阅读说明：本技术 单光子激光雷达水下光子位移校正、测深方法及装置 (Underwater photon displacement correction and depth measurement method and device for single photon laser radar ) 是由 谌一夫 王力哲 乐源 陈刚 陈伟涛 董玉森 于 2020-11-26 设计创作，主要内容包括：本发明提供了一种单光子激光雷达水下光子位移校正、测深方法及装置,涉及海洋测绘技术领域,包括：获取单光子激光雷达发射光子的指向角、单光子激光雷达发射光子返回的水面光子信号和水底光子信号的坐标；根据水面光子信号进行海浪波拟合,确定海浪波模型；根据任意一个水底光子的坐标、指向角和海浪波模型,确定光子与水气界面的交点；根据交点、海浪波模型和指向角确定光子的水下位移误差；根据水下位移误差对水底光子信号的坐标进行校正。本发明通过水面光子信号进行海浪波建模并确定光子与水气界面交点。通过光子传播路径的空间结构关系确定水下光子位移误差。本发明有效避免海浪波引起的折射和光子速度变化导致的位移,提高数据准确性。(The invention provides a method and a device for underwater photon displacement correction and depth sounding of a single photon laser radar, which relate to the technical field of ocean mapping and comprise the following steps: acquiring the pointing angle of photons emitted by the single photon laser radar, and coordinates of a water surface photon signal and a water bottom photon signal returned by the photons emitted by the single photon laser radar; performing wave fitting according to the water surface photon signal to determine a wave model; determining the intersection point of the photon and the water-gas interface according to the coordinate, the pointing angle and the sea wave model of any underwater photon; determining the underwater displacement error of the photon according to the intersection point, the sea wave model and the pointing angle; and correcting the coordinates of the underwater photon signals according to the underwater displacement error. According to the invention, the sea wave modeling is carried out through the water surface photon signals, and the intersection point of photons and a water-air interface is determined. And determining the displacement error of the underwater photons through the spatial structure relationship of the photon propagation path. The invention effectively avoids the displacement caused by the refraction and photon speed change caused by the wave waves and improves the data accuracy.)

1. A method for correcting underwater photon displacement of a single photon laser radar is characterized by comprising the following steps:

acquiring a pointing angle of photons emitted by a single photon laser radar, and coordinates of a water surface photon signal and a water bottom photon signal returned by the photons emitted by the single photon laser radar;

performing wave fitting according to the water surface photon signal to determine a wave model;

determining the intersection point of the photon and the water-gas interface according to the coordinate of any water bottom photon, the pointing angle and the sea wave model;

determining the underwater displacement error of the photon according to the intersection point, the sea wave model and the pointing angle;

and correcting the coordinates of the underwater photon signal according to the underwater displacement error.

2. The method of claim 1, wherein said determining the intersection point of said photon with the water-gas interface based on the coordinates of any water bottom photon, said pointing angle and said ocean wave model comprises:

constructing a space straight line according to the coordinates and the pointing angle;

and determining the intersection point of the space straight line and the sea wave model as the intersection point of the photon and the water-gas interface.

3. The method of claim 1 wherein said determining an underwater displacement error of said photon from said intersection point, said ocean wave model and said pointing angle comprises:

determining the slope of the wave surface of the photon in the along-rail direction according to the intersection point and the wave model;

and determining the underwater displacement error according to the slope of the sea wave surface and the pointing angle.

4. The method of claim 3 wherein said determining said underwater displacement error from said sea wave surface slope and said pointing angle comprises:

determining the incident angle and the refraction angle of the photon according to the slope of the sea wave surface and the pointing angle;

and determining the underwater displacement error according to the refraction angle, the slope of the sea wave surface and the pointing angle.

5. The method of claim 4 wherein said determining said photon's angle of incidence and angle of refraction from said sea wave surface slope and said pointing angle comprises:

determining the incident angle according to the slope of the sea wave surface and the pointing angle;

determining the angle of refraction from the angle of incidence based on snell's law.

6. The method of claim 4 wherein said determining said underwater displacement error from said refraction angle, said sea wave surface slope and said pointing angle comprises:

determining an original incident photon path of photons emitted by the single photon laser radar and a photon path after water body refraction;

and determining the underwater displacement error according to the spatial structure relationship among the original incident photon path, the photon path refracted by the water body, the refraction angle, the slope of the sea wave surface and the pointing angle.

7. The method of claim 6 in which said determining the original incident photon path and the refracted photon path of the water comprises:

determining the original incident photon path according to the coordinates of the water bottom photons and the coordinates of the intersection point;

and determining the photon path after the water body is refracted according to the original incident photon path based on a refraction formula.

