CN105403876B - The measuring method and device of forest canopy density - Google Patents
The measuring method and device of forest canopy density Download PDFInfo
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- CN105403876B CN105403876B CN201510979624.7A CN201510979624A CN105403876B CN 105403876 B CN105403876 B CN 105403876B CN 201510979624 A CN201510979624 A CN 201510979624A CN 105403876 B CN105403876 B CN 105403876B
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- G—PHYSICS
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- 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
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Abstract
The invention relates to a kind of measuring method of forest canopy density and device, method therein mainly includes：Obtain forest canopy density to be modified；Obtain laser radar echo loss late corresponding to the forest canopy density to be modified；Forest Canopy echo scale factor and ground echo loss late are obtained, wherein, the Forest Canopy echo scale factor characterizes the proportionate relationship of echo-signal quantity and the echo-signal quantity from vegetation from Forest Canopy；Revised forest canopy density is obtained according to the forest canopy density to be modified, laser radar echo loss late, Forest Canopy echo scale factor, ground echo loss late and following formula；Wherein, CCMFor revised forest canopy density, CC1For forest canopy density to be modified, k is Forest Canopy echo scale factor, RLFor laser radar echo loss late, RLGFor ground echo loss late.The present invention very convenient fast can be modified to forest canopy density, and effectively increase the accuracy of forest canopy density.
Description
Technical field
The present invention relates to technical field of forestry, more particularly to the measuring method and forest canopy density of a kind of forest canopy density
Measurement apparatus.
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 closing
Degree represents commonly using ten fractions.
At present, typically forest canopy density is measured using laser radar.Specifically measurement process is usually：Utilize laser
Radar system launches laser pulse, and the laser radar system can receive the echo-signal of the laser pulse of its transmitting, leads to
Cross and the echo-signal from Forest Canopy and all echo-signals are measured, and calculated according to metric results and come from forest
The echo-signal quantity of canopy and the ratio of echo-signal total quantity, you can to obtain forest canopy density.
Inventor has found in process of the present invention is realized, because the reasons such as laser pulse delivery distance can make laser radar system
System can not be successfully received the echo-signal of its all laser pulse launched, that is, the phenomenon of echo-signal loss be present；
Because the echo-signal of loss is based on the echo-signal of Forest Canopy loss, it is also possible to the echo based on ground loss
Signal, therefore, determine that forest is strongly fragrant in the ratio using the echo-signal quantity from Forest Canopy and echo-signal total quantity
During degree of closing, there can be the inaccurate phenomenon of the forest canopy density measured.
In view of technical problem existing for the metering system of existing forest canopy density, the present inventor is based on being engaged in such production
Product manufacture and design abundant for many years practical experience and professional knowledge, are actively subject to research and innovation, to found a kind of forest closing
The measuring method and device of degree, can solve the problem that the technical problem present in the metering system of existing forest canopy density, make it more
With practicality.By continuous research and design, and after studying sample repeatedly and improving, create finally and really have practical valency
The present invention of value.
The content of the invention
An object of the present invention is, overcomes technical problem existing for the metering system of existing forest canopy density, and
The measuring method and device of a kind of forest canopy density are provided, technical problem to be solved is to improve the measurement of forest canopy density
Accuracy.
The purpose of the present invention and solve its technical problem and can be realized using following technical scheme.
According to a kind of measuring method of forest canopy density proposed by the present invention, this method mainly includes：Obtain to be modified
Forest canopy density；Obtain laser radar echo loss late corresponding to the forest canopy density to be modified；Forest Canopy is obtained to return
Ripple scale factor and ground echo loss late, wherein, the Forest Canopy echo scale factor is characterized from Forest Canopy
The proportionate relationship of echo-signal quantity and the echo-signal quantity from vegetation；According to the forest canopy density to be modified, swash
Optical radar RL return loss rate, Forest Canopy echo scale factor, ground echo loss late and following formula obtain revised
Forest canopy density；
Wherein, CCMFor revised forest canopy density, CC1For forest canopy density to be modified, k is Forest Canopy echo chi
Spend the factor, RLFor laser radar echo loss late, RLGFor ground echo loss late.
