CN105403876A - Measuring method of forest canopy density and device - Google Patents

Measuring method of forest canopy density and device Download PDF

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CN105403876A
CN105403876A CN201510979624.7A CN201510979624A CN105403876A CN 105403876 A CN105403876 A CN 105403876A CN 201510979624 A CN201510979624 A CN 201510979624A CN 105403876 A CN105403876 A CN 105403876A
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forest canopy
echo
echoed signal
ground
forest
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CN105403876B (en
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刘清旺
李增元
陈尔学
庞勇
李世明
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INSTITUTE OF SOURCE INFORMATION CHINESE ACADEMY OF FORESTRY
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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
    • G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention relates to a measuring method of the forest canopy density and a device. The method mainly comprises steps of obtaining the to-be-corrected forest canopy density; obtaining the laser radar echo loss rate corresponding to the forest canopy density; obtaining the forest canopy echo scale factor and the ground echo loss rate, wherein the forest canopy echo scale factor is represented by the proportional relation between the echo signal quantity of the forest canopy and the echo signal quantity of vegetation; and obtaining the corrected forest canopy density according to the to-be-corrected forest canopy density, the laser radar echo loss rate, the forest canopy echo scale factor, the ground echo loss rate and the formula shown in the description, wherein the CCM is the corrected forest canopy density, the CC1 is the to-be-corrected forest canopy density, the k is the forest canopy echo scale factor, the RL is the laser radar echo loss rate and the RLG is the ground echo loss rate. According to the invention, the forest canopy density can be corrected easily and quickly and accuracy of the forest canopy density is effectively improved.

Description

The measuring method of forest canopy density and device
Technical field
The present invention relates to technical field of forestry, particularly relate to a kind of measuring method of forest canopy density and the measurement mechanism of forest canopy density.
Background technology
Forest canopy density typically refers to the planimetric area of the tree crown in forest land and the ratio of forest land area.Forest canopy density often uses very several expression.
At present, normally utilize laser radar to measure forest canopy density.Concrete measuring process is generally: utilize the pulse of laser radar system Emission Lasers, and this laser radar system can receive the echoed signal of the laser pulse that it is launched, by measuring from the echoed signal of Forest Canopy and all echoed signals, and calculate from the echoed signal quantity of Forest Canopy and the ratio of echoed signal total quantity according to metric results, namely can obtain forest canopy density.
Inventor is realizing finding in process of the present invention, because the reasons such as laser pulse delivery distance can make laser radar system successfully can not receive the echoed signal of all laser pulses that it is launched, namely there is the phenomenon of echoed signal loss; Echoed signal due to loss may be the echoed signal based on Forest Canopy loss, also may be the echoed signal based on ground loss, therefore, when utilization determines forest canopy density from the echoed signal quantity of Forest Canopy and the ratio of echoed signal total quantity, the inaccurate phenomenon of the forest canopy density measured can be there is.
In view of the technical matters that the metering system of existing forest canopy density exists, the present inventor is based on being engaged in the practical experience and professional knowledge that this type of product design manufacture enriches for many years, actively in addition research and innovation, to founding a kind of measuring method and device of forest canopy density, the technical matters existing for metering system of existing forest canopy density can be solved, make it have more practicality.Through continuous research and design, and through repeatedly studying sample and after improving, finally creating the present invention had practical value.
Summary of the invention
An object of the present invention is, the technical matters that the metering system overcoming existing forest canopy density exists, and provides a kind of measuring method and device of forest canopy density, and technical matters to be solved is, improves the measurement accuracy of forest canopy density.
Object of the present invention and solve its technical matters and can adopt following technical scheme to realize.
The measuring method of a kind of forest canopy density proposed according to the present invention, the method mainly comprises: obtain forest canopy density to be revised; The laser radar echo loss percentage that forest canopy density to be revised described in acquisition is corresponding; Obtain Forest Canopy echo scale factor and ground echo loss percentage, wherein, described Forest Canopy echo scale factor characterizes the proportionate relationship of the echoed signal quantity from Forest Canopy and the echoed signal quantity from vegetation; Revised forest canopy density is obtained according to forest canopy density described to be revised, laser radar echo loss percentage, Forest Canopy echo scale factor, ground echo loss percentage and following formula;
CC M = CC 1 + ( k - CC 1 ) R L - R L G 1 - R L G ;
Wherein, CC mfor revised forest canopy density, CC 1for forest canopy density to be revised, k is Forest Canopy echo scale factor, R lfor laser radar echo loss percentage, R lGfor ground echo loss percentage.
