CN106054202B - In conjunction with the full echo footprint Subdividing Processing method of laser of digitized video sky three - Google Patents
In conjunction with the full echo footprint Subdividing Processing method of laser of digitized video sky three Download PDFInfo
- Publication number
- CN106054202B CN106054202B CN201610368247.8A CN201610368247A CN106054202B CN 106054202 B CN106054202 B CN 106054202B CN 201610368247 A CN201610368247 A CN 201610368247A CN 106054202 B CN106054202 B CN 106054202B
- Authority
- CN
- China
- Prior art keywords
- laser radar
- footprint
- laser
- radar footprint
- waveform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000003672 processing method Methods 0.000 title claims abstract description 21
- 238000004088 simulation Methods 0.000 claims abstract description 44
- 238000013507 mapping Methods 0.000 claims abstract description 18
- 238000000034 method Methods 0.000 claims description 11
- 238000000605 extraction Methods 0.000 claims description 6
- 238000003384 imaging method Methods 0.000 claims description 6
- 238000002310 reflectometry Methods 0.000 claims description 5
- 239000000284 extract Substances 0.000 claims description 4
- 230000003111 delayed effect Effects 0.000 claims 1
- 238000012876 topography Methods 0.000 abstract description 4
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 7
- 230000003287 optical effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 241000208340 Araliaceae Species 0.000 description 3
- 241000209094 Oryza Species 0.000 description 3
- 235000007164 Oryza sativa Nutrition 0.000 description 3
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 3
- 235000003140 Panax quinquefolius Nutrition 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 235000008434 ginseng Nutrition 0.000 description 3
- 235000009566 rice Nutrition 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000004886 process control Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention provides a kind of full echo footprint Subdividing Processing methods of laser of combination digitized video sky three, and by extracting each moment wave crest height value of laser radar footprint waveform, the height value for realizing laser radar footprint subdivision area obtains；By establishing laser radar footprint with respect to ground elevation model and simulation waveform, the relative elevation information of the corresponding stereopsis of laser radar footprint is obtained, and by the matching of laser radar footprint waveform and simulation waveform, the height value that laser radar footprint is segmented to area corresponds to the pixel of stereopsis, realize conversion of the relative elevation information of stereopsis to absolute elevation information, to obtain the absolute elevation value of stereopsis pixel, it solves since the size of laser radar footprint area and stereopsis pixel mismatches, and the accurate height value problem of stereo image member can not be obtained, using the height value as the auxiliary vertical control point of digitized video sky three, it can effectively improve the topography mapping precision of satellite photogrammetry.
Description
Technical field
The present invention relates to the laser of lidar measurement technical field more particularly to a kind of combination digitized video sky three to return entirely
Wave footprint Subdividing Processing method.
Background technology
Traditional topographic map is mainly the method terrain map of survey and drawing by aerophotogrammetry, with space technology, is calculated
The development of machine technology and the information processing technology, satellite photogrammetry become the important channel of topography mapping.
Current satellite photogrammetry technology surveys and draws 1: 5 ten thousand and 1: 1 ten thousand topographic map or repaiies 1: 2.5 ten thousand topographic map of survey, different
Topographic maps height accuracy requires as shown in table 1, the height accuracy level land 0.35m of mapping 1: 1 ten thousand topographic map requirement, hills
Ground 1.2m.
1 different scale Height accuracy in topographic map of table requires (unit：Rice)
In order to improve the mapping essence of the control points thinning area such as satellite photogrammetry mapping precision, especially desert, gobi
Degree, mapping greater proportion ruler topographic map become raising using the full echo laser radar technique assistant aerotriangulation surveying of multi-beam
One of satellite photogrammetry mapping precision effective way.
Typical satellite-bone laser radar is the ICESat satellites of the transmitting of the U.S. in 2003, is equipped with GLAS laser radars sensing
Device is mainly characterized by simple beam, full echo, angle of divergence 0.1mrad, range accuracy 0.1m, the laser footprint in the high-altitudes 600km
About 60m is studied as polar ice sheet overall balance and sea level variability, not high to ground resolution requirement.