According to a kind of measurement apparatus of forest canopy density proposed by the present invention, described device includes：First acquisition module, use
In acquisition forest canopy density to be modified；Second acquisition module, swash for obtaining corresponding to the forest canopy density to be modified
Optical radar RL return loss rate；3rd acquisition module, for obtaining Forest Canopy echo scale factor and ground echo loss late,
Wherein, the Forest Canopy echo scale factor characterizes the echo-signal quantity from Forest Canopy and believed with the echo from vegetation
The proportionate relationship of number amount；Correcting module, for according to the forest canopy density to be modified, laser radar echo loss late,
Forest Canopy echo scale factor, ground echo loss late and following formula obtain revised forest canopy density；
Wherein, CCMFor revised forest canopy density, CC1For forest canopy density to be modified, k is Forest Canopy echo chi
Spend the factor, RLFor laser radar echo loss late, RLGFor ground echo loss late.
By above-mentioned technical proposal, the measuring method and device of forest canopy density of the invention at least have following advantages with
And beneficial effect：The present invention is in defining and based on this two contents of the echo-signal of ground loss to Forest Canopy yardstick
In the case of being taken into full account, there is provided the correction formula of forest canopy density, so, by using the formula to be modified
Forest canopy density be modified, can eliminate to a certain extent using echo-signal quantity and echo from Forest Canopy
Signal total quantity calculates forest canopy density and existing inaccurate factor；Due to forest canopy density and laser radar to be modified
RL return loss rate can from all multi-products issue information in obtain, and the Forest Canopy echo scale factor in the present invention with
And ground echo loss late can generally use constant or empirical value, therefore, what the present invention was modified to forest canopy density
Amount of calculation and amendment complexity can be effectively controlled；It follows that technical scheme provided by the invention can be very square
Just fast forest canopy density is modified, and effectively increases the accuracy of forest canopy density.
In summary, the present invention technically has significant progress, and with obvious positive technique effect, it is really new for one
Grain husk, progressive, practical new design.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, and in order to allow the above and other objects, features and advantages of the present invention can
Become apparent, below especially exemplified by preferred embodiment, describe in detail as follows.
Brief description of the drawings
Fig. 1 is the flow chart 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 apparatus of the forest canopy density of the embodiment of the present invention two.
Embodiment
The measuring method to forest canopy density provided in an embodiment of the present invention and device are carried out specifically below in conjunction with the accompanying drawings
It is bright.
Embodiment one, the measuring method of forest canopy density.
The measuring method of the forest canopy density of the present embodiment is described in detail with reference to Fig. 1.
Fig. 1 is the flow chart of the measuring method of the forest canopy density of the present embodiment, and the method shown in Fig. 1 mainly includes：
Step S100, step S110, step S120 and step S130.Method shown in Fig. 1 generally can be with data processing energy
Performed in the intelligent electronic device (such as computer either server or intelligent mobile phone) of power, the present embodiment does not limit this
The hardware environment that method is applicable.Each step in Fig. 1 is illustrated respectively below.
S100, obtain forest canopy density to be modified.
Specifically, the present embodiment can get forest canopy density to be modified in several ways, it is generally the case that one
Include forest canopy density in the information that a little existing products are issued, the present embodiment can be from the information that other products are issued
Forest canopy density is got, and using the forest canopy density got in its information from issue as forest closing to be modified
Degree.
Forest canopy density to be modified accessed by the present embodiment is typically to utilize following formula (1) or formula (2)
Calculate what is obtained：
Formula (1)
Formula (2)
In above-mentioned formula (1) and formula (2), CC1For forest canopy density to be modified, NIFor echo-signal total quantity (i.e.
Echo-signal total quantity in forest canopy density measured zone), NFFor the echo-signal quantity from Forest Canopy, (i.e. forest is strongly fragrant
The echo-signal quantity from Forest Canopy in degree of closing measured zone), NVFor echo-signal quantity (the i.e. forest from vegetation
The echo-signal quantity from vegetation in canopy density measured zone), k is Forest Canopy echo scale factor, andThis
Echo-signal total quantity N in embodimentIFor the echo-signal quantity N from vegetationVWith the echo-signal quantity N from groundG
Sum, i.e. NI=NV+NG。
In addition, the present embodiment can also directly according to laser radar point cloud data, (i.e. forest canopy density measured zone be sharp
Optical radar cloud data) count and calculate accordingly, to obtain forest canopy density to be modified, such as to forest canopy density
The laser radar point cloud data of measured zone is counted, to obtain the sum of the echo-signal in the forest canopy density measured zone
Amount and the echo-signal quantity from Forest Canopy, and calculate the echo-signal number from Forest Canopy that above-mentioned statistics obtains
The ratio of amount and echo-signal total quantity, using the ratio calculated as forest canopy density to be modified；Again for example to forest
The laser radar point cloud data of canopy density measured zone is counted, to obtain the letter of the echo in the forest canopy density measured zone
Number total quantity and the echo-signal quantity from vegetation, and calculate the echo-signal quantity from vegetation that above-mentioned statistics obtains
With the product of the ratio of echo-signal total quantity and the ratio calculated and Forest Canopy echo scale factor k, will calculate
The product gone out is as forest canopy density to be modified.The present embodiment does not limit the specific reality for obtaining forest canopy density to be modified
Existing mode.
