CN104406569A - System and method for measuring cloud base height through combination of radiation brightness temperature and photogrammetry - Google Patents
System and method for measuring cloud base height through combination of radiation brightness temperature and photogrammetry Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a system and a method for measuring a cloud base height through combination of radiation brightness temperature and photogrammetry. The method comprises the following steps: calibrating interior orientation elements and radiation brightness temperatures of two thermal infrared image sensors, shooting cloud images by using the two thermal infrared image sensors respectively, and acquiring original brightness temperature data; enhancing and filtering the two infrared cloud images respectively, and extracting and matching features of the images; according to an image matching result, acquiring a homonymy point; when the infrared cloud images have clear textures, according to a double imaging photogrammetric principle, calculating to acquire the cloud base height; according to the original brightness temperature data of the images, acquiring a brightness temperature value corresponding to the homonymy point, and establishing a relationship between the cloud base height and the brightness temperature; when the infrared cloud images have fuzzy textures or no textures, based on the relationship between the cloud base height and the brightness temperature at a previous time, calculating the cloud base height. Through the system and the method, the cloud height measuring precision is ensured on the premise of reducing the fog influence and improving the data acquisition rate.
Description
Technical field
The present invention relates to a kind of height of cloud base measuring system and method, particularly relate to a kind of radiation brightness and the photogrammetric height of cloud base measuring system that combines and method.
Background technology
Cloud plays very important role in the physical processes such as weather system development, precipitation formation and atmospheric radiative transfer, obtain the information (height of cloud base, cloud amount, cloud form) of cloud accurately and timely, have very important meaning to numerous areas such as meteorology, civil aviatons.But the observation of current meteorological station cloud is still based on artificial visually examine, and artificial subjective factor is large, how to carry out the vital task that cloud automatic observation is cloud field of detecting accurately and effectively.
At present both at home and abroad the cloud level is measured based on by the Infrared survey cloud level (height of cloud base) of bright temperature inverting and the technology by the laser reflecting measurement single-point cloud level.By the Infrared Measuring System of the bright temperature inverting cloud level because infrared band is longer, affect by haze little, therefore there is higher data capture rate, but it needs to set up atmosphere radiation model, calculation of complex and measuring accuracy is not high; Affect comparatively large by gasoloid by the laser reflecting measurement cloud level, under the weather conditions such as haze, cloud level detectivity is poor.
Along with the development of digital camera technology and stereo vision sensor, the plurality of advantages such as binocular imaging vision sensor is simple with structure, easy to use, measuring accuracy is high are widely used, and infrared binocular imaging surveying and mapping technology is also usually used in measuring the height of cloud base.Infrared binocular imaging surveying and mapping technology adopts direct photogrammetric technology, measuring accuracy is high, and employing infrared camera, affect little by haze, but because photogrammetric technology needs to obtain same place by images match, cannot obtain same place exactly when cloud atlas distribution uniform, thus cannot calculate the height of cloud base, data capture rate is poor.
Summary of the invention
For overcoming the deficiency that above-mentioned prior art exists, one of the present invention object is to provide a kind of radiation brightness and the photogrammetric height of cloud base measuring system that combines and method, it will be by combining based on the bright temperature technique of cloud base infrared radiation and photogrammetric technology, while the impact of minimizing haze improves data acquisition rate, ensure that cloud level measuring accuracy.
For reaching above-mentioned and other object, the present invention proposes a kind of radiation brightness and the photogrammetric height of cloud base measuring system combined, and comprising:
Image acquisition units, comprises at least two thermal infrared image sensors, and carries out elements of interior orientation calibration and radiation brightness calibration to two thermal infrared image sensors, takes cloud atlas simultaneously, obtains two infrared cloud image images;
Image enhaucament and matching module, after carrying out image enhaucament, filtering process to each infrared cloud image image, carry out feature extraction and matching to image;
Same place acquisition module, based on videographic measurment principle, the result according to images match obtains same place;
Height of cloud base computing module, utilizes cloud level computing formula to obtain the height of cloud base when infrared cloud image clean mark according to two imaging camera measuring principle;
The original bright temperature data acquisition module of image, utilizes thermal infrared image sensor to obtain original infrared brightness temperature figure;
Gradient relation sets up module, and the bright temperature value corresponding according to the original bright temperature data acquisition same place of image, sets up the relation between the height of cloud base and bright temperature;
Cloud base height inverting module, for when infrared cloud image image texture is fuzzy or without texture, calculates based on the relation between the previous moment height of cloud base and bright temperature and obtains the height of cloud base.
