CN112085751B - Cloud layer height estimation method based on cloud image shadow matching algorithm - Google Patents
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Abstract
The invention provides a cloud layer height estimation method based on a cloud image shadow matching algorithm, which comprises the following steps: synchronously shooting cloud pictures and ground shadow images, preprocessing, selecting cloud matching points and shadow matching points through a cloud shadow matching algorithm, and solving the cloud layer height according to the actual spatial relationship of the matching points. The technical scheme provided by the invention accurately describes the actual spatial relationship of the ground shadow and the sky cloud layer, thereby simplifying the establishment of a cloud layer height solving equation, and conveniently and accurately realizing the estimation of the cloud layer height.
Description
Technical Field
The invention relates to the field of cloud layer height measurement and calculation, in particular to a cloud layer height estimation method based on a cloud layer shadow matching algorithm.
Background
In recent years, the cloud layer height is increasingly mentioned to be applied in various industries, and various methods for measuring the cloud layer height are also developed.
At present, three methods are mainly used for actually measuring cloud height: yun Muqiu and laser cloud measuring instrument and lamp. The cloud curtain ball is used for measuring the cloud height through the hydrogen balloon, and the cost is low but the precision is poor; the laser cloud measuring instrument measures through laser pulse, and has high precision but high complicated instrument cost; the cloud cover lamp is used for measuring cloud height at night, and the space-time application range is small.
The above methods have respective limitations in measuring cloud layer height and provide less cloud layer information, and thus a method for estimating cloud layer height with convenience, rapidness, accuracy and rich information content is needed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a cloud layer height estimation method based on a cloud image shadow matching algorithm so as to conveniently and accurately obtain the height parameter of the current sky cloud layer under actual conditions.
The invention solves the technical problems by adopting the following scheme:
a cloud layer height estimation method based on a cloud image shadow matching algorithm comprises the following steps:
step 1, determining longitude and latitude of a cloud picture shooting place T, synchronously shooting cloud pictures and ground shadow images, and recording shooting time;
step 2, determining a solar altitude angle beta according to the shooting time and the longitude and latitude of the shooting place 2 ；
Step 3, identifying the cloud picture and a ground shadow image cast on the ground, and extracting edge information of the cloud picture and the ground shadow image;
step 4, determining a mapping relation of cloud clusters on the cloud map and shadows on the ground shadow image by adopting a cloud map shadow matching algorithm, and selecting cloud cluster matching points C on the cloud map and shadow matching points S on the ground shadow image;
step 5, determining the cloud azimuth angle alpha according to the cloud matching point C 1 Cloud elevation angle alpha 2 ；
Step 6, determining an actual shadow point R on the actual ground shadow according to the shadow matching point S, and determining the azimuth angle beta of the actual shadow point R 1 Distance l between actual shadow point R and cloud image shooting place T TR ；
And 7, establishing an equation to estimate the cloud layer height, wherein the specific calculation equation is as follows, and H is the cloud layer height.
Preferably, the step 2 specifically includes:
step 2-1, according to a shooting time t, a calculation formula of a time angle omega is as follows, wherein t is a 24-hour system time;
ω＝(t-12)×15 (2)
step 2-2, according to the declination angle delta of the sun and the local latitudeAngle of time ω, sun altitude angle β 2 The calculation formula is as follows:
preferably, the step 3 specifically includes:
step 3-1, eliminating a light shielding zone and a bracket shielding area in the cloud picture, repairing the eliminated area, extracting an effective area of the cloud picture, and finally carrying out edge extraction on the cloud picture and turning over the image by taking the north-south direction as an axis to obtain edge information of the cloud picture;
and 3-2, correcting the ground shadow image according to the shooting angle, binarizing the image, distinguishing a shielded area and a non-shielded area, and finally extracting edges to obtain edge information of the ground shadow image.
