CN100390565C - Method for measuring forest by unmanned aerial vehicle aerial photography remote sensing - Google Patents
Method for measuring forest by unmanned aerial vehicle aerial photography remote sensing Download PDFInfo
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- CN100390565C CN100390565C CNB2006100008579A CN200610000857A CN100390565C CN 100390565 C CN100390565 C CN 100390565C CN B2006100008579 A CNB2006100008579 A CN B2006100008579A CN 200610000857 A CN200610000857 A CN 200610000857A CN 100390565 C CN100390565 C CN 100390565C
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Abstract
This invention discloses one forest measurement method without human aviation cameral remote sensor, which adopts aviation device as remote platform without human and integrated digital codes camera, difference GPS and top platform, wherein, it uses digital camera technique to get high earth resolution rate without human remove image with large proportion rules fully in use of high flexible machine without special plane spot and capable of flying under clouds.
Description
One, technical field
The present invention relates to the measuring forest technology in a kind of forest inventory investigation, particularly a kind of method for measuring forest by unmanned aerial vehicle aerial photography remote sensing.
Two, technical background
Traditional methodology for forest resource survey be generally to utilize airborne remote sensing and space satellite remote sensing to carry out forest inventory investigation when regularly survey on sample ground, ground being provided with, but above-mentioned all technology all has its significant disadvantages and deficiency:
Slow in action when 1. sample ground, ground being set regularly surveying, labor capacity is big, need a large amount of artificial inputs, the cost height, and the cycle is long;
2. utilize common manned airborne remote sensing owing to all too many levels such as needs transitions, expense is difficult to regular development the, poor stability than higher;
When 3. adopting the space satellite remote sensing monitoring, its spatial and temporal resolution is lower, flying height is on cloud layer, it is bigger that image definition is influenced by cloud layer, and forest is distributed in mountain area, with a varied topography more, so precision is lower, and high-resolution remote sensing image costs an arm and a leg, and also is subjected to the restriction in the cycle of heavily visiting and the influence of cloud.
So in the forest inventory investigation process, adopt traditionally when method such as sample ground, ground, manned airborne remote sensing and space satellite remote sensing is set, bring a lot of troubles and inefficiency inevitably.Therefore, there is the cost height in prior art, and the cycle is long, influenced greatly by cloud layer, how shortcomings such as poor stability under the situation that does not influence the aerial survey precision, reduce cost, shorten the image update cycle, improve image definition, increase security and become this area scientific and technical personnel problem anxious to be solved.
Three, summary of the invention
In order to overcome a lot of troubles that existing measuring forest technology is brought inevitably in forest inventory investigation, increase work efficiency, the purpose of this invention is to provide a kind of method for measuring forest by unmanned aerial vehicle aerial photography remote sensing, it has significantly reduced cost, and can fly under cloud layer under the prerequisite that guarantees the aerial survey precision, guaranteed the readability of image, ensured security, the update cycle weak point has overcome the shortcoming that prior art exists simultaneously.
The object of the present invention is achieved like this: adopt the unmanned plane low flyer as remote-sensing flatform, integrate digital camera, differential GPS and gyropanel, utilize the digital photography technology, obtain high ground resolution, large-scale low latitude unmanned aerial vehicle remote sensing images; By the computer digit image processing system, towards the forest farm according to atural object conformation rule and imaging characteristic, the quality and quantity of stand description factors is discerned on image and measured, and with the factors of enumeration of interpretation on the image: the factors such as canopy density, the height of tree, crown diameter and strain number are the function of the actual measurement volume of timber on the ground, establishment aviation tree volume table and aviation stand volume table.
