30 results about "Laser altimetry" patented technology

The invention relates to the technical field of image data processing, in particular to an urban building three-dimensional reconstruction method and device, and the method comprises the steps: obtaining a multi-view satellite orthoimage from the same scene, satellite-borne laser height measurement data of a target region, a digital terrain model and two-dimensional building vector data; performing accurate geometric registration on the multi-view satellite orthoimage, and executing dense matching to generate an initial parallax point cloud; and combining azimuth angle information of the multi-view orthoimage to construct a disparity map with accurate plane positioning. And calculating an elevation value above the earth surface by using satellite-borne laser altimetry data and a digital terrain model. And jointly estimating a parallax elevation proportionality coefficient by using the elevation value and the parallax value so as to convert the parallax map into a height map. And generating three-dimensional building vector data of the target area in combination with the two-dimensional building vector data. Therefore, the problems that cost based on surveying and mapping level remote sensing data is high, data collection is limited, and the requirement for global city three-dimensional reconstruction cannot be met in the prior art are solved.

The invention belongs to the technical field of three-dimensional positioning of aircrafts, and discloses a communication and guide integrated aircraft positioning method and system. The system comprises a satellite communication module, a GNSS receiver, a ground network module, a PPP / INS combined positioning module, an RTK / INS combined positioning module, an inertial measurement unit, a radio altimeter, an air pressure altimeter, a laser altimeter, a position comprehensive judgment module and a track correction module. External signal sources comprise a GEO communication satellite, an LEO communication satellite, a GNSS navigation satellite and a 4G / 5G ground network. The method solves the problem of inaccurate positioning of the aircraft, can obtain a reliable high-precision positioning result, and is used for correcting the flight path of the aircraft.

The present invention discloses a control slice generation and geometric positioning method that fuses satellite-borne laser and orthophoto images. The method comprises the following steps: first, screening the satellite-borne laser point cloud to obtain a high-quality laser point set; second, projecting the screened high-quality satellite-borne laser points onto the orthophoto image through coordinate transformation, and removing low-feature response points; finally, generating a control slice based on the orthophoto image and laser control points, and using the constructed control slice to perform geometric correction on the target image to achieve high-precision geometric positioning of the image. Unlike using only laser altimetry data for elevation control, the present invention achieves precise leveling and height control of remote sensing images by fusing satellite-borne laser data with orthophoto images, while simultaneously overcoming the drawback of limited DEM accuracy and being more suitable for geometric positioning of sub-meter images.

The present invention relates to a method and system for the joint adjustment of optical images and laser altimetry data. The method comprises the following steps: acquiring image data to establish a strict optical image model, and converting the rectangular coordinates in the imaging model into geodetic coordinates; incorporating a systematic error affine model into the imaging model, and using a dither harmonic function in the compensation function to compensate for low-order systematic errors; introducing a tie point error equation, an elevation control point error equation, and a virtual control point error equation to establish a normal equation, employing a strategy of eliminating variables to modify the normal equation for solution, eliminating the object coordinate correction, constructing a new modified normal equation, and performing adjustment calculations to obtain systematic error compensation parameters. Compared with the prior art, the present invention can effectively compensate for the effects of satellite platform dither and improve the elevation positioning accuracy of images.

The present invention provides a method, device and electronic equipment for satellite laser altimetry positioning under complex terrain, belonging to the field of satellite laser positioning. The method includes: obtaining a footprint image of a laser footprint to be measured, a laser echo signal and the corresponding image point coordinates of the laser footprint to be measured in the footprint image; performing image segmentation on the footprint image to obtain a ground object segmentation image, constructing a multi-component echo energy model based on the laser echo signal, determining the optimal Gaussian component based on the ground object segmentation image, the multi-component echo energy model and the image point coordinates; and solving the altimetry positioning result based on the optimal Gaussian component. The present invention can flexibly select Gaussian components by performing image segmentation on the footprint image to obtain a ground object segmentation image in satellite laser altimetry under the full waveform laser altimeter plus laser footprint camera mode. It can effectively select the nearest Gaussian component of satellite laser altimetry under various complex terrains, effectively reducing the error of satellite laser altimetry.

