CN106199628A - A kind of method and system setting up forest mathematical model - Google Patents

A kind of method and system setting up forest mathematical model Download PDF

Info

Publication number
CN106199628A
CN106199628A CN201610838499.2A CN201610838499A CN106199628A CN 106199628 A CN106199628 A CN 106199628A CN 201610838499 A CN201610838499 A CN 201610838499A CN 106199628 A CN106199628 A CN 106199628A
Authority
CN
China
Prior art keywords
laser pulse
measurement data
forest
mathematical model
leaf
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.)
Pending
Application number
CN201610838499.2A
Other languages
Chinese (zh)
Inventor
罗双燕
梁小文
石峥
李肖宇
曾升华
石仕福
吴俊杰
罗建辉
李英武
王根豪
严艺波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangxi Tianxiang General Aviation Co Ltd
Original Assignee
Jiangxi Tianxiang General Aviation Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Jiangxi Tianxiang General Aviation Co Ltd filed Critical Jiangxi Tianxiang General Aviation Co Ltd
Priority to CN201610838499.2A priority Critical patent/CN106199628A/en
Publication of CN106199628A publication Critical patent/CN106199628A/en
Pending legal-status Critical Current

Links

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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/30—Circuit design
    • G06F30/36—Circuit design at the analogue level
    • G06F30/367—Design verification, e.g. using simulation, simulation program with integrated circuit emphasis [SPICE], direct methods or relaxation methods

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Hardware Design (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Electromagnetism (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Evolutionary Computation (AREA)
  • Geometry (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

The present invention discloses a kind of method and system setting up forest mathematical model.The method includes: obtain measurement data y that laser pulse returnst；Obtain branch and leaf vertical distribution information x of described target zone；Obtain sample distribution function；Described sample distribution function representation one given, with the angle theta of described laser scanner Yu described laser pulse, along the direction of described laser pulse, to vertical distribution information x of concrete branch and leaf from ad-hoc location ytMeasurement data return probability；According to described sample distribution function and measurement data y of described returntSet up the mathematical model of forest space.Use the method and system can reflect the topography and geomorphology of forest really.

