CN110568449B - Wind-borne rough sea surface laser reflection and transmission matrix calculation method - Google Patents

Wind-borne rough sea surface laser reflection and transmission matrix calculation method Download PDF

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CN110568449B
CN110568449B CN201910971951.6A CN201910971951A CN110568449B CN 110568449 B CN110568449 B CN 110568449B CN 201910971951 A CN201910971951 A CN 201910971951A CN 110568449 B CN110568449 B CN 110568449B
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reflection
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陈鹏
毛志华
张镇华
刘航
朱乾坤
黄海清
龚芳
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Second Institute of Oceanography MNR
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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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • 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 wind-borne rough sea surface laser reflection and transmission matrix calculation method, which comprises the steps of firstly calculating the mean square error of wave slope under the wind speed, calculating a scattering angle by given incident light and emergent light, secondly calculating an incident angle, a shadow function and a probability distribution function in a zenith angle of a wave surface normal vector and a scattering plane, and then calculating a specular reflection matrix and a transmission matrix. The rotation matrix is then calculated using a coordinate transformation. And finally multiplying the probability distribution function, the rotation matrix and the specular reflection and transmission matrix to obtain the reflection and transmission matrix of the incident light and the emergent light under the wind speed. The Stokes vector of the laser is multiplied by the reflection and transmission matrixes to obtain the radiation transmission condition of the wind-borne rough sea surface polarized laser. The invention adopts a rough sea surface model, can give consideration to both the polarization state of the laser and the rough sea surface, and simulates the reflection and transmission matrix of the polarized laser on the wind-borne rough sea surface in a real environment.