Further, described cloud level computing formula is:
Wherein, Z is the height of cloud base, and f is that the focal length of imageing sensor is long, and B is the base length between two thermal infrared image sensors, and Δ x is the parallax of two thermal infrared image sensors.
Further, described gradient relation set up module set up the height of cloud base and bright temperature between pass be:
When t1-t2 be less than sometime section time, then the height of cloud base and bright kelvin relation are
f(B)=（B1-B2）/( H1-H2)
Wherein, t1 is set to current time, height of cloud base computing module described in the t1 moment is H1 by the cloud level that photogrammetry principles calculates, the bright temperature value that described gradient relation sets up module acquisition same place corresponding is B1, t2 is set to previous moment, described height of cloud base computing module is H2 by the cloud level that photogrammetric technology calculates, and the bright temperature value that described gradient relation sets up module acquisition same place corresponding is B2.
Further, described cloud base height inverting module utilizes the height of cloud base H3 in high computational formulae discovery t3 moment at the bottom of following Retrieval of Cloud:
H3=H1+（B3-B1）/f(B)
Wherein B3 is the bright temperature value that the same place that obtains in the t3 moment is corresponding.
Further, described height of cloud base computing module first carried out on-the-spot relative attitude calibration before the calculating height of cloud base.
For achieving the above object, the present invention also provides a kind of radiation brightness and the photogrammetric height of cloud base measuring method combined, and comprises the steps:
Step one, two thermal infrared image sensors are set, and elements of interior orientation calibration and radiation brightness calibration are carried out to two thermal infrared image sensors, utilize these two thermal infrared image sensors to take cloud atlas respectively, obtain two infrared cloud image images, and obtain original bright temperature data;
Step 2, carries out image enhaucament, filtering process to two infrared cloud image images respectively, carries out feature extraction and matching to image;
Step 3, based on videographic measurment principle, the result according to images match obtains same place;
Step 4, utilizes cloud level computing formula to obtain the height of cloud base when infrared cloud image clean mark according to two imaging camera measuring principle;
Step 5, the bright temperature value corresponding according to the original bright temperature data acquisition same place of image, sets up the relation between the height of cloud base and bright temperature;
Step 6, when infrared cloud image image texture is fuzzy or without texture, calculates based on the relation between the previous moment height of cloud base and bright temperature and obtains the height of cloud base.
Further, in step 4, described cloud level computing formula is:
Wherein, Z is the height of cloud base, and f is that the focal length of imageing sensor is long, and B is the base length between two thermal infrared image sensors, and Δ x is the parallax of two thermal infrared image sensors.
Further, in step 5, the pass between the height of cloud base of foundation and bright temperature is:
When t1-t2 be less than sometime section time, then the height of cloud base and bright kelvin relation are
f(B)=（B1-B2）/( H1-H2)
Wherein, t1 is set to current time, and the t1 moment is H1 by the cloud level that photogrammetry principles calculates, and the bright temperature value obtaining same place corresponding is that B1, t2 are set to previous moment, and the cloud level calculated by photogrammetric technology is H2, and the bright temperature value obtaining same place corresponding is B2.
Further, in step 6, utilize the height of cloud base H3 in high computational formulae discovery t3 moment at the bottom of following Retrieval of Cloud:
H3=H1+（B3-B1）/f(B)
Wherein B3 is the bright temperature value that the same place that obtains in the t3 moment is corresponding.
Further, before step 4, also comprise the step of carrying out on-the-spot relative attitude calibration.
