CN108562911A - A kind of airborne large footprint lidar vegetation measuring system - Google Patents
A kind of airborne large footprint lidar vegetation measuring system Download PDFInfo
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- CN108562911A CN108562911A CN201810700026.5A CN201810700026A CN108562911A CN 108562911 A CN108562911 A CN 108562911A CN 201810700026 A CN201810700026 A CN 201810700026A CN 108562911 A CN108562911 A CN 108562911A
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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
- G01S17/88—Lidar systems specially adapted for specific applications
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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
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Computer Networks & Wireless Communication (AREA)
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Abstract
A kind of airborne large footprint lidar vegetation measuring system, signal processing and control unit control laser sensor unit transmitting laser simultaneously carry out ratio beam splitting, emit to ground target after the big beam expander of energy, receive the optical signal of reflection and be converted to electric signal；The acquisition process of signal processing and control unit into horizontal electrical signal uploads, and carries out the acquisition of airborne large footprint lidar vegetation measuring system working state monitoring amount, shows；GNSS/INS integrated navigations unit obtains current location and the attitude data of laser sensor unit in real time；Two-dimentional Stabilized Platform carries laser sensor unit, aerial camera, and according to the real-time attitude data of gyro sensor, dynamic adjusts Two-dimentional Stabilized Platform posture, keeps the orientation angle of Single wavelength solid state laser and carries out damping；Aerial camera direction is identical as laser sensor unit, completes Image Acquisition on a surface target.
Description
Technical field
The airborne large footprint lidar vegetation measuring system of the present invention, especially a kind of airborne large footprint lidar vegetation
Measuring system.
Background technology
Forest is the biocoene based on arbor, it have abundant species, complicated structure, various function,
It is known as " lung of the earth ", is the ecosystem that earth top occupies ascendancy.Therefore, outstanding to the observation of Forest Evolution System
It is important.With the high-definition remote sensing technology quickly grown in recent years, forest observing result is developed into sub-meter grade even li
Meter level, to provide possibility for the fine remote sensing observations of forest.
Laser radar remote sensing can pass through using wavelength shorter near-infrared or visible light, the higher laser beam of emitted energy
Woods window and canopy gap directly reach earth's surface, so as to realize the detection of complete vertical structure, the spy to Forest Vertical structure
Measuring tool is for the incomparable advantage of passive remote sensing.And large footprint lidar can be obtained richer due to its spot size bigger
The details of rich Forest Canopy structure, therefore to the higher wood land of canopy density, it is more obvious to measure advantage.The country exists
Forest Vertical structure etc., which is studied, using laser radar has also carried out extensive work.However, due to airborne large spot laser thunder
Larger up to spot size, light beam relatively dissipates.Therefore, when earth's surface big rise and fall or higher target roughness, laser radar returns
Wave signal just becomes very faint, and the accuracy of estimated value and precision can be caused significantly to decline, and is the airborne big of high reliability
The exploitation of hot spot vegetation detection laser radar system brings difficulty, similar airborne large spot vegetation to measure laser radar and yet there are no report
Road.
Invention content
Present invention solves the technical problem that being：A kind of airborne large spot laser thunder is overcome the deficiencies of the prior art and provide
Up to vegetation measuring system, solve airborne large footprint lidar vegetation measuring system have near-infrared 1064nm Laser emissions and
Detectivity can penetrate Vegetation canopy, obtain Vegetation canopy vertical distribution information；Have large spot pulse laser emission and regards greatly
Field echo reception detectivity may be implemented pulse covering large area Vegetation canopy, improve canopy vertical distribution measurement accuracy；
Have laser firing pulses and echo coupling detectivity, can avoid system trigger gitter and laser goes out light jiggle and causes
Time measurement error, improve echo time measurement accuracy；Have airborne platform and carry measurement capability, quick big model may be implemented
The scanning survey enclosed improves mapping efficiency.