A satellite-borne laser altimeter calibration method considering laser waveform and natural surface belongs to the field of in-orbit geometric calibration of satellite-borne laser altimeters, and comprehensively utilizes laser waveform characteristics and natural surface form information, and aims at difference characteristics of laser footprint elevation errors under different topographic conditions. Separation calibration of laser pointing and distance measurement is carried out respectively, and high-frequency and high-precision in-orbit calibration of the satellite-borne laser altimeter is realized. By combining laser waveform characteristics and natural earth surface information, a laser data screening and high-precision calibration process of the system is provided, the positioning and measuring precision of the satellite-borne laser altimeter is effectively improved, and the satellite-borne laser altimeter has wide engineering application value and popularization prospect.

The application discloses a flatness measurement method, device and equipment based on a measuring device and a measuring system, and relates to the field of metal foil flatness measurement.The method comprises the following steps: providing a pay-off control signal to a pay-off device and a winding control signal to a winding device; receiving a plurality of first actual lengths of the metal foil along a conveying direction and a plurality of second actual lengths along a width direction collected by a laser altimeter; determining a plurality of first length deviations along the conveying direction of the metal foil based on the plurality of first actual lengths and a first reference length; determining a plurality of second length deviations along the width direction of the metal foil based on the plurality of second actual lengths and a second reference length; and determining the flatness of the metal foil based on the plurality of first length deviations and the plurality of second length deviations.The application can accurately measure the flatness of the mica foil.

The invention discloses a satellite laser footprint position forecasting method considering a fixed field, and relates to the field of satellite laser altimeter in-orbit geometric calibration. The method comprises the steps of setting a fixed field center point coordinate; selecting a nearest sub-satellite point trajectory to forecast a satellite top crossing moment; calculating a side swing angle, a pitch angle or laser delay light emitting time of a satellite platform so as to enable the laser footprint to accurately fall on the fixed field detector array; before the satellite passes through the top, parameters are uploaded, enough execution time is reserved, and meanwhile a ground detector is started up in advance; when the satellite passes the top, laser is emitted to trigger the detector. According to the method, satellite parameters are actively regulated and controlled, the problem of low efficiency of a traditional passive waiting mode is solved, the footprint position forecasting precision is controlled within 20 meters, the calibration success rate and efficiency are remarkably improved, and the operation cost is reduced.

The invention discloses a self-adaptive data processing system and method for laser height measurement satellite calibration equipment, and relates to the technical field of satellite-borne laser height measurement and data processing, and the system comprises an analog signal processing module which achieves the amplification and noise reduction of a weak photoelectric signal through high-precision operational amplification and multi-stage filtering; the ADC acquisition module is responsible for converting an analog signal into a digital signal in real time, and has dynamic sampling rate control and multi-channel sampling capabilities; and the digital signal processing module can adaptively extract effective laser digital signals in a complex environment based on secondary judgment of a dynamic background model, random forest intelligent classification and physical model fusion, so that high-confidence identification and false detection suppression are realized. And the control module interacts with an upper computer through CAN bus communication to realize instruction analysis, state monitoring and self-adaptive control. The method has the advantages that the laser pulse signal recognition precision is effectively improved, the system environment adaptability is enhanced, and the data processing real-time performance is ensured.

The utility model discloses a movable laser automatic adjustment elevation control device for pavement paving, which comprises a support frame used for being placed at survey lofting points on two sides of a road, a lifting guide structure distributed along the height direction of the support frame is arranged on the support frame, and a lifting platform is arranged on the lifting guide structure. The supporting frame is provided with a lifting driving mechanism, the lifting driving mechanism is connected with the lifting platform and drives the lifting platform to ascend and descend along the lifting guide structure, a laser altimeter is arranged on the lifting platform, a guide beam groove is formed in the outer side of the lifting platform, and a groove opening of the guide beam groove is flush with the top face of the lifting platform in height. And the guide beam groove is used for placing a square steel beam. The device can be manually moved, can quickly and accurately position the pavement paving elevation, can be matched with the square steel beam for use, can improve the paving flatness, reduces the labor time cost, and is high in efficiency.

