CN111539433B - Semantic segmentation based global ionosphere total electron content prediction method - Google Patents
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Abstract
The invention discloses a global ionosphere total electron content prediction method based on semantic segmentation, which comprises a training phase and a prediction phase, wherein the training phase comprises the following steps: 1. acquiring global ionospheric electron total content thermodynamic diagrams, and forming an original image sequence after adjusting the horizontal position; 2. constructing a training sample set; 3. constructing a global ionosphere electron total content prediction model based on semantic segmentation, and training by using a training sample set; the prediction phase comprises: 4. collecting K global total ionospheric electron content thermodynamic diagrams every day for t days continuously; adjusting the horizontal position of a pixel of the acquired image, establishing a prediction sample, and taking the prediction sample as the input of a global ionosphere electron total content prediction model to obtain a prediction thermodynamic diagram; 5. and carrying out longitude sequencing on the predicted thermodynamic diagrams to obtain the predicted global ionospheric electron total content thermodynamic diagrams. The method combines the changes of the ionized layer in space and time, fully and effectively utilizes the existing observation data, and improves the prediction precision.
Description
Technical Field
The invention belongs to the field of ionosphere detection, and particularly relates to a method for predicting the total content of global ionosphere electrons based on semantic segmentation.
Background
The ionosphere is an important component of the geospatial environment, wherein the electron content of the ionosphere is an important physical characteristic parameter of the ionosphere, and the ionosphere electron content not only needs to be researched on the space-time change rule of the electron content of the ionosphere, but also needs to be forecasted. At present, the ionospheric electron content forecast can be divided into long-period forecast and short-period forecast according to different forecast time lengths. The forecasting methods are used for establishing a mathematical model by using electronic content time sequence data observed in a certain geographic position for forecasting. The change of the electron content of the ionized layer is continuously changed in time dimension and space, the traditional method only considers the change of the electron content of the ionized layer in time and ignores the correlation in space, so that the time-space change of the electron content of the ionized layer needs to be analyzed and forecasted by fully utilizing the observed data of the electron content of the ionized layer, and the high-precision ionized layer electron content forecasting model has important significance for the related research of the ionized layer.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a global ionosphere electron total content prediction method which can obviously improve the prediction precision.
The technical scheme is as follows: the invention adopts the following technical scheme:
the global ionospheric total electron content prediction method based on semantic segmentation comprises a training phase and a prediction phase, and is characterized in that the training phase comprises the following steps:
(1) collecting K global ionospheric electron total content thermodynamic diagrams at equal time intervals every day for N days continuously; for each collected image, adjusting the horizontal position according to the position of each pixel point, so that the positions of the pixel points with the same vertical coordinate are increased along the positive direction of the horizontal axis; constructing an original image sequence S ═ { Pic) according to an acquisition orderk,n}，k＝1,2,…,K，n＝1,2,…,N；
(2) Constructing a training sample set, wherein the mth sample s in the training sample setmThe method comprises the steps of inputting sample data and outputting the sample data, wherein the input sample data comprises t days of original image sequences starting from the mth day in an original image sequence S and t-1 days of primary image differential sequences formed by the t days of original image sequences; outputting sample data as an original image sequence of the m + t days in the S; t is an integer greater than 2;
(3) constructing a global ionosphere electron total content prediction model based on semantic segmentation, wherein the model comprises an original thermodynamic diagram branch, a differential thermodynamic diagram branch and a convolution subnet;
the original thermodynamic diagram branch and the differential thermodynamic diagram branch are semantic segmentation networks with the same structure, and the semantic segmentation networks adopt symmetrical Encode-Decode structures and comprise an Encoder layer and a Decode layer which are sequentially connected;
the input of the original thermodynamic diagram branch is an original image sequence of t days, and the output is a one-day K thermodynamic diagram sequence predicted according to the input; the input of the differential thermodynamic diagram branch is a primary differential sequence of images for t-1 days, and the output is a predicted K differential thermodynamic diagram sequence for one day;
