CN113740873A - Gaussian convolution-based marine laser radar rapid simulation method - Google Patents

Gaussian convolution-based marine laser radar rapid simulation method Download PDF

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CN113740873A
CN113740873A CN202111009955.XA CN202111009955A CN113740873A CN 113740873 A CN113740873 A CN 113740873A CN 202111009955 A CN202111009955 A CN 202111009955A CN 113740873 A CN113740873 A CN 113740873A
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scattering
phase function
laser radar
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water body
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CN113740873B (en
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陈鹏
张镇华
毛志华
王天愚
袁大鹏
谢丛霜
钟纯怿
钱政
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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 belongs to the technical field of marine laser radar remote sensing detection, and particularly relates to a Gaussian convolution-based marine laser radar rapid simulation method. The method calculates the mean square angle according to the scattering phase function of the water body
Figure 910046DEST_PATH_IMAGE001
Calculating forward peak of scattering phase function
Figure 786735DEST_PATH_IMAGE002
Calculating the intensity of the single-scattered signal
Figure 671514DEST_PATH_IMAGE003
Calculating the ratio of multiple scattering to single scattering
Figure 865DEST_PATH_IMAGE004
Calculating multiple scattering signalsStrength of
Figure 262082DEST_PATH_IMAGE005
Calculating the total intensity of laser echo signal
Figure 930960DEST_PATH_IMAGE006
. According to the method, the multiple scattering signals of the laser in the water body can be quickly simulated according to the convolution of the Gaussian laser beam and the Gaussian phase function.

