CN101833087B - 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
- Publication number
- CN101833087B CN101833087B CN 201010170853 CN201010170853A CN101833087B CN 101833087 B CN101833087 B CN 101833087B CN 201010170853 CN201010170853 CN 201010170853 CN 201010170853 A CN201010170853 A CN 201010170853A CN 101833087 B CN101833087 B CN 101833087B
- Authority
- CN
- China
- Prior art keywords
- waveform
- information
- peak
- data
- record
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
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 through 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 (Global Positioning 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 classified as the most crucial information of earth observation systems (EOS) plan with imaging spectral, synthetic-aperture radar and is obtained 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 point 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 up 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
The object of the invention just provides a kind of method of handling satellite-bone laser radar waveform data.Meet the characteristic 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, three mean filters are adopted in filtering, have eliminated the restricted problem of filter window size;
(4) utilize the Gauss wavelet base of 5 different scales that Wave data is analyzed, obtain the analysis result of different Gaussian waveform stacks, the crest location information under the record different scale;
(5) utilizing 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, utilize the standard deviation and the noise-removed threshold value of noise average as waveform obtain waveform, will be zero less than the amplitude of wave form assignment of threshold value.；
(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, prevent that in the waveform processing process crest location concussion from increasing the search volume;
(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
Below in conjunction with accompanying drawing and instance the present invention is described further.
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.
The practical implementation method
Satellite-bone laser radar waveform data disposal route based on wavelet analysis provided by the invention, techniqueflow chart is as shown in Figure 1, wherein mainly may further comprise the steps:
(1) comprises the original waveform data of satellite-bone laser radar among the GLAS data product GLA01.The laser radar original waveform data is as shown in Figure 2, and horizontal ordinate is that SI of Wave data, (unit: ns), ordinate was spaceborne waveform echo count value.GLAS-ANC07 file according to NASA provides converts Y value to voltage volt value, and the result is as shown in Figure 3.Comprise latitude and longitude information among the GLA14,, can obtain the longitude and latitude of each laser point 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.Owing to receive multifactor impacts such as cloud and system noise can produce wave noise, and signal shake very little like amplitude among the Tu2 &3 is regarded as noise to signal in reflection process.Utilize repeatedly mean filter that Wave data is handled, noise has obtained obvious suppression in the Wave data after Filtering Processing, and the result is 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 SI 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 situation, can reject the peak information that part is produced by noise effect like this.
(5) combine five yardstick wavelet analysises to obtain Wave data start-stop crest location.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 appearance 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, (3ns) searches whether also have the peak value appearance in certain intervals thereafter, if peak value then writes down its peak.All peaks of noting are screened according to waveform symmetry property condition, obtain optimum peak, promptly begin the peak of waveform.Whether 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 with 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 (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) shown in figure 10 of beginning and end waveform.Can obtain the vegetation average height of different regions 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 GLA01 Wave data in the GLAS data, GLA14 latitude and longitude information;
(2) mate according to both common fields; Result to after the coupling screens according to condition; When occur in the GLA01 waveform 0 and 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) convert the count value to voltage 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; Find the information of first record peak; Whether search has peak information in 3 time intervals thereafter, if any record then, whole peak information of record is 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) obtain the crest location of start-stop ripple according to the processing in last step, obtain waveform length, to calculate relevant height of tree information.
2. method according to claim 1 is characterized in that: utilize the mode of three mean filters to eliminate the big or small restricted problem of filter window; In wavelet analysis, utilizing the standard deviation and the noise-removed threshold value of noise average as waveform obtain waveform, will be zero less than the amplitude of wave form assignment of threshold value.