the convolution subnet recovers the differential thermodynamic diagrams output by the differential thermodynamic diagram branch into thermodynamic diagram data, the recovered thermodynamic diagram data and the thermodynamic diagram sequence output by the original thermodynamic diagram branch are stacked into a dual-channel image sequence, and the stacked dual-channel image sequence is convolved to obtain the predicted global ionospheric electron total content thermodynamic diagram;
training the global ionospheric total electron content prediction model by using a training sample set: taking t-day original image sequences in input sample data of a training sample as the input of an original thermodynamic diagram branch of the global ionospheric electronic total content prediction model, taking t-1-day primary image difference sequences as the input of a differential thermodynamic diagram branch, comparing an obtained prediction result with output sample data in the training sample to calculate errors, correcting parameters to be solved in the error back propagation model, and obtaining a final global ionospheric electronic total content prediction model through iterative training;
the prediction phase comprises:
(4) collecting K global ionospheric electron total content thermodynamic diagrams at equal time intervals every day for t days continuously; for each collected image, adjusting the horizontal position according to the position of each pixel point, so that the positions of the pixel points with the same vertical coordinate are positively increased along the horizontal axis to form a to-be-predicted image sequence T ═ Pk,ττ ═ 1,2, …, t; establishing prediction samples comprising a sequence of predicted images and a sequence of primary difference images { Δ P } of the sequence of predicted imagesk,τ+1}; will { Pk,τAnd { Δ P }k,τ+1Respectively serving as the input of an original thermodynamic diagram branch and a differential thermodynamic diagram branch in a global ionospheric electronic total content prediction model, wherein the output of the model is a prediction thermodynamic diagram;
(5) and carrying out longitude sequencing on the predicted thermodynamic diagrams to obtain the predicted global ionospheric electron total content thermodynamic diagrams.
The step (1) further includes resizing and pixel value normalization of the images in the image sequence S, and the step (5) further includes resizing and inverse normalization of the predictive thermodynamic diagram.
Adjusting the horizontal position according to the position of the pixel point in the steps (1) and (4), comprising:
calculating the local time of each pixel point in the global ionosphere electron total content thermodynamic diagram in the range direction; keeping the vertical coordinates of the pixel points unchanged, sorting the pixel points from small to large according to places, and adjusting the horizontal positions of the pixels according to a sorting result to increase the positions of the pixel points with the same vertical coordinates along the positive direction of the horizontal axis.
And recovering the differential thermodynamic diagrams output by the global ionospheric electron total content prediction model convolution subnet according to the following formula into thermodynamic diagram data:
fk re＝ft,k+Δfk d
where K is 1,2, …, K, Δ fd＝{Δfk dThe differential thermodynamic diagram sequence is output by the differential thermodynamic diagram branch circuit; f. oft,kInputting an original image sequence of the t day in the original image sequence for the original thermodynamic diagram branch; f. ofk reIs the recovered thermodynamic diagram data.
The longitude sorting of the predictive thermodynamic diagrams in the step (5) comprises the following steps:
calculating the longitude of each pixel point according to the local time and the world time of each pixel point; keeping the latitude direction coordinate unchanged, sorting the pixel points from small to large according to the longitude values, and adjusting the horizontal positions of the pixels according to the sorting result to increase the longitude values of the pixel points with the same vertical coordinate along the positive direction of the horizontal axis.
Has the advantages that: the invention discloses a global ionospheric electron total content prediction method based on semantic segmentation, which performs graph sequence prediction by utilizing an ionospheric electron content graph time sequence compared with the traditional prediction method, overcomes the defect that the traditional time sequence prediction method can only perform one-dimensional time sequence prediction, and fully excavates the change rule of the ionospheric electron content in time and space.
Drawings
FIG. 1 is a diagram of a global ionospheric total electron content prediction model constructed in accordance with the present invention;
FIG. 2 is a comparison graph of predicted results of two methods in the examples.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described below with reference to the accompanying drawings.
