CN113740873B - Ocean laser radar rapid simulation method based on Gaussian convolution - Google Patents
Ocean laser radar rapid simulation method based on Gaussian convolution Download PDFInfo
- Publication number
- CN113740873B CN113740873B CN202111009955.XA CN202111009955A CN113740873B CN 113740873 B CN113740873 B CN 113740873B CN 202111009955 A CN202111009955 A CN 202111009955A CN 113740873 B CN113740873 B CN 113740873B
- Authority
- CN
- China
- Prior art keywords
- scattering
- laser
- calculating
- phase function
- signal intensity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000004088 simulation Methods 0.000 title claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 43
- 238000001514 detection method Methods 0.000 claims abstract description 5
- 238000002834 transmittance Methods 0.000 claims description 17
- 239000013535 sea water Substances 0.000 claims description 11
- 230000003287 optical effect Effects 0.000 claims description 7
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention belongs to the technical field of ocean laser radar remote sensing detection, and particularly relates to a rapid ocean laser radar simulation method based on Gaussian convolution. The method calculates the mean square angle according to the scattering phase function of the water bodyCalculating forward peaks of scattering phase functionsCalculating the single scattering signal intensityCalculating the ratio of multiple scattering to single scatteringCalculating multiple scattering signal intensityCalculating the total intensity of the laser echo signals. According to the convolution of the Gaussian laser beam and the Gao Sixiang function, the multi-scattering signal of the laser in the water body can be rapidly simulated.
Description
Technical Field
The invention belongs to the technical field of ocean laser radar remote sensing detection, and particularly relates to a rapid ocean laser radar simulation method based on Gaussian convolution.
Background
Ocean lidar is widely applied to ocean exploration, but a simplified single scattering lidar equation is used for inverting water parameters at present, and multiple scattering of laser in the water body propagation process is ignored. However, due to the influence of multiple scattering, the laser radar echo signal is often stronger than the signal of single scattering, and errors are caused to inversion of the signal. The design of a marine lidar system and inversion of echo signals require accurate simulation of multiple scattering as a basis.
At present, a Monte Carlo model is mostly adopted for simulating multiple scattering of the laser radar, but the model has large calculated amount and long time consumption. According to convolution of the Gaussian laser beam and the Gaussian scattering phase function of the water body, the method provides an analytical model, and can rapidly calculate multiple scattering signals of the laser in the water body.
Disclosure of Invention
The invention aims to acquire multiple scattering signals of laser in a water body, and provides a marine laser radar rapid simulation method based on Gaussian convolution.
The aim of the invention is achieved by the following technical scheme:
a marine laser radar rapid simulation method based on Gaussian convolution comprises the following steps:
step 1: calculating the mean square angle according to the water scattering phase function
Step 2: the mean square angle obtained according to the step 1Calculating a scattering phase function forward peak gamma;
step 3: calculating single scattering signal intensity P 1 (z);
step 4: the mean square angle obtained by the step 1 Calculating a multiple scattering-to-single scattering ratio r n by using the forward peak gamma of the scattering phase function obtained in the step 2 and the single scattering signal intensity P 1 (z) obtained in the step 3;
Step 5: calculating a multiple scattering signal intensity P n (z) according to a multiple scattering-to-single scattering ratio r n;
Step 6: the laser echo signal total intensity P t (z) is calculated from the multiple scattering signal intensity P n (z).
Preferably, the mean square angle calculated according to the water scattering phase function in the step 1The method comprises the following steps: /(I)Wherein p true (0) is a water scattering phase function at a scattering angle of 0.
Preferably, the forward peak γ of the scattering phase function described in step 2 is:
Preferably, the single scattering signal intensity described in step 3 is P 1 (z):
Wherein η is the receiver detection efficiency; p 0 is the laser energy; a is the receiving area of the detector; o is the geometric overlap factor, T O is the receiver optical transmittance; t a is the atmospheric transmittance; t s is the sea surface transmittance; v is the speed of light; h is the height of the laser radar; Δt is the laser pulse width; n is the refractive index of seawater; z is the sea water depth; p π (z)/4pi is a 180 DEG scattering phase function of the water body; b (z) is the water scattering coefficient; c (z') is the attenuation coefficient of the water body.
