CN104406569B - Radiation brightness and the photogrammetric height of cloud base measuring system for combining and method - Google Patents
Radiation brightness and the photogrammetric height of cloud base measuring system for combining and method Download PDFInfo
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- CN104406569B CN104406569B CN201410730855.XA CN201410730855A CN104406569B CN 104406569 B CN104406569 B CN 104406569B CN 201410730855 A CN201410730855 A CN 201410730855A CN 104406569 B CN104406569 B CN 104406569B
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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 kind of radiation brightness and the photogrammetric height of cloud base measuring system for combining and method, the method includes：Elements of interior orientation calibration and radiation brightness calibration are carried out to two thermal infrared image sensors, cloud atlas are shot respectively using two thermal infrared image sensors, and are obtained original bright temperature data；Image enhaucament, filtering process are carried out to two infrared cloud image images respectively, feature extraction and matching is carried out to image；Same place is obtained according to the result of images match；Calculated according to double imaging camera measuring principles when infrared cloud image clean mark and obtain the height of cloud base；The corresponding bright temperature value of same place, the relation set up between the height of cloud base and bright temperature are obtained according to the original bright temperature data of image；When infrared cloud image image texture is fuzzy or during texture-free, calculates the height of cloud base based on the relation between the previous moment height of cloud base and bright temperature, the present invention ensure that the cloud level certainty of measurement while can affecting raising data acquisition rate haze is reduced.
Description
Technical field
The present invention relates to a kind of height of cloud base measuring system and method, more particularly to a kind of radiation brightness with it is photogrammetric
The height of cloud base measuring system for combining and method.
Background technology
Cloud plays very important angle in the physical processes such as weather system development, precipitation formation and atmospheric radiative transfer
Color, accurately and timely obtains the information of cloud（The height of cloud base, cloud amount, cloud form）, ten are suffered to numerous areas such as meteorology, civil aviatons
Divide important meaning.However, the at present observation of meteorological station cloud, still based on artificial range estimation, artificial subjective factor is big, how accurate
Really effectively enter the vital task that the automatic observation that racks is cloud field of detecting.
The cloud level is measured with the infrared survey cloud level by bright temperature inverting both at home and abroad at present（The height of cloud base）It is anti-with by laser
Penetrate based on the technology of the measurement single-point cloud level.By the Infrared Measuring System of the bright temperature inverting cloud level as infrared band is longer, by mist
Haze affects little, therefore with higher data capture rate, but which needs to set up atmospheric radiation model, calculates complicated and certainty of measurement
It is not high；Affected larger by aerosol by the laser reflecting measurement cloud level, cloud level detectivity is poor under the weather conditions such as haze.
With the development of digital camera technology and stereo vision sensor, binocular imaging vision sensor with simple structure,
It is easy to use, be widely used many advantages, such as certainty of measurement is high, infrared binocular imaging surveying and mapping technology is also commonly used for measuring cloud base
Highly.Infrared binocular imaging surveying and mapping technology is that certainty of measurement is high, and adopts infrared camera, receives using direct photogrammetric technology
Haze affect it is little, but due to photogrammetric technology need by images match obtain same place, when cloud atlas distribution uniform without
Method accurately obtains same place, and so as to calculate the height of cloud base, data capture rate is poor.
The content of the invention
To overcome the shortcomings of that above-mentioned prior art is present, one of present invention purpose is to provide a kind of radiation brightness with photography
The height of cloud base measuring system that combines of measurement and method, which passes through will be based on the bright temperature technique of cloud base infra-red radiation and photogrammetric
Technology combines, and ensure that cloud level certainty of measurement reducing while haze affects and improves data acquisition rate.
