CN1064129C - Apparatus and method for remote sensing multi-dimension information integration - Google Patents
Apparatus and method for remote sensing multi-dimension information integration Download PDFInfo
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- CN1064129C CN1064129C CN 96114306 CN96114306A CN1064129C CN 1064129 C CN1064129 C CN 1064129C CN 96114306 CN96114306 CN 96114306 CN 96114306 A CN96114306 A CN 96114306A CN 1064129 C CN1064129 C CN 1064129C
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Abstract
The present invention relates to an apparatus and a method for remote sensing multi-dimension information integration. An optical mechanical scanning imager loaded by an aircraft, an optical mechanical scanning laser rangefinder and an attitude measurement device are jointly arranged on a rigid platform, and main optical circuits of the imager and the laser rangefinder are combined together to form a combined remote sensor for distance measuring and imaging; after a synchronous controller coaxial with the combined remote sensor for distance measuring and imaging is used for controlling the combined remote sensor for distance measuring and imaging, the attitude measurement device and a GPS receiver to synchronously provide and process image data, position data, range data and attitude data, multi-dimension remote sensing serial images can be directly obtained. The present invention can shorten operation period and largely improve the efficiency.
Description
The invention belongs to the Global observation by remote sensing field, especially relate to the apparatus and method of making multidimensional remote sensing image series of remote sensing technology.
It is geo-referencing remote sensing images generation technique and ground digital elevation model generation technique that two prior aries are arranged in the Global observation by remote sensing field.The generation technique of geo-referencing remote sensing images wherein be with space flight, image that aero remote sensor obtained includes various distortion is through conversion and resampling, is converted into the geo-referencing remote sensing images after rearranging by geographic net.Realize several steps with prior art: collect the existing topomap in the remote sensing images scope: with remote sensing images and topomap contrast, on remote sensing images and topomap, select publicly-owned point (or claiming same place) respectively, read wire size, the picture dot number (L.I) of publicly-owned point simultaneously, geographic coordinate (X, Y, Z); According to publicly-owned point coordinate, set up the transformational relation model of image space and geographical space with mathematical model; Press coordinate grid remote sensing images are pressed the sampling model resampling, finish remote sensing geo-referencing image.
The generation technique of ground digital elevation model (DEM) wherein is to provide altitude information (elevation) on each point, and the mode that these two-dimensional lattices expression ground of pressing the geographic net arrangement are are just risen and fallen claims ground digital elevation model (DEM).Generating the DEM mode in the prior art has:
Generate simultaneously during stereophotogrammetry mapping topomap, this is the technology that has become industry both at home and abroad.Topomap quantizes and generates DEM, and this is popular prior art.And ground survey directly generates DEM.
The realization of above-mentioned two technology itself is a kind of long period that needs, the technical process that a large amount of labor services drop into.Must be in the remote sensing image processing with DEM and remote sensing geo-referencing image fit, this is the major technique measure that improves the remote sensing nicety of grading.This fit again must be through setting up both transformational relation model and resampling process.But because numerous and diverse remote sensing work flow that also is far from being used for reality of above-mentioned technical process.
Belong to having of integrated-type technology in the prior art in the Aeronautics and Astronautics Remote Sensing Information Extraction technological system:
The combination of separate unit remote sensor and GPS (GPS) receiver:
One class is remote sensor combinations such as GPS receiver and optical mechaical scanning imager.To reduce the framing difficulty:
One class is aerial camera and the combination of GPS receiver.The GPS receiver provides the position of exposure moment aerial camera projection centre, adopts the mode of area adjustment to encrypt the mapping reference mark and reduce ground survey work.Existing this technology of Germany and China is seen (" GPS auxiliary beam method area adjustment ".Li Deren, the 24 volume second phases 1,995 2 of mapping journal).
The separate unit remote sensor is placed on the gyrostabilized platform.When aircraft flight, the attitude of remote-sensing flatform (for example: 10) is remained in the scope of certain angle size.Not treated after remote sensing images are obtained can have good visual effect.