The method of establishment aerial volume table is as follows: according to the factors of enumeration of interpretation on the image, comprise that the factors such as canopy density, the height of tree, crown diameter and strain number are the following Volume table of function establishment of the actual measurement volume of timber on the ground: 1. the height of tree of surveying the diameter of a cross-section of a tree trunk 1.3 meters above the ground and crown diameter, interpretation according to ground is set up regression relation respectively, derive establishment monobasic aviation tree volume table with the ground single entry volume table; 2. because the height of tree and the tree crown factor and the volume of timber have confidential relation, therefore utilize the height of tree, crown diameter and the ground actual measurement volume of timber of interpretation on the image to set up regression relation calculating establishment binary aviation tree volume table; 3. there are the standing forest interpretation factor of substantial connection and the actual measurement volume of timber to set up regression equation establishment monobasic aviation stand volume table according to one with the actual measurement volume of timber; 4. according to terrain observation and indoor interpretation two with survey the volume of timber and have the standing forest interpretation factor of substantial connection to set up a binary once linear regression equation to work out binary aviation stand volume table.
The method that wherein measures the height of tree is as follows: the discrepancy in elevation at the bottom of escaped mensuration trees summit and the trees between the point is determined the height of tree, and the height of establishing trees AB is h, H
aBe the true flying height that some A at the bottom of the trees is ordered, H
bThe true flying height of ordering for trees summit B is by H
aWith H
bSubtract each other the height h=H of trees
a-H
b
The method that wherein measures crown diameter is as follows: 1. behind the image basal orientation, carefully observe the stereopsis of trees in stereoscopy, measure the crown diameter that becomes vertical direction with radiant rays; 2. the engineer's scale of tree crown image changes along with the difference of the flying height of institute's assize on the image, so the crown diameter of interpretation should multiply by image local scale's denominator and tries to achieve with the crown diameter that measures on the image.
The interpretation method of closing of crop degree wherein is as follows: 1. visual estimation tree crown projected area accounts for the percentage of forest land area under stereoscopy, to determine canopy density; 2. compare with the three-dimensional interpretation print of canopy density interpretation template or known canopy density and the standing forest of interpretation, to determine canopy density; 3. scold counting under tree crown with transparent dot grid looking under the stereoscopy, the ratio with the total dot ratio of interpretation standing forest is used for determining canopy density; 4. earlier the sample ground of interpretation or the diagonal line of bottom class are marked on image, the tree crown total length of institute's cut is determined canopy density with the ratio of catercorner length on the measurement diagonal line.
The assay method of stem-number wherein is as follows: place on the image with the sample area template, the tree crown number in the sample ground of counting in stereoscopy is determined stem-number.
This invention compared with prior art has the following advantages:
1. motor-driven responding ability fast
The UAS transportation is convenient, lift-off setup time weak point, simple to operate, can arrive the monitored area fast, and airborne high precision remote sensing equipment can obtain the remote sensing monitoring result at short notice fast;
2. excellent performance
Unmanned plane can be by predetermined line of flight autonomous flight, shooting, course line control accuracy height, and flight attitude is steady; Flying height can below clouds be flown from 50m to 4000m, can effectively avoid the influence of cloud, height control accuracy 10m; Velocity range is from 70km/h to 160km/h, but all smooth flights adapt to different remote sensing tasks;
3. operation is simple and reliable
Flight operation robotization, intelligent degree height, simple to operate, be convenient to grasp and training; In case remote control is malfunctioning or other faults, by ground staff's operation, if trouble shooting then control by the ground staff and continue flight, otherwise automatic deployment is reclaimed;
4. high-definition remote sensing image data acquisition capability
The high precision digital image-forming equipment that unmanned plane carries, possess area cover, vertical or be inclined to the technical capability of picture, the spatial resolution of obtaining image reaches decimeter grade, is suitable for 1: 1 ten thousand or the demand of large scale remote sensing application more, can carry the general data camera as required;
5. use cost is low
The operation cost of UAS is lower, and training time of flight operation person is short, the depositing of system, easy maintenance, the expense that also can remove accent machine and shutdown from.
