CN105527620B - The automatic calibration method that a kind of aerosol thickness postpones with laser radar range - Google Patents
The automatic calibration method that a kind of aerosol thickness postpones with laser radar range Download PDFInfo
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- CN105527620B CN105527620B CN201610019709.5A CN201610019709A CN105527620B CN 105527620 B CN105527620 B CN 105527620B CN 201610019709 A CN201610019709 A CN 201610019709A CN 105527620 B CN105527620 B CN 105527620B
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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
- G01S7/497—Means for monitoring or calibrating
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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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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Abstract
The present invention relates to the automatic calibration method that a kind of aerosol thickness and laser radar range postpone, this method sets up coefficient correlation with the range error value that aerosol load pixel value and extra large table are extracted on image, the transformation ratio of the range error on aerosol load distribution map representated by nondimensional pixel value is obtained, is accurately corrected so as to the survey high level to land table.The inventive method is without ground measured data, the automatic relation set up between image aerosol brightness value and air wet zenith delay, i.e. aerosol retardation, it is that spaceborne laser altimeter system instrument is surveyed the amendments of high data and played an important role correction so as to realize the accurate atmospheric moisture correction to arbitrarily surveying high data.
Description
Technical field
The invention belongs to Global observation by remote sensing field, and in particular to a kind of aerosol thickness prolongs with laser radar range
Slow automatic calibration method.
Background technology
In order to improve the precision of stereoplotting satellite, inaccurate this of urgent need to resolve laser ceilometer measuring height and distance data
Key technical problem.Wherein most important content is exactly that the size periodically to the Water vapour delay amount of laser-measured height data is demarcated,
And Water vapour delay correction is carried out with this, so that accurate ranging data is obtained, so as to improve the precision of laser ranging.
Existing laser ranging correction technology needs the accurate atmosphere data provided by NCEP, and then carries out essence to ranging
True correction.This method is not suitable for domestic laser-measured height satellite, and one is due to NCEP and centering state user opens not in time,
Cause domestic laser-measured height satellite due to lacking air assistance data without the situation of accurate atmospheric correction, so as to can not obtain
Accurate ranging data is obtained, the failure of the whole engineering duty of domestic stereoplotting satellite is ultimately resulted in；Second factor is
NPEC data spatial resolutions are limited, and its 1*1 ° resolution ratio is difficult to distinguish various water dogs on laser emission path etc.
Deng, use NPEC carry out atmospheric correction limited precision.
By the distribution of various domestic data acquisition atmospheric aerosol contents, and correct the laser of domestic stereoplotting satellite
Distance measurement value turns into the most viable means that ranging is accurately corrected.Stereoplotting satellite of new generation contains twin-line array and multispectral image,
Worked simultaneously substantially with laser range finder, instantaneous aerosol extinction situation during laser ranging is accurately captured on these images.
The aerosol data extracted from these images, the true gas that can most accurately reflect out on Laser emission/reflection path is molten
Glue is distributed.However, the aerosol identified by image processing method is a dimensionless number, any physics is not represented and is contained
Justice is, it is necessary to be demarcated.
Because the position that the hot spot of the invisible property of laser foothold, and 1064nm wavelength reaches ground is difficult to predict,
The method for carrying out aerosol in top has great technological challenge, but the real-time elevation on sea level can be by tide
Nighttide model accurately calculates what is come, is accurately calculated therefore, it is possible to the transmitting position by the elevation on sea and laser actual sharp
Optical path length, so as to calculate real atmosphere retardation, and then completes staking-out work.This process is completely independent of ground
Measured value, with efficient, high-precision, inexpensive multiple advantage.
By the aerosol thickness of extraction, the real atmosphere delay numerical value obtained with extra large meter carries out regression analysis, just
The aerosol pixel value under different aerosol depth informations and the relation of laser ranging value correction can be obtained.So as to in-orbit work
The actual ranging corrected value of each measurement data is calculated during work, as domestic high-resolution stereoplotting satellite system
Laser provides accurate distance measurement value, finally obtains high-precision control point data.This is for lifting Chinese earth observation satellite
Data geometric manipulations precision and product quality have particularly important meaning.