The measurement mechanism of a kind of forest canopy density proposed according to the present invention, described device comprises: the first acquisition module, for obtaining forest canopy density to be revised; Second acquisition module, for the laser radar echo loss percentage that forest canopy density to be revised described in obtaining is corresponding; 3rd acquisition module, for obtaining Forest Canopy echo scale factor and ground echo loss percentage, wherein, described Forest Canopy echo scale factor characterizes the proportionate relationship of the echoed signal quantity from Forest Canopy and the echoed signal quantity from vegetation; Correcting module, obtains revised forest canopy density for forest canopy density to be revised described in basis, laser radar echo loss percentage, Forest Canopy echo scale factor, ground echo loss percentage and following formula;
CC M = CC 1 + ( k - CC 1 ) R L - R L G 1 - R L G ;
Wherein, CC mfor revised forest canopy density, CC 1for forest canopy density to be revised, k is Forest Canopy echo scale factor, R lfor laser radar echo loss percentage, R lGfor ground echo loss percentage.
By technique scheme, the measuring method of forest canopy density of the present invention and device at least have following advantages and beneficial effect: the present invention be when to Forest Canopy yardstick define and based on ground loss these two contents of echoed signal carried out taking into full account, be provided with the correction formula of forest canopy density, like this, revised by the forest canopy density utilizing this formula to treat correction, the inaccurate factor utilizing echoed signal quantity and echoed signal total quantity from Forest Canopy to calculate forest canopy density and exist can be eliminated to a certain extent, obtain due to the information that forest canopy density to be revised and laser radar echo loss percentage can be issued from all multi-products, and Forest Canopy echo scale factor in the present invention and ground echo loss percentage can adopt constant or empirical value usually, therefore, the present invention's calculated amount that forest canopy density is revised and revise complexity and can be effectively controlled, it can thus be appreciated that technical scheme provided by the invention can very conveniently fast be revised forest canopy density, and effectively improves the accuracy of forest canopy density.
In sum, the present invention has significant progress technically, and has significantly positive technique effect, is really a new and innovative, progressive, practical new design.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to technological means of the present invention can be better understood, and can be implemented according to the content of instructions, and can become apparent to allow above and other object of the present invention, feature and advantage, below especially exemplified by preferred embodiment, be described in detail as follows.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the measuring method of the forest canopy density of the embodiment of the present invention one;
Fig. 2 is the schematic diagram of the measurement mechanism of the forest canopy density of the embodiment of the present invention two.
Embodiment
Below in conjunction with accompanying drawing, the measuring method of the forest canopy density that the embodiment of the present invention provides and device are described in detail.
The measuring method of embodiment one, forest canopy density.
Below in conjunction with Fig. 1, the measuring method of the forest canopy density of the present embodiment is described in detail.
Fig. 1 is the process flow diagram of the measuring method of the forest canopy density of the present embodiment, and the method shown in Fig. 1 mainly comprises: step S100, step S110, step S120 and step S130.Method shown in Fig. 1 can perform usually in the intelligent electronic device (as computing machine or server or intelligent mobile phone etc.) with data-handling capacity, the present embodiment do not limit the method the hardware environment that is suitable for.Below each step in Fig. 1 is described respectively.
S100, obtain forest canopy density to be revised.
Concrete, the present embodiment can get forest canopy density to be revised in several ways, under normal circumstances, forest canopy density is included in the information that some existing products are issued, the present embodiment can get forest canopy density from the information that other products are issued, and using its forest canopy density got from the information issued as forest canopy density to be revised.
Forest canopy density to be revised accessed by the present embodiment normally utilizes following formula (1) or formula (2) to calculate and obtains:
CC 1 = N F N 1 Formula (1)
CC 1 = k × N V N I Formula (2)
In above-mentioned formula (1) and formula (2), CC 1for forest canopy density to be revised, N ifor echoed signal total quantity (the echoed signal total quantity namely in forest canopy density measured zone), N ffor the echoed signal quantity (the echoed signal quantity from Forest Canopy namely in forest canopy density measured zone) from Forest Canopy, N vfor the echoed signal quantity (the echoed signal quantity from vegetation namely in forest canopy density measured zone) from vegetation, k is Forest Canopy echo scale factor, and echoed signal total quantity N in the present embodiment ifor the echoed signal quantity N from vegetation vwith the echoed signal quantity N from ground gsum, i.e. N i=N v+ N g.
