CN101833087A - Satellite-bone laser radar waveform data resolving method based on wavelet analysis - Google Patents
Satellite-bone laser radar waveform data resolving method based on wavelet analysis Download PDFInfo
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Abstract
The invention relates to a satellite-bone laser radar waveform data processing method based on wavelet analysis technology, belonging to a technology in the earth observation field. The invention provides a processing method aiming at satellite-bone laser radar waveform data, which utilizes wavelet analysis to obtain different sigma Gaussian waveforms, and overlapping the Gaussian waves to obtain a fitting waveform which is better in accordance with the original waveform. The method can be used for obtaining the starting and stopping positions of original echo, thus being a waveform processing method with reliable performance.
Description
Technical field
The present invention is the technology in an earth observation field, relates to a kind of method that satellite-bone laser radar waveform data is handled, and is a kind of by utilizing wavelet analysis to realize the method that laser radar waveform data decomposes.The present invention is the information processing technology with using value.
Background technology
Laser radar (Light Detection And Ranging, be called for short LiDAR) be a kind of set laser, GPS (GlobalPositioning System, be called for short GPS) and inertial navigation system (Inertial Navigation Systems, be called for short INS) the technology active recording geometry that is used for obtaining fast ground and the three-dimensional high spatial resolution information of terrain object, the LiDAR technology is listed in the most crucial information of earth observation systems (EOS) plan with imaging spectral, synthetic-aperture radar and obtains and treatment technology.
The large spot laser echo signal is to be determined jointly by the forest in transponder pulse and the laser facula, face of land parameter.The former comprises the time interval of wavelength, pulse width, pulse energy, spot size and the record echo-pulse of work.Under the perfect condition, laser pulse is that a square wave of extremely lacking the duration is to guarantee precision and high vertical resolution.In fact laser pulse is shaped as curve and certain duration is arranged.Generally speaking, pulse width is much larger than signal digitalized interval, and each scatterer will produce a signal that is recorded as many frames.
The echo of continuous recording laser radar has constituted echo waveform, each echo constantly all corresponding an intensity-time waveform and representing a sectional area in this laser spots scope.The interval time of waveform recording is short more, and the information of atural object is detailed more, and vertical resolution is high more.ICESat is the scientific experiment satellite of the U.S.'s in January, 2003 emission.The purpose of this satellite is atmosphere, ocean, land, ice and the biosphere of observation in 10 to 15 years, thus monitoring and weather, the closely-related earth of environmental change-Atmosphere System variation.The geoscience laser ceilometer of its lift-launch (Geosciences Laser Altimeter System is called for short GLAS) is present unique satellite borne laser height-finding system in orbit.GLAS adopts the mode of full waveform recording, the time interval of land return is 1ns, write down 544 frame data, Wave data is made of time information and echoed signal energy that a certain moment received, Wave data is carried out the elevation information that processing such as filtering, decomposition and quantification can obtain terrain object.But compare with the development of hardware, the decomposition and the Study on Processing Methods of Wave data but relatively lag behind.
To the research that laser radar waveform data decomposes, carried out a few thing both at home and abroad.Ma Hongchao and Li Qi (2009) utilize improvement EM algorithm that laser radar waveform data is decomposed, and applied for patent of invention (a kind of method of decomposing based on the laser radar waveform data of improved EM algorithm, application number: 200710168907.9, publication number: CN101196562A), this method is primarily aimed at airborne Wave data and carries out the waveform decomposition.NASA (NASA) decomposes the GLAS Wave data and has formed global free download product, and its waveform decomposition algorithm is that derivative is found the solution the waveform number, Gauss curve fitting obtains waveform parameter (http://nsidc.org/data/icesat).In addition, the people such as Hofton (2000) of Univ Maryland-Coll Park USA utilize Gauss curve fitting and least square approximation method to carry out the Wave data decomposition.List of references is seen Appendix.
Summary of the invention
Purpose of the present invention just provides a kind of method of handling satellite-bone laser radar waveform data.Meet the feature of Gaussian distribution according to satellite-bone laser radar waveform data, utilize wavelet analysis method that satellite-bone laser radar waveform data is decomposed, and then try to achieve the forest cover structural parameters.