It should be strongly noted that the echo-signal total quantity in forest canopy density measured zone in the present embodiment is base
The number that echo-signal first in all single echo-signals and all multiecho signals carries out quantity statistics and obtained
Value；Echo-signal quantity from Forest Canopy is based on the single echo-signal from Forest Canopy and from Forest Canopy
Multiecho signal in echo-signal first carry out quantity statistics and the numerical value that obtains；Echo-signal quantity from vegetation
It is that line number is entered based on the echo-signal first in the single echo-signal from vegetation and the multiecho signal from vegetation
The numerical value that amount is counted and obtained.
S110, obtain laser radar echo loss late corresponding to forest canopy density to be modified.
Specifically, the laser radar echo loss late in the present embodiment refers to based on the damage in forest canopy density measured zone
Lose the RL return loss rate that the echo-signal total quantity in echo-signal total quantity and forest canopy density measured zone calculates.This
Embodiment can get laser radar echo loss late (following letters corresponding to forest canopy density to be modified in several ways
Referred to as laser radar echo loss late).Under normal circumstances, laser radar is included in the information that some existing products are issued to return
Ripple loss late, the present embodiment can get laser radar echo loss late from the information that other products are issued.
Laser radar echo loss late accessed by the present embodiment is typically to utilize following formula (3) or formula (4)
Calculate what is obtained：
Formula (3)
Formula (4)
In above-mentioned formula (3) and formula (4), RLFor laser radar echo loss late, NLFor the echo-signal sum of loss
Measure (NLCan be calculated and obtained by following formula (5)), NIFor echo-signal total quantity.
In addition, the present embodiment can also directly according to laser radar point cloud data, (i.e. forest canopy density measured zone be sharp
Optical radar cloud data) count and calculate accordingly, to obtain laser radar echo loss late, such as according to laser radar
Cloud data statistics echo-signal total quantity is (based on the system of echo-signal first in single echo-signal and multiecho signal
Count the quantity obtained) and loss echo-signal total quantity, and using above-mentioned formula (3) or formula (4) to the knot of statistics
Fruit is calculated, so as to obtain laser radar echo loss late.The present embodiment, which does not limit, obtains forest canopy density to be modified
Specific implementation.
S120, obtain Forest Canopy echo scale factor and ground echo loss late.
Specifically, the Forest Canopy echo scale factor in the present embodiment is mainly used in characterizing the echo from Forest Canopy
The proportionate relationship of number of signals and the echo-signal quantity from vegetation；And ground echo loss late is mainly used in characterizing based on gloomy
Ground in woods canopy density measured zone and the echo-signal quantity lost with based on the ground in forest canopy density measured zone
The proportionate relationship for the echo-signal quantity that should be received.
Forest Canopy echo scale factor in the present embodiment can be the fixed constant pre-set, or in advance
The empirical value of setting.The present embodiment can obtain Forest Canopy echo scale factor from the information being locally stored, and can also lead to
User interface is crossed to carry out information exchange with user and get the Forest Canopy echo scale factor of outside input.
The present embodiment can also be directly according to laser radar point cloud data (the i.e. laser radar of forest canopy density measured zone
Cloud data) count and calculate accordingly, targetedly to obtain the Forest Canopy of the forest canopy density measured zone
Echo scale factor.The present embodiment obtains a specific example of Forest Canopy echo scale factor by counting and calculating
To be counted to laser radar point cloud data corresponding to forest canopy density to be modified, to obtain returning from Forest Canopy
Ripple number of signals and the echo-signal quantity from vegetation, calculate the echo-signal quantity from Forest Canopy and come from vegetation
Echo-signal quantity ratio, and will calculate obtain the ratio as Forest Canopy echo scale factor.Need especially to say
Bright, the present embodiment can pre-set the height (such as 2 meters or 1.5 meters) of Forest Canopy, then, according to pre-setting
Forest Canopy height determine the echo-signal from vegetation whether belong to the echo-signal from Forest Canopy, that is,
Say, the height in the vegetation height corresponding to the echo-signal from vegetation up to or over the Forest Canopy pre-set
When, it may be determined that go out the echo-signal from vegetation and belong to the echo-signal from Forest Canopy, come from otherwise, it determines going out this
The echo-signal of vegetation is not belonging to the echo-signal from Forest Canopy.