Preferably, the multiple scattering to single scattering ratio r n in step 4 is:
Wherein ρ t is the laser radar receiving field angle; θ 0 is a laser beam divergence angle.
Preferably, the multiple scattering signal intensity P n (z) in step 5 is: p n(z)＝P1(z)rn.
Preferably, the total laser echo signal intensity P t (z) in step 6 is: p t(z)＝∑n＝1Pn (z).
Preferably, the scattering phase function is any water scattering phase function.
The beneficial effects of the invention are as follows: the method can rapidly calculate the multiple scattering signals of the laser in the water body based on Gaussian convolution, and can be suitable for any scattering phase function and non-uniform water body.
Drawings
FIG. 1 is a flow chart of the present method;
FIG. 2 is the multiple scatter signal intensities of example 1;
FIG. 3 is the multiple scatter signal intensities of example 2;
FIG. 4 is the multiple scatter signal intensity of example 3;
fig. 5 is the multiple scatter signal intensity of example 4.
Detailed Description
The objects and effects of the present invention will become more apparent from the following detailed description of the preferred embodiments and the accompanying drawings, in which the present invention is further described in detail. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The embodiments of the present invention are identical in implementation, and differ only in the parameters of the lidar system employed.
In the method, typical laser radar system parameters are adopted as example 1, the laser energy is P 0 =10mj, the receiving area is a=1.7m 2, the overlap factor o=1, the laser radar height is h=300m, the receiving telescope field angle fov=10mrad, the responsivity is η=0.18, the receiver optical transmittance is T o =0.9, the typical environmental parameter seawater refractive index n=1.33, the sea surface transmittance is T s＝0.95,b＝0.037m-1,c＝0.151m-1, and the water phase function adopts a heney-greentein phase function P true (0) = 339.4.
The specific implementation mode of the invention is as follows:
step 1: calculating the mean square angle according to the water scattering phase function
The mean square angle calculated according to the water scattering phase function in the step 1The method comprises the following steps:
Wherein p true (0) is a water scattering phase function when the scattering angle is 0, and is calculated
Step 2: the mean square angle obtained according to the step 1Calculating a scattering phase function forward peak gamma;
The forward peak gamma of the scattering phase function described in the step 2 is:
calculated γ=0.5.
Step 3: calculating single scattering signal intensity P 1 (z);
the single scattering signal intensity described in step 3 is P 1 (z):
Wherein η is the receiver detection efficiency; p 0 is the laser energy; a is the receiving area of the detector; o is the geometric overlap factor, T O is the receiver optical transmittance; t a is the atmospheric transmittance; t s is the sea surface transmittance; v is the speed of light; h is the height of the laser radar; Δt is the laser pulse width; n is the refractive index of seawater; z is the sea water depth; p π (z)/4pi is a 180 DEG scattering phase function of the water body; b (z) is the water scattering coefficient; c (z') is the attenuation coefficient of the water body.
Step 4: the mean square angle obtained by the step 1Calculating a multiple scattering-to-single scattering ratio r n by using the forward peak gamma of the scattering phase function obtained in the step 2 and the single scattering signal intensity P 1 (z) obtained in the step 3;
The multiple scattering and single scattering ratio r n described in step4 is:
Wherein ρ t is the laser radar receiving field angle; θ 0 is a laser beam divergence angle.
