Mean square deviations &, and 8(V) dependence on signal/noise 
ratio, obtained according to (3) and as a result of simulation 
accordingly, are presented in Table 2. Furthermore, standard 
deviation of distance determination error corresponding to 
values of & and &(V) at use of expressions (6)-(7), and also the 
total error calculated by (11), are presented in the same table. 
  
  
  
  
  
Tabn.2. 
A/AN S(&)e | 8(R)m | &(V)m/e | SDV) | SDgm 
M 
10 0.8-10° 2.4 0.25.10" 0.38 2.43 
15 0.65-10* 2.0 0.21.10" 0.31 2.02 
20 0.56.10? 1.7 0.17.19" 0.25 1.72 
  
  
  
  
  
  
  
From Table 2 it follows, that the distance determination errors, 
originated from inaccuracy of the velocity determination, are 
insignificant in comparison with the errors caused by inaccuracy 
of measurement of pulse-delay time. 
Mathematical simulation allowed: 
e to choose rational structure of processing algorithms and to 
confirm their efficiency; 
e to choose optimum values of factors of a filtration 4, and 
k», that minimize an error of distance determination by a 
minimax criterion; 
e to define time of transient in a velocity measurement loop; 
e to estimate values of errors of distance determination and 
vehicle own velocity determination. 
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International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Vol XXXV, Part B1. Istanbul 2004 
CONCLUSIONS 
1. The developed algorithms allow: 
e to carry out fine tuning of radio oscillator in real time with 
frequency of 100 Hz; 
e to determine vehicle own velocity with high accuracy; 
e to form distance image of a scene reduced to a motionless 
point in the Cartesian system of coordinates; 
e to maintain a dynamic range of system at the set level 
regardless of the vehicle velocity. 
. The carried out mathematical simulation allowed 
Do 
e to optimize structure of algorithm and values of its 
parameters by criterion of minimization of the maximal 
error of distance determination; 
e to estimate values of standard deviation of the distance 
determination errors, caused by inaccuracy of velocity 
determination which amount to 0.25 — 0.38 m; 
e to estimate values of standard deviation of vehicle own 
velocity determination errors which amount to 0.17.1051 
0.25-107' m/c. 
REFERENCES 
Stephan, B., 1985. Field tests and performance analysis a 
heterodyne C0,—laser radar. Proceeding of the SPIE. Vol. 590. 
Dansac, J., Meyzomnette, J. L., 1985. CO.-laser Doppler 
rangefinding with heterodyne detection and chirp pulse 
compression. Proceeding of the SPIE. Vol. 590. 
Skolnik, M. L, 1970. Radar handbook. McGraw-Hill. 
——nÀ 
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Figure 3. Dependence of the maximal distance error AD,,4, on values of factors K, and Æ. 
  
      
  
  
   
   
   
     
    
    
      
  
  
  
  
  
  
  
   
   
  
  
   
   
    
   
  
   
    
   
   
  
  
  
   
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
    
   
    
   
  
  
  
  
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