Technical solution of the invention is：A kind of airborne large footprint lidar vegetation measuring system, including laser
Sensor cell, signal processing and control unit, Two-dimentional Stabilized Platform, GNSS/INS integrated navigations unit, aerial camera unit,
In：
The Single wavelength Solid State Laser in laser controller control laser sensor unit in signal processing and control unit
Device emits the laser of infrared 1064nm wavelength, and by the transmitting optical beam splitting device in laser sensor unit, will emit light
The ratio beam splitting of Shu Jinhang 1% in relay optics of the small light beam of energy through fiber coupling to laser sensor unit, is led to
The coupling mirror of the relay optics of too drastic optical sensor unit is by laser coupled to the detector of laser sensor unit, energy
Big laser beam is expanded to the 5mrad angles of divergence, by the transmitting optical spectroscopic device earthward target of laser sensor unit
Transmitting, the telescope of laser sensor unit receives the optical signal of ground target reflection, via the relaying of laser sensor unit
Optical devices filtering, focusing obtain optical signal, and the light that the detector of laser sensor unit exports relay optics is believed
Number be converted to electric signal；
The signal processing and high speed waveform collector of control unit, data processing and Interface Controller, state acquisition and control
Acquisition, processing, the upload of the complete twin detector output electric signal of device, controller, and complete airborne large footprint lidar vegetation
The measurement and upload of measuring system working state monitoring amount；Signal processing and the host computer of control unit handle display software in real time
Complete the configuration to airborne large footprint lidar vegetation measuring system running parameter, control instruction is received and dispatched, working condition detects
Amount display, data real-time storage and display, wherein working condition detection limit includes detector high pressure conditions, the enabled shape of laser
State, laser works electric current, system switching machine state；
GNSS/INS integrated navigations unit is fixedly mounted with laser sensor unit, obtains laser sensor unit in real time
Current location and attitude data；
Two-dimentional Stabilized Platform carries laser sensor unit, aerial camera, the gyro sensor of Two-dimentional Stabilized Platform with
Laser sensor unit is fixedly mounted, and Two-dimentional Stabilized Platform is according to the real-time attitude data of gyro sensor, dynamic adjustment two
Stability maintenance fixed platform posture keeps the orientation angle of Single wavelength solid state laser, and damping laser sensor unit；
Aerial camera direction is identical as laser sensor unit, completes Image Acquisition on a surface target；It is also equipped with power supply
The airborne DC power supplies of the 28V of aircraft platform for being converted to the exchange that can be used for 220V standard electric alternating current power supply units by inverter
Power supply.
The advantages of the present invention over the prior art are that：
(1) compared with prior art, the present invention receiving detecting function by integrated large spot Laser emission, big field angle,
Laser is emitted on pulse-couple to beam splitter by optical fiber using Laser emission light beam, the smaller segment beam of energy passes through
In fiber coupling to relay optics, the larger segment beam of energy is by expanding transmitting to measurement target, receiving telescope
Using transmission-type structure, visual field non-stop layer blocks, and optical efficiency is high, compact-sized, reduces processing and resetting difficulty；In telescope
Refluxing reflection mirror is placed before focal length and is realized and shortens system length, and collimation is carried out to the echo-signal that telescope receives and focusing subtracts
Few energy loss, improves system detection efficient；Detector triggers light path using customization prismatic decomposition face plating T99%R1%@
1064nm high-reflecting films are plated in 1064nm films, side, and reflectivity 99% realizes that the echo-signal that telescope receives is connect by detector
It receives, and can realize makes its energy size proximity detector trigger the requirement to energy, prism and laser the decaying of trigger signal
Device output end attenuator is used cooperatively the adjusting that can be achieved to trigger energy；
(2) compared with prior art, the present invention using the high precision time difference measurement pattern of transmitting receiving light path coupling, swash
Light emitting light beam is emitted laser on pulse-couple to beam splitter by optical fiber, and beam splitter is by the small transmitting trigger pulse of energy
Laser beam is by fiber coupling to relay optics, and relay optics are by the transmitting laser triggering pulse-couple of input
It is triggered in light path to detector, and by using customization prism, to realize the echo-signal of transmitting pulse and telescope reception
Coupling；Direct detection emits light pulse and echo-signal, avoids laser and goes out the factors such as light jiggle and system timing error and makes
At time difference measurement it is inaccurate, system time measurement accuracy is improved, to improve target distance measurement precision.
Description of the drawings
Fig. 1 is the complete machine theory of constitution block diagram of the present invention；
Fig. 2 is the laser sensor and Two-dimentional Stabilized Platform assembling assumption diagram of the present invention；
Fig. 3 is present invention transmitting Dichroic Optical and receiving optics functional block diagram；
Fig. 4 is laser sensor of the present invention and optical texture structure chart；
Fig. 5 is that vegetation of the present invention measures workflow；
Fig. 6 is that host computer of the present invention handles display software interface in real time；
Fig. 7 is that the present invention carries the data and test result of flight test in Shijiazhuang and Zhangjiajie.