Step 5: calculating a multiple scattering signal intensity P n (z) according to a multiple scattering-to-single scattering ratio r n;
The multiple scattering signal intensity in step 5 is:
Pn(z)＝P1(z)rn。
Step 6: calculating the total intensity P t (z) of the laser echo signal according to the multiple scattering signal intensity P n (z);
the total intensity of the laser echo signals in the step 6 is as follows:
Pt(z)＝∑n＝1Pn(z)。
Fig. 2 shows the multiple scattering and total signal intensity for example 1. As can be seen from fig. 2, the echo signal intensity is mainly single scattering when the laser just enters the water body. But as depth increases, the multiple scatter signal increases gradually.
The laser radar system parameters employed in example 2 were: the laser energy is P 0 =10mj, the receiving area is a=1.76m 2, the overlap factor o=1, the laser radar height is h=300 m, the receiving telescope field angle fov=10mrad, the responsivity is η=0.18, the receiver optical transmittance is T o =0.9, the seawater refractive index n=1.33, the sea surface transmittance is T s =0.95, the second class water parameter b=0.219 m -1,c＝0.398m-1 is adopted, and the water phase function adopts a heney-greentein phase function P true (0) = 339.4.
The multiple scattered signal intensities and the total signal intensity of example 2 are shown in fig. 3. As can be seen from fig. 3, as the turbidity of the water body increases, the multiple scattering signals in the seawater greatly increase, and the echo signals mainly comprise multiple scattering. However, the increase of the turbidity of the water body can lead to the increase of the total attenuation of the water body, so that the attenuation speed of the total echo signal along with the depth is faster, and the penetration depth of laser in the water body is reduced.
The laser radar system parameters used in example 3 were: the laser energy is P 0 =10mj, the receiving area is a=1.76m 2, the overlap factor o=1, the laser radar height is h=300 m, the receiving telescope field angle fov=0.1mrad, the responsivity is η=0.18, the receiver optical transmittance is T o =0.9, the sea water refractive index n=1.33, the sea surface transmittance is T s =0.95, the second class water parameter b=0.219 m -1,c＝0.398m-1 is adopted, and the water phase function adopts heney-greentein phase function P true (0) = 339.4.
The multiple scattered signal intensities and the total signal intensity of example 3 are shown in fig. 4. As can be seen from fig. 4, the total signal almost coincides with the single-shot signal, indicating that in case the angle of view is very small, the laser light is scattered outside the angle of view of the receiver, resulting in a single shot of the received echo signal.
The laser radar system parameters used in example 4 were: the laser energy is P 0 =10mj, the receiving area is a=1.76m 2, the overlap factor o=1, the laser radar height is h=300 m, the receiving telescope field angle fov=10mrad, the responsivity is η=0.18, the receiver optical transmittance is T o =0.9, the seawater refractive index n=1.33, the sea surface transmittance is T s =0.95, the second-class water parameter b=0.219 m -1,c＝0.398m-1 is adopted, and the water phase function adopts the Fournier-Forand phase function P true (0) =165.7.
The multiple scattered signal intensities and the total signal intensity of example 4 are shown in fig. 5. As can be seen from fig. 5, different water phase functions lead to different results with other parameters being identical. The multiple scattering of the water body under the Fournier-Forand phase function is reduced, so that the total echo signal is reduced. In the laser radar simulation process, a proper scattering phase function needs to be selected according to a specific water body environment.
