“…In the late 1960s, Hickman and Hogg from Syracuse University in the United States developed the first laser seawater detection system, using it to verify the feasibility of laser depth measurement and laying the initial theoretical and experimental foundations for underwater laser detection technology [6]. In 2012, Canada's Optech Corporation successfully developed the CZM airborne laser depth measurement system, a new generation of deep water and coastal terrain detection systems characterized by high spatial resolution, large optical aperture, and adaptability to poor water quality [7]. In 2021, Li et al [8] developed a modulated subnanosecond laser radar for underwater target detection, capable of emitting stable and powerful modulated signals, greatly extending the range of underwater detection.…”