The content of the invention
Problem to be solved by this invention is：There is provided one kind is high-precision, convenient in the case of independent of ground survey
Automatic calibration method, influence size of the real-time calibration aerosol to air ranging delay, so as to increase substantially land table
The accuracy of face laser-measured height data.
The technical scheme that the present invention is provided uses following steps：
(1) aerosol load distribution is extracted on the footmark and multispectral image in ocean survey area from domestic stereoplotting satellite
Figure；Distribution map extracting method step is as follows：
(1-1) is registering with assisted image progress by the multispectral image of aerosol thickness to be identified；
(1-2) finds the pixel similar with its to any one point on multispectral image on whole sub-picture A, according to auxiliary
Image is helped to filter out the constant point of classification；
(1-3) sets up each picture point multispectral image and assisted image regression relation, and light more is fitted with assisted image
Spectrogram picture；
The brightness value divided by true brightness value of (1-4) fitting, obtain the aerosol load of each pixel；
The aerosol load Image Low-passed filtering that (1-5) is obtained to each wave band, is weighted to each wave band and averagely obtains
Final aerosol load distribution map；
(2) high data progress tide correction is surveyed in area to surveying；Method and step is as follows：
(2-1) obtains the three-dimensional cartesian solar system center-of-mass coordinate of planet from NASA servers；
The astronomical subprogram NOVASVer2.0 of C version vectors that (2-2) is provided using USNO-US Naval Observatory, calculating is obtained
Coordinate of the Sun and the Moon any time in agreement terrestrial coordinates；
(2-3) uses precise ephemeris, passes through lagrange polynomial interpolation, it is possible to try to achieve any time satellite in agreement
Coordinate in terrestrial coordinate system, step by step calculation is that can obtain earth tide correction；
(3) Atmospheric components and thickness are determined using global atmosphere distributed model, the dry item delay of air is carried out to distance measurement value and is changed
Just；Method and step is as follows：
(3-1) carries out interpolation to all discontinuous meteorological data over time and space, obtains Laser emission moment and position
The meteorological data put；
(3-2) to by interpolation calculate obtain with altitude meter time space interval identical meteorological data, by without air
The geopotential unit of the altitude meter elevation conversion of Deferred Correction finds the adjacent two normal atmospheric pressures layer of geopotential unit, calculates ground
Table atmospheric pressure numerical integration；
(3-3) presses numerical value to be modified to surveying high data using Earth Surface Atmosphere；
(4) by the high data of survey after extra large table altitude data and the dry item correction of air, aerosol retardation is calculated；Method is walked
It is rapid as follows：
(4-1) calculates sea level with TOPEX/Poseidon data in the sea of emission time according to the Laser emission moment
Degree of lifting；
(4-2) calculates sea wave high according to global air speed data.
(4-3) is calculated according to the size of stop over position and the laser facula of laser facula by the unrestrained height of sea level height and sea
Seawater surface dispersed elevation in laser facula；
(4-4) calculates actual transmission road according to orbital position during Laser emission, hot spot pin point sea dispersed elevation
Electrical path length；
(4-5) goes out delay of the steam to ranging by the ranging data and actual transmission paths length computation after the correction of dry item
Amount；
(5) coefficient correlation of aerosol pixel value and ranging delay amount is calculated；Method and step is as follows：
(5-1) calculates ranging delay amount, the image that aerosol steam is caused respectively by multiple high data of survey on sea
Aerosol load size；
(5-2) uses least square method, and pass therebetween is fitted with ranging delay amount, image aerosol load size
System.
The inventive method sets up image aerosol brightness value and air wet zenith delay, i.e. automatically without ground measured data
Relation between aerosol retardation, is that satellite borne laser is surveyed so as to realize the accurate atmospheric moisture correction to arbitrarily surveying high data
The amendment that high instrument surveys high data plays an important role correction.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of aerosol demarcation.
