For dealing with the problem that Doppler laser radar employing traditional wave methods cannot obtain high resolution for both parameters when it is used in range and speed measurement applications, a new measurement signal waveform modulated by both position and amplitude was proposed, which can solve the contradiction between measurement precision of range and speed, and make the two parameters independent in measurement process. In addition, the feasibility of applying the method for range and speed measurement in road environments for intelligent driving vehicles was analyzed. Firstly, the difficulties of classical modulation methods in range and speed measurement simultaneously were discussed, based on which a solution was designed for simultaneous modulation of the transmit signal waveform in position and amplitude, and the physical realizability of the proposed method was introduced by combing the amplifying properties of the in-line optical fiber amplifier. Then, the frequency calculation method for output heterodyne signal of laser radar employing position and amplitude modulation method and the data accumulation method for laser radar receiver output echo signal were discussed, so as to measure the range and speed independently. Finally, within the range of Doppler frequency that can be generated by moving targets in road environments, simulations were performed to verify the feasibility of the proposed method and the independence of the two measurement parameters, meanwhile, the measurement precision was analyzed. Simulation results show that the method of simultaneous position and amplitude modulation scheme can effectively measure the range and speed of targets even when the Signal-to-Noise Ratio (SNR) of laser radar receiver output signal is below 0 dB, and the measurement process of these two parameters to be measured are totally independent.

To solve the problems of low efficiency, not to consider collision and poor applicability of the current robot path planning method for spraying entities with complex structure, a discrete grey wolf optimizer algorithm for solving multilayer decision problems was proposed and applied to the above path planning problem. In order to transfer the grey wolf optimizer algorithm with continuous domain to discrete grey wolf optimizer algorithm for solving multilayer decision problems, the matrix coding method was used to solve the coding problem of multilayer decision problem, a hybrid initialization method based on prior knowledge and random selection was proposed to improve the solving efficiency and precision of the algorithm, the crossover operator and the two-level mutation operator were used to define the population update strategy of the discrete grey wolf optimizer algorithm. In addition, the path planning problem of spraying robot was simplified to the generalized traveling salesman problem by the graph theory, and the shortest path model and path collision model of this problem were established. In the path planning experiment, compared with particle swarm optimization algorithm, genetic algorithm and ant colony optimization algorithm, the proposed algorithm has the average planned path length decreased by 5.0%, 5.5% and 6.6%, has the collision time reduced to 0, and has smoother paths. Experimental results show that the proposed algorithm can effectively improve the spraying efficiency of spraying robot as well as the safety and applicability of the spraying path.

In view of the problems that upper limit of radiated peak power is low for continuous wave laser radar, which limits the maximum measurement range in the application of range and speed measurement, a waveform of modulated signal based on Golomb series was proposed, and the feasibility of simultaneously measuring target's range and speed in road environments by the method was studied. Firstly, the problem of low transmitted signal peak power that exists in continuous wave modulating method was analyzed by using a quasi-continuous, i.e., Pseudo random Noise (PN) code modulation as an example. Characteristics of Golomb series were discussed, and a modulation method based on Golomb series was proposed for raising the peak power of transmitted pulse. Then, a method for analyzing spectrum of Doppler signal modulated by Golomb series was discussed, as well as a data accumulation method for locating signal delay time, such that range and speed could be measured simultaneously. Finally, within the range of Doppler frequency that is generated by moving road targets in road environment, simulations were performed to verify the correctness of the proposed method. The experimental results show that Fast Fourier Transform (FFT) can be used for obtaining the frequency of Doppler signal even when the sampling frequency provided by the pulse series is much lower than the Nyquist frequency, thus largely increasing the peak power of single pulse under the condition that average transmission power keeps unchanged. Furthermore, data accumulation method can be used for locating laser pulse flight time by exploiting the non-equal interval property of Golomb series, ensuring both target range measurement and speed measurement from the same signal.

To solve the problems of high cost and low echo signal utilization efficiency in recently proposed laser radar systems integrated with double optical receivers for measuring range and speed of road targets, a pulsed Doppler laser radar system based on Pseudo-random Noise (PN) code modulation was proposed. The possibility of measuring range and speed simultaneously by the system integrated with single optical receiver was studied. The performance of the proposed method was verified by computer simulation. Firstly, the system model of vehicle laser radar was demonstrated and the existing problem for measuring range and speed by the model was analyzed when it works in pulsed mode. Then, the schematic diagram method for range and speed measurement by analyzing electric signal output from single optical heterodyne receiver was discussed, i.e. the correlation function of the electric signal and local modulation codes was computed for obtaining light flight time, and then target range; the spectrum of the electric signal was computed by non-uniformly sampled signal spectrum analysis method for obtaining Doppler frequency, and then the target speed. Finally, the stability of the proposed method for range and speed measurement was verified by computer simulation. The experimental results show that the method achieves stable range and speed measurement in road environments. Compared to direct detection system, the sensitivity of measurement is improved over 10 dB, which has no relation to echo arrival time and amount of Doppler frequency.

For dealing with the problem of being unable to sample beat signals with equal interval that is inherent in the Pseudo random Noise (PN) code modulated Doppler laser radar, a new Discrete Fourier Transform (DFT) method which applies to non-uniform sampling data was proposed. Firstly, system model of Doppler laser radar for simultaneously measuring range and speed was provided, and the reason of being unable to sample beat signals with equal interval was pointed out. Then, by theoretical deducing, a new spectrum analysis method was proposed for processing non-uniform sampling signals. Finally, simulations were performed to verify the feasibility of applying the proposed method to non-uniform sampling data. As a result, within Doppler frequency range which is created by moving targets in roads, the method can obtain the frequency of non-uniform sampling Doppler signals efficiently even when Signal-to-Noise Ratio (SNR) is low to 0 dB.

For dealing with the problem of low efficiency and high maintenance cost when multi-point breakdown or change occurs in Wavelength Division Multiplexing (WDM) network with high speed and large capacity, the component of Reconfigurable Optical Add/Drop Multiplexer (ROADM) was used to construct a flexible network. Firstly, the 5-node network configuration model was provided. Then, the relation between loss and transmission length was investigated when optical network was composed of ROADM under dynamic conditions. The design flow of network transmission length was proposed. Next, a 5-node bi-directional fiber ring experiment network was constructed, and the optical loss characteristics were measured. Finally, based on the analysis of experiment data, it shows that the computed optical loss value and the measured loss value are approximately equal (0.8 dB difference). Thus, the feasibility of the design is verified, which assures the reliable transmission between nodes.