Description

Wind-borne rough sea surface laser reflection and transmission matrix calculation method
Technical Field
The invention belongs to the technical field of ocean laser detection, and particularly relates to a wind-borne rough sea surface laser reflection and transmission matrix calculation method.
Background
Lidar has been widely used for atmospheric sounding, but due to energy loss at the sea-air interface, random influence of sea waves and suspended matter on signal direction and intensity, and rapid attenuation of laser in water, the application of lidar in the sea is inferior to the atmosphere. But compared with passive remote sensing, the marine laser radar detection technology has the advantages of not depending on solar radiation, being capable of working day and night and providing depth profile information. The airborne or spaceborne laser radar can quickly, effectively and extensively detect the ocean three-dimensional information and can be used as an effective supplement of a conventional remote sensing means.
The ocean laser radar is an active remote sensing detection technology which emits laser into seawater and receives echo signals to invert water body parameters. The laser generates reflection and refraction phenomena at the sea-air interface, and special treatment is needed. For simplicity, existing processing methods assume that the sea surface is flat, regardless of the polarization characteristics of the laser. However, the sea surface in natural conditions generates waves under the action of wind, and the roughness of the sea surface under different wind speeds is different. Not considering the polarization properties introduces large errors into the inversion of the laser echo signal.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a wind-borne rough sea surface laser reflection and transmission matrix calculation method, which considers the condition that laser enters the atmosphere from a water body through the sea surface, comprehensively analyzes the interaction between the laser and a sea-air interface, simulates the rough condition of the sea surface by using a sea surface model, and combines a reflection-transmission law to calculate the laser reflection and transmission matrix of the rough sea surface at any wind speed.
The purpose of the invention is realized by the following technical scheme:
a wind-borne rough sea surface laser reflection and transmission matrix calculation method is characterized by comprising the following steps:
s1: acquiring the slope mean square error of sea waves at a certain wind speed according to the rough sea surface model;
σ2＝0.003+0.00512×W (1)
wherein W is sea surface wind speed, σ2Is the mean square error of the slope of the sea wave;
s2: calculating a scattering angle theta between incident light and emergent light:
Figure BDA0002232375840000011
wherein,
Figure BDA0002232375840000012
and
Figure BDA0002232375840000013
respectively representing zenith angles and azimuth angles of incident light and emergent light;
s3: calculating zenith angle cosine value mu of wave surface normal vectornAnd angle of incidence in the scattering plane thetai：
Figure BDA0002232375840000021
Figure BDA0002232375840000022
Wherein, mu' and mu are respectively incident light and emergent light zenith angle cosine values;
s4: calculating the shadow function of the light ray blocked by the wave:
Figure BDA0002232375840000023
wherein,
Figure BDA0002232375840000024
erfc (η) is a complementary error function;
s5: calculating the probability distribution function of the waves under the sea surface wind speed W:
Figure BDA0002232375840000025
s6: calculating the specular reflection matrix RF (θ i) and the refraction matrix TF (θ) according to the reflection-transmission lawi)
Figure BDA0002232375840000026
Figure BDA0002232375840000027
Figure BDA0002232375840000028
Wherein n isi、ntRespectively the refractive index of the medium in which the incident light and the refracted light are located, thetatIs the angle of refraction in the scattering plane, Re is the real part, Im is the imaginary part, denotes the conjugate, r⊥Reflection coefficient of the vertical component of reflected light, r||The reflection coefficient of the parallel component of the reflected light, t⊥Reflection coefficient, t, being the vertical component of refracted light||A reflection coefficient which is a parallel component of the refracted light;
Figure BDA0002232375840000029
Figure BDA00022323758400000210
Figure BDA00022323758400000211
Figure BDA00022323758400000212
s7: respectively calculating the included angle chi between the scattering plane and the meridian plane of the incident light1The included angle X between the scattering plane and the meridian plane of the emergent light2Substituting the formula (9) into the matrix to respectively obtain two rotation matrixes R (x);
Figure BDA0002232375840000031
Figure BDA0002232375840000032
s8: obtaining a reflection matrix r and a transmission matrix t at the wind speed through formulas (10) and (11)
Figure BDA0002232375840000033
Figure BDA0002232375840000034
Further, the rough sea surface model is a Cox-Munk model.
Further, the reflection-transmission law is the fresnel law.
Further, the rotation matrix is obtained by three-dimensional coordinate transformation.
The invention has the following beneficial effects:
the calculation method combines the rough sea surface model with the reflection-transmission law, and can calculate the reflection-transmission matrix of the sea-air interface at different wind speeds. Compared with the conventional method for simplifying the sea surface into a flat surface and not considering the polarization characteristic of the laser, the method provided by the invention considers the condition that the laser enters the atmosphere from the water body through the sea surface, comprehensively analyzes the interaction between the laser and the sea-air interface, simulates the rough condition of the sea surface by using a sea surface model, and combines the transmission-reflection law, so that the laser reflection and transmission matrix of the rough sea surface at any wind speed is calculated, the polarization characteristic of the laser can be reserved by the reflection-transmission matrix, and the simulation and inversion accuracy of the echo signal of the marine laser radar are improved.
Drawings
FIG. 1 is a schematic diagram of a rough sea surface laser transmission geometry;
in the figure:
Figure BDA0002232375840000035
respectively incident light, reflected light and transmitted light, [ theta ]i、θr、θtRespectively an angle of incidence, an angle of reflection and an angle of refraction,
Figure BDA0002232375840000036
being the zenith and azimuth angles of the incident light,
Figure BDA0002232375840000037
the zenith angle and the azimuth angle of the emergent light,
Figure BDA0002232375840000038
is the normal vector of wave surface of sea wave, thetanIs the normal vector zenith angle of the wave surface,
Figure BDA0002232375840000039
is the azimuth angle of the transmitted light.
FIG. 2 is a geometric schematic of coordinate system rotation transformation;
in the figure:
Figure BDA00022323758400000310
being the zenith and azimuth angles of the incident light,
Figure BDA00022323758400000311
at zenith and azimuth angles of the emergent light, OP1P2Is a scattering plane, OP1Z is the incident ray meridian plane, OP2Z is the meridian plane of the emergent light, χ1、χ2Are respectively OP1P2And OP1Z、OP2The angle of Z.