Specific implementation mode
With optical remote sensing (Optical remote sensing) development of the technology in recent decades, forest horizontal junction
The research of structure has been compared deeply.Because optical remote sensing technology provides abundant spectrum, texture information, meter level and higher resolution ratio
Remotely-sensed data have it is single wood classification ability, identify and distinguish between the tree crown of different tree species type in horizontal bedding, with realize
Single wood classification.Although optical remote sensing is with the obvious advantage in horizontal direction classification problem, signal is faced in the acquisition of Vertical Parameters
The problem of saturation.Such as in dense subtropical zone, Tropical forests, the parameters such as leaf area index, biomass are often higher, Spring layer
Between possibly can not optical remote sensing observe data in obtain effective expression.It solves the problems, such as this, effectively detects Forest Vertical
Structure becomes key, and the appearance of active remote sensing technology then provides new approach for the detection of Forest Vertical structure.It is actively distant
Sense technology includes microwave remote sensing, laser radar (LiDAR, Light Detection And Ranging) remote sensing etc., main work
It is that the surface information of range information and target reflection is obtained using the electromagnetic wave of actively transmitting as principle, in addition the position of remote sensing platform
The remote sensor elements of exterior orientation provided with attitude system (POS, Position and Orientation) is provided, 3D vertical structures
It directly measures and is possibly realized.Under this technical system, active remote sensing has the ability successively to detect vertical direction in Forest Canopy
Structure, supplement optical remote sensing can only detect the deficiency of canopy upper surface.
Active microwave remote sensing has different penetration depths then due to the difference of wavelength to tree crown.L-band penetrate it is most deep,
It has the ability to reach earth's surface.The near-infrared or visible light that laser radar remote sensing utilizes wavelength shorter, the higher laser beam of emitted energy,
It can pass through woods window and canopy gap directly reach earth's surface, so as to realize the detection of complete vertical structure.As it can be seen that active remote sensing
Technology has the incomparable advantage of passive remote sensing to the detection of Forest Vertical structure.And large footprint lidar, due to its light
Spot size bigger, can obtain the details of more rich Forest Canopy structure, therefore to the higher wood land of canopy density,
Measurement advantage is more obvious.
The present invention is a kind of airborne large footprint lidar vegetation measuring system, which uses integrated structure design,
By 1064nm Single wavelengths solid state laser, telescope, transmitting optical spectroscopic device, telescope, relay optics, detector collection
At composition laser sensor unit；By controller, high speed waveform collector, data processing and Interface Controller, state acquisition and control
Device, laser controller and host computer processed handle display Integrated Simulation and constitute signal processing and control unit in real time；In conjunction with two dimension
Stabilized platform, GNSS/INS integrated navigations unit, aerial camera unit collectively form airborne large footprint lidar vegetation and measure
System completes surface vegetation measurement task.Laser sensor unit is fixedly mounted on Two-dimentional Stabilized Platform with integrated navigation unit
On, platform is designed using integral shock-absorbing, is ensured that optical system is not influenced when working on airborne platform by platform high-frequency vibration, is carried
High system stability and reliability.High speed waveform collector, data processing and Interface Controller, state acquisition and controller, control
Acquisition, processing, upload and the working state of system monitoring of the electric signal of the complete twin detector output of signal processor of device composition
The measurement and upload of amount.Host computer handles configuration, control instruction transmitting-receiving, work of the completion of display software to system operational parameters in real time
Make state-detection amount show, data real-time storage and display.For adapt to airborne circumstance, system be equipped with power inverter for will
The airborne DC power supplies of 28V of aircraft platform are converted to the AC power that can be used for 220V standard electric alternating current power supply units.
To obtain the precise information of Forest Canopy structure elevation distribution, present invention employs large spot Laser emission, greatly regard
Field optics reception, high-precision waveform measurement and high accuracy positioning attitude measurement technology.
When laser radar works, laser emits the remote sensing of near infrared band 1064nm under the control of laser controller
Laser, laser is reflected through ground target generates echo optical signal, and the optical signal of target scattering is received using telescope.Laser and
Telescope adjusts laser transmitting optical axis direction, realization and telescope using the design of off-axis formula, by emitting optical beam splitting device
Receive the centering between optical axis.Echo optical signal is after collimating mirror in optics receiving channel, spectroscope, depolarized and optical filter etc.
