CN106054202A - Laser full-echo track subdivided processing method through combination of digital image aerotriangulation - Google Patents
Laser full-echo track subdivided processing method through combination of digital image aerotriangulation Download PDFInfo
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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
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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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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Abstract
The present invention provides a laser full-echo track subdivided processing method through combination of digital image aerotriangulation. The method comprises: extracting the wave crest elevation value of each moment of the laser radar track waveform to realize the obtaining of the elevation value of a laser radar track subdivide area; and establishing a ground elevation model relative to the laser radar track and a simulation waveform to obtain the relative elevation information of a stereopsis corresponding to the laser radar track and match the laser radar track waveform and the simulation waveform to correspond the elevation value of the laser radar track subdivided area to the pixel of the stereopsis so as to realize the conversion from the relative elevation information of the stereopsis to an absolute elevation information, obtain the absolute elevation value of the pixel of the stereopsis and solve the problem that the accurate elevation value of the pixel of the stereopsis cannot be obtained due to the sizes of the laser radar track area and the pixel of the stereopsis are not matched. An elevation value is taken as an auxiliary elevation control point of the digital image aerotriangulation to effectively improve the precision of the surveying and mapping of topomap of the satellite camera measurement.
Description
Technical field
The present invention relates to lidar measurement technical field, the laser particularly relating to a kind of combination digitized video sky three returns entirely
Ripple footprint Subdividing Processing method.
Background technology
Traditional topography is mainly by aerophotogrammetric method terrain map of survey and drawing, along with space technology, calculating
Machine technology and the development of the information processing technology, satellite photogrammetry becomes the important channel of topography mapping.
Current satellite photogrammetry technology, surveys and draws 1: 5 ten thousand and 1: 1 ten thousand topography or repaiies survey 1: 2.5 ten thousand topography, different
Topographic maps height accuracy requires as shown in table 1, the height accuracy level land 0.35m of mapping 1: 1 ten thousand topography requirement, hills
Ground 1.2m.
Table 1 different scale Height accuracy in topographic map requires (unit: rice)
In order to improve satellite photogrammetry mapping precision, the particularly mapping essence of thinning area, the control point such as desert, Gobi desert
Degree, surveys and draws greater proportion chi topography, uses multi-beam full echo laser radar technique assistant aerotriangulation surveying, becomes raising
One of satellite photogrammetry mapping precision effective way.
Typical satellite-bone laser radar is the ICESat satellite of U.S.'s transmitting in 2003, is equipped with GLAS laser radar sensing
Device, it is mainly characterized by simple beam, full echo, angle of divergence 0.1mrad, range accuracy 0.1m, at the laser footprint in 600km high-altitude
About 60m, studies as polar ice sheet overall balance and sea level variability, the highest to ground resolution requirement.
As it is shown in figure 1, for general satellite-bone laser radar, laser beam center range finding H, deviate inclination angle, summitLandform table
Face angle of inclination beta, angle of divergence θ, during satellite orbital altitude 500km, the laser ranging limit error only produced because of earth's surface obliquity effectsWhenβ=15 ° (hilly ground), during θ=0.06mrad, laser ranging is by mistake
Difference reaches | Δ R | ≈ 1.29m (1 σ)；According to current China Satellite Orbit Determination, determine appearance and platform degree of stability and control level, track is high
The Horizontal position errors about 1.13m of degree 500km, the vertical error produced in the case of 15 ° of hilly ground tables is 0.30m；Comprehensively examine
In worry laser footprint, range error and orbit determination determine the impact of appearance equal error, it is impossible to obtain the topography of higher precision.
The range accuracy of satellite-bone laser radar can reach 0.1-0.2m, it is considered to the factor impacts such as atmospheric environment, in Plain
In the case of hilly ground table, measurement of higher degree precision is up to 0.3-1.0m, although significantly improve conventional satellite photogrammetric
Measurement of higher degree precision, but the restriction of the Stimulated Light radar angle of divergence, carry the satellite platform of 500-600km, the foot of laser radar
Mark is generally at tens of rice, and in the footprint of tens of rice diameter, and only obviously cannot accurate description office by the dispersed elevation in footprint
The fluctuations of portion's landform.The major defect using multi-beam full echo laser radar technique assistant aerotriangulation surveying is,
Satellite borne laser footprint is bigger, it is impossible to the accurate hypsography information of diverse location in extracting directly laser footprint, have impact on laser
The plane elevation resolution of hot spot footprint, thus photogrammetric topographic mapping precision cannot be improved.