In addition, the present embodiment also can directly be added up accordingly according to laser radar point cloud data (i.e. the laser radar point cloud data of forest canopy density measured zone) and calculate, to obtain forest canopy density to be revised, such as the laser radar point cloud data of forest canopy density measured zone is added up, to obtain the echoed signal total quantity in this forest canopy density measured zone and the echoed signal quantity from Forest Canopy, and calculate above-mentioned statistics obtain from the echoed signal quantity of Forest Canopy and the ratio of echoed signal total quantity, using this ratio of calculating as forest canopy density to be revised, such as the laser radar point cloud data of forest canopy density measured zone is added up again, to obtain the echoed signal total quantity in this forest canopy density measured zone and the echoed signal quantity from vegetation, and calculate the product from the echoed signal quantity of vegetation and the ratio of echoed signal total quantity and this ratio calculated and Forest Canopy echo scale factor k that above-mentioned statistics obtains, using this product of calculating as forest canopy density to be revised.The present embodiment does not limit the specific implementation obtaining forest canopy density to be revised.
It should be noted that, the echoed signal total quantity in the forest canopy density measured zone in the present embodiment is the numerical value carrying out quantity statistics based on the echoed signal first in all single echoed signals and all multiecho signals and obtain; Echoed signal quantity from Forest Canopy is the numerical value carrying out quantity statistics based on the echoed signal first in the single echoed signal from Forest Canopy and the multiecho signal from Forest Canopy and obtain; Echoed signal quantity from vegetation is the numerical value carrying out quantity statistics based on the echoed signal first in the single echoed signal from vegetation and the multiecho signal from vegetation and obtain.
S110, obtain laser radar echo loss percentage corresponding to forest canopy density to be revised.
Concrete, the laser radar echo loss percentage in the present embodiment refers to the RL return loss rate calculated based on the loss echoed signal total quantity in forest canopy density measured zone and the echoed signal total quantity in forest canopy density measured zone.The present embodiment can get laser radar echo loss percentage corresponding to forest canopy density to be revised (following referred to as laser radar echo loss percentage) in several ways.Under normal circumstances, include laser radar echo loss percentage in the information that some existing products are issued, the present embodiment can get laser radar echo loss percentage from the information that other products are issued.
Laser radar echo loss percentage accessed by the present embodiment normally utilizes following formula (3) or formula (4) to calculate and obtains:
R L = N L N L + N I Formula (3)
R L = 1 - N I N L + N I Formula (4)
In above-mentioned formula (3) and formula (4), R lfor laser radar echo loss percentage, N lfor the echoed signal total quantity (N of loss lcan be calculated by following formula (5) and obtain), N ifor echoed signal total quantity.
In addition, the present embodiment also can directly be added up accordingly according to laser radar point cloud data (i.e. the laser radar point cloud data of forest canopy density measured zone) and calculate, to obtain laser radar echo loss percentage, the echoed signal total quantity of echoed signal total quantity (quantity based on the statistics of echoed signal first in single echoed signal and multiecho signal obtains) and loss is such as added up according to laser radar point cloud data, and utilize above-mentioned formula (3) or the result of formula (4) to statistics to calculate, thus obtain laser radar echo loss percentage.The present embodiment does not limit the specific implementation obtaining forest canopy density to be revised.
S120, acquisition Forest Canopy echo scale factor and ground echo loss percentage.
Concrete, the Forest Canopy echo scale factor in the present embodiment is mainly used in the proportionate relationship characterizing the echoed signal quantity from Forest Canopy and the echoed signal quantity from vegetation; And ground echo loss percentage is mainly used in the proportionate relationship characterizing echoed signal quantity and the echoed signal quantity that should receive based on the ground in forest canopy density measured zone of losing based on the ground in forest canopy density measured zone.
Forest Canopy echo scale factor in the present embodiment can for the fixed constant pre-set, also can for the empirical value pre-set.Obtain Forest Canopy echo scale factor the information that the present embodiment can store from this locality, also can carry out information interaction by user interface and user and get the outside Forest Canopy echo scale factor inputted.
The present embodiment also can directly be added up accordingly according to laser radar point cloud data (i.e. the laser radar point cloud data of forest canopy density measured zone) and calculate, to obtain the Forest Canopy echo scale factor of this forest canopy density measured zone targetedly.The present embodiment by the example adding up and calculate of obtaining Forest Canopy echo scale factor concrete is, the laser radar point cloud data treating the forest canopy density of correction corresponding is added up, to obtain the echoed signal quantity from Forest Canopy and the echoed signal quantity from vegetation, calculate the ratio of the echoed signal quantity from Forest Canopy and the echoed signal quantity from vegetation, and this ratio of acquisition will be calculated as Forest Canopy echo scale factor.It should be noted that, the present embodiment can pre-set the height (as 2 meters or 1.5 meters etc.) of Forest Canopy, then, determine whether belong to echoed signal from Forest Canopy from the echoed signal of vegetation according to the height of the Forest Canopy pre-set, that is, when the vegetation height corresponding to the echoed signal from vegetation reaches or exceed the height of the Forest Canopy pre-set, can determine that this echoed signal from vegetation belongs to the echoed signal from Forest Canopy, otherwise, determine that this echoed signal from vegetation does not belong to the echoed signal from Forest Canopy.
