Foliage penetration optimization for Geiger-mode avalanche photodiode lidar

Geiger-mode avalanche photodiode (GMAPD) Lidar systems can be used to image targets that are partially concealed by foliage. This application of GMAPD Lidar is challenging because most APDs operating in Geiger- mode report only one range measurement per transmitted laser pulse. If a GMAPD makes a foliage range measurement, it cannot make a range measurement to a target concealed by the foliage. When too much laser energy is received, the vast majority of range measurements are from the foliage and only a small percentage are from the target. Some GMAPD Lidar systems can report their average detection probability during operation. The average detection probability, which is often called “P-det”, is calculated over an array of GMAPDs, over multiple laser pulses, or over both. However, the detection probability does not distinguish between target range measurements, foliage range measurements, and noise events. In this paper, it is shown that when certain collection parameters are known, that the probability of detecting a target obscured by foliage can be maximized by selecting the appropriate “P-det”. It is also shown that for a typical foliage penetration scenario where most of the reflected laser energy is from the foliage that operating with a “P-det" between 65% and 80% produces a near-maximum target detection probability.