Summary of the invention
(1) to solve the technical problem that
In order to solve prior art problem, the invention provides the laser full echo footprint of a kind of combination digitized video sky three
Subdividing Processing method.
(2) technical scheme
The invention provides a kind of laser full echo footprint Subdividing Processing method of combination digitized video sky three, its feature exists
In, including: step A: extraction model parameter from laser radar footprint full echo information, set up laser radar footprint full echo mould
Type, and rebuild the full echo waveform of laser radar footprint；Step B: based on the stereoscopic image pair that laser radar footprint is corresponding, rebuilds and swashs
The relative ground elevation model of optical radar footprint；Step C: relative ground based on described laser radar footprint elevation model, builds
Vertical laser radar footprint echo simulation model, and rebuild laser radar footprint simulation waveform；Step D: set up described laser radar
The data structure of the relative ground elevation model of footprint and described laser radar footprint simulation waveform and relative ground elevation mould
The mapping relations of type；And step E: by the described full echo waveform of laser radar footprint and laser radar footprint simulation waveform
Join, choose effective laser radar footprint, crest based on the described full echo waveform of laser radar footprint and stereoscopic image pixel it
Between mapping relations, extract the height value the earth as stereoscopic image pixel of effective laser radar footprint full echo waveform crest
Elevation.
(3) beneficial effect
From technique scheme it can be seen that at the laser full echo footprint segmentation of the combination digitized video sky three of the present invention
Reason method has the advantages that
(1) by extracting each moment crest height value of laser radar footprint waveform, it is achieved that laser radar footprint segments
The height value in district obtains；
(2) by setting up laser radar footprint simulation waveform and relative ground elevation model, laser radar foot has been obtained
The relative elevation information of the stereoscopic image that mark is corresponding, and mating, by laser through laser radar footprint waveform and simulation waveform
The height value in radar footprint segmentation district corresponds to the pixel of stereoscopic image, it is achieved that the relative elevation information of stereoscopic image is to definitely
The conversion of elevation information, thus obtained the absolute elevation value of stereoscopic image pixel, solve due to laser radar footprint area
Do not mate with the size of stereoscopic image pixel, and stereo image unit accurately height value problem cannot be obtained, be effectively increased and defend
Star photogrammetric topography mapping precision.
Accompanying drawing explanation
Fig. 1 is satellite-bone laser radar range measurement principle figure；
Fig. 2 is laser radar footprint and the laser radar footprint full echo waveform signal of reconstruction of the embodiment of the present invention
Figure；
Fig. 3 is the imaging schematic diagram of the stereoscopic image pair of the embodiment of the present invention；
Fig. 4 is relative ground elevation model and the laser radar footprint simulation waveform schematic diagram of the embodiment of the present invention；
Fig. 5 is relative ground elevation model data structure and the grid schematic diagram of correspondence thereof of the embodiment of the present invention；
Fig. 6 is that the full echo waveform of laser radar footprint of the embodiment of the present invention mates schematic diagram with simulation waveform；
Fig. 7 is the laser full echo footprint Subdividing Processing method flow of the combination digitized video sky three of the embodiment of the present invention
Figure.
Detailed description of the invention
The laser full echo footprint Subdividing Processing method of the combination digitized video sky three of the present invention, by complete for laser radar echo
Signal analysis is combined with high resolution remote sensing view stereoscopic vision technique, extracts full echo laser footprint segmentation district elevation information, should
Elevation information, as the photogrammetric auxiliary of empty three high process control information, can improve the topographic mapping essence of satellite photogrammetry
Degree.It is mainly characterized by comprising: (1) propose a kind of based on laser radar footprint Energy distribution, laser light incident angle, target imaging distance and
The isoparametric full echo-signal reconstruction model of target reflectivity；(2) laser footprint is realized by remote sensing image stereovision technique
Interior elevation model relatively is rebuild and wave simulation；(3) data structure of simulation waveform and ground elevation model grid is set up, it is achieved
Optical image pixel maps with return laser beam waveform；(4) by laser radar full echo-signal analysis, laser facula echo waveform
Mate with simulation waveform, extract the earth elevation in optical image district corresponding to return laser beam crest/laser footprint segmentation district.