The application provides a sea ice surface snow depth estimation method combined with laser satellite altimetry and radar satellite altimetry, which comprises satellite altimetry data preprocessing, satellite altimetry sampling point matching, obtaining a joint observation track of two satellites according to the time and spatial position of the orbit of the laser altimetry satellite and the orbit of the radar altimetry satellite, taking the sampling point of the radar altimetry satellite along the orbit as a reference point, searching for the sampling point of the laser altimetry satellite in a preset space-time range to obtain a joint observation sampling point set, obtaining the total freeboard value of the laser altimetry satellite corresponding to the radar freeboard of the radar altimetry satellite in each search range by using the inverse distance weighting method to obtain a sea ice freeboard matching data set, and obtaining the sea ice surface snow depth estimation result and outputting the same based on the obtained sea ice freeboard matching data set and considering the penetration characteristics of the radar signal on the snow. The application is free from the dependence on field observation by combining the laser satellite altimetry data and the radar satellite altimetry data, and the reliability of the sea ice surface snow depth estimation is improved.

The present application relates to the technical field of remote sensing data processing, and provides a kind of ground surface identification method based on photon point cloud in polar sea ice observation scene, comprising: obtaining single-photon laser altimetry data to construct two-dimensional photon profile;Divide first scale window, determine threshold based on density gradient field to filter out low-density noise to get intermediate signal set;Construct elevation window in second scale window, remove high-density and low-density tailing double-end outlier subset outside the window to get high-confidence signal set;Extract resampled elevation and sliding classification features;Screen candidate centroid and optical high-resolution image registration and gate filtering;Use multi-temporal image to check label consistency and combine spatial continuity optimization;Combine ice and snow radiation transfer model to complete physical verification to construct training set;Input classifier outputs sea ice, ice channel and thin ice identification result.The present application improves the physical reliability of training set label, reduces the influence of optical label mismatch, and improves the accuracy of polar ground surface identification.

The invention discloses a flatness measurement method, device and equipment based on a measurement device and a measurement system, and relates to the field of metal foil flatness measurement, and the flatness measurement method comprises the steps: providing an unwinding control signal for unwinding equipment, and providing a winding control signal for winding equipment; a plurality of first actual lengths, collected by the laser altimeter, of the metal foil in the conveying direction and a plurality of second actual lengths, collected by the laser altimeter, of the metal foil in the breadth direction are received; based on the multiple first actual lengths and a first reference length, multiple first length deviations in the conveying direction of the metal foil are determined; determining a plurality of second length deviations in the breadth direction of the metal foil on the basis of the plurality of second actual lengths and a second reference length; and determining the flatness of the metal foil based on the plurality of first length deviations and the plurality of second length deviations. According to the invention, the flatness of the invar foil can be accurately measured.

The present application relates to the technical field of submerged plant monitoring, and discloses a submerged plant reflectance inversion method, device, equipment and storage medium. In the method, multispectral satellite images of a reference water area are first acquired, and the spatial assignment of the inherent optical properties of the target water area is realized by using a water body optical characteristic processing model and a spatial assignment method, thereby providing stable and reliable optical input for the subsequent physical inversion model, and reducing the difficulty of acquiring in-situ depth measurement data or bottom material spectrum data of the target water area. Then, the water depth distribution data of the target water area is acquired by using laser altimetry satellite data and photon processing and spatial interpolation, thereby providing strong geometric constraints for the model. Finally, the two types of data and remote sensing reflectance images are input into the physical inversion model, the water body influence is accurately stripped by using the physical inversion model, and the final submerged plant reflectance data is obtained, thereby significantly improving the inversion accuracy and stability of the finally acquired submerged plant reflectance.

The invention provides a polar region shipborne unmanned aerial vehicle high-precision positioning method and system, and the method comprises the steps: deploying a radio base station at a ship end, determining the positioning of the base station in real time, carrying out the real-time wireless communication, carrying out the distance measurement, and recording the timestamp of a communication signal; the unmanned aerial vehicle measures the height information relative to the ground in real time through a laser altimeter, and then the ship-end computer calculates the accurate distance between the unmanned aerial vehicle and each radio base station based on a flight time method; the ship-end computer receives and processes the radio distance data, the height data of the laser altimeter and the differential RTK positioning data in real time, and a linear equation elimination method is adopted to calculate the three-dimensional coordinates of the unmanned aerial vehicle; according to the continuous three-dimensional coordinate data of the unmanned aerial vehicle, the real-time horizontal speed and the flight direction of the unmanned aerial vehicle are obtained through differential calculation; and converting the calculated position information and the real-time speed and direction information into longitude and latitude height positioning information, and sending the longitude and latitude height positioning information to an unmanned aerial vehicle navigation control system in real time. According to the invention, the positioning precision and navigation stability of the shipborne unmanned aerial vehicle in a complex environment are effectively improved.