Four, embodiment:
The measuring forest by unmanned aerial vehicle aerial photography remote sensing technology has been done significant improvement unlike the prior art, specifically:
Adopt the unmanned plane low flyer as remote-sensing flatform, integrate the general digital camera of escaping, differential GPS and gyropanel, utilize the digital photography technology, obtain high ground resolution, large-scale low latitude unmanned aerial vehicle remote sensing images; By the computer digit image processing system, towards the forest farm according to atural object conformation rule and imaging characteristic, the quality and quantity of stand description factors is discerned on image and measured, and with the factors of enumeration of interpretation on the image: the factors such as canopy density, the height of tree, crown diameter and strain number are the function of the actual measurement volume of timber on the ground, establishment aviation tree volume table and aviation stand volume table.
1. by being placed in the digital camera on the unmanned plane, from the different camera station of sustained height, obtain adjacent two images of enough height continuously aloft, wherein the longitudinal overlap of these two images should reach more than 60%, sidelapping should reach more than 20%, obtains a stereogram.
2. the preparation method of aerial volume table: according to interpretation on the image factors of enumeration: the factors such as canopy density, the height of tree, crown diameter and strain number are the following aerial volume table of function establishment of the actual measurement volume of timber on the ground:
1. the establishment of monobasic aviation tree volume table: set up regression relation respectively according to the ground actual measurement diameter of a cross-section of a tree trunk 1.3 meters above the ground and the height of tree of crown diameter, interpretation, derive with the ground single entry volume table, the regression equation of using always is:
D
1.3＝a
0+a
1D
K
D
1.3＝b
0+b
1HA
K
In the formula: D
1.3Be the actual measurement diameter of a cross-section of a tree trunk 1.3 meters above the ground, D
KBe the visible crown diameter of interpretation, H is the interpretation height of tree, A
KBe interpretation tree crown area, a
0, a
1And b
0, b
1Be parameter
According to the actual measurement and interpretation data on square paper, transverse axis is represented D
KOr HA
K, the longitudinal axis is represented D
1.3Draw scatter diagram, see which factor is relevant with the diameter of a cross-section of a tree trunk 1.3 meters above the ground closely, in order to determine which kind of regression equation; Obtain parameter with least square method, use different D
KOr HA
KThe substitution equation just can draw the corresponding diameter of a cross-section of a tree trunk 1.3 meters above the ground, according to the diameter of a cross-section of a tree trunk 1.3 meters above the ground of trying to achieve in the equation, looks into the single entry volume table of corresponding seeds, draws different D
KBe worth corresponding individual volume, according to D
KValue different the volume of timber be arranged in table monobasic aviation tree volume table.
2. the establishment of binary aviation tree volume table:, therefore utilize the height of tree, crown diameter and the ground of interpretation on the image to survey the volume of timber and set up regression relation and calculate and work out because the height of tree and the tree crown factor have confidential relation with the volume of timber; Regression equation commonly used has following several:
V＝a
0+a
1D
K+a
2H
V＝D
K(a
0H-a
1)+a
2
V＝D
K(a
0H-a
1)
In the formula: V is a ground actual measurement individual volume, and H is the visible height of tree of interpretation, D
KBe the visible crown diameter of interpretation, a
0, a
1, a
2Be parameter, before tabulating,, observe the selected relevant factors of enumeration tabulating closely of its related intimate degree, and, select only regression equation according to the linear trend of loosing and putting by on grid square paper, pointing out the scatter diagram that concerns of the sample ground volume of timber and each factor; The visible height of tree of its corresponding interpretation of individual volume and the visible crown diameter that measure according to ground are obtained parameter in the equation with least square method; With D
KIn the different value substitution equation of H, just can try to achieve individual volume; The visible height of tree and visible crown diameter by interpretation promptly get binary aviation tree volume table with volume of timber arrangement.