For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Accompanying drawing, does the present invention and describes in detail further.
The embodiment provides a kind of laser full echo footprint Subdividing Processing method of combination digitized video sky three,
It specifically includes:
Step A: extraction model parameter from laser radar footprint full echo information, sets up laser radar footprint full echo mould
Type, and rebuild the full echo waveform of laser radar footprint.
Step A specifically includes:
Sub-step A1: extraction model parameter from laser radar footprint full echo information, model parameter includes: laser footprint
Intensity distributions, target echo time delay, target imaging distance, laser beam point to angle, target reflectivity.
Above-mentioned model parameter echo waveform complete to laser radar footprint is relevant, existing full echo laser radar system
To provide above-mentioned model parameter, its concrete extracting method repeats no more.In each laser radar footprint, the target pair of same distance
Stress a crest of optical radar footprint echo waveform, laser radar footprint echo waveform is made up of one or more crests, because of
This, prepare link in data and be required for each section of above-mentioned model parameter of waveform extracting of each laser radar footprint, in order to carry out
Follow-up modeling.
Sub-step A2: set up the full echo model of laser radar footprint based on model parameter.
Sub-step A2 specifically includes: the full echo model of laser radar footprint set up based on model parameter is:
In formula: fiT () represents the crest in the i-th moment of laser radar footprint；tiFor the mesh that i-th moment crest is corresponding
Mark echo time delay；aiFor the target reflectivity that i-th moment crest is corresponding:For laser footprint intensity distributions；β is laser light
Shu Zhixiang and the angle of target surface normals；C is the relevant coefficients such as atmospheric attenuation, can be calculated by atmospheric transfer model
Arrive；siFor the target imaging distance that i-th moment crest is corresponding；τ is laser pulse width.Above-mentioned formula (1) is utilized to build
The full echo model of vertical each laser radar footprint.Entirely return it should be noted that said method simply sets up laser radar footprint
A kind of mode of wave pattern, the present invention is not limited to this, it is also possible to can effectively be set up the full echo of laser radar footprint by other
The method of model substitutes, and does not repeats them here.
Sub-step A3: based on the full echo model of laser radar footprint, rebuilds the full echo waveform of laser radar footprint.
Sub-step A3 specifically includes: based on the full echo model of laser radar footprint, each section of waveform of synthetic laser radar footprint
Obtaining the full echo waveform of laser radar footprint rebuild, the full echo waveform of laser radar footprint of reconstruction is:
Wherein, t1、t2Represent initial time and the knot of final stage waveform of the first paragraph waveform of laser radar footprint respectively
The bundle time.
Utilize above-mentioned formula (2) that the full echo waveform of each laser radar footprint can be rebuild.Fig. 2 shows laser radar
The full echo waveform of laser radar footprint of footprint and reconstruction.
Step B: based on the stereoscopic image pair that laser radar footprint is corresponding, rebuild the relative ground elevation of laser radar footprint
Model.
The all corresponding high-resolution stereoscopic image pair of each laser radar footprint, the stereoscopic image of stereoscopic image pair includes
Some pixels, the pixel number of stereoscopic image is determined by the size of laser radar footprint and stereoscopic image resolution, at this and be not added with
To limit.
Step B specifically includes:
Sub-step B1: extract the stereoscopic image pair that laser radar footprint is corresponding, using one of stereoscopic image centering as base
Quasi-image, another, as with reference to image, carries out pointwise stereoscopic image coupling to reference images with reference to image, obtains picture of the same name
Point coordinates.
In figure 3, left image is as reference images, and right image is as with reference to image, S1 and S2 represents two image sensings
The center of device, image focal plane is separately shown with center, is beneficial to further describe the relation of image sensor focal length, principal point.
Sub-step B2: based on a topocentric corresponding image points coordinate, obtain the horizontal parallax of this topocentric corresponding image points.
Sub-step B2 specifically includes: sets and chooses ground point A and divide in reference images and the x coordinate with reference to the corresponding image points of image
Wei xa1And xa2, then the horizontal parallax of the corresponding image points of ground point A is:
pA=xa1-xa2 (3)
Sub-step B3: on the basis of this ground point, calculates another ground point and this topocentric relative elevation.
