Fig. 1. (a)-(b) Lidar surface array detector modules; (c) Laser transmitter module

Fig. 2. (a) Laser transmitter array; (b) Partial view of laser beam expansion 64×64 lattice beam

Fig. 3. Simulation point cloud generation analysis flowchart

Fig. 4. Tianghe core module model diagram

Fig. 5. (a)-(f) Simulated point clouds of targets detected at different angles and distances

Fig. 6. (a) Simulated point cloud at 500 m detection distance; (b) Simulated point cloud at 300 m detection distance

Fig. 7. (a) Local error curves for optimal parameter range; (b) Global error curves for optimal parameter range

Fig. 8. (a)-(d) Randomly selected four sets of point cloud matching data visualisation results

Fig. 9. Schematic of lidar's spatial relationship with the target and beam direction

Fig. 10. (a) Mean square error versus field of view; (b) Point-to-point standard deviation versus field of view matching error with field of view angle curve

Fig. 11. (a) 256 × 256 surface array scale radar at 1400 m matching visualisation results; (b) 128 × 128 surface array scale radar at 1400 m simulated point cloud and reference point cloud matching visualisation results

Fig. 12. (a) Point cloud matching error curves for radar systems of two scales with detection ranges of 100-1000 m; (b) Point cloud matching error curves for radar systems of two scales with detection ranges of 1100-1600 m