Precise detection of water surface through the analysis of a single green waveform from bathymetry LiDAR

Determination of the correct water surface height (WSH) from green laser (532 nm) echoes alone in bathymetry LiDAR is challenging, as the green laser return near the water surface involves both specular reflection from the air-water interface and backscattered return from the water volume. In this paper, a low-complexity method based on linear approximation of the leading edge (LLE) is proposed. The results of this LLE method were compared with those of three common algorithms of peak detection, half peak power, and surface-volume-bottom implemented on airborne datasets with various surface roughness conditions. In addition, the method was evaluated in waters with a wide range of optical properties through a controllable tank experiment. The uncertainties in the WSHs of all algorithms were greater when the water volume backscattering dominated the surface return; they were sensitive to variations in the optical properties of water, and increased exponentially with decreasing LiDAR attenuation coefficient (K_LiDAR). Comparatively, the LLE algorithm had the fastest computational speed and demonstrated the best performance in situations where specular reflection or volume backscatter return was dominant, with average and maximum errors of less than 0.06 and 0.13 m, respectively.