Enter photodetector after optical unit, photodetector is made of avalanche diode, and the echo optical signal got is converted
For easy-to-handle electric signal.The voltage pulse of output is sent into signal processor high speed waveform acquisition device, using 14bits,
The high-precision of 1GHz sample rates, high-speed ADC acquisition.Wave data after acquisition passes through FPGA processing, is surveyed with integrated navigation system
Position, posture and the temporal information measured is packaged jointly, send into controller progress data to deposit by high speed Ethernet interface
Storage.Processing in real time shows laser radar data real-time display of the software using acquisition.In addition, in signal processor state acquisition with
Each sensor states of controller acquisition system, which are sent to controller, to be stored and shows.The posture information that navigation system measures in real time is by controlling
Device processed acquires in real time, and carries out pose adjustment control to Two-dimentional Stabilized Platform according to current pose, realizes sensor unit oneself
Dynamicization is directed toward stability contorting.
One of technical solution of the invention is：Large spot Laser emission, big field angle receive detection.Its feature exists
In：Laser emission optics is made of light-dividing device, receives detection device is made of telescope and relay optics.
The principle of said program is：Laser emission light beam is emitted laser on pulse-couple to beam splitter by optical fiber,
Beam splitter passes through the smaller segment beam of energy after beam splitting in fiber coupling to relay optics.Energy after beam splitter beam splitting
Larger segment beam is by expanding transmitting to measurement target.It is 1 to emit optical beam splitting device splitting ratio:100, emit after expanding
Laser beam divergent angle is 5mrad, and laser beam is 15m in the spot size of 3km distances.Receiving telescope uses transmission-type knot
Structure, visual field non-stop layer block, and optical efficiency is high, compact-sized, reduce processing and resetting difficulty.Telescope is by 4 BK7 lens groups
At effective aperture 100mm, total length 298.8mm, field of view of receiver angle are 6mrad, effective focal length 148.8mm, image planes diameter
For 3mm.Relay optical unit is mainly made of refluxing reflection mirror, collimating mirror, focus lamp and detector triggering light path.In telescope
Refluxing reflection mirror is placed before focal length and is realized shortens system length.Telescope image planes spot diameter is about 3mm, and detector photosurface is straight
Diameter is about 0.8mm, and the echo-signal that telescope receives, which is collimated and focused, can reduce energy loss, improves system and visits
Survey efficiency.Detector triggers light path and plates T99%R1%@1064nm films using customization prismatic decomposition face, and it is anti-that 1064nm high is plated in side
Film, reflectivity is 99%, it can be achieved that the echo-signal that telescope receives is received by a detector, and can be realized and be declined to trigger signal
Subtracting (about 100 times) makes its energy size proximity detector trigger requirement to energy, prism and laser output attenuator
With the use of the adjusting that can be achieved to trigger energy.
The two of technical solution of the invention are：Emit the high precision time difference measurement pattern of receiving light path coupling.It is special
Sign is：Laser emission optics is made of light-dividing device, receives optics is made of relay optics.
The principle of said program is：Laser emission light beam is emitted laser on pulse-couple to beam splitter by optical fiber,
Beam splitter passes through the transmitting trigger pulse laser beam of 1% energy in fiber coupling to relay optics.Relay optical
Device triggers the transmitting laser triggering pulse-couple of input to detector in light path, and by using customization prism, to real
Now emit the echo-signal coupling of pulse and telescope reception.Detector direct detection emits light pulse and echo-signal, avoids
Time difference measurement is inaccurate caused by laser goes out the factors such as light jiggle and system timing error, improves system time and measures essence
Degree, to improve target distance measurement precision.Detailed combination and explanation are carried out to the present invention below in conjunction with the accompanying drawings.
