Abstract: For ultra-long distance ranging RVD Light Detection and Ranging(LiDAR) requirement，the integrated distance measurement and communication module have been developed. Without changing the original radar architecture and signal structure. The distance measurement and communication function has been realized for long-distance and high dynamic cooperative targets. The principle of distance measurement has been derived. Ranging errors caused by dynamic and clock performance factors has been analyzed. The formula for the influence of speed and clock performance on ranging error has been provided. It is concluded that in high dynamic environments, the combined effect of relative velocity, ranging period, and clock bias on both sides results in ranging system errors. A demonstration verification platform has been built to complete algorithm evaluation and principle demonstration.

Key words: Laser ranging and communication, Light Detection and Ranging(LiDAR), Bidirectional one-way distance measurement