Maximum angular accuracy of pulsed laser radar in photocounting limit

To estimate the angular position of targets with pulsed laser radars, their images may be sensed with a fourquadrant noncoherent detector and the image photocounting distribution processed to obtain the angular estimates. The limits imposed on the accuracy of angular estimation by signal and background radiation shot noise, dark current noise, and target cross-section fluctuations are calculated. Maximum likelihood estimates of angular positions are derived for optically rough and specular targets and their performances compared with theoretical lower bounds.