Preferably, the step 4 specifically includes:
step 4-1, sequentially recording all edge pixel points on the cloud image edge image from left to right and from top to bottom by using an array Point, wherein N pixel points are altogether, and Point (j) represents a j-th Point in the array, wherein j=1, 2, … … and N;
step 4-2, performing ith scaling on the ground shadow edge image, and determining a first shadow edge pixel point from left to right and from top to bottom after scaling as a shadow matching point S under ith scaling i I=1, 2, … …, M is the total number of scaling;
step 4-3, in point S i A Point (j) is used as a cloud image edge image superposition starting Point for superposing the ground shadow edge image, and superposition of the cloud image and the ground shadow edge image is carried out;
step 4-4, performing difference between the superimposed image and the original cloud image edge image to obtain an error pixel image, and calculating the number of pixel points on the error pixel image as a superimposed error value e ij ，i＝1，2，……，M，j＝1,2,……，N；
Step 4-5, judging whether points in the Point array are all overlapped as a cloud image edge image overlapping initial Point, if so, entering the next step, and if not, returning to the step 4-3 for carrying out;
step 4-6, judging whether all the scaling times are finished, if yes, entering the next step, and if not, returning to the step 4-2 for carrying out;
step 4-7, comparing all the superimposed error values e ij I=1, 2, … …, M, j=1, 2, … …, N, taking the minimum overlay error value to correspond toThe Point (j) points are marked as cloud matching points C, S on the cloud picture i Noted as shadow matching point S on the ground shadow image.
Preferably, the step 5 specifically includes:
step 5-1, establishing a cloud image coordinate system by taking the center of a turned cloud image edge image as an origin, the east direction as the positive X-axis direction and the north direction as the positive Y-axis direction, and recording the coordinates of a cloud matching point C as (X) 2 ,y 2 ) The cloud azimuth calculation formula is as follows:
step 5-2, according to the maximum cloud image radius pixel value r of the cloud image shooting equipment, the maximum zenith angle theta corresponding to the maximum radius and the coordinates (x 2 ,y 2 ) The cloud height angle calculation formula is as follows:
preferably, the step 6 specifically includes:
step 6-1, a shadow image coordinate system is established by taking a southwest angle of a shadow edge image as an origin, an east direction as an X-axis positive direction and a north direction as a Y-axis positive direction, and coordinates of a shadow matching point S are read as (X, Y); and taking the cloud picture shooting place T as an original point, taking the east direction as the positive X-axis direction and the north direction as the positive Y-axis direction, and establishing an actual shadow coordinate system. The R coordinate of the actual shadow point is recorded as (x) 1 ,y 1 )。
In step 6-2, since the coordinates (x, y) of the shadow matching point are the shadow edge image coordinates, it is necessary to convert the coordinates into the coordinates in the above-established actual shadow coordinate system, i.e., the coordinates of the actual shadow point R. According to the S coordinate (x, y) of the shadow matching point and the maximum coordinate (x) of the shadow image max ,y max ) The southwest angular coordinates (a, b) of the actual shadow of the ground, the length L and the width W of the actual shadow image of the ground, the R coordinates (x 1 ,y 1 ) The calculation formula is as follows:
step 6-3, according to the actual shadow point R coordinate (x 1 ,y 1 ) Ground shadow azimuth angle beta 1 The calculation formula is as follows:
step 6-4, according to the actual shadow point R coordinate (x 1 ,y 1 ) Distance l between ground actual shadow point R and cloud image shooting equipment TR The calculation formula of (2) is as follows:
the technical scheme of the invention has the following beneficial effects:
according to the invention, the cloud image and the ground shadow image at the same moment are processed through the cloud image shadow matching algorithm, the cloud layer height is estimated conveniently and rapidly, and a foundation is laid for predicting and positioning the ground shadow. The cloud cluster cloud computing method is reliable in computing result, strong in instantaneity, rich in cloud cluster information and wide in time space application range.
Drawings
FIG. 1 is a flow chart and a result chart of the cloud image preprocessing of the invention.
Fig. 2a is an inverted cloud edge image of the present invention, and fig. 2b is a schematic view of shooting principle calculation.
Fig. 3 is a schematic representation of the ground shadow edge image calculation of the present invention.
