CN110487408A - A kind of infrared water surface temperature measurement accuracy bearing calibration of unmanned plane based under Split window algorithms - Google Patents
A kind of infrared water surface temperature measurement accuracy bearing calibration of unmanned plane based under Split window algorithms Download PDFInfo
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- CN110487408A CN110487408A CN201910614422.0A CN201910614422A CN110487408A CN 110487408 A CN110487408 A CN 110487408A CN 201910614422 A CN201910614422 A CN 201910614422A CN 110487408 A CN110487408 A CN 110487408A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 37
- 238000009529 body temperature measurement Methods 0.000 title description 9
- 238000005259 measurement Methods 0.000 claims abstract description 33
- 238000000034 method Methods 0.000 claims abstract description 22
- 239000003643 water by type Substances 0.000 claims abstract description 14
- 230000005855 radiation Effects 0.000 claims abstract description 13
- 238000003384 imaging method Methods 0.000 claims abstract description 9
- 230000002459 sustained effect Effects 0.000 claims abstract description 4
- 230000001052 transient effect Effects 0.000 claims abstract description 3
- 230000004907 flux Effects 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 5
- 238000002834 transmittance Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000013011 mating Effects 0.000 claims description 2
- 230000009466 transformation Effects 0.000 claims description 2
- 239000011159 matrix material Substances 0.000 claims 1
- 230000003287 optical effect Effects 0.000 abstract description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003331 infrared imaging Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000004861 thermometry Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/80—Calibration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/80—Calibration
- G01J5/804—Calibration using atmospheric correction
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J2005/0077—Imaging
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Abstract
The present invention discloses a kind of unmanned plane infrared measurement of temperature accuracy correcting method based under Split window algorithms, comprising the following steps: (1) transient measurement of waters water surface temperature is carried out by the thermal infrared imager carried on unmanned plane；(2) add the infrared fileter for setting respectively plus setting 10.5-11.3um, 11.5-12.5um before thermal infrared imager camera lens, to obtain the infra-red radiation channel under the two wave bands；(3) unmanned plane target run waters carries out temperature measuring and imaging with two different optical filters in step (2) respectively on the same flight path of sustained height, obtains the temperature under respective channel；(4) Split window algorithms infrared measurement of temperature calibration model is established；(5) ship carries boating type water quality instrument and synchronizes actual measurement to corresponding waters, using the parameter in least square method solution procedure (4), to complete to correct.This method can be obviously improved the precision of remote infrared survey water surface temperature, ensure that the reliability that water surface temperature data utilize.
Description
Technical field
The invention belongs to water surface thermometry field more particularly to a kind of unmanned plane infrared measurement of temperature based under Split window algorithms
Accuracy correcting method.
Background technique
The various production and living of current era are all closely bound up with water, during developing and utilizing water body resource, people
The activity of class inevitably brings pollution and destruction to water body.With the raising of social environment consciousness, people are to water body
Protection requirement is also higher and higher, either reservoir, lake and inshore water body.And accurately water temperature is then environmental protection, section
It grinds, the departments such as economy provide and effectively help and decision.
The temperature contact type measurement of the water surface, which has, at present carries out water surface acquisition monitoring using ship or launches buoy and measurement zone
Domain need to more blindly measure a large amount of data and be analyzed, and the cost of both modes is larger, and time-consuming and need to consider to be tested
The actual conditions in waters.It carries out being measurement method emerging in recent years when contactless measurement using unmanned plane, it can be effective
Evade the problem of contact type measurement is brought, but negative issue therewith also occurs, i.e. the maximum bottleneck of restriction this method is to survey
Accuracy of measurement problem.And bearing calibration proposed in this paper can effectively eliminate the factors bring temperature measurement error problem such as atmospheric radiation,
The precision of unmanned plane infrared survey water surface temperature is substantially increased, is worth with very big social utility.
Summary of the invention
The present invention is directed in view of the deficiencies of the prior art, propose a kind of unmanned plane infrared measurement of temperature essence based under Split window algorithms
Spend bearing calibration.