It is that, up to above and other purpose, the present invention proposes that a kind of radiation brightness is surveyed with the photogrammetric height of cloud base for combining
Amount system, including：
Image acquisition units, including at least two thermal infrared image sensors, and two thermal infrared image sensors are entered
The calibration of row elements of interior orientation and radiation brightness calibration, while shooting cloud atlas, obtain two infrared cloud image images；
Image enhaucament and matching module, for carrying out each infrared cloud image image after image enhaucament, filtering process, to image
Carry out feature extraction and matching；
Same place acquisition module, based on videographic measurment principle, obtains same place according to the result of images match；
Height of cloud base computing module, utilizes ceilometer according to double imaging camera measuring principles when infrared cloud image clean mark
Calculate formula and obtain the height of cloud base；
The original bright temperature data acquisition module of image, obtains original infrared brightness temperature figure using thermal infrared image sensor；
Gradient relation sets up module, obtains the corresponding bright temperature value of same place according to the original bright temperature data of image, sets up cloud
Relation between bottom height and bright temperature；
The high inverting module in cloud base, for when infrared cloud image image texture is fuzzy or during texture-free, based on previous moment cloud base
Relation between height and bright temperature is calculated and obtains the height of cloud base.
Further, the 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 between two thermal infrared image sensors
The length of base, Δ x are the parallax of two thermal infrared image sensors.
Further, the gradient relation set up module foundation the height of cloud base and bright temperature between relation be：
When t1-t2 is less than certain time period, 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 described in the t1 moment, height of cloud base computing module is calculated by photogrammetry principles
The cloud level is H1, and it is B1 that the gradient relation is set up module and obtains the corresponding bright temperature value of same place, and t2 is set to previous moment, described
The cloud level that height of cloud base computing module is calculated by photogrammetric technology is H2, and the gradient relation is set up module and obtains same place
Corresponding bright temperature value is B2.
Further, the high inverting module in the cloud base calculates the cloud at t3 moment using following Retrieval of Cloud bottom high computational formula
Bottom height H3:
H3=H1+（B3-B1）/f(B)
Wherein B3 is the corresponding bright temperature value of same place that the t3 moment obtains.
Further, the height of cloud base computing module first carried out live relative attitude school before the height of cloud base is calculated
It is accurate.
To reach above-mentioned purpose, the present invention also provides a kind of radiation brightness with the photogrammetric height of cloud base measurement for combining
Method, comprises the steps：
Step one, arranges two thermal infrared image sensors, and two thermal infrared image sensors is carried out with inner orientation unit
Plain calibration and radiation brightness calibration, shoot cloud atlas respectively using two thermal infrared image sensors, obtain two infrared cloud image figures
Picture, and obtain original bright temperature data；
Two infrared cloud image images are carried out image enhaucament, filtering process by step 2 respectively, image is carried out feature extraction and
Matching；
Step 3, based on videographic measurment principle, obtains same place according to the result of images match；
Step 4, is obtained using cloud level computing formula according to double imaging camera measuring principles when infrared cloud image clean mark
The height of cloud base；
Step 5, obtains the corresponding bright temperature value of same place according to the original bright temperature data of image, sets up the height of cloud base and bright
Relation between temperature；
Step 6, when infrared cloud image image texture is fuzzy or during texture-free, based on the previous moment height of cloud base and bright temperature it
Between relation calculate obtain the height of cloud base.
Further, in step 4, the 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 between two thermal infrared image sensors
The length of base, Δ x are the parallax of two thermal infrared image sensors.
Further, in step 5, the relation between the height of cloud base of foundation and bright temperature is：
When t1-t2 is less than certain time period, 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 are calculated, and obtains same place pair
The bright temperature value answered is B1, and t2 is set to previous moment, is H2 by the cloud level that photogrammetric technology is calculated, and obtains same place correspondence
Bright temperature value be B2.
Further, in step 6, the height of cloud base at t3 moment is calculated using following Retrieval of Cloud bottom high computational formula
H3:
H3=H1+（B3-B1）/f(B)
Wherein B3 is the corresponding bright temperature value of same place that the t3 moment obtains.