Sub-step B3 specifically includes: on the basis of ground point A, the discrepancy in elevation of another ground point B and ground point A, can pass through
The difference of the horizontal parallax that A, B are 2 obtains, and relative elevation with the relation of horizontal parallax is:
H=Δ p × HA/(b+Δp) (4)
In formula: h is the ground point B relative elevation relative to ground point A；Δ p=pB-pA；Image principal point and ginseng on the basis of b
Distance according to image principal point；HAFor satellite altitude.
Sub-step B4: calculate the relative elevation of each ground point and ground point A according to sub-step B3, obtains the laser rebuild
The relative ground elevation model of radar footprint.
As can be seen here, this relative ground elevation model is lattice network model, and each grid of lattice network model both corresponds to
One pixel of the stereoscopic image that laser radar footprint is corresponding, the numerical value of each grid be this pixel corresponding topocentric relatively
Height value, can reconstruct the relative ground elevation model of each laser radar footprint by sub-step B1 to B4.
Step C: relative ground based on laser radar footprint elevation model, sets up laser radar footprint echo simulation mould
Type, and rebuild laser radar footprint simulation waveform.
Step C specifically includes:
Sub-step C1: relative ground based on laser radar footprint elevation model, laser radar footprint echo simulation model
For:
Wherein, NORM represents normal state；Δ d is the resolution of ranging of laser radar, is the intrinsic ginseng of laser radar system
Number；M is the line number of the relative ground elevation model of laser radar footprint, and n is the relative ground elevation model of laser radar footprint
Columns, hxyRelative elevation value for relative ground elevation model xth row y row grid.
In laser radar footprint, the target of different elevations causes hypsography to change, and can form multiple emulation crest (multistage
Simulation waveform), therefore, step C also includes:
Sub-step C2: based on laser radar footprint echo simulation model, each emulation crest of synthetic laser radar footprint obtains
To the laser radar footprint simulation waveform rebuild, the laser radar footprint simulation waveform of reconstruction is:
Wherein, h1、h2Represent the minimum relative elevation value in the relative ground elevation model that laser radar footprint is corresponding respectively
With maximum relative elevation value.The simulation waveform of each laser radar footprint can be reconstructed by sub-step C1 and C2.Fig. 4 illustrates
Relative ground elevation model and laser radar footprint simulation waveform.
Step D: data structure and the laser radar footprint of setting up the relative ground elevation model of laser radar footprint are imitated
The mapping relations of true waveform and relative ground elevation model.
Step D specifically includes:
Sub-step D1: with laser radar range resolution ax d as the discrepancy in elevation, the relative ground elevation mould to laser radar footprint
Type, extracts contour elevation grid, sets up the data structure of relative ground elevation model along elevation direction, and this data structure includes
hj(x, y) (j=1,2 ..., nj), hjRepresenting the multiple of laser radar range resolution ax d, i.e. j times of Δ d, (x y) represents
The xth row y row grid of ground elevation model, n relativelyjRepresent that in the elevation model of relative ground, relative elevation is hjNumber of squares
Amount.The data structure of the relative ground elevation model of each laser radar footprint can be obtained by step D.
As a example by Fig. 5, the data structure of relative ground elevation model is illustrated, in units of laser radar footprint, right
In laser radar footprint 1, the data structure of its relative ground elevation model is h1(9,1)；h2(2,2) ..., (6,2)；h3(5,
4) ..., (6,3)；…；hj(6,5), (6,6), represent in the relative ground elevation model of laser radar footprint 1, relative elevation
It is 1 times of laser radar range resolution ax d (h1) for the 9th row the 1st row grid (9,1), relative elevation is h1Grid quantity n1
=1；Relative elevation is 2 times of laser radar range resolution ax d (h2) for the 2nd row the 2nd row grid (2,2) ..., the 6th row the 2nd
Row grid (6,2)；Relative elevation is 3 times of laser radar range resolution ax d (h3) for the 5th row the 4th row grid (5,4) ...,
6th row the 3rd row grid (6,3)；Relative elevation is j times of laser radar range resolution ax d (hj) for the 6th row the 5th row grid
(6,5) and the 6th row the 6th row grid (6,6), relative elevation is hjGrid quantity nj=2；The data of other laser radar footprints
Structure is identical with this.
