Fig. 1. Schematic of three-tap ToF modulation and demodulation principle

Fig. 2. Simulation results. (a) Laser emission waveform; (b) response curves of each of the three taps; (c) correspondence curve between actual value and measured value; (d) deviation curve at different flight times

Fig. 3. Simulation results. (a) Correspondence curve between actual value and measured value; (b) deviation curve at different flight time

Fig. 4. Schematic of multi-cluster pseudorandom coding

Fig. 5. R_a value of 800 random interference sampling measurements