CN106556824B - A kind of the noise echo elimination method and system of all-wave graphic data - Google Patents
A kind of the noise echo elimination method and system of all-wave graphic data Download PDFInfo
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- CN106556824B CN106556824B CN201610900186.5A CN201610900186A CN106556824B CN 106556824 B CN106556824 B CN 106556824B CN 201610900186 A CN201610900186 A CN 201610900186A CN 106556824 B CN106556824 B CN 106556824B
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- 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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/487—Extracting wanted echo signals, e.g. pulse detection
- G01S7/4876—Extracting wanted echo signals, e.g. pulse detection by removing unwanted signals
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- 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
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Abstract
The invention discloses a kind of noise echo elimination method of all-wave graphic data and systems, the method is by using Richardson-Lucy Deconvolution Method algorithm process laser all-wave graphic data, obtain candidate echo, then successively the candidate echo is screened as screening criteria using echo strength size, Echo width size, echo strength-depth of water physical relation and spatial continuity, effective cancelling noise echo, the accurate water surface and water-bed echo position are obtained, ensure that high-precision laser water-depth measurement.
Description
Technical field
The present invention relates to ocean base surveying technical fields more particularly to a kind of noise echo of all-wave graphic data to pick
Except method and system.
Background technique
The acquisition of sea-floor relief is one of the core realm of ocean base surveying, and economic construction, maritime rights and interests are tieed up
Shield, national defence and Scientific Construction have great importance.Airborne laser sounding technology is a kind of advanced sea-floor relief detection system,
It is one of currently the most important ones marine charting technology.It has high-precision, high-resolution, it is flexible, rapidly and efficiently and entirely cover
The depth measurement feature of lid.Airborne laser sounding system contains the equipment such as GPS, IMU, laser scanner and digital camera, is a kind of
Active remote sensing technology.Laser scanner emits high-frequency pulse bluish-green laser and penetrates into water, is received by analysis anti-
Optical signal is penetrated, to obtain high-resolution underwater information.
However, water body overflows attenuation coefficient, noise level, the depth of water and water-bed ground during calculating the depth of water using echo
The factors such as face reflection coefficient have large effect to the calculated result of the depth of water.Especially in echo-signal detection process, lead to
It can often find that the signal reflected from the echo-signal and noise of underwater reflection is closely similar, it is difficult to screen, so as to cause laser
Water-depth measurement result inaccuracy.
Therefore, the existing technology needs to be improved and developed.
Summary of the invention
In view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a kind of noise echoes of all-wave graphic data to pick
Except method and system, it is intended to during solving the existing echo calculating depth of water, due to the echo-signal from underwater reflection and make an uproar
The signal that sound is reflected is closely similar, it is difficult to screen, so as to cause the problem of laser depth of water measurement result inaccuracy.
Technical scheme is as follows：
A kind of noise echo elimination method of all-wave graphic data, wherein including step：
A, all-wave graphic data is handled by Richardson-Lucy iteration Deconvolution Algorithm Based on Frequency, obtains target response function；
B, peak detection is carried out to the target response function, extracts peak value as candidate echo, and by the peak value
The location point and intensity of location point and intensity as candidate echo；
C, first time filtering is carried out to the candidate echo using echo strength as screening criteria, obtains once filtering back
Wave；
D, second is carried out to the primary filtering echo using echo pulsewidth as screening criteria to filter, obtain secondary filter
Echo；
E, the standard deviation of exponential function fitting and digital simulation result is carried out to echo strength and depth of water relationship scatter plot,
Third time filtering is carried out to the secondary filter echo using the standard deviation as screening criteria, is filtered echo three times；
F, the 4th filtering is carried out to the echo of filtering three times using spatial continuity as screening criteria, obtains rejecting and makes an uproar
Final depth measurement echo after sound echo.