As shown in Figure 1, for general satellite-bone laser radar, laser beam center ranging H deviates vertex inclination angleLandform table
Face angle of inclination beta, when angle of divergence θ, satellite orbital altitude 500km, only because of laser ranging limit error that earth's surface obliquity effects generateWhenβ=15 ° (hilly ground), when θ=0.06mrad, laser ranging misses
Difference reaches | Δ R | ≈ 1.29m (1 σ)；According to the Satellite Orbit Determination in current China, determine appearance and platform stability controlled level, track is high
The Horizontal position errors about 1.13m for spending 500km is 0.30m in the vertical error that 15 ° of hilly ground tables generate；Synthesis is examined
Consider range error and orbit determination in laser footprint and determine the influence of appearance equal error, the topographic map of higher precision can not be obtained.
The range accuracy of satellite-bone laser radar can reach 0.1-0.2m, consider that the factors such as atmospheric environment influence, in Plain
In the case of hilly ground table, measurement of higher degree precision is up to 0.3-1.0m, although it is photogrammetric to significantly improve conventional satellite
Measurement of higher degree precision, but it is excited the limitation of the optical radar angle of divergence, carry the satellite platform of 500-600km, the foot of laser radar
Mark is usually in tens of rice, only obviously can not accurate description office by the dispersed elevation in footprint and in the footprint of tens of rice diameters
The fluctuations of portion's landform.Major defect using the full echo laser radar technique assistant aerotriangulation surveying of multi-beam is,
Satellite borne laser footprint is larger, can not directly extract the accurate hypsography information of different location in laser footprint, affect laser
The plane elevation resolution ratio of hot spot footprint, to which photogrammetric topographic mapping precision can not be improved.
Invention content
(1) technical problems to be solved
In order to solve prior art problem, the present invention provides a kind of full echo footprints of laser of combination digitized video sky three
Subdividing Processing method.
(2) technical solution
The present invention provides a kind of full echo footprint Subdividing Processing method of laser of combination digitized video sky three, feature exists
In, including：Step A：The extraction model parameter from laser radar footprint full echo information establishes the full echo mould of laser radar footprint
Type, and rebuild the full echo waveform of laser radar footprint；Step B：Based on the corresponding stereopsis pair of laser radar footprint, rebuilds and swash
The opposite ground elevation model of optical radar footprint；Step C：Opposite ground elevation model based on the laser radar footprint, builds
Vertical laser radar footprint echo simulation model, and rebuild laser radar footprint simulation waveform；Step D：Establish the laser radar
The data structure of the opposite ground elevation model of footprint and the laser radar footprint simulation waveform and opposite ground elevation mould
The mapping relations of type；And step E：By the full echo waveform of laser radar footprint and laser radar footprint simulation waveform
Match, choose effective laser radar footprint, the wave crest based on the full echo waveform of laser radar footprint and stereopsis pixel it
Between mapping relations, extract the earth of the height value of the full echo waveform wave crest of effective laser radar footprint as stereopsis pixel
Elevation.
(3) advantageous effect
It can be seen from the above technical proposal that at the full echo footprint subdivision of laser of the combination digitized video sky three of the present invention
Reason method has the advantages that：
(1) by extracting each moment wave crest height value of laser radar footprint waveform, the subdivision of laser radar footprint is realized
The height value in area obtains；
(2) by establishing laser radar footprint simulation waveform and opposite ground elevation model, laser radar foot has been obtained
The relative elevation information of the corresponding stereopsis of mark, and by the matching of laser radar footprint waveform and simulation waveform, by laser
The height value in radar footprint subdivision area corresponds to the pixel of stereopsis, realizes the relative elevation information of stereopsis to absolute
The conversion of elevation information solves to obtain the absolute elevation value of stereopsis pixel due to laser radar footprint area
It is mismatched with the size of stereopsis pixel, and the accurate height value problem of stereo image member can not be obtained, effectively increased and defend
The photogrammetric topography mapping precision of star.
Description of the drawings
Fig. 1 is satellite-bone laser radar range measurement principle figure；
Fig. 2 is the full echo waveform signal of laser radar footprint of the laser radar footprint and reconstruction of the embodiment of the present invention
Figure；
Fig. 3 is the imaging schematic diagram of the stereopsis pair of the embodiment of the present invention；
Fig. 4 is the opposite ground elevation model and laser radar footprint simulation waveform schematic diagram of the embodiment of the present invention；
Fig. 5 is the opposite ground elevation model data structure of the embodiment of the present invention and its corresponding grid schematic diagram；
Fig. 6 is that the full echo waveform of laser radar footprint of the embodiment of the present invention matches schematic diagram with simulation waveform；
Fig. 7 is the full echo footprint Subdividing Processing method flow of laser of the combination digitized video sky three of the embodiment of the present invention
Figure.