It is as shown in Figure 1 the complete machine theory of constitution block diagram of the present invention, Fig. 2 is that the laser sensor of the present invention and two dimension are stablized
Platform assembling assumption diagram, Fig. 3 are present invention transmitting Dichroic Optical and receiving optics functional block diagram, and Fig. 4 is laser of the present invention
Sensor and optical texture structure chart, Fig. 5 are that vegetation of the present invention measures workflow, and airborne large footprint lidar vegetation measures
System, by laser sensor unit (1~5), signal processing and control unit (6~11), Two-dimentional Stabilized Platform 12, GNSS/INS
Integrated navigation unit 13, aerial camera unit 14 form, and collectively form airborne large footprint lidar vegetation measuring system, complete
Surface vegetation measurement task, spot size can reach 15m under 3km measurement distances, and tree height measurement precision is better than 0.3m.System work
When making, laser controller 11 controls the laser that Single wavelength solid state laser 1 emits near-infrared 1064nm wavelength, and by emitting light
Credit bundle device 2, by transmitting light beam with 1% ratio beam splitting, the wherein smaller light beam of energy is through fiber coupling to relay optical
It 4 in device, by the coupling mirror of relay optics 4, couples light into detector 5, for the survey to the Laser emission moment
Amount；The higher laser beam of energy is expanded to the 5mrad angles of divergence, and by the earthward objective emission of transmitting optical spectroscopic device 2.
Telescope 3 receives the optical signal of target reflection, the filtering of repeated Optical devices 4 and focusing.5 module of detector fills relay optical
The optical signal for setting 4 outputs is converted to electric signal.High speed waveform collector 6, data processing and Interface Controller 7, state acquisition and control
Acquisition, processing, upload and the system of the electric signal for the complete twin detector output of signal processor that device 8 processed, controller 9 form
The measurement and upload of working state monitoring amount.Host computer handle in real time display software 10 complete to the configurations of system operational parameters,
Control instruction transmitting-receiving, working condition detection limit (detector high pressure conditions, laser enabled state, laser works electric current, system
On-off state) display, data real-time storage and display.GNSS/INS integrated navigations unit 13 and laser sensor unit (1~
5) it is fixedly mounted, obtains laser sensor unit current location and attitude data in real time.Two-dimentional Stabilized Platform 12 is sharp for carrying
Optical sensor unit (1~5) and aerial camera 14, gyro sensor and the laser sensor unit (1 of Two-dimentional Stabilized Platform 12
~5) it is fixedly mounted, Two-dimentional Stabilized Platform 12 is according to the real-time attitude data of gyroscope, dynamic adjustment platform stance, holding laser
Orientation angle, while providing damping for laser sensor unit 1~5.Aerial camera 14 is directed toward and laser sensor unit 1~5
It is identical, complete the Image Acquisition to surveying and drawing target area.System is used for the 28V of aircraft platform is airborne straight equipped with power inverter
Galvanic electricity source is converted to the AC power that can be used for 220V standard electric alternating current power supply units.
Laser is Single wavelength solid state laser.By applying narrow-pulse laser lift-off technology, realizing reduces single pulse energy
Amount, while higher echo signal-to-noise ratio is obtained, and the application security and reliability of system entirety are improved, while effectively reducing and being
The volume of system.The launch wavelength of the laser is 1064nm, single pulse energy 2mJ, pulse recurrence frequency 40Hz, pulse width
1.5ns。
Laser is emitted on pulse-couple to beam splitter by optical fiber, beam splitter is by the smaller part light of energy after beam splitting
Beam passes through in fiber coupling to relay optics.The segment beam that energy is larger after beam splitter beam splitting is by expanding transmitting to survey
Measure target.It is 1 to emit optical beam splitting device splitting ratio:100, it is 5mrad, laser beam that laser beam divergent angle is emitted after expanding
It is 15m in the spot size of 3km distances.
Receiving telescope uses transmission-type structure, visual field non-stop layer to block, and optical efficiency is high, compact-sized, reduces processing
And resetting difficulty.Telescope is made of 4 BK7 lens, effective aperture 100mm, total length 298.8mm, field of view of receiver angle
For 6mrad, effective focal length 148.8mm, a diameter of 3mm of image planes.
