CN109827906B - Inversion method of laser radar slope visibility - Google Patents
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Abstract
The invention discloses an inversion method of laser radar slant range visibility, which comprises the following specific steps: 1) the laser radar detection inversion is utilized to obtain the profiles of the atmospheric aerosol optical parameters, the micro physical parameters and the atmospheric scattering characteristics on the inclined path under different wavelengths, and real-time and accurate atmospheric input parameters are provided for the solution of an atmospheric radiation transmission equation; 2) inputting the obtained atmospheric input parameters into SBDART calculation software to obtain the atmospheric column luminous brightness on the inclined path; 3) establishing a functional relation between a contrast transmission coefficient and the optical thickness of the inclined path by utilizing the luminous brightness of the atmosphere column on the inclined path; 4) determining an intrinsic contrast of the target and the background; 5) accurately solving the distribution of the visibility in the inclined path at different heights by using a numerical method and the inherent contrast of a target object and a background by using a functional relation between a contrast transmission coefficient and the optical thickness in the inclined path, and determining the visibility value in the inclined path of the atmosphere; the problem of the visual distance measuring result of oblique journey is inaccurate daytime among the prior art is solved.
Description
Technical Field
The invention belongs to the technical field of laser radar atmospheric detection and the technical field of space target detection application, and relates to a method for inverting the visibility of a laser radar in a slant range.
Background
The laser radar is used as an active remote sensing detection technology and tool which take light waves as an excitation source and atmospheric molecules and aerosol particles as media, has unique advantages in the aspects of height, spatial resolution, continuous monitoring on time, measurement accuracy and the like of remote sensing detection, and is widely applied to 1) detection of atmospheric humidity, air pressure and temperature; 2) detecting atmospheric optical parameters; 3) detection of aerosol and smoke plume; 4) detecting the concentration and distribution of atmospheric gas components; 5) detection of atmospheric wind and turbulence.
Visibility forecasting plays an extremely important role in the fields of weather analysis, aviation and navigation, land transportation, astronomical observation and the like. Generally referred to as visibility, generally horizontal visibility, and actually involved in the field of spatial object detection is the problem of oblique visibility. In particular, visibility is the most common and important meteorological element affecting air traffic. Visibility in a diagonal path, i.e., diagonal visibility, is often of greater concern in aircraft takeoff and landing issues.
In the existing measurement of the visibility in the inclined distance, the visibility in the inclined distance is generally calculated by adopting a Koschieder (Koschmieder) empirical formula, and the average visibility in the inclined distance is obtained by utilizing the average value of extinction coefficients of all points on the inclined distance. In daytime oblique distance observation, the atmospheric extinction coefficients are non-uniformly distributed, and if the atmospheric column brightness influence in a line-of-sight path is ignored, the obtained result causes that the solved visibility and the contrast threshold value do not have a definite relation, so that the oblique distance visible distance measurement result is very inaccurate
Disclosure of Invention
The invention aims to provide an inversion method of the visibility of a laser radar in a diagonal range, and solves the problem that the measurement result of the visible distance of the laser radar in the diagonal range in the daytime is inaccurate in the prior art.
The technical scheme adopted by the invention is that the inversion method of the laser radar slope visibility is implemented according to the following steps:
step 1, obtaining an atmospheric aerosol extinction coefficient profile, distribution of an atmospheric aerosol backscattering coefficient profile on a height z, atmospheric aerosol particle spectrum distribution and a profile of atmospheric scattering characteristics on a slant path under different wavelengths by utilizing laser radar detection and inversion;
step 2, calculating the atmospheric column brightness on the inclined path according to the atmospheric aerosol extinction coefficient profile on the inclined path under different wavelengths, the distribution of the atmospheric aerosol backscattering coefficient profile on the height z, the atmospheric aerosol particle spectrum distribution and the profile of the atmospheric scattering characteristic;
step 3, establishing a functional relation between a contrast transmission coefficient and the diagonal optical thickness according to the atmospheric column brightness on the diagonal path; determining the inherent contrast C of the target object and the background according to the Lambert surface assumption condition0；
Step 4, utilizing the functional relation between the contrast transmission coefficient and the oblique distance optical thickness and the inherent contrast C of the target object and the background0And accurately solving the distribution of the visibility V in the inclined path at different heights by a numerical method, and determining the visibility value in the inclined path of the atmosphere.