Further, before step 4, also including the step of carrying out live relative attitude and calibrate.
Compared with prior art, a kind of radiation brightness of the invention and the photogrammetric height of cloud base measuring system for combining and
Method constitutes image acquisition units using two thermal infrared cameras, and elements of interior orientation calibration is carried out to infrared camera and is radiated bright
Temperature scale school, and while shoot cloud atlas, based on photogrammetry principles cross image processing techniques obtain same place calculate the height of cloud base, and
The corresponding bright temperature value of same place is obtained with reference to the original bright temperature data of image, the relation set up between the height of cloud base and bright temperature works as figure
As calculating the height of cloud base using the cloud level computing formula when texture is more visible, when image texture is fuzzy or utilizes Retrieval of Cloud during texture-free
The bottom high computational formula inverting height of cloud base, so as to improve cloud level measurement data capture rate while ensureing cloud level certainty of measurement.
Description of the drawings
Fig. 1 is the system architecture of a kind of radiation brightness of the invention and the photogrammetric height of cloud base measuring system for combining
Figure；
Structural representations of the Fig. 2 for the preferred embodiments of the invention；
The step of height of cloud base measuring method that Fig. 3 is a kind of radiation brightness of the invention to be combined with photogrammetric flow process
Figure.
Specific embodiment
Below by way of specific instantiation and embodiments of the present invention are described with reference to the drawings, those skilled in the art can
The further advantage and effect of the present invention are understood easily by content disclosed in the present specification.The present invention also can be different by other
Instantiation implemented or applied, the every details in this specification also can based on different viewpoints with application, without departing substantially from
Various modifications and change are carried out under the spirit of the present invention.
Fig. 1 is the system architecture of a kind of radiation brightness of the invention and the photogrammetric height of cloud base measuring system for combining
Figure.As shown in figure 1, a kind of radiation brightness of the invention and the photogrammetric height of cloud base measuring system for combining, including：Image is adopted
Collection unit 101, image enhaucament and matching module 102, same place acquisition module 103, height of cloud base computing module 104, image are former
Beginning bright temperature data acquisition module 105, gradient relation sets up the high inverting module of module 106 and cloud base 107.
Wherein, image acquisition units 101 at least include two thermal infrared image sensors, and two thermal infrared images are passed
Sensor carries out elements of interior orientation calibration and radiation brightness calibration, while shooting cloud atlas, obtains infrared cloud image image；Image enhaucament with
Matching module 102, for carrying out, after the process such as image enhaucament, filtering, carrying out feature extraction to image to each infrared cloud image image
And matching；Same place acquisition module 103, based on videographic measurment principle, obtains same place according to the result of images match；Cloud base is high
Degree computing module 104, is obtained using cloud level computing formula according to double imaging camera measuring principles when infrared cloud image clean mark
The height of cloud base；The original bright temperature data acquisition module 105 of image obtains original infrared brightness temperature figure using thermal infrared image sensor,
That is, in the present invention, two groups of data can be obtained from imageing sensor, one group is original bright temperature data, and one group is after process
Infrared picture data；Gradient relation sets up module 106, obtains same place acquisition module according to the original bright temperature data of image
The 103 corresponding bright temperature value of same place for obtaining, the relation set up between the height of cloud base and bright temperature；The high inverting module in cloud base 107 is used
In when infrared cloud image image texture is fuzzy or during texture-free, is obtained based on the relation calculating between the previous moment height of cloud base and bright temperature
Obtain the height of cloud base.
Structural representations of the Fig. 2 for the preferred embodiments of the invention.It is in present pre-ferred embodiments, red using two heat
Foreign minister mechanism is into image acquisition units, and elements of interior orientation calibration and radiation brightness calibration are carried out to infrared camera, then claps simultaneously
Cloud atlas is taken the photograph, infrared cloud image 1 and infrared cloud image 2 is obtained, specifically, two cameras can be placed in rotatable head, by cloud
The control realization all-sky scanning of platform, obtains all-sky cloud atlas, and calculates zenith direction 50。In the range of the height of cloud base.
