International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXIX-B7, 2012 
XXII ISPRS Congress, 25 August — 01 September 2012, Melbourne, Australia 
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Figure 21. Waveform of several locations 
4. CONCLUSIONS 
In this study, we attempted to simulate waveforms of lidar. For 
the waveform simulation, we performed the modelling of 
backscattered return pulses by sub-beams. First we defined the 
ray model of sub-beams by dividing a beam, and computed the 
intersecting point between the defined rays and target surfaces. 
In radiometric simulation, received energies of sub-beams are 
calculated using laser range equation with the ranges computed 
in geometric simulation. Finally, we generated the waveform 
signal by combining the return pulses, and add the signal noise 
created using NEP. We confirmed that the waveform data was 
successfully simulated by the proposed method. The results of 
this study will be helpful to understand waveforms in 
educations and also develop various applications processing 
waveform data. 
REFERENCES 
Blanquer, E., 2007. LADAR Proximity Fuze - System Study -, 
School of Electrical Engineering. KTH Royal Institute of 
Technology, Stockholm, Sweden. 
Carlsson, T., Steinvall, O., Letalick, D., 2001. Signature 
simulation and signal analysis for 3-D laser radar, Scientific 
Report. FOI-Swedish Defence Research Agency, Linkóping, 
Sweden. 
Kim, S., Min, S., Lee, L, Choi, K., 2008. Geometric Modeling 
and Data Simulation of an Airborne LIDAR System. Journal of 
the Korean society for geospatial information system, 26(3), 
pp.311-320. 
Kim, S, Min, S, Kim, G., Lee, L, Jun, C… 2009. Data 
simulation of an airborne lidar system. Proc. SPIE, Orlando, FL, 
USA, 15 April, pp. 73230C-73210. 
Mallet, C., Bretar, F., 2009. Full-waveform topographic lidar: 
State-of-the-art. ISPRS journal of photogrammetry and remote 
sensing, 64(1), pp.1-16. 
Schenk, T., 2001, Modeling and analyzing systematic errors of 
airborne laser scanners. Technical Notes in Photogrammetry No. 
19, The Ohio State University, Columbus, OH, USA. 
http://en.wikipedia.org/wiki/Constant fraction. discriminator (5 
Jan, 2012). 
ACKNOWLEGEMENTS 
This research was supported by Agency for Defense 
Development, Korea, under the contract UD100028GD and the 
Defense Acquisition Program Administration and Agency for 
Defense Development through the Image Information Research 
Center at Korea Advanced Institute of Science & Technology 
under the contract UD070007AD. 
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