Preferably, the noise echo elimination method of the all-wave graphic data, wherein in the step A
Richardson-Lucy iteration Deconvolution Algorithm Based on Frequency formula is：Wherein,It is the target response function that i-th iteration is estimated in the process,It is the transmitting laser pulse function of flipped form,
WRIt (t) is received laser waveform data, WTIt (t) is transmitting laser pulse function,It is convolution algorithm symbol.
Preferably, the noise echo elimination method of the all-wave graphic data, wherein the step C is specifically included：
The average strength of 100 location points is described average as average noise after C1, the statistics all-wave graphic data
The calculation formula of noise figure is：Wherein, N is to receive Wave data WRMiddle discrete data point
Number；
C2, the echo that intensity in candidate echo is lower than twice of average noise is deleted, obtains once filtering echo.
Preferably, the noise echo elimination method of the all-wave graphic data, wherein the step D is specifically included：
D1, the pulsewidth for calculating each echo in primary filtering echo will once filter pulsewidth in echo and be lower than transmitted wave arteries and veins
Wide echo is deleted, and secondary filter echo is obtained.
Preferably, the noise echo elimination method of the all-wave graphic data, wherein the step E is specifically included：
E1, scatter plot is drawn according to the echo strength and depth of water relation formula, the echo strength and depth of water relationship are public
Formula is：Wherein, WbFor water-bed echo strength, PTIt is Laser emission energy, γ is
The attenuation coefficient of the factors such as comprehensive atmosphere, laser optical receiving area, ρ is water surface albedo, RbIt is that water-bed albedo, k are
Water body overflows attenuation coefficient, θ is laser light incident angle, θwIt is refraction angle after laser enters water body, F is that energy caused by field angle declines
Subtract, n is refractive index, H be aircraft altitude, Z is the depth of water；
E2, exponential function fitting, and the standard deviation of digital simulation result, the fitting result are carried out to the scatter plot
Standard deviation calculation formula be：Wherein, M is scatterplot number, WbiIt is returned for i-th point of reality
Intensity of wave,For i-th of fitting echo strength；
E3, the echo for being greater than twice of standard deviation in the secondary filter echo is deleted, is filtered back three times
Wave.
Preferably, the noise echo elimination method of the all-wave graphic data, wherein the step F is specifically included：
F1, screening is carried out to each location point filtered in echo three times, using the depth of space quadratic function screening point
Value carries out spatial fit, and the spatial fit formula is：D (x, y)=a1x2+a2y2+a3xy+a3x+a4y+a5, wherein D (x, y)
For the fitting depth value at position (x, y), a1、a2、a3、a4、a5For quadratic polynomial coefficient；
F2, the standard deviation for further calculating fitting result, formula are：Wherein, K is sieve
Make an inventory of number, DiFor i-th of screening point actual depth,It is fitted depth for i-th of screening point,It is sieved for i-th
The regression criterion made an inventory of；
F3, it deletes and filters the echo that regression criterion in echo is greater than twice of standard deviation three times, obtain final depth measurement echo.
A kind of noise echo eliminating system of all-wave graphic data, wherein including：
Target response function obtains module, for handling Full wave shape by Richardson-Lucy iteration Deconvolution Algorithm Based on Frequency
Data obtain target response function；
Candidate echo obtains module, for carrying out peak detection to the target response function, extracts peak value as candidate
Echo, and using the location point of the peak value and intensity as the location point and intensity of candidate echo；
First time filtering module, for carrying out first time mistake to the candidate echo using echo strength as screening criteria
Filter, obtains once filtering echo；
Second of filtering module, for being carried out second using echo pulsewidth as screening criteria to the primary filtering echo
Filtering, obtains secondary filter echo；
Third time filtering module, it is quasi- for carrying out the quasi- joint account of exponential function to echo strength and depth of water relationship scatter plot
The standard deviation for closing result carries out third time filtering to the secondary filter echo using the standard deviation as screening criteria,
Echo is filtered three times；
4th filtering module, for carrying out the 4th to the echo of filtering three times using spatial continuity as screening criteria
Secondary filtering, the final depth measurement echo after obtaining cancelling noise echo.
