Fig. 1. Structure of high speed ranging system

Fig. 2. Overall view of laser ranging lidar

Fig. 3. Relationship between signal to noise ratio and detection distance

Fig. 4. Relationship between ranging accuracy and detection distance

Fig. 5. Time-dependent single-photon counting curve and its local magnification

Fig. 6. Experimental results of laser ranging

Fig. 7. Test selected five target locations

Fig. 8. Results of mobile UAV ranging experiment. (a) Original result; (b) Gaussian fitting result; (c) polynomial fitting processing result; (d) velocity

Fig. 9. UAVs ranging experiment UKF algorithm processing results. (a) Ranging values between UKF algorithm and polynomial fitting; (b) ranging deviation between UKF algorithm and polynomial fitting method; (c) velocity measurement values between UKF algorithm and polynomial fitting; (d) velocity measurement deviation between UKF algorithm and polynomial fitting method

Table 1. Main technical parameters of system

Table 2. Ranging results of target plate at different positions