Ground echo loss late in the present embodiment can be the fixed constant pre-set, or pre-set
Empirical value.The present embodiment can obtain ground echo loss late from the information being locally stored, can also by user interface with
User carries out information exchange and gets the ground echo loss late of outside input.
The present embodiment can also be directly according to laser radar point cloud data (the i.e. laser radar of forest canopy density measured zone
Cloud data) count and calculate accordingly, targetedly to obtain the ground echo of the forest canopy density measured zone
Loss late.
The present embodiment is counted and calculated for laser radar point cloud data and obtains the one of gloomy ground echo loss late
Individual specific example is：
Step A, forest canopy density measured zone is divided into ground region and vegetation area, if the present embodiment is according to forest
Forest canopy density measured zone is divided into ground region and vegetation region by the laser radar point cloud data of canopy density measured zone
Forest canopy density measured zone can also be divided into ground region by domain, certainly, the present embodiment according to other mapping data
And vegetation area.
Step B, two adjacent echoes are being determined according to the laser radar point cloud data of forest canopy density measured zone
When one or more echo-signal of loss between signal be present, the present embodiment can be each according to two adjacent echo-signals
From spatial coordinated information determine the spatial coordinated information of each echo-signal lost between two adjacent echo-signals.Tool
Body, laser radar point cloud data includes the information such as the space coordinates of each echo-signal, gps time, and the present embodiment can be with
According to the gps time difference between two adjacent echo-signals and the time interval of laser radar system transmitting laser pulse
Judge between two adjacent echo-signals with the presence or absence of loss echo-signal and loss echo-signal quantity.
Because 1 laser pulse of laser radar system transmitting may be corresponding with one or more echo-signals, therefore,
The present embodiment is it is determined that with the presence or absence of the echo-signal of loss and the echo-signal of loss between adjacent two echo-signals
During quantity, be the single echo-signal based on laser pulse space coordinates and gps time and multiecho signal in head
What the space coordinates and gps time of secondary echo-signal were judged.
More specifically, the gps time of the previous echo-signal in two adjacent echo-signals is set as ti, then
The gps time of one echo-signal is ti+1, the time interval of laser radar system transmitting laser pulse is tPRF, then the two phases
The quantity N of the echo-signal of existing loss between adjacent echo-signalLIt can be calculated and obtained by following formula (5)：
Formula (5)
According to the space coordinates (x of previous echo-signali, yi, zi) and latter each echo-signal space coordinates (xi+1,
yi+1, zi+1) can be calculated by following formula (6), formula (7) and formula (8) between the two adjacent echo-signals
(j is less than or equal to N to the jth of lossL) individual echo-signal space coordinates (xj, yj, zj)：
Formula (6)
Formula (7)
Formula (8)
Step C, each echo-signal of loss is judged according to the space coordinates of the echo-signal of the above-mentioned each loss calculated
Position whether belong to the above-mentioned ground region marked off, and echo-signal loss quantity in ground is counted according to judged result.
Step D, the present embodiment also needs to count the echo-signal quantity from ground according to laser radar point cloud data.
Step E, the ground echo loss of signal quantity obtained according to above-mentioned statistics and the echo-signal number from ground
Amount calculates ground echo loss late using following formula (9)：
Formula (9)
In above-mentioned formula (9), RLGFor ground echo loss late (being referred to as the RL return loss rate from ground),
NLGFor ground echo loss of signal quantity, NGIt is the echo-signal quantity from ground (because the echo-signal from ground is led to
Often it is single echo-signal, therefore, the N in the present embodimentGThe single echo-signal statistics from ground is typically based on to obtain
Quantity).
Accordingly, the RL return loss rate from vegetation can be expressed as the form of following formula (10)：
Formula (10)
In above-mentioned formula (10), RLVFor the RL return loss rate from vegetation, NLVQuantity, N are lost for vegetation echo-signalV
It is the echo-signal quantity from vegetation (based on the single echo-signal from vegetation and the multiecho signal from vegetation
In echo-signal first statistics obtain quantity).
The present embodiment can targetedly obtain the ground of the forest canopy density measured zone by above-mentioned steps A- steps E
Face RL return loss rate.
