CN105841676A

CN105841676A - Forest fire night positioning terrestrial photogrammetry method

Info

Publication number: CN105841676A
Application number: CN201610172400.XA
Authority: CN
Inventors: 冯仲科; 刘金成; 祁曼; 于东海
Original assignee: Beijing Forestry University
Current assignee: Beijing Forestry University
Priority date: 2016-03-24
Filing date: 2016-03-24
Publication date: 2016-08-10

Abstract

The invention discloses a forest fire night positioning terrestrial photogrammetry method, wherein a forest fire night positioning terrestrial photogrammetry device is assembled from a probe having photographing function and a cloud bench being capable of rotating automatically. The photographing probe has been calibrated. The device is installed at a ground point in a special object space coordinate, the cloud bench is controlled to rotate automatically according to preset time interval, and the cloud bench controls the probe to automatically photograph a target object. When the probe photographs, internal and external positions can be obtained both, so that the forest fire night positioning terrestrial photogrammetry method, according to the principle of photogrammetry, can extract the point location information in a photograph and achieves night positioning of forest fire.

Description

A kind of forest fires position ground photogrammetric survey method night

One, technical field

The present invention relates to one forest fires localization method at night, particularly one utilizes terrestrial photogrammetric survey to carry out forest fires at night The technical method of location.

Two, technical background

Forest fire is recurrent in forest, has the features such as burst is strong, destructive power is big, coverage is wide, The early warning of forest fire has become the most important thing that forest zone works with fire position.And there is the forest fires peace to the forest reserves at night Quan Genghui causes greatly threat, and it has and is difficult to find fire point position, put out the features such as difficulty is big.After finding the condition of a fire, Owing to fire point particular location can not be determined rapidly, fire prevention direction department is caused not allocate in time, establishment officer and equipment put into The scene of a fire, delays the best opportunity of fire extinguishing, causes damage and disaster greatly to forest zone.

Traditional forest fires getting up early alarm mode is mainly forest ranger and stands on Watchtower, enters in the way of the most on duty Row is protected a forest, and the mode such as can only listen to distinguish by artificial ear of observing.This traditional mode not only needs to consume substantial amounts of manpower , there is artificial visual fatigue and fail to report and experience differentiates careless mistake in financial resources, is difficult to determine the shortcoming such as particular location of fire point, and night Between forest fires early warning the most blank, it is impossible to the Forest Fire Disasters in forest zone is preferably minimized.

Therefore, still there is bigger deficiency and area for improvement about forest fires at night location at present.

Three, summary of the invention

In order to overcome the deficiency of tradition forest fires location, filling up the blank of forest fires location at night, the purpose of the present invention carries exactly Ground photogrammetric survey method is positioned night for a kind of forest fires.

The object of the present invention is achieved like this:

Probe with camera function is combined into forest fires with the The Cloud Terrace that can automatically rotate and positions ground photography survey night Amount equipment, is placed in this equipment on ground point known to specific object coordinates, and when photographing, the angle of inclination beta of probe is fixed, and turns over Roll angle δ=0, azimuth angle alpha can be obtained by cradle head control, sets time interval controls The Cloud Terrace as required and automatically rotates, and leads to Cross cradle head control probe and be automatically performed the shooting to object；

By forest situation being shot at night, when the probe on two photography websites captures same fire point, Two photos now shot on the two photography website are the formation of stereogram, utilize photogrammetry principles and as to resolving Model, extracts the some position information in shooting photo, it is achieved the location at night of forest fires in forest；

This equipment is utilized at night, forest situation to be shot, when the probe of only one of which photography website has captured conjunction When photo put by suitable fire, DTM (digital terrain model) can be coordinated according to the monolithic of this photography website photographs, to forest fires point at night The physical location of position judges.

This invention has the advantage that

1. utilize electronic equipment and photogrammetric equipment that forest fires are monitored early warning, it is possible to the mixing of anthropic factor significantly Enter, liberate manpower；

2. image can real-time Transmission, it is simple to finds the condition of a fire in time, disaster is preferably minimized；

The most there is not problem of thinking that observation is tired and misjudgement is failed to judge, it is possible to judge exactly and determine forest fires position.

Four, accompanying drawing explanation:

The present invention is further described with example below in conjunction with the accompanying drawings.

Fig. 1 is that forest fires position terrestrial photogrammetric survey picture to resolving model schematic night；

Wherein, A, B are two photography websites of arranging apparatus, and α is azimuth, and β is inclination angle, and P represents fire point position；

Fig. 2 is that forest fires position terrestrial photogrammetric survey monolithic cooperation DTM resolving model schematic night；

Wherein, A is the photography website of arranging apparatus, and P represents fire point position, and Q represents forest zone DTM.