The invention discloses a global ionosphere total electron content prediction method based on semantic segmentation, which comprises a training phase and a prediction phase, wherein the training phase comprises the following steps:
In this embodiment, ionosphere electron content grid data GIM provided by International GNSS Service (IGS) is adopted, the longitude range of the grid data coverage is-180 °, the latitude range is-87.5 °, the pixel scale of a single grid is latitude 2.5 ° × longitude 5.0 °, the time resolution is 2 hours, that is, data is collected every 2 hours, and 12 pieces of data are collected every day. According to the parameters of the GIM, the total pixel number of the global total ionospheric electron content thermodynamic diagram collected at each moment is 71 × 73, the horizontal direction is the longitudinal direction, and the vertical direction is the latitudinal direction. When each pixel can calculate the place according to the corresponding longitude and latitude, the place is only related to the longitude and is not related to the latitude.
Adjusting the horizontal position of the collected image according to the position of the pixel point, and specifically comprising the following steps:
calculating the local time of each pixel point in the global ionosphere electron total content thermodynamic diagram in the range direction; keeping the vertical coordinates of the pixel points unchanged, sorting the pixel points from small to large according to places, and adjusting the horizontal positions of the pixels according to a sorting result to increase the positions of the pixel points with the same vertical coordinates along the positive direction of the horizontal axis.
In the thermodynamic diagram with the horizontal position adjusted, the position corresponding to the pixel at the center of the image is 12 pm, and the position in the horizontal direction increases from 0 to 24 pm in the positive direction along the horizontal axis. For subsequent calculation, the thermal diagram after the horizontal position adjustment is adjusted to 72 × 72 in pixel resolution, and the pixel values are normalized.
In this example, 91 days from 2016 (04/01/04) to 2016 (04/04) were selected. Therefore, in this embodiment, K is 12 and N is 91.
Step 2, constructing a training sample set, wherein the mth sample s in the training sample setmIncluding inputting sample data and outputting sample data, sm＝(datain,dataout) Wherein sample data is inputinThe method comprises the following steps of (1) including t days of original image sequences from the m-th day in an original image sequence S, and t-1 days of primary image differential sequences formed by the t days of original image sequences:
datain＝(Pick,m,…,Pick,m+t-1,ΔPick,m+1,…,ΔPick,m+t-1)
t is an integer greater than 2, Δ Pick,m+1A global ionospheric electron total content thermodynamic diagram first difference image, delta Pic, for two adjacent days corresponding to the timek,m+1＝Pick,m+1-Pick,m；
Output sample dataoutFor the original image sequence on day m + t in S: dataout＝(Pick,m+t)；
Step 3, constructing a global ionosphere electron total content prediction model based on semantic segmentation, wherein the model comprises an original thermodynamic diagram branch, a differential thermodynamic diagram branch and a convolution subnet as shown in figure 1;
the original thermodynamic diagram branch and the differential thermodynamic diagram branch are semantic segmentation networks with the same structure, and the semantic segmentation networks adopt symmetrical Encode-Decode structures and comprise an Encoder layer and a Decode layer which are sequentially connected;
the Encoder layer comprises 3 Encoder units which are connected in sequence, and each Encoder unit comprises a convolution layer conv and a convolution long-time memory network CLTSM which are connected with each other; the Decoder layer comprises 3 Decoder units, wherein the first Decoder unit and the second Decoder unit respectively comprise a convolution long-time and short-time memory network CLTSM and two reverse convolution layers which are sequentially connected, and the third Decoder unit comprises two reverse convolution layers;
the output data of the first deconvolution layer Convd1_0 in the first decoder unit and the input data of the first Encoder unit of the Encoder layer (diagonally filled lines in fig. 1) are stacked as input data of the second deconvolution layer Convd1_1, and the output data of the first deconvolution layer Convd2_0 in the second decoder unit and the input data of the second Encoder unit in the Encoder layer (diagonally filled lines in fig. 1) are stacked as input data of the second deconvolution layer Convd2_ 1; the output data of the first deconvolution layer Convd3_0 in the third decoder unit and the input data of the third encoder unit (the routes filled by the checkered lines in fig. 1) are stacked as input data of the second deconvolution layer Convd3_ 1;
input I of original thermodynamic diagram branchonoOutputting a one-day K-tension chart sequence predicted according to input for an original image sequence of t days; input delta I of differential thermodynamic diagram branchonoOutputting a predicted K differential thermodynamic diagram sequence of one day for the primary differential sequence of the images of the t-1 day;
the convolution sub-network recovers the differential thermodynamic diagrams output by the differential thermodynamic diagram branches into thermodynamic diagram data, such as the thermodynamic diagram data shown in FIG. 1
A symbol represents a recovery operation of the differential thermodynamic diagram; stacking the recovered thermodynamic data with the thermodynamic sequence of the original thermodynamic tributary output as a two-channel image sequence, as in FIG. 1
The symbol represents a stacking operation. Convolving the stacked two-channel image sequence by convolution layer conv0 to obtainPredicted K global ionospheric electron total content thermodynamic diagrams;
the output of the differential thermodynamic diagram branch is K differential thermodynamic diagram sequences delta fd＝{Δfk dAnd recovering the output differential thermodynamic diagrams in the convolution subnet according to the following formula into thermodynamic diagram data:
fk re＝ft,k+Δfk d
wherein K is 1,2, …, K, ft,kFor the original image sequence of the t day in the original image sequence input by the original thermodynamic branch, in the training phase, ft,kIs Pick,m+t-1；fk reIs the recovered thermodynamic diagram data.
