水下光子计数三维成像激光雷达系统研制及实验验证

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开放科学（资源服务）标志码（OSID）

Development and experimental validation of an underwater

photon-counting three-dimensional imaging LiDAR system

WANG Zhangjun1，23，YU Yang'，YE Dingmu'，LI Hui'，CHEN Chao1²，YU Changxin'（1.InstituteofOceanographicInstrumentation，QiluUniversityofTechnology（ShandongAcademyofSciences），Qingdao266061，China;2.Shandong SClCOM Shenguang Technology CO.，Ltd.， Qingdao 266300，China;3.Shandong Provincial KeyLaboratory of Intelligent Marine Ranch （under preparation），Qingao 266104， China）

Abstract： Underwater three-dimensional （3D）imaging light detectionand ranging（LiDAR）systems have the potential foraccuratelydetecting underwater targetsandmappingthe seabedterrain，thus faciatingthedevelopment and utlzationof marineresources.However，most existing underwater 3D imaging LiDAR systems sufer from large size and high power consumption，making themunsuitablefor the operational requirements of underwater tasks.Toovercome these issues，this studyproposesacompact solution basedonphoton-counting technologythatintegrates single-point ranging

withtwo-dimensional scanning to achieve 3Dimaging.Acompact underwater photon-counting 3Dimaging LiDAR system was developed by optimizing optical and mechanical design，resulting in a device with a diameter of 165mm and a length of 340mm ，considerably improving portability and underwater adaptability.A dual-axis synchronous scanning control method was implemented based onFPGA to achieve ascanningaccuracyat the nanosecond level，ensuring precise alignment between theemitedpulseand measuredtarget point.Laboratory water tank experiments revealed that the system hasadetection capabit exceeding 3.1 attenuation lengths.Furthermore，thissystemwasused forunderwater 3D imagingof athruster model that validatesitscentimeter-levelrangingaccuracy.Owing toits strongcompatibility，this system can be integrated into various underwater mobile platforms and holds strong potential for applications such as seabed topographic mapping，underwater cultural heritage detection，and underwater target identification.

Key words ∵ underwater detection；three-dimensional imaging；LiDAR；miniaturization

海洋占据了地球表面约 71% 的面积，并储存着全球 97% 的液态水资源。（剩余8928字）