CN111025327A - Satellite-borne laser data high-precision positioning method considering atmospheric delay correction - Google Patents

Satellite-borne laser data high-precision positioning method considering atmospheric delay correction Download PDF

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CN111025327A
CN111025327A CN201911305005.4A CN201911305005A CN111025327A CN 111025327 A CN111025327 A CN 111025327A CN 201911305005 A CN201911305005 A CN 201911305005A CN 111025327 A CN111025327 A CN 111025327A
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delay
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atmospheric
height
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龙小祥
李庆鹏
徐大琦
韩启金
邵俊
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China Center for Resource Satellite Data and Applications CRESDA
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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
    • 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
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target

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Abstract

The invention relates to a satellite-borne laser data high-precision positioning method considering atmospheric delay correction, which aims at inaccurate positioning of laser foot points caused by atmospheric refraction in satellite-borne height measurement data positioning and comprises the steps of firstly obtaining geodetic coordinates and measurement time of the laser foot points and converting the altitude of the laser foot point coordinates into potential height; obtaining meteorological data near the laser foot point through interpolation; then calculating the surface atmospheric pressure near the laser foot point; calculating dry term and wet term components of the zenith delay according to a dry term delay and wet term delay formula; and finally, multiplying the two zenith delay components by a mapping function to obtain atmospheric delay correction, thereby ensuring the accuracy of satellite-borne laser height measurement data positioning.