Specific implementation mode
The full echo footprint Subdividing Processing method of laser of the combination digitized video sky three of the present invention, by the full echo of laser radar
Signal analysis is combined with high resolution remote sensing view stereoscopic vision technique, extracts full echo laser footprint subdivision area's elevation information, should
Elevation information can improve the topographic mapping essence of satellite photogrammetry as the high process control information of photogrammetric empty three auxiliary
Degree.It is mainly characterized by：(1) propose it is a kind of based on laser radar footprint Energy distribution, laser light incident angle, target imaging distance and
The full echo-signal reconstruction model of the parameters such as target reflectivity；(2) laser footprint is realized by remote sensing image stereovision technique
Interior relative elevation Model Reconstruction and wave simulation；(3) data structure of simulation waveform and ground elevation model grid is established, is realized
Optical image pixel is mapped with return laser beam waveform；(4) pass through the full echo-signal analysis of laser radar, laser facula echo waveform
It is matched with simulation waveform, the earth elevation in the corresponding optical image area of extraction return laser beam wave crest/laser footprint subdivision area.
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing is the present invention and is further described in detail.
The embodiment provides a kind of full echo footprint Subdividing Processing method of laser of combination digitized video sky three,
It is specifically included：
Step A：The extraction model parameter from laser radar footprint full echo information establishes the full echo mould of laser radar footprint
Type, and rebuild the full echo waveform of laser radar footprint.
Step A is specifically included：
Sub-step A1：The extraction model parameter from laser radar footprint full echo information, model parameter include：Laser footprint
Intensity distribution, target echo delay, target imaging distance, laser beam are directed toward angle, target reflectivity.
Above-mentioned model parameter is related to the full echo waveform of laser radar footprint, existing full echo laser radar system
To provide above-mentioned model parameter, specific extracting method repeats no more.In each laser radar footprint, the target pair of same distance
Stress optical radar footprint echo waveform a wave crest, laser radar footprint echo waveform is made of one or more wave crests, because
This, needs each section of above-mentioned model parameter of waveform extracting for each laser radar footprint, to carry out in data preparation link
Subsequent modeling.
Sub-step A2：The full echo model of laser radar footprint is established based on model parameter.
Sub-step A2 is specifically included：Based on model parameter establish the full echo model of laser radar footprint be：
In formula：fi(t) wave crest at i-th of moment of laser radar footprint is indicated；tiFor the corresponding mesh of i-th of moment wave crest
Mark echo delay；aiFor the corresponding target reflectivity of i-th of moment wave crest：For laser footprint intensity distribution；β is laser light
The angle of Shu Zhixiang and target surface normals；C is the relevant coefficients such as atmospheric attenuation, can be calculated by atmospheric transfer model
It arrives；siFor the corresponding target imaging distance of i-th of moment wave crest；τ is laser pulse width.It can be built using above-mentioned formula (1)
Found the full echo model of each laser radar footprint.It is returned entirely it should be noted that the above method only establishes laser radar footprint
A kind of mode of wave pattern, the present invention is not limited thereto, can also effectively establish the full echo of laser radar footprint by other
The method of model substitutes, and details are not described herein.
Sub-step A3：Based on the full echo model of laser radar footprint, the full echo waveform of laser radar footprint is rebuild.
Sub-step A3 is specifically included：Based on the full echo model of laser radar footprint, each section of waveform of synthetic laser radar footprint
The full echo waveform of laser radar footprint of the full echo waveform of laser radar footprint rebuild, reconstruction is：
Wherein, t1、t2The knot of the initial time and final stage waveform of the first segment waveform of laser radar footprint is indicated respectively
The beam time.
The full echo waveform of each laser radar footprint can be rebuild using above-mentioned formula (2).Fig. 2 shows laser radars
The full echo waveform of laser radar footprint of footprint and reconstruction.
Step B：Based on the corresponding stereopsis pair of laser radar footprint, the opposite ground elevation of laser radar footprint is rebuild
Model.