The invention is also characterized in that:
the step 1 is implemented according to the following steps:
step 1.1, utilizing the intensity of a Raman scattering echo signal P1N (z) at the wavelength of 386nm, finely inverting an atmospheric aerosol extinction coefficient profile alpha A (lambda 1, z) at the wavelength of 355nm, and expressing as:
using the raman scattering echo signal intensity P2N (z) at a wavelength of 607nm, the atmospheric aerosol extinction coefficient profile aa (λ 3, z) at a wavelength of 532nm was finely inverted, expressed as:
wherein lambda 1 is 355nm, lambda 2 is 386nm, lambda 3 is 532nm, and lambda 4 is 607 nm; P1N is the Raman scattering echo signal intensity at 386nm, and P2N is the Raman scattering echo signal intensity at 607 nm; α M (λ 1, z) is the atmospheric molecular extinction coefficient at a wavelength of 355nm, α M (λ 2, z) is the atmospheric molecular extinction coefficient at a wavelength of 386nm, α M (λ 3, z) is the atmospheric molecular extinction coefficient at a wavelength of 532nm, α M (λ 4, z) is the atmospheric molecular extinction coefficient at a wavelength of 607 nm; z is the slant detection height and is a discrete point; n is a radical ofN(z) is the number density of atmospheric nitrogen molecules; (ii) a
Step 1.2, obtaining the distribution beta A (lambda 1, z) of the atmospheric aerosol backscattering coefficient profile at the position of 355nm on the height z by using the change of the atmospheric echo signal intensity of 355nm +386nm along with the height z, wherein the distribution beta A (lambda 1, z) is expressed as:
by utilizing the change of the 532nm +607nm atmospheric echo signal intensity along with the height z, the distribution beta A (lambda 3, z) of the atmospheric aerosol backscattering coefficient profile at 532nm on the height z is obtained, and is expressed as:
the distribution beta A (lambda 6, z) of the atmospheric aerosol backscattering coefficient profile at 1064nm on the height z is obtained by using the variation of the 853nm +1064nm atmospheric echo signal intensity along the height z, and is expressed as:
wherein P1M、P2MAnd P3MCorresponding to the signal intensity of the rayleigh scattering echo of 355nm, 532nm and 1064nm respectively; p3N(z) is nitrogen Raman scattering echo signals at different detection heights z under 853nm wavelength; beta is aNProviding a backscattering coefficient for atmospheric nitrogen molecules, a standard atmospheric model, z0To correct height, z0Take 10km, betaMIs the backscattering coefficient of atmospheric molecules, and can also be obtained by a standard atmospheric model, and the lambda 5 and the lambda 6 are 853nm and 1064nm respectively;
step 1.3, utilizing the extinction coefficient alpha of the atmospheric aerosol obtained in the step 1.1 and the step 1.2A(lambda) or backscattering coefficient betaA(lambda) as gp(λ), solving a first linear Fredholm (Fredholm) integral equation system to obtain the atmospheric aerosol particle spectral distribution, which is expressed as:
wherein r is the aerosol particle radius, λ is the wavelength of the incident laser, m is the complex refractive index, and n (r) is the particle number density spectrum function; gp(lambda) is the extinction coefficient alpha of the atmospheric aerosol obtained in step 1.1 and step 1.2A(lambda) or backscattering coefficient betaA(λ)，Qp(r, λ, m) is the extinction efficiency Q of the corresponding aerosol particlesext(r, λ, m) or backscattering efficiency Qsca(r,λ,m)；
Step 1.4, the profile of the atmospheric scattering characteristic comprises a scattering phase function P and a single scattering albedo
Calculating a scattering phase function P according to the parameters obtained in the step 1.1, the step 1.2 and the step 1.3 in the step 1, wherein a specific calculation formula is as follows:
calculating the single scattering albedo according to the parameters obtained in the step 1, the step 1.1, the step 1.2 and the step 1.3
The specific calculation formula is as follows:
where rmin and rmax are the particle radius ranges, p (λ, r, m, θ ') is the single particle scattering phase function, θ' is the scattering angle, and Csca is the scattering cross-section, derived from the backscattering efficiency Qsca.