The invention discloses a lake hydro-fluctuation belt terrain construction method based on SWOT satellite data, and the method comprises the steps: extracting a month-scale water body range through lake optical remote sensing image data, and constructing a month-by-month hydro-fluctuation belt region based on a difference set of the month-by-month water body range and the maximum water body range; taking the month-by-month hydro-fluctuation belt region as a spatial constraint to cut out a corresponding region from the height measurement data; spatial filtering is carried out on the multi-temporal SWOT satellite altimetry data of the cutting area, the satellite laser altimetry data is used as a true value to evaluate the precision of the corresponding temporal SWOT satellite altimetry data and determine a fusion weight, then weighted average is carried out on the hourly-temporal SWOT satellite altimetry data to obtain fusion elevation information, and the hydro-fluctuation belt terrain is constructed based on the fusion elevation information. The method is particularly suitable for natural lakes and artificial reservoirs with interannual atrophy or large seasonal change, and the lake hydro-fluctuation belt terrain constructed based on the method can support large-area long-time-sequence lake water level and water quantity change monitoring.

The utility model relates to the technical field of construction steel bar strength detection, in particular to construction steel bar strength detection equipment. According to the technical scheme, the construction steel bar strength detection equipment comprises a steel bar strength stretching assembly and further comprises a steel bar clamping assembly; reinforcing steel bar clamping assemblies are arranged at the front end and the rear end of the reinforcing steel bar strength stretching assembly; the steel bar strength stretching assembly comprises a lifting table, a lifting air cylinder, a steel bar stretching wheel, a worm gear transmission shaft, a threaded rod, a worm gear rod, a laser altimeter, a scale needle and a height graduated scale. The reinforcing steel bar clamping assembly comprises a support and a reinforcing steel bar clamping jaw. According to the utility model, the worm gear rod drives the two groups of worm gear transmission shafts to simultaneously drive the threaded rod to rotate so as to realize the lifting function of the lifting platform, and the laser altimeter and the marking of the height scale and the scale needle are matched to realize the accurate measurement function of the tensile test of the reinforcing steel bar.

The application discloses a kind of remote sensing satellite laser height point geometric precision quantitative evaluation methods, comprising: quantitative evaluation satellite laser height point geometric positioning error caused by attitude measurement data error in satellite laser altimetry process;Quantitative evaluation satellite laser height point geometric positioning error caused by orbit measurement data error;Quantitative evaluation satellite laser height point geometric positioning error caused by laser altimetry time, attitude measurement time, orbit measurement time and other time errors;Quantitative evaluation satellite laser height point geometric positioning error caused by laser pointing angle error;Comprehensive evaluation the overall influence of satellite laser height point geometric positioning precision by various errors in satellite laser altimetry process.The method of the application is simple to operate, and the cost is very low, which can be used for quantitative evaluation of satellite laser height point geometric precision in any area and any time period, and has great practicality advantage.

The invention discloses a fusion shallow sea water depth inversion method based on a Fourier hybrid neural sounding network, and the method comprises the following steps: carrying out the preprocessing of high-resolution remote sensing satellite multispectral data, including radiometric calibration, atmospheric correction and ortho-rectification; performing photon de-noising processing on ICESat-2 single-photon laser altimetry data by adopting a self-adaptive elevation difference threshold method, extracting a single-photon laser water depth point, and iteratively optimizing a noise elimination threshold value based on an exponential attenuation model by adopting the self-adaptive elevation difference threshold method; taking the single-photon laser water depth point as a reference true value, constructing a Fourier hybrid neural sounding network in combination with the multispectral data, and outputting a predicted water depth value; and training the Fourier hybrid neural sounding network by adopting the reference truth value to obtain a trained water depth inversion model. According to the method, the problem that the fusion precision is limited due to the fact that spatial heterogeneity is ignored in a traditional method is solved, and an effective technical means is provided for ocean terrain detection and resource environment monitoring.