Fig. 4 is a schematic diagram of the actual spatial relationship calculation of the present invention.
Fig. 5 is a simplified cloud deck height calculation model diagram of the present invention.
Detailed Description
The invention will be further described with reference to specific examples and figures following the steps of the summary of the invention.
A cloud layer height estimation method based on a cloud image shadow matching algorithm comprises the following steps:
step 1, taking Hangzhou as a shooting place, wherein the shooting time is 6 months, 21 days and 14 hours, and synchronously shooting a cloud image and a ground shadow image;
step 2, according to the longitude and latitude and the shooting time of Hangzhou, calculating the sun altitude angle beta 2 ；
Step 2-1, according to the integral calculation time angle omega at the shooting time 14, the specific calculation process is as follows:
ω＝(14-12)×15＝30°； (9)
step 2-2, calculating a solar altitude angle beta according to the current solar declination of 23.5 degrees, the local latitude of 30.3 degrees and the time angle of 30 degrees 2 The specific calculation process is as follows:
β 2 ＝arcsin(sin23.5°sin30.3°+cos23.5°cos30.3°cos30°)＝62.485° (10)
step 3, identifying the cloud picture and a ground shadow image cast on the ground, and extracting edge information of the cloud picture and the ground shadow image;
in step 3-1, since some cloud image shooting devices use the shading belt and the camera bracket, firstly, the area, which is shaded by the shading belt and the bracket, on the cloud image is eliminated, and then the eliminated area of the cloud image is repaired to a certain extent by adopting a repairing algorithm after the elimination is completed. Then extracting a circular effective information area in the cloud picture to reduce unnecessary operation, and finally extracting the edges of the image by adopting an edge operator to obtain a cloud picture edge image, wherein the photographed image and the actual sky image have mirror image relationship, so that the final cloud picture edge image is obtained by horizontally turning by taking the north-south direction as an axis, and the processing flow and the final result image are shown in the attached figure 1;
step 3-2, the ground shadow image is obtained by shooting an erected high-definition camera at a certain angle, so that firstly, the image correction is required to reflect a real ground shadow image according to the shooting angle, secondly, the corrected image is subjected to binarization treatment to obtain clearer shadow areas and non-shielding areas respectively, and finally, the edge of the image is extracted by adopting an edge operator to obtain a ground shadow edge image;
step 4, determining a mapping relation of cloud clusters on the cloud map and shadows on the ground shadow image by adopting a cloud map shadow matching algorithm, and selecting cloud cluster matching points C on the cloud map and shadow matching points S on the ground shadow image;
step 5, as shown in figure 2, determining the cloud azimuth angle alpha according to the cloud matching point C 1 Cloud elevation angle alpha 2 ；
Step 5-1, establishing a cloud image coordinate system by taking the center of a turned cloud image edge image as an origin, the east direction as the positive X-axis direction and the north direction as the positive Y-axis direction, and recording the coordinates of a cloud matching point C as (X) 2 ,y 2 ) In this example, assuming that the coordinates of the point C are (75 pixels, -75 pixels), the cloud azimuth calculation formula is as follows:
step 5-2, according to the maximum cloud image radius pixel value r of the cloud image shooting equipment, the maximum zenith angle theta corresponding to the maximum radius and the coordinates (x 2 ,y 2 ) Calculating the cloud height angle alpha 2 In this example, let r be 500 pixels, θ be 60 degrees, and the cloud height angle α 2 The specific calculation formula is as follows:
step 6, as shown in fig. 3 and fig. 4, determining an actual shadow point R on the actual ground shadow according to the shadow matching point S, and determining an azimuth angle beta of the actual shadow point R 1 Distance l between actual shadow point R and cloud image capturing device TR ；
Step 6-1, a shadow image coordinate system is established by taking a southwest angle of a shadow edge image as an origin, an east direction as an X-axis positive direction and a north direction as a Y-axis positive direction, and coordinates of a shadow matching point S are read as (X, Y); to be used forThe cloud image shooting place T is taken as an original point, the east direction is taken as the positive X-axis direction, the north direction is taken as the positive Y-axis direction, and an actual shadow coordinate system is established to record an actual shadow point R coordinate as (X) 1 ,y 1 ) In this example, it is assumed that the coordinates of the shadow matching point S are (500 pixels );