It will be appreciated by persons skilled in the art that the foregoing description of the preferred embodiments of the invention is merely illustrative of and not limiting on the invention, and that modifications may be made to the embodiments described above or equivalents may be substituted for elements thereof. Modifications, equivalents, and alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (4)
1. A marine laser radar rapid simulation method based on Gaussian convolution is characterized by comprising the following steps:
step 1: calculating the mean square angle according to the water scattering phase function ；
，
Wherein, p true (0) is a water scattering phase function when the scattering angle is 0;
Step 2: the mean square angle obtained according to the step 1 Calculating a scattering phase function forward peak gamma;
，
step 3: calculating single scattering signal intensity P 1 (z);
，
Wherein η is the receiver detection efficiency; p 0 is the laser energy; a is the receiving area of the detector; o is the geometric overlap factor, T O is the receiver optical transmittance; t a is the atmospheric transmittance; t s is the sea surface transmittance; v is the speed of light; h is the height of the laser radar; Δt is the laser pulse width; n is the refractive index of seawater; z is the sea water depth; p π (z)/4pi is a 180 DEG scattering phase function of the water body; b (z) is the water scattering coefficient; c (z') is the attenuation coefficient of the water body;
step 4: the mean square angle obtained by the step 1 Calculating a multiple scattering-to-single scattering ratio r n according to the forward peak gamma of the scattering phase function obtained in the step 2 and the single scattering signal intensity P 1 (z) obtained in the step 3;
，
Wherein ρ t is the laser radar receiving field angle; θ 0 is the laser beam divergence angle;
Step 5: calculating a multiple scattering signal intensity P n (z) according to a multiple scattering-to-single scattering ratio r n;
Step 6: the laser echo signal total intensity P t (z) is calculated from the multiple scattering signal intensity P n (z).
2. The rapid simulation method of marine lidar based on gaussian convolution according to claim 1, wherein the multiple scattering signal intensity P n (z) in step 5 is:
Pn(z)＝P1(z)rn。
3. The rapid simulation method of marine laser radar based on gaussian convolution according to claim 1, wherein the total laser echo signal intensity P t (z) in step 6 is:
Pt(z)＝∑n＝1Pn(z)。
4. The rapid simulation method of marine lidar based on gaussian convolution according to claim 1, wherein the scattering phase function is any water scattering phase function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111009955.XA CN113740873B (en) | 2021-08-31 | 2021-08-31 | Ocean laser radar rapid simulation method based on Gaussian convolution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111009955.XA CN113740873B (en) | 2021-08-31 | 2021-08-31 | Ocean laser radar rapid simulation method based on Gaussian convolution |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113740873A CN113740873A (en) | 2021-12-03 |
| CN113740873B true CN113740873B (en) | 2024-05-28 |
Family
ID=78734081
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111009955.XA Active CN113740873B (en) | 2021-08-31 | 2021-08-31 | Ocean laser radar rapid simulation method based on Gaussian convolution |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113740873B (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6100976A (en) * | 1998-09-21 | 2000-08-08 | The Board Of Regents For Oklahoma State University | Method and apparatus for fiber optic multiple scattering suppression |
| EP1085346A1 (en) * | 1999-09-19 | 2001-03-21 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method for determining the distance of objects, atmospheric particles and the like using Lidar- or Laserradar signals |
| CN105372641A (en) * | 2015-12-23 | 2016-03-02 | 国家海洋局第一海洋研究所 | Laser radar water body echo signal simulation method |
| CN105842698A (en) * | 2016-05-18 | 2016-08-10 | 西安电子科技大学 | Fast simulation method of high resolution SAR image |