Realize the technical scheme that the object of the invention adopts: the satellite-bone laser radar waveform data resolving method based on wavelet analysis may further comprise the steps:
(1) reads GLA01 Wave data and GLA14 latitude and longitude information;
(2) mate according to GLA01 and the common field of GLA14, the result after the coupling is screened according to condition;
(3) convert the count value to the volt value, the waveform after the conversion is carried out Filtering Processing;
(4) utilize the Gauss wavelet base of 5 different scales that Wave data is analyzed, the crest location information under the record different scale;
(5) utilize 3 times of standard deviations and threshold value to screen to the peak value that obtains under 5 yardsticks, the noise in the waveform is rejected;
(6) near the symmetry information of the waveform each peak value under 5 different scales of record is as later stage information sifting condition;
(7) analysis result under 5 yardsticks is searched for simultaneously, found the information of first record peak.Whether search has peak information in 3 time intervals thereafter, if any record then.Whole peak information to record are screened with the information sifting condition in the 6th step, obtain optimum peak, use identical method for the peak information of searching the back;
(8) crest location of start-stop ripple can be obtained according to above result, waveform length and relevant height of tree information etc. can be further calculated.
Description of drawings
The invention will be further described below in conjunction with accompanying drawing and example.
Fig. 1 is a technology path process flow diagram of the present invention.
Fig. 2 is an original waveform data.
Fig. 3 is the Wave data that converts to behind the volt.
Fig. 4 is through filtered Wave data.
Fig. 5 is the peak information that 1 time wavelet analysis of yardstick obtains.
Fig. 6 is the peak information that 2 times wavelet analysises of yardstick obtain.
Fig. 7 is the peak information that 3 times wavelet analysises of yardstick obtain.
Fig. 8 is the peak information that 4 times wavelet analysises of yardstick obtain.
Fig. 9 is the peak information that 5 times wavelet analysises of yardstick obtain.
Figure 10 is the start-stop waveform crest location information that obtains.
Specific implementation method
Satellite-bone laser radar waveform data disposal route based on wavelet analysis provided by the invention, techniqueflow chart wherein mainly may further comprise the steps as shown in Figure 1:
(1) comprises the original waveform data of satellite-bone laser radar among the GLAS data product GLA01.The laser radar original waveform data as shown in Figure 2, horizontal ordinate is that (unit: ns), ordinate is spaceborne waveform echo count value for the sampling interval of Wave data.GLAS-ANC07 file according to NASA provides converts Y value to voltage volt value, and the result as shown in Figure 3.Comprise latitude and longitude information among the GLA14,, can obtain the longitude and latitude of each laser spots according to GLA01 and GLA14 same field coupling.
(2) Wave data is carried out preliminary screening.Owing to have the unavailable information of part in the GLAS product data, before carrying out the Wave data processing, the original waveform data that obtains is carried out preliminary screening.The GLAS system itself exists system noise, so the echo waveform data value must be greater than 0.When occurring 0 in the GLA01 original waveform, Wave data is rejected.Because signal is saturated, when occur in the GLA01 Wave data numerical value some 255 the time Wave data rejected.When exceptional value appears in longitude and latitude in the GLA14 data of coupling, Wave data is rejected.
(3) noise of Wave data is handled.Signal in reflection process owing to be subjected to multifactor impacts such as cloud and system noise can produce wave noise, as Tu2 ﹠amp; In 3 amplitude very little and the shake signal be considered as noise.Utilize repeatedly mean filter that Wave data is handled, noise has obtained obvious suppression in the Wave data after Filtering Processing, and the result as shown in Figure 4.
(4) Wave data is carried out wavelet analysis.Because the echo waveform data can be regarded the stack of the Gaussian waveform of some different σ as,, can obtain the stack of different σ Gaussian waveforms like this so selected the Gauss wavelet base of 5 yardsticks to analyze when Wave data carried out wavelet analysis.Wavelet analysis result under five yardsticks can reflect the approximation ratio of the Gaussian waveform of different σ for original waveform.Approximation ratio according to different time sampling interval signal under each yardstick obtains peak information, and utilizes standard deviation and noise threshold that the peak information that obtains is screened.When the intensity that occurs beginning and end crest in the echo waveform differs greatly, adopt one times of standard deviation and noise threshold to screen, can well keep the information that finishes waveform like this; Adopt three times of standard deviations and noise threshold to screen under other situations, can reject the peak information that part is produced by noise effect like this.
(5) obtain Wave data start-stop crest location in conjunction with five yardstick wavelet analysises.The position of peak value such as Fig. 5-9 under the different scale, because different Gauss wavelet bases are careful more to the more little details portrayal of the careful degree varies sample of waveform portrayal: σ, on the contrary the careful degree reduction of details portrayal, but can improve the macroscopic view portrayal of overall waveform.The selection result to five yardsticks is searched for simultaneously, and the position of first peak value appears in record.Because the peak information of same waveform under different scale have minor deviations, so be benchmark with first peak, whether (3ns) searches and also has peak value to occur in certain intervals thereafter, if peak value then writes down its peak.All peaks of noting are screened according to the waveform symmetry condition, obtain optimum peak, promptly begin the peak of waveform.Whether the retrieval back has peak value again, is judged as multimodal if any waveform then, otherwise is unimodal.Need not to search end waveform peak position under the unimodal situation.Then obtain finishing the peak of waveform in the inverted order mode of searching for the multimodal waveform, for searching of other peaks in the multimodal, method is with beginning searching of waveform crest location.