Preferably, the noise echo eliminating system of the all-wave graphic data, wherein the first time filtering module is specific
Including：
Average noise computing unit, the average strength for counting 100 location points after the all-wave graphic data are made
Calculation formula for average noise, the average noise is：Wherein, N is received wave
Graphic data WRThe number of middle discrete data point；
Unit is deleted for the first time, and the echo for being lower than twice of average noise for deleting intensity in candidate echo obtains one
Secondary filtering echo.
Preferably, the noise echo eliminating system of the all-wave graphic data, wherein the third time filtering module is specific
Including：
Scatter plot drawing unit, for drawing scatter plot, the echo according to the echo strength and depth of water relation formula
Intensity is with depth of water relation formula：Wherein, WbFor water-bed echo strength, PTIt is
Laser emission energy, γ are the attenuation coefficients of the factors such as comprehensive atmosphere, laser optical receiving area, and ρ is water surface albedo, Rb
It is water-bed albedo, k is that water body overflows attenuation coefficient, θ is laser light incident angle, θwIt is refraction angle after laser enters water body, F is view
It is aircraft altitude, Z is the depth of water that energy attenuation caused by rink corner, n, which are refractive index, H,；
Exponential function fitting unit, for carrying out exponential function fitting, and the mark of digital simulation result to the scatter plot
The standard deviation calculation formula of quasi- deviation, the fitting result is：Wherein, M is scatterplot number
Mesh, WbiFor i-th actual ghosts intensity,For i-th of fitting echo strength；
Third time deletes unit, for deleting the echo for being greater than twice of standard deviation in the secondary filter echo
It removes, is filtered echo three times.
Preferably, the noise echo eliminating system of the all-wave graphic data, wherein the 4th filtering module is specific
Including：
Spatial fit unit, for carrying out screening to each location point filtered in echo three times, using the secondary letter in space
The depth value that number sieve is made an inventory of carries out spatial fit, and the spatial fit formula is：D (x, y)=a1x2+a2y2+a3xy+a3x+a4y+
a5, wherein D (x, y) is the fitting depth value at position (x, y), a1、a2、a3、a4、a5For quadratic polynomial coefficient；
The standard deviation calculation unit of fitting result, for the standard deviation of digital simulation result, formula is：Wherein, K is screening point number, DiFor i-th of screening point actual depth,For i-th of screening point
Depth is fitted,For the regression criterion of i-th of screening point；
4th deletion unit, for deleting the echo for filtering regression criterion in echo three times and being greater than twice of standard deviation,
Obtain final depth measurement echo.
Beneficial effect：The present invention provides the noise echo elimination method and system of a kind of all-wave graphic data, and the method is logical
It crosses using Richardson-Lucy Deconvolution Method algorithm process laser all-wave graphic data, obtains candidate echo, then utilize back
Intensity of wave size, Echo width size, echo strength-depth of water physical relation and spatial continuity are successively right as screening criteria
Candidate's echo is screened, effective cancelling noise echo, is obtained the accurate water surface and water-bed echo position, be ensure that high-precision
The laser water-depth measurement of degree.
Detailed description of the invention
Fig. 1 is a kind of flow chart of the noise echo elimination method preferred embodiment of all-wave graphic data of the present invention.
Fig. 2 is the Full wave shape schematic diagram data that airborne laser equipment of the present invention measures.
Fig. 3 is the candidate echo position point and intensity schematic diagram that the present invention obtains.
Fig. 4 is that average noise level calculates schematic diagram in the present invention.
Fig. 5 is that pulsewidth calculates schematic diagram in the present invention.
Fig. 6 is echo strength-depth of water relationship scatter plot that the present invention is drawn.
Fig. 7 is a kind of structural framing figure of the noise echo eliminating system preferred embodiment of all-wave graphic data of the present invention.
Specific embodiment
The present invention provides the noise echo elimination method and system of a kind of all-wave graphic data, to make the purpose of the present invention, skill
Art scheme and effect are clearer, clear, referring to the drawings and give an actual example that the present invention is described in more detail.It should manage
Solution, the specific embodiments described herein are merely illustrative of the present invention, is not intended to limit the present invention.