Embodiment
Preferably to illustrate technical scheme and advantage, the implementation process of the present invention is done below in conjunction with accompanying drawing
Further description.
S1 is registering with assisted image progress by the multispectral image of aerosol thickness to be identified.
Using homotopy mapping method, control point is selected from A and B.In view of satellite image due to attitude error and ground
The irregular change that shape error band comes, this region is suitably encrypted when control point is chosen for complex region such as city and mountain area
Number of control points.
S2 finds the pixel similar with its to any one point on multispectral image on whole sub-picture A, according to auxiliary
Image filters out the constant point of classification.The similarity R obtained according to calculating determines whether A belongs to same class pixel with P points, if R
Less than 0.1, then it is assumed that A belongs to same class pixel with P points, this point mark is got off.Institute on image A is found according to the method described above
There is the pixel position similar with point Q, it is assumed that find n altogether, these picture points are labeled as：P1---Pn.
S3 sets up linear relationships of image A and C the pixel P1---Pn between each wave band, and specific method is for image A
Any one wave band, found from image C with the immediate wave band of its wavelength, according to S1---Sm points on the two wave bands
Pixel value, fits C to A relation：
VA=a*VC+b
The brightness value divided by true brightness value of S4 fittings, obtain the aerosol load of each pixel.
Wherein, VARepresent image A pixel value, VCRepresent image C pixel value.
According to obtained fitting coefficient, the pixel value that P points correspond to image A is fitted using image C pixel.With P points A
The value that value divided by fitting on image are obtained, you can obtain the aerosol load value of P points.
The aerosol load Image Low-passed filtering that S5 is obtained to each wave band, is weighted to each wave band and averagely obtains final
Aerosol load distribution map.
Because the distribution of aerosol is spatially gradual change, therefore, it is showed on obtained aerosol image is calculated
The trend being distributed for low frequency.The aerosol thickness chart picture of each obtained wave band carries out LPF respectively；
To obtaining the image after each wave band LPF, same each wave band weighted mean of picture point obtains final many
Aerosol thickness distribution figure on spectrum image
S6 obtains the three-dimensional cartesian solar system center-of-mass coordinate of planet from NASA servers.
The astronomical subprogram NOVASVer2.0 of C version vectors that S7 is provided using USNO-US Naval Observatory, calculating obtains the sun
With coordinate of the moon any time in agreement terrestrial coordinates.
S8 uses precise ephemeris, passes through lagrange polynomial interpolation, it is possible to try to achieve any time satellite in agreement
Coordinate in spherical coordinate system, step by step calculation is that can obtain earth tide correction.
S9 downloads NCEP data from NASA official websites, and then all discontinuous meteorological data over time and space is carried out
Interpolation, obtains the meteorological data of Laser emission moment and position.
S10 to by interpolation calculate obtain with altitude meter time space interval identical meteorological data, by prolonging without air
The geopotential unit for the altitude meter elevation conversion corrected late finds the adjacent two normal atmospheric pressures layer of geopotential unit, calculates earth's surface
Atmospheric pressure numerical integration.NCEP meteorological datas record geopotential unit H, temperature T and relative humidity Rh in Standard Gases laminate layer form；And
Height above sea level h is used, it is necessary to which height above sea level is converted into potential in the high data of survey of domestic stereoplotting satell height finder
Highly：
In formula：φ is geographic latitude；R is the mean radius R=6371009m, constant term g of the eartheq=
9.7803267715m/s2, k=0.001931851353, e2=0.00669438002290.