The corresponding high-resolution stereopsis pair of each laser radar footprint, the stereopsis of stereopsis pair include
The pixel number of several pixels, stereopsis is determined by the size and stereopsis resolution ratio of laser radar footprint, herein and is not added with
To limit.
Step B is specifically included：
Sub-step B1：The corresponding stereopsis pair of laser radar footprint is extracted, base is used as by one of stereopsis centering
Quasi- image, another carries out point-by-point stereopsis matching to reference images and with reference to image, obtains picture of the same name as with reference to image
Point coordinates.
In figure 3, left image is as reference images, and right image is used as with reference to image, and S1 and S2 indicate two image sensings
The center of device, image focal plane and center are separately shown, conducive to the relationship of image sensor focal length, principal point is further described.
Sub-step B2：Corresponding image points coordinate based on a ground point, obtains the horizontal parallax of the corresponding image points of the ground point.
Sub-step B2 is specifically included：If choosing ground point A in reference images and with reference to the x coordinate of the corresponding image points of image to divide
It Wei not xa1And xa2, then the horizontal parallax of the corresponding image points of ground point A be：
pA=xa1-xa2 (3)
Sub-step B3：On the basis of the ground point, the relative elevation of another ground point and the ground point is calculated.
Sub-step B3 is specifically included：On the basis of ground point A, the height difference of another ground point B and ground point A can pass through
A, the difference of the horizontal parallax of 2 points of B obtains, and the relationship of relative elevation and horizontal parallax is：
H=Δs p × HA/(b+Δp) (4)
In formula：H is relative elevations of the ground point B relative to ground point A；Δ p=pB-pA；Image principal point and ginseng on the basis of b
According to the distance of image principal point；HAFor satellite altitude.
Sub-step B4：The relative elevation that each ground point and ground point A are calculated according to sub-step B3, the laser rebuild
The opposite ground elevation model of radar footprint.
It can be seen that this is lattice network model with respect to ground elevation model, each grid of lattice network model both corresponds to
The numerical value of one pixel of the corresponding stereopsis of laser radar footprint, each grid is the opposite of the corresponding ground point of the pixel
Height value can reconstruct the opposite ground elevation model of each laser radar footprint by sub-step B1 to B4.
Step C：Opposite ground elevation model based on laser radar footprint establishes laser radar footprint echo simulation mould
Type, and rebuild laser radar footprint simulation waveform.
Step C is specifically included：
Sub-step C1：Opposite ground elevation model based on laser radar footprint, laser radar footprint echo simulation model
For：
Wherein, NORM indicates 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 opposite ground elevation model of laser radar footprint, and n is the opposite ground elevation model of laser radar footprint
Columns, hxyFor the relative elevation value of opposite ground elevation model xth row y row grids.
The target of different elevations causes hypsography to change in laser radar footprint, can form multiple emulation wave crest (multistages
Simulation waveform), therefore, step C further includes：
Sub-step C2：Based on laser radar footprint echo simulation model, each emulation wave crest of synthetic laser radar footprint obtains
Laser radar footprint simulation waveform to the laser radar footprint simulation waveform of reconstruction, reconstruction is：
Wherein, h1、h2The minimum relative elevation value in the corresponding opposite ground elevation model of laser radar footprint is indicated 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 is shown
Opposite ground elevation model and laser radar footprint simulation waveform.
Step D：Data structure and the laser radar footprint for establishing the opposite ground elevation model of laser radar footprint are imitative
The mapping relations of true waveform and opposite ground elevation model.
Step D is specifically included：
Sub-step D1：Using laser radar range resolution ax d as height difference, to the opposite ground elevation mould of laser radar footprint
Type extracts contour elevation grid along elevation direction, establishes the data structure of opposite ground elevation model, which includes
hj(x, y) (j=1,2 ..., nj), hjIndicate that the multiple of laser radar range resolution ax d, i.e. j times of Δ d, (x, y) indicate
The xth row y row grids of opposite ground elevation model, njIndicate that relative elevation is h in the elevation model of opposite groundjNumber of squares
Amount.The data structure of the opposite ground elevation model of each laser radar footprint can be obtained by step D.