Referring to Fig. 1, Fig. 1 is a kind of process of the noise echo elimination method preferred embodiment of all-wave graphic data of the present invention
Figure, as shown in the figure comprising：
A kind of noise echo elimination method of all-wave graphic data, wherein including step：
S100, all-wave graphic data is handled by Richardson-Lucy iteration Deconvolution Algorithm Based on Frequency, obtains target response letter
Number；
Specifically, when being measured using airborne laser sounding equipment to the depth of water, the data directly obtained are that laser is complete
Wave data, the convolution of laser pulse function and target response function in transmission process when the laser all-wave graphic data is transmitting
As a result, its formula is：Wherein WRIt (t) is received laser waveform data, WT(t) it is
Emitting laser pulse function, P (t) is target response function,For convolution algorithm symbol；
Further, since laser all-wave graphic data has measured to obtain, and target response function P (t) be it is unknown,
The present invention obtains target response function P (t) by Richardson-Lucy iteration Deconvolution Algorithm Based on Frequency processing all-wave graphic data,
Specifically, the formula is：Wherein,It is i-th iteration process
The target response function of middle estimation,It is the transmitting laser pulse function of flipped form, the present invention will be after i+1 time iteration
Obtained functionAs target response function.
S200, peak detection is carried out to the target response function, extracts peak value as candidate echo, and by the peak value
Location point and intensity as candidate echo of location point and intensity；
Specifically, as shown in Fig. 2, Fig. 2 is the laser Full wave shape schematic diagram data that airborne laser sounding equipment measures, to scheme
It for 2, is handled by Richardson-Lucy iteration Deconvolution Algorithm Based on Frequency laser all-wave graphic data described in Fig. 2, obtains mesh
Mark receptance function；Peak detection further is carried out to the target response function, extracts the peak value as candidate echo, and will
Location point and intensity of the location point and intensity of the peak value as candidate echo, as shown in figure 3, the asterisk in Fig. 3 marks generation
The location point of all candidate echoes of table, the ordinate in Fig. 3 indicate the intensity of all candidate echoes.
S300, first time filtering is carried out to the candidate echo using echo strength as screening criteria, is once filtered
Echo；
Specifically, as shown in figure 4, counting the average strength of 100 location points after the all-wave graphic data as average
The calculation formula of noise figure, the average noise is：Wherein, N is to receive Wave data
WRThe number of middle discrete data point；Preferably, the present invention can select the intensity of right quantity location point average according to the actual situation
Value is used as average noise；
Further, it after calculating average noise, then deletes intensity in candidate echo and is lower than twice of average noise
Echo obtains once filtering echo.
S400, second of filtering is carried out to the primary filtering echo using echo pulsewidth as screening criteria, obtained secondary
Filter echo；
Specifically, firstly, the pulsewidth of each echo in primary filtering echo is calculated, as shown in figure 5, the present invention will be greater than institute
Pulsewidth of the abscissa data area as the echo corresponding to the intensity of echo maximum intensity half is stated, for example, some is returned
The maximum intensity of wave is 12, then will be greater than abscissa data area, for example, 20-35 corresponding to 6 intensity, then institute in waveform
The pulsewidth for stating echo is 15；
Further, pulsewidth in primary filtering echo is deleted lower than the echo of transmitted wave pulsewidth, obtains secondary filter
Echo, the pwm value of the transmitted wave are fixed.