The combination technique of separate unit remote sensor and GPS receiver, attitude measuring
One class is the combination technique of imaging remote sensor and GPS receiver, attitude measuring.But do not form technological system so far as yet;
One class is the combination technique of optical mechaical scanning laser range finder and GPS receiver, attitude measuring.This class device is to be used to obtain DEM.As: the airborne laser topographic surveying system (ALTMS) of houston, u.s.a Advanced Research Center (HARC); The technological system of the system of U.S. jet propulsion laboratory (JPL) and Canada and Germany.But there is not the remotely sensed image technology.Can be referring to PROGRESS IN GEOREFERENCINGAIRBORNE LASER ALTIMETER Presented at the 2th InternationalAirbrne Remote Sensing Conference, San Francisco, California, 24-27Jane 1996.
One class is the combined system of microwave remote sensor and GPS receiver in the microwave range, attitude stabilization equipment.As: the interference synthetic aperture radar (INSAR) of U.S. Pat 4915498 disclosed U.S. ERIM.Be to utilize interferometric principle to ask relative relief, the image of a microwave region.This kind equipment data processing need be used supercomputer, and the flight aftertreatment time reaches 7～15 day time.
Integrate again after all above-mentioned various technology all make up image information, range information, attitude information, positional information respectively and be made into multidimensional remote sensing image series.Therefore operation is complicated, the cycle is long, efficient is low.
Purpose of the present invention is exactly to make ground digital elevation model (DEM) and the geo-referencing image that accurately matches apace for the information that solves not ground survey, directly obtain with airborne vehicle equipment without topomap.Shorten the Global observation by remote sensing work flow cycle greatly, improve efficient more than hundred times.
Technical scheme of the present invention is carried aircraft the optical mechaical scanning imager exactly, optical mechaical scanning laser range finder and attitude measuring are provided with on the rigid platfor jointly, and the main optical path gang of imager and laser range finder is formed range finding imaging combination remote sensor jointly.Scanning mirror in the range finding imaging combination remote sensor is used to receive picture signal and sends and receive the laser ranging signal.Use the isochronous controller coaxial (photoelectric encoder) control range finding imaging combination remote sensor, attitude measuring and GPS receiver again with the scanning mirror turning axle, make view data, position data, range data, attitude data and as calculated, after interpolation and the regression treatment, can directly obtain geo-referencing remote sensing images, ground digital elevation model and multidimensional remote sensing image series are provided synchronously.
The present invention can be equipped with accompanying drawing according to embodiment and be further described.Wherein:
Fig. 1 is the structural representation of remote sensing multi-dimension information integrating device;
Fig. 2 is range finding imaging combination remote sensor light path synoptic diagram.
The integrating device of the remote sensing multi-dimension information among the present invention is that equipment integrations such as optical mechaical scanning imager 2, optical mechaical scanning laser range finder 1, attitude measuring 3, GPS (GPS) receiver 4, isochronous controller 9, data acquisition-and-recording device 5 and the ground of being carried by aircraft or aircraft data processing of carrying and imaging plotting unit 6 form.Wherein constitute range finding imaging combination remote sensor 25 (see figure 1)s by optical mechaical scanning imager 2, optical mechaical scanning laser range finder 1, primary optical system 8, scanning mirror 7, photoelectric encoder 9 etc.
Range finding imaging combination remote sensor 25 is used for providing synchronously the remote sensing image data of terrain object point and range finding imaging to make up remote sensor 25 to the range data between the terrain object point; Attitude measuring 3 is platform compasses, is used to provide the attitude data of range finding imaging combination remote sensor; GPS (GPS) receiver 4 is used to provide the position data of range finding imaging combination remote sensor; Isochronous controller 9 is time synchronized benchmark of remote sensing multi-dimension information integrating device, and control range finding imaging combination remote sensor, attitude measuring, GPS (GPS) receiver provide view data, range data, attitude data and position data synchronously; Data acquisition and pen recorder 5 are used for the synchronous acquisition and the format record in accordance with regulations of view data, range data, attitude data and position data; Data processing and imaging plotting unit 6 are used for the total data of data acquisition and pen recorder 5 and handle and be depicted as remote sensing Duowei series image.Optical mechaical scanning imager 2 among the present invention can be a kind of multi-spectral imager.