Five, detailed description of the invention:

Utilize terrestrial photogrammetric survey method that forest fires at night are positioned, theory and practice has all carried out bigger changing Enter and innovate, it is provided that a kind of new forest fires localization method, compensate for the deficiency of forest fires at night location, specifically:

1) first photography probe is carried out calibration, focus as f, as it is shown in figure 1, forest fires are positioned terrestrial photogrammetric survey night Equipment is placed in ground point A (X known to object coordinates_A, Y_A, Z_A)、B(X_B, Y_B, Z_BOn), now, the angle of inclination beta of shooting probe is solid Fixed, roll angle δ=0, azimuth angle alpha can be obtained by cradle head control, sets time interval controls The Cloud Terrace as required and automatically rotates, and It is automatically performed the shooting to object by cradle head control probe.

2) in this automatic rotary course of equipment The Cloud Terrace, as it is shown in figure 1, when the probe on two photography website A, B is captured same During one fire point, two photos that the two photography website now shoots are the formation of stereogram；Due to probe during photography Angle of inclination beta fix, roll angle δ=0, and azimuth angle alpha can be obtained by cradle head control, then, utilizes mathematical modelWherein, (X, Y, Z) is the actual object coordinates of any picture point, and (Xs, Ys, Zs) is for taking the photograph The coordinate of shadow website projection centre, (x, y, f) for the elements of interior orientation of photography probe, (a_i, b_i, c_i) (i=1,2,3) be by inclining The coefficient that angle beta, roll angle δ and azimuth angle alpha determine, coordinate picpointed coordinate that photo reads (x, y), focus probe focal distance f and The object coordinates (Xs, Ys, Zs) at known two camera station spot projection centers, three unknown numbers of four equation solver, can pass through Little square law tries to achieve the object coordinates waiting to seek fire point；And then, it may be determined that night forest zone fire point physical location place.

3) utilize this equipment when night forest situation being monitored, as in figure 2 it is shown, when only one of which photography website When suitable fire point photo has been arrived in probe candid photograph, forest zone DTM (numeral can be coordinated according to the fire point monolithic of photography website A photographs Ground model), the physical location of forest fires point at night position is judged；Owing to the DTM in forest zone is it is known that this forest zone topocentric coordinates All it is known that then forest zone DTM can be utilized to determine the distance between the neighbouring location point that photography website and thermoelectricity occur, the most really Define depth of field Z；Utilize mathematical modelWherein, (X, Y, Z) is the actual object coordinates of arbitrfary point, (x, y) For the image space coordinate of any picture point, f is the focal length focusing probe, and conversion obtains mathematical modelFinally, utilize 3. mathematical model, coordinates fire point depth of field Z determined, tries to achieve the object coordinates of forest zone fire point, and then determine forest zone fire at night The physical location place of point.

Claims

1. forest fires position a ground photogrammetric survey method night, it is characterized in that: by with camera function probe with can from The dynamic The Cloud Terrace rotated is combined into forest fires and positions terrestrial photogrammetric survey equipment, wherein, photographing probe calibration night；This is set For being placed on ground point known to specific object coordinates, set time interval controls The Cloud Terrace as required and automatically rotate, and It is automatically performed the shooting to object by cradle head control probe；By forest situation being shot at night, utilize photography Measuring principle, extracts the some position information in shooting photo, it is achieved the location at night of forest fires in forest.

2. position ground photogrammetric survey method night according to claim 1 forest fires, it is characterized in that: utilize this equipment at night Forest situation is shot, when two photography websites on probe capture same fire point time, the two photography website on this Time shooting two photos be the formation of stereogram；Owing to during photography, the angle of inclination beta of probe is fixed, roll angle δ=0, and orientation Angle α can be obtained by cradle head control, then, utilizes mathematical model 1.Wherein, (X, Y, Z) is The arbitrarily actual object coordinates of picture point, (Xs, Ys, Zs) is the coordinate at camera station spot projection center, and (x, y, f) for photography probe Elements of interior orientation, (a_i, b_i, c_i) (i=1,2,3) be the coefficient determined by angle of inclination beta, roll angle δ and azimuth angle alpha, coordinates photo to read The picpointed coordinate that takes (x, y), focus the focal distance f of probe and known two camera station spot projection centers object coordinates (Xs, Ys, Zs), three unknown numbers of four equation solver, the object coordinates waiting to seek fire point can be tried to achieve by method of least square；And then, it may be determined that Night forest zone fire point physical location place.

3. position ground photogrammetric survey method night according to claim 1 forest fires, it is characterized in that: utilize this equipment at night Forest situation is shot, when the probe of only one of which photography website has captured suitable fire point photo, can be according to this The monolithic of photography website photographs coordinates DTM (digital terrain model), judges the physical location of forest fires point at night position；By DTM in forest zone is it is known that it is known that then this forest zone topocentric coordinates all can utilize forest zone DTM to determine photography website and thermoelectricity Distance between the neighbouring location point occurred, i.e. defines depth of field Z；Utilize mathematical model 2.Wherein, (X, Y, Z) it is the actual object coordinates of arbitrfary point, (x, y) is the image space coordinate of any picture point, and f is the focal length focusing probe, converts To mathematical model 3.Finally, utilize mathematical model 3., coordinate fire point depth of field Z determined, try to achieve forest zone fire point Object coordinates, and then determine the physical location place of forest zone fire point at night.