| CN106526611A (en) * | 2016-10-31 | 2017-03-22 | 鲁东大学 | Method for measuring ocean inherent optical parameter by using laser radar system |
| CN107831485A (en) * | 2017-10-19 | 2018-03-23 | 中国科学院海洋研究所 | The method of the multiple water body optical signature parameters of the more visual field laser radar detections of boat-carrying |
| CN107976686A (en) * | 2017-10-26 | 2018-05-01 | 浙江大学 | A kind of more field angle oceanographic lidars and its field angle selection method |
| CN109995427A (en) * | 2019-03-25 | 2019-07-09 | 西安电子科技大学 | A kind of Monte Carlo simulation method of underwater uplink laser communication |
| CN110568449A (en) * | 2019-10-14 | 2019-12-13 | 自然资源部第二海洋研究所 | Wind-borne rough sea surface laser reflection and transmission matrix calculation method |
| CN111965608A (en) * | 2020-07-16 | 2020-11-20 | 自然资源部第二海洋研究所 | Satellite-borne marine laser radar detection capability evaluation method based on water body chlorophyll concentration |
| CN111971606A (en) * | 2018-01-25 | 2020-11-20 | 意大利学院科技基金会 | Time-resolved imaging method with high spatial resolution |
| CN112731341A (en) * | 2020-11-20 | 2021-04-30 | 自然资源部第二海洋研究所 | Dual-wavelength high spectral resolution laser radar system based on two-stage virtual image phase array |
| CN113011074A (en) * | 2020-12-30 | 2021-06-22 | 南京先进激光技术研究院 | Channel characteristic modeling method for underwater wireless optical communication system, electronic equipment and storage medium |
| CN113029342A (en) * | 2021-04-02 | 2021-06-25 | 西北工业大学 | Bidirectional reflection theory-based simulation method for polarized light reflected by underwater target |
| CN113219496A (en) * | 2021-03-18 | 2021-08-06 | 杭州电子科技大学 | Spaceborne laser radar detection system for ocean atmospheric parameters |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AUPR301401A0 (en) * | 2001-02-09 | 2001-03-08 | Commonwealth Scientific And Industrial Research Organisation | Lidar system and method |
| US20070242269A1 (en) * | 2004-03-06 | 2007-10-18 | Michael Trainer | Methods and apparatus for determining characteristics of particles |
| KR102569841B1 (en) * | 2017-01-05 | 2023-08-24 | 이노뷰전, 인크. | Methods and systems for encoding and decoding LiDAR |
-
2021
- 2021-08-31 CN CN202111009955.XA patent/CN113740873B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6100976A (en) * | 1998-09-21 | 2000-08-08 | The Board Of Regents For Oklahoma State University | Method and apparatus for fiber optic multiple scattering suppression |
| EP1085346A1 (en) * | 1999-09-19 | 2001-03-21 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method for determining the distance of objects, atmospheric particles and the like using Lidar- or Laserradar signals |
| CN105372641A (en) * | 2015-12-23 | 2016-03-02 | 国家海洋局第一海洋研究所 | Laser radar water body echo signal simulation method |
| CN105842698A (en) * | 2016-05-18 | 2016-08-10 | 西安电子科技大学 | Fast simulation method of high resolution SAR image |
| CN106526611A (en) * | 2016-10-31 | 2017-03-22 | 鲁东大学 | Method for measuring ocean inherent optical parameter by using laser radar system |
| CN107831485A (en) * | 2017-10-19 | 2018-03-23 | 中国科学院海洋研究所 | The method of the multiple water body optical signature parameters of the more visual field laser radar detections of boat-carrying |
| CN107976686A (en) * | 2017-10-26 | 2018-05-01 | 浙江大学 | A kind of more field angle oceanographic lidars and its field angle selection method |
| CN111971606A (en) * | 2018-01-25 | 2020-11-20 | 意大利学院科技基金会 | Time-resolved imaging method with high spatial resolution |
| CN109995427A (en) * | 2019-03-25 | 2019-07-09 | 西安电子科技大学 | A kind of Monte Carlo simulation method of underwater uplink laser communication |
| CN110568449A (en) * | 2019-10-14 | 2019-12-13 | 自然资源部第二海洋研究所 | Wind-borne rough sea surface laser reflection and transmission matrix calculation method |
| CN111965608A (en) * | 2020-07-16 | 2020-11-20 | 自然资源部第二海洋研究所 | Satellite-borne marine laser radar detection capability evaluation method based on water body chlorophyll concentration |