8. The utility model provides a single photon laser radar is photon displacement correcting unit under water which characterized in that includes:

the acquisition module is used for acquiring the pointing angle of photons emitted by the single photon laser radar, and coordinates of a water surface photon signal and a water bottom photon signal returned by the photons emitted by the single photon laser radar;

the processing module is used for carrying out wave fitting according to the water surface photon signals and determining a wave model; the device is also used for determining the intersection point of the photon and the water-gas interface according to the coordinate of any water bottom photon, the pointing angle and the sea wave model; the underwater displacement error of the photon is determined according to the intersection point, the wave model and the pointing angle;

and the correction module is used for correcting the coordinates of the underwater photon signals by the underwater displacement errors.

9. A single photon laser radar depth measurement method is characterized by comprising the following steps:

acquiring coordinates of the underwater photon signal;

correcting coordinates of the water bottom photon signal by adopting the underwater photon displacement correction method of the single photon laser radar in any one of the claims 1 to 7;

and determining the depth of the area to be measured according to the corrected coordinates of the water bottom photon signal.

10. The utility model provides a single photon laser radar depth measurement device which characterized in that includes:

the signal acquisition module is used for acquiring a water bottom photon signal;

a signal processing module for correcting the coordinates of the water bottom photon signal by using the single photon lidar underwater photon displacement correction method of any one of claims 1-7;

and the depth measurement module is used for determining the depth of the area to be measured according to the corrected coordinates of the underwater photon signal.

11. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the single photon lidar underwater photon displacement correction method according to any one of claims 1-7, or implements the single photon lidar depth measurement method according to claim 9.

12. A computing device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method for single photon lidar underwater photon displacement correction according to any of claims 1-7 or the method for single photon lidar depth measurement according to claim 9 when executing the program.

Technical Field

The invention relates to the technical field of ocean mapping, in particular to a method and a device for underwater photon displacement correction and depth measurement of a single photon laser radar.

Background

With the development of the marine surveying and mapping technology, the laser radar sounding technology is used as an important branch of the laser radar, and is rapidly developed in recent years. And play an important role in the fields of shallow water and sea area measurement, river channel water depth measurement, underwater topography and landform mapping and the like.

The single photon laser radar is a novel laser detection technology developed in recent years, compared with the traditional full-waveform laser radar, the single photon laser radar has higher pulse emission repetition frequency, and adopts a receiving device with extremely high sensitivity, and can detect and receive echo envelope amplitude of hundreds or even thousands of photons and convert the detection into the detection of a single photon, so that the single photon laser has the advantages of long distance, high repetition frequency, high efficiency, light weight and the like, and simultaneously overcomes the problems of large volume, large mass, low reliability, contradiction between pulse energy and repetition frequency and the like of the traditional laser.

In the prior art, when measurement is performed based on a single photon laser radar, a large number of discrete photons can be obtained, wherein noise photons and photon signals no longer meet the traditional high signal-to-noise ratio, so that a data processing method based on the measurement technology is quite different from the traditional laser radar. In the process of using the single photon laser radar to measure underwater topography and water depth, when photons are emitted to the water surface through the atmosphere and penetrate through a water-air interface to enter water, a water body can generate a refraction effect on the photons, and the transmission speed of the photons is reduced. The influence of the two factors can cause certain deviation of underwater topography and water depth measurement results, and the positioning and measurement accuracy of each photon is reduced.

Disclosure of Invention

The present invention is directed to solve the technical problems in the related art at least to some extent, and to achieve the above object, an embodiment of a first aspect of the present invention provides a method for correcting an underwater photon displacement of a single photon laser radar, including:

acquiring a pointing angle of photons emitted by a single photon laser radar, and coordinates of a water surface photon signal and a water bottom photon signal returned by the photons emitted by the single photon laser radar;

performing wave fitting according to the water surface photon signal to determine a wave model;

determining the intersection point of the photon and the water-gas interface according to the coordinate of any water bottom photon, the pointing angle and the sea wave model;

determining the underwater displacement error of the photon according to the intersection point, the sea wave model and the pointing angle;

and correcting the coordinates of the underwater photon signal according to the underwater displacement error.

Further, the determining the intersection point of the photon and the water-air interface according to the coordinate of any water bottom photon, the pointing angle and the sea wave model comprises:

constructing a space straight line according to the coordinates and the pointing angle;

and determining the intersection point of the space straight line and the sea wave model as the intersection point of the photon and the water-gas interface.

Further, the determining the underwater displacement error of the photon according to the intersection point, the ocean wave model and the pointing angle comprises:

determining the slope of the wave surface of the photon in the along-rail direction according to the intersection point and the wave model;

and determining the underwater displacement error according to the slope of the sea wave surface and the pointing angle.

Further, the determining the underwater displacement error according to the sea wave surface slope and the pointing angle comprises:

determining the incident angle and the refraction angle of the photon according to the slope of the sea wave surface and the pointing angle;

and determining the underwater displacement error according to the refraction angle, the slope of the sea wave surface and the pointing angle.