The data structure of opposite ground elevation model is illustrated by taking Fig. 5 as an example, it is right as unit of laser radar footprint
In laser radar footprint 1, the data structure of ground elevation model relatively is h1(9,1)；h2(2,2) ..., (6,2)；h3(5,
..., (6,3) 4)；…；hj(6,5), (6,6), in the opposite ground elevation model for indicating laser radar footprint 1, relative elevation
For 1 times of laser radar range resolution ax d (h1) it is the 1st row grid (9,1) of the 9th row, relative elevation h1Grid quantity n1
=1；Relative elevation is 2 times of laser radar range resolution ax d (h2) be the 2nd row grid (2,2) of the 2nd row ..., the 6th row the 2nd
Row grid (6,2)；Relative elevation is 3 times of laser radar range resolution ax d (h3) be the 4th row grid (5,4) of the 5th row ...,
The 3rd row grid (6,3) of 6th row；Relative elevation is j times of laser radar range resolution ax d (hj) it is the 5th row grid of the 6th row
(6,5) and the 6th row grid (6,6) of the 6th row, relative elevation hjGrid quantity nj=2；The data of other laser radar footprints
Structure is identical with this.
Sub-step D2：By formula (5) and (6) it is found that laser radar footprint echo simulation model f ' (h) is by two-dimensional phase
To the one-dimensional waveform that ground elevation model is obtained using laser radar range resolution ax d as interval, which appoints
Anticipate point f ' (hi) data structure h with opposite ground elevation modelj(x, y) (i=1,2 ..., nj) mapping relations are formed, to
Obtain the mapping relations of laser radar footprint simulation waveform p ' (h) and opposite ground elevation model.It can be set up by step D
The data structure of the opposite ground elevation model of each laser radar footprint and each laser radar footprint simulation waveform and phase
To the mapping relations of ground elevation model.Fig. 5 shows that opposite ground elevation model data structure and its corresponding grid are illustrated
Figure.
Step E：The full echo waveform of laser radar footprint is matched with laser radar footprint simulation waveform, chooses effective laser
Radar footprint, based on the mapping relations between the full echo waveform wave crest of laser radar footprint and stereopsis pixel, extraction is effective
The earth elevation of the height value of the full echo waveform wave crest of laser radar footprint as stereopsis pixel.
The synchronous laser radar data and stereopsis obtained, the obtained full echo waveform of laser radar footprint and emulation wave
Shape reflects the variation of the hypsography in laser radar footprint, has good similitude, chooses the higher laser of correlation
Effective laser radar footprint of the radar footprint as extraction elevation information.
Step E is specifically included：
Sub-step E1：The related coefficient of the calculating full echo waveform of laser radar footprint and laser radar footprint simulation waveform is most
Related coefficient maximum value is more than the laser radar footprint of threshold value as effective laser radar footprint by big value.Wherein, it calculates related
The technology that the computational methods of coefficient are well known in the art, threshold value can choose as the case may be one be less than and close to 1 it is small
Number, details are not described herein again.
The phase relation that sub-step E1 passes through the calculating full echo waveform of laser radar footprint and laser radar footprint simulation waveform
Number, it is corresponding with the matching of laser radar footprint simulation waveform p ' (h) to realize the full echo waveform p (t) of laser radar footprint.
Sub-step E2：According to the full echo waveform p (t) of laser radar footprint with laser radar footprint simulation waveform p's ' (h)
Matching corresponds to and the mapping relations of laser radar footprint simulation waveform p ' (h) and opposite ground elevation model, by laser radar
The corresponding height value of the full echo waveform wave crest of footprint maps to the data structure of opposite ground elevation model, to obtain relatively
Face elevation model corresponds to the geodetic height of stereopsis pixel.
In sub-step E2, the corresponding height value of the full echo waveform wave crest of laser radar footprint is returned entirely by laser radar footprint
Wave pattern obtains, the wave crest f at i-th of moment of laser radar footprinti(t) laser radar footprint simulation waveform p ' (h) can be matched to
I-th of point f ' (hi), this i-th point f ' (hi) it is matched to the data structure h of opposite ground elevation modelj(x, y) (i=1,
2 ..., nj), finally by the wave crest f at i-th of moment of laser radar footprinti(t) height value assigns opposite ground elevation model
Data structure hj(x, y) (i=1,2 ..., nj) corresponding stereopsis pixel, the geodetic height as stereopsis pixel.Pass through
Step E can obtain the geodetic height of the corresponding stereopsis pixel of each laser radar footprint.Fig. 6 shows laser radar footprint
Full echo waveform and simulation waveform matching relationship.