Description

Satellite-borne laser data high-precision positioning method considering atmospheric delay correction
Technical Field
The invention relates to a high-precision satellite-borne laser data positioning method considering atmospheric delay correction, and belongs to the technical field of remote sensing image processing.
Background
With the progress of satellite-borne earth observation technology, the surveying and mapping is developed towards the modernization and intelligentization direction, and the traditional operation mode of acquiring basic surveying and mapping data through field measurement is gradually replaced by aerospace photogrammetry. The satellite photogrammetry has the advantages of being capable of rapidly acquiring large-range data, free of limitation of regions and countries and the like, various countries strive for developing own surveying and mapping satellites in advance, the surveying and mapping satellites in China mainly comprise a third resource satellite, a sky-drawing satellite and the like, and relevant performance of the satellites is in the front of the world. Different from a high-resolution series satellite, a surveying and mapping satellite has a very high requirement on positioning accuracy, and because the surveying and mapping satellite generally adopts a two-linear array or three-linear array detection mechanism, a ground surface three-dimensional target can be extracted through a photogrammetry mode, so that the accuracy of elevation measurement becomes one of key performance indexes of the surveying and mapping satellite.
The satellite laser height measurement has a higher platform, can quickly acquire most regions on the earth surface, is not limited by the environment and regional country boundaries, and has the advantage that the traditional method is difficult to rival in the aspect of acquiring large-range control data, particularly acquiring overseas control data. The satellite-borne laser range finder continuously transmits Gaussian laser pulses to the ground surface, the range finder records the transmitting time and energy of each transmitted pulse, echo signals are received by the telescope after the pulses are reflected by the ground, and the height finder records the pulse receiving time and energy. When laser pulses pass through the earth atmosphere, the laser pulse transmission delay generated by uneven atmospheric refractive index obviously affects the laser ranging precision, so that the direct measurement elevation value of the satellite-borne laser range finder is not equal to the real surface height of a detection target. Therefore, it is necessary to eliminate the influence of atmospheric refraction on the laser ranging precision in the satellite-borne laser height measurement data positioning process.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method overcomes the defects of the prior art, provides the satellite-borne laser data high-precision positioning method considering the atmospheric delay correction, and solves the problem that the satellite-borne laser height measurement data is influenced by the atmospheric delay to cause the deviation of the laser positioning coordinate.
The technical scheme of the invention is as follows:
the high-precision satellite-borne laser data positioning method considering the atmospheric delay correction comprises the following steps of:
step 1) acquiring geodetic coordinates (B, L, H) of a laser foot point and measuring time UTC _ t, and converting the altitude H of the laser point coordinate into potential height H;
step 2) searching two standard atmospheric pressure layers with adjacent potential heights in the NCEP meteorological data according to the potential height H converted from the altimeter altitude H without atmospheric delay correction obtained in step 1), wherein the two standard atmospheric pressure layers meeting the conditions correspond to the potential heights H _0 and H _1, and the relative humidities RH _0 and RH _1 and the temperatures T _0 and T _ 1; wherein, H belongs to [ H _0, H _1], H _0 and H _1 are the two most recent potential heights found according to H, and H _0 is the higher position of the potential height; h belongs to [ H _0, H _1], H _0 and H _1 are the two most recent potential heights found according to H, and H _0 is the higher position of the potential height;
step 3) carrying out 4-order Runge-Kutta method numerical integration on the potential height in the height lower direction from the air pressure layer at the potential height H _0 under the solved meteorological data parameters, wherein the integration end point is the potential height H, and the corrected surface atmospheric pressure P at the laser foot point is solvedSURF；
Step 4) obtaining the surface atmospheric pressure P in the step 3)SURFCalculating zenith delay according to a dry term delay and wet term delay formula for input;
and 5) taking the laser pointing altitude angle as input, and calculating the atmospheric delay of laser ranging according to the mapping function.
The method comprises the steps of considering an image of atmospheric refraction on laser ranging precision in the satellite-borne laser height measurement data positioning process, describing ranging correction numbers brought by atmospheric delay as a product of a mapping function and zenith delay correction, obtaining meteorological data near a laser foot point through interpolation according to the potential height of a laser foot point coordinate, calculating the surface atmospheric pressure near the laser foot point, calculating dry term and wet term components of zenith delay according to a dry term delay and wet term delay formula, and finally multiplying the two zenith delay components by the mapping function to obtain the atmospheric delay correction, so that the satellite-borne laser height measurement data positioning precision is guaranteed.
Step 4) the dry term delay Δ LHWet neckDelay DeltaLWThe method specifically comprises the following steps:
Figure BDA0002322840510000031
Figure BDA0002322840510000032
k′2(λ)＝k2(λ)-k1(λ)MW/Md
Figure BDA0002322840510000033
k2(λ)＝0.648731+0.0174174λ-2+3.5575×10-4λ-4+6.1957×10-5λ-6
wherein λ is the wavelength, gmIs the gravitational acceleration of the average sea level, R is the universal gas constant, MdIs the dry air molecular weight, PWIs the total amount of reducible rainfall.
Compared with the prior art, the invention has the beneficial effects that:
the method corrects errors caused by atmospheric refraction in the laser height measurement data, eliminates the influence of atmospheric delay on the adjustment precision of the area network assisted by the laser height measurement data, provides a reliable height control basis for the adjustment of the satellite image area network under the condition of no ground control point, and can greatly improve the adjustment result precision of the satellite image area network under the uncontrolled condition.
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FIG. 1 is a flow chart of the method of the present invention.
Detailed Description
The invention provides a high-precision positioning method of satellite-borne laser data considering atmospheric delay correction, which comprises the following steps: firstly, geodetic coordinates and measuring time of laser foot points are obtained, and the altitude of the laser foot point coordinates is converted into potential height; searching two adjacent standard atmospheric pressure layers according to the potential height of the laser foot point, and obtaining meteorological data near the laser foot point through interpolation; then calculating the surface atmospheric pressure near the laser foot point; after the surface atmospheric pressure near the laser foot point is obtained, the dry term and wet term components of the zenith delay are calculated according to a dry term delay and wet term delay formula; and finally, multiplying the two zenith delay components by a mapping function to obtain atmospheric delay correction, thereby ensuring the accuracy of satellite-borne laser height measurement data positioning.
The high-precision satellite-borne laser data positioning method considering the atmospheric delay correction comprises the following steps of:
step 1) acquiring geodetic coordinates (B, L, H) of a laser foot point and measuring time UTC _ t, and converting the altitude H of the laser point coordinate into potential height H;
step 2) searching two standard atmospheric pressure layers with adjacent potential heights in the NCEP meteorological data according to the potential height H converted from the altimeter altitude H without atmospheric delay correction obtained in step 1), wherein the two standard atmospheric pressure layers meeting the conditions correspond to the potential heights H _0 and H _1, and the relative humidities RH _0 and RH _1 and the temperatures T _0 and T _ 1; wherein, H belongs to [ H _0, H _1], H _0 and H _1 are the two most recent potential heights found according to H, and H _0 is the higher position of the potential height; h belongs to [ H _0, H _1], H _0 and H _1 are the two most recent potential heights found according to H, and H _0 is the higher position of the potential height;
step 3) carrying out 4-order Runge-Kutta method numerical integration on the potential height in the height lower direction from the air pressure layer at the potential height H _0 under the solved meteorological data parameters, wherein the integration end point is the potential height H, and the corrected surface atmospheric pressure P at the laser foot point is solvedSURF；
Step 4) obtaining the surface atmospheric pressure P in the step 3)SURFCalculating zenith delay according to a dry term delay and wet term delay formula for input;
and 5) taking the laser pointing altitude angle as input, and calculating the atmospheric delay of laser ranging according to the mapping function.
The method comprises the steps of considering an image of atmospheric refraction on laser ranging precision in the satellite-borne laser height measurement data positioning process, describing ranging correction numbers brought by atmospheric delay as a product of a mapping function and zenith delay correction, obtaining meteorological data near a laser foot point through interpolation according to the potential height of a laser foot point coordinate, calculating the surface atmospheric pressure near the laser foot point, calculating dry term and wet term components of zenith delay according to a dry term delay and wet term delay formula, and finally multiplying the two zenith delay components by the mapping function to obtain the atmospheric delay correction, so that the satellite-borne laser height measurement data positioning precision is guaranteed.
Step 4) the dry term delay Δ LHWet term delay Δ LWThe method specifically comprises the following steps:
Figure BDA0002322840510000041
Figure BDA0002322840510000042
k′2(λ)＝k2(λ)-k1(λ)MW/Md
Figure BDA0002322840510000051
k2(λ)＝0.648731+0.0174174λ-2+3.5575×10-4λ-4+6.1957×10-5λ-6
wherein λ is the wavelength, gmIs the gravitational acceleration of the average sea level, R is the universal gas constant, MdIs the dry air molecular weight, PWIs the total amount of reducible rainfall.
Referring to fig. 1, the flow of the embodiment can be divided into the following steps, and the specific method, formula and flow implemented in each step are as follows:
1. acquiring geodetic coordinates (B, L, H) of a laser foot point and measurement time UTC _ t, converting the altitude H of the laser point coordinate into potential height H, wherein the calculation formula is as follows:
Figure BDA0002322840510000052
wherein,
Figure BDA0002322840510000053
the geographic latitude of the laser foot point, R is the average radius of the earth, geq＝9.7803267715m/s2，k＝0.001931851353，e2＝0.00669438002290。
2. According to the potential height H converted from the altimeter height H without atmospheric delay correction, two standard atmospheric pressure layers with adjacent potential heights in the NCEP meteorological data are searched, and the two standard atmospheric pressure layers meeting the conditions correspond to the potential height H0And H1Relative humidity RH0And RH1And temperature T0And T1. The process is as follows: according to longitude and latitude coordinates of laser foot points of altimeter
Figure BDA0002322840510000054
And searching 4 adjacent points of the geographic position on 1 degree multiplied by 1 degree longitude and latitude grid points of the NCEP meteorological data as a reference point of bilinear interpolation of the meteorological data space. Searching a front group of meteorological data and a rear group of meteorological data corresponding to the moment according to the measuring time of the altimeter (when UTC world coordination is used), and performing time linear interpolation by taking the two groups of meteorological data time as a reference;
3. higher potential height (H) under the resolved meteorological data parameters0Position) to the potential height to the lower direction of the height, 4-order Runge-Kutta numerical integration is carried out, the integration end point is the position height H, and the corrected surface atmospheric pressure P at the laser foot point is solvedSURF。
Obtaining meteorological data parameters of air pressure P and dry air compression ratio ZdAnd water vapor compression ratio ZwAnd the pressure of water vapor PwExpressed as a function of the potential height H:
Figure BDA0002322840510000055
wherein, g0＝9.80665m/s2R is the universal gas constant, T is the temperature, MdAnd MWMolecular weights of dry air and water vapor, respectively.
PW＝Rh·Pb10C(T)
Wherein R is the average radius value of the earth radius, and h is the laser foot point altitude.
Figure BDA0002322840510000061
Figure BDA0002322840510000062
as＝{2794.027，1430.604，-18.234，7.674，-0.022，0.263，0.146，0.055，0.033，0.015，0.013}，Tmax＝648K，Tmin＝273K，Pb＝1000Pa
Figure BDA0002322840510000063
The formula (2) is a first-order nonlinear ordinary differential equation, and the surface atmospheric pressure P at the laser foot point can be obtained by adopting a fourth-order Runge-Kutta formula to carry out calculation numerical integration calculationSURFThe specific formula is as follows:
Figure BDA0002322840510000071
where l is the integration step, and l ═ H0H)/N, N is the integral times, N can better meet the requirements of air pressure precision and calculation time when taking 1000, Pi+1Is Hi+1＝Hi+lThe value of the air pressure at (c).
4. To the obtained surface atmospheric pressure PSURFFor input, the zenith delay is calculated according to a dry term delay and a wet term delay formula, the zenith delay is divided into the dry term delay and the wet term delay, the sum of the dry term delay and the wet term delay is the zenith delay caused by the total atmosphere, and gm is the gravity acceleration of the average sea level.
Figure BDA0002322840510000072
Figure BDA0002322840510000073
Figure BDA0002322840510000074
Wherein k is1(λ) is an empirical function, k ', related to the laser wavelength'2(λ)＝k2(λ)-k1(λ)MW/Md. For a laser with a laser wavelength of 1.064 μm, the parameter k1(λ)＝0.80277K/Pa，k2(λ) 0.66388K/Pa. Pw is the total amount of precipitable water.
Figure BDA0002322840510000075
Wherein λ is the wavelength, gmIs the gravitational acceleration of the average sea level, geq＝9.780326771m/s2，k＝0.001931851353。
5. After the zenith delay is obtained, calculating the atmospheric delay at different altitude angles by a method of multiplying the zenith delay by a mapping function, wherein the specific formula of the mapping function is as follows:
Figure BDA0002322840510000081
wherein a, b and c are constants to be determined, can be estimated by meteorological data, but can be replaced by a simple mapping function represented by an equation (8), and the difference of the calculation result and the CfA2.2 mapping function model is not more than 0.5mm and the difference of the calculation result and the NMF model is not more than 0.1 mm.
When the laser pointing angle is less than 10 °, the following formula can be used as the mapping function formula:
Figure BDA0002322840510000082
the specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Those skilled in the art will appreciate that the details of the invention not described in detail in the specification are within the skill of those skilled in the art.

