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Abstract

A LiDAR apparatus, including: a laser to generate an optical signal; modulation components configured to receive the optical signal as an input and to output at least two corresponding modulated optical signals at respective output ports, wherein each modulated optical signal is modulated by a corresponding pseudo-random bit sequence, and: (i) the optical signals have respective different delays such that the modulations do not overlap in time; or (ii) the pseudo-random bit sequences have low cross-correlation; for each of the at least two modulated optical signals, a corresponding optical transmitter configured to transmit the corresponding modulated optical signal towards a corresponding surface spaced from the LiDAR apparatus by a corresponding distance, and a corresponding optical receiver configured to receive a portion of the transmitted optical signal scattered and/or reflected by the surface, the received portion of the optical signal having a phase shift and/or Doppler shifted angular frequency due to radial motion of the LiDAR apparatus relative to the surface; at least one photodetector to receive the optical signals received by the optical receivers, interfered with a reference beam, and to generate a corresponding output signal; at least one analogue to digital converter to generate a digital signal representing the output signal from the at least one photodetector; and a digital signal processing component configured to process the digital signal to generate LiDAR data representing the distances to the surfaces and/or relative velocities of the surface(s) with respect to the apparatus.

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First Claim