CN104614729A - Method for analyzing elevation matching quality of laser radar flight strip - Google Patents
Method for analyzing elevation matching quality of laser radar flight strip Download PDFInfo
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- CN104614729A CN104614729A CN201410666032.5A CN201410666032A CN104614729A CN 104614729 A CN104614729 A CN 104614729A CN 201410666032 A CN201410666032 A CN 201410666032A CN 104614729 A CN104614729 A CN 104614729A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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Abstract
The invention discloses a method for analyzing elevation matching quality of a laser radar flight strip. The method comprises the step of acquiring a laser radar point cloud data of a plurality of air strips covering one area, wherein the overlapped areas are generated among the plurality of flight strips, and the point cloud data include the plane coordinates of each echo point and elevation data. The method comprises the steps of gridding construction point cloud data; processing grid data of the overlapped areas; outputting data results. Compared with the traditional analyzing method, the method has the advantages that the laser radar flight strip data can be automatically processed through a computer, the matching quality of the data of the plurality of flight strip data in the flight area can be quickly evaluated, the size of different grid units can be set for repeatedly processing, and therefore, the evaluation results are comprehensive, and the manpower can be saved.
Description
Technical field
The present invention relates to remote sensing fields, particularly a kind of laser radar air strips elevation quality of match analytical approach.
Background technology
At present, dimensional topography and earth's surface object are needed to be analyzed by airborne laser radar scanning technique, for laser radar aerial mission, according to the scope of flight range, usually the scanning carrying out multiple air strips is needed, certain overlay region is there is between air strips, owing to there is the factor such as measurement of flying posture error and air strips matching treatment error, deviation between needing the some cloud level journey of same atural object in overlay region, laser radar air strips is assessed, the evaluation method of current this deviation mainly intercepts overlay region, air strips section in 3-D view, directly measure the deviation between the elevation of air strips, efficiency is low, Fast Evaluation can not be carried out to air strips data in whole flight range.
Summary of the invention
The object of this invention is to provide a kind of laser radar air strips elevation quality of match analytical approach, by arranging multilayer grid division to air strips data, one by one the data in grid are processed respectively, then by exporting multilayer raster data, realize carrying out Fast Evaluation to elevation quality of match in air strips in flight range.
To achieve these goals, technical scheme of the present invention is: a kind of laser radar air strips elevation quality of match analytical approach, comprise many air strips laser radar point cloud datas obtaining a covering region, have overlay region respectively between many air strips, described cloud data comprises planimetric coordinates and the altitude figures of each echo point; Described method comprises planimetric coordinates gridding step, overlay region raster data processing step and the data result of setting up cloud data and exports step;
The described planimetric coordinates gridding step setting up cloud data is:
The first step: the planimetric coordinates scope for echo point whole in each air strips cloud data described arranges grid respectively, determine edge, air strips grid cell, and the alignment of the grid cell of overlapping region, air strips grid is overlapping, the grid space of corresponding each air strips described sets up echo point elevation initial average output value raster data layer;
Second step: according to the planimetric coordinates of echo point, calculate the elevation mean value of the multiple echo point obtained within the scope of each air strips grid cell, be called elevation initial average output value, then elevation initial average output value put into each grid cell of described echo point elevation initial average output value raster data layer;
Described overlay region raster data processing step is:
The first step: according to the grid cell planimetric coordinates of the grid space of many air strips, determine equitant grid cell, corresponding overlapping grid cell sets up the mean value raster data layer of each air strips echo point elevation initial average output value, is called all formula mean value raster data layers;
Second step: calculate the mean value obtaining each air strips echo point elevation initial average output value in each overlapping grid cell, be called elevation all formula mean value, then equal for elevation formula mean value is put into each grid cell of described all formula mean value raster data layers, and record overlapping air strips number;
Described data result exports step: export the elevation initial average output value raster data layer with elevation initial average output value and the elevation all formula mean value raster data layers with the equal formula mean value of elevation respectively, for evaluating air strips elevation quality of match.