The step 2 is implemented according to the following steps:
step 2.1, sequentially inputting the extinction coefficient profile alpha of the atmospheric aerosolA(lambda), aerosol single scattering albedo and scattering phase function, surface reflectivity to SBDART calculation software;
step 2.2, calculating to obtain the atmospheric column brightness D (delta) on the oblique path through a radiation transmission equation, wherein the calculation formula is as follows:
wherein, delta is the optical thickness of the slant range, theta is the zenith angle of the observer,
is the azimuth angle, δ 0 is the optical thickness of the whole atmosphere from the top of the atmosphere to the ground, δ0For a known value, μ is the cosine of the angle θ between the observation direction and the vertical direction, and J is a variable in the radiation transmission equation.
And 3, establishing a functional relation between the contrast transmission coefficient Y and the slant-path optical thickness delta, and expressing as follows:
in the formula LbAs background brightness, LbMeasured by a photometer, delta0The optical thickness of the whole atmosphere layer from the top of the atmosphere layer to the ground is a known value, and mu is the cosine of an included angle theta between the observation direction and the vertical direction;
in step 3, the inherent contrast C of the target object and the background is determined according to the Lambert surface assumption condition0The method comprises the following specific steps:
step 3.1, measuring the brightness L of the target object by a photometerOAnd background luminance Lb；
Step 3.2, according to the Lambert surface hypothesis condition, utilizing a relational expression:
obtaining the inherent contrast C of the target object and the background0。
Step 4 is specifically implemented according to the following formula:
different heights z correspond to different discrete grid points, and the optical thickness delta and the atmospheric column brightness D (delta) at the height can obtain V (delta) values at different heights, and the value of V (delta) is gradually reduced along with the increase of the detection height, so that when the detection height is gradually searched from the ground to the high altitude, and when V (delta) is as small as a specified contrast threshold value, the height is the solved atmospheric slope visibility value.
The defined contrast thresholds in step 4 were 0.02 and 0.05.
The invention has the beneficial effects that: the invention relates to a method for inverting the visibility of a laser radar in a slant range, which fully utilizes the slant range detection performance of the laser radar to obtain the detection and inversion of the optical characteristics, the micro physical parameters and the atmospheric scattering characteristics of atmospheric aerosol on a slant range path, and on the basis, solves the luminous condition of an atmospheric column on the slant range path by combining an atmospheric radiation transmission equation, establishes a novel physical model for detecting the visibility of the laser radar in the slant range and realizes the method for inverting the visibility of the laser radar in the slant range based on the fine detection of the aerosol.
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FIG. 1 is a flow chart of an inversion method of laser radar slope visibility.
Detailed Description
The present invention will be described in detail with reference to the following embodiments.
The invention discloses an inversion method of laser radar slope visibility, which specifically comprises the following steps as shown in figure 1:
step 1, obtaining an atmospheric aerosol extinction coefficient profile, distribution of an atmospheric aerosol backscattering coefficient profile on a height z, atmospheric aerosol particle spectrum distribution and a profile of atmospheric scattering characteristics on a slant path under different wavelengths by utilizing laser radar detection and inversion;
step 1.1, utilizing the intensity of a Raman scattering echo signal P1N (z) at the wavelength of 386nm, finely inverting an atmospheric aerosol extinction coefficient profile alpha A (lambda 1, z) at the wavelength of 355nm, and expressing as:
using the raman scattering echo signal intensity P2N (z) at a wavelength of 607nm, the atmospheric aerosol extinction coefficient profile aa (λ 3, z) at a wavelength of 532nm was finely inverted, expressed as:
wherein λ 1, λ 2, λ 3 and λ 4 correspond to 355nm, 386nm, 532nm and 607nm, respectively; P1N is the Raman scattering echo signal intensity at 386nm, and P2N is the Raman scattering echo signal intensity at 607 nm; α A (λ 1, z) is the extinction coefficient of the aerosol at a wavelength of 355nm, and α M (λ 1, z) is large at a wavelength of 355nmThe gas molecular extinction coefficient, wherein alpha M (lambda 2, z) is the atmospheric molecular extinction coefficient under 386nm wavelength, alpha M (lambda 3, z) is the atmospheric molecular extinction coefficient under 532nm wavelength, and alpha M (lambda 4, z) is the atmospheric molecular extinction coefficient under 607nm wavelength; z is the slant detection height and is a discrete point; n is a radical ofN(z) is the number density of atmospheric nitrogen molecules;
step 1.2, obtaining the distribution beta A (lambda 1, z) of the atmospheric aerosol backscattering coefficient profile at the position of 355nm on the height z by using the change of the atmospheric echo signal intensity of 355nm +386nm along with the height z, wherein the distribution beta A (lambda 1, z) is expressed as:
by utilizing the change of the 532nm +607nm atmospheric echo signal intensity along with the height z, the distribution beta A (lambda 3, z) of the atmospheric aerosol backscattering coefficient profile at 532nm on the height z is obtained, and is expressed as:
the distribution beta A (lambda 6, z) of the atmospheric aerosol backscattering coefficient profile at 1064nm on the height z is obtained by using the variation of the 853nm +1064nm atmospheric echo signal intensity along the height z, and is expressed as:
wherein P1M、P2MAnd P3MCorresponding to the signal intensity of the rayleigh scattering echo of 355nm, 532nm and 1064nm respectively; p3N(z) is nitrogen Raman scattering echo signals at different detection heights z under 853nm wavelength; beta is aNProviding a backscattering coefficient for atmospheric nitrogen molecules, a standard atmospheric model, z0To correct height, z0Take 10km, betaMIs the backscattering coefficient of atmospheric molecules, and can also be obtained by a standard atmospheric model, and the lambda 5 and the lambda 6 are 853nm and 1064nm respectively;
step 1.3, utilizing the above stepsExtinction coefficient alpha of atmospheric aerosol obtained in step 1.1 and step 1.2A(lambda) or backscattering coefficient betaA(lambda) as gp(λ), solving a first linear Fredholm (Fredholm) integral equation system to obtain the atmospheric aerosol particle spectral distribution, which is expressed as:
wherein r is the aerosol particle radius, λ is the wavelength of the incident laser, m is the complex refractive index, and n (r) is the particle number density spectrum function; gp(lambda) atmospheric aerosol extinction coefficient alpha determined in Steps 1.1 and 1.2A(lambda) or backscattering coefficient betaA(λ)，Qp(r, λ, m) is the extinction efficiency Q of the corresponding aerosol particlesext(r, λ, m) or backscattering efficiency Qsca(r,λ,m)；
Step 1.4, the profile of the atmospheric scattering characteristic comprises a scattering phase function P and a single scattering albedo
Calculating a scattering phase function P according to the parameters obtained in the step 1.1, the step 1.2 and the step 1.3 in the step 1, wherein a specific calculation formula is as follows:
calculating the single scattering albedo according to the parameters obtained in the step 1, the step 1.1, the step 1.2 and the step 1.3
The specific calculation formula is as follows:
where rmin and rmax are the particle radius ranges, p (λ, r, m, θ ') is the single particle scattering phase function, θ' is the scattering angle, and Csca is the scattering cross-section, derived from the backscattering efficiency Qsca.
Step 2, calculating the atmospheric column brightness on the inclined path according to the atmospheric aerosol extinction coefficient profile on the inclined path under different wavelengths, the distribution of the atmospheric aerosol backscattering coefficient profile on the height z, the atmospheric aerosol particle spectrum distribution and the profile of the atmospheric scattering characteristic;
step 2.1, sequentially inputting the extinction coefficient profile alpha of the atmospheric aerosolA(lambda), aerosol single scattering albedo and scattering phase function, surface reflectivity to SBDART calculation software;
step 2.2, calculating to obtain the atmospheric column brightness D (delta) on the oblique path through a radiation transmission equation, wherein the calculation formula is as follows:
wherein, delta is the optical thickness of the slant range, theta is the zenith angle of the observer,
is the azimuth angle, δ 0 is the optical thickness of the whole atmosphere from the top of the atmosphere to the ground, δ0For a known value, μ is the cosine of the angle θ between the observation direction and the vertical direction, and J is a variable in the radiation transmission equation.