The technical solution adopted by the present invention to solve the technical problems is: a kind of infrared based on the unmanned plane under Split window algorithms
Temperature measurement accuracy bearing calibration, comprising the following steps:
(1) transient measurement of waters water surface temperature is carried out by the thermal infrared imager carried on unmanned plane；
(2) add the infrared fileter for setting respectively plus setting 10.5-11.3um, 11.5-12.5um before thermal infrared imager camera lens,
To obtain the infra-red radiation channel under the two wave bands；
(3) unmanned plane target run waters, respectively with two differences in step (2) on the same flight path of sustained height
Optical filter carry out temperature measuring and imaging, obtain the temperature T under respective channel1,T2；
(4) Split window algorithms infrared measurement of temperature calibration model is established:
TS=A1·T1+A2·T2
Wherein A1,A2For relevant parameter, T1,T2What respectively 10.5-11.3um, 11.5-12.5um infrared fileter measured
Temperature, TSFor true temperature after target water correction；
(5) ship carries boating type water quality instrument and synchronizes actual measurement to corresponding waters, utilizes least square method solution procedure
(4) the parameter A in1,A2, to complete to correct.
Further, the method that Split window algorithms infrared measurement of temperature calibration model is established in the step (4) is as follows:
(4.1) atmospheric radiation transmission is established:
Ltoa(λ1)=τ (λ1)·(ε(λ1)B(λ1,T)+(1-ε(λ1))Latm↓(λ1))+Latm↑(λ1)
Ltoa(λ2)=τ (λ2)·(ε(λ2)B(λ2,T)+(1-ε(λ2))Latm↓(λ2))+Latm↑(λ2)
Wherein λ1For the wavelength of 10.5-11.3um wave band, λ2For the wavelength of 11.5-12.5um wave band, ε (λ1)、ε(λ2) point
It Wei not λ1And λ2Wavelength is lauched surface launching rate, τ (λ1)、τ(λ2) it is respectively λ1And λ2Atmospheric transmittance under wavelength, Ltoa(λ1)、Ltoa
(λ2) it is respectively λ1And λ2The received spoke brightness of thermal infrared imager, L under wavelengthatm↓(λ1)、Latm↓(λ2) it is respectively λ1And λ2Under wavelength
Downward terrestrial radiantion, flux, Latm↑(λ1)、Latm↑(λ2) it is respectively λ1And λ2The upward radiation flux of atmosphere under wavelength, T are temperature, B
(λ1,T)、B(λ2, T) and it is respectively λ1And λ2Wavelength, the spoke brightness that temperature is the target water surface under T；
(4.2) transformation model of spoke brightness L to temperature T is establishedWherein K1,K2For relevant parameter, pass through
Blackbody calibration obtains；
(4.3) the temperature mode of atmospheric radiation is established:
TS-Ttoa=kλ·f(Ta(z),pe(z))
Wherein TSFor target water surface temperature, TtoaFor thermal infrared imager temperature, f (Ta(z),peIt (z)) is atmospheric temperature and wet
Spend the functional of profile, kλFor the relevant parameter of wave band λ, TaIt (z) is atmospheric humidity function, peIt (z) is moisture profile function, z is
Height from ground to unmanned plane；
The influence that the functional of atmospheric temperature and moisture profile is then eliminated according to the independent imaging in two channels has:
Further have:
Simplified formula has TS=A1·T1+A2·T2To get under Split window algorithms
Infrared measurement of temperature calibration model, wherein
Further, the infrared absorption filter for setting respectively plus setting 10.5-11.3um, 11.5-12.5um is added before thermal infrared imager camera lens
Mating plate is the imaging under two kinds of wave bands for synchronization same picture.
Further, the surveyed waters of unmanned plane includes the similar waters such as reservoir, lake, inshore.
The beneficial effects of the present invention are: same using two wave bands of 10.5-11.3um, 11.5-12.5um under infrared imaging
When be imaged, simultaneous correction, bearing calibration provided by the invention can increase substantially the essence of current infrared remote measurement temperature
True property, the factors bring such as atmospheric radiative transfer when solving unmanned plane measurement water surface temperature influence, the accurate quick water surface
Temperature, which is measured, provides huge help to the application of relevant departments' data.
Detailed description of the invention
Fig. 1 is the flow chart of the method for the present invention.
Specific embodiment
Invention is further described in detail With reference to embodiment.
Add the infrared fileter for setting 10.5-11.3um and 11.5-12.5um before the thermal infrared imager of UAV flight, obtains
Take special infrared light spectrum channel.The infrared information of acquisition will be measured under the channel, be input to the Split window algorithms set up
Infrared measurement of temperature calibration model walks boat actual measurement further according to ship and determines relevant parameter A using least square method1,A2, can be according to this
The temperature information obtained under two channels deduces out the true temperature of the water surface.