Scheme is further: describedly determine that the method for edge, air strips grid cell is the edge grid cell that each air strips of algorithm filtering, erosion limit, territory are faced in employing 8: judge in current grid unit, whether echo point number is 0 value, if be not 0 value, then read echo point number in 8 neighborhood grid cells, judge in 8 neighborhood grid cells, whether echo point number exists 0 value, if have 0 to be worth, current grid unit is boundary raster unit, and gives 0 value by current grid unit.
Scheme is further: describedly determine that the method for edge, air strips grid cell is the edge grid cell that each air strips of algorithm filtering, erosion limit, territory are faced in employing 4: judge in current grid unit, whether echo point number is 0 value, if be not 0 value, then read echo point number in 4 neighborhood grid cells up and down, judge in 4 neighborhood grid cells, whether echo point number exists 0 value, if have 0 to be worth, current grid unit is boundary raster unit, and gives 0 value by current grid unit.
Scheme is further: the step that the described process calculating the elevation mean value of the multiple echo point obtained within the scope of each air strips grid cell comprises has:
The first step: each air strips corresponding arrange five layers of raster data layer, are respectively ground floor echo point number raster data layer, second layer echo point elevation initial minimum raster data layer, third layer echo point elevation original maximum raster data layer, the 4th layer of described echo point elevation initial average output value raster data layer, layer 5 echo point elevation original maximum and elevation initial minimum difference raster data layer;
Second step: obtain the echo point number in grid each grid cell, then by echo point number stored in ground floor; According to the multiple echo point in each grid cell, find out echo point elevation minimum value stored in the second layer; According to the multiple echo point in each grid cell, find out echo point elevation maximal value stored in third layer; According to the multiple echo point in each grid cell, calculate echo point elevation mean value and put into the 4th layer; Calculate difference according to the maximal value of the multiple echo point in each grid and minimum value and put into layer 5;
The step that the described mean value process calculating echo point elevation initial average output value in each overlapping grid cell of acquisition comprises has:
The first step: corresponding overlapping grid arranges five ply raster data layers, being respectively ground floor is overlapping air strips number raster data layers, the second layer is each echo point elevation mean value minimum value raster data layer in the overlapping grid cell in air strips, third layer is each echo point elevation mean value maximal value raster data layer in the overlapping grid cell in air strips, 4th layer is the mean value raster data layer of each echo point elevation mean value in the overlapping grid cell in air strips and described all formula mean value raster data layers, layer 5 is that in the overlapping grid cell in air strips, each layer echo point elevation mean value is maximum with minimal difference raster data layer,
Second step: obtain overlapping air strips number stored in ground floor; From overlapping grid cell, each air strips elevation initial average output value finds out elevation initial average output value minimum value stored in the second layer; Elevation initial average output value maximal value is found out stored in third layer from overlapping grid cell; From overlapping grid cell, elevation initial average output value is calculated mean value again and is put into the 4th layer; From overlapping grid cell, the maximal value of elevation initial average output value and minimum value calculate difference and put into layer 5.
Scheme is further: described data result exports step and comprises further: to export in each air strips grid with echo point elevation minimum value raster data layer, to export in each air strips grid with echo point elevation maximal value raster data layer, export the raster data layer with echo point maximal value and minimum difference in each air strips grid, for auxiliary evaluation air strips elevation quality of match.
The invention has the beneficial effects as follows: compared with traditional analysis, the invention solves artificial diagram comparison efficiency low, Fast Evaluation can not be carried out to air strips data in whole flight range, computing machine can be used automatically to process laser radar air strips data, achieve and process Fast Evaluation is compared to many air strips data in flight range, repeatedly can be processed by the size arranging different grids, evaluation result is comprehensive, saves manpower and materials.
Below in conjunction with drawings and Examples, the present invention is described in detail.
Accompanying drawing explanation
Fig. 1 is that the present invention's many air strips laser radar point cloud datas divide grid decomposing schematic representation;
Fig. 2 is air strips of the present invention laser radar point cloud data treatment scheme block diagrams.