Compared with prior art, a kind of radiation brightness of the present invention adopts two thermal infrared camera composing images collecting units with the photogrammetric height of cloud base measuring system that combines and method, and elements of interior orientation calibration and radiation brightness calibration are carried out to infrared camera, and take cloud atlas simultaneously, cross image processing techniques based on photogrammetry principles and obtain the same place calculating height of cloud base, and the bright temperature value that the original bright temperature data acquisition same place of combining image is corresponding, set up the relation between the height of cloud base and bright temperature, utilize the cloud level to calculate the formulae discovery height of cloud base when image texture is more clear, when image texture is fuzzy or without utilizing the high computational formula inverting height of cloud base at the bottom of Retrieval of Cloud during texture, thus raising cloud level measurement data capture rate ensures cloud level measuring accuracy simultaneously.
Accompanying drawing explanation
Fig. 1 is a kind of radiation brightness of the present invention and the system architecture diagram of the photogrammetric height of cloud base measuring system combined;
Fig. 2 is the structural representation of the preferred embodiment of the present invention;
Fig. 3 is a kind of radiation brightness of the present invention and the flow chart of steps of the photogrammetric height of cloud base measuring method combined.
Embodiment
Below by way of specific instantiation and accompanying drawings embodiments of the present invention, those skilled in the art can understand other advantage of the present invention and effect easily by content disclosed in the present specification.The present invention is also implemented by other different instantiation or is applied, and the every details in this instructions also can based on different viewpoints and application, carries out various modification and change not deviating under spirit of the present invention.
Fig. 1 is a kind of radiation brightness of the present invention and the system architecture diagram of the photogrammetric height of cloud base measuring system combined.As shown in Figure 1, a kind of radiation brightness of the present invention and the photogrammetric height of cloud base measuring system combined, comprising: the original bright temperature data acquisition module 105 of image acquisition units 101, image enhaucament and matching module 102, same place acquisition module 103, height of cloud base computing module 104, image, gradient relation set up module 106 and cloud base height inverting module 107.
Wherein, image acquisition units 101 at least comprises two thermal infrared image sensors, and carries out elements of interior orientation calibration and radiation brightness calibration to two thermal infrared image sensors, takes cloud atlas simultaneously, obtains infrared cloud image image; Image enhaucament and matching module 102, after each infrared cloud image image being carried out to the process such as image enhaucament, filtering, carry out feature extraction and matching to image; Same place acquisition module 103, based on videographic measurment principle, the result according to images match obtains same place; Height of cloud base computing module 104, utilizes cloud level computing formula to obtain the height of cloud base when infrared cloud image clean mark according to two imaging camera measuring principle; The original bright temperature data acquisition module 105 of image utilize thermal infrared image sensor obtain original infrared brightness temperature figure, that is, in the present invention, can obtain two groups of data from imageing sensor, one group is original bright temperature data, one group be by process after infrared picture data; Gradient relation sets up module 106, and the bright temperature value corresponding according to the same place of original bright temperature data acquisition same place acquisition module 103 acquisition of image, sets up the relation between the height of cloud base and bright temperature; Cloud base height inverting module 107, for when infrared cloud image image texture is fuzzy or without texture, calculates based on the relation between the previous moment height of cloud base and bright temperature and obtains the height of cloud base.
Fig. 2 is the structural representation of the preferred embodiment of the present invention.In present pre-ferred embodiments, adopt two thermal infrared camera composing images collecting units, and elements of interior orientation calibration and radiation brightness calibration are carried out to infrared camera, take cloud atlas more simultaneously, obtain infrared cloud image 1 and infrared cloud image 2, particularly, two cameras can be placed in rotatable The Cloud Terrace, scanned by the control realization all-sky of The Cloud Terrace, obtain all-sky cloud atlas, and calculate zenith direction 50
.the height of cloud base in scope.