Ground echo loss percentage in the present embodiment can for the fixed constant pre-set, also can for the empirical value pre-set.Obtain ground echo loss percentage the information that the present embodiment can store from this locality, also can carry out information interaction by user interface and user and get the outside ground echo loss percentage inputted.
The present embodiment also can directly be added up accordingly according to laser radar point cloud data (i.e. the laser radar point cloud data of forest canopy density measured zone) and calculate, to obtain the ground echo loss percentage of this forest canopy density measured zone targetedly.
The present embodiment carries out adding up and calculating for laser radar point cloud data and the example obtaining of gloomy ground echo loss percentage concrete is:
Steps A, forest canopy density measured zone is divided into ground region and vegetation area, as forest canopy density measured zone is divided into ground region and vegetation area according to the laser radar point cloud data of forest canopy density measured zone by the present embodiment, certainly, forest canopy density measured zone also can be divided into ground region and vegetation area according to other topographic mapping data by the present embodiment.
Step B, determine according to the laser radar point cloud data of forest canopy density measured zone there is one or more echoed signal of loss between two adjacent echoed signals time, the present embodiment can determine the spatial coordinated information of each echoed signal of losing between two adjacent echoed signals according to adjacent two echoed signals spatial coordinated information separately.Concrete, laser radar point cloud data includes the information such as volume coordinate, gps time of each echoed signal, and the present embodiment can judge according to the time interval of the gps time difference between adjacent two echoed signals and the pulse of laser radar system Emission Lasers the quantity that whether there is the echoed signal of loss and the echoed signal of loss between two adjacent echoed signals.
1 laser pulse launched due to laser radar system may to there being one or more echoed signals, therefore, the present embodiment, when determining whether to exist between two adjacent echoed signals the echoed signal quantity of the echoed signal of loss and loss, is carry out judging based on the volume coordinate of the echoed signal first in the volume coordinate of the single echoed signal of laser pulse and gps time and multiecho signal and gps time.
More specifically, the gps time of the previous echoed signal set in two adjacent echoed signals is t i, then the gps time of an echoed signal is t i+1, the time interval of laser radar system Emission Lasers pulse is t pRF, then the quantity N of the echoed signal of the loss existed between these two adjacent echoed signals lcan be calculated by following formula (5) and obtain:
N L = t i + 1 - t i t P R F Formula (5)
According to the volume coordinate (x of previous echoed signal i, y i, z i) and the volume coordinate (x of rear each echoed signal i+1, y i+1, z i+1) (j is less than or equal to N can to calculate the jth of losing between these two adjacent echoed signals by following formula (6), formula (7) and formula (8) l) volume coordinate (x of individual echoed signal j, y j, z j):
x j = x i + x i + 1 - x i N L × j Formula (6)
y j = y i + y i + 1 - y i N L × j Formula (7)
z j = z i + z i + 1 - z i N L × j Formula (8)
Step C, judge whether the position of each echoed signal of losing belongs to the above-mentioned ground region marked off according to the volume coordinate of the echoed signal of the above-mentioned each loss calculated, and according to judged result statistics ground echoed signal loss quantity.
Step D, the present embodiment also need according to the echoed signal quantity of laser radar point cloud data statistics from ground.
Step e, the ground echo loss of signal quantity obtained according to above-mentioned statistics and utilize following formula (9) to calculate ground echo loss percentage from the echoed signal quantity on ground:
R LG = N LG N LG + N G = 1 - N G N LG + N G Formula (9)
In above-mentioned formula (9), R lGfor ground echo loss percentage (also can be called the RL return loss rate from ground), N lGfor ground echo loss of signal quantity, N gfor echoed signal quantity (owing to being generally single echoed signal from the echoed signal on ground, therefore, the N in the present embodiment from ground gbe generally the quantity obtained based on the single echoed signal statistics from ground).
Accordingly, the form of following formula (10) can be expressed as from the RL return loss rate of vegetation:
R LV = N LV N LV + N V = 1 - N V N LV + N V Formula (10)
In above-mentioned formula (10), R lVfor the RL return loss rate from vegetation, N lVfor vegetation echoed signal loss quantity, N vfor the echoed signal quantity (quantity based on the statistics of echoed signal first in the single echoed signal from vegetation and the multiecho signal from vegetation obtains) from vegetation.
