This invention belongs to the field of
lidar detection and provides a dynamic
underwater target localization method based on
lidar. The main steps include: S1: The
lidar simultaneously emits a blue-green beam and multiple near-
infrared beams surrounding the blue-green beam; S2: Obtaining the pointing angles of the multiple near-
infrared beams and the blue-green beam emitted by the lidar, and multiple water
surface distance signals received by the lidar from the near-
infrared beams returning via the water surface; S3: Calculating the normal vector of the
wavefront cell where the blue-green beam intersects with the air-water interface, and determining the position of this intersection point; S4: Calculating the angle of
refraction of the blue-green beam through the water surface; S5: Obtaining the three-dimensional coordinates of the
underwater target. This invention captures dynamic water
surface reflection characteristics using near-infrared beams, accurately obtains
wavefront position and angle information, and simultaneously emits blue-green beams for dynamic
underwater target detection, thereby achieving high-precision localization of underwater targets.