Embodiment
A kind of laser radar air strips elevation quality of match analytical approach, as depicted in figs. 1 and 2, comprise many air strips a, b, c, d laser radar point cloud datas 2 obtaining a covering region 1, it is that airborne laser radar scanning system carries out to the same area the background return exit point data that radar scanning obtains from different directions, have overlay region respectively between many air strips, described cloud data comprises planimetric coordinates and the altitude figures of each echo point; It obtains obtaining in echo point three-dimensional coordinate by parameters such as GPS, IMU and laser direction vectors, known planimetric coordinates and altitude figures, wherein, described method comprises planimetric coordinates gridding step, overlay region raster data processing step and the data result output step setting up cloud data;
The described planimetric coordinates gridding step setting up cloud data is:
The first step: the planimetric coordinates scope for echo point whole in each air strips cloud data described arranges grid 3 respectively, and the alignment of the grid cell of overlapping region, air strips grid is overlapping, namely grid cell 301 width of grid and length arrange and ensure overlapping region grid cell relative superposition, and the grid space of corresponding each air strips described sets up echo point elevation initial average output value raster data layer;
Owing to there being planimetric coordinates, therefore the X of each echo point can just be determined, Y-coordinate, for the X of each air strips echo point, Y-coordinate just can set up corresponding grid cell, and set up corresponding grid cell layer table, in like manner, the grid of region entirety just can be made according to the coordinate of each grid; And by overlapping region grid cell relative superposition just can be ensured to grid cell and length adjustment;
Second step: according to the planimetric coordinates of echo point, calculate the elevation mean value of the multiple echo point obtained within the scope of each air strips grid cell, be called elevation initial average output value, then elevation initial average output value put into each grid cell of described echo point elevation initial average output value raster data layer;
Described overlay region raster data processing step is:
The first step: according to the grid cell planimetric coordinates of the grid space of many air strips, determine equitant grid cell, corresponding overlapping grid cell sets up the mean value raster data layer of each air strips echo point elevation initial average output value, is called all formula mean value raster data layers;
Second step: calculate the mean value obtaining each air strips echo point elevation initial average output value in each overlapping grid cell, be called elevation all formula mean value, then equal for elevation formula mean value is put into each grid cell of described all formula mean value raster data layers, and record overlapping air strips number;
Described data result exports step: export the elevation initial average output value raster data layer with elevation initial average output value and the elevation all formula mean value raster data layers with the equal formula mean value of elevation respectively, for evaluating air strips elevation quality of match.
Because echo point in edge, air strips grid can be solely ground point in embodiment, also can be solely vegetation point, cause the echo point elevation difference instability calculated, need to remove edge grid.Therefore, described method also comprises the edge grid that each air strips of algorithm filtering, erosion limit, territory are faced in employing 8, determines edge, air strips grid, or the edge grid of each air strips of algorithm filtering, erosion limit, territory is faced in employing 4, determines edge, air strips grid;
The described 8 edge grids facing each air strips of algorithm filtering, erosion limit, territory are: judge in current grid unit, whether echo point number is 0 value, if be not 0 value, then read echo point number in 8 neighborhood grid cells, judge in 8 neighborhood grid cells, whether echo point number exists 0 value, if have 0 to be worth, current grid unit is boundary raster unit, and gives 0 value by current grid unit.
The described 4 edge grids facing each air strips of algorithm filtering, erosion limit, territory are: judge in current grid unit, whether echo point number is 0 value, if be not 0 value, then read echo point number in 4 neighborhood grid cells up and down, judge in 4 neighborhood grid cells, whether echo point number exists 0 value, if have 0 to be worth, current grid unit is boundary raster unit, and gives 0 value by current grid unit.
In embodiment: described grid cell width and length value should not be too small, but should be not less than 1 meter, and grid cell width and length value preferably ensure the mesh overlay in re-posted district, even if but have error also should not be greater than the resolution of echo point.Therefore described relative superposition is that the error of ground floor air strips and last one deck air strips mesh overlay is less than echo point resolution.