The present embodiment can obtain the ground echo loss percentage of this forest canopy density measured zone targetedly by above-mentioned steps A-step e.
S130, basis forest canopy density, laser radar echo loss percentage, Forest Canopy echo scale factor, ground echo loss percentage and following formula (10) to be revised obtain revised forest canopy density.
Concrete, the forest canopy density correction formula of the present embodiment is following formula (10):
CC M = CC 1 + ( k - CC 1 ) R L - R LG 1 - R LG Formula (10)
In above-mentioned formula (10), CC mfor revised forest canopy density, CC 1for forest canopy density to be revised, k is Forest Canopy echo scale factor, R lfor laser radar echo loss percentage, R lGfor ground echo loss percentage.
The derivation of the formula (10) in the present embodiment is as follows:
CC M = k × N V + N L V N I + N L = k × ( N V N I + N L + N L V N I + N L )
CC M = k × ( N V N I × N I N I + N L + N L - N L G N I + N L )
CC M = k × ( N V N I × N I N I + N L + N L N I + N L - N G N I + N L × N L G N G )
CC M = k × ( N V N I × N I N I + N L + N L N I + N L - N I - N V N I + N L × N L G N G )
CC M = k × ( N V N I × N I N I + N L + N L N I + N L - N I N I + N L × ( 1 - N V N I ) × N L G N G )
CC M = k × ( CC 1 k × ( 1 - R L ) + R L - ( 1 - R L ) × ( 1 - CC 1 k ) × R L G 1 - R L G )
CC M = CC 1 × ( 1 - R L ) + k × R L - ( 1 - R L ) × ( k - CC 1 ) × R L G 1 - R L G )
CC M = CC 1 + R L ( k - CC 1 ) - ( 1 - R L ) × ( k - CC 1 ) × R L G 1 - R L G
CC M = CC 1 + ( k - CC 1 ) × ( R L - ( 1 - R L ) × R L G 1 - R L G )
CC M = CC 1 + ( k - CC 1 ) × R L - R L G 1 - R L G .
The present embodiment is when being set to 0 (namely lossy echoed signal is the loss of vegetation echoed signal) by ground echo loss percentage, the above-mentioned formula (10) in the present embodiment can be reduced to the form of following formula (11):
CC m=CC 1+ (k-CC 1) × R lformula (11)
In above-mentioned formula (11), CC mfor revised forest canopy density, CC 1for forest canopy density to be revised, k is Forest Canopy echo scale factor, R lfor laser radar echo loss percentage.
The measurement mechanism of embodiment two, forest canopy density.
Fig. 2 is the schematic diagram of the measurement mechanism of the forest canopy density of the present embodiment, and the measurement mechanism of the forest canopy density shown in Fig. 2 mainly comprises: the first acquisition module 200, second acquisition module 210, the 3rd acquisition module 220 and correcting module 230.
Device shown in Fig. 2 can perform usually in the intelligent electronic device (as computing machine or server or intelligent mobile phone etc.) with data-handling capacity, the present embodiment do not limit this device the hardware environment that is suitable for.Below each module in Fig. 2 is described respectively.
First acquisition module 200 is mainly used in obtaining forest canopy density to be revised.
Concrete, first acquisition module 200 can get forest canopy density to be revised in several ways, under normal circumstances, forest canopy density is included in the information that some existing products are issued, first acquisition module 200 can get forest canopy density from the information that other products are issued, and using its forest canopy density got from the information issued as forest canopy density to be revised.
Forest canopy density to be revised accessed by first acquisition module 200 normally utilizes above-mentioned formula (1) or formula (2) to calculate and obtains.
In addition, first acquisition module 200 also can directly be added up accordingly according to laser radar point cloud data (i.e. the laser radar point cloud data of forest canopy density measured zone) and calculate, to obtain forest canopy density to be revised, such as the laser radar point cloud data of the first acquisition module 200 pairs of forest canopy density measured zone is added up, to obtain the echoed signal total quantity in this forest canopy density measured zone and the echoed signal quantity from Forest Canopy, and calculate above-mentioned statistics obtain from the echoed signal quantity of Forest Canopy and the ratio of echoed signal total quantity, first acquisition module 200 using this ratio of calculating as forest canopy density to be revised, such as the laser radar point cloud data of the first acquisition module 200 pairs of forest canopy density measured zone is added up again, to obtain the echoed signal total quantity in this forest canopy density measured zone and the echoed signal quantity from vegetation, and calculate the product from the echoed signal quantity of vegetation and the ratio of echoed signal total quantity and this ratio calculated and Forest Canopy echo scale factor k that above-mentioned statistics obtains, the first acquisition module 200 using this product of calculating as forest canopy density to be revised.The present embodiment does not limit the specific implementation that the first acquisition module 200 obtains forest canopy density to be revised.