Description

Gaussian convolution-based marine laser radar rapid simulation method
Technical Field
The invention belongs to the technical field of marine laser radar remote sensing detection, and particularly relates to a Gaussian convolution-based marine laser radar rapid simulation method.
Background
The ocean laser radar is widely applied to ocean exploration, but at present, a simplified single-scattering laser radar equation is used for inversion of water body parameters, and multiple scattering of laser in a water body propagation process is ignored. Due to the influence of multiple scattering, the laser radar echo signal is often stronger than the signal of single scattering, which brings errors to the inversion of the signal. The design of the marine laser radar system and the inversion of the echo signals need accurate simulation of multiple scattering as a basis.
At present, Monte Carlo models are mostly adopted for simulating multiple scattering of laser radars, but the models are large in calculation amount and long in time consumption. According to the method, an analytic model is provided according to convolution of Gaussian laser beams and Gaussian scattering phase functions of the water body, and multiple scattering signals of the laser in the water body can be rapidly calculated.
Disclosure of Invention
The invention aims to obtain multiple scattering signals of laser in a water body, and provides a Gaussian convolution-based marine laser radar rapid simulation method.
The purpose of the invention is realized by the following technical scheme:
a fast simulation method of an ocean laser radar based on Gaussian convolution comprises the following steps:
step 1: calculating mean square angle according to water body scattering phase function
Figure BDA0003238555740000011
Step 2: mean square angle obtained according to step 1
Figure BDA0003238555740000012
Calculating a forward peak gamma of a scattering phase function;
and step 3: calculating the intensity P of the single-scattered signal1(z)；
And 4, step 4: mean square angle obtained by step 1
Figure BDA0003238555740000021
The forward peak gamma of the scattering phase function obtained in the step 2 and the intensity P of the single scattering signal obtained in the step 31(z) calculating the multiple scatter to single scatter ratio rn；
And 5: according to the ratio of multiple scattering to single scattering rnCalculating multiple scattering signal intensity Pn(z)；
Step 6: from the multiple scattered signal intensity Pn(z) calculating the total intensity P of the laser echo signalt(z)。
Preferably, the mean square angle calculated according to the scattering phase function of the water body in the step 1
Figure BDA0003238555740000022
Comprises the following steps:
Figure BDA0003238555740000023
wherein p istrue(0) Is the scattering phase function of the water body when the scattering angle is 0.
Preferably, the step of2, the forward peak gamma of the scattering phase function is:
Figure BDA0003238555740000024
preferably, the single-scattered signal intensity in step 3 is P1(z)：
Figure BDA0003238555740000025
Wherein eta is the detection efficiency of the receiver; p0Is the laser energy; a is the receiving area of the detector; o is a geometric overlap factor, TOIs the receiver optical transmittance; t isaAtmospheric permeability; t issIs the sea surface transmittance; v is the speed of light; h is the height of the laser radar; Δ t is the laser pulse width; n is the refractive index of seawater; z is the depth of the seawater; p is a radical ofπ(z)/4 pi is a 180-degree scattering phase function of the water body; (z) is the water scattering coefficient; c (z') is the attenuation coefficient of the water body.
Preferably, the multiple scattering to single scattering ratio r of step 4nComprises the following steps:
Figure BDA0003238555740000026
where ρ istReceiving the field angle for the laser radar; theta0Is the laser beam divergence angle.
Preferably, the multiple scattered signal strength P of step 5n(z) is: pn(z)＝P1(z)rn。
Preferably, the total intensity P of the laser echo signal in step 6t(z) is: pt(z)＝∑n＝1Pn(z)。
Preferably, the scattering phase function is any water body scattering phase function.
The invention has the beneficial effects that: the method is based on Gaussian convolution, can quickly calculate multiple scattering signals of the laser in the water body, and can be suitable for any scattering phase function and non-uniform water bodies.
Drawings
FIG. 1 is a flow chart of the present method;
FIG. 2 is the multiple scattered signal intensity of example 1;
FIG. 3 is the multiple scattered signal intensity of example 2;
FIG. 4 is the multiple scattered signal intensity of example 3;
fig. 5 is the multiple scattered signal intensity of example 4.
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.
The embodiments of the present invention are implemented in the same way, differing only in the parameters of the lidar system used.
The method adopts typical laser radar system parameters as embodiment 1, and the laser energy is P010mJ, receiving area A1.76 m2The superposition factor O is 1, the laser radar height is 300m, the receiving telescope field angle FOV is 10mrad, the responsivity is 0.18, and the receiver optical transmittance is ToTypical environmental parameters sea water refractive index n is 1.33, sea table transmittance T is 0.9s＝0.95，b＝0.037m-1，c＝0.151m-1The water body phase function adopts a Henyey-Greenstein phase function ptrue(0)＝339.4。
The specific implementation mode of the invention is as follows:
step 1: calculating mean square angle according to water body scattering phase function
Figure BDA0003238555740000031
Step 1, calculating the mean square angle according to the scattering phase function of the water body
Figure BDA0003238555740000032
Comprises the following steps:
Figure BDA0003238555740000033
wherein p istrue(0) Calculated for the scattering phase function of the water body when the scattering angle is 0
Figure BDA0003238555740000034
Step 2: mean square angle obtained according to step 1
Figure BDA0003238555740000041
Calculating a forward peak gamma of a scattering phase function;
the forward peak gamma of the scattering phase function in the step 2 is as follows:
Figure BDA0003238555740000042
calculated γ is 0.5.
And step 3: calculating the intensity P of the single-scattered signal1(z)；
The intensity of the single scattering signal in step 3 is P1(z)：
Figure BDA0003238555740000043
Wherein eta is the detection efficiency of the receiver; p0Is the laser energy; a is the receiving area of the detector; o is a geometric overlap factor, TOIs the receiver optical transmittance; t isaAtmospheric permeability; t issIs the sea surface transmittance; v is the speed of light; h is the height of the laser radar; Δ t is the laser pulse width; n is the refractive index of seawater; z is the depth of the seawater; p is a radical ofπ(z)/4 pi is a 180-degree scattering phase function of the water body; (z) is the water scattering coefficient; c (z') is the attenuation coefficient of the water body.
And 4, step 4: mean square angle obtained by step 1
Figure BDA0003238555740000044
The forward peak gamma of the scattering phase function obtained in the step 2 and the intensity P of the single scattering signal obtained in the step 31(z) calculating the multiple scatter to single scatter ratio rn；
Multiple scattering to single scattering ratio r as described in step 4nComprises the following steps:
Figure BDA0003238555740000045
where ρ istReceiving the field angle for the laser radar; theta0Is the laser beam divergence angle.
And 5: according to the ratio of multiple scattering to single scattering rnCalculating multiple scattering signal intensity Pn(z)；
The multiple scattering signal intensity in step 5 is:
Pn(z)＝P1(z)rn。
step 6: from the multiple scattered signal intensity Pn(z) calculating the total intensity P of the laser echo signalt(z)；
The total intensity of the laser echo signals in the step 6 is as follows:
Pt(z)＝∑n＝1Pn(z)。
figure 2 shows the multiple scatter and total signal intensity of example 1. As can be seen from fig. 2, the intensity of the echo signal is mainly single scattering when the laser enters the water body. But the multiple scatter signal increases gradually with increasing depth.
The laser radar system parameters used in example 2 were: laser energy of P010mJ, receiving area A1.76 m2The superposition factor O is 1, the laser radar height is 300m, the receiving telescope field angle FOV is 10mrad, the responsivity is 0.18, and the receiver optical transmittance is To0.9, refractive index n of seawater 1.33, and surface transmittance Ts0.95, and adopting a water body parameter b of 0.219m-1，c＝0.398m-1The water body phase function adopts a Henyey-Greenstein phase functionptrue(0)＝339.4。
The multiple scattered signal intensity and the total signal intensity of example 2 are shown in fig. 3. As can be seen from fig. 3, as the turbidity of the water body increases, the multiple scattering signal in the seawater increases greatly, and the echo signal is mainly multiple scattering. However, the increase of the turbidity of the water body can cause the total attenuation of the water body to be larger, so that the speed of the total echo signal attenuation along with the depth also becomes faster, and the penetration depth of the laser in the water body is also reduced.
The laser radar system parameters used in example 3 were: laser energy of P010mJ, receiving area A1.76 m2The superposition factor O is 1, the laser radar height is H300 m, the receiving telescope field angle FOV is 0.1mrad, the responsivity is eta 0.18, and the receiver optical transmittance is To0.9, refractive index n of seawater 1.33, and surface transmittance Ts0.95, and adopting a water body parameter b of 0.219m-1，c＝0.398m-1The water body phase function adopts a Henyey-Greenstein phase function ptrue(0)＝339.4。
The multiple scattered signal intensity and the total signal intensity of example 3 are shown in fig. 4. As can be seen from fig. 4, the total signal almost coincides with the single-scattered signal, which shows that in the case of a very small field angle, the laser light is scattered beyond the field angle of the receiver, resulting in the received echo signal being dominated by the single scattering.
The laser radar system parameters used in example 4 were: laser energy of P010mJ, receiving area A1.76 m2The superposition factor O is 1, the laser radar height is 300m, the receiving telescope field angle FOV is 10mrad, the responsivity is 0.18, and the receiver optical transmittance is To0.9, refractive index n of seawater 1.33, and surface transmittance Ts0.95, and adopting a water body parameter b of 0.219m-1，c＝0.398m-1The water body phase function adopts a Fournier-Forand phase function ptrue(0)＝165.7。
The multiple scattered signal intensity and the total signal intensity of example 4 are shown in fig. 5. As can be seen from fig. 5, different water phase functions lead to different results when other parameters are consistent. The water multiple scattering under the Fournier-Forand phase function is reduced, resulting in a reduction of the total echo signal. In the laser radar simulation process, a proper scattering phase function is selected according to a specific water body environment.
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 embodiments, 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 (8)