Training the global ionospheric total electron content prediction model by using a training sample set:
setting input channel, output channel, convolution kernel, stride and boundary filling parameters of each layer, where the parameters of each layer in this embodiment are shown in table 1:
TABLE 1 prediction model parameters of the total electron content of the global ionosphere
| Layer name | Input channel | Output channel | Convolution kernel | Stride length | |
| conv1 | |||||
| 1 | 8 | 3X3 | 2 | 1 | |
| conv2 | 8 | 8 | 3X3 | 2 | 1 |
| conv3 | 8 | 8 | 3X3 | 2 | 1 |
| convd3_0 | 8 | 8 | 3X3 | 2 | 1 |
| convd3_1 | 16 | 8 | 3X3 | 1 | 1 |
| convd2_0 | 8 | 8 | 3X3 | 2 | 1 |
| convd2_1 | 16 | 8 | 3X3 | 1 | 1 |
| convd1_0 | 8 | 8 | 3X3 | 2 | 1 |
| convd1_1 | 9 | 1 | 3X3 | 1 | 1 |
| CLSTM | 8 | 8 | 3X3 | -- | -- |
| Conv0 | 2 | 1 | 3X3 | 1 | 1 |
In Table 1, "- -" indicates that this parameter is not necessarily set.
Secondly, setting a training round, a model loss function, a model optimization mode, a learning rate and a single training sample number; in the embodiment, the training round is 15, and an L1 loss function is used as a model loss function; selecting Adam as a model optimization mode, and setting the learning rate to be 0.001; the number of samples for a single training is 16.
The original image sequence Pic of t days in the input sample data of the training samplek,m,…,Pick,m+t-1The primary difference sequence delta Pic of t-1 day images is used as the input of an original thermodynamic diagram branch of a global ionospheric electron total content prediction modelk,m+1,…,ΔPick,m+t-1As the input of the differential thermodynamic diagram branch, the obtained prediction result and the output sample data in the training sample are obtainedoutComparing the calculation errors, performing iterative training on parameters to be solved in the error back propagation correction model to obtain a final global total ionospheric electron content prediction model;
the prediction phase comprises:
step 4, collecting K global ionospheric electron total content thermodynamic diagrams at equal time intervals every day for t days continuously; for each collected image, according to the method in step 1, the horizontal position is adjusted according to the position of each pixel point, so that the positions of the pixel points with the same vertical coordinate are increased along the positive direction of the horizontal axis, the pixel resolution is adjusted, the pixels are normalized, and a to-be-predicted image sequence T is formed, wherein the to-be-predicted image sequence T is { P ═ Pk,ττ ═ 1,2, …, t; establishing prediction samples comprising a sequence of predicted images and a sequence of primary difference images { Δ P } of the sequence of predicted imagesk,τ+1}; will { Pk,τAnd { Δ P }k,τ+1Respectively serving as the input of an original thermodynamic diagram branch and a differential thermodynamic diagram branch in a global ionospheric electronic total content prediction model, wherein the output of the model is a prediction thermodynamic diagram;
and 5, carrying out longitude sequencing on the predicted thermodynamic diagrams to obtain the predicted global ionospheric total electron content thermodynamic diagrams.