Further, the determining the incident angle and the refraction angle of the photon according to the slope of the sea wave surface and the pointing angle comprises:

determining the incident angle according to the slope of the sea wave surface and the pointing angle;

determining the angle of refraction from the angle of incidence based on snell's law.

Further, the determining the underwater displacement error according to the refraction angle, the sea wave surface slope and the pointing angle comprises:

determining an original incident photon path of photons emitted by the single photon laser radar and a photon path after water body refraction;

and determining the underwater displacement error according to the spatial structure relationship among the original incident photon path, the photon path refracted by the water body, the refraction angle, the slope of the sea wave surface and the pointing angle.

Further, the determining the original incident photon path and the photon path after the refraction of the water body comprises:

determining the original incident photon path according to the coordinates of the water bottom photons and the coordinates of the intersection point;

and determining the photon path after the water body is refracted according to the original incident photon path based on a refraction formula.

In order to achieve the above object, an embodiment of the second aspect of the present invention further provides an underwater photon displacement correction device for a single photon laser radar, including:

the acquisition module is used for acquiring the pointing angle of photons emitted by the single photon laser radar, and coordinates of a water surface photon signal and a water bottom photon signal returned by the photons emitted by the single photon laser radar;

the processing module is used for carrying out wave fitting according to the water surface photon signals and determining a wave model; the device is also used for determining the intersection point of the photon and the water-gas interface according to the coordinate of any water bottom photon, the pointing angle and the sea wave model; the underwater displacement error of the photon is determined according to the intersection point, the wave model and the pointing angle;

and the correction module is used for correcting the coordinates of the underwater photon signals by the underwater displacement errors.

By using the underwater photon displacement correction method or device of the single photon laser radar, high-precision recognition, separation and extraction are carried out on water surface photons and water bottom photons through a filtering algorithm, and sea wave modeling is carried out by using extracted water surface photon signals. And constructing a space straight line by using the space coordinates of the photon signals at the water bottom and the photon emission pointing angle, and calculating to obtain the intersection point of the photons and the water-air interface and the slope of the sea wave surface at the intersection point. And finally, determining point position deviation and depth error of the underwater photons through the spatial structure relationship of water refraction and photon underwater propagation paths based on the spatial coordinates of the intersection point of the photons and the water-air interface, the slope of the sea wave surface and the pointing angle, and correcting. The invention can effectively correct photon data with two-dimensional and three-dimensional structures, avoids the problems of point position and sounding offset errors caused by water body refraction and water body photon speed change caused by instantaneous sea waves, and improves the accuracy of data.

To achieve the above object, an embodiment of a third aspect of the present invention provides a method for sounding by a single photon laser radar, including:

acquiring coordinates of the underwater photon signal;

correcting the coordinates of the underwater photon signal by adopting the underwater photon displacement correction method of the single photon laser radar;

and determining the depth of the area to be measured according to the corrected coordinates of the water bottom photon signal.

To achieve the above object, an embodiment of a fourth aspect of the present invention provides a single photon laser radar depth measurement device, including:

the signal acquisition module is used for acquiring a water bottom photon signal;

the signal processing module is used for correcting the coordinates of the underwater photon signal by adopting the underwater photon displacement correction method of the single photon laser radar;

and the depth measurement module is used for determining the depth of the area to be measured according to the corrected coordinates of the underwater photon signal.

By using the single photon laser radar depth measurement method or device, the acquired underwater photon coordinates are corrected by the underwater photon displacement correction method based on the single photon laser radar, so that the accuracy of the underwater photon coordinates can be improved, and the accuracy of depth measurement of the area to be measured is effectively improved.

To achieve the above object, an embodiment of a fifth aspect of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the method for correcting the underwater photon displacement of the single photon lidar according to the first aspect of the present invention or implements the method for sounding the single photon lidar according to the third aspect of the present invention.

To achieve the above object, an embodiment of a sixth aspect of the present invention provides a computing device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the program to implement the method for correcting underwater photon displacement of single photon lidar according to the first aspect of the present invention or to implement the method for sounding single photon lidar according to the third aspect of the present invention.

The non-transitory computer-readable storage medium and the computing device according to the present invention have similar beneficial effects to the method for correcting the underwater photon displacement of the single photon laser radar according to the first aspect of the present invention or the method for sounding the single photon laser radar according to the third aspect of the present invention, and are not described in detail herein.