As the cloud atlas image that CCD is obtained has, texture is poor, the low feature of signal to noise ratio, so carrying out image to which
With before, it is necessary to carry out the pretreatment such as image enhaucament and filtering, to meet the requirement of image characteristics extraction and matching, existing figure
Image intensifying algorithm mainly has histogram equalization, contrast limiting adaptive histogram equalization, Wallis filtering etc., the present invention
In preferred embodiment, histogram equalization method is employed, but the present invention is not limited；Due to the cloud shot based on ground
Figure, is affected larger by projection angle, photechic effect etc., it is difficult to directly carry out Region Matching, and angle point is with Gao Qu in image
The local feature region of rate, is widely used in characteristic matching, in present pre-ferred embodiments, using Harris Corner Detection devices pair
Image carries out Corner Detection, then eliminates angle point inconsistent in two figures, then each angle point from a figure using epipolar-line constraint
The region at place, finds the region that correspondence angle point is located in another piece image by certain radius, and calculates the correlation in two regions
Coefficient, using the maximum angle point of coefficient correlation as characteristic matching point, due to the prior art that image enhaucament is adopted with characteristic matching,
At this, then it will not go into details.
After obtaining images match result, same place acquisition module obtains same place, the height of cloud base based on videographic measurment principle
Computing module, obtains cloud base using cloud level computing formula according to double imaging camera measuring principles high when infrared cloud image clean mark
Degree.Specifically, 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 length of base between two cameras, and Δ x is two cameras
Parallax.
Due to during actual installation it is difficult to ensure that two-phase machine has consistent attitude angle, in present pre-ferred embodiments
In, height of cloud base computing module 104 before the height of cloud base is calculated also needed to carry out live relative attitude calibration, i.e., first to appearance
State angle camera calculates the height of cloud base after doing attitude updating again.Due to live relative attitude bearing calibration be prior art, here
It will not go into details.
Gradient relation is set up module 106 and obtains what same place acquisition module 103 was obtained according to the original bright temperature data of image
The corresponding bright temperature value of same place, the relation set up between the height of cloud base and bright temperature.Specifically, if being currently set to t1 moment, cloud
It is H1 that bottom high computational module calculates the cloud level by photogrammetry principles, and it is corresponding bright that gradient relation sets up module acquisition same place
Temperature value is B1, and 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, ladder
It is B2 that degree relation is set up module 106 and obtains the corresponding bright temperature value of same place, when t1-t2 is less than certain time period（Such as 1 hour）,
Then the height of cloud base and bright kelvin relation are：
f(B)=（B1-B2）/( H1-H2)
When cloud atlas texture is fuzzy or during texture-free, the high inverting module 107 in cloud base adopts the bright temperature inverting height of cloud base, is set to t3
The bright temperature in moment cloud base is B3, then corresponding Retrieval of Cloud bottom high computational formula is：
H3=H1+（B3-B1）/f(B) (2)
The step of height of cloud base measuring method that Fig. 3 is a kind of radiation brightness of the invention to be combined with photogrammetric flow process
Figure.As shown in figure 3, a kind of radiation brightness of the invention and the photogrammetric height of cloud base measuring method for combining, including following step
Suddenly：
Step 301, arranges two thermal infrared image sensors, and two thermal infrared image sensors is carried out with inner orientation unit
Plain calibration and radiation brightness calibration, shoot cloud atlas respectively using two thermal infrared image sensors, obtain two infrared cloud image figures
Picture, and obtain original bright temperature data；
Two infrared cloud image images are carried out image enhaucament, filtering process, carry out feature extraction to image by step 302 respectively
And matching；
Step 303, based on videographic measurment principle, obtains same place according to the result of images match；
Step 304, is obtained using cloud level computing formula according to double imaging camera measuring principles when infrared cloud image clean mark
The height of cloud base is obtained, 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 length of base between two cameras, and Δ x is two cameras
Parallax.