Description

A kind of method and system setting up forest mathematical model
Technical field
The present invention relates to set up forest mathematical model field, particularly relate to one and set up forest mathematical model method and be System.
Background technology
The structural information of forest is significant to human habitat, to forest inventory investigation and monitoring aspect, logical Cross artificial parsing or Semiautomatic deconvolution aerial image or forest structure is analyzed by digital picture, traditional optical remote sensing technology Only it is provided that the two-dimensional image information of forest, is directly measured by scene or indirectly derive from two-dimensional image information the most gloomy Woods structural information, but there is certain error in the process derived, it is impossible to enough directly to plant and topographical surface acquisition three-dimensional Image information, obtains the landform model of forest.
Summary of the invention
It is an object of the invention to provide one and set up forest mathematical model method and system, it is possible to directly to plant and ground The three-dimensional image information on shape surface is measured, and obtains three-dimensional image information, it is possible to the real topography and geomorphology reflecting forest.
For achieving the above object, the invention provides following scheme:
A kind of method setting up forest mathematical model, including:
Obtain measurement data y that laser pulse returnst；
Obtain branch and leaf vertical distribution information x of described target zone；
Obtain sample distribution function；Described sample distribution function representation one given, with described laser scanner and institute State the angle theta of laser pulse, along the direction of described laser pulse, to vertical distribution information x of concrete branch and leaf from ad-hoc location ytMeasurement data return probability；
According to described sample distribution function and measurement data y of described returntSet up the mathematical model of forest space.
Optionally, measurement data y returned at described acquisition laser pulsetBefore, also include:
Laser pulse is launched to target zone；The laser pulse of described transmitting is the company launched to large-area target zone Continuous laser pulse.
Optionally, branch and leaf vertical distribution information x of the described target zone of described acquisition, specifically include:
Obtain branch and leaf vertical distribution information x of the described target zone that the change according to height above sea level, temperature divides, described branch and leaf Vertical distribution information x has different position, size, the shape of hat leaf and the density of branch and leaf.
Optionally, measurement data y that described acquisition laser pulse returnst, specifically include:
Obtain the discrete laser pulse that any range in described target zone returns, obtain the measurement data of this scope yt。
Optionally, described acquisition sample distribution function, specifically include:
According to formula p=e-(kρS)cosθDetermining the light beam probability of hat leaf, wherein p is the general of the laser pulse that do not reflected Rate, k is to project the measurement data returned on the branch and leaf face vertical with laser pulse, and ρ is the density in branch and leaf face, and S is laser arteries and veins Rushing the distance by tree crown, θ is laser pulse and the angle on described laser scanner vertical direction；
According to p (y | x) ∝ Πt∈T p(yt| x) p (x) determines relative to vertical distribution x, the measurement of given ad-hoc location The probability that data y return, wherein, t represents measurement data ytLaser pulse path vector, T represents scanning space, represents all Vector set with all paths of all transmitting laser pulses from laser scanner to bottom surface.
Optionally, described according to described sample distribution function and measurement data y of described returntSet up forest space Mathematical model, specifically includes:
According to described sample distribution function and measurement data y of described returntThe mathematical model determining forest space is argmax[p(y|x)]。
A kind of system setting up forest mathematical model, including:
Measurement data acquisition module, for obtaining measurement data y that laser pulse returnst；
Vertical information distributed acquisition module, for obtaining branch and leaf vertical distribution information x of described target zone；
Sample distribution function acquisition module, is used for obtaining sample distribution function；Described sample distribution function representation one is given Fixed, with the angle theta of described laser scanner Yu described laser pulse, along the direction of described laser pulse, to concrete branch and leaf Vertical distribution information x from ad-hoc location ytMeasurement data return probability；
Module set up by mathematical model, for according to described sample distribution function and measurement data y of described returntSet up The mathematical model of forest space.
Optionally, also include:
Laser pulse emission module, for obtaining, at described measurement data acquisition module, the measurement data that laser pulse returns ytBefore, laser pulse is launched to target zone；The laser pulse of described transmitting is the company launched to large-area target zone Continuous laser pulse.
Optionally, described measurement data acquisition module, specifically include:
Measurement data acquiring unit, for obtaining the discrete laser arteries and veins that any range in described target zone returns Punching, obtains measurement data y of this scopet。
Optionally, described sample distribution function acquisition module, specifically include:
Light beam probability determining unit, for according to formula p=e-(kρS)cosθDetermining the light beam probability of hat leaf, wherein p is not The probability of the laser pulse reflected, k is to project the measurement data returned on the branch and leaf face vertical with laser pulse, and ρ is branch The density on blade face, S is the laser pulse distance by tree crown, and θ is on laser pulse and described laser scanner vertical direction Angle；
Return probability determining unit, for according to p (y | x) ∝ ∏t∈T p(yt| x) p (x) determines relative to vertical distribution x, Measurement data y of given ad-hoc locationtThe probability returned, wherein, t represents measurement data ytLaser pulse path vector, T Represent scanning space, represent the vector set in all paths with all transmitting laser pulses from laser scanner to bottom surface Close.
The specific embodiment provided according to the present invention, the invention discloses techniques below effect: the present invention is by target Scope launches laser pulse, launches laser pulse on a large scale, the continuous wave laser pulse characterization to forest structure pattern, Observed by stochastic process, set up forest mathematical model, the most instead according to the laser pulse measurement of little scope, discrete return Reflect forest topography and geomorphology.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment The accompanying drawing used is needed to be briefly described, it should be apparent that, the accompanying drawing in describing below is only some enforcements of the present invention Example, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to these accompanying drawings Obtain other accompanying drawing.