To by interpolation calculate obtain with altitude meter time space interval identical meteorological data, by by above formula without air
The geopotential unit H of the altitude meter elevation h conversions of Deferred Correction finds the adjacent two normal atmospheric pressures layer of geopotential unit.Two
Qualified Standard Gases laminate layer correspondence geopotential unit H0 and H1, relative humidity Rh0 and RH1 and temperature T0 and T1；Under
Relative humidity RH and temperature T are converted into the function linear with geopotential unit H by formula：
In formula：H1<H≤H0, T0And H0Be respectively the corresponding temperature in two neighboring standard atmosphere geopotential unit upper strata and
Geopotential unit value；T1And H1It is the corresponding temperature of adjacent two standard atmospheres geopotential unit lower floor and geopotential unit value respectively.Really
Definite integral step-length L=(H0- H)/N, N is numerical integration number of times.
PwIt is water vapor partial pressure, R=8314.510J/kmolK is universal gas constant, and T is gas temperature, and Z is compression
Rate.Using above formula under the above-mentioned meteorological data parameter resolved from the higher (H of geopotential unit0Place) barosphere to geopotential unit
Numerical integration is carried out to highly relatively low direction, integration terminal is at geopotential unit H, to solve revised Earth Surface Atmosphere pressure.
S11 presses numerical value to be modified to surveying high data using Earth Surface Atmosphere,
L1=L0-△LH
L0For original distance measurement value, L1Distance measurement value Δ L after being corrected for dry itemH isThe dry item of atmosphere delay, is tried to achieve by following formula：
△LH=(2.3028 × 10-5m/Pa)·Ps
S12 calculates height above sea level of the sea level in emission time with TOPEX/Poseidon data according to the Laser emission moment
Highly.
S13 calculates sea wave high according to global air speed data.
S2=0.003+5.12 × 10-3U12.4
In above formula, U12.4The wind speed size of ocean surface 12.4m height is represented, the height of wave can be calculated according to wind speed
Degree.
S14 is calculated sharp according to the size of stop over position and the laser facula of laser facula by the unrestrained height of sea level height and sea
Seawater surface dispersed elevation H in light hot spotwater。
S15 calculates actual transmission path according to orbital position during Laser emission, hot spot pin point sea dispersed elevation
Length.
In above formula, BStar,LStar,HStarRepresent the position of satellite (laser axle center) during laser emitting, BGround,LGround,
HwaterRepresent laser footpoint in the position of extra large table.
S16 goes out retardation of the steam to ranging by the ranging data and actual transmission paths length computation after the correction of dry item.
△Water=L1-LReal
S17 is calculated ranging delay amount, the image that aerosol (steam) is caused by multiple high data of the survey on sea respectively
Aerosol load size.
S18 uses least square method, and pass therebetween is fitted with ranging delay amount, image aerosol load size
System.The formula of image value and atmosphere delay is represented with quadratic polynomial：
In above formula,Represent the aerosol pixel value corresponding to Laser Transmission position on image.For domestic three-dimensional survey
Figure satellite (GF-7 and follow-up star), within a period of time after it is entered the orbit, aerosol load is calculated with the high score image on star,
Then the atmosphere delay amount corresponding to aerosol load is calculated by above formula again.It can be completed in the case where not needing calibration field
The demarcation of atmosphere delay, so as to realize the accurate correction of distance measurement value.
