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摘要: 水下地形测量是进行海洋科学研究的基础，也是海洋测绘的重要工作内容。近年来，机载激光测深技术的提出与应用有效地弥补了以舰船为载体的传统声学测深方法在近海浅水区作业存在的技术缺陷，也为相关工程问题的解决提供了新的技术手段。详细介绍了机载激光测深技术的基本原理与误差来源，概括与总结了国内外研究机构在系统研制及其有关算法研究方面的进展情况，并在此基础上分析了该技术在近海浅水区域的作业优势与所存在的关键性问题，以供相关研究参考。最后，结合机载激光测深技术目前的研究现状对未来该技术可能的发展方向进行了展望。Abstract: Anunderwater topography survey is a basics part of marine science research, and the main task of hydrographic surveying and charting. The traditional underwater acoustics method that uses a survey boat as a carrier can have difficulties in coastal zones or shallow water. In recent years, the emergence and application of airborne laser bathymetry technology has made up for the technical defects of traditional underwater acoustics, providing a new method to solve the practical engineering problems. This paper introduces the basic principles and error sources in airborne laser bathymetry, and summarizes the current progress and developments The advantages and problems of airborne laser bathymetry technology in the offshore shallow water areas are identified and analyzed for reference. This paper concludes with a discussion of developing trends in this technology.
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图 2 机载激光测深几何原理
Figure 2. Geometry Principle Schematic Drawing of Airborne Laser Bathymetry
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表 1 机载激光测深系统主要误差
Table 1 Main Errors of Airborne Laser Bathymetry
量测误差 集成误差 设备安置误差 数据处理误差 激光测深误差 偏心距 时间同步误差 导航定位误差 照准误差 数据内插误差 扫描角误差 角度步进误差 坐标转换误差 波浪与潮汐测量误差 扭矩误差 深度归算误差 
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表 2 机载激光测深系统发展过程
Table 2 The Development of Airborne Laser Bathymetry
发展阶段 时间 典型系统 初级阶段 1960s — 提升阶段 形成 20世纪60年代末~70年代末 美国：ALB，AOL
澳大利亚：WRELADS-Ⅰ
瑞典：HOSS
加拿大：MK-1成熟 20世纪80年代初~90年代初 美国：ABS，NOROA，OWL，SHOALS
澳大利亚：WRELADS-Ⅱ
瑞典：FLASH, HAWKEYE
加拿大：LARSEN-500
苏联：Chaika, Makrel-Ⅱ实用阶段 90年代初至今 瑞典：HAWKEYE-Ⅱ，HAWKEYE-Ⅲ
加拿大：Aquarius，CIZML
奥地利：VQ-820-G，VQ-880-G
荷兰：LADs Mk3
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主要参数 CZMIL HawkEyeⅢ Chiroptera Ⅱ LADs Mk3 VQ-820-G VQ-880-G 研制机构 Optech Leica AHAB Leica AHAB Fugro Riegl Riegl 扫描方式 圆形 椭圆形 倾斜式 直线 椭圆形 圆形 作业航高/m 400~1 000 水深测量：
400~600
陆地测量：
400~1 600水深测量：
400~600
陆地测量：
400~1 600360~900 水深测量：
600
陆地测量：
1 500~2 500水深测量：
600
陆地测量：
2 200浅水脉冲
频率/kHz70 35 35 - 520 550 浅水模式最大测深 2/kd
(水底反射率>15%)2.2/kd 2.2/kd
1.5 Secchi- 1 Secchi 1.5 Secchi 深水脉冲频率/kHz 10 10 - 1.5 - - 深水模式最大测深 4.2/kd
(水底反射率>15%)4/kd - 2.5 Secchi - - 测深精度
/m$\sqrt {[{{0.3}^2} + {{\left( {0.013{d_p}} \right)}^2}]} $
(2σ)浅水频道：
0.15 (2σ)
深水频道：
$\sqrt {[{{0.3}^2} + {{\left( {0.013{d_p}} \right)}^2}]} $
(2σ)0.15(2σ) < 0.5(2σ) 0.025(σ) 0.025(σ) 测点密度 - 水深测量：
1.5 pts/m2
地形测量：
>12 pts/m2水深测量：
1.5 pts/m2
地形测量：
>12 pts/m2(2 m×2 m)
~
(5 m×8 m)10~50 pts/m2 扫描角 ±20° 前后：±14°
左右：±20°前后：±14°
左右：±20°前后：7° 20°椭圆 20°~40°椭圆 幅宽 作业高度的70% 作业高度的70% 作业高度的70% 79~585 m - - 陆地脉冲频率/kHz 80 500 500 1.5 520 550 注：kd：扩散衰减系数，一般来说只有在(0.1, 0.3) 区间内激光能够有效地穿透水体；dp：测量目标深度；Secchi：透明度的量，采用具有黑白分隔的Secchi disk沉入水中直至肉眼无法辨认时的距离。
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