step 6-2, since the coordinates (x, y) of the shadow matching points are the shadow edge image coordinates, it is necessary to convert the coordinates into the coordinates under the established actual shadow coordinate system, i.e. the coordinates of the actual shadow point R; according to the S coordinate (x, y) of the shadow matching point and the maximum coordinate (x) of the shadow image max ,y max ) Calculating the R coordinate (x) of the actual shadow point by the southwest angular coordinate (a, b) of the actual shadow of the ground, the length L and the width W of the actual shadow image of the ground 1 ,y 1 ) In this example, it is assumed that the maximum coordinate of the shadow image is (1000 pixels, 500 pixels), the southwest angular coordinate of the ground actual shadow is (500 m ), and the length L and width W of the ground actual shadow image are 200m and 100m, respectively; the specific calculation formula is as follows:
step 6-2, according to the actual shadow point R coordinates (600 m ), the ground shadow azimuth angle beta 1 The calculation formula is as follows:
step 6-3, according to the actual shadow point R coordinates (600 m ), the distance l between the ground actual shadow point R and the cloud image shooting equipment TR The calculation formula of (2) is as follows:
and 7, establishing an equation about H by using a cosine theorem according to a simplified model diagram of fig. 5, and solving, wherein a point P represents a point of a cloud matching point C in an actual sky, a point G is a vertical projection point of the point P, and a specific equation is as follows:
solving gives h= 2498.8m, i.e. the cloud height under the example condition assumption is 2498.8m.
The technical scheme provided by the invention accurately describes the actual spatial relationship of the ground shadow and the sky cloud layer, thereby simplifying the establishment of a cloud layer height solving equation, and conveniently and accurately realizing the estimation of the cloud layer height.
Finally, it should be noted that the foregoing embodiments are merely for illustrating the technical solutions of the present application and not for limiting the scope of protection thereof, and although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that various changes, modifications or equivalents may be made to the specific embodiments of the application after reading the present application, and these changes, modifications or equivalents are within the scope of protection of the claims appended hereto.
Claims (4)
1. A cloud layer height estimation method based on a cloud image shadow matching algorithm comprises the following steps:
step 1, determining longitude and latitude of a cloud picture shooting place T, synchronously shooting cloud pictures and ground shadow images, and recording shooting time;
step 2, determining a solar altitude angle beta according to the shooting time and the longitude and latitude of the shooting place 2 ；
Step 3, identifying the cloud picture and a ground shadow image cast on the ground, and extracting edge information of the cloud picture and the ground shadow image;
step 4, determining a mapping relation of cloud clusters on the cloud map and shadows on the ground shadow image by adopting a cloud map shadow matching algorithm, and selecting cloud cluster matching points C on the cloud map and shadow matching points S on the ground shadow image; the method specifically comprises the following steps:
step 4-1, sequentially recording all edge pixel points on the cloud image edge image from left to right and from top to bottom by using an array Point, wherein N pixel points are altogether, and Point (j) represents a j-th Point in the array, wherein j=1, 2, … … and N;
step 4-2, performing ith scaling on the ground shadow edge image, and determining a first shadow edge pixel point from left to right and from top to bottom after scaling as a shadow matching point S under ith scaling i I=1, 2, … …, M is the total number of scaling;
step 4-3, in point S i A Point (j) is used as a cloud image edge image superposition starting Point for superposing the ground shadow edge image, and superposition of the cloud image and the ground shadow edge image is carried out;
step 4-4, performing difference between the superimposed image and the original cloud image edge image to obtain an error pixel image, and calculating the number of pixel points on the error pixel image as a superimposed error value e ij ，i＝1，2，……，M，j＝1,2,……，N；