Range finding imaging combination remote sensor 25 is optical mechaical scanning imagers 2 and the mode of optical mechaical scanning laser range finder 1 a shared cover primary optical system 8 (comprising a shared scanning mirror 7) combines (see figure 2), by isochronous controller 9 as the time synchronized benchmark.The visual field of range finding imaging combination remote sensor 25 be ± 15 ° or ± 22.5 °, be scanning mirror 7 during in 360 ° rotation sweep or with the scan mode of swing, when having only primary optical axis (vertically) to ground ± 15 ° or ± the interior image data of 22.5 ° predetermined field of view angular region.The minute surface 19 of scanning mirror 7 is at 45 with transmission shaft 15, and the direction of transmission shaft 15 is consistent with the aircraft direction.Scanning mirror 7 is done scanning on the perpendicular direction of its transmission shaft and aircraft movements direction and is rotated.In the predetermined field of view angular region, receive picture signal and transmission and receive the laser ranging signal, form a scan line, in this scan line, contain the pixel of predetermined quantity and the point distance measurement of predetermined quantity.The process that imaging and point distance measurement form is: the pulsed laser signal that laser instrument 14 sends turns to scanning mirror through turning mirror 23,24, and the direction that is reflected into laser 12 through scanning mirror minute surface 19 is launched earthward.The sensed image signal 13 of terrain object and pulse laser echoed signal 11 enter primary optical system synchronously through the reflection of scanning mirror minute surface 19, and through Transflective color separation film 18, the laser echo signal reflection apart from Aristogrid 17, obtains range data to Laser Time; Sensed image signal sees through color separation film 18 and arrives remote sensing images detector 16, obtains the remote sensing image data of a pixel, and this time synchronized is finished by isochronous controller 9.
Isochronous controller 9 can adopt a photoelectric encoder with the coaxial connection of transmission shaft of scanning mirror 7.The pixel of each of photoelectric encoder during corresponding to imaging, for example: photoelectric encoder is 2048, when field angle was ± 22.5 °, the instantaneous visual angle of each pixel was that 3 millis are lonely.Photoelectric encoder makes remote sensing images detector 16 obtain the view data of pixel for each pixel transmission coded signal; The predetermined pixel number in every interval sends trigger pulse to laser instrument 14 and makes it to produce the range finding pulsed laser signal when pixel sends coded signal; Dispatching centre pixel electric pulse constantly takes out pixel flight attitude data constantly in center to attitude measuring with control from this device; Pixel electric pulse constantly in above-mentioned center is issued the GPS receiver simultaneously, produces the sequential sign in the GPS receiver, indicates the position data of position data constantly as the combination remote sensor with this.
Attitude measuring is a platform compass.Can provide the attitude data (φ, ω, κ) of range finding imaging combination remote sensor continuously.The attitude of range finding imaging combination remote sensor is meant that the vertical direction of the primary optical axis of primary optical system and direction of scanning is with respect to the angle between the geographic coordinate system three axes.When primary optical axis is in strict vertical state, when the direction of scanning was consistent with the geographic coordinate longitudinal axis, the φ of attitude measuring (angle of pitch), ω (angle of roll), the reading of κ (angle of drift) showed and should be " 0 ".The imaging of will finding range combination remote sensor 25 and attitude measuring 3 common Installation and Debugging are on a stationary platform 10, to keep this rigid connection relation.
The data acquisition-and-recording device is with formating circuit view data and uniform data format output of auxiliary data (time data, row counting, laser instrument mode sign indicating number, GPS event pulse counting, view data, range data, position data, attitude data) formation with standard format.And be recorded on 8mm magnetic tape station or the disk cartridge.
Data processing and imaging plotting unit are the plotting apparatuss that the total data of Computer Processing gained is depicted as remote sensing Duowei series image according to the software package of principle of the present invention exploitation is used to calculate, recurrence and interpolation are handled a computing machine and a cover by a cover.
