Seamless integrated intertidal zone terrain measurement method based on acousto-optic remote sensing and rollers

The invention discloses an intertidal zone terrain seamless integrated measurement method based on acousto-optic remote sensing and rollers, and the method mainly comprises the following steps: (1) researching a photon counting laser radar scanning system structure, and constructing a calculation model of laser radar underwater sounding point coordinates under a WGS84 space rectangular coordinate system; (2) in consideration of the attitude change of the hovercraft, on the basis of a sound ray tracking model, constructing a calculation model of a single-beam sonar sounding point coordinate in a WGS84 space rectangular coordinate system; (3) establishing a geometrical relationship between a hovercraft tail measurement support placement box and the mechanical roller, and constructing a calculation model of the lowest sounding point coordinate of the mechanical roller under a WGS84 space rectangular coordinate system; and (4) proposing a corresponding fusion processing method for different types of sounding poin