| CN112731341A (en) * | 2020-11-20 | 2021-04-30 | 自然资源部第二海洋研究所 | Dual-wavelength high spectral resolution laser radar system based on two-stage virtual image phase array |
| CN113011074A (en) * | 2020-12-30 | 2021-06-22 | 南京先进激光技术研究院 | Channel characteristic modeling method for underwater wireless optical communication system, electronic equipment and storage medium |
| CN113219496A (en) * | 2021-03-18 | 2021-08-06 | 杭州电子科技大学 | Spaceborne laser radar detection system for ocean atmospheric parameters |
| CN113029342A (en) * | 2021-04-02 | 2021-06-25 | 西北工业大学 | Bidirectional reflection theory-based simulation method for polarized light reflected by underwater target |
Non-Patent Citations (7)
| Title |
|---|
| "A Dual-Wavelength Ocean Lidar for Vertical Profiling of Oceanic Backscatter and Attenuation";Kaipeng Li;《Remote Sensing》;20201231;1-20 * |
| "海洋激光雷达反演水体光学参数";刘志鹏;《遥感学报》;20190531;第23卷(第5期);944-952 * |
| "海洋激光雷达多次散射回波信号建模与分析";徐沛拓;《遥感学报》;20200229;第24卷(第2期);142-149 * |
| "海洋激光雷达水体光学特性参数反演模型对比及分析";李晓龙;《光学学报》;20171031;第37卷(第10期);1-7 * |
| "蓝绿激光水下成像系统的探测灵敏度分析";王磊;《红外与激光工程》;20120131;第41卷(第1期);79-85 * |
| "辐射传输计算中散射相函数截断近似方法对比分析";罗双;《光学学报》;20170228;第37卷(第2期);1-7 * |
| "采用半解析蒙特卡洛技术模拟星载海洋激光雷达回波信号的软件";崔晓宇;《红外与激光工程》;20200229;第49卷(第2期);1-7 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113740873A (en) | 2021-12-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110095784B (en) | Ocean-low atmosphere laser transmission modeling method under influence of complex environment | |
| CN105954732B (en) | A kind of the sediment reflectivity extracting method and system of laser radar depth measurement data | |
| CN102012529A (en) | System and method for detecting target back trace in water based on laser pulse back scattering | |
| CN111965608B (en) | Satellite-borne ocean laser radar detection capability assessment method based on chlorophyll concentration of water body | |
| CN110568449B (en) | Wind-borne rough sea surface laser reflection and transmission matrix calculation method | |
| CN107831485A (en) | The method of the multiple water body optical signature parameters of the more visual field laser radar detections of boat-carrying | |
| CN110134976A (en) | A kind of airborne laser sounding method for extracting signal and system | |
| CN105181145A (en) | Method for simulating underwater polarization field of wave water surface transmitted light | |
| CN107976686A (en) | A kind of more field angle oceanographic lidars and its field angle selection method | |
| Zha et al. | Ranging precision for underwater laser proximity pulsed laser target detection | |
| CN110376572B (en) | Underwater detection depth simulation device for airborne laser radar | |
| CN109696684A (en) | Self-correlation laser radar device | |
| CN110135299B (en) | Single-waveband blue-green laser waveform analysis method and system for shallow water sounding | |
| CN101464522B (en) | Subaqueous target wake detection system and method based on laser wave front change | |
| Banakh et al. | Determination of optical turbulence intensity by atmospheric backscattering of laser radiation | |
| CN113740873B (en) | Ocean laser radar rapid simulation method based on Gaussian convolution | |
| CN116609758B (en) | Extraction method for airborne laser sounding waveform during travel | |
| Zhou et al. | Underwater acoustic channel modeling under different shallow seabed topography and sediment environment | |
| Guenther et al. | Laser applications for near-shore nautical charting | |
| RU2313802C1 (en) | Mode of measuring distance to a controlled object | |
| CN101533105A (en) | Detection system and detection method for aquatic dynamic target trail based on laser facula drift | |
| Li et al. | Analysis of affecting factors for laser underwater transmission echo signals based on semi-analytic Monte Carlo | |
| CN110133670B (en) | Denoising processing method and system for airborne laser sounding received waveform | |
| Zong et al. | Research on Laser Dual-Mode Fusion Detection Method of Ship Wake Bubbles | |
| Zhou et al. | Adaptive Adjustment for Laser Energy and PMT Gain through Self-feedback of Echo Data in Bathymetric LiDAR |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |