Waveform processing method of dual-wavelength multi-view-field ocean profile laser radar

Abstract

A waveform processing method of a dual-wavelength multi-view-field ocean profile laser radar removes background noise through waveform preprocessing and filtering, uses a peak value extraction and condition discrimination method to obtain peak value point positions of all channels as a basis for water depth calculation, uses multiple channels to jointly calculate a target water depth value, effectively utilizes dual-wavelength, polarization and multi-view-field characteristics, and improves the water depth calculation accuracy. The sea surface and seabed echo signals are accurately identified to obtain water depth information, the problem of water depth calculation of the ocean profile laser radar based on dual-wavelength, polarization, multi-view-field and multi-channel combination is solved, the real-time performance and the calculation efficiency are both considered, and the engineering implementation capability is achieved.

Description

Technical Field

[0001] The invention relates to a waveform processing method for a dual-wavelength multi-viewing field ocean profile laser radar, and belongs to the field of ocean laser radar detection. Background Art

[0002] The research on ocean detection laser radar abroad began in the 1960s. The United States, Canada, Australia and other countries have successively developed and tested the first generation of laser water depth measurement systems, and established the theoretical foundation of ocean laser detection technology. Laser radar has the characteristics of long detection distance and high temporal and spatial resolution. It is a powerful tool for detecting near-coast shallow sea topography and water depth.

[0003] There are currently two most commonly used methods for processing ocean detection lidar waveforms: fitting method and deconvolution method. The fitting method expresses the echo signal as a superposition of multiple Gaussian functions to obtain the positions of the sea surface echo and the seabed echo; the deconvolution method assumes that the process of laser penetrating the seawater and returning to the receiving system is equivalent to a convolution process, and the original signal is obtained by deconvolving the echo signal to remove noise. These two methods have achieved certain results in processing ocean echo signals, but they require repeated iterations and take a long time to run. In addition, the above processing methods only consider the identification of sea surface and seabed echo signals from single-channel echo waveforms, and do not consider combining multiple channels of dual wavelengths, polarization, and large and small fields of view to quickly and accurately identify echo signals at different depths and water qualities. Summary of the invention

[0004] The technical problem solved by the present invention is: in view of the problem that it is difficult to realize multi-channel echo signal processing and difficult to adapt to multi-field of view requirements in the current existing technology, a waveform processing method for a dual-wavelength multi-field of view ocean profile lidar is proposed.

[0005] The present invention solves the above technical problems by the following technical solutions:

[0006] A waveform processing method for a dual-wavelength multi-field-of-view ocean profile lidar, comprising:

[0007] The original echo signals of each channel are collected and normalized, and the normalized signals are low-pass filtered to eliminate noise signals;

[0008] Extract the local maximum value of the signal after low-pass filtering;

[0009] In the peak set after peak extraction, the peaks meeting the requirements are extracted by conditional discrimination method;

[0010] The corresponding peak values ​​are used to perform multi-channel joint calculation to determine the current water depth value corresponding to the original echo signal.

[0011] The method for normalizing and low-pass filtering the initial echo signal is:

[0012] The original echo signals of the target at the current water depth position collected by each channel are peak normalized. After obtaining the normalized signal, the signal is low-pass filtered using an FIR low-pass filter to eliminate the noise signal in the normalized signal.

[0013] The signal local maximum extraction method is:

[0014] Perform signal peak detection:

[0015] dt(sign(dt(w)))<0

[0016] Where w is the waveform data, function dt(w)=w(t+1)-w(t), and function sign is:

[0017]

[0018] In the formula, the number of peak positions that satisfy the peak detection method expression is t+1.

[0019] The method of extracting peaks that meet the requirements from the peak set by conditional discrimination is:

[0020] The noise threshold method is used as the conditional discrimination method, and the echo intensity greater than th is retained. n The signal peak value is eliminated, and the echo strength is less than or equal to th n The signal peak value, threshold th n The specific expression is:

[0021] th n =3μ n

[0022] In the formula, μ n is the noise characteristic value.

[0023] The method of multi-channel joint calculation is:

[0024] Determine the receiving channels of the laser radar, including the 1064nm channel, the 532nm small field of view parallel polarization channel, the 532nm small field of view vertical polarization channel, and the 532nm channel, and extract the corresponding peak points after determining the corresponding conditions for each receiving channel;

[0025] The peak point corresponding to the 1064nm channel is taken as the sea surface peak, and the peak points of the other receiving channels are taken as the seabed peaks;

[0026] The joint water depth corresponding to each channel is calculated according to the sampling rate of each receiving channel;

[0027] A joint judgment is performed based on the joint water depths corresponding to each channel to determine the current water depth value corresponding to the target in front.

[0028] The calculation method of the combined water depth corresponding to each channel is:

[0029] When the peak point corresponding to the 1064nm channel is taken as the sea surface peak, and the peak point corresponding to the 532nm small field parallel polarization channel is taken as the seabed peak, the current water depth result is calculated and recorded as h1;

[0030] When the peak point corresponding to the 1064nm channel is taken as the sea surface peak, and the peak point corresponding to the 532nm small field vertical polarization channel is taken as the seabed peak, the current water depth is calculated and recorded as h2;

[0031] When the peak point corresponding to the 1064nm channel is taken as the sea surface peak, and the peak point corresponding to the 532nm wide field of view channel is taken as the seabed peak, the current water depth result is calculated and recorded as h3;

[0032] The water depth results h1, h2 and h3 are used as a joint water depth value set.

[0033] The method for jointly distinguishing and determining the current water depth value corresponding to the target in front is:

[0034] Compare and judge the relationship calculation result of the water depth result h1 and the water depth result h2 with the preset discrimination threshold α. If the relationship calculation result is not less than the discrimination threshold, directly judge the relationship between the relationship calculation result of the water depth result h1, the water depth result h2, and the water depth result h3 and the preset discrimination threshold α; if the relationship calculation result of the water depth result h1 and the water depth result h2 is less than the discrimination threshold, continue to judge the relationship calculation result of the water depth result h1 and the water depth result h3 and the preset discrimination threshold α, and the relationship between the relationship calculation result of the water depth result h2 and the water depth result h3 and the preset discrimination threshold α;

[0035] If the calculated result of the relationship between the water depth result h1 and the water depth result h3 and the preset discrimination threshold α, and the calculated result of the relationship between the water depth result h2 and the water depth result h3 and the preset discrimination threshold α simultaneously satisfy that they are not less than the discrimination threshold, then the water depth result h3 is used as the current target water depth value;

[0036] If the calculated relationship between the water depth results h1 and h3 and the preset discrimination threshold α, and the calculated relationship between the water depth results h2 and h3 and the preset discrimination threshold α do not simultaneously satisfy that they are not less than the discrimination threshold, the judgment is made as follows:

[0037] If the calculated result of the relationship between the water depth result h1 and the water depth result h3 is not less than the preset discrimination threshold α, and the calculated result of the relationship between the water depth result h2 and the water depth result h3 is less than the preset discrimination threshold α, then mean(h2, h3) is used as the current target water depth value;

[0038] If the calculated result of the relationship between the water depth results h1 and h3 and the preset judgment threshold α are less than the judgment threshold, and the calculated result of the relationship between the water depth results h2 and h3 and the preset judgment threshold α are not less than the judgment threshold, then mean(h1, h3) is used as the current target water depth value.

[0039] When the calculated result of the relationship among the water depth result h1, the water depth result h2 and the preset discrimination threshold α is not less than the discrimination threshold, the current target water depth value is determined according to the relationship between the calculated result of the relationship among the water depth result h1, the water depth result h2 and the water depth result h3 and the preset discrimination threshold α; if the calculated result according to the relationship among the water depth result h1, the water depth result h2 and the water depth result h2 is less than the preset discrimination threshold α, mean(h1, h2, h3) is used as the current target water depth value; otherwise, the water depth result h3 is used as the current target water depth value.

[0040] The calculated relationship between the water depth result h1 and the water depth result h2 is:

[0041] The calculated relationship between the water depth result h2 and the water depth result h3 is:

[0042] The calculated relationship between the water depth result h1 and the water depth result h3 is:

[0043] The calculated relationship between the water depth results h1, h2 and h3 is:

[0044] like Then judge and Are they established at the same time? If established, then judge whether it is established;

[0045] like Take mean(h2, h3) as the current target water depth value. If Take mean(h1, h3) as the current target water depth value;

[0046] like Take h3 as the current target water depth value; if Take mean(h1, h2, h3) as the current target water depth value.

[0047] The advantages of the present invention compared with the prior art are:

[0048] (1) The waveform processing method of a dual-wavelength multi-field-of-view ocean profile laser radar provided by the present invention is applicable to a dual-wavelength polarization multi-field-of-view ocean profile laser radar. The laser radar adopts 1064nm and 532nm dual-wavelength high-energy laser emission, deep and shallow water multi-field-of-view reception, polarization detection, multi-channel high and low gain splicing and other technical means, which can realize large-scale dynamic detection of strong scattered echo signals of the sea surface and shallow water and weak echoes of deep water, and realize seawater profile measurement by continuous sampling of echoes, meeting the needs of water surface height measurement, bottom depth measurement, and refined detection of ocean water body profiles. The laser echo signal is divided into a 1064nm channel, a 532nm large field-of-view channel, a 532nm small field-of-view parallel polarization channel, and a 532nm small field-of-view vertical polarization channel to meet the large-scale dynamic synchronous detection of sea surface, seabed and underwater targets in different environments;

[0049] (2) The present invention combines 1064nm and 532nm dual-wavelength data to extract water depth, which can improve the accuracy of sea surface and seabed peak extraction without complex fitting calculations, while taking into account operational efficiency and having engineering implementation capabilities. At the same time, the present invention uses a water depth calculation method that combines dual wavelengths, polarization, and deep and shallow fields of view. When the water depth is shallow, the signal is easily saturated. At this time, the seabed peak position obtained by the shallow water field of view is more accurate; when the water depth is deep, the signal-to-noise ratio is reduced, causing the echo signal to be submerged. At this time, the seabed peak position obtained by the deep water field of view is more accurate. This method combines the deep and shallow fields of view and the polarization channel for discrimination, which can effectively improve the accuracy of water depth calculation. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A flow chart of the waveform processing method of the dual-wavelength multi-field-of-view ocean profile lidar provided by the invention;

[0051] Figure 2 A result diagram of an embodiment of dual-wavelength multi-field-of-view ocean profile lidar waveform processing provided by the invention; DETAILED DESCRIPTION

[0052] A waveform processing method for a dual-wavelength, multi-field-of-view ocean profile lidar removes background noise through waveform preprocessing and filtering, obtains the peak point position of each channel as the basis for water depth calculation using peak extraction and conditional discrimination method, and jointly calculates the target water depth value with multiple channels. It effectively utilizes the dual-wavelength, polarization, and multi-field-of-view characteristics to accurately identify the sea surface and seabed echo signals to obtain water depth information, solves the water depth solution problem of the dual-wavelength, polarization, multi-field-of-view, and multi-channel combined ocean profile lidar, takes into account both real-time performance and computational efficiency, and has engineering implementation capabilities.

[0053] The waveform processing method of dual-wavelength multi-field-of-view ocean profile lidar includes the following specific steps:

[0054] The original echo signals of each channel are collected and normalized, and the normalized signals are low-pass filtered to eliminate noise signals;

[0055] Extract the local maximum value of the signal after low-pass filtering;

[0056] In the peak set after peak extraction, the peaks meeting the requirements are extracted by conditional discrimination method;

[0057] The corresponding peak values ​​are used to perform multi-channel joint calculation to determine the current water depth value corresponding to the original echo signal.

[0058] The method for normalizing and low-pass filtering the initial echo signal is:

[0059] The original echo signals of the target at the current water depth position collected by each channel are peak normalized. After obtaining the normalized signal, the signal is low-pass filtered using an FIR low-pass filter to eliminate the noise signal in the normalized signal.

[0060] The signal local maximum extraction method is:

[0061] Perform signal peak detection:

[0062] dt(sign(dt(w)))<0

[0063] Where w is the waveform data, function dt(w)=w(t+1)-w(t), and function sign is:

[0064]

[0065] In the formula, the number of peak positions that satisfy the peak detection method expression is t+1.

[0066] The method of extracting peaks that meet the requirements from the peak set by conditional discrimination is:

[0067] The noise threshold method is used as the conditional discrimination method, and the echo intensity greater than th is retained. n The signal peak value is eliminated, and the echo strength is less than or equal to th n The signal peak value, threshold th n The specific expression is:

[0068] th n =3μ n

[0069] In the formula, μ n is the noise characteristic value.

[0070] The method of multi-channel joint calculation is:

[0071] Determine the receiving channels of the laser radar, including the 1064nm channel, the 532nm small field of view parallel polarization channel, the 532nm small field of view vertical polarization channel, and the 532nm channel, and extract the corresponding peak points after determining the corresponding conditions for each receiving channel;

[0072] The peak point corresponding to the 1064nm channel is taken as the sea surface peak, and the peak points of the other receiving channels are taken as the seabed peaks;

[0073] The joint water depth corresponding to each channel is calculated according to the sampling rate of each receiving channel;

[0074] A joint judgment is performed based on the joint water depths corresponding to each channel to determine the current water depth value corresponding to the target in front.

[0075] The calculation method of the joint water depth corresponding to each channel is:

[0076] When the peak point corresponding to the 1064nm channel is taken as the sea surface peak, and the peak point corresponding to the 532nm small field parallel polarization channel is taken as the seabed peak, the current water depth result is calculated and recorded as h1;

[0077] When the peak point corresponding to the 1064nm channel is taken as the sea surface peak, and the peak point corresponding to the 532nm small field vertical polarization channel is taken as the seabed peak, the current water depth is calculated and recorded as h2;

[0078] When the peak point corresponding to the 1064nm channel is taken as the sea surface peak, and the peak point corresponding to the 532nm wide field of view channel is taken as the seabed peak, the current water depth result is calculated and recorded as h3;

[0079] The water depth results h1, h2 and h3 are used as a joint water depth value set.

[0080] The method for jointly distinguishing and determining the current water depth value corresponding to the target in front is:

[0081] Compare and judge the relationship calculation result of the water depth result h1 and the water depth result h2 with the preset discrimination threshold α. If the relationship calculation result is not less than the discrimination threshold, directly judge the relationship between the relationship calculation result of the water depth result h1, the water depth result h2, and the water depth result h3 and the preset discrimination threshold α; if the relationship calculation result of the water depth result h1 and the water depth result h2 is less than the discrimination threshold, continue to judge the relationship calculation result of the water depth result h1 and the water depth result h3 and the preset discrimination threshold α, and the relationship between the relationship calculation result of the water depth result h2 and the water depth result h3 and the preset discrimination threshold α;

[0082] If the calculated result of the relationship between the water depth result h1 and the water depth result h3 and the preset discrimination threshold α, and the calculated result of the relationship between the water depth result h2 and the water depth result h3 and the preset discrimination threshold α simultaneously satisfy that they are not less than the discrimination threshold, then the water depth result h3 is used as the current target water depth value;

[0083] If the calculated relationship between the water depth results h1 and h3 and the preset discrimination threshold α, and the calculated relationship between the water depth results h2 and h3 and the preset discrimination threshold α do not simultaneously satisfy that they are not less than the discrimination threshold, the judgment is made as follows:

[0084] If the calculated result of the relationship between the water depth result h1 and the water depth result h3 is not less than the preset discrimination threshold α, and the calculated result of the relationship between the water depth result h2 and the water depth result h3 is less than the preset discrimination threshold α, then mean(h2, h3) is used as the current target water depth value;

[0085] If the calculated result of the relationship between the water depth results h1 and h3 and the preset judgment threshold α are less than the judgment threshold, and the calculated result of the relationship between the water depth results h2 and h3 and the preset judgment threshold α are not less than the judgment threshold, then mean(h1, h3) is used as the current target water depth value.

[0086] When the calculated result of the relationship among the water depth result h1, the water depth result h2 and the preset discrimination threshold α is not less than the discrimination threshold, the current target water depth value is determined according to the relationship between the calculated result of the relationship among the water depth result h1, the water depth result h2 and the water depth result h3 and the preset discrimination threshold α; if the calculated result according to the relationship among the water depth result h1, the water depth result h2 and the water depth result h2 is less than the preset discrimination threshold α, mean(h1, h2, h3) is used as the current target water depth value; otherwise, the water depth result h3 is used as the current target water depth value.

[0087] The calculated relationship between the water depth result h1 and the water depth result h2 is:

[0088] The calculated relationship between the water depth result h2 and the water depth result h3 is:

[0089] The calculated relationship between the water depth result h1 and the water depth result h3 is:

[0090] The calculated relationship between the water depth results h1, h2 and h3 is:

[0091] like Then judge and Are they established at the same time? If established, then judge whether it is established;

[0092] like Take mean(h2, h3) as the current target water depth value. If Take mean(h1, h3) as the current target water depth value;

[0093] like Take h3 as the current target water depth value; if Take mean(h1, h2, h3) as the current target water depth value.

[0094] The following is further described in conjunction with the accompanying drawings and preferred embodiments of the specification:

[0095] In the current embodiment, if Figure 1 As shown, the waveform processing method for dual-wavelength polarization multi-field-of-view ocean profile lidar includes the following steps:

[0096] S1: Waveform preprocessing and filtering: After normalizing the original echo signal of each channel, use FIR low-pass filter to filter out the noise signal.

[0097] S2: Peak extraction: Use the peak detection method to obtain the local maximum value of the signal and perform preliminary screening of the peak value.

[0098] S3: Use the conditional discrimination method to extract the peaks that meet the requirements.

[0099] S4: Multi-channel joint calculation of water depth: Combine the 1064nm channel, 532nm large field of view channel, 532nm small field of view parallel polarization channel, and 532nm small field of view vertical polarization channel to calculate the current water depth value.

[0100] Specifically, step S1 includes:

[0101] S101: performing peak normalization on the echo signal of each channel.

[0102] S102: Filter out the noise signal of each channel using a FIR low-pass filter. The FIR low-pass filter is a Kaiser window, 128 order, sampling frequency 2500 MHz, and cut-off frequency 140 MHz.

[0103] In step S2, the peak detection method expression is specifically:

[0104] S201:

[0105] dt(sign(dt(w)))<0

[0106] w is the waveform data, and the specific expression of function Δ is:

[0107] dt(w)=w(t+1)-w(t)

[0108] The specific expression of function sign is:

[0109]

[0110] The peak position that satisfies the peak detection method expression is t+1.

[0111] Specifically, step S3 includes:

[0112] S301: Extract peaks that meet the requirements using a conditional discrimination method. The conditional discrimination method is a noise threshold method, which specifically means retaining echoes with an intensity greater than th n Peak value, remove echoes with intensity less than or equal to th n peak value.

[0113] Threshold n The expression is:

[0114] th n =3μ n

[0115] μ n is the noise characteristic value, which is calculated as the average of the first 100-150 points of the unprocessed echo data.

[0116] Step S4 specifically includes:

[0117] S401: The laser radar includes four receiving channels: 1064nm channel, 532nm large field of view channel, 532nm small field of view parallel polarization channel, and 532nm small field of view vertical polarization channel. After performing steps S1-S3 on each channel, a peak point is obtained. Figure 2 As shown in (a), 2(b), 2(c), and 2(d).

[0118] S402: The 1064nm channel peak is taken as the sea surface peak, and the 532nm small field of view parallel polarization channel, the 532nm small field of view vertical polarization channel, and the 532nm large field of view channel peak are taken as the seabed peak.

[0119] S403: Calculate each joint water depth based on the sampling rate:

[0120] 1) The 1064nm channel peak is taken as the sea surface peak, and the 532nm small field parallel polarization channel peak is taken as the seabed peak. The calculated water depth result is recorded as h1;

[0121] 2) The peak value of the 1064nm channel is taken as the sea surface peak value, and the peak value of the 532nm small field vertical polarization channel is taken as the seabed peak value. The calculated water depth result is recorded as h2;

[0122] 3) The peak value of the 1064nm channel is taken as the sea surface peak value, and the peak value of the 532nm wide field of view channel is taken as the seabed peak value. The calculated water depth result is recorded as h3;

[0123] In this embodiment, h1 is 3.61 m, h2 is 0.95 m, and h3 is 7.71 m.