S500, the standard deviation that exponential function fitting and digital simulation result are carried out to echo strength and depth of water relationship scatter plot
Difference carries out third time filtering to the secondary filter echo using the standard deviation as screening criteria, is filtered back three times
Wave；
Specifically, according to laser optics mode, echo strength-depth of water physical relation is as follows：Wherein, WbFor water-bed echo strength, PTIt is Laser emission energy, γ is comprehensive
The attenuation coefficient of the factors such as atmosphere, laser optical receiving area, ρ are water surface albedo, RbIt is water-bed albedo, k is water body
Unrestrained attenuation coefficient, θ are laser light incident angle, θwIt is refraction angle after laser enters water body, F is energy attenuation caused by field angle, n
It is refractive index, H be aircraft altitude, Z is the depth of water；；
Further, differ larger with aircraft flight height H due to depth of water Z, the denominator π (nH+Z) in the formula2By water
Deep Z influences very small, above-mentioned formulaIt can simplify as Wb=ae-bZ, wherein
A, b is the coefficient of the exponential relationship, as can be seen that return laser beam intensity declines as exponential type is presented in the increase of the depth of water from formula
Subtract；
Further, select maximum intensity in secondary filter echo as water surface echo, after calculating the water surface echo
Intensity (the W of all residual echosb) and residual echo (Z) at a distance from water surface echo, and draw echo strength-depth of water relationship
Scatter plot, as shown in Figure 6；
Further, exponential function fitting is carried out to the echo strength-depth of water relationship scatter plot, obtains formula Wb=ae-bZ
In parameter a, b, and the standard deviation of digital simulation result, the standard deviation calculation formula of the fitting result are：Wherein, M is scatterplot number, WbiFor i-th actual ghosts intensity,It is fitted for i-th
Echo strength；
Further, the echo that twice of standard deviation is greater than in the secondary filter echo is deleted, is obtained three times
Filter echo.
S600, the 4th filtering is carried out to the echo of filtering three times using spatial continuity as screening criteria, is picked
Except the final depth measurement echo after noise echo.
Specifically, select to filter three times first maximum intensity in echo as water surface echo, with after water surface echo
One residual echo calculates at a distance from water surface echo as water-bed echo, generates preliminary depth map；
Then screening is carried out one by one to the location point filtered in echo three times, selection is all to 10 square meters near screening point
Point carries out spatial fit with depth value of the space quadratic function to selected point, and the spatial fit formula is：D (x, y)=
a1x2+a2y2+a3xy+a3x+a4y+a5, wherein D (x, y) is the fitting depth value at position (x, y), a1、a2、a3、a4、a5For
Quadratic polynomial coefficient；
The standard deviation of fitting result is further calculated, formula is：Wherein, K is screening point
Number, DiFor i-th of screening point actual depth,It is fitted depth for i-th of screening point,For i-th of screening point
Regression criterion；
The echo that regression criterion in echo is greater than twice of standard deviation is filtered three times finally, deleting, and is obtained final depth measurement and is returned
Wave.
Specifically, to all location points progress screenings in echo are filtered three times, if the regression criterion of location point is greater than two
Times standard deviation, then be deleted, while checking whether the corresponding echo of other positions point meets condition, in each location point
After screening is complete, then using the echo remained as final depth measurement echo.
Based on the above method, the present invention also provides a kind of noise echo eliminating systems of all-wave graphic data, as shown in fig. 7,
Wherein, including：
Target response function obtains module 100, for handling all-wave by Richardson-Lucy iteration Deconvolution Algorithm Based on Frequency
Graphic data obtains target response function；
Candidate echo obtains module 200, and for carrying out peak detection to the target response function, extraction peak value, which is used as, is waited
Echo is selected, and using the location point of the peak value and intensity as the location point and intensity of candidate echo；
First time filtering module 300, for being carried out for the first time using echo strength as screening criteria to the candidate echo
Filtering, obtains once filtering echo；
Second of filtering module 400, for using echo pulsewidth as screening criteria to the primary filtering echo progress the
Secondary filter obtains secondary filter echo；
Third time filtering module 500, by echo strength and depth of water relationship scatter plot are carried out exponential function fitting and based on
The standard deviation for calculating fitting result carries out third time mistake to the secondary filter echo using the standard deviation as screening criteria
Filter, is filtered echo three times；
4th filtering module 600, for being carried out using spatial continuity as screening criteria to the echo of filtering three times
4th filtering, the final depth measurement echo after obtaining cancelling noise echo.