It should be noted that, the echoed signal total quantity in the forest canopy density measured zone in the present embodiment is that the first acquisition module 200 carries out quantity statistics based on the echoed signal first in all single echoed signals and all multiecho signals and the numerical value obtained; Echoed signal quantity from Forest Canopy is that the first acquisition module 200 carries out quantity statistics based on the echoed signal first in the single echoed signal from Forest Canopy and the multiecho signal from Forest Canopy and the numerical value obtained; Echoed signal quantity from vegetation is that the first acquisition module 200 carries out quantity statistics based on the echoed signal first in the single echoed signal from vegetation and the multiecho signal from vegetation and the numerical value obtained.
Second acquisition module 210 is mainly used in obtaining laser radar echo loss percentage corresponding to forest canopy density to be revised.
Concrete, the laser radar echo loss percentage that the second acquisition module 210 obtains refers to the RL return loss rate calculated based on the loss echoed signal total quantity in forest canopy density measured zone and the echoed signal total quantity in forest canopy density measured zone.Second acquisition module 210 can get laser radar echo loss percentage corresponding to forest canopy density to be revised (following referred to as laser radar echo loss percentage) in several ways.Under normal circumstances, include laser radar echo loss percentage in the information that some existing products are issued, the second acquisition module 210 can get laser radar echo loss percentage from the information that other products are issued.
Laser radar echo loss percentage accessed by second acquisition module 210 normally utilizes above-mentioned formula (3) or formula (4) to calculate and obtains.
In addition, second acquisition module 210 also can directly be added up accordingly according to laser radar point cloud data (i.e. the laser radar point cloud data of forest canopy density measured zone) and calculate, to obtain laser radar echo loss percentage, such as the second acquisition module 210 adds up the echoed signal total quantity of echoed signal total quantity (quantity based on the statistics of echoed signal first in single echoed signal and multiecho signal obtains) and loss according to laser radar point cloud data, and utilize above-mentioned formula (3) or the result of formula (4) to statistics to calculate, thus obtain laser radar echo loss percentage.The present embodiment does not limit the specific implementation that the second acquisition module 210 obtains forest canopy density to be revised.
3rd acquisition module 220 is mainly used in obtaining Forest Canopy echo scale factor and ground echo loss percentage.
Concrete, the Forest Canopy echo scale factor accessed by the 3rd acquisition module 220 is mainly used in the proportionate relationship characterizing the echoed signal quantity from Forest Canopy and the echoed signal quantity from vegetation; And the ground echo loss percentage accessed by the 3rd acquisition module 220 is mainly used in the proportionate relationship characterizing echoed signal quantity and the echoed signal quantity that should receive based on the ground in forest canopy density measured zone of losing based on the ground in forest canopy density measured zone.
Forest Canopy echo scale factor accessed by 3rd acquisition module 220 can for the fixed constant pre-set, also can for the empirical value pre-set.Obtain Forest Canopy echo scale factor the information that 3rd acquisition module 220 can store from this locality, also can carry out information interaction by user interface and user and get the outside Forest Canopy echo scale factor inputted.
3rd acquisition module 220 also can directly be added up accordingly according to laser radar point cloud data (i.e. the laser radar point cloud data of forest canopy density measured zone) and calculate, to obtain the Forest Canopy echo scale factor of this forest canopy density measured zone targetedly.3rd acquisition module 220 by the example adding up and calculate of obtaining Forest Canopy echo scale factor concrete is, the laser radar point cloud data that 3rd acquisition module 220 treats the forest canopy density of correction corresponding is added up, to obtain the echoed signal quantity from Forest Canopy and the echoed signal quantity from vegetation, 3rd acquisition module 220 calculates the ratio of the echoed signal quantity from Forest Canopy and the echoed signal quantity from vegetation, and will calculate this ratio of acquisition as Forest Canopy echo scale factor.It should be noted that, 3rd acquisition module 220 can pre-set the height (as 2 meters or 1.5 meters etc.) of Forest Canopy, then, 3rd acquisition module 220 determines whether belong to echoed signal from Forest Canopy from the echoed signal of vegetation according to the height of the Forest Canopy pre-set, that is, when the vegetation height corresponding to the echoed signal from vegetation reaches or exceed the height of the Forest Canopy pre-set, 3rd acquisition module 220 can determine that this echoed signal from vegetation belongs to the echoed signal from Forest Canopy, otherwise, 3rd acquisition module 220 determines that this echoed signal from vegetation does not belong to the echoed signal from Forest Canopy.
