Model of measuring slop from raw data of full-waveform topographic lidar

A novel model for measuring the target´s slop based on the raw data of full-waveform topographic lidar is proposed. We discussed the range resolution of full-waveform topographic lidar was limited by several key parameters, including the sampling period, laser pulse width and the time period of sub-waveform. A physical model was established to calculate the target´s slop and the number of the sub-waveform divided within the whole echo by algorithm. When the lidar equation and the backscatter cross-section equation were described by Gaussian functions, the receiver response function can be also described by Gaussian function. Based on geometry relationship, the expressions of the target´s slop can be described by the laser´s divergence angle and the marked time of the sub-waveform. This work can be used for improving accuracy and range detection and details of target´s slop in future.