1. A fast simulation method of an ocean laser radar based on Gaussian convolution is characterized by comprising the following steps:
step 1: calculating mean square angle according to water body scattering phase function
Figure FDA0003238555730000011
Step 2: mean square angle obtained according to step 1
Figure FDA0003238555730000012
Calculating a forward peak gamma of a scattering phase function;
and step 3: calculating the intensity P of the single-scattered signal1(z)；
And 4, step 4: mean square angle obtained by step 1
Figure FDA0003238555730000013
The forward peak gamma of the scattering phase function obtained in the step 2 and the intensity P of the single scattering signal obtained in the step 31(z) calculating the multiple scatter to single scatter ratio rn；
And 5: according to the ratio of multiple scattering to single scattering rnCalculating multiple scattering signal intensity Pn(z)；
Step 6: from the multiple scattered signal intensity Pn(z) calculating the total intensity P of the laser echo signalt(z)。
2. The Gaussian convolution-based marine laser radar rapid simulation method according to claim 1, wherein the mean square angle calculated according to the scattering phase function of the water body in the step 1
Figure FDA0003238555730000014
Comprises the following steps:
Figure FDA0003238555730000015
wherein p istrue(0) Is the scattering phase function of the water body when the scattering angle is 0.
3. The method for rapidly simulating marine laser radar based on Gaussian convolution according to claim 1, wherein the forward peak γ of the scattering phase function in step 2 is:
Figure FDA0003238555730000016
4. the Gaussian convolution-based marine laser radar rapid simulation method according to claim 1, wherein the single scattering signal strength in step 3 is P1(z)：
Figure FDA0003238555730000017
Wherein eta is the detection efficiency of the receiver; p0Is the laser energy; a is the receiving area of the detector; o is a geometric overlap factor, TOIs the receiver optical transmittance; t isaAtmospheric permeability; t issFor passing through the sea surfaceThe rate of passing; v is the speed of light; h is the height of the laser radar; Δ t is the laser pulse width; n is the refractive index of seawater; z is the depth of the seawater; p is a radical ofπ(z)/4 pi is a 180-degree scattering phase function of the water body; (z) is the water scattering coefficient; c (z') is the attenuation coefficient of the water body.
5. The Gaussian convolution-based marine lidar fast simulation method according to claim 1, wherein the multiple scattering to single scattering ratio r in step 4 isnComprises the following steps:
Figure FDA0003238555730000021
where ρ istReceiving the field angle for the laser radar; theta0Is the laser beam divergence angle.
6. The Gaussian convolution-based marine laser radar rapid simulation method according to claim 1, wherein the multiple scattering signal intensity P in the step 5n(z) is:
Pn(z)＝P1(z)rn。
7. the Gaussian convolution-based marine laser radar rapid simulation method according to claim 1, wherein the total laser echo signal intensity P in the step 6t(z) is:
Pt(z)＝∑n＝1Pn(z)。
8. the Gaussian convolution-based marine laser radar rapid simulation method according to claim 1, wherein the scattering phase function is any water body scattering phase function.
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