The cloud atlas image obtained due to CCD has the features such as texture is poor, signal to noise ratio (S/N ratio) is low, so before carrying out images match to it, the pre-service such as image enhaucament and filtering must be carried out, to meet the requirement of image characteristics extraction and coupling, existing algorithm for image enhancement mainly contains histogram equalization, contrast limiting adaptive histogram equalization, Wallis filtering etc., in present pre-ferred embodiments, have employed histogram equalization method, but the present invention is not as limit, due to the cloud atlas taken based on ground, by projection angle, the impact such as photechic effect is larger, be difficult to directly carry out Region Matching, and angle point is the local feature region in image with higher curvature, be widely used in characteristic matching, in present pre-ferred embodiments, Harris Corner Detection device is adopted to carry out Corner Detection to image, then epipolar-line constraint is utilized to eliminate angle point inconsistent in two figure, the region at each angle point place from a figure again, in another piece image, the region at corresponding angle point place is found by certain radius, and calculate the related coefficient in two regions, using angle point maximum for related coefficient as characteristic matching point, due to the prior art that image enhaucament and characteristic matching adopt, at this, then it will not go into details.
After obtaining images match result, same place acquisition module obtains same place based on videographic measurment principle, height of cloud base computing module, when infrared cloud image clean mark, utilize cloud level computing formula to obtain the height of cloud base according to two imaging camera measuring principle.Particularly, cloud level computing formula is:
(1)
Wherein Z is the height of cloud base, and f is that the focal length of camera is long, and B is the base length between two cameras, and Δ x is the parallax of two cameras.
Owing to being difficult to ensure that two-phase facility have consistent attitude angle in actual installation process, in present pre-ferred embodiments, height of cloud base computing module 104 also needed to carry out on-the-spot relative attitude calibration before the calculating height of cloud base, namely first after doing attitude correction with attitude angle camera, calculated the height of cloud base again.Because on-the-spot relative attitude bearing calibration is prior art, do not repeat them here.
Gradient relation sets up the module 106 bright temperature value corresponding according to the same place of original bright temperature data acquisition same place acquisition module 103 acquisition of image, sets up the relation between the height of cloud base and bright temperature.Specifically, the t1 moment is set to if current, it is H1 that height of cloud base computing module calculates the cloud level by photogrammetry principles, the bright temperature value that gradient relation sets up module acquisition same place corresponding is B1, previous moment is set to the t2 moment, and it is H2 that height of cloud base computing module calculates the cloud level by photogrammetric technology, and gradient relation sets up module 106, and to obtain bright temperature value corresponding to same place be B2, when t1-t2 is less than section (as 1 hour) sometime, then the height of cloud base and bright kelvin relation are:
f(B)=（B1-B2）/( H1-H2)
When cloud atlas texture is fuzzy or without texture, cloud base height inverting module 107 adopts the bright temperature inverting height of cloud base, and being set to the bright temperature in t3 moment cloud base is B3, then at the bottom of corresponding Retrieval of Cloud, high computational formula is:
H3=H1+（B3-B1）/f(B) (2)
Fig. 3 is a kind of radiation brightness of the present invention and the flow chart of steps of the photogrammetric height of cloud base measuring method combined.As shown in Figure 3, a kind of radiation brightness of the present invention and the photogrammetric height of cloud base measuring method combined, comprise the steps:
Step 301, two thermal infrared image sensors are set, and elements of interior orientation calibration and radiation brightness calibration are carried out to two thermal infrared image sensors, utilize these two thermal infrared image sensors to take cloud atlas respectively, obtain two infrared cloud image images, and obtain original bright temperature data;
Step 302, carries out image enhaucament, filtering process to two infrared cloud image images respectively, carries out feature extraction and matching to image;
Step 303, based on videographic measurment principle, the result according to images match obtains same place;
Step 304, when infrared cloud image clean mark, utilize cloud level computing formula to obtain the height of cloud base according to two imaging camera measuring principle, wherein cloud level computing formula is as follows:
Wherein Z is the height of cloud base, and f is that the focal length of camera is long, and B is the base length between two cameras, and Δ x is the parallax of two cameras.
Step 305, the bright temperature value corresponding according to the original bright temperature data acquisition same place of image, sets up the relation between the height of cloud base and bright temperature.