Fig. 1 is the flow chart of the method setting up forest mathematical model of the embodiment of the present invention one；
Fig. 2 is the structure chart of the system setting up forest mathematical model of the embodiment of the present invention two；
Fig. 3 is the flow chart that the another kind of the embodiment of the present invention three sets up the method for forest mathematical model.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise Embodiment, broadly falls into the scope of protection of the invention.
It is an object of the invention to provide a kind of method and system setting up forest mathematical model, it is possible to reflect forest really Topography and geomorphology.
Understandable for enabling the above-mentioned purpose of the present invention, feature and advantage to become apparent from, real with concrete below in conjunction with the accompanying drawings The present invention is further detailed explanation to execute mode.
Embodiment one
Fig. 1 is the flow chart of the method setting up forest mathematical model of the embodiment of the present invention one, as it is shown in figure 1, one is built The method of vertical forest mathematical model, including:
Step 101: obtain measurement data y that laser pulse returnst；
Step 102: obtain branch and leaf vertical distribution information x of described target zone；
Step 103: obtain sample distribution function；Described sample distribution function representation one given, sweep with described laser Retouch the angle theta of device and described laser pulse, along the direction of described laser pulse, to vertical distribution information x of concrete branch and leaf from Ad-hoc location ytMeasurement data return probability；
Step 104: according to described sample distribution function and measurement data y of described returntSet up the number of forest space Word model.
The present invention uses said method can set up the mathematical model of forest space, thus observes the ground of forest more accurately Shape landforms, need not manually go to survey the geomorphic feature of forest.
Embodiment two
Fig. 2 is the structure chart of the system setting up forest mathematical model of the embodiment of the present invention two, as in figure 2 it is shown, one is built The system of vertical forest mathematical model, including:
Measurement data acquisition module 201, for obtaining measurement data y that laser pulse returnst；
Vertical information distributed acquisition module 202, for obtaining branch and leaf vertical distribution information x of described target zone；
Sample distribution function acquisition module 203, is used for obtaining sample distribution function；Described sample distribution function representation one That give, with the angle theta of described laser scanner Yu described laser pulse, along the direction of described laser pulse, to concrete branch Vertical distribution information x of leaf is from ad-hoc location ytMeasurement data return probability；
Module 204 set up by mathematical model, for according to described sample distribution function and measurement data y of described returnt Set up the mathematical model of forest space.
The present invention uses this module can quickly set up forest space mathematical model, thus observes the ground of forest more accurately Shape landforms.
Embodiment three
Fig. 3 is the flow chart that the another kind of the embodiment of the present invention three sets up the method for forest mathematical model, as it is shown on figure 3, Another kind sets up the method for forest mathematical model, including:
Step 301: launch laser pulse to target zone；The laser pulse of described transmitting is to large-area target zone The continuous laser pulse launched；
Step 302: obtain measurement data y that laser pulse returnst；Obtain any range in described target zone to return Discrete laser pulse, obtain measurement data y of this scopet；
Step 303: obtain branch and leaf vertical distribution information x of described target zone；Obtain and draw according to the change of height above sea level, temperature Point branch and leaf vertical distribution information x of described target zone, described branch and leaf vertical distribution information x have different position, size, The shape of hat leaf and the density of branch and leaf；
Step 304: obtain sample distribution function；Described sample distribution function representation one given, sweep with described laser Retouch the angle theta of device and described laser pulse, along the direction of described laser pulse, to vertical distribution information x of concrete branch and leaf from Ad-hoc location ytMeasurement data return probability；
According to described sample distribution function and measurement data y of described returntSet up the mathematical model of forest space；Its In, described sample distribution function is according to formula p=e-(kρS)cosθDetermining the light beam probability of hat leaf, wherein p is not reflected The probability of laser pulse, k is to project the measurement data returned on the branch and leaf face vertical with laser pulse, and ρ is the close of branch and leaf face Degree, S is the laser pulse distance by tree crown, and θ is laser pulse and the angle on described laser scanner vertical direction；
According to p (y | x) ∝ ∏t∈T p(yt| x) p (x) determines relative to vertical distribution x, the measurement of given ad-hoc location The probability that data y return, wherein, t represents measurement data ytLaser pulse path vector, T represents scanning space, represents all Vector set with all paths of all transmitting laser pulses from laser scanner to bottom surface；
Step 305: according to described sample distribution function and measurement data y of described returntSet up the number of forest space Word model；Described mathematical model is arg max [p (y | x)].
The method can realize the forest space number of large-area target zone according to the laser pulse that any range returns Word model, thus preferably observe the topography and geomorphology of forest.
In this specification, each embodiment uses the mode gone forward one by one to describe, and what each embodiment stressed is and other The difference of embodiment, between each embodiment, identical similar portion sees mutually.For system disclosed in embodiment For, owing to it corresponds to the method disclosed in Example, so describe is fairly simple, relevant part sees method part and says Bright.
Principle and the embodiment of the present invention are set forth by specific case used herein, saying of above example Bright method and the core concept thereof being only intended to help to understand the present invention；Simultaneously for one of ordinary skill in the art, foundation The thought of the present invention, the most all will change.In sum, this specification content is not It is interpreted as limitation of the present invention.