This invention relates to a method, apparatus, and medium for analyzing elevation errors in satellite laser altimeter foothold positioning, belonging to the field of satellite surveying technology. The method includes acquiring sensor data from satellite sensors and discrete full-waveform data of laser light transmitted by a satellite laser altimeter; establishing a satellite laser ranging error model and determining influencing error factors, including laser ranging error; inputting the discrete full-waveform data into the satellite laser ranging error model to obtain the laser ranging error value; and obtaining a comprehensive elevation error value for satellite laser foothold positioning based on the sensor data and the laser ranging error value. This invention can calculate the laser ranging error value through the satellite laser ranging error model, thereby obtaining the comprehensive elevation error value for satellite laser foothold positioning from the laser ranging error value and data detected by other sensors, without requiring input of terrain parameters within the laser footprint, thus improving the usability of the model.

The application discloses a large lake water level time series encryption method based on multi-track satellite foot point fusion. Multi-track laser altimetry satellite foot point data located in a lake to be measured is extracted, and lake water level elevation values of all foot points are calculated based on a unified geodetic datum elevation coordinate system to obtain daily observation water levels of the multi-track. The track with the most observation times of each lake to be measured is taken as a reference track, and the remaining tracks are taken as correction tracks, offset between the reference track and the correction tracks is calculated, the correction track is translated and corrected, and multi-track fusion is realized. The water level time series after multi-track correction and fusion is optimized through a filtering method to obtain a dense lake water level time series after multi-track fusion. The method does not depend on measured water level data, can be popularized to lakes covered by multi-track altimetry satellites all over the world, and has important application significance for management and protection of lake water resources.

The utility model relates to a constructional engineering design height measuring device, and relates to the field of constructional engineering data measuring equipment.The constructional engineering design height measuring device comprises a laser altimeter and a clamping frame, the clamping frame is detachably connected to the laser altimeter, the clamping frame is provided with two holding rods, the holding rods are arranged on the two sides of the laser altimeter respectively, and the length directions of the holding rods coincide with each other; the length direction of the holding rod is perpendicular to the laser direction of the laser altimeter. The laser altimeter has the effect of improving the measurement precision of the laser altimeter.

This invention discloses an automatic method and system for generating 3D white models of buildings based on multi-source satellites. The method includes: acquiring dual-line array stereo image data and laser altimetry data of a target area to form a stereo observation dataset; fusing the processed dual-line array stereo image data and laser altimetry data; automatically identifying and finely extracting the roof outline of each building within the target area and outputting it as vector polygon data; extracting the vector outline of each building and performing spatial analysis on the digital surface model; and using the difference between its corresponding top elevation and bottom elevation as the building height to form a 3D white model dataset of buildings in the target area. This method achieves automated, high-precision, and robust extraction of building outlines and heights, automatically generating structurally complete and semantically rich city-level 3D white models, and enabling rapid, accurate, and large-scale acquisition of large-scale urban 3D information.

This application relates to the field of hydrological monitoring and water resources analysis technology, and discloses a quantitative analysis method for the driving mechanism of lake water level evolution. This method first acquires multi-source remote sensing data to construct a standardized dataset, and then uses laser altimetry and optical area co-assimilation technology to reconstruct a continuous monthly water level time series including the freezing period. The BFAST algorithm is used to detect structural abrupt changes and divide the evolution stages. A partial least squares structural equation model is constructed to solve the long-term driving weights of multiple hydrological and meteorological factors. Based on anomaly data of terrestrial water storage, ST-DBSCAN spatiotemporal clustering is performed to quantify the intensity of extreme hydrological events. Combined with precipitation lag response parameters, the contribution rate of each driving factor is comprehensively calculated. This invention solves the problems of missing data on the freezing period of high-latitude lakes and multivariate complex collinearity interference, achieving accurate quantitative analysis of the long-term evolution trend of lake water levels and the mechanism of extreme climate disturbances.

The invention discloses an intelligent detection mechanism of automatic packaging equipment, and relates to the technical field of packaging equipment. The packaging device specifically comprises a bearing table plate, a motor mounting base is fixedly mounted on one side of the bearing table plate, a servo motor is fixedly mounted at the top end of the motor mounting base, and a packaging matching groove is formed in the other side of the bearing table plate; a plurality of pairs of mounting base plates are arranged at equal intervals, and a mounting rotating shaft is rotationally mounted between each pair of mounting base plates. According to the invention, through collaborative design of the laser range finder and the laser altimeter, high-precision real-time detection of the outer diameter, the thickness and the width of the annular workpiece is realized; the laser range finder quickly calculates the outer diameter by using the geometrical relationship; the three-section measurement data of the laser altimeter are combined with the moving track speed to accurately obtain the thickness and width parameters; the detection data is processed by the industrial computer in real time, and a reliable basis is provided for subsequent packaging; according to the device, data measurement is automatically performed on the annular workpiece, manual parameter input is not needed, and the automation performance of the whole device is improved.