A kind of remote sensing multi-dimension information integrated approach of the present invention mainly comprises the following steps: to be (a) receives terrain object point in the scanning imagery mode with the optical mechaical scanning imager in the range finding imaging combination remote sensor image; And be the one scan row with predetermined pixel number; (b) with the optical mechaical scanning laser range finder in the isochronous controller control range finding imaging combination remote sensor, with scan mode in the one scan row every predetermined pixel number, therewith the pixel imaging constantly synchronously earthward impact point send and receive the range finding pulse laser, the pixel data provide range data together therewith, and it is right to form the point of point distance measurement, imaging point; (c) provide the flight attitude data with isochronous controller control attitude measuring; (d) send electric pulse with isochronous controller, in the GPS receiver, produce the sequential sign, by GPS receiver output timing sign position data constantly; With isochronous controller control GPS receiver, by GPS receiver output center pixel position data constantly; (e) with data acquisition and recording apparatus collecting and write down said total data; (f), handle total data and be depicted as multidimensional remote sensing image series with data processing and imaging plotting unit.
Optical mechaical scanning imager 2 is the sensed image signal formation pixels one by one that receive terrain object point with the uniform speed scanning imaging method.Each is all corresponding with a pixel for photoelectric encoder (as: 2048), and each sends photoelectric encoder the remote sensing signal that coded signal makes remote sensing images detector 16 receive terrain object points and become a pixel.In predetermined angular range, as ± 22.5 ° or ± 15 °, scanning another arm of angle from the arm of angle of field angle is the one scan row, photoelectric encoder can send 256 (or 512) coded signals successively, and then remote sensing images detector 16 can receive 256 (or 512) ... pixel Deng fixed qty.These pixels are with pixel ground imaging of pixel of rotation of scanning mirror, and the set of these pixels is the data volume of a scan line.Each pixel is numbered with the imaging order, as: 1～256 (or 1～512), these numberings are called pixel number.The center pixel of one scan row is meant that pixel number is the pixel of 128 (or 256).
Laser range finder in isochronous controller (photoelectric encoder) the control range finding imaging combination remote sensor in the one scan row with scan mode every predetermined pixel number, as: 4,8 ... constantly synchronously trigger laser instrument to this terrain object point transmission and reception range finding pulse laser with the pixel imaging of terrain object point, obtain the range data of this terrain object point in the time of with the view data that obtains this pixel, and the point of formation point distance measurement, imaging point is right.
Isochronous controller (photoelectric encoder) is synchronously launched electric pulse to attitude measuring constantly in the pixel imaging of the center of each scan line, divide two-way, one the tunnel with the control attitude measuring, export the attitude angle data stream continuously with 1/1000 second data updating rate in the attitude measuring, therefrom take out center pixel flight attitude data (φ, ω, κ) constantly.Isochronous controller enters in GPS (GPS) receiver on another road of electric pulse that the center pixel sends constantly.Form electric pulse and enter time tag constantly in the GPS receiver, the GPS receiver is in chronological order with the continuous outgoing position data stream of data updating rate of 0.1 second or 0.5 second or 1.0 seconds.With the time tag that center pixel electric pulse forms, press time interpolation take-off time sign position data (x, y, z) constantly.
The instantaneous visual angle of each pixel is a fixed value in the optical mechaical scanning imager 2, for example is lonely (or 1 milli arc or 15 milli arcs of 3 millis ...).Scanning mirror 7 at the uniform velocity rotates, and the point of point distance measurement, imaging point number subtracts each other with pixel the pixel number of distance center pixel can obtain " poor ".Take advantage of instantaneous visual angle promptly obtain finding range angle γ between direction and range finding imaging combination remote sensor 25 primary optical axis directions with " poor ".
Range finding imaging combination remote sensor 25 in-flight position datas (x, y, z) are provided by the GPS receiver; Range finding imaging combination remote sensor 25 is provided by optical mechaical scanning laser range finder 1 apart from the distance D of terrain object point; φ, the ω that the direction cosine of range finding direction are provided by attitude measuring 3, κ angle and range finding direction constitute with the axial angle γ of range finding imaging combination remote sensor 25 key lights angle.(Xi, Yi Zi) can be marked by following simple formula the geographic coordinate of appearance punctuate: Xi=X+ Δ XiYi=Y+ Δ YiZi=Z+ Δ Zi wherein: Δ Xi=f in this wise
1(φ, ω, κ, γ i, Di ...) Δ Yi=f
2(φ, ω, κ, γ i, Di ...) Δ Zi=f
3(φ, ω, κ, γ i, Di ...)