[0124] S404: Jointly determine and calculate the current water depth. The specific steps are as follows:

[0125] 1) Judgment Is it true? If not, jump to step 2; if true, jump to step 4.

[0126] 2) Judgment and Are both true? If not, jump to step 3; if true, h3 is used as the current water depth result.

[0127] 3) If mean(h2, h3) is taken as the current water depth result; if mean(h1, h3) is taken as the current water depth result.

[0128] 4) Judgment Is it true? If not, mean(h1, h2, h3) is used as the current water depth result; if true, h3 is used as the current water depth result.

[0129] In this embodiment, α is 0.1.

[0130] According to the present invention, in this embodiment, h3 is the current water depth result, which is 7.71 m, calculated by the dual-wavelength polarization multi-field-of-view ocean profile lidar waveform processing method.

[0131] In summary, the present invention provides a dual-wavelength polarization multi-field-of-view ocean profile lidar waveform processing method. The method includes: removing background noise through waveform preprocessing and filtering, obtaining the peak point position of each channel as the basis for water depth calculation through peak extraction and conditional discrimination method, and calculating the water depth through multi-channel joint calculation. Four steps, effectively utilizing dual-wavelength, polarization, and multi-field-of-view characteristics, accurately identifying sea surface and seabed echo signals to obtain water depth information. The present invention solves the problem of water depth solution of dual-wavelength, polarization, multi-field-of-view and multi-channel combined ocean profile lidar, and takes into account both real-time performance and computational efficiency, and has engineering implementation capabilities.

[0132] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0133] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A waveform processing method for dual-wavelength multi-field-of-view ocean profile lidar, characterized in that include: The original echo signals of each channel are collected and normalized, and the normalized signals are low-pass filtered to eliminate noise signals; Extract the local maximum value of the signal after low-pass filtering; In the peak set after peak extraction, the peaks meeting the requirements are extracted by conditional discrimination method; The corresponding peak values ​​are used to perform multi-channel joint calculation to determine the current water depth value corresponding to the original echo signal.

2. The waveform processing method of a dual-wavelength multi-field-of-view ocean profile laser radar according to claim 1, characterized in that: The method for normalizing and low-pass filtering the initial echo signal is: The original echo signals of the target at the current water depth position collected by each channel are peak normalized. After obtaining the normalized signal, the signal is low-pass filtered using an FIR low-pass filter to eliminate the noise signal in the normalized signal.

3. The waveform processing method of a dual-wavelength multi-field-of-view ocean profile laser radar according to claim 1, characterized in that: The signal local maximum extraction method is: Perform signal peak detection: dt(sign(dt(w)))<0 Where w is the waveform data, function dt(w)=w(t+1)-w(t), and function sign is: In the formula, the number of peak positions that satisfy the peak detection method expression is t+1.

4. The waveform processing method of a dual-wavelength multi-field-of-view ocean profile laser radar according to claim 1, characterized in that: The method of extracting peaks that meet the requirements from the peak set by conditional discrimination is: The noise threshold method is used as the conditional discrimination method, and the echo intensity greater than th is retained. n The signal peak value is eliminated, and the echo strength is less than or equal to th n The signal peak value, threshold th n The specific expression is: th n =3μ n In the formula, μ n is the noise characteristic value.

5. The waveform processing method of a dual-wavelength multi-field-of-view ocean profile laser radar according to claim 1, characterized in that: The method of multi-channel joint calculation is: Determine the receiving channels of the laser radar, including the 1064nm channel, the 532nm small field of view parallel polarization channel, the 532nm small field of view vertical polarization channel, and the 532nm channel, and extract the corresponding peak points after determining the corresponding conditions for each receiving channel; The peak point corresponding to the 1064nm channel is taken as the sea surface peak, and the peak points of the other receiving channels are taken as the seabed peaks; The joint water depth corresponding to each channel is calculated according to the sampling rate of each receiving channel; A joint judgment is performed based on the joint water depths corresponding to each channel to determine the current water depth value corresponding to the target in front.