Claims (1)
1. the automatic calibration method that a kind of aerosol thickness postpones with laser radar range, it is characterised in that comprise the following steps：
(1) aerosol load distribution map is extracted on the footmark and multispectral image in ocean survey area from domestic stereoplotting satellite；
Distribution map extracting method step is as follows：
(1-1) is registering with assisted image progress by the multispectral image of aerosol thickness to be identified；
(1-2) finds the pixel similar with its to any one point on multispectral image on whole sub-picture A, according to auxiliary shadow
As filtering out the constant point of classification；
(1-3) sets up each picture point member spectrum picture and assisted image regression relation, and multispectral figure is fitted with assisted image
Picture；
The brightness value divided by true brightness value of (1-4) fitting, obtain the aerosol load of each pixel；
The aerosol load Image Low-passed filtering that (1-5) is obtained to each wave band, is weighted to each wave band and averagely obtains final
Aerosol load distribution map；
(2) high data progress tide correction is surveyed in area to surveying；Method and step is as follows：
(2-1) obtains the three-dimensional cartesian solar system center-of-mass coordinate of planet from NASA servers；
The astronomical subprogram NOVASVer2.0 of C version vectors that (2-2) is provided using USNO-US Naval Observatory, calculating obtains the sun
With coordinate of the moon any time in agreement earth system coordinate；
(2-3) uses precise ephemeris, by lagrange polynomial interpolation, tries to achieve any time satellite in conventional terrestrial coordinate system
In coordinate, then step by step calculation obtain earth tide correction；
(3) Atmospheric components and thickness are determined using global atmosphere distributed model, the dry item delay of air is carried out to distance measurement value and is corrected；Side
Method step is as follows：
(3-1) obtains Laser emission moment and position to all discontinuous meteorological data carries out interpolation over time and space
Meteorological data；
(3-2) to by interpolation calculate obtain with altitude meter time space interval identical meteorological data, by without atmosphere delay
The geopotential unit of the altitude meter elevation conversion of amendment finds the adjacent two normal atmospheric pressures layer of geopotential unit, calculates earth's surface big
Air pressure numerical integration；
(3-3) presses numerical value to be modified to surveying high data using Earth Surface Atmosphere；
(4) by the high data of survey after extra large table altitude data and the dry item correction of air, aerosol retardation is calculated；Method and step is such as
Under：
(4-1) calculates height above sea level of the sea level in emission time with TOPEX/Poseidon data according to the Laser emission moment
Degree；
(4-2) calculates sea wave high according to global air speed data；
(4-3) calculates laser according to the size of stop over position and the laser facula of laser facula by the unrestrained height of sea level height and sea
Seawater surface dispersed elevation in hot spot；
(4-4) calculates actual according to the position sea dispersed elevation of stopping over of orbital position during Laser emission, laser facula
Path-length；
(4-5) goes out retardation of the steam to ranging by the ranging data and actual transmission paths length computation after the correction of dry item；
(5) coefficient correlation of aerosol pixel value and ranging delay amount is calculated；Method and step is as follows：
It is molten that (5-1) is calculated the ranging delay amount that aerosol steam causes, image gas by multiple high data of survey on sea respectively
Glue content size；
(5-2) uses least square method, and relation therebetween is fitted with ranging delay amount, image aerosol load size.
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| CN107037439B (en) * | 2017-03-28 | 2020-05-12 | 武汉大学 | Atmospheric delay ranging error correction method for laser altimeter aiming at land target |
| CN109375196B (en) * | 2018-12-12 | 2019-08-20 | 北京华科博创科技有限公司 | A kind of laser radar caliberating device and scaling method based on space-time transformation |
| CN111025362A (en) * | 2019-12-17 | 2020-04-17 | 中国资源卫星应用中心 | Satellite-borne laser data high-precision positioning method considering tidal error correction |
| CN111025327A (en) * | 2019-12-17 | 2020-04-17 | 中国资源卫星应用中心 | Satellite-borne laser data high-precision positioning method considering atmospheric delay correction |
| CN111142090B (en) * | 2019-12-25 | 2022-03-18 | 自然资源部国土卫星遥感应用中心 | Laser altimeter cloud scattering error correction method and device |
| CN114414503B (en) * | 2022-01-10 | 2024-05-07 | 武汉华信联创技术工程有限公司 | Method, device, equipment and readable storage medium for detecting potential gas emission source |
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| WO2005010556A1 (en) * | 2003-07-18 | 2005-02-03 | University Of Nottingham | Radar position and movement measurement for geophysical monitoring |
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| CN103364766A (en) * | 2012-04-01 | 2013-10-23 | 中国科学院电子学研究所 | External calibration method of satellite-borne interferometric synthetic aperture radar (InSAR) system |
| CN104931022A (en) * | 2015-04-21 | 2015-09-23 | 国家测绘地理信息局卫星测绘应用中心 | Satellite image three-dimensional area network adjustment method based on satellite-borne laser height measurement data |
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