After such terrain object point is all obtained, be equally spaced to be covered with whole remote sensing images substantially.(Xi, Yi Zi) adopt common match interpolating method, can try to achieve two dimension battle array (Xi, the Yi) Zi of Pai Lieing, i.e. ground digital elevation model (DEM) by the geographic coordinate of these points.(the pixel point of remote sensing images Zi) is pressed common match for Xi, Yi, and interpolation and method for resampling can obtain the geo-referencing image to have had geographic coordinate by these equally.The point of complying with these imaging points with geographic coordinate, point distance measurement is to forming the remote sensing image map with DEM (or interpolation goes out level line) with geo-referencing image fit simply.The basis can be made into remote sensing Duowei series image according to this.
Data acquisition and pen recorder 5 are to gather and write down original view data, range data, position data, attitude data.Data processing and imaging plotting unit are depicted as remote sensing Duowei series image with above-mentioned total data calculating, recurrence, interpolation, resampling after handling.
Another embodiment of remote sensing multi-dimension information integrating device of the present invention and method be the not shared cover optical system of optical mechaical scanning imager 2 and optical mechaical scanning laser range finder 1 and be still each other belong to optical system in each instrument, but also can reach purpose of the present invention by isochronous controller 9 synchronous acquisition view data and range data, this variation all belongs within the design scope of the present invention.
The present invention and INSAR, ALTMS, the representational Remote Sensing Technical System such as aerial camera relatively after, advantage of the present invention is:
The present invention is a kind of tens wave bands that have in visible light, infrared spectrum scope, can generate DEM, Can be widely used in the integrated technology in the multiple special topic application; INSAR can generate in the microwave range relatively DEM only has a wave band, the very little integrated technology of remote sensing special topic range of application. ALTMS does not have remote sensing figure Picture only has the function that generates DEM. Aerial camera can generate DEM, but the wave band number very little, and range of application is subjected to Restriction is big.
The present invention under condition of the same race according to the work flow cycle theory should belong to quasi real time system in the field, ground (several hours cycles), can realize real-time system during special applications. INSAR wants under similarity condition 7～15 days, ALTMS only can obtain DEM, used and can not make the remote sensing special topic. Aerial camera is equally Take more than 4 months under the condition.
This project on investment intensity than other scheme decided advantages.
Claims (10)
1. a remote sensing multi-dimension information integrating device is characterized in that, comprising:
One range finding imaging combination remote sensor is used for providing synchronously the range data between terrain object point remote sensing image data and remote sensor and the terrain object point;
One attitude measuring is used to provide described range finding imaging to make up the attitude data of remote sensor; Link with range finding imaging combination remote sensor rigidity;
One GPS (GPS) receiver is used to provide described range finding imaging to make up the position data of remote sensor;
One synchronous controller, being used to control described range finding imaging combination remote sensor, attitude measuring and GPS (GPS) receiver provides wherein said view data, range data, attitude data and position data synchronously;
One data acquisition and pen recorder are used for described view data, range data, attitude data and position data synchronous acquisition and record;
One data processing and imaging plotting unit are used for multidimensional remote sensing image series is handled and be depicted as to the total data of described data acquisition and pen recorder.
2. remote sensing multi-dimension information integrating device as claimed in claim 1 is characterized in that:
Wherein said range finding imaging combination remote sensor is to carry optical mechaical scanning imager and optical mechaical scanning laser range finder by aircraft to constitute jointly in the mode of shared primary optical system.
3. remote sensing multi-dimension information integrating device as claimed in claim 2 is characterized in that:
Wherein said primary optical system comprises:
Scanning mirror, the minute surface of this scanning mirror and ground and with its transmission shaft angle all at 45 and with the perpendicular direction of the direction of motion of said range finding imaging combination remote sensor wherein on scan and reception picture signal and synchronized transmission and reception laser ranging signal.
4. remote sensing multi-dimension information integrating device as claimed in claim 3 is characterized in that:
Wherein said scanning mirror is to scan with rotation mode, and receive picture signal and send and receive the laser ranging signal in to the predetermined field of view angular region on ground in this scan mirror, and form a scan line, in this scan line, contain the picture dot of predetermined quantity and the point distance measurement of predetermined quantity.