In embodiment: the step that the described process calculating the elevation mean value of the multiple echo point obtained within the scope of each air strips grid cell comprises has:
The first step: each air strips corresponding arrange five layers of raster data layer, are respectively ground floor echo point number raster data layer, second layer echo point elevation initial minimum raster data layer, third layer echo point elevation original maximum raster data layer, the 4th layer of described echo point elevation initial average output value raster data layer, layer 5 echo point elevation original maximum and elevation initial minimum difference raster data layer;
Second step: obtain the echo point number in grid each grid cell, then by echo point number stored in ground floor; According to the multiple echo point in each grid cell, find out echo point elevation minimum value stored in the second layer; According to the multiple echo point in each grid cell, find out echo point elevation maximal value stored in third layer; According to the multiple echo point in each grid cell, calculate echo point elevation mean value and put into the 4th layer; Calculate difference according to the maximal value of the multiple echo point in each grid and minimum value and put into layer 5;
In like manner, the step that the described mean value process calculating echo point elevation initial average output value in each overlapping grid cell of acquisition comprises has:
The first step: corresponding overlapping grid arranges five ply raster data layers, being respectively ground floor is overlapping air strips number raster data layers, the second layer is each echo point elevation mean value minimum value raster data layer in the overlapping grid cell in air strips, third layer is each echo point elevation mean value maximal value raster data layer in the overlapping grid cell in air strips, 4th layer is the mean value raster data layer of each echo point elevation mean value in the overlapping grid cell in air strips and described all formula mean value raster data layers, layer 5 is that in the overlapping grid cell in air strips, each layer echo point elevation mean value is maximum with minimal difference raster data layer,
Second step: obtain overlapping air strips number stored in ground floor; From overlapping grid cell, each air strips elevation initial average output value finds out elevation initial average output value minimum value stored in the second layer; Elevation initial average output value maximal value is found out stored in third layer from overlapping grid cell; From overlapping grid cell, elevation initial average output value is calculated mean value again and is put into the 4th layer; From overlapping grid cell, the maximal value of elevation initial average output value and minimum value calculate difference and put into layer 5.
In embodiment: described data result exports step and comprises further: to export in each air strips grid with echo point elevation minimum value raster data layer, to export in each air strips grid with echo point elevation maximal value raster data layer, export the raster data layer with echo point maximal value and minimum difference in each air strips grid, for auxiliary evaluation air strips elevation quality of match.
Below in conjunction with Fig. 2, above-described embodiment is further described in detail:
In Fig. 2, A portion is the processing procedure to each air strips:
(1) for single air strips cloud data, read cloud data space range information, comprise X-coordinate minimum value (X
min1), X-coordinate maximal value (X
max1), Y-coordinate minimum value (Y
min1), Y-coordinate maximal value (Y
max1), according to X-coordinate minimum value and Y-coordinate maximal value, determine raster data top left co-ordinate (X
tL1, Y
tL1);
Wherein dX represents grid X-direction resolution, dY represents grid Y-direction resolution, floor () represents the lower limit of getting floating number, ceil represents the higher limit of getting floating number, such as floor (2.8)=2.0, (-2.8)=-2.0, floor (-2.8)=3.0, ceil (2.8)=3.0, ceil.
(2) read each echo point successively, the geographic position (Xi, Yi) according to echo point judges corresponding grid cell (Coli, Rowi);
By above-mentioned to X, the calculating of Y-coordinate just determines each air strips grid space upper left position easily, and guarantee that each air strips grid space top left co-ordinate is the integral multiple of grid cell yardstick, and then ensure that the top left co-ordinate of overlay region grid cell can overlapping alignment.