Drawings

FIG. 1 is a schematic diagram of a principle of single photon laser radar depth measurement;

FIG. 2 is a schematic flow chart of an underwater photon displacement correction method of the single photon laser radar according to the embodiment of the invention;

FIG. 3 is a schematic illustration of acquired water surface photon signals and water bottom photon signals according to an embodiment of the invention;

FIG. 4 is a schematic flow chart illustrating the determination of the intersection of photons with the water-air interface according to an embodiment of the present invention;

FIG. 5 is a schematic spatial diagram of photon coordinates and pointing angles according to an embodiment of the present invention;

FIG. 6 is a schematic flow chart illustrating the process of determining the underwater photon displacement according to an embodiment of the present invention;

FIG. 7 is a schematic flow chart illustrating the determination of an underwater displacement error based on the slope and pointing angle of the sea surface in accordance with an embodiment of the present invention;

FIG. 8 is a first schematic diagram illustrating a spatial structure for determining displacement error according to an embodiment of the present invention;

FIG. 9 is a second schematic diagram illustrating a spatial structure for determining displacement error according to an embodiment of the present invention;

FIG. 10 is a schematic flow chart of the method for determining underwater displacement error according to refraction angle, wave surface slope and pointing angle according to the embodiment of the invention;

FIG. 11 is a diagram illustrating calibration results according to an embodiment of the present invention;

FIG. 12 is a schematic structural diagram of an underwater photon displacement correction device of the single photon laser radar according to an embodiment of the present invention;

FIG. 13 is a schematic flow chart of a single photon laser radar depth measurement method according to an embodiment of the present invention;

FIG. 14 is a schematic structural diagram of a single photon laser radar depth measurement device according to an embodiment of the present invention;

FIG. 15 is a schematic diagram of a computing device according to an embodiment of the invention.

Detailed Description

Embodiments in accordance with the present invention will now be described in detail with reference to the drawings, wherein like reference numerals refer to the same or similar elements throughout the different views unless otherwise specified. It is to be noted that the embodiments described in the following exemplary embodiments do not represent all embodiments of the present invention. They are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the claims, and the scope of the present disclosure is not limited in these respects. Features of the various embodiments of the invention may be combined with each other without departing from the scope of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

Laser radar has gained wide acceptance in the industry as an active remote sensing technology capable of acquiring three-dimensional terrain data rapidly, efficiently and precisely. However, in the fields of high-sensitivity and long-distance detection, ocean and atmosphere detection, intertidal zone water depth detection and the like, the traditional laser radar with a linear detection system is limited by low target reflectivity or low system laser energy and detector sensitivity, so that the intensity of echo signals equivalently received by a receiver is extremely weak, the signal-to-noise ratio cannot meet the system requirement, and the further development and application of the laser radar are limited. The single photon laser radar based on the photon counting detection system becomes a research hotspot of a novel laser ranging technology because of the characteristics of low laser pulse energy, high laser repetition frequency output, extremely high detection sensitivity and the like. The coastline of China is very long, and the development of the laser depth sounding technical research has important significance for filling up offshore resource mapping of China.

The single-photon laser radar is greatly different from the traditional full-waveform laser radar in design idea and data processing method. When acquiring a valid signal, it no longer focuses on acquiring a high signal-to-noise ratio waveform with high energy emission, but instead focuses on utilizing limited resources to fully utilize each photon in the echo signal. And by improving the data processing method, effective signal extraction can be realized in the signals with low signal-to-noise ratio. Laser sounding technology based on single photon detection has become a future development trend and direction. When the single photon laser radar carries out underwater topography and water depth measurement, when photons pass through the atmosphere and are emitted to the water surface and penetrate through a water-gas interface, a water body can generate a refraction effect on the photons, and the transmission speed of the photons is reduced. The influence of the two factors can cause certain deviation of the measurement results of the underwater topography and the water depth, and reduce the positioning and measurement precision of each photon, so that the effective correction of the positioning and measurement precision is one of important links for ensuring and improving the accuracy and precision of the underwater topography and water depth measurement.

The invention carries out high-precision recognition, separation and extraction on photons on the water surface and the water bottom through a filtering algorithm. And performing sea wave modeling by using the extracted water surface photon signals. And constructing a space straight line by using the space coordinates of the photon signals at the water bottom and the photon emission pointing angle, and calculating to obtain the space intersection point coordinates of the photons and the sea wave, and the wave surface slope and the normal vector at the intersection point. And finally, correcting the point position and depth measurement error of the underwater photon through the space structure relationship of the water body refraction and the underwater photon propagation path based on the space coordinate, the wave surface slope and the normal vector of the intersection point of the photon and the water-air interface and the space coordinate of the underwater photon. The invention can effectively correct photon data with two-dimensional and three-dimensional structures, and avoids the problems of point position and sounding offset errors caused by water body refraction and water body photon speed change caused by instantaneous wave waves.

