Oceanic LiDAR (hereafter referred to as O-LiDAR) is an important remote sensing device for measuring the near-coastal water depth and for studying the optical properties of water bodies. With the commercialization of LiDAR, the theoretical research on the underwater transmission characteristics of LiDAR has been intensified worldwide. Primary research interests include the simulation and modeling of LiDAR underwater echo signals and the inversion of optical parameters using LiDAR water echo signals. This article provides an overview of the principle of LiDAR echo signal formation, and comprehensively summarizes the LiDAR echo signal simulation modeling methods and the corresponding factors that affect modeling accuracy by focusing on the characteristics of different methods. We found that the current simulation methods of LiDAR underwater transmission echo signals primarily include an analytical method based on the radiation transfer equation and a statistical method based on the Monte Carlo (MC) model. The radiation transport equation needs to be appropriately simplified using the analytical method, usually using the quasi-single-small-angle approximation principle. The analytical method has high calculation efficiency but its accuracy is dependent to the quasi-single small-angle approximation. The statistical method can analyze the influence of various factors on echo signals by controlling the variables, but it has poor calculation efficiency. Finally, the semianalytical MC model was used to quantitatively analyze the three main factors (LiDAR system parameters, water body optical parameters, and environmental parameters) affecting underwater LiDAR transmission characteristics, and summarizes the mechanism and results of different factors.

Traditional bathymetry LiDAR (light detection and ranging) onboard manned and/or unmanned airborne systems cannot operate in the context of narrow rivers in urban areas with high buildings and in mountainous areas with high peaks. Therefore, this study presents a prototype of a lightweight bathymetry LiDAR onboard an unmanned shipborne vehicle (called “GQ-Cor 19”). The GQ-Cor 19 system primarily includes an emitting optical module, a receiving optical module, control module, detection module, high-speed A/D sampling module, and data processing system. Considering that the “GQ-Cor 19” is extremely close to the water surface, various new technical challenges are encountered, such as significant laser scattering energy from the surface of the water, which saturates signals received by the photomultiplier tube detector. Therefore, this study presents various new technical solutions, including (1) an improved Bresenham algorithm, (2) a small and lightweight receiving optical system with a split-field method, and (3) a data acquisition module with a high-speech A/D collector. Following a series of different experimental verifications, the results demonstrate that the new generation of single-band LiDAR onboard an unmanned shipborne vehicle can swiftly measure the underwater depth, and the maximum measurement depth is more than 25 m. The measurement accuracy is better than 30 cm and the weight is less than 12 kg.

In order to design an economical and reliable LiDAR, it is necessary to quantify the influence of different factors on the attenuation of laser propagation in water. Although these factors have been widely investigated, a complete understanding is still few. In addition, a comparative analysis between the measured data and the simulation results of LiDAR to build the design of LiDAR is still lacking. For these reasons, a semi-analytical Monte Carlo method was applied to establish a simulation model of the underwater laser echo signal propagation. The control variable method was quantified with the three major types of influencing factors: 1) LiDAR system parameters, 2) water optical characteristics and 3) external conditions. The effects of these different influencing factors on laser underwater echo signal transmission were investigated. With the experimental results, the attenuation rate of laser transmission in turbid harbour was 7.1 and 19.2 times higher than that in coastal water and clean ocean. Compared with other influencing factors, the optical characteristics of water have the most significant influence on underwater laser transmission. The laser echo signals in water with different concentrations of suspended solids were investigated in a laboratory tank using a LiDAR prototype developed by our research group. The results were compared with that from the semi-analytical Monte Carlo simulation to further explore the influence of the inherent optical characteristics of water on laser energy attenuation. The experimental results showed that with increasing water turbidity, the light beam diverged by strong scattering, the size of the light spot increased, the energy of the echo signal decreased as a whole and the backscattering signal of the water changed significantly. The determination coefficients and relative errors of the measured echo signals and the normalized simulation results were 0.99 and 0.01, respectively, which demonstrate the reliability of LiDAR prototype.