Abstract: A beam scanning apparatus with arrayed rotating mirrors is provided. The beam scanning apparatus includes a motor, a worm, a wormgear, a mounting rack, and a rotating mirror, where the worm and the wormgear are located on the mounting rack, and engage with each other by using a gear for a linkage connection; the rotating mirror is located in the mounting rack, and is coaxially connected to the wormgear; and the motor is configured to drive the worm to rotate, to drive the wormgear and the rotating mirror to rotate coaxially. The rotating mirror may be replaced with another rotating mirror with a different structure and a different optical parameter, to adjust output performance of the beam scanning apparatus, thereby improving extensibility.

Abstract: A multi-line laser radar includes a first radar component, where the first radar component includes n lasers, an optical collimating unit, a scanning rotating mirror, and a detector, where n is greater than 1. Each laser is configured to emit one laser beam to the optical collimating unit. The optical collimating unit is configured to collimate n laser beams, where the collimated n laser beams are incident on a target reflector of the scanning rotating mirror. The scanning rotating mirror includes m reflectors rotating around a rotation axis, where a rotation plane of the rotation axis is perpendicular to an arrangement direction of the collimated n laser beams, and m is greater than 1. The target reflector reflects the received collimated n laser beams to a detection area of the first radar component. The detector receives echo signals of the reflected n laser beams in the detection area.

Abstract: A multi-line laser radar includes a first radar component, where the first radar component includes n lasers, an optical collimating unit, a scanning rotating mirror, and a detector, where n is greater than 1. Each laser is configured to emit one laser beam to the optical collimating unit. The optical collimating unit is configured to collimate n laser beams, where the collimated n laser beams are incident on a target reflector of the scanning rotating mirror. The scanning rotating mirror includes m reflectors rotating around a rotation axis, where a rotation plane of the rotation axis is perpendicular to an arrangement direction of the collimated n laser beams, and m is greater than 1. The target reflector reflects the received collimated n laser beams to a detection area of the first radar component. The detector receives echo signals of the reflected n laser beams in the detection area.

Abstract: This application discloses a beam scanning apparatus with arrayed rotating mirrors, and the beam scanning apparatus includes a motor (1), a worm (2), a wormgear (3), a mounting rack (4), and a rotating mirror (5), where the worm (2) and the wormgear (3) are located on the mounting rack (4), and engage with each other by using a gear (11) for a linkage connection; the rotating mirror (5) is located in the mounting rack (4), and is coaxially connected to the wormgear (3); and the motor (1) is configured to drive the worm (2) to rotate, to drive the wormgear (3) and the rotating mirror (5) to rotate coaxially. The rotating mirror (5) may be replaced with another rotating mirror (5) with a different structure and a different optical parameter, to adjust output performance of the beam scanning apparatus, thereby improving extensibility.

Abstract: A static state determining method and apparatus are disclosed to resolve a problem in the prior art that accuracy of determining a static state is low. An inertial navigation system obtains a first running data that is measured by an IMU in a first specified duration, determines N first standard deviations of the first running data; matches the N first standard deviations with a prestored database; determines, in the prestored database, a piece of first information corresponding to each of the N second standard deviations; multiplies a first probability in each of the N pieces of first information by a corresponding weight, and adds N values obtained through the multiplication and if the second probability is greater than or equal to a static probability threshold, the inertial navigation system determines that a device in which the inertial navigation system is located is in a static state in the first specified duration.