Relay optical unit is mainly made of refluxing reflection mirror, collimating mirror, focus lamp and detector triggering light path.It is looking in the distance
Refluxing reflection mirror is placed before mirror focal length and is realized shortens system length.Telescope image planes spot diameter is about 3mm, detector photosurface
Diameter is about 0.8mm, and the echo-signal that telescope receives, which is collimated and focused, can reduce energy loss, improves system
Detection efficient.Detector in relay optical unit triggers light path, and the energy introduced to optical fiber is handled, and realizes that detector touches
Hair.Collimating mirror visual field is designed as ± 20mRad, and image planes diameter is unanimously 3mm with mirror image face diameter of looking in the distance.Collimating mirror total length is about
It for 100mm, rear cut-off distance 62mm, is made of 3 BK7 lens, image quality is close to diffraction limit.Focus lamp act as to return
Wave signal all focuses in detector photosurface, and focus lamp is made of 3 BK7 eyeglasses, and total length is about 25mm, image planes hot spot
A diameter of 0.3mm.Light path is triggered by placing one piece of customization prism in collimating mirror rear end, realizes and adjusts trigger energy size, letter
Change structure design, shielding interference of stray light.T99%R1%@1064nm films are plated in the prismatic decomposition face of customization, and it is anti-that 1064nm high is plated in side
Film, reflectivity is 99%, it can be achieved that the echo-signal that telescope receives is received by a detector, and can be realized and be declined to trigger signal
Subtracting (about 100 times) makes its energy size proximity detector trigger requirement to energy, prism and laser output attenuator
With the use of the adjusting that can be achieved to trigger energy.
Detector is using avalanche silicon diode opto-electronic receiver module as probe unit.Detector is used to receive optics
The return laser beam received of uniting is converted to electric signal, so as to the measurement to information such as signal amplitude, waveform and flight time.It should
Detector is integrated with semiconductor refrigerating unit to improve the heat dissipation performance of detector in enclosed package, improves the stabilization of detector
Property.The a diameter of 0.8mm of detector photosurface, the responsiveness to 1064nm wavelength lights are 200KV/W.
Signal processor control unit is by high speed waveform collector (6), data processing and Interface Controller (7), state acquisition
Handle display software (10), laser controller (11) composition in real time with controller (8), controller (9), host computer.All units
It is integrated on a structure platform, is effectively reduced number of devices and complexity, improve the reliability of equipment, convenience and easy-to-use
Property.Laser controller controls laser emission time, frequency and the energy of Single wavelength solid state laser.Controller is responsible for entire signal
Processing and the control of control unit, instruction transmitting-receiving and data storage, and synchronizing signal is exported, data storage capacity can reach 1TB.
The high speed that high speed waveform collector complete twin detector under the system synchronization signal triggering that controller exports exports electric signal is adopted
Sample, sample rate 1GHz, efficiently sampling digit is up to 10bits.Data processing and Interface Controller complete the processing to sampled data
And packing, and connect with controller by Ethernet interface and upload measurement data in real time.State acquisition is with controller for real-time
System mode is monitored, and completes the upload of the setting and working condition detection limit of running parameter.It is soft that host computer handles display in real time
Part is installed in controller system, for systematic parameter configuration, system switching machine control, status monitoring parameter real-time display and
The real-time display of sample waveform.
High steady platform is designed using two-dimensional quadrature pivot structure, and two-way spindle is driven by independent servo motor, the system integration
Dual spindle gyroscopes inertial sensor and posture automatic controller, can measure the attitudes vibration of laser radar mounting platform in real time,
And the motor rotation angle that need to be adjusted is calculated in real time.High steady platform can make quick response to system platform attitudes vibration,
Ensure the stability of system in measurement process.Simultaneously, high steady mesa base filters aircraft flight using shock-absorbing connection design
High-frequency vibration in the process reduces influence of the aircraft vehicle vibrations to optical device.Stability range (orientation, pitch axis) >=± 8deg,
Maximum angular rate (orientation, pitch axis) >=50deg/s, maximum angular acceleration (orientation, pitch axis) >=200deg/s2, dynamic is accidentally
Difference (orientation, pitch axis) ＜ 0.08deg (3deg, 3Hz), vertical deflection is less than 0.01deg, Payload when automatic horizontally-placed pattern
50kg。
It is illustrated in figure 5 vegetation of the present invention and measures workflow, airborne large footprint lidar vegetation measuring system is used for
Quantitative measurment to earth's surface Vegetation canopy elevation distribution and vegetation horizontal distribution coverage rate.System is carried using aircraft platform, edge
The operating mode of heading LINEAR CONTINUOUS scanning survey.Below by taking the airborne flying test in Shijiazhuang and Zhangjiajie as an example, explanation
The airborne large footprint lidar vegetation measuring system course of work and implementation steps.