Preferably, the noise echo eliminating system of the all-wave graphic data, wherein further include：
Richardson-Lucy iteration Deconvolution Algorithm Based on Frequency formula is：
Wherein,It is the target response function that i-th iteration is estimated in the process,It is the transmitting laser pulse of flipped form
Function, WRIt (t) is received laser waveform data, WTIt (t) is transmitting laser pulse function,It is convolution algorithm symbol.
Preferably, the noise echo eliminating system of the all-wave graphic data, wherein the first time filtering module 300
It specifically includes：
Average noise computing unit, the average strength for counting 100 location points after the all-wave graphic data are made
Calculation formula for average noise, the average noise is：Wherein, N is received wave
Graphic data WRThe number of middle discrete data point；
Unit is deleted for the first time, and the echo for being lower than twice of average noise for deleting intensity in candidate echo obtains one
Secondary filtering echo.
Preferably, the noise echo eliminating system of the all-wave graphic data, wherein second of filtering module is specific
400 include：
Echo width computing unit for calculating the pulsewidth of each echo in primary filtering echo, and will be filtered back once
Pulsewidth is deleted lower than the echo of transmitted wave pulsewidth in wave, obtains secondary filter echo.
Preferably, the noise echo eliminating system of the all-wave graphic data, wherein the third time filtering module 500
It specifically includes：
Scatter plot drawing unit, for drawing scatter plot, the echo according to the echo strength and depth of water relation formula
Intensity is with depth of water relation formula：Wherein, WbFor water-bed echo strength, PTIt is
Laser emission energy, γ are the attenuation coefficients of the factors such as comprehensive atmosphere, laser optical receiving area, and ρ is water surface albedo, Rb
It is water-bed albedo, k is that water body overflows attenuation coefficient, θ is laser light incident angle, θwIt is refraction angle after laser enters water body, F is view
It is aircraft altitude, Z is the depth of water that energy attenuation caused by rink corner, n, which are refractive index, H,；
Exponential function fitting unit, for carrying out exponential function fitting, and the mark of digital simulation result to the scatter plot
The standard deviation calculation formula of quasi- deviation, the fitting result is：Wherein, M is scatterplot number,
WbiFor i-th actual ghosts intensity,For i-th of fitting echo strength；
Third time deletes unit, for deleting the echo for being greater than twice of standard deviation in the secondary filter echo
It removes, is filtered echo three times.
Preferably, the noise echo eliminating system of the all-wave graphic data, wherein the 4th filtering module 600
It specifically includes：
Spatial fit unit, for carrying out screening to each location point filtered in echo three times, using the secondary letter in space
The depth value that number sieve is made an inventory of carries out spatial fit, and the spatial fit formula is：D (x, y)=a1x2+a2y2a3xy+a3x+a4y+
a5, wherein D (x, y) is the fitting depth value at position (x, y), a1、a2、a3、a4、a5For quadratic polynomial coefficient；
The standard deviation calculation unit of fitting result, for the standard deviation of digital simulation result, formula is：Wherein, K is screening point number, DiFor i-th of screening point actual depth,It is quasi- for i-th of screening point
Depth is closed,For the regression criterion of i-th of screening point；
4th deletion unit, for deleting the echo for filtering regression criterion in echo three times and being greater than twice of standard deviation,
Obtain final depth measurement echo.
In conclusion the present invention provides the noise echo elimination method and system of a kind of all-wave graphic data, the method is logical
It crosses using Richardson-Lucy Deconvolution Method algorithm process laser all-wave graphic data, obtains candidate echo, then utilize back
Intensity of wave size, Echo width size, echo strength-depth of water physical relation and spatial continuity are successively right as screening criteria
Candidate's echo is screened, effective cancelling noise echo, is obtained the accurate water surface and water-bed echo position, be ensure that high-precision
The laser water-depth measurement of degree.