S130, according to forest canopy density to be modified, laser radar echo loss late, Forest Canopy echo scale factor,
Ground echo loss late and following formula (10) obtain revised forest canopy density.
Specifically, the forest canopy density correction formula of the present embodiment is following formula (10)：
Formula (10)
In above-mentioned formula (10), CCMFor revised forest canopy density, CC1For forest canopy density to be modified, k is gloomy
Storey echo scale factor, RLFor laser radar echo loss late, RLGFor ground echo loss late.
The derivation of formula (10) in the present embodiment is as follows：
Ground echo loss late is arranged into 0, (i.e. the lossy echo-signal of institute is vegetation echo letter to the present embodiment
Number loss) in the case of, the above-mentioned formula (10) in the present embodiment can be reduced to the form of following formula (11)：
CCM=CC1+(k-CC1)×RLFormula (11)
In above-mentioned formula (11), CCMFor revised forest canopy density, CC1For forest canopy density to be modified, k is gloomy
Storey echo scale factor, RLFor laser radar echo loss late.
Embodiment two, the measurement apparatus of forest canopy density.
Fig. 2 is the schematic diagram of the measurement apparatus of the forest canopy density of the present embodiment, and the survey of the forest canopy density shown in Fig. 2
Amount device mainly includes：First acquisition module 200, the second acquisition module 210, the 3rd acquisition module 220 and correcting module
230。
Device shown in Fig. 2 generally can be in intelligent electronic device (such as computer or clothes with data-handling capacity
Be engaged in device or intelligent mobile phone etc.) in perform, the present embodiment do not limit the hardware environment that the device is applicable.Below to Fig. 2
In each module illustrate respectively.
First acquisition module 200 is mainly used in obtaining forest canopy density to be modified.
Specifically, the first acquisition module 200 can get forest canopy density to be modified, usual feelings in several ways
Under condition, forest canopy density is included in the information that some existing products are issued, the first acquisition module 200 can be from other products
Forest canopy density is got in the information issued, and using the forest canopy density got in its information from issue as to be repaired
Positive forest canopy density.
Forest canopy density to be modified accessed by first acquisition module 200 be typically using above-mentioned formula (1) or
Formula (2) calculates what is obtained.
In addition, the first acquisition module 200 can also be directly according to laser radar point cloud data (i.e. forest canopy density measurement zone
The laser radar point cloud data in domain) count and calculate accordingly, to obtain forest canopy density to be modified, such as first obtains
Modulus block 200 counts to the laser radar point cloud data of forest canopy density measured zone, to obtain forest canopy density survey
The echo-signal total quantity in region and the echo-signal quantity from Forest Canopy are measured, and calculates coming for above-mentioned statistics acquisition
From the ratio of the echo-signal quantity and echo-signal total quantity of Forest Canopy, the ratio that the first acquisition module 200 will calculate
Value is as forest canopy density to be modified；Laser radar of such as the first acquisition module 200 to forest canopy density measured zone again
Cloud data is counted, to obtain the echo-signal total quantity in the forest canopy density measured zone and returning from vegetation
Ripple number of signals, and the ratio of the echo-signal quantity from vegetation for calculating that above-mentioned statistics obtains and echo-signal total quantity with
And the product of the ratio and Forest Canopy echo scale factor k that calculate, the product that the first acquisition module 200 will calculate
As forest canopy density to be modified.The present embodiment does not limit the first acquisition module 200 and obtains forest canopy density to be modified
Specific implementation.
It should be strongly noted that the echo-signal total quantity in forest canopy density measured zone in the present embodiment is
One acquisition module 200 carries out quantity based on the echo-signal first in all single echo-signals and all multiecho signals
The numerical value for counting and obtaining；Echo-signal quantity from Forest Canopy is that the first acquisition module 200 is based on coming from Forest Canopy
Single echo-signal and multiecho signal from Forest Canopy in echo-signal first carry out quantity statistics and obtain
The numerical value obtained；Echo-signal quantity from vegetation be the first acquisition module 200 based on the single echo-signal from vegetation with
And the numerical value that the echo-signal first in the multiecho signal from vegetation carries out quantity statistics and obtained.
Second acquisition module 210 is mainly used in obtaining laser radar echo corresponding to forest canopy density to be modified and lost
Rate.