Sub-step D2: from formula (5) and (6), laser radar footprint echo simulation model f ' (h) is by the phase of two dimension
The one-dimensional waveform that ground elevation model is obtained with laser radar range resolution ax d for interval, appointing of this echo simulation model
Meaning point f ' (hi) with data structure h of relative ground elevation modelj(x, y) (i=1,2 ..., nj) form mapping relations, thus
Obtain the mapping relations of laser radar footprint simulation waveform p ' (h) and relative ground elevation model.Can be set up by step D
The data structure of the relative ground elevation model of each laser radar footprint, and each laser radar footprint simulation waveform and phase
Mapping relations to ground elevation model.Fig. 5 shows the grid signal of relative ground elevation model data structure and correspondence thereof
Figure.
Step E: complete for laser radar footprint echo waveform is mated with laser radar footprint simulation waveform, chooses effective laser
Radar footprint, based on the mapping relations between laser radar footprint full echo waveform crest and stereoscopic image pixel, extracts effectively
The height value of laser radar footprint full echo waveform crest is as the earth elevation of stereoscopic image pixel.
Synchronize laser radar data and the stereoscopic image obtained, the full echo waveform of laser radar footprint obtained and emulation ripple
Shape all reflects the hypsography change in laser radar footprint, has good similarity, chooses the laser that dependency is higher
Radar footprint is as the effective laser radar footprint extracting elevation information.
Step E specifically includes:
Sub-step E1: calculate the correlation coefficient of the full echo waveform of laser radar footprint and laser radar footprint simulation waveform
Big value, is more than the laser radar footprint of threshold value as effective laser radar footprint using correlation coefficient maximum.Wherein, calculating is relevant
The computational methods of coefficient are technology well known in the art, threshold value can choose as the case may be one less than and close to 1 little
Number, here is omitted.
Sub-step E1 is by calculating the phase relation of the full echo waveform of laser radar footprint and laser radar footprint simulation waveform
Number, it is achieved that full echo waveform p (t) of laser radar footprint is corresponding with the coupling of laser radar footprint simulation waveform p ' (h).
Sub-step E2: according to full echo waveform p (t) of laser radar footprint and laser radar footprint simulation waveform p ' (h)
Mate the mapping relations of correspondence and laser radar footprint simulation waveform p ' (h) and relative ground elevation model, by laser radar
The height value that footprint full echo waveform crest is corresponding maps to the data structure of relative ground elevation model, thus obtains relatively
The geodetic height of face elevation model correspondence stereoscopic image pixel.
In sub-step E2, the height value that laser radar footprint full echo waveform crest is corresponding is returned entirely by laser radar footprint
Wave pattern obtains, the crest f in laser radar footprint i-th momentiT () can be matched to laser radar footprint simulation waveform p ' (h)
I-th point f ' (hi), this i-th point f ' (hi) it is matched to data structure h of relative ground elevation modelj(x, y) (i=1,
2 ..., nj), the crest f in laser radar footprint i-th moment the most at lastiT the height value of () gives relative ground elevation model
Data structure hj(x, y) (i=1,2 ..., nj) corresponding stereoscopic image pixel, as the geodetic height of stereoscopic image pixel.Pass through
Step E can obtain the geodetic height of stereoscopic image pixel corresponding to each laser radar footprint.Fig. 6 shows laser radar footprint
Full echo waveform and simulation waveform matching relationship.
So far, already in connection with accompanying drawing, the present embodiment has been described in detail.According to above description, those skilled in the art
The laser full echo footprint Subdividing Processing method of the combination digitized video sky three of the present invention should be had and clearly recognize.
The laser full echo footprint Subdividing Processing method of the combination digitized video sky three of the present invention, by extracting laser radar
Each moment crest height value of footprint waveform, it is achieved that the height value in laser radar footprint segmentation district obtains, by setting up laser
Radar footprint simulation waveform and relatively ground elevation model, obtained the relatively high of stereoscopic image corresponding to laser radar footprint
Journey information, and mating through laser radar footprint waveform and simulation waveform, by the height value pair in laser radar footprint segmentation district
The pixel of stereoscopic image should be arrived, it is achieved that the relative elevation information of stereoscopic image is to the conversion of absolute elevation information, thus obtains
The absolute elevation value of stereoscopic image pixel, solve due to laser radar footprint area and stereoscopic image pixel size not
Join, and stereo image unit accurately height value problem cannot be obtained, be effectively increased the topography mapping essence of satellite photogrammetry
Degree.
