisfy the reference quality.