In the predictive thermodynamic diagram, the horizontal direction is the direction of increase when the horizontal direction is a place, and is not consistent with the longitude information of the space, so the longitudes need to be sorted to make the horizontal direction consistent with the longitude direction, and the specific steps are as follows:
calculating the longitude of each pixel point according to the local time and the world time of each pixel point; keeping the latitude direction coordinate unchanged, sorting the pixel points from small to large according to the longitude values, and adjusting the horizontal positions of the pixels according to the sorting result to increase the longitude values of the pixel points with the same vertical coordinate along the positive direction of the horizontal axis.
And (3) recovering the size of the prediction thermodynamic diagrams after the longitude sorting, adjusting the pixel resolution of the prediction thermodynamic diagrams to 71 x 73, and performing inverse normalization on pixel values to obtain a global ionospheric electron total content thermodynamic diagram sequence predicted for the t +1 th day.
In the global ionosphere electronic total content prediction model based on semantic segmentation, an Encoder layer extracts a global ionosphere temporal-spatial variation characteristic rule contained in input data to form a low-resolution multi-channel image; processing the extracted characteristic information through a Decoder layer, fully analyzing the ionosphere time-space change characteristic rule by combining input data of each unit in an Endecoder layer, and recovering to an original resolution image; and the output image characteristics of the two branches are further processed by a second convolution subnet to obtain a final global ionosphere electron total content prediction image.
In the embodiment, a global ionospheric total electron content thermodynamic diagram collected from 2016, 04, 05 and 15 to 2016, 12 and 15 is used as a verification sample to verify the feasibility and the accuracy of the prediction method disclosed by the invention. The following three methods are respectively adopted to predict the period from 2016, 04/05/2016 to 2016, 12/2016 and 15/2016:
the method A comprises the following steps: the global total ionospheric electron content prediction is carried out by using a training sample without adopting primary image differential data, and a global total ionospheric electron content prediction model constructed in the method only has an original thermodynamic diagram branch;
the method B comprises the following steps: predicting the total electron content of the global ionized layer only by adopting a convolution long-time memory network;
the method C comprises the following steps: the method of the invention is adopted to predict the total electron content of the global ionized layer.
The root mean square error (RMS) ratio of the total electron content prediction results of the method a, the method B and the method C is shown in fig. 2, wherein (a) in fig. 2 shows the RMS of each graph in the prediction result graph sequence of the three methods; the percentage improvement in accuracy of method C over methods a and B is given in fig. 2 (B). The average RMS of the method A is 3.729TECU, the average RMS of the method B is 2.664TECU, the average RMS of the method C is 2.549TECU, the average precision of the method C is improved by 31.65% compared with the method A, the maximum precision can be 63.90%, the average precision of the method C is improved by 30.44% compared with the method B, and the maximum precision can be 86.01%.