Step 3, establishing a functional relation between a contrast transmission coefficient and the diagonal optical thickness according to the atmospheric column brightness on the diagonal path; determining the inherent contrast C of the target object and the background according to the Lambert surface assumption condition0；
Establishing a functional relationship between the contrast transmission coefficient Y and the optical thickness delta in a slope course, wherein the functional relationship is expressed as:
in the formula LbAs background brightness, LbMeasured by a photometer, delta0From the atmosphere to the groundThe optical thickness of the whole layer of atmosphere of the surface is a known value, and mu is the cosine of an included angle theta between the observation direction and the vertical direction;
determining the inherent contrast C of the target object and the background according to the Lambert surface assumption condition0The method comprises the following specific steps:
step 3.1, measuring the brightness L of the target object by using a photometer for measurementOAnd background luminance Lb；
Step 3.2, according to the Lambert surface hypothesis condition, utilizing a relational expression:
obtaining the inherent contrast C of the target object and the background0。
Step 4, utilizing the functional relation between the contrast transmission coefficient and the oblique distance optical thickness and the inherent contrast C of the target object and the background0The numerical method accurately solves the distribution of the visibility V in the inclined path at different heights to determine the visibility value in the inclined path of the atmosphere, and the specific formula is as follows:
different heights z correspond to different discrete grid points, and the optical thickness delta and the atmospheric column brightness D (delta) at the height can obtain V (delta) values at different heights, the value of V (delta) is gradually reduced along with the increase of the detection height, so when the detection height is gradually searched upwards from the ground, and when V (delta) is as small as a specified contrast threshold (generally 0.02 or 0.05), the height corresponding to the visible distance is the atmospheric slope visibility value.
Claims (6)
1. The inversion method of the laser radar slope visibility is characterized by comprising the following steps:
step 1, obtaining an atmospheric aerosol extinction coefficient profile, distribution of an atmospheric aerosol backscattering coefficient profile on a height z, atmospheric aerosol particle spectrum distribution and a profile of atmospheric scattering characteristics on a slant path under different wavelengths by utilizing laser radar detection and inversion; the step 1 is implemented according to the following steps:
step 1.1, utilizing the intensity of a Raman scattering echo signal P1N (z) at the wavelength of 386nm, finely inverting an atmospheric aerosol extinction coefficient profile alpha A (lambda 1, z) at the wavelength of 355nm, and expressing as:
using the raman scattering echo signal intensity P2N (z) at a wavelength of 607nm, the atmospheric aerosol extinction coefficient profile aa (λ 3, z) at a wavelength of 532nm was finely inverted, expressed as:
wherein lambda 1 is 355nm, lambda 2 is 386nm, lambda 3 is 532nm, and lambda 4 is 607 nm; P1N is the Raman scattering echo signal intensity at 386nm, and P2N is the Raman scattering echo signal intensity at 607 nm; α M (λ 1, z) is the atmospheric molecular extinction coefficient at a wavelength of 355nm, α M (λ 2, z) is the atmospheric molecular extinction coefficient at a wavelength of 386nm, α M (λ 3, z) is the atmospheric molecular extinction coefficient at a wavelength of 532nm, α M (λ 4, z) is the atmospheric molecular extinction coefficient at a wavelength of 607 nm; z is the slant detection height and is a discrete point; n is a radical ofN(z) is the number density of atmospheric nitrogen molecules;
step 1.2, obtaining the distribution beta A (lambda 1, z) of the atmospheric aerosol backscattering coefficient profile at the position of 355nm on the height z by using the change of the atmospheric echo signal intensity of 355nm +386nm along with the height z, wherein the distribution beta A (lambda 1, z) is expressed as:
by utilizing the change of the 532nm +607nm atmospheric echo signal intensity along with the height z, the distribution beta A (lambda 3, z) of the atmospheric aerosol backscattering coefficient profile at 532nm on the height z is obtained, and is expressed as:
the distribution beta A (lambda 6, z) of the atmospheric aerosol backscattering coefficient profile at 1064nm on the height z is obtained by using the variation of the 853nm +1064nm atmospheric echo signal intensity along the height z, and is expressed as:
wherein P1M、P2MAnd P3MCorresponding to the signal intensity of the rayleigh scattering echo of 355nm, 532nm and 1064nm respectively; p3N(z) is nitrogen Raman scattering echo signals at different detection heights z under 853nm wavelength; beta is aNProviding a backscattering coefficient for atmospheric nitrogen molecules, a standard atmospheric model, z0To correct height, z0Take 10km, betaMIs the backscattering coefficient of atmospheric molecules, and can also be obtained by a standard atmospheric model, and the lambda 5 and the lambda 6 are 853nm and 1064nm respectively;