Fig. 1 is a schematic diagram showing the principle of single photon laser radar depth measurement, wherein the single photon laser radar emits laser to a water body, multiple backscattering and diffuse reflection are generated at the atmosphere, a gas-water interface, the water body and the water bottom respectively, and the scattering and reflection signals return to a detector through opposite paths again. Because the attenuation of the water body to the laser is larger, the echo signals of the water surface and the land are strong, and the echo signals of the water bottom are weak. The single photon detector can respond to the strong or weak photon signals and output digital pulses, and the time measuring circuit can measure the time interval between the pulses and the laser main wave so as to obtain the distance information corresponding to the photon event. The factors such as backscattering of air and water, sunlight, dark count and dead time of a detector and the like influence the identification of a target, but a single photon laser radar detection system accumulates all photon events to obtain a histogram shown on the right side in figure 1, and then extracts water surface and water bottom information according to probability statistics and a distance correlation algorithm, so that the measurement of the water depth under the working condition of low signal-to-noise ratio is realized. Therefore, the data processing method based on the measurement technology of the single photon laser radar is quite different from the traditional laser radar.

Fig. 2 is a schematic flow chart of the method for correcting the underwater photon displacement of the single photon lidar according to the embodiment of the invention, which includes steps S1 to S5.

In step S1, a pointing angle of a photon emitted by the single photon lidar, and coordinates of a water surface photon signal and a water bottom photon signal returned by the photon emitted by the single photon lidar are obtained. Fig. 3 is a schematic diagram of the acquired water surface photon signal and water bottom photon signal according to the embodiment of the present invention, in the embodiment of the present invention, a return photon signal of a laser signal emitted by a single photon lidar is acquired, and effective photon signals can be identified and separated from noise photons through various filtering and correlation algorithms, so as to acquire a series of effective photon signals and extract the water surface photon signal and the water bottom photon signal. In the embodiment of the invention, the pointing angle of the photon and the coordinates of the water bottom photon signal can be obtained according to the data acquired and recorded by the single photon laser radar.

In step S2, a wave model is determined by performing wave fitting according to the surface photon signal. In the embodiment of the invention, the sea wave fitting is carried out according to the extracted large amount of water surface photon signals. In the fitting process, a piecewise polynomial and a wave geometric model can be adopted, the piecewise polynomial and the two-dimensional model of the wave geometric model are respectively expressed as formulas (1) and (2), and the corresponding three-dimensional models are respectively expressed as formulas (3) and (4), as follows:

wherein, a_i、b_i、c_i、d_i、e_i、f_i、g_i、h_i、k_i、l_iRespectively representing polynomial coefficients, A_i、ω_i、φ_i、g represents the amplitude, angular velocity, direction angle, initial phase and gravitational acceleration of each waveform in the sea wave geometric model respectively, H₀Indicating a constant offset resulting from a negative sea level in the WGS84 geographic coordinate system. In the embodiment of the invention, the instantaneous wave parameters can be optimized by adopting an LM (Levenberg-Marqyardt) algorithm based on a least square method in the fitting process to obtain an accurate wave model.

In step S3, an intersection point of the photon and the water-air interface is determined according to the coordinates of any water bottom photon, the pointing angle and the wave model. FIG. 4 is a schematic flow chart illustrating a process of determining the intersection point of the photon and the water-air interface according to an embodiment of the present invention, which includes steps S31 to S32.

In step S31, a spatial straight line is constructed according to the coordinates and the pointing angle. FIG. 5 showsA schematic spatial view of photon coordinates and pointing angles according to an embodiment of the present invention. In the embodiment of the invention, the three-dimensional coordinate of each photon can be obtained based on the self-measuring principle and characteristics of the single photon laser radar, and the satellite-borne three-dimensional data is projected onto a two-dimensional plane of a satellite in the along-orbit and vertical-orbit directions, so that the three-dimensional coordinate (x, y, z) can be converted into two-dimensional coordinates (x, z) and (y, z), for example, the coordinate (x, z) of the underwater photon q_Q，z_Q) Where x represents the direction of flight of the satellite along the track, z represents the vertical elevation direction, and y is the vertical orbit direction. Theta_xAnd theta_yAre the two components of the photon emission pointing angle theta corresponding in the x, y directions. In the embodiment of the invention, the plane < zox is taken as an example, and the coordinate (x) of the underwater photon is determined_q，z_q) And its pointing angle theta_xA spatial straight line can be constructed as shown in equation (5):

wherein k is₁And k₂Representing photon coordinates and pointing angle theta from water bottom_xAnd calculating the acquired straight line parameters.

In step S32, the intersection of the spatial straight line and the wave model is determined as the intersection of the photon and the water-air interface. In the embodiment of the present invention, after the spatial straight line is constructed and intersected with the sea wave model, the intersection point is determined as the intersection point p of the photon and the water-air interface. According to the space straight line formula (5) combined with the sea wave model (taking the piecewise polynomial as an example) formula (1) constructed in the above way, the coordinate (x) of the intersection point p can be calculated through an iterative solution algorithm_p，z_p)。

In step S4, an underwater displacement error of the photon is determined from the intersection, the ocean wave model, and the pointing angle. Fig. 6 is a schematic flow chart illustrating the process of determining the photon underwater displacement according to the embodiment of the invention, which includes steps S41 to S42.

