Satellite laser altimetry can obtain sub-meter or even centimeter-scale surface elevation data over large areas, but it is inevitably affected by scattering caused by clouds, aerosols, and other atmospheric particles. This laser ranging error caused by scattering cannot be ignored. In this study, we systematically combined existing atmospheric scattering identification technology used in satellite laser altimetry and observed that the traditional algorithm cannot effectively estimate the laser multiple scattering of the GaoFen-7 (GF-7) satellite. To solve this problem, we used data from the GF-7 satellite to analyze the importance of atmospheric scattering and propose an identification scheme for atmospheric scattering data over land and water areas. We also used a look-up table and a multi-layer perceptron (MLP) model to identify and correct atmospheric scattering, for which the availability of land and water data reached 16.67% and 26.09%, respectively. After correction using the MLP model, the availability of land and water data increased to 21% and 30%, respectively. These corrections mitigated the low identification accuracy due to atmospheric scattering, which is significant for facilitating satellite laser altimetry data processing.

Slope and roughness are basic geophysical properties of terrain surface, and also sources of error in satellite laser altimetry systems. The full-waveform satellite laser altimeter records the complete echo waveform backscattered from the target surface worldwide, so it may be used for both range measurement and inversion analysis of geometric parameters of the target surface. This paper proposes a new method for inversion of slope and roughness of the bare or near-bare terrain within laser footprint using full-waveform satellite laser altimeter data, Shuttle Radar Topographic Mission (SRTM) and topographic prior knowledge. To solve the non-uniqueness of the solution to the inversion problem, this paper used the SRTM and airborne Light Detection and Ranging (LiDAR) data in North Rhine-Westphalia, Germany, to establish a priori hypothesis about real information of topographic parameters. Then, under the constraints of prior hypothesis, the theoretical formulas and rules for slope and roughness inversion using the pulse-width broadening knowledge of satellite laser altimeter echo full-waveform were developed. Finally, based on the full-waveform data from the Geoscience Laser Altimeter System (GLAS) that was borne on ICE, Cloud, and Land Elevation Satellite (ICESat) and SRTM in the West Valley City, Utah and Jackson City, Wyoming, United States of America, the inversion was carried out. The experiment compares the results of proposed method with those of existing ones and evaluates the inversion results using high precision terrain slope and roughness information, which indicates that our proposed method is superior to the state-of-the-art methods, and the inversion accuracy for slope is 0.667$°$ (Mean Absolute Error, MAE) and 1.054$°$ (Root Mean Square Error, RMSE), the inversion accuracy for roughness is 0.171 m (MAE) and 0.250 m (RMSE).