step 1.3, utilizing the extinction coefficient alpha of the atmospheric aerosol obtained in the step 1.1 and the step 1.2A(lambda) or backscattering coefficient betaA(lambda) as gp(λ), solving a first linear Fredholm (Fredholm) integral equation system to obtain the atmospheric aerosol particle spectral distribution, which is expressed as:
wherein r is the aerosol particle radius, λ is the wavelength of the incident laser, m is the complex refractive index, and n (r) is the particle number density spectrum function; gp(lambda) is the extinction coefficient alpha of the atmospheric aerosol obtained in step 1.1 and step 1.2A(lambda) or backscattering coefficient betaA(λ)，Qp(r, λ, m) is the extinction efficiency Q of the corresponding aerosol particlesext(r, λ, m) or backscattering efficiency Qsca(r,λ,m)；
Step 1.4, the profile of the atmospheric scattering characteristic comprises a scattering phase function P and a single scattering albedo
Calculating a scattering phase function P according to the parameters obtained in the step 1.1, the step 1.2 and the step 1.3 in the step 1, wherein a specific calculation formula is as follows:
calculating the single scattering albedo according to the parameters obtained in the step 1, the step 1.1, the step 1.2 and the step 1.3
The specific calculation formula is as follows:
where rmin and rmax are the particle radius ranges, p (λ, r, m, θ ') is the single particle scattering phase function, θ' is the scattering angle, Csca is the scattering cross-section, and is derived from the backscattering efficiency Qsca;
step 2, calculating the atmospheric column brightness on the inclined path according to the atmospheric aerosol extinction coefficient profile on the inclined path under different wavelengths, the distribution of the atmospheric aerosol backscattering coefficient profile on the height z, the atmospheric aerosol particle spectrum distribution and the profile of the atmospheric scattering characteristic;
step 3, establishing a functional relation between a contrast transmission coefficient and the diagonal optical thickness according to the atmospheric column brightness on the diagonal path; determining the inherent contrast C of the target object and the background according to the Lambert surface assumption condition0；
Step 4, utilizing the functional relation between the contrast transmission coefficient and the oblique distance optical thickness and the inherent contrast C of the target object and the background0Number ofThe value method accurately solves the distribution of the visibility V in the inclined path at different heights, and the visibility value in the inclined path of the atmosphere is determined.
2. The method for inverting laser radar visibility in a diagonal range according to claim 1, wherein the step 2 is specifically implemented according to the following steps:
step 2.1, sequentially inputting the extinction coefficient profile alpha of the atmospheric aerosolA(lambda), aerosol single scattering albedo and scattering phase function, surface reflectivity to SBDART calculation software;
step 2.2, calculating to obtain the atmospheric column brightness D (delta) on the oblique path through a radiation transmission equation, wherein the calculation formula is as follows:
wherein, delta is the optical thickness of the slant range, theta is the zenith angle of the observer,
is the azimuth angle, δ 0 is the optical thickness of the whole atmosphere from the top of the atmosphere to the ground, δ0For a known value, μ is the cosine of the angle θ between the observation direction and the vertical direction, and J is a variable in the radiation transmission equation.
3. The method for inverting laser radar visibility in a slant range according to claim 2, wherein a functional relationship between the contrast transmission coefficient Y and the optical thickness δ in a slant range is established in step 3 and expressed as:
in the formula LbAs background brightness, LbMeasured by a photometer, delta0The optical thickness of the whole atmosphere from the top of the atmosphere layer to the ground is a known value, and mu is the cosine of an included angle theta between the observation direction and the vertical direction.
4. The method as claimed in claim 3, wherein the intrinsic contrast C between the target and the background is determined in step 3 according to the Lambert surface assumption condition0The method comprises the following specific steps:
step 3.1, measuring the brightness L of the target object by a photometerOAnd background luminance Lb；
Step 3.2, according to the Lambert surface hypothesis condition, utilizing a relational expression:
obtaining the inherent contrast C of the target object and the background0。
5. The method for inverting laser radar visibility in a diagonal range according to claim 3, wherein the step 4 is specifically implemented according to the following formula:
different heights z correspond to different discrete grid points, and the optical thickness delta and the atmospheric column brightness D (delta) at the height can obtain V (delta) values at different heights, and the value of V (delta) is gradually reduced along with the increase of the detection height, so that when the detection height is gradually searched from the ground to the high altitude, and when V (delta) is as small as a specified contrast threshold value, the height is the solved atmospheric slope visibility value.
6. The method for inverting laser radar visibility in a slant range according to claim 5, wherein the contrast threshold specified in step 4 is 0.02 and 0.05.
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