Ground echo loss percentage accessed by 3rd acquisition module 220 can for the fixed constant pre-set, also can for the empirical value pre-set.Obtain ground echo loss percentage the information that 3rd acquisition module 220 can store from this locality, also can carry out information interaction by user interface and user and get the outside ground echo loss percentage inputted.
3rd acquisition module 220 also can directly be added up accordingly according to laser radar point cloud data (i.e. the laser radar point cloud data of forest canopy density measured zone) and calculate, to obtain the ground echo loss percentage of this forest canopy density measured zone targetedly.
3rd acquisition module 220 carries out adding up and calculating for laser radar point cloud data and the example obtaining of gloomy ground echo loss percentage concrete is:
First, forest canopy density measured zone is divided into ground region and vegetation area by the 3rd acquisition module 220, as forest canopy density measured zone is divided into ground region and vegetation area according to the laser radar point cloud data of forest canopy density measured zone by the 3rd acquisition module 220, certainly, forest canopy density measured zone also can be divided into ground region and vegetation area according to other topographic mapping data by the 3rd acquisition module 220.
Secondly, 3rd acquisition module 220 determine according to the laser radar point cloud data of forest canopy density measured zone there is one or more echoed signal of loss between two adjacent echoed signals time, the 3rd acquisition module 220 can determine the spatial coordinated information of each echoed signal of losing between two adjacent echoed signals according to adjacent two echoed signals spatial coordinated information separately.Concrete, because laser radar point cloud data includes the information such as volume coordinate, gps time of each echoed signal, therefore, the 3rd acquisition module 220 can judge according to the time interval of the gps time difference between adjacent two echoed signals and the pulse of laser radar system Emission Lasers the quantity that whether there is the echoed signal of loss and the echoed signal of loss between two adjacent echoed signals.
1 laser pulse launched due to laser radar system may to there being one or more echoed signals, therefore, 3rd acquisition module 220, when determining whether to exist between two adjacent echoed signals the echoed signal quantity of the echoed signal of loss and loss, is carry out judging based on the volume coordinate of the echoed signal first in the volume coordinate of the single echoed signal of laser pulse and gps time and multiecho signal and gps time.
More specifically, the gps time of the previous echoed signal set in two adjacent echoed signals is t i, then the gps time of an echoed signal is t i+1, the time interval of laser radar system Emission Lasers pulse is t pRF, then the quantity N of the echoed signal of the loss existed between these two adjacent echoed signals l, the 3rd acquisition module 220 can be calculated by above-mentioned formula (5) and obtain.
3rd acquisition module 220 is according to the volume coordinate (x of previous echoed signal i, y i, z i) and the volume coordinate (x of rear each echoed signal i+1, y i+1, z i+1) (j is less than or equal to N can to calculate the jth of losing between these two adjacent echoed signals by above-mentioned formula (6), formula (7) and formula (8) l) volume coordinate (x of individual echoed signal j, y j, z j).
Then, the 3rd acquisition module 220 judges according to the volume coordinate of the echoed signal of the above-mentioned each loss calculated whether the position of each echoed signal of losing belongs to the above-mentioned ground region marked off, and according to judged result statistics ground echoed signal loss quantity.
Again, the 3rd acquisition module 220 also needs according to the echoed signal quantity of laser radar point cloud data statistics from ground.
Finally, the ground echo loss of signal quantity that obtains according to above-mentioned statistics of the 3rd acquisition module 220 and utilize above-mentioned formula (9) to calculate ground echo loss percentage from the echoed signal quantity on ground.
3rd acquisition module 220 can obtain the ground echo loss percentage of this forest canopy density measured zone targetedly by said process.
Correcting module 230 is mainly used in obtaining revised forest canopy density according to forest canopy density, laser radar echo loss percentage, Forest Canopy echo scale factor, ground echo loss percentage and above-mentioned formula (10) to be revised.
The above is only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, although the present invention discloses as above with preferred embodiment, but, foregoing description is also not used to limit the present invention, any those skilled in the art are not departing from the scope of technical solution of the present invention, make a little change when the technology contents of above-mentioned announcement can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be the content not departing from technical solution of the present invention, according to any simple modification that technical spirit of the present invention is done above embodiment, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.