Step 305, obtains the corresponding bright temperature value of same place according to the original bright temperature data of image, sets up the height of cloud base and bright
Relation between temperature.
Specifically, if being currently set to the t1 moment, the cloud level is calculated for H1 using photogrammetry principles by step 304, root
It is B1 that the corresponding bright temperature value of same place is obtained according to the original bright temperature data of image, and previous moment is set to the t2 moment, by step
304 calculate the cloud level for H2 using photogrammetry principles, obtain the corresponding bright temperature value of same place according to the original bright temperature data of image
For B2, when t1-t2 is less than certain time period（Such as 1 hour）, 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 during texture-free, based on the previous moment height of cloud base and bright temperature it
Between relation calculate obtain the height of cloud base.Specifically, it is when cloud atlas texture is fuzzy or during texture-free, high using bright temperature Retrieval of Cloud bottom
Degree, is set to the t3 moment, and the bright temperature in cloud base is B3, then corresponding Retrieval of Cloud bottom high computational formula is：
H3=H1+（B3-B1）/f(B)
Preferably, before step 304, also including the step of carrying out live relative attitude and calibrate, i.e., first to attitude
Angle camera calculates the height of cloud base after doing attitude updating again.
In sum, a kind of radiation brightness of the invention is adopted with the photogrammetric height of cloud base measuring system for combining and method
Image acquisition units are constituted with two thermal infrared cameras, and elements of interior orientation calibration and radiation brightness mark are carried out to infrared camera
School, and while shooting cloud atlas, crosses image processing techniques based on photogrammetry principles and obtains the same place calculating height of cloud base, and combine
The original bright temperature data of image obtains the corresponding bright temperature value of same place, the relation set up between the height of cloud base and bright temperature, when image line
The height of cloud base is calculated using the cloud level computing formula when managing more visible, when image texture is fuzzy or during texture-free it is high using Retrieval of Cloud bottom
The degree computing formula inverting height of cloud base, so as to improve cloud level measurement data capture rate while ensureing cloud level certainty of measurement.
The principle and its effect of above-described embodiment only illustrative present invention, it is of the invention not for limiting.Any
Art personnel under the spirit and the scope without prejudice to the present invention can be modified to above-described embodiment and are changed.Therefore,
The scope of the present invention, should be as listed by claims.
Claims (10)
1. a kind of radiation brightness and the photogrammetric height of cloud base measuring system for combining, including：
Image acquisition units, including at least two thermal infrared image sensors, and in carrying out to two thermal infrared image sensors
Element of orientation calibration and radiation brightness calibration, while shooting cloud atlas, obtain two infrared cloud image images；
Image enhaucament and matching module, for carrying out, after image enhaucament, filtering process, carrying out image to each infrared cloud image image
Feature extraction and matching；
Same place acquisition module, based on videographic measurment principle, obtains same place according to the result of images match；
Height of cloud base computing module, calculates public using the cloud level according to double imaging camera measuring principles when infrared cloud image clean mark
Formula obtains the height of cloud base；
The original bright temperature data acquisition module of image, obtains original infrared brightness temperature figure using thermal infrared image sensor；
Gradient relation sets up module, obtains the corresponding bright temperature value of same place according to the original bright temperature data of image, sets up cloud base high
Relation between degree and bright temperature；
The high inverting module in cloud base, for when infrared cloud image image texture is fuzzy or during texture-free, based on the previous moment height of cloud base
And the relation between bright temperature is calculated 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 for combining, its feature
It is that the 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 baseline between two thermal infrared image sensors
Length, Δ x are 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 for combining, its feature
It is that the relation that the gradient relation is set up between the height of cloud base and bright temperature of module foundation is：
When t1-t2 is less than certain time period, then the height of cloud base and bright kelvin relation are
f(B)=（B1-B2）/( H1-H2)
Wherein, t1 is set to current time, the cloud level that height of cloud base computing module described in the t1 moment is calculated by photogrammetry principles
For H1, it is B1 that the gradient relation is set up module and obtains the corresponding bright temperature value of same place, and t2 is set to previous moment, the cloud base
High computational module is H2 by the cloud level that photogrammetric technology is calculated, and it is corresponding that the gradient relation sets up module acquisition same place
Bright temperature value be B2.