3. method according to claim 1 is characterized 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010170853 CN101833087B (en) | 2010-05-13 | 2010-05-13 | Satellite-bone laser radar waveform data resolving method based on wavelet analysis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010170853 CN101833087B (en) | 2010-05-13 | 2010-05-13 | Satellite-bone laser radar waveform data resolving method based on wavelet analysis |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101833087A CN101833087A (en) | 2010-09-15 |
| CN101833087B true CN101833087B (en) | 2012-10-24 |
Family
ID=42717226
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010170853 Expired - Fee Related CN101833087B (en) | 2010-05-13 | 2010-05-13 | Satellite-bone laser radar waveform data resolving method based on wavelet analysis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101833087B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102445685B (en) * | 2011-09-28 | 2013-05-08 | 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 |
| CN105518455B (en) * | 2013-09-09 | 2017-05-03 | 株式会社岛津制作所 | Peak detection 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 |
| CN110837088B (en) * | 2019-10-31 | 2023-02-10 | 同济大学 | Data denoising method for spaceborne laser altimeter |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002065154A1 (en) * | 2001-02-09 | 2002-08-22 | Commonwealth Scientific And Industrial Research Organisation | Lidar system and method |
| CN101017201A (en) * | 2007-02-14 | 2007-08-15 | 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 |
| CN101196562A (en) * | 2007-12-14 | 2008-06-11 | 武汉大学 | Method for laser radar waveshape data decomposition based on improved EM algorithm |
-
2010
- 2010-05-13 CN CN 201010170853 patent/CN101833087B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2002065154A1 (en) * | 2001-02-09 | 2002-08-22 | Commonwealth Scientific And Industrial Research Organisation | Lidar system and method |
| CN101017201A (en) * | 2007-02-14 | 2007-08-15 | 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 |
| CN101196562A (en) * | 2007-12-14 | 2008-06-11 | 武汉大学 | Method for laser radar waveshape data decomposition based on improved EM algorithm |
Non-Patent Citations (2)
| Title |
|---|
| 张娜等.激光雷达信号处理的发展.《科技信息》.2008,(第35期),431,440. * |
| 苏国中等.星载多回波LiDAR数据提取地形参数算法应用研究.《航天器工程》.2009,第18卷(第05期),67-72. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101833087A (en) | 2010-09-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101833087B (en) | Satellite-bone laser radar waveform data resolving method based on wavelet analysis | |
| Swatantran et al. | Rapid, high-resolution forest structure and terrain mapping over large areas using single photon lidar | |
| CN107085710B (en) | Single-tree automatic extraction method based on multispectral LiDAR data | |
| Magruder et al. | Noise filtering techniques for photon-counting ladar data | |
| CN105158762A (en) | Identifying and tracking convective weather cells | |
| CN110794424B (en) | Full-waveform airborne laser radar ground feature classification method and system based on feature selection | |
| CN111665517B (en) | Density statistics-based single photon laser height finding data denoising method and device | |
| NZ527547A (en) | A ground-based Lidar system and method for measuring spatial structure and cover of vegetation canopies in the forest | |
| CN103905131A (en) | Expressway vehicle sensing system and method based on space channel detection | |
| CN103365916A (en) | Earthquake event parameter estimation and acquirement method and system and earthquake event search engine | |
| Iqbal et al. | A novel approach to estimate canopy height using ICESat/GLAS data: A case study in the New Forest National Park, UK | |
| CN104502919A (en) | Method for utilizing airborne laser radar point cloud to extract urban vegetation three-dimensional coverage map | |
| JP2015200615A (en) | Laser measurement result analysis system | |
| KR101426226B1 (en) | Signal processing method of radar | |
| Yang et al. | An elliptical distance based photon point cloud filtering method in forest area | |
| McKee et al. | Evaluating the state-of-the-art in remote volcanic eruption characterization Part II: Ulawun volcano, Papua New Guinea | |
| Gwenzi et al. | Prospects of photon counting lidar for savanna ecosystem structural studies | |
| CN116203537A (en) | Forest canopy height extraction method based on satellite-borne photon counting laser radar | |
| Chang et al. | Locating rock slope failures along highways and understanding their physical processes using seismic signals | |
| CN102538673B (en) | Method for extracting forest stand vertical structure parameters on basis of airborne small-facula LiDAR (light detection and ranging) waveform data | |
| Mikita et al. | Evaluation of airborne laser scanning data for tree parameters and terrain modelling in forest environment | |
| Hsu et al. | A study on factors affecting airborne LiDAR penetration | |
| Rutzinger et al. | Detection of high urban vegetation with airborne laser scanning data | |
| CN116165635A (en) | Denoising method for photon cloud data of different beams under daytime condition of multistage filtering algorithm | |
| Li et al. | A novel full-waveform LiDAR echo decomposition method and simulation verification |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| ASS | Succession or assignment of patent right |
Owner name: CENTER FOR EARTH OBSERVATION AND DIGITAL EARTH CHI Free format text: FORMER OWNER: WANG CHENG Effective date: 20110714 Free format text: FORMER OWNER: TANG FUXIN LI LIWEI |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| COR | Change of bibliographic data |
Free format text: CORRECT: ADDRESS; FROM: 100101 CENTER FOR EARTH OBSERVATION, MAILBOX 9718, NO. A-20, DATUN ROAD, CHAOYANG DISTRICT, BEIJING TO: 100094 NO. 9, DENGZHUANG SOUTH ROAD, HAIDIAN DISTRICT, BEIJING |
|
| DD01 | Delivery of document by public notice |
Addressee: Tang Fuxin Document name: Notification of Approving Refund |
|
| TA01 | Transfer of patent application right |
Effective date of registration: 20110714 Address after: 100094 Haidian District, Deng Zhuang Road, No. 9, Beijing Applicant after: Center for Earth Observation and Digital Earth Chinese Academy of Sciences Address before: 100101 Beijing city Chaoyang District Datun Road No. 20 box 9718 earth observation center Applicant before: Wang Cheng Co-applicant before: Tang Fuxin Co-applicant before: Li Liwei |
|
| DD01 | Delivery of document by public notice |
Addressee: Tang Fuxin Document name: Notification of Passing Examination on Formalities |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121024 Termination date: 20130513 |