It should be noted that in accompanying drawing or description text, the implementation not illustrating or describing, it is affiliated technology
In field, form known to a person of ordinary skill in the art, is not described in detail.Additionally, the above-mentioned definition to each element not only limiting
The various modes mentioned in embodiment, it can be changed or replace, such as by those of ordinary skill in the art simply:
(1) the direction term mentioned in embodiment, such as " on ", D score, "front", "rear", "left", "right" etc., be only ginseng
Examine the direction of accompanying drawing, be not used for limiting the scope of the invention；
(2) above-described embodiment can based on design and the consideration of reliability, being mixed with each other collocation use or with other embodiments
Mix and match uses, and the technical characteristic in i.e. different embodiments can freely form more embodiment.
Particular embodiments described above, has been carried out the purpose of the present invention, technical scheme and beneficial effect the most in detail
Describe in detail bright, be it should be understood that the specific embodiment that the foregoing is only the present invention, be not limited to the present invention, all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. done, should be included in the guarantor of the present invention
Within the scope of protecting.
Claims (10)
1. the laser full echo footprint Subdividing Processing method combining digitized video sky three, it is characterised in that including:
Step A: extraction model parameter from laser radar footprint full echo information, sets up the full echo model of laser radar footprint,
And rebuild the full echo waveform of laser radar footprint；
Step B: based on the stereoscopic image pair that laser radar footprint is corresponding, rebuild the relative ground elevation mould of laser radar footprint
Type；
Step C: relative ground based on described laser radar footprint elevation model, sets up laser radar footprint echo simulation mould
Type, and rebuild laser radar footprint simulation waveform；
Step D: set up data structure and the described laser radar foot of the relative ground elevation model of described laser radar footprint
The mapping relations of mark simulation waveform and relative ground elevation model；And
Step E: the described full echo waveform of laser radar footprint is mated with laser radar footprint simulation waveform, chooses effective laser
Radar footprint, the mapping relations between crest and stereoscopic image pixel of based on the described full echo waveform of laser radar footprint, carry
Take the height value the earth elevation as stereoscopic image pixel of effective laser radar footprint full echo waveform crest.
2. laser full echo footprint Subdividing Processing method as claimed in claim 1, it is characterised in that described step A is specifically wrapped
Include:
Sub-step A1: extraction model parameter from laser radar footprint full echo information, described model parameter includes: laser footprint
Intensity distributions, target echo time delay, target imaging distance, laser beam point to angle and target reflectivity；
Sub-step A2: set up the full echo model of laser radar footprint based on described model parameter；And
Sub-step A3: based on the described full echo model of laser radar footprint, rebuilds the full echo waveform of laser radar footprint.
3. laser full echo footprint Subdividing Processing method as claimed in claim 2, it is characterised in that described sub-step A2 is concrete
Including:
The full echo model of laser radar footprint set up based on described model parameter is:
Wherein, fiT () represents the crest in the i-th moment of laser radar footprint；tiThe target corresponding for i-th moment crest is returned
Ripple time delay；aiFor the target reflectivity that i-th moment crest is corresponding；For laser footprint intensity distributions；β is that laser beam refers to
To the angle with target surface normals；C is the relevant coefficients such as atmospheric attenuation；siThe target corresponding for i-th moment crest becomes
Image distance from；τ is laser pulse width.
4. laser full echo footprint Subdividing Processing method as claimed in claim 3, it is characterised in that described sub-step A3 is concrete
Including:
Based on the described full echo model of laser radar footprint, each section of waveform of synthetic laser radar footprint obtains the laser radar rebuild
The full echo waveform of footprint, the full echo waveform of laser radar footprint of reconstruction is:
Wherein, t1、t2At the end of representing initial time and the final stage waveform of the first paragraph waveform of laser radar footprint respectively
Between.
5. laser full echo footprint Subdividing Processing method as claimed in claim 1, it is characterised in that described step B is specifically wrapped
Include:
Sub-step B1: extract the stereoscopic image pair that laser radar footprint is corresponding, makees an image of described stereoscopic image centering
On the basis of image, another image, as with reference to image, carries out pointwise stereoscopic image to described reference images with reference to image
Join, obtain corresponding image points coordinate；
Sub-step B2: based on a topocentric corresponding image points coordinate, obtain the horizontal parallax of described topocentric corresponding image points；
Sub-step B3: on the basis of described ground point, calculates another ground point and described topocentric relative elevation；And
Sub-step B4: calculate each ground point and described topocentric relative elevation according to sub-step B3, obtains the laser rebuild
The relative ground elevation model of radar footprint.