In step S41, determining the slope of the wave surface of the photon in the along-track direction according to the intersection point and the wave model. In the embodiment of the invention, according to the determined intersection point p and the wave model, the slope of the wave surface of the photon in the direction x along the rail can be calculatedAs shown in the following equation (6):

wherein, a_i、b_i、c_iRespectively, the polynomial coefficients of the above-mentioned wave model, and in the embodiment of the present invention, formula (6) is determined by taking the first derivative of formula (1).

In step S42, according to the slope of the wave surfaceAnd the pointing angle theta_xDetermining the underwater displacement error. Fig. 7 is a schematic flow chart illustrating the process of determining the underwater displacement error according to the slope and the pointing angle of the sea surface, including steps S421 to S422.

In step S421, the incident angle and refraction angle of the photon are determined according to the slope of the sea surface and the pointing angle. In the embodiment of the invention, the incident angle alpha of the photon can be acquired based on the spatial structure, and then the refraction angle beta is acquired according to the snell law. In the embodiment of the invention, the space positions based on the intersection points p of the sea waves and the water-air interface are different, and the slopes of the sea wave surfacesAnd pointing angle theta_xThe relationship of (1) is divided into two cases, one isThe other isThe case (1). FIG. 8 shows a flowchart of an embodiment of the inventionA schematic diagram of a spatial structure of a fixed displacement error, and fig. 9 is a schematic diagram of a spatial structure of a fixed displacement error according to an embodiment of the present invention, where fig. 8 is a schematic diagram of a slope of a sea wave surfaceThe time, FIG. 9 shows the slope of the wave surfaceThe situation of time.

In the embodiment of the invention, the slope of the wave surface is determinedThe normal vector N of the intersection point p of the photon and the water-gas interface can be determined as shown in equation (7) below:

from the spatial structural relationship, the angle of incidence α can be determined according to equations (8) and (9), respectively:

wherein the content of the first and second substances,representing the wave surface slope angle. In the embodiment of the present invention, after the incident angle α of a photon can be obtained based on the spatial structure, the refraction angle β can be obtained according to the snell's law, which is shown in the following equations (10) and (11):

wherein the content of the first and second substances,representing the refractive index of the water body. In the embodiment of the invention, in the single photon laser radar measurement process, the whole transmission time of a certain photon in the atmosphere and the water body cannot be separated, but the transmission time of the photon in the water body is fixed, namely the transmission time is not changed due to the refraction of the water body and the change of the speed. Thus, according to snell's law, the refractive index n of a body of water_wCan be determined according to the following equation (12):

wherein, C_aAnd C_wThe transmission speeds of the photons in the air and the water body are respectively, and t represents the transmission time of the photons in the water body.

In step S422, the underwater displacement error is determined according to the refraction angle, the slope of the sea wave surface and the pointing angle. Fig. 10 is a schematic flow chart illustrating a process of determining an underwater displacement error according to a refraction angle, a slope of a sea wave surface and a pointing angle, which includes steps S4221 to S4222.

In step S4221, an original incident photon path of the photons emitted by the single photon lidar and a photon path after refraction of the water body are determined. In the embodiment of the invention, the original incident photon path is determined according to the coordinates of the water bottom photons and the coordinates of the intersection point, and then the photon path after the water body is refracted is determined according to the original incident photon path based on a refraction formula.

In an embodiment of the invention, the coordinates (x) of the water bottom photons are determined according to the above_q，z_q) Coordinate (x) of intersection point p_p，z_p) The division of the original incident photon path L on the plane < zox can be respectively calculated by a distance formulaQuantity L_xThe component of the photon path R after the water body refraction at the plane < zox is R_x(as shown in fig. 8 and 9). Because the photon path R after the water body refraction and the original incident photon path L meet the refraction formula, the water body refraction index n can be obtained according to the original incident photon path L and the water body refraction index n_wDetermining the photon path R after the water body refracts, as shown in the following formula (13):

in step S4222, the underwater displacement error is determined according to a spatial structure relationship among the original incident photon path, the photon path refracted by the water body, the refraction angle, the slope of the sea wave surface, and the pointing angle. In the embodiment of the invention, whenThen, as shown in FIG. 8, the photon path L according to the original incident photon_xPhoton path R refracted with water body_xThe displacement error model of the photon in different directions is constructed to determine the displacement error delta of the photon in different directions_xAnd Δ_zAs shown in the following equation (14):

wherein, Delta_xIndicating a position deviation error in the along-track direction, Δ_zIndicating the water depth error in the elevation z direction, i.e. the photon q before depth correction D_LAnd corrected D_RThe difference of (a).