So far, attached drawing is had been combined the present embodiment is described in detail.According to above description, those skilled in the art
There should be clear understanding to the full echo footprint Subdividing Processing method of laser of the combination digitized video sky three of the present invention.
The full echo footprint Subdividing Processing method of laser of the combination digitized video sky three of the present invention, by extracting laser radar
The each moment wave crest height value of footprint waveform, the height value for realizing laser radar footprint subdivision area obtains, by establishing laser
Radar footprint simulation waveform and opposite ground elevation model, have obtained the relatively high of the corresponding stereopsis of laser radar footprint
Journey information, and by the matching of laser radar footprint waveform and simulation waveform, laser radar footprint is segmented to the height value pair in area
The pixel that stereopsis should be arrived realizes conversion of the relative elevation information of stereopsis to absolute elevation information, to obtain
The absolute elevation value of stereopsis pixel is not solved due to the size of laser radar footprint area and stereopsis pixel not
Match, and the accurate height value problem of stereo image member can not be obtained, effectively increases the topography mapping essence of satellite photogrammetry
Degree.
It should be noted that in attached drawing or specification text, the realization method for not being painted or describing is affiliated technology
Form known to a person of ordinary skill in the art, is not described in detail in field.In addition, above-mentioned definition to each element and not only limiting
The various modes mentioned in embodiment, those of ordinary skill in the art simply can be changed or replaced to it, such as：
(1) direction term mentioned in embodiment, such as "upper", "lower", "front", "rear", "left", "right" etc. are only ginsengs
The direction of attached drawing is examined, is not used for limiting the scope of the invention；
(2) above-described embodiment can be based on the considerations of design and reliability, and the collocation that is mixed with each other uses or and other embodiment
Mix and match uses, i.e., the technical characteristic in different embodiments can freely form more embodiments.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical solution and advantageous effect
It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the present invention
Within the scope of shield.
Claims (10)
1. a kind of full echo footprint Subdividing Processing method of laser of combination digitized video sky three, which is characterized in that including：
Step A：The extraction model parameter from laser radar footprint full echo information establishes the full echo model of laser radar footprint,
And rebuild the full echo waveform of laser radar footprint；
Step B：Based on the corresponding stereopsis pair of laser radar footprint, the opposite ground elevation mould of laser radar footprint is rebuild
Type；
Step C：Opposite ground elevation model based on the laser radar footprint establishes laser radar footprint echo simulation mould
Type, and rebuild laser radar footprint simulation waveform；
Step D：Establish the data structure and laser radar foot of the opposite ground elevation model of the laser radar footprint
The mapping relations of mark simulation waveform and opposite ground elevation model；And
Step E：The full echo waveform of laser radar footprint is matched with laser radar footprint simulation waveform, chooses effective laser
Radar footprint, the mapping relations between wave crest and stereopsis pixel based on the full echo waveform of laser radar footprint, carries
Take the earth elevation of the height value of the full echo waveform wave crest of effective laser radar footprint as stereopsis pixel.
2. the full echo footprint Subdividing Processing method of laser as described in claim 1, which is characterized in that the step A is specifically wrapped
It includes：
Sub-step A1：The extraction model parameter from laser radar footprint full echo information, the model parameter include：Laser footprint
Intensity distribution, target echo delay, target imaging distance, laser beam are directed toward angle and target reflectivity；
Sub-step A2：The full echo model of laser radar footprint is established based on the model parameter；And
Sub-step A3：Based on the full echo model of laser radar footprint, the full echo waveform of laser radar footprint is rebuild.
3. the full echo footprint Subdividing Processing method of laser as claimed in claim 2, which is characterized in that the sub-step A2 is specific
Including：
Based on the model parameter establish the full echo model of laser radar footprint be：
Wherein, fi(t) wave crest at i-th of moment of laser radar footprint is indicated；tiIt is returned for the corresponding target of i-th of moment wave crest
Wave is delayed；aiFor the corresponding target reflectivity of i-th of moment wave crest；For laser footprint intensity distribution；β refers to for laser beam
To the angle with target surface normals；C is atmosphere attenuation coefficien；siFor the corresponding target imaging distance of i-th of moment wave crest；τ
For laser pulse width.
