Equation for Laser Ranging of Irregular Surface with Combined Local Indicatrix of Reflection

The laser ranging equation in the integral form is obtained for the random irregular surface with the local reflection indicatrix having the Lambert component and the mirror one. For the case when the surface heights and slopes are distributed by the normal law, an analytical formula is derived for the mean power registered by the laser ranger receiver. It is shown that the received power depends strongly on the form of the local indicatrix of the surface reflection.