Fig. 3 is a graph showing a reflected light spherical energy distribution when the light enters the atmosphere at a wind speed W of 10m/s, (130 °, 0 °);
in the figure: a. b, c and d are respectively the energy distribution conditions of total light intensity, linearly polarized light in the x-axis direction, linearly polarized light in the 45-degree direction and rightly circularly polarized light.
Fig. 4 is a graph showing a spherical energy distribution of transmitted light when the atmospheric incident light has a wind speed W of 10m/s, (130 °, 0 °);
in the figure: a. b, c and d are respectively the energy distribution conditions of total light intensity, linearly polarized light in the x-axis direction, linearly polarized light in the 45-degree direction and rightly circularly polarized light.
Fig. 5 is a reflected light spherical energy distribution diagram when a water body with a wind speed W of 10m/s and (50 °, 0 °) is incident light;
in the figure: a. b, c and d are respectively the energy distribution conditions of total light intensity, linearly polarized light in the x-axis direction, linearly polarized light in the 45-degree direction and rightly circularly polarized light.
Fig. 6 is a graph of the spherical energy distribution of transmitted light when incident light is incident on a water body at a wind speed W of 10m/s, (50 °, 0 °);
in the figure: a. b, c and d are respectively the energy distribution conditions of total light intensity, linearly polarized light in the x-axis direction, linearly polarized light in the 45-degree direction and rightly circularly polarized light.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments, and the objects and effects of the present invention will become more apparent, and the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
A wind-borne rough sea surface laser reflection and transmission matrix calculation method is characterized by comprising the following steps:
s1: acquiring the slope mean square error of sea waves at a certain wind speed according to the rough sea surface model;
σ2＝0.003+0.00512×W (1)
wherein W is sea surface wind speed, σ2Is the mean square error of the slope of the sea wave;
s2: calculating a scattering angle theta between incident light and emergent light:
Figure BDA0002232375840000041
wherein,
Figure BDA0002232375840000046
and
Figure BDA0002232375840000043
respectively representing zenith angles and azimuth angles of incident light and emergent light;
s3: calculating zenith angle cosine value mu of wave surface normal vectornAnd angle of incidence in the scattering plane thetai：
Figure BDA0002232375840000044
Figure BDA0002232375840000045
Wherein, mu' and mu are respectively incident light and emergent light zenith angle cosine values;
s4: calculating the shadow function of the light ray blocked by the wave:
Figure BDA0002232375840000051
wherein,
Figure BDA0002232375840000052
erfc (η) is a complementary error function;
s5: calculating the probability distribution function of the waves under the sea surface wind speed W:
Figure BDA0002232375840000053
s6: calculating the specular reflection matrix RF (theta) according to the reflection-transmission lawi) And a refraction matrix TF (θ)i)
Figure BDA0002232375840000054
Figure BDA0002232375840000055
Figure BDA0002232375840000056
Wherein n isi、ntRespectively the refractive index of the medium in which the incident light and the refracted light are located, thetatIs the angle of refraction in the scattering plane, Re is the real part, Im is the imaginary part, denotes the conjugate, r⊥Reflection coefficient of the vertical component of reflected light, r||The reflection coefficient of the parallel component of the reflected light, t⊥Reflection coefficient, t, being the vertical component of refracted light||A reflection coefficient which is a parallel component of the refracted light;
Figure BDA0002232375840000057
Figure BDA0002232375840000058
Figure BDA0002232375840000059
Figure BDA00022323758400000510
s7: respectively calculating the included angle chi between the scattering plane and the meridian plane of the incident light1The included angle X between the scattering plane and the meridian plane of the emergent light2Substituting the formula (9) into the matrix to respectively obtain two rotation matrixes R (x);
Figure BDA00022323758400000511
Figure BDA00022323758400000512
s8: obtaining a reflection matrix r and a transmission matrix t at the wind speed through formulas (10) and (11)
Figure BDA0002232375840000061
Figure BDA0002232375840000062
Taking the incident light with the wind speed W of 10m/s (130 degrees and 0 degrees) as an example, the incident light is at ni＝1，nt1.333, the laser enters the water body from the atmosphere, and the rough sea surface laser transmission geometry is schematically shown in fig. 1. Assuming incident laser light S0＝[1 1 0 0]' the rough sea surface model is a Cox-Munk model, the reflection-transmission law is a Fresnel law, the rough sea surface model is obtained through three-dimensional coordinate transformation, reflection matrixes and transmission matrixes in different directions are calculated, and the coordinate system rotation transformation is specifically shown in FIG. 2. Reflection matrix, transmission matrix and S0The product of the two results showed a spherical energy distribution of reflected light and transmitted light (shown in fig. 3 and 4), and the transmittance was 99.3%. In the prior art, only the zenith angle of incident light is considered, the sea surface is simplified into a flat surface, and the three-dimensional distribution condition of reflected light cannot be obtained. The transmissivity of the sea surface to the laser obtained by the traditional scalar calculation method is 96.4%, while the transmissivity of the calculation method of the invention to the parallel polarized light is 99.3%, the transmissivity is different along with the change of the polarization state of the laser, the method is more consistent with the actual situation, and the water body parameters can be inverted by using the laser polarization information.
Taking the incident light with the wind speed W of 10m/s (50 degrees, 0 degrees) as an example, at ni＝1.333，n t1, the laser enters the atmosphere from the body of water, assuming an initial laserS0＝[1 1 0 0]', calculating reflection matrix, transmission matrix, and S of different orientations0The product of the two results showed a spherical energy distribution of reflected light and transmitted light (shown in fig. 5 and 6), and the transmittance was 44%. Without considering the roughness of the sea surface, 50 ° is already greater than the critical angle for total reflection of sea water, in which case the transmission is 0 with the conventional method. In practical situations, however, due to wind-generated sea waves, part of light still escapes into the air, and the transmittance obtained by the calculation method is 44%, so that the real situation is better reflected.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and although the invention has been described in detail with reference to the foregoing examples, it will be apparent to those skilled in the art that various changes in the form and details of the embodiments may be made and equivalents may be substituted for elements thereof. All modifications, equivalents and the like which come within the spirit and principle of the invention are intended to be included within the scope of the invention.