4. the full echo footprint Subdividing Processing method of laser as claimed in claim 3, which is characterized in that the sub-step A3 is specific
Including：
Based on the full echo model of laser radar footprint, laser radar that each section of waveform of synthetic laser radar footprint is rebuild
The full echo waveform of laser radar footprint of the full echo waveform of footprint, reconstruction is：
Wherein, t1、t2At the end of the initial time and the final stage waveform that indicate the first segment waveform of laser radar footprint respectively
Between.
5. the full echo footprint Subdividing Processing method of laser as described in claim 1, which is characterized in that the step B is specifically wrapped
It includes：
Sub-step B1：The corresponding stereopsis pair of laser radar footprint is extracted, an image of the stereopsis centering is made
On the basis of image, another image is used as with reference to image, and point-by-point stereopsis is carried out to the reference images and with reference to image
Match, obtains corresponding image points coordinate；
Sub-step B2：Corresponding image points coordinate based on a ground point, obtains the horizontal parallax of the corresponding image points of the ground point；
Sub-step B3：On the basis of the ground point, the relative elevation of another ground point and the ground point is calculated；And
Sub-step B4：The relative elevation that each ground point and the ground point are calculated according to sub-step B3, the laser rebuild
The opposite ground elevation model of radar footprint.
6. the full echo footprint Subdividing Processing method of laser as claimed in claim 5, which is characterized in that the sub-step B2 is specific
Including：
The horizontal parallax of the corresponding image points of ground point A is：
pA=xa1-xa2 (3)
xa1And xa2Respectively ground point A is in reference images and with reference to the x coordinate of image.
7. the full echo footprint Subdividing Processing method of laser as claimed in claim 6, which is characterized in that the sub-step B3 is specific
Including：
On the basis of ground point A, the relative elevation of another ground point B and ground point A is：
H=Δs p × HA/(b+Δp) (4)
In formula：H is relative elevations of the ground point B relative to ground point A；Δ p=pB-pA, pBIt is obtained according to the method for sub-step B2
It arrives；Image principal point and the distance with reference to image principal point on the basis of b；HAFor satellite altitude.
8. the full echo footprint Subdividing Processing method of laser as described in claim 1, which is characterized in that the step C is specifically wrapped
It includes：
Sub-step C1：Opposite ground elevation model based on laser radar footprint, laser radar footprint echo simulation model are：
Wherein, NORM indicates normal state；Δ d is the resolution of ranging of laser radar；M is that the opposite ground of laser radar footprint is high
The line number of journey model, n are the columns of the opposite ground elevation model of laser radar footprint, hxyFor opposite ground elevation model xth
The relative elevation value of row y row grids；And
Sub-step C2：Based on laser radar footprint echo simulation model, each emulation wave crest of synthetic laser radar footprint obtains weight
The laser radar footprint simulation waveform of the laser radar footprint simulation waveform built, reconstruction is：
Wherein, h1、h2Minimum relative elevation value in the corresponding opposite ground elevation model of laser radar footprint and most is indicated respectively
Big relative elevation value.
9. the full echo footprint Subdividing Processing method of laser as described in claim 1, which is characterized in that the step D is specifically wrapped
It includes：
Sub-step D1：Using laser radar range resolution ax d as height difference, to the opposite ground elevation mould of the laser radar footprint
Type extracts contour elevation grid along elevation direction, establishes the data structure of the opposite ground elevation model, the data knot
Structure includes hj(x, y) (j=1,2 ..., nj), hjIndicate that the multiple of laser radar range resolution ax d, (x, y) indicate relatively
The xth row y row grids of face elevation model, njIndicate that relative elevation is h in the elevation model of opposite groundjGrid quantity；And
Sub-step D2：Arbitrary point f'(h based on laser radar footprint echo simulation modeli) number with opposite ground elevation model
According to structure hj(x, y) (i=1,2 ..., nj) correspondence, obtain laser radar footprint simulation waveform p'(h) with opposite ground
The mapping relations of elevation model.