3. the establishment of monobasic aviation stand volume table: have the standing forest interpretation factor of substantial connection and the actual measurement volume of timber to set up the regression equation establishment with the actual measurement volume of timber according to one; At first carrying out seeds classification, age group classification and canopy density sorts out, be about to that all terrains are measured and the image Volume table sample ground of indoor interpretation respectively seeds be classified as a class, the included sample ground of same seeds age group respectively is classified as a class, belong to same canopy density level sample return together; Next draws canopy density and the scatter diagram of surveying the volume of timber, and transverse axis is the interpretation canopy density, and the longitudinal axis is the actual measurement volume of timber, to determine regression equation; Calculate the parameter and the related coefficient of regression equation then, set up regression equation with the canopy density and the actual measurement volume of timber; The regression equation that the canopy density substitution of interpretation is set up utilizes accumulating of calculating can get monobasic aviation stand volume table at last.
4. the establishment of binary aviation stand volume table: according to terrain observation and indoor interpretation two with survey the volume of timber and have the standing forest interpretation factor of substantial connection to set up a binary once linear regression equation:
In the formula:
For according to interpretation factor x
1And x
2The volume of timber of trying to achieve; x
1Be the first interpretation factor of selected tabulation usefulness, x
2Be the second interpretation factor of selected tabulation usefulness, b
0Be regression constant, b
1For y to x
1Regression coefficient, b
2For y to x
2Regression coefficient; b
0, b
1, b
2Determine with least square method, set up binary once linear regression equation, promptly get the volume of timber formula of the binary aviation standing forest volume of timber, give different x
1And x
2Substitution volume of timber formula just can be in the hope of the corresponding volume of timber
, launch binary aviation stand volume table.
3 wherein measure the method for the height of tree: the height of establishing trees AB is h, H
aBe the true flying height that some A at the bottom of the trees is ordered, H
bBe the true flying height that trees summit B is ordered, f takes the photograph focal length for boat, and B is a photographic base, i.e. camera station s
1And s
2Between distance, p
a, p
bFor the corresponding image points parallax of some A and trees summit B at the bottom of the trees, then by formula
With
Try to achieve the true flying height H of some A and summit B at the bottom of the trees
aAnd H
bBy H
aWith H
bSubtract each other the height of trees
Because p
b=Δ p+p
aSo, the height of tree
Δ p be point at the bottom of institute assize wood summit and the trees parallax.
4 wherein measure the method for crown diameter: the measurement of crown diameter is in the usable floor area of image, follow these steps to carry out: 1. behind the image basal orientation, in stereoscopy, carefully observe the stereopsis of trees, adopt the distance measurement function of image processing system to measure the crown diameter that becomes vertical direction with radiant rays; 2. the engineer's scale of tree crown image changes along with the difference of the flying height of institute's assize on the image, so the crown diameter of interpretation should multiply by and resembles sheet local scale denominator and try to achieve to resemble the crown diameter that measures on the sheet.
5 wherein the interpretation methods of closing of crop degree: 1. ocular estimate: on computer screen, account for the percentage of forest land area by stereoscopy visual estimation tree crown projected area, to determine canopy density; 2. relative method: utilize image processing system to call the three-dimensional interpretation print of canopy density interpretation template or known canopy density and the standing forest of interpretation compares, to determine canopy density; 3. net-point method: call transparent dot grid and look under stereoscopy and scold counting under tree crown in image processing system, the ratio with the total dot ratio of interpretation standing forest is used for determining canopy density; 4. diagonal line intercept method: earlier the sample ground of interpretation or the diagonal line of bottom class are marked on image, the tree crown total length that calls institute's cut on the span instrument measurement diagonal line of image processing system then is determined canopy density with the ratio of catercorner length.
6 wherein the assay methods of stem-number: place on the image with the sample area template, on computer screen by count tree crown number in the sample ground of stereoscopy, determine stem-number, strain is counted it to accept or reject principle as follows on the border, sample ground: when the standing tree strain is counted in the circular sample ground of 1. counting, when tree crown just on sample ground circumference, if tree crown is over half to be entered within the circular sample ground, just give counting, then do not count outside circular sample ground when tree crown is over half; When tree crown is whether more than half when being difficult to judge, can per two strains count a strain to this class tree crown.When 2. counting in the square sample ground stem-number, on the sideline, tree crown over half can be entered sample ground person and calculate the strain number,, the standing tree of this class on west, two borders in the south can be counted, cast out north and the southeast two are borderline when being difficult to judge whether more than half persons.