Unmanned plane can use the M600pro type product of great Jiang Creative Technology Ltd. in the present embodiment, but not
It is limited to this；Thermal infrared imager can use the PI450 type product of Ou Pushi, but not limited to this；Two infrared fileter is by exerting
U.S. Science and Technology Ltd. customed product, but not limited to this；Ship, which walks boat actual measurement, can engrave the limited public affairs of environmental science and technology using Shanghai pool
The EXO Multifunctional water instrument of department, but not limited to this.
In this example specific implementation step, as shown in Figure 1, before thermal infrared imager camera lens plus setting respectively plus setting 10.5-
The infrared fileter of 11.3um, 11.5-12.5um will add the thermal infrared imager for having set optical filter by UAV flight in target water
Thermometric of taking photo by plane is carried out according to the course line planned in advance above domain, according to the temperature imaging under two channels as a result, under same picture
Two infrared image temperature it is different, the temperature T that will be measured under two kinds of channels of same point1、T2Matching is mapped one by one, most
Same water body, the temperature information T under different channels on sustained height are obtained eventually1、T2.Atmosphere is established according to following two formula
Radiative transfer model:
Ltoa(λ1)=τ (λ1)·(ε(λ1)B(λ1,T)+(1-ε(λ1))Latm↓(λ1))+Latm↑(λ1)
Ltoa(λ2)=τ (λ2)·(ε(λ2)B(λ2,T)+(1-ε(λ2))Latm↓(λ2))+Latm↑(λ2)
Wherein λ1For the wavelength of 10.5-11.3um wave band, λ2For the wavelength of 11.5-12.5um wave band, ε (λ1)、ε(λ2) point
It Wei not λ1And λ2Wavelength is lauched surface launching rate, τ (λ1)、τ(λ2) it is respectively λ1And λ2Atmospheric transmittance under wavelength, Ltoa(λ1)、Ltoa
(λ2) it is respectively λ1And λ2The received spoke brightness of thermal infrared imager, L under wavelengthatm↓(λ1)、Latm↓(λ2) it is respectively λ1And λ2Under wavelength
Downward terrestrial radiantion, flux, Latm↑(λ1)、Latm↑(λ2) it is respectively λ1And λ2The upward radiation flux of atmosphere under wavelength, T are temperature, B
(λ1,T)、B(λ2, T) and it is respectively λ1And λ2Wavelength, the spoke brightness that temperature is the target water surface under T.
Further according toBy spoke brightness L to temperature T；Establish the temperature mode of atmospheric radiation: TS-Ttoa=
kλ·f(Ta(z),pe(z)), wherein TSFor target water surface temperature, TtoaFor thermal infrared imager temperature, f (Ta(z),peIt (z)) is big
The functional of temperature degree and moisture profile, kλFor the relevant parameter of wave band λ, TaIt (z) is atmospheric humidity function, pe(z) wide for humidity
Line function, z are the height from ground to unmanned plane；
Further, the influence that the functional of atmospheric temperature and moisture profile is eliminated according to the independent imaging in two channels has:Further haveSimplified formula has TS=A1·T1+A2·T2To get the infrared survey under Split window algorithms
Warm calibration model, wherein
Ship is finally synchronized away to the temperature T of boat actual measurement0According to same point and T1、T2It corresponds to match to get up to bring into and split
Window method infrared measurement of temperature calibration model T0=A1·T1+A2·T2, relevant parameter A is determined using least square method1,A2.Then foundation should
Calibration model leads to as long as obtaining the temperature information under two channels using unmanned plane temp measuring system in thermometric later by two
Channel temp T1、T2Bring the true temperature that temperature measurement correction model can be finally inversed by the corresponding water surface into.
Compared with the work of buoy is launched in traditional ship actual measurement or ship, the UAV system infrared measurement of temperature that developed in recent years
The costs such as time, the economy of temperature measurement are greatly reduced, it is convenient, fast, large area temperature pattern can be obtained in a short time.
But infrared remote, contactless temperature-measuring bring temperature measurement error centainly affect the reliability of data at the same time, and this hair
The temperature measurement correction method of bright offer substantially increases the infrared water surface temperature measurement accuracy of current unmanned plane, and providing for relevant departments can
The water temperature leaned on is worth with very big novelty with definitely social utility.
The above description is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all utilizations
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content is applied directly or indirectly in other correlations
Technical field, be included within the scope of the present invention.