6. laser full echo footprint Subdividing Processing method as claimed in claim 5, it is characterised in that described sub-step B2 is concrete
Including:
The horizontal parallax of the corresponding image points of ground point A is:
pA=xa1-xa2 (3)
xa1And xa2It is respectively ground point A at reference images and the x coordinate of reference image.
7. laser full echo footprint Subdividing Processing method as claimed in claim 6, it is characterised in that described sub-step B3 is concrete
Including:
On the basis of ground point A, the relative elevation of another ground point B and ground point A is:
H=Δ p × HA/(b+Δp) (4)
In formula: h is the ground point B relative elevation relative to ground point A；Δ p=pB-pA, pBObtain according to the method for sub-step B2
Arrive；Image principal point and the distance with reference to image principal point on the basis of b；HAFor satellite altitude.
8. laser full echo footprint Subdividing Processing method as claimed in claim 1, it is characterised in that described step C is specifically wrapped
Include:
Sub-step C1: relative ground based on laser radar footprint elevation model, laser radar footprint echo simulation model is:
Wherein, NORM represents normal state；Δ d is the resolution of ranging of laser radar；M is that the relative ground of laser radar footprint is high
The line number of journey model, n is the columns of the relative ground elevation model of laser radar footprint, hxyFor relative ground elevation model xth
The relative elevation value of row y row grid；And
Sub-step C2: based on laser radar footprint echo simulation model, each emulation crest of synthetic laser radar footprint obtains weight
The laser radar footprint simulation waveform built, the laser radar footprint simulation waveform of reconstruction is:
Wherein, h1、h2Represent the minimum relative elevation value in relative ground elevation model corresponding to laser radar footprint and the most respectively
Big relative elevation value.
9. laser full echo footprint Subdividing Processing method as claimed in claim 1, it is characterised in that described step D is specifically wrapped
Include:
Sub-step D1: with laser radar range resolution ax d as the discrepancy in elevation, the relative ground elevation mould to described laser radar footprint
Type, extracts contour elevation grid, sets up the data structure of described relative ground elevation model along elevation direction, and described data are tied
Structure includes hj(x, y) (j=1,2 ..., nj), hjRepresenting the multiple of laser radar range resolution ax d, (x y) represents relatively
The xth row y row grid of face elevation model, njRepresent that in the elevation model of relative ground, relative elevation is hjGrid quantity；And
Sub-step D2: arbitrfary point f ' (h based on laser radar footprint echo simulation modeli) with the number of relative ground elevation model
According to structure hj(x, y) (i=1,2 ..., nj) corresponding relation, obtain laser radar footprint simulation waveform p ' (h) and relative ground
The mapping relations of elevation model.
10. laser full echo footprint Subdividing Processing method as claimed in claim 1, it is characterised in that step E specifically includes:
Sub-step E1: calculate the full echo waveform of laser radar footprint maximum with the correlation coefficient of laser radar footprint simulation waveform
Value, is more than the laser radar footprint of threshold value as effective laser radar footprint using correlation coefficient maximum；And
Sub-step E2: according to mating of full echo waveform p (t) of laser radar footprint and laser radar footprint simulation waveform p ' (h)
The mapping relations of corresponding and laser radar footprint simulation waveform p ' (h) and relative ground elevation model, by laser radar footprint
The height value that full echo waveform crest is corresponding maps to the data structure of relative ground elevation model, thus it is high to obtain relative ground
The geodetic height of journey model correspondence stereoscopic image pixel.
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| CN101915912A (en) * | 2010-07-02 | 2010-12-15 | 武汉大学 | Comprehensive laser-measured height echo simulation method |
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| CN101694525A (en) * | 2009-10-21 | 2010-04-14 | 中国科学院上海光学精密机械研究所 | Incoherent synthetic aperture laser imaging radar and beam bunching mode imaging method thereof |
| CN101915912A (en) * | 2010-07-02 | 2010-12-15 | 武汉大学 | Comprehensive laser-measured height echo simulation method |
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