In the embodiment of the invention, whenThen, as shown in FIG. 9, the direction of normal vector N of intersection point p of photon and water-gas interface isDifferent time, therefore, the incident angle α of the photon needs to be obtained again based on the spatial structure according to the formula (9), then the refraction angle β is obtained according to the formula (11), and finally the photon path L of the original incident photon is obtained_xPhoton path R refracted with water body_xThe displacement error model of the photon in different directions is constructed to determine the underwater displacement error delta of the photon in different directions_xAnd Δ_z. In the embodiment of the invention, whenWhen, there are two cases, namelyAndthe underwater displacement error delta of the photon in different directions is calculated_xAnd Δ_zAs shown in the following equation (15):

in the embodiment of the invention, when a single photon laser radar (photon counting radar) is used for water depth measurement, laser photons generate water body refraction at a water-air interface, and the propagation speed of the photons in the water body is changed to cause an error in underwater topography measurement. Different from the traditional full-waveform laser radar, the single-photon laser radar is a novel photon event statistical form measuring technology and method based on the Poisson distribution theory, and the method has higher measuring precision than the traditional laser radar. However, the single photon laser radar cannot acquire the coordinate value of the intersection point of the photon and the water-gas interface like the traditional laser radar, so that the method for correcting the photon refraction and the speed change is obviously different from the traditional radar.

It is understood that the correction method of the embodiment of the present invention is also applicable to a three-dimensional space. In the three-dimensional space structure, the displacement and water depth error of the photons are determined as shown in the following formula (16):

wherein (theta)_x，θ_y)、(β_x，β_y) Respectively represent the projection components of the photon direction angle, the sea wave surface slope angle and the refraction angle on a plane < zox and a plane < zoy.

In step S5, the water bottom photon signal is corrected according to the displacement error. In the embodiment of the invention, the coordinates of the water bottom photons are respectively added with delta_xAnd Δ_zAnd completing the correction of the water bottom photon signals of displacement errors caused by water body refraction and photon speed change.

FIG. 11 is a diagram illustrating a calibration result according to an embodiment of the present invention. As shown in fig. 11, the horizontal curve in the 0 scale area of the z-axis represents the extracted effective photon signals on the water surface, and the wave curve fitted by these photons (because the data length is about 2 km, the curve looks zigzag due to the display scale problem, and actually the wave curve is found to be smoother after local amplification), and the area without the fitted curve is the extracted original water bottom topography photon signals. Photons in an area covered by the underwater fitting curve are all the photons of the underwater topography corrected by the correction method, and the corresponding curve is an underwater topography curve fitted by the corrected photons. After the correction is carried out by the correction method of the embodiment of the invention, the correction compensation is carried out on the position of each original photon coordinate, so that the position representation is more accurate.

By adopting the underwater photon displacement correction method of the single photon laser radar, the high-precision recognition, separation and extraction are carried out on the photons on the water surface and the underwater photons through the filtering algorithm, and the extracted photon signals on the water surface are utilized to carry out the sea wave modeling. And constructing a space straight line by using the space coordinates of the photon signals at the water bottom and the photon emission pointing angle, and calculating to obtain the coordinates of the intersection point of the photons and the water-air interface and the slope of the sea wave surface at the intersection point. And finally, determining the point location offset and the depth error of the underwater photons through the spatial structure relationship of the water body refraction and the underwater photon propagation path based on the spatial coordinates of the intersection point of the photons and the water-air interface, the slope of the sea wave surface, the spatial coordinates and the pointing angle of the underwater photons, and correcting. The invention can effectively correct photon data with two-dimensional and three-dimensional structures, avoids the problems of point position and sounding offset errors caused by water body refraction and water body photon speed change caused by instantaneous sea waves, and improves the accuracy of data.

The embodiment of the second aspect of the invention also provides a single photon laser radar underwater photon displacement correction device. Fig. 12 is a schematic structural diagram of an underwater photon displacement correction device 1200 of a single photon lidar according to an embodiment of the present invention, which includes an obtaining module 1201, a processing module 1202, and a correction module 1203.

The obtaining module 1201 is configured to obtain a pointing angle of a photon emitted by the single photon laser radar, and coordinates of a water surface photon signal and a water bottom photon signal returned by the photon emitted by the single photon laser radar.

The processing module 1202 is configured to perform wave fitting according to the water surface photon signal to determine a wave model; the device is also used for determining the intersection point of the photon and the water-gas interface according to the coordinate of any water bottom photon, the pointing angle and the sea wave model; and the underwater displacement error of the photon is determined according to the intersection point, the wave model and the pointing angle.

The correction module 1203 is configured to correct the coordinates of the underwater photon signal by the underwater displacement error.

In this embodiment of the present invention, the processing module 1202 is further configured to construct a spatial straight line according to the coordinate and the pointing angle; and the intersection point of the space straight line and the sea wave model is determined as the intersection point of the photon and the water-gas interface.

In an embodiment of the present invention, the processing module 1202 is further configured to determine a slope of a wave surface of the photon in the along-rail direction according to the intersection point and the wave model; the underwater displacement error is also determined from the slope of the sea surface and the pointing angle.