Specifically, the laser radar echo loss late that the second acquisition module 210 obtains refers to measure based on forest canopy density
What the echo-signal total quantity in loss echo-signal total quantity and forest canopy density measured zone in region calculated returns
Ripple loss late.Second acquisition module 210 can get laser thunder corresponding to forest canopy density to be modified in several ways
Up to RL return loss rate (following referred to as laser radar echo loss lates).Under normal circumstances, the letter that some existing products are issued
Include laser radar echo loss late in breath, the second acquisition module 210 can obtain from the information that other products are issued
To laser radar echo loss late.
Laser radar echo loss late accessed by second acquisition module 210 be typically using above-mentioned formula (3) or
Formula (4) calculates what is obtained.
In addition, the second acquisition module 210 can also be directly according to laser radar point cloud data (i.e. forest canopy density measurement zone
The laser radar point cloud data in domain) count and calculate accordingly, to obtain laser radar echo loss late, such as second obtains
Modulus block 210 counts echo-signal total quantity according to laser radar point cloud data and (is based on single echo-signal and multiecho
In signal echo-signal first statistics obtain quantity) and loss echo-signal total quantity, and using above-mentioned formula (3)
Or formula (4) is calculated the result of statistics, so as to obtain laser radar echo loss late.The present embodiment does not limit second
Acquisition module 210 obtains the specific implementation of forest canopy density to be modified.
3rd acquisition module 220 is mainly used in obtaining Forest Canopy echo scale factor and ground echo loss late.
Specifically, the Forest Canopy echo scale factor accessed by the 3rd acquisition module 220 is mainly used in sign and come from
The proportionate relationship of the echo-signal quantity of Forest Canopy and the echo-signal quantity from vegetation；And the institute of the 3rd acquisition module 220
The ground echo loss late got is mainly used in characterizing the echo lost based on the ground in forest canopy density measured zone
The proportionate relationship of number of signals and the echo-signal quantity that should be received based on the ground in forest canopy density measured zone.
Forest Canopy echo scale factor accessed by 3rd acquisition module 220 can be that the fixation pre-set is normal
Number, or the empirical value pre-set.3rd acquisition module 220 can obtain Forest Canopy from the information being locally stored
Echo scale factor, information exchange can also be carried out by user interface and user and be returned to get the Forest Canopy of outside input
Ripple scale factor.
3rd acquisition module 220 can also be directly according to laser radar point cloud data (i.e. forest canopy density measured zone
Laser radar point cloud data) count and calculate accordingly, targetedly to obtain the forest canopy density measured zone
Forest Canopy echo scale factor.3rd acquisition module 220 obtains Forest Canopy echo scale factor by counting and calculating
One specific example is that the 3rd acquisition module 220 enters to laser radar point cloud data corresponding to forest canopy density to be modified
Row statistics, to obtain the echo-signal quantity from Forest Canopy and the echo-signal quantity from vegetation, the 3rd obtains mould
Block 220 calculates the ratio of echo-signal quantity and the echo-signal quantity from vegetation from Forest Canopy, and calculating is obtained
The ratio obtained is as Forest Canopy echo scale factor.It should be strongly noted that the 3rd acquisition module 220 can be set in advance
The height (such as 2 meters or 1.5 meters) of Forest Canopy is put, then, the 3rd acquisition module 220 is according to the Forest Canopy pre-set
Height determine the echo-signal from vegetation whether belong to the echo-signal from Forest Canopy, that is to say, that from plant
Vegetation height corresponding to the echo-signal of quilt up to or over the Forest Canopy pre-set height when, the 3rd obtains mould
Block 220 can determine that the echo-signal from vegetation belongs to the echo-signal from Forest Canopy, and otherwise, the 3rd obtains mould
Block 220 determines that the echo-signal from vegetation is not belonging to the echo-signal from Forest Canopy.
Ground echo loss late accessed by 3rd acquisition module 220 can be the fixed constant pre-set, also may be used
Think the empirical value pre-set.3rd acquisition module 220 can obtain ground echo loss late from the information being locally stored,
Information exchange can also be carried out to get the ground echo loss late of outside input by user interface and user.
3rd acquisition module 220 can also be directly according to laser radar point cloud data (i.e. forest canopy density measured zone
Laser radar point cloud data) count and calculate accordingly, targetedly to obtain the forest canopy density measured zone
Ground echo loss late.