Claims (3)

1. The high-precision satellite-borne laser data positioning method considering the atmospheric delay correction is characterized by comprising the following steps of:
step 1) acquiring geodetic coordinates (B, L, H) of a laser foot point and measuring time UTC _ t, and converting the altitude H of the laser point coordinate into potential height H;
step 2) searching two standard atmospheric pressure layers with adjacent potential heights in the NCEP meteorological data according to the potential height H converted from the altimeter altitude H without atmospheric delay correction obtained in step 1), wherein the two standard atmospheric pressure layers meeting the conditions correspond to the potential heights H _0 and H _1, and the relative humidities RH _0 and RH _1 and the temperatures T _0 and T _ 1; wherein, H belongs to [ H _0, H _1], H _0 and H _1 are the two most recent potential heights found according to H, and H _0 is the higher position of the potential height; h belongs to [ H _0, H _1], H _0 and H _1 are the two most recent potential heights found according to H, and H _0 is the higher position of the potential height;
step 3) carrying out 4-order Runge-Kutta method numerical integration on the potential height in the height lower direction from the air pressure layer at the potential height H _0 under the solved meteorological data parameters, wherein the integration end point is the potential height H, and the corrected surface atmospheric pressure P at the laser foot point is solvedSURF；
Step 4) obtaining the surface atmospheric pressure P in the step 3)SURFCalculating zenith delay according to a dry term delay and wet term delay formula for input;
and 5) taking the laser pointing altitude angle as input, and calculating the atmospheric delay of laser ranging according to the mapping function.
2. The method for satellite-borne laser data high-precision positioning considering atmospheric delay correction according to claim 1, characterized in that in the satellite-borne laser height measurement data positioning process, an image of atmospheric refraction to laser distance measurement precision is considered, distance measurement correction numbers brought by atmospheric delay are described as a product of a mapping function and zenith delay correction, meteorological data near a laser foot point is obtained through interpolation according to the potential height of a laser foot point coordinate, the surface atmospheric pressure near the laser foot point is calculated, a dry term component and a wet term component of the zenith delay are calculated according to a dry term delay and wet term delay formula, and finally the atmospheric delay correction is obtained by multiplying the two zenith delay components and the mapping function, so that the satellite-borne laser height measurement data positioning precision is ensured.
3. The method for high-precision positioning of satellite-borne laser data with consideration of atmospheric delay correction as recited in claim 1, wherein the dry term delay Δ L in step 4) isHWet term delay Δ LWThe method specifically comprises the following steps:
Figure FDA0002322840500000021
Figure FDA0002322840500000022
k′2(λ)＝k2(λ)-k1(λ)MW/Md
Figure FDA0002322840500000023
k2(λ)＝0.648731+0.0174174λ-2+3.5575×10-4λ-4+6.1957×10-5λ-6
wherein λ is the wavelength, gmIs the gravitational acceleration of the average sea level, R is the universal gas constant, MdIs the dry air molecular weight, PWIs the total amount of reducible rainfall.
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