Specifically, the t1 moment is set to if current, utilizing photogrammetry principles to calculate the cloud level by step 304 is H1, the bright temperature value corresponding according to the original bright temperature data acquisition same place of image is B1, previous moment is set to the t2 moment, and utilizing photogrammetry principles to calculate the cloud level by step 304 is H2, and the bright temperature value corresponding according to the original bright temperature data acquisition same place of image is B2, when t1-t2 is less than section (as 1 hour) sometime, then the height of cloud base and bright kelvin relation are:
f(B)=（B1-B2）/( H1-H2)
Step 306, when infrared cloud image image texture is fuzzy or without texture, calculates based on the relation between the previous moment height of cloud base and bright temperature and obtains the height of cloud base.Specifically, when cloud atlas texture is fuzzy or without texture, adopt the bright temperature inverting height of cloud base, be set to the t3 moment, the bright temperature in cloud base is B3, then at the bottom of corresponding Retrieval of Cloud, high computational formula is:
H3=H1+（B3-B1）/f(B)
Preferably, before step 304, also comprise the step of carrying out on-the-spot relative attitude calibration, namely first after doing attitude correction with attitude angle camera, calculate the height of cloud base again.
In sum, a kind of radiation brightness of the present invention adopts two thermal infrared camera composing images collecting units with the photogrammetric height of cloud base measuring system that combines and method, and elements of interior orientation calibration and radiation brightness calibration are carried out to infrared camera, and take cloud atlas simultaneously, cross image processing techniques based on photogrammetry principles and obtain the same place calculating height of cloud base, and the bright temperature value that the original bright temperature data acquisition same place of combining image is corresponding, set up the relation between the height of cloud base and bright temperature, utilize the cloud level to calculate the formulae discovery height of cloud base when image texture is more clear, when image texture is fuzzy or without utilizing the high computational formula inverting height of cloud base at the bottom of Retrieval of Cloud during texture, thus raising cloud level measurement data capture rate ensures cloud level measuring accuracy simultaneously.
Above-described embodiment is illustrative principle of the present invention and effect thereof only, but not for limiting the present invention.Any those skilled in the art all without prejudice under spirit of the present invention and category, can carry out modifying to above-described embodiment and change.Therefore, the scope of the present invention, should listed by claims.
Claims (10)
1. radiation brightness and the photogrammetric height of cloud base measuring system combined, comprising:
Image acquisition units, comprises at least two thermal infrared image sensors, and carries out elements of interior orientation calibration and radiation brightness calibration to two thermal infrared image sensors, takes cloud atlas simultaneously, obtains two infrared cloud image images;
Image enhaucament and matching module, after carrying out image enhaucament, filtering process to each infrared cloud image image, carry out feature extraction and matching to image;
Same place acquisition module, based on videographic measurment principle, the result according to images match obtains same place;
Height of cloud base computing module, utilizes cloud level computing formula to obtain the height of cloud base according to two imaging camera measuring principle when infrared cloud image clean mark;
The original bright temperature data acquisition module of image, utilizes thermal infrared image sensor to obtain original infrared brightness temperature figure;
Gradient relation sets up module, and the bright temperature value corresponding according to the original bright temperature data acquisition same place of image, sets up the relation between the height of cloud base and bright temperature;
Cloud base height inverting module, for when infrared cloud image image texture is fuzzy or without texture, calculates based on the relation between the previous moment height of cloud base and bright temperature and obtains the height of cloud base.
2. a kind of radiation brightness as claimed in claim 1 and the photogrammetric height of cloud base measuring system combined, it is characterized in that, described cloud level computing formula is:
Wherein, Z is the height of cloud base, and f is that the focal length of imageing sensor is long, and B is the base length between two thermal infrared image sensors, and Δ x is the parallax of two thermal infrared image sensors.