6. The waveform processing method of a dual-wavelength multi-field-of-view ocean profile laser radar according to claim 5, characterized in that: The calculation method of the combined water depth corresponding to each channel is: When the peak point corresponding to the 1064nm channel is taken as the sea surface peak, and the peak point corresponding to the 532nm small field parallel polarization channel is taken as the seabed peak, the current water depth result is calculated and recorded as h1; When the peak point corresponding to the 1064nm channel is taken as the sea surface peak, and the peak point corresponding to the 532nm small field vertical polarization channel is taken as the seabed peak, the current water depth is calculated and recorded as h2; When the peak point corresponding to the 1064nm channel is taken as the sea surface peak, and the peak point corresponding to the 532nm wide field of view channel is taken as the seabed peak, the current water depth result is calculated and recorded as h3; The water depth results h1, h2 and h3 are used as a joint water depth value set.

7. The waveform processing method of a dual-wavelength multi-field-of-view ocean profile laser radar according to claim 6, characterized in that: The method for jointly distinguishing and determining the current water depth value corresponding to the target in front is: Compare and judge the relationship calculation result of the water depth result h1 and the water depth result h2 with the preset discrimination threshold α. If the relationship calculation result is not less than the discrimination threshold, directly judge the relationship between the relationship calculation result of the water depth result h1, the water depth result h2, and the water depth result h3 and the preset discrimination threshold α; if the relationship calculation result of the water depth result h1 and the water depth result h2 is less than the discrimination threshold, continue to judge the relationship calculation result of the water depth result h1 and the water depth result h3 and the preset discrimination threshold α, and the relationship between the relationship calculation result of the water depth result h2 and the water depth result h3 and the preset discrimination threshold α; If the calculated result of the relationship between the water depth result h1 and the water depth result h3 and the preset discrimination threshold α, and the calculated result of the relationship between the water depth result h2 and the water depth result h3 and the preset discrimination threshold α simultaneously satisfy that they are not less than the discrimination threshold, then the water depth result h3 is used as the current target water depth value; If the calculated relationship between the water depth results h1 and h3 and the preset discrimination threshold α, and the calculated relationship between the water depth results h2 and h3 and the preset discrimination threshold α do not simultaneously satisfy that they are not less than the discrimination threshold, the judgment is made as follows: If the calculated result of the relationship between the water depth result h1 and the water depth result h3 is not less than the preset discrimination threshold α, and the calculated result of the relationship between the water depth result h2 and the water depth result h3 is less than the preset discrimination threshold α, then mean(h2, h3) is used as the current target water depth value; If the calculated result of the relationship between the water depth results h1 and h3 and the preset judgment threshold α are less than the judgment threshold, and the calculated result of the relationship between the water depth results h2 and h3 and the preset judgment threshold α are not less than the judgment threshold, then mean(h1, h3) is used as the current target water depth value.

8. The waveform processing method of a dual-wavelength multi-field-of-view ocean profile laser radar according to claim 7, characterized in that: When the calculated result of the relationship among the water depth result h1, the water depth result h2 and the preset discrimination threshold α is not less than the discrimination threshold, the current target water depth value is determined according to the relationship between the calculated result of the relationship among the water depth result h1, the water depth result h2 and the water depth result h3 and the preset discrimination threshold α; if the calculated result according to the relationship among the water depth result h1, the water depth result h2 and the water depth result h2 is less than the preset discrimination threshold α, mean(h1, h2, h3) is used as the current target water depth value; otherwise, the water depth result h3 is used as the current target water depth value.

9. The waveform processing method of a dual-wavelength multi-field-of-view ocean profile laser radar according to claim 8, characterized in that: The calculated relationship between the water depth result h1 and the water depth result h2 is: The calculated relationship between the water depth result h2 and the water depth result h3 is: The calculated relationship between the water depth result h1 and the water depth result h3 is: The calculated relationship between the water depth results h1, h2 and h3 is:

10. The waveform processing method of a dual-wavelength multi-field-of-view ocean profile laser radar according to claim 9, characterized in that: like Then judge and Are they established at the same time? If established, then judge whether it is established; like Take mean(h2, h3) as the current target water depth value. If Take mean(h1, h3) as the current target water depth value; like Take h3 as the current target water depth value; if Take mean(h1, h2, h3) as the current target water depth value.

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