3rd acquisition module 220 is counted and calculated for laser radar point cloud data and obtains gloomy ground echo loss
One specific example of rate is：
First, forest canopy density measured zone is divided into ground region and vegetation area by the 3rd acquisition module 220, and such as the
Three acquisition modules 220 divide forest canopy density measured zone according to the laser radar point cloud data of forest canopy density measured zone
For ground region and vegetation area, certainly, the 3rd acquisition module 220 can also be strongly fragrant by forest according to other mapping data
Degree of closing measured zone is divided into ground region and vegetation area.
Secondly, the 3rd acquisition module 220 is determined according to the laser radar point cloud data of forest canopy density measured zone
When one or more echo-signal of loss between two adjacent echo-signals be present, the 3rd acquisition module 220 can root
Determine to lose between two adjacent echo-signals according to two adjacent respective spatial coordinated informations of echo-signal each time
The spatial coordinated information of ripple signal.Specifically, due to laser radar point cloud data include each echo-signal space coordinates,
The information such as gps time, therefore, the 3rd acquisition module 220 can be according to the gps time differences between two adjacent echo-signals
And the time interval of laser radar system transmitting laser pulse is judged to whether there is damage between two adjacent echo-signals
The quantity of the echo-signal of mistake and the echo-signal of loss.
Because 1 laser pulse of laser radar system transmitting may be corresponding with one or more echo-signals, therefore,
3rd acquisition module 220 is it is determined that with the presence or absence of the echo-signal of loss and returning for loss between adjacent two echo-signals
It is the space coordinates and gps time and multiecho signal of the single echo-signal based on laser pulse during ripple number of signals
In echo-signal first space coordinates and gps time judged.
More specifically, the gps time of the previous echo-signal in two adjacent echo-signals is set as ti, then
The gps time of one echo-signal is ti+1, the time interval of laser radar system transmitting laser pulse is tPRF, then the two phases
The quantity N of the echo-signal of existing loss between adjacent echo-signalL, the 3rd acquisition module 220 can pass through above-mentioned formula
(5) calculate and obtain.
3rd acquisition module 220 is according to the space coordinates (x of previous echo-signali, yi, zi) and latter each echo-signal
Space coordinates (xi+1, yi+1, zi+1) can to calculate the two by above-mentioned formula (6), formula (7) and formula (8) adjacent
Echo-signal between the jth lost (j is less than or equal to NL) individual echo-signal space coordinates (xj, yj, zj)。
Then, the 3rd acquisition module 220 judges to damage according to the space coordinates of the echo-signal of the above-mentioned each loss calculated
Whether the position for each echo-signal lost belongs to the above-mentioned ground region marked off, and counts ground echo letter according to judged result
Number loss quantity.
After again, the 3rd acquisition module 220 also needs to count the echo-signal from ground according to laser radar point cloud data
Quantity.
Finally, the 3rd acquisition module 220 obtains according to above-mentioned statistics ground echo loss of signal quantity and from ground
The echo-signal quantity in face calculates ground echo loss late using above-mentioned formula (9).
3rd acquisition module 220 can targetedly obtain the ground of the forest canopy density measured zone by said process
Face RL return loss rate.
Correcting module 230 is mainly used according to forest canopy density to be modified, laser radar echo loss late, Forest Canopy
Echo scale factor, ground echo loss late and above-mentioned formula (10) obtain revised forest canopy density.
Described above is only presently preferred embodiments of the present invention, not makees any formal limitation to the present invention, though
So the present invention is disclosed above with preferred embodiment, however, foregoing description is not limited to the present invention, it is any to be familiar with this specialty
Technical staff in the range of technical solution of the present invention is not departed from, when the technology contents using the disclosure above make it is a little more
Equivalent embodiment that is dynamic or being modified to equivalent variations, as long as being the content without departing from technical solution of the present invention, according to the present invention
Any simple modification, equivalent change and modification for being made to above example of technical spirit, still fall within the technology of the present invention side
In the range of case.
Claims (8)
1. a kind of measuring method of forest canopy density, it is characterised in that methods described includes：
Obtain forest canopy density to be modified；
Obtain laser radar echo loss late corresponding to the forest canopy density to be modified；
Forest Canopy echo scale factor and ground echo loss late are obtained, wherein, the Forest Canopy echo scale factor
Characterize the proportionate relationship of echo-signal quantity and the echo-signal quantity from vegetation from Forest Canopy；
Returned according to the forest canopy density to be modified, laser radar echo loss late, Forest Canopy echo scale factor, ground
Ripple loss late and following formula obtain revised forest canopy density；
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Wherein, CCMFor revised forest canopy density, CC1For forest canopy density to be modified, k be Forest Canopy echo yardstick because
Son, RLFor laser radar echo loss late, RLGFor ground echo loss late；
The forest canopy density to be modified is based on formulaOrCalculate the numerical value obtained；
Wherein, CC1For forest canopy density to be modified, NIFor echo-signal total quantity, NFFor the echo-signal from Forest Canopy
Quantity, k are Forest Canopy echo scale factor, NVFor the echo-signal quantity from vegetation；
The laser radar echo loss late is based on formulaOrCalculate the number obtained
Value；
Wherein, RLFor laser radar echo loss late, NLFor the echo-signal total quantity of loss, NIFor echo-signal total quantity.
