Fig. 1. Simulation process of dynamic sea surface laser echo

Fig. 2. (a) Dynamic sea surface geometric model with wind speed of 3 m/s and wind direction of 0°; (b) Dynamic sea surface geometric model with wind speed 10 m/s and wind direction 45°

Fig. 3. (a) Sea surface echo simulation scene for 45° field of view detection；(b) Sea surface echo simulation scene for 2° field of view detection

Fig. 4. (a) Variation curves of wide-field detection echo with incident angle in low sea state；(b) Variation curves of wide-field detection echo with incident angle in high sea state

Fig. 5. (a) Variation curves of narrow-field detection echo with incident angle in low sea state；(b) Variation curves of narrow-field detection echo with incident angle in high sea state

Fig. 6. (a) Target digital model；(b) Target laser echo power curves with different pitch angles

Fig. 7. Block diagram of array laser scanning imaging

Fig. 8. Sea surface coordinate system

Fig. 9. (a) Original point cloud distribution of the target in the sea background；(b) Point cloud distribution after pass-through filtering；(c) Point cloud distribution after erosion operation；(d) Point cloud distribution after mathematical morphology filtering

Fig. 10. (a) Layout principle of laser echo characteristic test for artificially simulated sea surface；(b) Artificial simulation of the sea scene

Fig. 11. (a) Dynamic distribution of echoes with a narrow-field laser beam incident angle of 0°; (b) Dynamic distribution of echoes with a narrow-field laser beam incident angle of 4°; (c) Dynamic distribution of echoes with a narrow-field laser beam incident angle of 7°

Fig. 12. (a) Dynamic distribution of echoes with a wide-field laser beam incident angle of 0°; (b) Dynamic distribution of echoes with a wide-field laser beam incident angle of 10°; (c) Dynamic distribution of echoes with a wide-field laser beam incident angle of 15°