After the completion of airborne large spot vegetation measures laser radar development, in the tissue of inventory and planning designing institute of the State Administration of Forestry
Under in order to further verify the working performance and design scheme of system, during December in April, 2017-, successively carried out multi rack
Secondary flight test.It is tested by multiple onboard flight, demonstrates airborne large spot vegetation and measure laser radar apparatus stabilization, data
Acquisition, storage, processing software can completely acquire storage laser radar, camera, IMU data, and preliminary data handling result is shown
The data stabilization that system obtains is effective..
Airborne large footprint lidar system is carried out in early April, 2017 in Shijiazhuang Luancheng near airports region
Onboard flight is tested for the first time, and has carried out the comparison of point cloud laser radar simultaneous test and accuracy evaluation.In-flight system operation is steady
It is fixed, experiment is flown by the school of two sorties, calibration area is obtained with area is surveyed and amounts to 10 course lines, the valid data of about 300GB.
Airborne large footprint lidar system is carried out in late December, 2017 in Lotus Airport's near zone
The flight test of two sorties.Course line overall length is more than 980km, and flying height is more than 3000m, and endurance amounts to 11 hours, obtains calibration
Area amounts to the mass efficient data in four areas Ge Ce with area is surveyed.
By waveform extracting, preliminary analysis is carried out to the waveform situation of different atural objects, by data result as it can be seen that under difference
Under the conditions of pad face, echo-signal can react the information such as fluctuating, relative elevation, the reflectivity of atural object, and resolution ratio is higher, echo-signal
Signal-to-noise ratio under the conditions of different reflectivity, be more than required detection signal-to-noise ratio, between 20~80, dynamic range is larger, full
Foot.
After large footprint lidar data calculation, carry out intersecting ratio with the test result of small light spot point cloud laser radar
Right, the tree height that large footprint lidar obtains matches substantially with the point high result of cloud laser radar tree.
It is illustrated in figure 6 host computer of the present invention and handles display software interface in real time；The present invention is illustrated in figure 7 in Shijiazhuang
And the data and test result of flight test are carried in Zhangjiajie.By flight test and verification, airborne large footprint lidar is set
Standby to stablize, echo-signal Wave data can reflect different vegetation and earth's surface characteristic, have to vegetation stepped construction higher
Recognition capability, for the lower measured zone of forest zone isoreflectance, it is also ensured that echo-signal has higher signal-to-noise ratio, greatly
The tree height that light spot laser radar obtains is matched with the point high result of cloud laser radar tree, and range accuracy is less than 0.3m.
The content that description in the present invention is not described in detail belongs to the known technology of those skilled in the art.
Claims (10)
1. a kind of airborne large footprint lidar vegetation measuring system, it is characterised in that at laser sensor unit, signal
Reason and control unit, Two-dimentional Stabilized Platform (12), GNSS/INS integrated navigations unit (13), aerial camera unit (14), laser
Sensor unit includes Single wavelength solid state laser (1), transmitting optical beam splitting device (2), telescope (3), relay optics
(4), wherein：
Single wavelength solid state laser (1) in signal processing and control unit control laser sensor unit emits laser and passes through
Light beam progress ratio beam splitting will be emitted by emitting optical beam splitting device (2), and the small light beam of energy is filled through fiber coupling to relay optical
It sets (4), by laser coupled to detector (5), the laser beam big to energy expands the coupling mirror of relay optics (4)
Beam, by transmitting optical spectroscopic device (2), earthward objective emission, telescope (3) receive the optical signal of ground target reflection, via
Relay optics (4) filtering, focusing obtain optical signal, and the optical signal that detector (5) exports relay optics (4) is converted
For electric signal；
Signal processing and control unit carry out airborne large spot laser into acquisition, processing, the upload of row detector (5) electric signal
The acquisition of radar vegetation measuring system working state monitoring amount, and give to host computer and handle display software (10) in real time；Host computer
Processing in real time shows that software (10) completes the configuration of airborne large footprint lidar vegetation measuring system running parameter, control instruction
Transmitting-receiving, working condition detection limit show, data real-time storage and display, wherein working condition detection limit includes detector high pressure
State, Single wavelength solid state laser enabled state, Single wavelength solid state laser operating current, airborne large footprint lidar vegetation
Measuring system on-off state；
GNSS/INS integrated navigations unit (13) is fixedly mounted with laser sensor unit, obtains laser sensor unit in real time
Current location and attitude data；
Two-dimentional Stabilized Platform (12) carries laser sensor unit, aerial camera (14), the gyroscope of Two-dimentional Stabilized Platform (12)
Sensor and laser sensor unit are fixedly mounted, and Two-dimentional Stabilized Platform (12) is according to the real-time attitude number of gyro sensor
According to dynamic adjusts Two-dimentional Stabilized Platform (12) posture, the orientation angle of Single wavelength solid state laser (1) is kept, to laser sensing
Device unit carries out damping；
Aerial camera (14) direction is identical as laser sensor unit, completes Image Acquisition on a surface target.
