Fig. 1. Schematic diagram of lidar system

Fig. 2. (a) Propagation process of array beam during prism rotation; (b) Transmission process of incidence plane; (c) Transmission process of output plane

Fig. 3. Scanning process of array beam through Fresnel-type risley prism

Fig. 4. Flow chart of beam transmission based on three-dimensional vector optics

Fig. 5. (a) Relationship between angle difference ΔA_i-j between the emergent subbeam and center beam and scanning angle φ, the details of the curve in the dotted box; (b) Relationship between the incidence and angle γ scanning angle φ on the plane Σ₂; (c) Spatial distribution of outgoing array beams at φ=45º

Fig. 6. (a) Schematic diagram of prism scanning process during airborne flight; (b) Spot distribution of array beam on the ground at h=0.5 km; (c) Digital simulation scene

Fig. 7. Point cloud data by airborne flight simulation, roof details in the dotted box

Fig. 8. (a) Planar fit values RMS for planes used before (red line) and after (blue line) adjustment, difference between the two planar fit values (gray line); (b) Relationship between navigation height and RMS planar fit values for planes

Fig. 9. (a) Relationship between beam array size and planar accuracy; (b) Spatial distribution of laser feet on the ground (@φ=45°)

Fig. 10. (a) Relation between the angular separation of sub-beams and the plane accuracy; (b) Spatial distribution of laser feet on the ground (@φ=45°)