The more specific implementation manner of each module of the single photon laser radar underwater photon displacement correction device 1200 can be referred to the description of the single photon laser radar underwater photon displacement correction method of the present invention, and has similar beneficial effects, and is not described herein again.

The embodiment of the third aspect of the invention provides a single photon laser radar depth measurement method. Fig. 13 is a schematic flowchart of a single photon lidar depth measurement method according to an embodiment of the invention, including steps S131 to S133.

In step S131, coordinates of the water bottom photon signal are acquired.

In step S132, coordinates of the underwater photon signal are corrected by using the above-mentioned method for correcting the underwater photon displacement of the single photon lidar.

In step S133, the depth of the region to be measured is determined according to the coordinates of the corrected water bottom photon signal. It can be understood that, in the embodiment of the present invention, the coordinates of the corrected water bottom photon signal may be processed by using an existing algorithm to determine the depth of the region to be measured.

By adopting the single photon laser radar depth measurement method provided by the embodiment of the invention, the acquired underwater photon coordinates are corrected by the underwater photon displacement correction method based on the single photon laser radar, so that the accuracy of the underwater photon coordinates can be improved, and the accuracy of depth measurement of the area to be measured is effectively improved.

The embodiment of the fourth aspect of the invention provides a single photon laser radar depth measurement device. Fig. 14 is a schematic structural diagram of a single photon lidar depth measurement device 1400 according to an embodiment of the present invention, which includes a signal acquisition module 1401, a signal processing module 1402, and a depth measurement module 1403.

The signal acquisition module 1401 is used to acquire a water bottom photon signal.

The signal processing module 1402 is configured to correct coordinates of the underwater photon signal by using the above-described underwater photon displacement correction method for the single photon lidar.

The depth measurement module 1403 is configured to determine the depth of the region to be measured according to the coordinates of the corrected water bottom photon signal.

The more specific implementation manner of each module of the single photon laser radar depth measurement device 1400 may refer to the description of the single photon laser radar depth measurement method of the present invention, and has similar beneficial effects, and is not described herein again.

An embodiment of the fifth aspect of the invention proposes a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method for underwater photon displacement correction of a single photon lidar according to the first aspect of the invention or implements the method for depth sounding of a single photon lidar according to the third aspect of the invention.

Generally, computer instructions for carrying out the methods of the present invention may be carried using any combination of one or more computer-readable storage media. Non-transitory computer readable storage media may include any computer readable medium except for the signal itself, which is temporarily propagating.

A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages, and in particular may employ Python languages suitable for neural network computing and TensorFlow, PyTorch-based platform frameworks. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

An embodiment of a sixth aspect of the present invention provides a computing device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the program to implement the method for correcting the underwater photon displacement of the single photon lidar according to the first aspect of the present invention or to implement the method for sounding the single photon lidar according to the third aspect of the present invention.

The non-transitory computer-readable storage medium and the computing device according to the fifth and sixth aspects of the present invention may be implemented with reference to the contents specifically described in the embodiments of the first aspect or the third aspect of the present invention, and have similar beneficial effects to the underwater photon displacement correction method of the single photon laser radar according to the embodiments of the first aspect of the present invention or the depth measurement method of the single photon laser radar according to the embodiments of the third aspect of the present invention, and are not described herein again.

FIG. 15 illustrates a block diagram of an exemplary computing device suitable for use to implement embodiments of the present disclosure. The computing device 12 shown in FIG. 15 is only one example and should not impose any limitations on the functionality or scope of use of embodiments of the disclosure.

As shown in FIG. 15, computing device 12 may be implemented in the form of a general purpose computing device. Components of computing device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.

Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. These architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus, to name a few.

Computing device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computing device 12 and includes both volatile and nonvolatile media, removable and non-removable media.

Memory 28 may include computer system readable media in the form of volatile Memory, such as Random Access Memory (RAM) 30 and/or cache Memory 32. Computing device 12 may further include other removable/non-removable, volatile/nonvolatile computer-readable storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown, but commonly referred to as a "hard drive"). Although not shown in FIG. 15, a disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a Compact disk Read Only Memory (CD-ROM), a Digital versatile disk Read Only Memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the disclosure.

A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally perform the functions and/or methodologies of the embodiments described in this disclosure.

Computing device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with computing device 12, and/or with any devices (e.g., network card, modem, etc.) that enable computing device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Moreover, computing device 12 may also communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public Network such as the Internet via Network adapter 20. As shown, network adapter 20 communicates with the other modules of computing device 12 via bus 18. It is noted that although not shown, other hardware and/or software modules may be used in conjunction with computing device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processing unit 16 executes various functional applications and data processing, for example, implementing the methods mentioned in the foregoing embodiments, by executing programs stored in the system memory 28.

The computing device of the invention can be a server or a terminal device with limited computing power.

Although embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are illustrative and not to be construed as limiting the present invention, and that changes, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art within the scope of the present invention.