5. remote sensing multi-dimension information integrating device as claimed in claim 3 is characterized in that:
Wherein said scanning mirror is to scan in the swing mode, and in the predetermined angular range of this scan mirror to the ground swing, receive picture signal and send and receive the laser ranging signal, and form a scan line, in this scan line, contain the pixel of predetermined quantity and the point distance measurement of predetermined quantity.
6. remote sensing multi-dimension information integrating device as claimed in claim 1 is characterized in that:
Wherein said attitude measuring is a platform compass, in order to the flight attitude data of range finding imaging combination remote sensor to be provided continuously.
7. remote sensing multi-dimension information integrating device as claimed in claim 1 is characterized in that:
Wherein said range finding imaging combination remote sensor and wherein said attitude measuring are to be installed in jointly on the stationary platform.
8. one kind as claim 4, and one of 5,6 described remote sensing multi-dimension information integrating devices is characterized in that:
Wherein said isochronous controller be one with the photoelectric encoder of the coaxial connection of transmission shaft of said scanning mirror wherein, this scrambler is used for: send coded signal for each wherein said pixel; The predetermined pixel number in every interval sends trigger pulse to make it to produce the range finding pulse laser to laser range finder; Dispatching centre pixel electric pulse constantly takes out pixel flight attitude data constantly in center to attitude measuring with control from this device; Dispatching centre pixel electric pulse constantly produces the position data of sequential sign position data constantly as the combination remote sensor for the GPS receiver.
9. remote sensing multi-dimension information integrating device as claimed in claim 1 is characterized in that:
Wherein said data processing and imaging plotting unit comprise
One be used for to said total data is calculated, recurrence and interpolation are handled computing machine and
One is used for whole remotely-sensed datas of Computer Processing gained are depicted as the plotting apparatus of multidimensional remote sensing image series.
10. one kind as claim 4, and one of 5 described remote sensing multi-dimension information integrating devices is characterized in that:
Predetermined pixel number in the wherein said scan line can be 256 or 512;
In the wherein said scan line, can every 4 pixels or to form the point of a point distance measurement, imaging point every 8 pixels right.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 96114306 CN1064129C (en) | 1996-12-12 | 1996-12-12 | Apparatus and method for remote sensing multi-dimension information integration |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 96114306 CN1064129C (en) | 1996-12-12 | 1996-12-12 | Apparatus and method for remote sensing multi-dimension information integration |
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| CN1184929A CN1184929A (en) | 1998-06-17 |
| CN1064129C true CN1064129C (en) | 2001-04-04 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1327240C (en) * | 2004-05-20 | 2007-07-18 | 中国科学院上海技术物理研究所 | Pulse echo treating method and device for laser range finder |
| JP4307427B2 (en) * | 2005-08-31 | 2009-08-05 | 株式会社パスコ | Laser surveying apparatus and laser surveying method |
| CN102997898B (en) * | 2011-09-16 | 2015-07-08 | 首都师范大学 | Time synchronization control method and system |
| CN102508258A (en) * | 2011-11-29 | 2012-06-20 | 中国电子科技集团公司第二十七研究所 | Three-dimensional imaging laser radar for obtaining surveying and mapping information |
| CN103047969B (en) * | 2012-12-07 | 2016-03-16 | 北京百度网讯科技有限公司 | By method and the mobile terminal of mobile terminal generating three-dimensional figures picture |
| CN103868504B (en) * | 2014-03-25 | 2015-01-14 | 许凯华 | Autonomous surveying and mapping machine |
| CN106556843A (en) * | 2015-09-28 | 2017-04-05 | 东莞前沿技术研究院 | Dimensional topography mapping system and mapping method |
| CN106556558A (en) * | 2015-09-28 | 2017-04-05 | 东莞前沿技术研究院 | Haze monitoring system |
| CN106911342B (en) * | 2015-12-18 | 2022-10-21 | 深圳光启空间技术有限公司 | Floating wireless signal transmitting and receiving device, system and angle adjusting method |
| CN111536991B (en) * | 2020-04-26 | 2022-09-27 | 哈尔滨工业大学 | Remote sensing satellite multi-mode imaging load simulation device |
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