(3) in each grid cell, the number of statistics echo point, the minimum value of statistics echo point elevation, the maximal value of statistics echo point elevation, calculates echo point elevation sum;
(4) to have traveled through in single air strips after echo point successively, according to the number of echo point in each grid cell and the mean value of laser spots elevation sum calculating echo point elevation, according to the maximal value of echo point elevation in each grid cell and the difference of minimum value calculating echo point elevation;
(5) successively each air strips cloud data is processed, obtain the grid cell of corresponding air strips, each air strips have 5 grid layer, 1st layer is echo point number, 2nd layer is echo point elevation minimum value, 3rd layer is echo point elevation maximal value, and the 4th layer is echo point elevation mean value, and the 5th layer is echo point elevation difference;
(6) because echo point in edge, air strips grid can be solely ground point, also can be solely vegetation point, cause the echo point elevation difference instability calculated, need to remove edge grid, the edge grid of each air strips of algorithm filtering, erosion limit, territory is faced in employing 8 here;
8 to face erosion limit, territory algorithm be first judge whether current grid unit is 0 value, if be not 0 value, 8 that then read current grid unit are faced territory grid cell, judge that 8 are faced territory grid cell and whether there is 0 value, if there is 0 value, then think that current grid unit is boundary raster unit, current grid unit will be 0 value by tax.
Be exactly below in Fig. 2 B portion to the treatment step of overlay region:
(7) according to the correspondence position relation (overlapping relation) of air strips grid cell, the elevation mean value grid layer of each air strips is added up, add up the air strips number of corresponding grid cell, the minimum value of statistics elevation mean value grid cell, the maximal value of statistics elevation mean value grid cell, calculates elevation mean value grid cell sum;
(8) after having traveled through the mean value grid cell of each air strips, according to the air strips number of corresponding grid cell and the mean value of elevation mean value grid cell sum calculating elevation mean value grid cell, according to the maximal value of the elevation mean value grid cell of corresponding grid cell and the difference of minimum value calculating elevation mean value grid cell, finally obtain air strips elevation mean value statistics grid;
(9) each air strips elevation mean value statistics grid has 5 layer, 1st layer is air strips number, 2nd layer is the minimum value of air strips elevation mean value, 3rd layer is the maximal value of air strips elevation mean value, 4th layer is the mean value of air strips elevation mean value, 5th layer is the difference of air strips elevation mean value, analyzes the statistics grid of bare area air strips mean value, may be used for evaluating air strips elevation quality of match.
(10) successively each air strips minimum value and maximal value grid are added up, obtain the little Data-Statistics grid of air strips elevation and air strips elevation maximal value statistics grid, may be used for auxiliary evaluation air strips elevation quality of match.
Claims (5)
1. a laser radar air strips elevation quality of match analytical approach, comprise many air strips laser radar point cloud datas obtaining a covering region, have overlay region respectively between many air strips, described cloud data comprises planimetric coordinates and the altitude figures of each echo point; It is characterized in that, described method comprises planimetric coordinates gridding step, overlay region raster data processing step and the data result of setting up cloud data and exports step;
The described planimetric coordinates gridding step setting up cloud data is:
The first step: the planimetric coordinates scope for echo point whole in each air strips cloud data described arranges grid respectively, determine edge, air strips grid cell, and the alignment of the grid cell of overlapping region, air strips grid is overlapping, the grid space of corresponding each air strips described sets up echo point elevation initial average output value raster data layer;
Second step: according to the planimetric coordinates of echo point, calculate the elevation mean value of the multiple echo point obtained within the scope of each air strips grid cell, be called elevation initial average output value, then elevation initial average output value put into each grid cell of described echo point elevation initial average output value raster data layer;
Described overlay region raster data processing step is:
The first step: according to the grid cell planimetric coordinates of many air strips grid spaces, determine equitant grid cell, corresponding overlapping grid cell sets up the mean value raster data layer of each air strips echo point elevation initial average output value, is called all formula mean value raster data layers;
Second step: calculate the mean value obtaining each air strips echo point elevation initial average output value in each overlapping grid cell, be called elevation all formula mean value, then equal for elevation formula mean value is put into each grid cell of described all formula mean value raster data layers, and record overlapping air strips number;
Described data result exports step: export the elevation initial average output value raster data layer with elevation initial average output value and the elevation all formula mean value raster data layers with the equal formula mean value of elevation respectively, for evaluating air strips elevation quality of match.
