Rigorous photon counting mechanism laser radar underwater sounding point coordinate calculation method

The invention discloses a rigorous photon counting mechanism laser radar underwater sounding point coordinate calculation method, which mainly comprises the following steps of: (1) analyzing a photon counting laser radar scanning system structure, and establishing a geometrical relationship model of an incident angle and an azimuth angle of laser reflection light on a water surface and a reflector normal vector; (2) constructing a coordinate calculation model of a laser water surface incidence point in a laser scanning reference coordinate system; (3) proposing a constant light velocity ray tracing model in an underwater layer, and constructing a coordinate calculation model of an underwater sounding point in a laser scanning reference coordinate system; and (4) establishing a relation model of a laser scanning reference coordinate system and a WGS84 space rectangular coordinate system, and homing the coordinates of the laser underwater sounding point to the WGS84 space rectangular coordinate system. Through