## 3 Performance Evaluation of Combinations of Modulation and Spreading Code Techniques
### Performance Evaluation of Combined Techniques
\begin{table}
\begin{tabular}{c c c c c c c} \hline \hline
**Spreading Codes** & **OOK** & **PPM** & **DPPM** & **MPPM** & **DPIM** & **DH-PIM\({}_{2}\)** \\ \hline Block partitioning & **1**:**2:**2:**2:**2 & **1**:**2:**2:**2:**2 & **1**:**2:**2:**2 & **1**:**2:**2:**2 & **2**:**2:**2:**1 & **2**:**2:**2:**2:**1 \\ OOC (\(31,3,1\)) & 95 m & 102 m & 102 m & 95 m & 102 m & 95 m \\ PC \(p=5\) & 89 m & 96 m & 96 m & 89 m & 96 m & 89 m \\ MPC \(p=5\), \(w=4\) & 91 m & 98 m & 98 m & 91 m & 98 m & 91 m \\ \hline Block partitioning & **1**:**2:**3:**3 & **1**:**2:**3:**3 & **1**:**2:**3:**3 & **1**:**2:**3:**3 & **2**:**3:**3:**1 & **2**:**3:**3:**1 \\ OOC (\(31,3,1\)) & 95 m & 105 m & 105 m & 98 m & 105 m & 98 m \\ PC \(p=5\) & 89 m & 98 m & 98 m & 92 m & 98 m & 92 m \\ MPC \(p=5\), \(w=4\) & 91 m & 101 m & 101 m & 94 m & 101 m & 94 m \\ \hline Block partitioning & **1**:**4:**4 & **1**:**4:**4 & **1**:**4:**4 & **1**:**4:**4 & **4**:**4:**1 & **4**:**4:**1 \\ OOC (\(31,3,1\)) & 95 m & 109 m & 109 m & 102 m & 109 m & 102 m \\ PC \(p=5\) & 89 m & 102 m & 102 m & 96 m & 102 m & 96 m \\ MPC \(p=5\), \(w=4\) & 91 m & 105 m & 105 m & 98 m & 105 m & 98 m \\ \hline Block partitioning & **1**:**5:**3 & **1**:**5:**3 & **1**:**5:**3 & **1**:**5:**3 & **5**:**3:**1 & **5**:**3:**1 \\ OOC (\(31,3,1\)) & 95 m & 109 m & 109 m & 102 m & 109 m & 102 m \\ PC \(p=5\) & 89 m & 102 m & 102 m & 96 m & 102 m & 96 m \\ MPC \(p=5\), \(w=4\) & 91 m & 105 m & 105 m & 98 m & 105 m & 98 m \\ \hline Block partitioning & **1**:**8 & **1**:**8 & **1**:**8 & **1**:**8 & **8**:**1 & **8**:**1 \\ OOC (\(31,3,1\)) & 95 m & 114 m & 114 m & 102 m & 114 m & 109 m \\ PC \(p=5\) & 89 m & 107 m & 107 m & 96 m & 107 m & 102 m \\ MPC \(p=5\), \(w=4\) & 91 m & 110 m & 110 m & 98 m & 110 m & 105 m \\ \hline \hline \end{tabular}
\end{table} 
Table 14: Maximum distance \(R_{max}\) as a combination of modulation and spreading code. to other modulation methods, MPPM exhibited the best balance of measurement distance, precision, and accuracy. When the number of pulses was the smallest, the maximum measurement distance difference was 25 m, the accuracy difference was 3.2 mm, and the precision difference was 4.87 mm. In evaluating the performance of the LIDAR system, the maximum measurement distance was given priority over accuracy and precision, and the difference between the accuracy and the precision according \begin{table}
\begin{tabular}{c c c c c c c} \hline \hline
**Spreading Codes** & **OOK** & **PPM** & **DPPM** & **MPPM** & **DPIM** & **DH-PIM\({}_{2}\)** \\ \hline Block partitioning & **1:2:2:2:2** & **1:2:2:2** & **1:2:2:2** & **1:2:2:2** & **2:2:2:1** & **2:2:2:2** \\ OOC \((31,3,1)\) & 3.69 mm & 5.52 mm & 5.52 mm & 4.06 mm & 5.58 mm & 4.29 mm \\ PC \(p=5\) & 2.83 mm & 4.21 mm & 4.30 mm & 3.19 mm & 4.27 mm & 3.11 mm \\ MPC \(p=5\), \(w=4\) & 3.14 mm & 4.85 mm & 4.87 mm & 3.42 mm & 4.78 mm & 3.69 mm \\ \hline Block partitioning & **1:4:4** & **1:4** & **1:4** & **1:4** & **1:4** & 4:4** & **4:4** \\ OOC \((31,3,1)\) & 3.68 mm & 6.24 mm & 6.55 mm & 5.05 mm & 6.40 mm & 5.03 mm \\ PC \(p=5\) & 2.85 mm & 5.03 mm & 5.03 mm & 3.76 mm & 4.88 mm & 3.80 mm \\ MPC \(p=5\), \(w=4\) & 3.25 mm & 5.35 mm & 5.49 mm & 4.31 mm & 5.62 mm & 4.17 mm \\ \hline Block partitioning & **1:5**:3 & **1:5**:3 & **1:5**:3 & **1:5**:3 & **5:3**:**1 & **5:3**:**1 \\ OOC \((31,3,1)\) & 3.68 mm & 6.22 mm & 6.39 mm & 4.99 mm & 6.13 mm & 4.96 mm \\ PC \(p=5\) & 2.81 mm & 5.20 mm & 4.97 mm & 3.85 mm & 5.25 mm & 3.96 mm \\ MPC \(p=5\), \(w=4\) & 3.33 mm & 5.52 mm & 5.53 mm & 4.24 mm & 5.66 mm & 4.32 mm \\ \hline Block partitioning & **1:8** & **1:8** & **1:8** & **1:8** & **8:1** & **8:1** \\ OOC \((31,3,1)\) & 3.83 mm & 7.82 mm & 7.68 mm & 4.92 mm & 7.81 mm & 6.51 mm \\ PC \(p=5\) & 2.81 mm & 6.05 mm & 5.95 mm & 3.86 mm & 5.82 mm & 5.04 mm \\ MPC \(p=5\), \(w=4\) & 3.23 mm & 6.91 mm & 6.77 mm & 4.09 mm & 6.97 mm & 5.61 mm \\ \hline \hline \end{tabular}
\end{table} 
Table 15: Accuracy as a combination of modulation and spreading code.