It should be understood that the application of the present invention is not limited to the above for those of ordinary skills can
With improvement or transformation based on the above description, wanted for example, all these modifications and variations all should belong to right appended by the present invention
The protection scope asked.
Claims (10)
1. a kind of noise echo elimination method of all-wave graphic data, which is characterized in that including step：
A, all-wave graphic data is handled by Richardson-Lucy iteration Deconvolution Algorithm Based on Frequency, obtains target response function；
B, peak detection is carried out to the target response function, extracts the peak value as candidate echo, and by the peak value
The location point and intensity of location point and intensity as candidate echo；
C, first time filtering is carried out to the candidate echo using echo strength as screening criteria, obtains once filtering echo；
D, second is carried out to the primary filtering echo using echo pulsewidth as screening criteria to filter, obtain secondary filter and return
Wave；
E, the standard deviation of exponential function fitting and digital simulation result is carried out, to echo strength and depth of water relationship scatter plot with institute
Standard deviation is stated as screening criteria, third time filtering is carried out to the secondary filter echo, is filtered echo three times；
F, the 4th filtering is carried out to the echo of filtering three times using spatial continuity as screening criteria, obtains cancelling noise and returns
Final depth measurement echo after wave.
2. the noise echo elimination method of all-wave graphic data according to claim 1, which is characterized in that in the step A
Richardson-Lucy iteration Deconvolution Algorithm Based on Frequency formula be：Wherein,It is the target response function that i-th iteration is estimated in the process,It is the transmitting laser pulse function of flipped form, WR
It (t) is received laser waveform data, WTIt (t) is transmitting laser pulse function,It is convolution algorithm symbol.
3. the noise echo elimination method of all-wave graphic data according to claim 1, which is characterized in that the step C tool
Body includes：
The average strength of 100 location points is as average noise, the average noise after C1, the statistics all-wave graphic data
The calculation formula of value is：Wherein, N is to receive Wave data WRThe number of middle discrete data point
Mesh；
C2, the echo that intensity in candidate echo is lower than twice of average noise is deleted, obtains once filtering echo.
4. the noise echo elimination method of all-wave graphic data according to claim 1, which is characterized in that the step D tool
Body includes：
D1, the pulsewidth for calculating each echo in primary filtering echo, by pulsewidth in primary filtering echo lower than transmitted wave pulsewidth
Echo is deleted, and secondary filter echo is obtained.
5. the noise echo elimination method of all-wave graphic data according to claim 1, which is characterized in that the step E tool
Body includes：
E1, scatter plot is drawn according to the echo strength and depth of water relation formula, the echo strength is with depth of water relation formula：Wherein, WbFor water-bed echo strength, PTIt is Laser emission energy, γ is comprehensive atmosphere, laser
The attenuation coefficient of device optics receiving area, ρ are water surface albedo, RbIt is water-bed albedo, k is that water body overflows attenuation coefficient, θ is sharp
Angle of light, θwIt is refraction angle after laser enters water body, F be energy attenuation caused by field angle, n be refractive index, H is aircraft
Highly, Z is the depth of water；
E2, exponential function fitting, and the standard deviation of digital simulation result, the mark of the fitting result are carried out to the scatter plot
Quasi- deviation calculation formula is：Wherein, M is scatterplot number, WbiIt is strong for i-th actual ghosts
Degree,For i-th of fitting echo strength；
E3, the echo for being greater than twice of standard deviation in the secondary filter echo is deleted, is filtered echo three times.
6. the noise echo elimination method of all-wave graphic data according to claim 1, which is characterized in that the step F tool
Body includes：
F1, to three times filter echo in each location point carry out screening, using space quadratic function screening point depth value into
Row spatial fit, the spatial fit formula are：D (x, y)=a1x2+a2y2+a3xy+a3x+a4y+a5, wherein D (x, y) be
Fitting depth value at position (x, y), a1、a2、a3、a4、a5For quadratic polynomial coefficient；
F2, the standard deviation for further calculating fitting result, formula are：Wherein, K is screening points
Mesh, DiFor i-th of screening point actual depth,It is fitted depth for i-th of screening point,For the fitting of i-th of screening point
Residual error；
F3, it deletes and filters the echo that regression criterion in echo is greater than twice of standard deviation three times, obtain final depth measurement echo.
