2.5 LiDAR power and pulse firing rate

For a pulse with P_peak power and t_p pulse width the energy in one pulse can be given by .  The total energy spent in one second will be , where F is the pulse firing rate (PFR).  Thus the average power that is being spent per second is .      This leads to the conclusion that, for a given power and pulse width the PFR is inversely related to peak power of pulse.   With the increase in altitude (range) one needs the pulses with higher peak power.  For same value of P_av  and t_p, thus with increase in altitude the PFR will reduce.  This is reflected in the specifications of various sensors.