通过参数估计方法对条纹管成像激光雷达的距离分辨率进行了研究,利用数理统计理论分析了距离分辨率的Cramer-Rao下限(CRLB,fCRLB)。研究了条纹管激光雷达回波信号统计模型,推导出了条纹管成像激光雷达距离分辨率的fCRLB计算公式,分析了fCRLB随距离间隔的变化关系,利用fCRLB对条纹管激光雷达的距离分辨率的影响因素进行了研究。结果表明,距离分辨率的fCRLB随着目标距离间隔的增加而减小,提高回波信号的信噪比和条纹管的扫描速度都可以减小距离间隔估计方差的fCRLB,从而提高成像系统距离分辨率;针对特定的条纹管扫描速度,存在最佳激光脉冲发射宽度,使得系统距离分辨率达到最高。 The distance resolution of imaging laser lidar was studied by parameter estimation method. The Cramer-Rao lower bound (CRLB, fCRLB) of distance resolution was analyzed by using mathematical statistics theory. The statistical model of the lidar lidar echo signal was studied and the fCRLB formula of the distance resolution of the imaging tube lidar was deduced. The relationship of the fCRLB distance with the distance interval was analyzed. The fCRLB Influencing factors were studied. The results show that the fCRLB of the distance resolution decreases with the increase of the target distance interval. Both the signal-to-noise ratio of the echo signal and the scanning speed of the stripe tube can reduce the fCRLB of the estimation of the distance interval to improve the distance resolution of the imaging system Rate; for the specific scanning speed of the stripe tube, there is the optimal laser pulse emission width, making the system to achieve the highest distance resolution.