Claims (10)

1. the method setting up forest mathematical model, it is characterised in that including:
Obtain measurement data y that laser pulse returnst；
Obtain branch and leaf vertical distribution information x of described target zone；
Obtain sample distribution function；Described sample distribution function representation one given, with described laser scanner with described swash The angle theta of light pulse, along the direction of described laser pulse, to vertical distribution information x of concrete branch and leaf from ad-hoc location yt's The probability that measurement data returns；
According to described sample distribution function and measurement data y of described returntSet up the mathematical model of forest space.
The method setting up forest mathematical model the most as claimed in claim 1, it is characterised in that described acquisition laser pulse returns Measurement data ytBefore, also include:
Laser pulse is launched to target zone；The laser pulse of described transmitting is to swash continuously to what large-area target zone was launched Light pulse.
The method setting up forest mathematical model the most as claimed in claim 1, it is characterised in that the described target zone of described acquisition Branch and leaf vertical distribution information x, specifically include:
Obtaining branch and leaf vertical distribution information x of the described target zone that the change according to height above sea level, temperature divides, described branch and leaf are vertical Distributed intelligence x has different position, size, the shape of hat leaf and the density of branch and leaf.
The method setting up forest mathematical model the most as claimed in claim 1, it is characterised in that described acquisition laser pulse returns Measurement data yt, specifically include:
Obtain the discrete laser pulse that any range in described target zone returns, obtain measurement data y of this scopet。
The method setting up forest mathematical model the most as claimed in claim 1, it is characterised in that described acquisition sample distribution letter Number, specifically includes:
According to formula p=e-(kρS)cosθDetermining the light beam probability of hat leaf, wherein p is the probability of the laser pulse not reflected, and k is Projecting the measurement data returned on the branch and leaf face vertical with laser pulse, ρ is the density in branch and leaf face, and S is that laser pulse passes through The distance of tree crown, θ is laser pulse and the angle on described laser scanner vertical direction；
According to p (y | x) ∝ ∏t∈Tp(yt| x) p (x) determines relative to vertical distribution x, measurement data y of given ad-hoc location The probability returned, wherein, t represents measurement data ytLaser pulse path vector, T represents scanning space, represent all with from Laser scanner is to the vector set in all paths of all transmitting laser pulses of bottom surface.
The method setting up forest mathematical model the most as claimed in claim 1, it is characterised in that described according to described sample distribution Function and measurement data y of described returntSet up the mathematical model of forest space, specifically include:
According to described sample distribution function and measurement data y of described returntThe mathematical model determining forest space is argmax [p (y|x)]。
7. the system setting up forest mathematical model, it is characterised in that including:
Measurement data acquisition module, for obtaining measurement data y that laser pulse returnst；
Vertical information distributed acquisition module, for obtaining branch and leaf vertical distribution information x of described target zone；
Sample distribution function acquisition module, is used for obtaining sample distribution function；Described sample distribution function representation one given, With the angle theta of described laser scanner Yu described laser pulse, along the direction of described laser pulse, vertical to concrete branch and leaf Distributed intelligence x is from ad-hoc location ytMeasurement data return probability；
Module set up by mathematical model, for according to described sample distribution function and measurement data y of described returntSet up forest The mathematical model in space.
Set up the system of forest mathematical model the most as claimed in claim 7, it is characterised in that also include:
Laser pulse emission module, for obtaining, at described measurement data acquisition module, measurement data y that laser pulse returnstIt Before, launch laser pulse to target zone；The laser pulse of described transmitting is to swash continuously to what large-area target zone was launched Light pulse.
Set up the system of forest mathematical model the most as claimed in claim 7, it is characterised in that described measurement data obtains mould Block, specifically includes:
Measurement data acquiring unit, for obtaining the discrete laser pulse that any range in described target zone returns, Measurement data y to this scopet。
Set up forest mathematical model system the most as claimed in claim 7, it is characterised in that described sample distribution function obtains Module, specifically includes:
Light beam probability determining unit, for according to formula p=e-(kρS)cosθDetermining the light beam probability of hat leaf, wherein p is not reflected The probability of laser pulse, k is to project the measurement data returned on the branch and leaf face vertical with laser pulse, and ρ is branch and leaf faces Density, S is the laser pulse distance by tree crown, and θ is laser pulse and the angle on described laser scanner vertical direction；
Return probability determining unit, for according to p (y | x) ∝ ∏t∈Tp(yt| x) p (x) determines relative to vertical distribution x, given Measurement data y of ad-hoc locationtThe probability returned, wherein, t represents measurement data ytLaser pulse path vector, T represents Scanning space, represents the vector set in all paths with all transmitting laser pulses from laser scanner to bottom surface.
CN201610838499.2A 2016-09-21 2016-09-21 A kind of method and system setting up forest mathematical model Pending CN106199628A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610838499.2A CN106199628A (en) 2016-09-21 2016-09-21 A kind of method and system setting up forest mathematical model

