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由于Gm-APD存在第一光子偏移效应,Gm-APD激光雷达存在距离漂移误差,并引起距离像的畸变.提出了两种抑制距离漂移误差的方法,并完成了实验验证.利用信号复原算法从光子计数分布图中复原了信号光电子数分布图.第一种方法采用双高斯函数对光电子数分布图进行拟合,并利用峰值位置计算距离.第二种方法采用质心算法对光电子数分布图进行加权计算并获取距离.采用6 ns脉冲宽度的激光,利用两种方法都获取了目标的高精度距离—强度三维融合像.两种方法的强度测量相对精度都小于3％.信号复原&双高斯拟合寻峰法的测距精度为1.2 cm.信号复原&质心算法的测距精度为0.6 cm.“,”Due to the first photon bias effect of Gm-APD,there exists range walk error in Gm-APD lidar,which will generate a distortion of depth image of the target.Two methods to restrain the range walk error were presented and verified by experiments.Signal restoration method was used to obtain signal photoelectron distribution histogram (SPDH) from the photon counting distribution histogram (PCDH).A sum of two Gaussian functions were used to fit the SPDH through,and the peak position of the curve was found to calculate the distance.The center-of-mass algorithm method on the SPDH was used to calculate the distance through the second method.The high-precision 3D depth-intensity merged images was caputured using the two methods by experiments with a 6 ns width laser pulse.The relative accuracy of intensity measurement of the two methods were both less than 3％.The signal restoration & Gaussian functions fitting method has range precision of 1.2 cm.The signal restoration & center-of-mass algorithm method has range precision of 0.6 cm.