4. a kind of radiation brightness as claimed in claim 3 and the photogrammetric height of cloud base measuring system for combining, its feature
It is that the high inverting module in the cloud base calculates height of cloud base H3 at t3 moment using following Retrieval of Cloud bottom high computational formula:
H3=H1+（B3-B1）/f(B)
Wherein B3 is the corresponding bright temperature value of same place that the t3 moment obtains.
5. a kind of radiation brightness as claimed in claim 1 and the photogrammetric height of cloud base measuring system for combining, its feature
It is：The height of cloud base computing module first carried out live relative attitude calibration before the height of cloud base is calculated.
6. a kind of radiation brightness and the photogrammetric height of cloud base measuring method for combining, comprise the steps：
Step one, arranges two thermal infrared image sensors, and carries out elements of interior orientation mark to two thermal infrared image sensors
School and radiation brightness calibration, shoot cloud atlas respectively using two thermal infrared image sensors, obtain two infrared cloud image images, and
Obtain original bright temperature data；
Two infrared cloud image images are carried out image enhaucament, filtering process by step 2 respectively, image is carried out feature extraction and
Match somebody with somebody；
Step 3, based on videographic measurment principle, obtains same place according to the result of images match；
Step 4, obtains cloud base using cloud level computing formula according to double imaging camera measuring principles when infrared cloud image clean mark
Highly；
Step 5, obtains the corresponding bright temperature value of same place according to the original bright temperature data of image, set up the height of cloud base and bright temperature it
Between relation；
Step 6, when infrared cloud image image texture is fuzzy or during texture-free, based between the previous moment height of cloud base and bright temperature
Relation is calculated 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 for combining, its feature
It is that, in step 4, the 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 baseline between two thermal infrared image sensors
Length, Δ x are 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 for combining, its feature
It is that, in step 5, the relation between the height of cloud base of foundation and bright temperature is：
When t1-t2 is less than certain time period, 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 are calculated, and obtains same place corresponding
Bright temperature value is B1, and t2 is set to previous moment, is H2 by the cloud level that photogrammetric technology is calculated, obtains same place corresponding bright
Temperature value is B2.
9. a kind of radiation brightness as claimed in claim 8 and the photogrammetric height of cloud base measuring method for combining, its feature
It is, in step 6, to calculate height of cloud base H3 at t3 moment using following Retrieval of Cloud bottom high computational formula:
H3=H1+（B3-B1）/f(B)
Wherein B3 is the corresponding bright temperature value of same place that the t3 moment obtains.
10. a kind of radiation brightness and the photogrammetric height of cloud base measurement for combining as claimed in any one of claims 7-9
Method, it is characterised in that：Before step 4, also including the step of carrying out live relative attitude and calibrate.
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| CN109631836A (en) * | 2019-01-15 | 2019-04-16 | 山东省国土测绘院 | A kind of height of cloud base method for fast measuring |
| CN111223153A (en) * | 2020-01-03 | 2020-06-02 | 上海眼控科技股份有限公司 | Cloud top height calculation method and device, computer equipment and storage medium |
| 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 |
| CN117541114B (en) * | 2023-11-10 | 2024-05-28 | 华南理工大学 | Method for rapidly evaluating high spatial resolution thermal comfort of urban outdoor scene |
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