An effective lidar simulator is vital for its system design and processing algorithms. However, laser transmission is a complex process due to the effects of sea surface and various interactions in seawater such as absorption, scattering, and so on. It is sophisticated and difficult for multiple scattering to accurately simulate. In this study, a multiple-scattering lidar model based on multiple-forward-scattering-single-backscattering approximation for oceanic lidar was proposed. Compared with previous analytic models, this model can work without assuming a homogeneous water and fixed scattering phase function. Besides, it takes consideration of lidar system and environmental parameters including receiver field of view, different scattering phase functions, particulate sizes, stratified water, and rough sea surface. One should note that because the scattering phase function is difficult to determine accurately, the simulation accuracy may be reduced in a complex oceanic environment. The Cox–Munk model used in our method simulates capillarity waves but ignores gravity waves, and the pulse stretching is not included. The wide-angle scattering occurs in the dense subsurface phytoplankton, which sometimes makes it hard to use this model. In this study, we firstly derived this method based on an analytical solution by convolving Gaussians of the forward-scattering contribution of layer dr and the energy density at R in the small-angle-scattering approximation. Then, the effects of multiple scattering and water optical properties were analyzed using the model. Meanwhile, the validation with Monte Carlo model was implemented. Their coefficient of determination is beyond 0.9, the RMSE is within 0.02, the MAD is within 0.02, and the MAPD is within 8%, which indicates that our model is efficient for oceanographic lidar simulation. Finally, we studied the effects of FOV, SPF, rough sea surface, stratified water, and particle size. These results can provide reference for the design of the oceanic lidar system and contribute to the processing of lidar echo signals.
Modified analytic expression for the single-scattering phase function