2. a kind of laser radar air strips according to claim 1 elevation quality of match analytical approach, it is characterized in that, describedly determine that the method for edge, air strips grid cell is the edge grid cell that each air strips of algorithm filtering, erosion limit, territory are faced in employing 8: judge in current grid unit, whether echo point number is 0 value, if be not 0 value, then read echo point number in 8 neighborhood grid cells, judge in 8 neighborhood grid cells, whether echo point number exists 0 value, if have 0 to be worth, current grid unit is boundary raster unit, and gives 0 value by current grid unit.
3. a kind of laser radar air strips according to claim 1 elevation quality of match analytical approach, it is characterized in that, describedly determine that the method for edge, air strips grid cell is the edge grid cell that each air strips of algorithm filtering, erosion limit, territory are faced in employing 4: judge in current grid unit, whether echo point number is 0 value, if be not 0 value, then read echo point number in 4 neighborhood grid cells up and down, judge in 4 neighborhood grid cells, whether echo point number exists 0 value, if have 0 to be worth, current grid unit is boundary raster unit, and give 0 value by current grid unit.
4. a kind of laser radar air strips according to claim 1 elevation quality of match analytical approach, is characterized in that, the step that the described process calculating the elevation mean value of the multiple echo point obtained within the scope of each air strips grid cell comprises has:
The first step: each air strips corresponding arrange five layers of raster data layer, are respectively ground floor echo point number raster data layer, second layer echo point elevation initial minimum raster data layer, third layer echo point elevation original maximum raster data layer, the 4th layer of described echo point elevation initial average output value raster data layer, layer 5 echo point elevation original maximum and elevation initial minimum difference raster data layer;
Second step: obtain the echo point number in grid each grid cell, then by echo point number stored in ground floor; According to the multiple echo point in each grid cell, find out echo point elevation minimum value stored in the second layer; According to the multiple echo point in each grid cell, find out echo point elevation maximal value stored in third layer; According to the multiple echo point in each grid cell, calculate echo point elevation mean value and put into the 4th layer; Calculate difference according to the maximal value of the multiple echo point in each grid and minimum value and put into layer 5;
The step that the described mean value process calculating echo point elevation initial average output value in each overlapping grid cell of acquisition comprises has:
The first step: corresponding overlapping grid arranges five ply raster data layers, being respectively ground floor is overlapping air strips number raster data layers, the second layer is each echo point elevation mean value minimum value raster data layer in the overlapping grid cell in air strips, third layer is each echo point elevation mean value maximal value raster data layer in the overlapping grid cell in air strips, 4th layer is the mean value raster data layer of each echo point elevation mean value in the overlapping grid cell in air strips and described all formula mean value raster data layers, layer 5 is that in the overlapping grid cell in air strips, each layer echo point elevation mean value is maximum with minimal difference raster data layer,
Second step: obtain overlapping air strips number stored in ground floor; From overlapping grid cell, each air strips elevation initial average output value finds out elevation initial average output value minimum value stored in the second layer; Elevation initial average output value maximal value is found out stored in third layer from overlapping grid cell; From overlapping grid cell, elevation initial average output value is calculated mean value again and is put into the 4th layer; From overlapping grid cell, the maximal value of elevation initial average output value and minimum value calculate difference and put into layer 5.
5. a kind of laser radar air strips according to claim 4 elevation quality of match analytical approach, it is characterized in that, described data result exports step and comprises further: to export in each air strips grid with echo point elevation minimum value raster data layer, to export in each air strips grid with echo point elevation maximal value raster data layer, export the raster data layer with echo point maximal value and minimum difference in each air strips grid, for auxiliary evaluation air strips elevation quality of match.
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| CN109255659A (en) * | 2018-09-26 | 2019-01-22 | 青岛禧泰房地产数据有限公司 | A kind of automatic valuation methods of real estate based on raster data |
| CN109255659B (en) * | 2018-09-26 | 2021-07-20 | 青岛禧泰房地产数据有限公司 | Real estate automatic valuation method based on grid data |
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