(6) in the areas covered with forests, utilize the peak spacing of beginning and end waveform to obtain the average height of tree, the peak of beginning and end waveform is (dotted line is a start-stop crest location information in the GLA14 product among the figure, and solid line is the start-stop crest location information that the present invention obtains) as shown in figure 10.The vegetation average height of different regions can be provided in conjunction with the longitude and latitude that provides in the GLA14 product.
Claims (3)
1. the method for decomposing based on the laser radar waveform data of wavelet analysis is characterized in that may further comprise the steps:
(1) reads the GLA01 Wave data, the GLA14 latitude and longitude information;
(2) mate according to both common fields, the result after the coupling is screened according to condition;
(3) convert the count value to the volt value, the waveform after the conversion is carried out Filtering Processing;
(4) utilize the Gauss wavelet base of 5 different scales that Wave data is analyzed, the crest location information under the record different scale;
(5) utilize 3 times of standard deviations and threshold value to screen to the peak value that obtains under 5 yardsticks, the noise in the waveform is rejected;
(6) the symmetry information of peak value left and right sides waveform under 5 different scales of record is as a condition of later stage screening;
(7) analysis result under 5 yardsticks is searched for simultaneously, found the information of first record peak.Whether search has peak information in 3 time intervals thereafter, if any record then.Whole peak information to record are screened with the information sifting condition in the 6th step, obtain optimum peak, use identical method for the peak information of searching the back;
(8) crest location of start-stop ripple can be obtained according to the processing in last step, waveform length can be obtained, to calculate relevant height of tree information etc.
2. method according to claim 1, the satellite-bone laser radar waveform data denoising is characterised in that: utilize the mode of three mean filters to eliminate the restricted problem of filter window size; Utilizing the standard deviation obtain waveform and the noise average noise-removed threshold value as waveform in wavelet analysis, will be zero less than the amplitude of wave form assignment of threshold value.
3. method according to claim 1, the satellite-bone laser radar waveform data wavelet analysis is characterised in that: utilize the wavelet basis analysis waveform data of different scale to obtain the analysis result that different Gaussian waveforms superpose; Prevent in the waveform processing process that the crest location concussion from increasing the search volume.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102445685A (en) * | 2011-09-28 | 2012-05-09 | 赖旭东 | Small spot radar signal decomposition method |
| CN103033804A (en) * | 2012-12-14 | 2013-04-10 | 武汉大学 | Laser radar signal processing method based on wavelet entropy threshold value and modulus maximum value method |
| CN105518455A (en) * | 2013-09-09 | 2016-04-20 | 株式会社岛津制作所 | Peak detection method |
| CN106154247A (en) * | 2016-06-24 | 2016-11-23 | 南京林业大学 | A kind of multiple dimensioned Full wave shape laser radar data optimizes decomposition method |
| CN110837088A (en) * | 2019-10-31 | 2020-02-25 | 同济大学 | Data denoising method for spaceborne laser altimeter |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AUPR301501A0 (en) * | 2001-02-09 | 2001-03-08 | Commonwealth Scientific And Industrial Research Organisation | Lidar system and method |
| CN101017201B (en) * | 2007-02-14 | 2010-06-02 | 中国科学院安徽光学精密机械研究所 | Signal processing method of laser radar based on empirical mode decomposition |
| CN101196562B (en) * | 2007-12-14 | 2012-01-04 | 武汉大学 | Method for laser radar waveshape data decomposition based on improved EM algorithm |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102445685A (en) * | 2011-09-28 | 2012-05-09 | 赖旭东 | Small spot radar signal decomposition method |
| CN103033804A (en) * | 2012-12-14 | 2013-04-10 | 武汉大学 | Laser radar signal processing method based on wavelet entropy threshold value and modulus maximum value method |
| CN105518455A (en) * | 2013-09-09 | 2016-04-20 | 株式会社岛津制作所 | Peak detection method |
| CN106154247A (en) * | 2016-06-24 | 2016-11-23 | 南京林业大学 | A kind of multiple dimensioned Full wave shape laser radar data optimizes decomposition method |
| CN106154247B (en) * | 2016-06-24 | 2018-07-10 | 南京林业大学 | A kind of multiple dimensioned Full wave shape laser radar data optimizes decomposition method |
| CN110837088A (en) * | 2019-10-31 | 2020-02-25 | 同济大学 | Data denoising method for spaceborne laser altimeter |
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