This paper presents an underwater lidar time-of-flight ranging system that combines the variable forgivable factor recursive least-squares (VFF-RLS) adaptive filter algorithm and the constant fraction discriminator (CFD) timing technology. The effectiveness of suppressing the backscattering and increasing timing accuracy is experimentally verified in the water basin under the different target distances, especially near the detection limit. The classical RLS is creatively transformed by introducing the VFF, which is highly correlated to the target echo at any distance. The improvement of the signal-to-backscatter ratio always exceeds 18.9 dB. The Monte Carlo simulation proves the applicability of the proposed method in the media of different turbidity. The influences of the selective timing methods on the walk error and time jitter are compared, and the optimum zero point of CFD is achieved by the slope analysis of leading (falling) edge in experimental target pulses. (C) 2015 Optical Society of America
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