| Summary: | A silicon photomultiplier (SiPM) LiDAR with photon threshold detection can achieve high dynamic performance. However, the number fluctuations of echo signal photons lead to the range walk error (RWE) in SiPM LIDARs. This paper derives the RWE model of SiPM LiDAR by using the LiDAR equation and statistical property of SiPM’s response. Based on the LiDAR system parameters and the echo signal intensity, which is obtained through the SiPM’s photon-number-resolving capability, the RWE is calculated through the proposed model. After that, we carry out experiments to verify its effectiveness. The result shows that the method reduces the RWE in TOF measurements using photon threshold detection from 36.57 cm to the mean deviation of 1.95 cm, with the number of detected photons fluctuating from 1.3 to 46.5.
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