Claims (10)

1. a measuring method for forest canopy density, is characterized in that, described method comprises:
Obtain forest canopy density to be revised;
The laser radar echo loss percentage that forest canopy density to be revised described in acquisition is corresponding;
Obtain Forest Canopy echo scale factor and ground echo loss percentage, wherein, described Forest Canopy echo scale factor characterizes the proportionate relationship of the echoed signal quantity from Forest Canopy and the echoed signal quantity from vegetation;
Revised forest canopy density is obtained according to forest canopy density described to be revised, laser radar echo loss percentage, Forest Canopy echo scale factor, ground echo loss percentage and following formula;
CC M = CC 1 + ( k - CC 1 ) R L - R L G 1 - R L G ;
Wherein, CC mfor revised forest canopy density, CC 1for forest canopy density to be revised, k is Forest Canopy echo scale factor, R lfor laser radar echo loss percentage, R lGfor ground echo loss percentage.
2. the method for claim 1, is characterized in that, described in forest canopy density to be revised be based on formula or calculate the numerical value obtained;
Wherein, CC 1for forest canopy density to be revised, N ifor echoed signal total quantity, N ffor the echoed signal quantity from Forest Canopy, k is Forest Canopy echo scale factor, N vfor the echoed signal quantity from vegetation.
3. the method for claim 1, is characterized in that, described laser radar echo loss percentage is based on formula or calculate the numerical value obtained;
Wherein, R lfor laser radar echo loss percentage, N lfor the echoed signal total quantity of loss, N ifor echoed signal total quantity.
4. the method for claim 1, is characterized in that, the step of described acquisition Forest Canopy echo scale factor and ground echo loss percentage comprises:
Obtain the Forest Canopy echo scale factor stored with constant form; Or
Obtain the Forest Canopy echo scale factor stored with empirical value form.
5. the method for claim 1, is characterized in that, the step of described acquisition Forest Canopy echo scale factor and ground echo loss percentage comprises:
The laser radar point cloud data corresponding to forest canopy density described to be revised is added up, to obtain the echoed signal quantity from Forest Canopy and the echoed signal quantity from vegetation;
Calculate the ratio of the echoed signal quantity from Forest Canopy and the echoed signal quantity from vegetation, the ratio described calculating obtained is as Forest Canopy echo scale factor.
6. the method for claim 1, is characterized in that, the step of described acquisition Forest Canopy echo scale factor and ground echo loss percentage comprises:
Obtain the ground echo loss percentage stored with constant form; Or
Obtain the ground echo loss percentage stored with empirical value form.
7. the method for claim 1, is characterized in that, the step of described acquisition Forest Canopy echo scale factor and ground echo loss percentage comprises:
Forest canopy density measured zone is divided into ground region and vegetation area;
Described in basis wait the laser radar point cloud data that the forest canopy density revised is corresponding determine there is the echoed signal of loss between two adjacent echoed signals time, determine the spatial coordinated information of echoed signal lost according to described adjacent two echoed signals spatial coordinated information separately;
Judge whether the spatial coordinated information of the echoed signal of described loss belongs to described ground region, and according to judged result statistics ground echoed signal loss quantity;
According to the echoed signal quantity of described laser radar point cloud data statistics from ground;
Calculate the ratio of ground echo loss of signal quantity and ground echo loss of signal quantity and the echoed signal quantity sum from ground, the ratio described calculating obtained is as ground echo loss percentage.
8. a measurement mechanism for forest canopy density, is characterized in that, described device comprises:
First acquisition module, for obtaining forest canopy density to be revised;
Second acquisition module, for the laser radar echo loss percentage that forest canopy density to be revised described in obtaining is corresponding;
3rd acquisition module, for obtaining Forest Canopy echo scale factor and ground echo loss percentage, wherein, described Forest Canopy echo scale factor characterizes the proportionate relationship of the echoed signal quantity from Forest Canopy and the echoed signal quantity from vegetation;
Correcting module, obtains revised forest canopy density for forest canopy density to be revised described in basis, laser radar echo loss percentage, Forest Canopy echo scale factor, ground echo loss percentage and following formula;
CC M = CC 1 + ( k - CC 1 ) R L - R L G 1 - R L G ;
Wherein, CC mfor revised forest canopy density, CC 1for forest canopy density to be revised, k is Forest Canopy echo scale factor, R lfor laser radar echo loss percentage, R lGfor ground echo loss percentage.
9. device as claimed in claim 8, is characterized in that, described 3rd acquisition module specifically for: obtain the Forest Canopy echo scale factor stored with constant form; Or, obtain the Forest Canopy echo scale factor stored with empirical value form.
10. as claimed in claim 8 or 9 device, is characterized in that, described 3rd acquisition module specifically for: obtain the ground echo loss percentage stored with constant form; Or, obtain the ground echo loss percentage stored with empirical value form.
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