10. the full echo footprint Subdividing Processing method of laser as described in claim 1, which is characterized in that step E is specifically included：
Sub-step E1：It calculates the full echo waveform of laser radar footprint and the related coefficient of laser radar footprint simulation waveform is maximum
Related coefficient maximum value is more than the laser radar footprint of threshold value as effective laser radar footprint by value；And
Sub-step E2：According to the full echo waveform p (t) of laser radar footprint and laser radar footprint simulation waveform p'(h) matching
Corresponding and laser radar footprint simulation waveform p'(h) mapping relations with opposite ground elevation model, by laser radar footprint
The corresponding height value of echo waveform wave crest maps to the data structure of opposite ground elevation model entirely, high to obtain opposite ground
Journey model corresponds to the geodetic height of stereopsis pixel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368247.8A CN106054202B (en) | 2016-05-30 | 2016-05-30 | In conjunction with the full echo footprint Subdividing Processing method of laser of digitized video sky three |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610368247.8A CN106054202B (en) | 2016-05-30 | 2016-05-30 | In conjunction with the full echo footprint Subdividing Processing method of laser of digitized video sky three |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106054202A CN106054202A (en) | 2016-10-26 |
| CN106054202B true CN106054202B (en) | 2018-08-10 |
Family
ID=57175698
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610368247.8A Expired - Fee Related CN106054202B (en) | 2016-05-30 | 2016-05-30 | In conjunction with the full echo footprint Subdividing Processing method of laser of digitized video sky three |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106054202B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2016
- 2016-05-30 CN CN201610368247.8A patent/CN106054202B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Non-Patent Citations (2)
| Title |
|---|
| "Full Polarimetric SAR Classifi cation Based on Yamaguchi Decomposition Model and Scattering Parameters";Yang Han et al.;《2010 IEEE International Conference on Progress in Information and Computing》;20101231;第1104-1108页 * |
| "星载激光测高技术发展现状";于真真 等;《激光与光电子学进展》;20130228(第02期);第1-10页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106054202A (en) | 2016-10-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104931022B (en) | Satellite image stereoblock adjustment method based on spaceborne laser altimeter system data | |
| CN102506824B (en) | Method for generating digital orthophoto map (DOM) by urban low altitude unmanned aerial vehicle | |
| CN106780712B (en) | Three-dimensional point cloud generation method combining laser scanning and image matching | |
| Raggam et al. | Assessment of the stereo-radargrammetric mapping potential of TerraSAR-X multibeam spotlight data | |
| CN110889899B (en) | Digital earth surface model generation method and device | |
| Toutin | Error tracking of radargrammetric DEM from RADARSAT images | |
| CN104567801B (en) | High-precision laser measuring method based on stereoscopic vision | |
| CN114241125B (en) | Multi-view satellite image-based fine three-dimensional modeling method and system | |
| Schenk et al. | Fusion of multi-sensor surface elevation data for improved characterization of rapidly changing outlet glaciers in Greenland | |
| Chen et al. | A weighted least squares solution for space intersection of spaceborne stereo SAR data | |
| CN114689015B (en) | Method for improving elevation precision of optical satellite stereoscopic image DSM | |
| Chrysoulakis et al. | Validation of ASTER GDEM for the Area of Greece | |
| Qiao et al. | Assessment of geo-positioning capability of high resolution satellite imagery for densely populated high buildings in metropolitan areas | |
| Mamajonova et al. | Main Methods of Creating Topographic Maps: A Comprehensive Review | |
| Saldaña et al. | DSM Extraction and evaluation from geoeye-1 stereo imagery | |
| CN106557600A (en) | A kind of power transmission tower unequal leg and the emulation mode on basis | |
| CN106054202B (en) | In conjunction with the full echo footprint Subdividing Processing method of laser of digitized video sky three | |
| Wang et al. | A novel three-dimensional block adjustment method for spaceborne InSAR-DEM based on general models | |
| CN115854994A (en) | DSM (digital surface model) generation method and system based on long-line-array large-width bidirectional swinging image | |
| Zhou et al. | DEM generation using Ziyuan-3 mapping satellite imagery without ground control points | |
| CN107784666A (en) | The detection of terrain and its features three dimensional change and update method based on stereopsis | |
| Hassan et al. | Integration of aerial photography, airborne LiDAR, and airborne IFSAR for mapping in Malaysia | |
| Murthy et al. | Analysis of DEM generated using Cartosat-1 stereo data over Mausanne Les Alpiles–Cartosat scientific appraisal programme (CSAP TS–5) | |
| Pan et al. | A general method of generating satellite epipolar images based on RPC model | |
| Ma et al. | Three-dimensional reconstruction of plants and a single building from UAV images |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180810 |