Claims (5)
1. method for measuring forest by unmanned aerial vehicle aerial photography remote sensing, it is characterized in that: adopt the unmanned plane low flyer as remote-sensing flatform, integrate digital camera, differential GPS and gyropanel, utilize the digital photography technology, obtain high ground resolution, large-scale low latitude unmanned aerial vehicle remote sensing images; By the computer digit image processing system, towards the forest farm according to atural object conformation rule and imaging characteristic, the quality and quantity of stand description factors is discerned on image and measured, factors of enumeration according to interpretation on the image, comprise that the factors such as canopy density, the height of tree, crown diameter and strain number are the following Volume table of function establishment of the actual measurement volume of timber on the ground: 1. the height of tree of surveying the diameter of a cross-section of a tree trunk 1.3 meters above the ground and crown diameter, interpretation according to ground is set up regression relation respectively, derive establishment monobasic aviation tree volume table with the ground single entry volume table; 2. because the height of tree and the tree crown factor and the volume of timber have confidential relation, therefore utilize the height of tree, crown diameter and the ground actual measurement volume of timber of interpretation on the image to set up regression relation calculating establishment binary aviation tree volume table; 3. there are the standing forest interpretation factor of substantial connection and the actual measurement volume of timber to set up regression equation establishment monobasic aviation stand volume table according to one with the actual measurement volume of timber; 4. according to terrain observation and indoor interpretation two with survey the volume of timber and have the standing forest interpretation factor of substantial connection to set up a binary once linear regression equation to work out binary aviation stand volume table.
2. method for measuring forest by unmanned aerial vehicle aerial photography remote sensing according to claim 1 is characterized in that: the method that wherein measures the height of tree is as follows: determine the height of tree by the discrepancy in elevation between the point at the bottom of mensuration trees summit and the trees, the height of establishing trees AB is h, H
aBe the true flying height that some A at the bottom of the trees is ordered, H
bThe true flying height of ordering for trees summit B is by H
aWith H
bSubtract each other the height h=H of trees
a-H
b
3. method for measuring forest by unmanned aerial vehicle aerial photography remote sensing according to claim 1, it is characterized in that: the method that wherein measures crown diameter is as follows: 1. behind the image basal orientation, in stereoscopy, carefully observe the stereopsis of trees, measure the crown diameter that becomes vertical direction with radiant rays; 2. the engineer's scale of tree crown image changes along with the difference of the flying height of institute's assize on the image, so the crown diameter of interpretation should multiply by image local scale's denominator and tries to achieve with the crown diameter that measures on the image.
4. method for measuring forest by unmanned aerial vehicle aerial photography remote sensing according to claim 1 is characterized in that: the interpretation method of closing of crop degree wherein is as follows: 1. visual estimation tree crown projected area accounts for the percentage of forest land area under stereoscopy, to determine canopy density; 2. compare with the three-dimensional interpretation print of canopy density interpretation template or known canopy density and the standing forest of interpretation, to determine canopy density; 3. scold counting under tree crown with transparent dot grid looking under the stereoscopy, the ratio with the total dot ratio of interpretation standing forest is used for determining canopy density; 4. earlier the sample ground of interpretation or the diagonal line of bottom class are marked on image, the tree crown total length of institute's cut is determined canopy density with the ratio of catercorner length on the measurement diagonal line.
5. method for measuring forest by unmanned aerial vehicle aerial photography remote sensing according to claim 1, it is characterized in that: the assay method of stem-number wherein is as follows: place on the image with the sample area template, count in stereoscopy tree crown number in the sample ground is determined stem-number.
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