Claims (4)
1. a kind of unmanned plane infrared measurement of temperature accuracy correcting method based under Split window algorithms, which comprises the following steps:
(1) transient measurement of waters water surface temperature is carried out by the thermal infrared imager carried on unmanned plane；
(2) add the infrared fileter for setting respectively plus setting 10.5-11.3um, 11.5-12.5um before thermal infrared imager camera lens, to
Obtain the infra-red radiation channel under the two wave bands；
(3) unmanned plane target run waters, respectively with two different filters in step (2) on the same flight path of sustained height
Mating plate carries out temperature measuring and imaging, obtains the temperature T under respective channel1,T2；
(4) Split window algorithms infrared measurement of temperature calibration model is established:
TS=A1·T1+A2·T2
Wherein A1,A2For relevant parameter, T1,T2The temperature that respectively 10.5-11.3um, 11.5-12.5um infrared fileter measure,
TSFor true temperature after target water correction；
(5) ship carries boating type water quality instrument and synchronizes actual measurement to corresponding waters, using in least square method solution procedure (4)
Parameter A0,A1,A2, to complete to correct.
2. a kind of unmanned plane infrared measurement of temperature accuracy correcting method based under Split window algorithms according to claim 1, special
Sign is that the method that Split window algorithms infrared measurement of temperature calibration model is established in the step (4) is as follows:
(4.1) atmospheric radiation transmission is established:
Ltoa(λ1)=τ (λ1)·(ε(λ1)B(λ1,T)+(1-ε(λ1))Latm↓(λ1))+Latm↑(λ1)
Ltoa(λ2)=τ (λ2)·(ε(λ2)B(λ2,T)+(1-ε(λ2))Latm↓(λ2))+Latm↑(λ2)
Wherein λ1For the wavelength of 10.5-11.3um wave band, λ2For the wavelength of 11.5-12.5um wave band, ε (λ1)、ε(λ2) it is respectively λ1
And λ2Wavelength is lauched surface launching rate, τ (λ1)、τ(λ2) it is respectively λ1And λ2Atmospheric transmittance under wavelength, Ltoa(λ1)、Ltoa(λ2) point
It Wei not λ1And λ2The received spoke brightness of thermal infrared imager, L under wavelengthatm↓(λ1)、Latm↓(λ2) it is respectively λ1And λ2Under wavelength atmosphere to
Lower radiation flux, Latm↑(λ1)、Latm↑(λ2) it is respectively λ1And λ2The upward radiation flux of atmosphere under wavelength, T are temperature, B (λ1,T)、
B(λ2, T) and it is respectively λ1And λ2Wavelength, the spoke brightness that temperature is the target water surface under T；
(4.2) transformation model of spoke brightness L to temperature T is establishedWherein K1,K2For relevant parameter, pass through black matrix
Calibration obtains；
(4.3) the temperature mode of atmospheric radiation is established:
TS-Ttoa=kλ·f(Ta(z),pe(z))
Wherein TSFor target water surface temperature, TtoaFor thermal infrared imager temperature, f (Ta(z),pe(z)) wide for atmospheric temperature and humidity
The functional of line, kλFor the relevant parameter of wave band λ, TaIt (z) is atmospheric humidity function, peIt (z) is moisture profile function, z is from ground
Height of the face to unmanned plane；
The influence that the functional of atmospheric temperature and moisture profile is then eliminated according to the independent imaging in two channels has:
Further have:
Simplified formula has TS=A1·T1+A2·T2To get red under Split window algorithms
Outer thermometric calibration model, wherein
3. a kind of unmanned plane infrared measurement of temperature accuracy correcting method based under Split window algorithms according to claim 1, special
Sign is, before thermal infrared imager camera lens plus sets respectively plus set the infrared fileter of 10.5-11.3um, 11.5-12.5um, be for
Imaging under two kinds of wave bands of synchronization same picture.
4. a kind of unmanned plane infrared measurement of temperature accuracy correcting method based under Split window algorithms according to claim 1, special
Sign is that the surveyed waters of unmanned plane includes the similar waters such as reservoir, lake, inshore.
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Cited By (2)
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| CN111307292A (en) * | 2020-03-26 | 2020-06-19 | 中国科学院长春光学精密机械与物理研究所 | Calibration method and device of dual-band radiometric system |
| CN113834572A (en) * | 2021-08-26 | 2021-12-24 | 电子科技大学 | Method for removing drift of temperature measurement result of non-refrigeration thermal imager of unmanned aerial vehicle |
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Application publication date: 20191122 |