Lidar receiver with multiple detectors for range-ambiguity mitigation

A lidar system comprising:

• a light source configured to emit a plurality of optical signals directed into a field of regard of the lidar system, the optical signals comprising a first optical signal and a second optical signal, wherein the second optical signal is emitted a particular time interval after the first optical signal is emitted;
• a receiver configured to detect a received optical signal comprising a portion of the emitted first or second optical signal that is scattered by a target located a distance from the lidar system, wherein the received optical signal is detected after the second optical signal is emitted, and wherein the receiver comprises:
• a first detector configured to detect a first portion of the received optical signal;
• and
• a second detector configured to detect a second portion of the received optical signal;
• and
• a processor configured to:
• receive, from the receiver, an electrical signal corresponding to the first and second portions of the received optical signal;
• and
• determine, based at least in part on the received electrical signal, (i) whether the received optical signal is associated with the emitted first optical signal or (ii) whether the received optical signal is associated with the emitted second optical signal.