Water-scattered signal to compensate for the rough sea surface effect on bottom lidar imaging

We investigate the possibility of using the water-backscattered radiation from a bottom sounding airborne imaging light detection and ranging (lidar) system to determine the surface slope at the point where the laser beam intersects the surface. We show that the refraction angle of the beam can be determined using receivers whose sensitivities vary linearly over their field of view. Equations are derived to estimate the statistical mean and variance values of this refracted angle. We demonstrate that the proposed algorithm improves lidar imaging. Numerical examples with reference to typical marine conditions are given.