3. a kind of radiation brightness as claimed in claim 2 and the photogrammetric height of cloud base measuring system combined, is characterized in that, the pass that described gradient relation is set up between the height of cloud base of module foundation and bright temperature is:
When t1-t2 be less than sometime section time, then the height of cloud base and bright kelvin relation are
f(B)=（B1-B2）/( H1-H2)
Wherein, t1 is set to current time, height of cloud base computing module described in the t1 moment is H1 by the cloud level that photogrammetry principles calculates, the bright temperature value that described gradient relation sets up module acquisition same place corresponding is B1, t2 is set to previous moment, described height of cloud base computing module is H2 by the cloud level that photogrammetric technology calculates, and the bright temperature value that described gradient relation sets up module acquisition same place corresponding is B2.
4. a kind of radiation brightness as claimed in claim 3 and the photogrammetric height of cloud base measuring system combined, it is characterized in that, described cloud base height inverting module utilizes the height of cloud base H3 in high computational formulae discovery t3 moment at the bottom of following Retrieval of Cloud:
H3=H1+（B3-B1）/f(B)
Wherein B3 is the bright temperature value that the same place that obtains in the t3 moment is corresponding.
5. a kind of radiation brightness as claimed in claim 1 and the photogrammetric height of cloud base measuring system combined, is characterized in that: described height of cloud base computing module first carried out on-the-spot relative attitude calibration before the calculating height of cloud base.
6. radiation brightness and the photogrammetric height of cloud base measuring method combined, comprise the steps:
Step one, two thermal infrared image sensors are set, and elements of interior orientation calibration and radiation brightness calibration are carried out to two thermal infrared image sensors, utilize these two thermal infrared image sensors to take cloud atlas respectively, obtain two infrared cloud image images, and obtain original bright temperature data;
Step 2, carries out image enhaucament, filtering process to two infrared cloud image images respectively, carries out feature extraction and matching to image;
Step 3, based on videographic measurment principle, the result according to images match obtains same place;
Step 4, utilizes cloud level computing formula to obtain the height of cloud base when infrared cloud image clean mark according to two imaging camera measuring principle;
Step 5, the bright temperature value corresponding according to the original bright temperature data acquisition same place of image, sets up the relation between the height of cloud base and bright temperature;
Step 6, when infrared cloud image image texture is fuzzy or without texture, calculates based on the relation between the previous moment height of cloud base and bright temperature and obtains the height of cloud base.
7. a kind of radiation brightness as claimed in claim 6 and the photogrammetric height of cloud base measuring method combined, it is characterized in that, in step 4, described cloud level computing formula is:
Wherein, Z is the height of cloud base, and f is that the focal length of imageing sensor is long, and B is the base length between two thermal infrared image sensors, and Δ x is the parallax of two thermal infrared image sensors.
8. a kind of radiation brightness as claimed in claim 7 and the photogrammetric height of cloud base measuring method combined, it is characterized in that, in step 5, the pass between the height of cloud base of foundation and bright temperature is:
When t1-t2 be less than sometime section time, then the height of cloud base and bright kelvin relation are
f(B)=（B1-B2）/( H1-H2)
Wherein, t1 is set to current time, and the t1 moment is H1 by the cloud level that photogrammetry principles calculates, and the bright temperature value obtaining same place corresponding is that B1, t2 are set to previous moment, and the cloud level calculated by photogrammetric technology is H2, and the bright temperature value obtaining same place corresponding is B2.
9. a kind of radiation brightness as claimed in claim 8 and the photogrammetric height of cloud base measuring method combined, is characterized in that, in step 6, utilize the height of cloud base H3 in high computational formulae discovery t3 moment at the bottom of following Retrieval of Cloud:
H3=H1+（B3-B1）/f(B)
Wherein B3 is the bright temperature value that the same place that obtains in the t3 moment is corresponding.
10. a kind of radiation brightness as claimed in claim 1 and the photogrammetric height of cloud base measuring method combined, is characterized in that: before step 4, also comprise the step of carrying out on-the-spot relative attitude calibration.
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| CN116089884A (en) * | 2023-02-09 | 2023-05-09 | 安徽省气象台 | Method for constructing near-real-time precipitation estimation model and near-real-time precipitation estimation method |
| CN117541114A (en) * | 2023-11-10 | 2024-02-09 | 华南理工大学 | Method for rapidly evaluating high spatial resolution thermal comfort of urban outdoor scene |
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