2. the method as described in claim 1, it is characterised in that the acquisition Forest Canopy echo scale factor and ground are returned
The step of ripple loss late, includes：
Obtain the Forest Canopy echo scale factor stored in the form of constant；Or
Obtain the Forest Canopy echo scale factor stored in the form of empirical value.
3. the method as described in claim 1, it is characterised in that the acquisition Forest Canopy echo scale factor and ground are returned
The step of ripple loss late, includes：
Laser radar point cloud data corresponding to the forest canopy density to be modified is counted, Forest Canopy is come to obtain
Echo-signal quantity and echo-signal quantity from vegetation；
The ratio of echo-signal quantity and the echo-signal quantity from vegetation from Forest Canopy is calculated, the calculating is obtained
The ratio obtained is as Forest Canopy echo scale factor.
4. the method as described in claim 1, it is characterised in that the acquisition Forest Canopy echo scale factor and ground are returned
The step of ripple loss late, includes：
Obtain the ground echo loss late stored in the form of constant；Or
Obtain the ground echo loss late stored in the form of empirical value.
5. the method as described in claim 1, it is characterised in that the acquisition Forest Canopy echo scale factor and ground are returned
The step of ripple loss late, includes：
Forest canopy density measured zone is divided into ground region and vegetation area；
Adjacent two echoes letter is determined in the laser radar point cloud data according to corresponding to the forest canopy density to be modified
When the echo-signal of loss between number be present, damage is determined according to the respective spatial coordinated information of two adjacent echo-signals
The spatial coordinated information of the echo-signal of mistake；
Judge whether the spatial coordinated information of the echo-signal of the loss belongs to the ground region, and united according to judged result
Count ground echo loss of signal quantity；
Echo-signal quantity from ground is counted according to the laser radar point cloud data；
Calculate ground echo loss of signal quantity and ground echo loss of signal quantity and echo-signal quantity from ground it
The ratio of sum, using the ratio obtained that calculates as ground echo loss late.
6. a kind of measurement apparatus of forest canopy density, it is characterised in that described device includes：
First acquisition module, for obtaining forest canopy density to be modified；
Second acquisition module, for obtaining laser radar echo loss late corresponding to the forest canopy density to be modified；
3rd acquisition module, for obtaining Forest Canopy echo scale factor and ground echo loss late, wherein, the forest
Canopy echo scale factor characterizes the ratio of echo-signal quantity and the echo-signal quantity from vegetation from Forest Canopy
Relation；
Correcting module, for according to the forest canopy density to be modified, laser radar echo loss late, Forest Canopy echo chi
Spend the factor, ground echo loss late and following formula and obtain revised forest canopy density；
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Wherein, CCMFor revised forest canopy density, CC1For forest canopy density to be modified, k be Forest Canopy echo yardstick because
Son, RLFor laser radar echo loss late, RLGFor ground echo loss late；
The forest canopy density to be modified is based on formulaOrCalculate the numerical value obtained；
Wherein, CC1For forest canopy density to be modified, NIFor echo-signal total quantity, NFFor the echo-signal from Forest Canopy
Quantity, k are Forest Canopy echo scale factor, NVFor the echo-signal quantity from vegetation；
The laser radar echo loss late is based on formulaOrCalculate the number obtained
Value；
Wherein, RLFor laser radar echo loss late, NLFor the echo-signal total quantity of loss, NIFor echo-signal total quantity.
7. device as claimed in claim 6, it is characterised in that the 3rd acquisition module is specifically used for：Obtain with constant shape
The Forest Canopy echo scale factor of formula storage；Or obtain the Forest Canopy echo scale factor stored in the form of empirical value.
8. device as claimed in claims 6 or 7, it is characterised in that the 3rd acquisition module is specifically used for：Obtain with constant
The ground echo loss late of form storage；Or obtain the ground echo loss late stored in the form of empirical value.
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