7. a kind of noise echo eliminating system of all-wave graphic data, which is characterized in that including：
Target response function obtains module, for handling all-wave graphic data by Richardson-Lucy iteration Deconvolution Algorithm Based on Frequency,
Obtain target response function；
Candidate echo obtains module, for carrying out peak detection to the target response function, extracts the peak value as candidate
Echo, and using the location point of the peak value and intensity as the location point and intensity of candidate echo；
First time filtering module is obtained for carrying out first time filtering to the candidate echo using echo strength as screening criteria
To primary filtering echo；
Second of filtering module, for carrying out second of mistake to the primary filtering echo using echo pulsewidth as screening criteria
Filter, obtains secondary filter echo；
Third time filtering module, for carrying out exponential function fitting and digital simulation knot to echo strength and depth of water relationship scatter plot
The standard deviation of fruit carries out third time filtering to the secondary filter echo using the standard deviation as screening criteria, obtains
Echo is filtered three times；
4th filtering module, for carrying out the 4th mistake to the echo of filtering three times using spatial continuity as screening criteria
Filter, the final depth measurement echo after obtaining cancelling noise echo.
8. the noise echo eliminating system of all-wave graphic data according to claim 7, which is characterized in that the first time mistake
Filter module specifically includes：
Average noise computing unit, for counting the average strength of 100 location points after the all-wave graphic data as flat
The calculation formula of equal noise figure, the average noise is：Wherein, N is received wave figurate number
According to WRThe number of middle discrete data point；
Unit is deleted for the first time, and the echo for being lower than twice of average noise for deleting intensity in candidate echo obtains once mistake
Filter echo.
9. the noise echo eliminating system of all-wave graphic data according to claim 7, which is characterized in that the third time mistake
Filter module specifically includes：
Scatter plot drawing unit, for drawing scatter plot, the echo strength according to the echo strength and depth of water relation formula
It is with depth of water relation formula：Wherein, WbFor water-bed echo strength, PTIt is Laser emission energy,
γ is the attenuation coefficient of comprehensive atmosphere, laser optical receiving area, and ρ is water surface albedo, RbIt is water-bed albedo, k is water
Body overflows attenuation coefficient, θ is laser light incident angle, θwIt is refraction angle after laser enters water body, F is that energy caused by field angle declines
Subtract, n is refractive index, H be aircraft altitude, Z is the depth of water；
Exponential function fitting unit, for carrying out exponential function fitting, and the standard deviation of digital simulation result to the scatter plot
The standard deviation calculation formula of difference, the fitting result is：Wherein, M is scatterplot number, WbiFor
I-th actual ghosts intensity,For i-th of fitting echo strength；
Third time deletes unit, for deleting the echo for being greater than twice of standard deviation in the secondary filter echo, obtains
To filtering echo three times.
10. the noise echo eliminating system of all-wave graphic data according to claim 7, which is characterized in that described 4th time
Filtering module specifically includes：
Spatial fit unit is sieved for carrying out screening to each location point filtered in echo three times using space quadratic function
The depth value made an inventory of carries out spatial fit, and the spatial fit formula is：D (x, y)=a1x2+a2y2+a3xy+a3x+a4y+a5,
In, D (x, y) is the fitting depth value at position (x, y), a1、a2、a3、a4、a5For quadratic polynomial coefficient；
The standard deviation calculation unit of fitting result, for the standard deviation of digital simulation result, formula is：Wherein, K is screening point number, DiFor i-th of screening point actual depth,It is quasi- for i-th of screening point
Depth is closed,For the regression criterion of i-th of screening point；
4th deletion unit is obtained for deleting the echo for filtering regression criterion in echo three times and being greater than twice of standard deviation
Final depth measurement echo.
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