Claims (4)

1. A wind-borne rough sea surface laser reflection and transmission matrix calculation method is characterized by comprising the following steps:
s1: acquiring the slope mean square error of sea waves at a certain wind speed according to the rough sea surface model;
σ2＝0.003+0.00512×W (1)
wherein W is sea surface wind speed, σ2Is the mean square error of the slope of the sea wave;
s2: calculating a scattering angle theta between incident light and emergent light:
Figure FDA0002891572850000011
wherein,
Figure FDA0002891572850000012
and
Figure FDA0002891572850000013
respectively representing zenith angles and azimuth angles of incident light and emergent light;
s3: calculating zenith angle cosine value mu of wave surface normal vectornAnd angle of incidence in the scattering plane thetai：
Figure FDA0002891572850000014
Figure FDA0002891572850000015
Wherein, mu' and mu are respectively incident light and emergent light zenith angle cosine values;
s4: calculating the shadow function of the light ray blocked by the wave:
Figure FDA0002891572850000016
wherein,
Figure FDA0002891572850000017
erfc (η) is a complementary error function;
s5: calculating the probability distribution function of the waves under the sea surface wind speed W:
Figure FDA0002891572850000018
s6: calculating the specular reflection matrix RF (theta) according to the reflection-transmission lawi) And a refraction matrix TF (θ)i)
Figure FDA0002891572850000019
Figure FDA00028915728500000110
Figure FDA00028915728500000111
Wherein n isi、ntRespectively the refractive index of the medium in which the incident light and the refracted light are located, thetatIs the angle of refraction in the scattering plane, Re is the real part, Im is the imaginary part, denotes the conjugate, r⊥Reflection coefficient of the vertical component of reflected light, r||The reflection coefficient of the parallel component of the reflected light, t⊥Reflection coefficient, t, being the vertical component of refracted light||A reflection coefficient which is a parallel component of the refracted light;
Figure FDA0002891572850000021
Figure FDA0002891572850000022
Figure FDA0002891572850000023
Figure FDA0002891572850000024
s7: respectively calculating the included angle chi between the scattering plane and the meridian plane of the incident light1The included angle X between the scattering plane and the meridian plane of the emergent light2Substituting the formula (9) into the matrix to respectively obtain two rotation matrixes R (x);
Figure FDA0002891572850000025
Figure FDA0002891572850000026
s8: obtaining a reflection matrix r and a transmission matrix t at the wind speed through formulas (10) and (11)
Figure FDA0002891572850000027
Figure FDA0002891572850000028
2. The wind-borne rough sea surface laser reflection and transmission matrix calculation method according to claim 1, wherein the rough sea surface model is a Cox-Munk model.
3. The wind-borne rough sea surface laser reflection and transmission matrix calculation method according to claim 1, wherein the reflection-transmission law is a fresnel law.
4. The wind-borne rough sea surface laser reflection and transmission matrix calculation method according to claim 1, wherein the rotation matrix is obtained by three-dimensional coordinate transformation.
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《基于多通道海洋激光雷达的海陆波形分类》;黄田程 等;《中国激光》;20170630;第44卷(第6期);第1-10页 *

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