Step 4-5, judging whether points in the Point array are all overlapped as a cloud image edge image overlapping initial Point, if so, entering the next step, and if not, returning to the step 4-3 for carrying out;
step 4-6, judging whether all the scaling times are finished, if yes, entering the next step, and if not, returning to the step 4-2 for carrying out;
step 4-7, comparing all the superimposed error values e ij I=1, 2, … …, M, j=1, 2, … …, N, and taking the subscripts i and j corresponding to the minimum overlay error value, point (j) points are marked as cloud matching points C, S on the cloud pattern i Marking as a shadow matching point S on the ground shadow image;
step 5, determining the cloud azimuth angle alpha according to the cloud matching point C 1 Cloud elevation angle alpha 2 ；
Step 6, determining an actual shadow point R on the actual ground shadow according to the shadow matching point S, and determining the azimuth angle beta of the actual shadow point R 1 Distance l between actual shadow point R and cloud image shooting place T TR The method comprises the steps of carrying out a first treatment on the surface of the The method specifically comprises the following steps:
step 6-1, establishing a shadow image coordinate system by taking a southwest angle of a shadow edge image as an origin, an east direction as an X-axis positive direction and a north direction as a Y-axis positive direction, and reading coordinates of a shadow matching point S as follows(x, y); establishing an actual shadow coordinate system by taking a cloud picture shooting place T as an original point, taking an east direction as an X-axis positive direction and taking a north direction as a Y-axis positive direction; the R coordinate of the actual shadow point is recorded as (x) 1 ,y 1 )；
Step 6-2, since the coordinates (x, y) of the shadow matching points are the shadow edge image coordinates, it is necessary to convert the coordinates into the coordinates under the established actual shadow coordinate system, i.e. the coordinates of the actual shadow point R; according to the S coordinate (x, y) of the shadow matching point and the maximum coordinate (x) of the shadow image max ,y max ) The southwest angular coordinates (a, b) of the actual shadow of the ground, the length L and the width W of the actual shadow image of the ground, the R coordinates (x 1 ,y 1 ) The calculation formula is as follows:
step 6-3, according to the actual shadow point R coordinate (x 1 ,y 1 ) Ground shadow azimuth angle beta 1 The calculation formula is as follows:
step 6-4, according to the actual shadow point R coordinate (x 1 ,y 1 ) Distance l between ground actual shadow point R and cloud image shooting equipment TR The calculation formula of (2) is as follows:
step 7, establishing an equation to estimate the cloud layer height, wherein the specific calculation equation is as follows, and H is the cloud layer height;
2. the estimation method according to claim 1, wherein: the step 2 specifically includes:
step 2-1, according to a shooting time t, a calculation formula of a time angle omega is as follows, wherein t is a 24-hour system time;
ω＝(t-12)×15 (2)
step 2-2, according to the declination angle delta of the sun and the local latitudeAngle of time ω, sun altitude angle β 2 The calculation formula is as follows:
3. the estimation method according to claim 1, wherein: the step 3 specifically includes:
step 3-1, eliminating a light shielding zone and a bracket shielding area in the cloud picture, repairing the eliminated area, extracting an effective area of the cloud picture, and finally carrying out edge extraction on the cloud picture and turning over the image by taking the north-south direction as an axis to obtain edge information of the cloud picture;
and 3-2, correcting the ground shadow image according to the shooting angle, binarizing the image, distinguishing a shielded area and a non-shielded area, and finally extracting edges to obtain edge information of the ground shadow image.
4. The estimation method according to claim 1, wherein: the step 5 specifically includes:
step 5-1, establishing a cloud image coordinate system by taking the center of a turned cloud image edge image as an origin, the east direction as the positive X-axis direction and the north direction as the positive Y-axis direction, and recording the coordinates of a cloud matching point C as (X) 2 ,y 2 ) The cloud azimuth calculation formula is as follows:
step 5-2, according to the maximum cloud image radius pixel value r of the cloud image shooting equipment, the maximum zenith angle theta corresponding to the maximum radius and the coordinates (x 2 ,y 2 ) The cloud height angle calculation formula is as follows:
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