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610838499.2A CN106199628A (en) 2016-09-21 2016-09-21 A kind of method and system setting up forest mathematical model

Publications (1)

Publication Number Publication Date
CN106199628A true CN106199628A (en) 2016-12-07

Family

ID=58067028

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610838499.2A Pending CN106199628A (en) 2016-09-21 2016-09-21 A kind of method and system setting up forest mathematical model

Country Status (1)

Country Link
CN (1) CN106199628A (en)

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102538717A (en) * 2010-12-30 2012-07-04 北京师范大学 Automatic leaf area index observation system and method

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102538717A (en) * 2010-12-30 2012-07-04 北京师范大学 Automatic leaf area index observation system and method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
HANS-ERIK ANDERSEN: "The Use of airborne laser scanner data (LIDAR) for forest measurement applications", 《豆丁网》 *

Similar Documents

Publication Publication Date Title
Woodget et al. Quantifying submerged fluvial topography using hyperspatial resolution UAS imagery and structure from motion photogrammetry
Gatziolis et al. 3D tree dimensionality assessment using photogrammetry and small unmanned aerial vehicles
US9269188B2 (en) Densifying and colorizing point cloud representation of physical surface using image data
Lin et al. Mini-UAV-borne LIDAR for fine-scale mapping
US9562971B2 (en) Point-cloud fusion
Gatziolis et al. Challenges to estimating tree height via LiDAR in closed-canopy forests: A parable from Western Oregon
CN101914881B (en) Method for rapidly measuring foundation pile control net (CPIII) of rapid transit railway
CN103971406B (en) Submarine target three-dimensional rebuilding method based on line-structured light
NO337638B1 (en) Method for determining file attributes and computer program for executing the method
Burdziakowski et al. UAV photogrammetry under poor lighting conditions—Accuracy considerations
JP6073944B2 (en) Laser measurement system, reflection target body, and laser measurement method
Korpela et al. Backscattering of individual LiDAR pulses from forest canopies explained by photogrammetrically derived vegetation structure
KR101220271B1 (en) Numerical map manufacturing system for posting of reality building based on gps
Guo et al. Application of UAV tilt photogrammetry in 3D modeling of ancient buildings
CN109143167A (en) A kind of complaint message acquisition device and method
Fol et al. Evaluating state-of-the-art 3D scanning methods for stem-level biodiversity inventories in forests
CN109708570A (en) Information collection and analysis method and device for face structural plane
CN110580468B (en) Single wood structure parameter extraction method based on image matching point cloud
KR102262120B1 (en) Method of providing drone route
CN109035390B (en) Modeling method and device based on laser radar
CN106199628A (en) A kind of method and system setting up forest mathematical model
KR101232292B1 (en) Calculating system for open area ratio of the sky using aerial lidar data
CN106408656A (en) Building method and building system of 3D model
CN106383953A (en) Method and system for building forest canopy digital model
CN115631308B (en) Artificial rod reconstruction method, device, vehicle and medium

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication

Application publication date: 20161207

RJ01 Rejection of invention patent application after publication