Modeling method of a ladar scene projector based on physically based rendering technology

The ladar scene projector is a key device in the hardware-in-the-loop (HWIL) simulation system. Ladar scene modeling is a fundamental work of developing a ladar scene projector. A modeling method based on physically based rendering technology and OpenGL is proposed in this paper. This modeling method can quickly generate delay, amplitude, and pulse width data for all return signals in a large-array-scale ladar scene. A 100 × 100-array-sized ladar scene model with a distance range of 0–3 km is simulated. The average data generation time is only 5.31 ms. Distance resolution is 1.5 m, and the peak-valley error is less than 0.15 m. This method achieves efficient modeling and fast hardware update rates, which greatly improves the real-time performance of the ladar scene projector. It has strong practicality and can be directly applied in the HWIL simulation system.