2. a kind of airborne large footprint lidar vegetation measuring system according to claim 1, it is characterised in that：Described
Single wavelength solid state laser (1) in signal processing and control unit control laser sensor unit emits infrared 1064nm wavelength
Laser, transmitting optical beam splitting device (2) will emit light beam carry out 1% ratio beam splitting.
3. a kind of airborne large footprint lidar vegetation measuring system according to claim 1 or 2, it is characterised in that：Institute
The relay optics (4) the stated laser beam big to energy expands the 5mrad angles of divergence.
4. a kind of airborne large footprint lidar vegetation measuring system according to claim 1 or 2, it is characterised in that：Also
Including power inverter, power inverter, which is converted to the airborne DC power supplies of 28V, can be used for 220V standard electric alternating current power supply units
AC power.
5. a kind of airborne large footprint lidar vegetation measuring system according to claim 1 or 2, it is characterised in that：Institute
The signal processing and control unit stated include high speed waveform collector (6), data processing and Interface Controller (7), state acquisition with
Controller (8), controller (9), host computer handle display software (10), laser controller (11) in real time, wherein：
The Single wavelength Solid State Laser in laser controller (11) control laser sensor unit in signal processing and control unit
Device (1) emits laser；
High speed waveform collector (6), data processing and Interface Controller (7), state acquisition and controller (8), controller (9) are completed
Acquisition, processing, the upload of electric signal are exported to detector (5), and complete airborne large footprint lidar vegetation measuring system work
Make the measurement and upload of status monitoring amount；
Host computer handles display software (10) and completes to airborne large footprint lidar vegetation measuring system running parameter in real time
Configuration, control instruction transmitting-receiving, working condition detection limit show, data real-time storage and display.
6. a kind of airborne large footprint lidar vegetation measuring system according to claim 1 or 2, it is characterised in that：Institute
The single pulse energy of Single wavelength solid state laser (1) in signal processing and control unit the control laser sensor unit stated is
2mJ, pulse recurrence frequency 40Hz, pulse width 1.5ns.
7. a kind of airborne large footprint lidar vegetation measuring system according to claim 1 or 2, it is characterised in that：Institute
It is 15m that the transmitting optical beam splitting device stated, which expands rear laser beam in the spot size of 3km distances,.
8. a kind of airborne large footprint lidar vegetation measuring system according to claim 1 or 2, it is characterised in that：Institute
The telescope (3) stated uses transmission-type structure, including 4 BK7 lens, effective aperture 100mm, total length 298.8mm to connect
Rating rink corner is 6mrad, effective focal length 148.8mm, a diameter of 3mm of image planes.
9. a kind of airborne large footprint lidar vegetation measuring system according to claim 1 or 2, it is characterised in that：Institute
For the detector stated using avalanche silicon diode opto-electronic receiver module as probe unit, detector photosurface a diameter of 0.8mm is right
The responsiveness of 1064nm wavelength lights is 200KV/W.
10. a kind of airborne large footprint lidar vegetation measuring system according to claim 1 or 2, it is characterised in that：Institute
The Two-dimentional Stabilized Platform (12) stated uses two-dimensional quadrature pivot structure, two-way spindle to be driven by independent servo motor, integrates twin shaft
Gyroscope inertial sensor and posture automatic controller measure attitudes vibration and calculate motor rotation angle, bottom in real time in real time
It is connected using shock-absorbing, filter high-frequency vibration.
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| CN116106873A (en) * | 2023-04-13 | 2023-05-12 | 西南交通大学 | Mobile laser radar calibration control system and method |
| CN116106873B (en) * | 2023-04-13 | 2023-10-24 | 西南交通大学 | Mobile laser radar calibration control system and method |
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Application publication date: 20180921 |