Single-photon laser radar underwater photon displacement correction and sounding method and device

Abstract

The invention provides a single-photon laser radar underwater photon displacement correction and sounding method and device, and relates to the technical field of marine surveying and mapping. The method comprises the steps: obtaining the pointing angle of photons transmitted by a single-photon laser radar, a water surface photon signal returned by the photons transmitted by the single-photon laser radar, and the coordinates of a water bottom photon signal; performing sea wave fitting according to the water surface photon signal, and determining a sea wave model; determining an intersection point of the photon and a water-gas interface according to the coordinate of any one underwater photon, the pointing angle and the sea wave model; determining an underwater displacement error of the photon according to the intersection point, the sea wave model and the pointing angle; and correcting the coordinates of the underwater photon signal according to the underwater displacement error. According to the invention, sea wave modeling is carried out through water surface photon signals, intersection points of photons and a water-gas interface are determined, and an underwater photon displacement error is determined according to the spatial structure relationship of a photon propagation path; and refraction caused by sea waves and displacement caused by photon speed changes are effectively avoided, and the data accuracy is improved.

Description

technical field [0001] The present invention relates to the technical field of marine surveying and mapping, in particular to a single-photon lidar underwater photon displacement correction and sounding method and device. Background technique [0002] With the development of marine surveying and mapping technology, laser radar sounding technology, as an important branch of laser radar, has also developed rapidly in recent years. And it has played an important role in the fields of shallow sea area survey, river bathymetry and underwater topography surveying and mapping. [0003] Single-photon lidar is a new type of laser detection technology developed in recent years. Compared with traditional full-waveform lidar, single-photon lidar has a higher pulse transmission repetition frequency, and uses extremely sensitive and high-receiving devices, which can detect and accept The echo envelope amplitude detection of hundreds or even thousands of photons is transformed into the de...

AI Technical Summary

Problems solved by technology

[0004] In the prior art, when measuring based on single-photon lidar, a large number of discrete photons will be obtained, and noise photons and photon signals no longer meet the traditional high signal-to-noise. Therefore, the data processing method based on this measurement technology is different from the traditional laser Radar is also very different

In the process of using single-photon lidar for underwater topography and bathymetry, when photons pass through the atmosphere to the water surface and penetrate the water-air interface into the water, the water body will have a refraction effect on the photons and cause a decrease in the transmission speed of the photons

The influence of these two factors will cause a certain deviation in the underwater topography and bathymetry results, reducing the positioning and measurement accuracy of each photon

Images