The application discloses a building collapse evaluation method based on stereoscopic images and laser height measurement data, adopts a coarse-to-fine matching method to match a plurality of stereoscopic images before and after an earthquake and construct a connection point error equation, simultaneously matches internal laser height measurement data and stereoscopic images to realize extraction of laser points and construction of an internal laser point error equation, matches external laser height measurement data and stereoscopic images to construct an external laser point error equation, and finally forms a adjustment model; the adjustment model is solved, regional network adjustment is completed, and a compensation coefficient corresponding to each stereoscopic image is obtained; a post-adjustment rational function imaging model corresponding to each stereoscopic image is obtained; corner points of a building are automatically measured, image coordinates corresponding to each corner point are obtained, the image coordinates are input into the post-adjustment rational function imaging model of the stereoscopic image, height changes of the building are calculated, and evaluation of a collapse degree of the building is realized.

The present invention relates to a method and device for determining a high-precision positioning footpoint using satellite laser altimeter, and belongs to the technical field of satellite surveying and mapping. The method comprises acquiring discrete full waveform data of each laser point sent by a satellite laser altimeter, establishing a satellite laser altimeter footpoint positioning elevation error comprehensive model; performing regional segmentation on the fitting results of the discrete full waveform data to obtain the original waveform signal-to-noise ratio and waveform fitting residual of each laser point; screening the laser points according to parameters such as the original waveform signal-to-noise ratio and the waveform fitting residual to obtain a target laser point; inputting the fitting results of the discrete full waveform data of the target laser point into the satellite laser altimeter footpoint positioning elevation error comprehensive model to obtain an elevation error; judging and grading the target laser point according to the elevation error to obtain a high-precision positioning footpoint; thereby, the laser points can be screened and graded without requiring precise terrain parameters within a Gaofen-7 laser footprint, and the high-precision positioning footpoint can be extracted.

The application relates to a footprint positioning method and system for a full waveform spaceborne laser altimetry system. In the method, firstly, a transmission waveform, reference terrain data, an original footprint sequence and a received waveform are collected; a simulation waveform is generated based on the transmission waveform and the reference terrain data, and a waveform similarity heat map is created by using a Pearson correlation coefficient based on the received waveform and the simulation waveform; secondly, a profile matching error map is generated by using a root mean square error based on the original footprint sequence and the reference terrain data; then, matching probabilities of the waveform similarity heat map and the profile matching error map are calculated respectively, a posterior probability is calculated by using a Bayesian theory based on the two matching probabilities, a fusion probability map is generated, and a maximum posterior estimation in the fusion probability map is taken as an optimal offset; finally, the original footprint sequence is corrected by using the optimal offset, so that the footprint positioning is completed. Compared with the prior art, the application has the advantages of improved positioning accuracy and robustness.

This invention belongs to the technical field of remote sensing image processing and discloses a method and system for uncontrolled joint positioning of multi-source optical-laser-SAR data. This method uses satellite-borne laser altimetry data as an elevation control constraint to improve the elevation positioning accuracy of optical stereo image pairs, providing a high-precision elevation benchmark for SAR satellite imagery. It also uses SAR satellite imagery as a planar constraint to improve the planar positioning accuracy of optical stereo image pairs, achieving high-precision joint positioning of satellite-borne optical-laser-SAR multi-source remote sensing data without ground control, and improving the geometric positioning accuracy of optical satellite remote sensing imagery without ground control.

The application relates to an on-orbit calibration method of a satellite-borne laser altimeter combined with single-peak and multi-peak footprints, which comprises the following steps: using waveform matching to obtain the reference position of the multi-peak footprint, iteratively calculating the footprint position of the single-peak according to reference terrain data, and proposing a calculation model for jointly calculating calibration parameters by using single-peak and multi-peak footprint data, so that the ranging calibration parameter is calculated by using single-peak footprint data, and the pointing angle calibration parameter is calculated by using multi-peak footprint data; finally, the calibration precision is improved by using multi-orbit joint calibration. Compared with the prior art, the algorithm and the model can effectively calibrate the ranging and angle measurement system errors of the satellite-borne laser altimeter.