Fig. 1. (a) The time-frequency analysis diagrams of V_type chirp pulse signal; (b) The time-frequency analysis diagrams of triangular FM processing template; (c) Convolution diagram with signal and template

Fig. 2. Doppler detection range with 40 MHz, \begin{document}$2.048\;{\text{μs}}$\end{document}V-type frequency modulation

Fig. 3. Scheme diagram of single-pulse laser coherent velocity and range measurement experiment

Fig. 4. Experiment platform. (a) System physical diagram; (b) Wheel to be tested

Fig. 5. (a) Heterodyne signal from detector; (b) The time-frequency analysis diagram with data from monitoring signal and local light; (c) The signal processing result of echo light

Fig. 6. Measurement results. (a) Distance precison; (b) Velocity precision

Fig. 7. Residual error between the measured velocity and the pre-set velocity when the radial speed is from −3.67 m/s to +3.67 m/s with the 0.92 m/s stepping speed