Claims (5)
1. The global ionospheric total electron content prediction method based on semantic segmentation comprises a training phase and a prediction phase, and is characterized in that the training phase comprises the following steps:
acquiring K global ionospheric electron total content thermodynamic diagrams at equal time intervals every day for N consecutive days; for each collected image, adjusting the horizontal position according to the position of each pixel point, so that the positions of the pixel points with the same vertical coordinate are increased along the positive direction of the horizontal axis; constructing an original image sequence S ═ { Pic) according to an acquisition orderk,n}，k＝1,2,…,K，n＝1,2,…,N；
Step (2) constructing a training sample set, wherein the mth sample s in the training sample setmThe method comprises the steps of inputting sample data and outputting the sample data, wherein the input sample data comprises t days of original image sequences starting from the mth day in an original image sequence S and t-1 days of primary image differential sequences formed by the t days of original image sequences; outputting sample data as an original image sequence of the m + t days in the S; t is an integer greater than 2;
constructing a global ionosphere electron total content prediction model based on semantic segmentation, wherein the model comprises an original thermodynamic diagram branch, a differential thermodynamic diagram branch and a convolution subnet;
the original thermodynamic diagram branch and the differential thermodynamic diagram branch are semantic segmentation networks with the same structure, and the semantic segmentation networks adopt symmetrical Encode-Decode structures and comprise an Encoder layer and a Decode layer which are sequentially connected;
the input of the original thermodynamic diagram branch is an original image sequence of t days, and the output is a one-day K thermodynamic diagram sequence predicted according to the input; the input of the differential thermodynamic diagram branch is a primary differential sequence of images for t-1 days, and the output is a predicted K differential thermodynamic diagram sequence for one day;
the convolution subnet recovers the differential thermodynamic diagrams output by the differential thermodynamic diagram branch into thermodynamic diagram data, the recovered thermodynamic diagram data and the thermodynamic diagram sequence output by the original thermodynamic diagram branch are stacked into a dual-channel image sequence, and the stacked dual-channel image sequence is convolved to obtain the predicted global ionospheric electron total content thermodynamic diagram;
training the global ionospheric total electron content prediction model by using a training sample set: taking t-day original image sequences in input sample data of a training sample as the input of an original thermodynamic diagram branch of the global ionospheric electronic total content prediction model, taking t-1-day primary image difference sequences as the input of a differential thermodynamic diagram branch, comparing an obtained prediction result with output sample data in the training sample to calculate errors, correcting parameters to be solved in the error back propagation model, and obtaining a final global ionospheric electronic total content prediction model through iterative training;
the prediction phase comprises:
collecting K global ionospheric electron total content thermodynamic diagrams at equal time intervals every day for t days continuously; for each collected image, adjusting the horizontal position according to the position of each pixel point, so that the positions of the pixel points with the same vertical coordinate are positively increased along the horizontal axis to form a to-be-predicted image sequence T ═ Pk,ττ ═ 1,2, …, t; establishing prediction samples comprising a sequence of predicted images and a sequence of primary difference images { Δ P } of the sequence of predicted imagesk,τ+1}; will { Pk,τAnd { Δ P }k,τ+1Respectively serving as the input of an original thermodynamic diagram branch and a differential thermodynamic diagram branch in a global ionospheric electronic total content prediction model, wherein the output of the model is a prediction thermodynamic diagram;
and (5) carrying out longitude sequencing on the predicted thermodynamic diagrams to obtain the predicted global ionospheric electron total content thermodynamic diagrams.
2. The global total ionospheric electron content prediction method according to claim 1, wherein the step (1) further comprises resizing and pixel value normalizing the images in the image sequence S, and the step (5) further comprises resizing and denormalizing the predictive thermodynamic diagram.
3. The method for predicting the total electron content in the global ionosphere according to claim 1, wherein the adjusting of the horizontal position according to the location of the pixel points in the steps (1) and (4) comprises:
calculating the local time of each pixel point in the global ionosphere electron total content thermodynamic diagram in the range direction; keeping the vertical coordinates of the pixel points unchanged, sorting the pixel points from small to large according to places, and adjusting the horizontal positions of the pixels according to a sorting result to increase the positions of the pixel points with the same vertical coordinates along the positive direction of the horizontal axis.
4. The global total ionospheric electron content prediction method of claim 1, wherein the differential thermodynamic diagrams output by the global total ionospheric electron content prediction model convolutional subnetworks are restored to thermodynamic diagram data according to the following formula:
where K is 1,2, …, K,
a differential thermodynamic diagram sequence output for the differential thermodynamic diagram branch; f. oft,kInputting an original image sequence of the t day in the original image sequence for the original thermodynamic diagram branch;
is the recovered thermodynamic diagram data.
5. The global total ionospheric electron content prediction method according to claim 1, wherein said step (5) of longitudinally ordering the predicted thermodynamic diagrams comprises:
calculating the longitude of each pixel point according to the local time and the world time of each pixel point; keeping the latitude direction coordinate unchanged, sorting the pixel points from small to large according to the longitude values, and adjusting the horizontal positions of the pixels according to the sorting result to increase the longitude values of the pixel points with the same vertical coordinate along the positive direction of the horizontal axis.
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