CN115544600B - Active remote sensing route design method based on aerial remote sensing system - Google Patents

Active remote sensing route design method based on aerial remote sensing system Download PDF

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CN115544600B
CN115544600B CN202211496336.2A CN202211496336A CN115544600B CN 115544600 B CN115544600 B CN 115544600B CN 202211496336 A CN202211496336 A CN 202211496336A CN 115544600 B CN115544600 B CN 115544600B
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routes
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CN115544600A (en
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朱金彪
刘玉泉
蒋雯
吴亮
祁增营
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Northwestern Polytechnical University
Aerospace Information Research Institute of CAS
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Abstract

The invention relates to an active remote sensing route design method based on an aerial remote sensing system, which comprises the following steps: step 1) calculating the relative altitudes of different active remote sensing devices; step 2) confirming the relative altitude of the final actual flight; step 3) calculating the lateral coverage widths of different active remote sensing devices; step 4) calculating the number and positions of routes of different active remote sensing devices; step 5) determining a basic route group for the extended route; step 6), calculating an extended route; step 7) determining the course of the final actual flight. The invention calculates according to the known parameters of different active remote sensing devices in the aerial remote sensing system, then generates a unified flight route plan, and realizes the one-time aerial remote sensing operation on the measuring area under the condition of simultaneously meeting the index requirements of the different active remote sensing devices, thereby improving the operation efficiency and reducing the repeated operation.

Description

Active remote sensing route design method based on aerial remote sensing system
Technical Field
The invention relates to the field of remote sensing and navigation, in particular to an active remote sensing route design method based on an aerial remote sensing system.
Background
The aerial remote sensing system integrates various earth observation loads on an airplane, and realizes earth observation through aerial flight. The remote sensing airplane has advanced technical indexes, has the capability of all-weather flight operation, and can be loaded with various remote sensors such as an aerial camera, an imaging spectrometer, an imaging radar and the like. The remote sensing airplane plays an important role in remote sensing comprehensive application experiments, major natural disaster monitoring, remote sensing equipment autonomous research and development and the like.
Remote sensing equipment loaded in the aerial remote sensing system is divided into passive remote sensing equipment and active remote sensing equipment. Passive remote sensing, also called Passive remote sensing system (Passive remote sensing), i.e. a detection system without a radiation source in the remote sensing system itself; that is, in the remote sensing detection, the detecting instrument obtains and records the electromagnetic wave information emitted by the target object itself or reflected from the natural radiation source (such as the sun). For example: aerial photography systems, infrared scanning systems, and the like. Remote sensing detection by adopting a passive remote sensing system is called passive remote sensing; active remote sensing, also called active remote sensing, sometimes called telemetry, refers to a remote sensing system that emits electromagnetic waves of a certain form from an artificial radiation source on a remote sensing platform to a target object, and then receives and records the reflected waves thereof by a sensor. Its main advantages are no dependence on solar radiation, working day and night, and actively selecting wavelength and emitting mode of electromagnetic wave according to different detection purposes. The electromagnetic wave used by active remote sensing is microwave band and laser, multi-purpose pulse signal, and some uses continuous wave beam. The passive remote sensing equipment comprises visible light remote sensing equipment, hyperspectral remote sensing equipment, infrared remote sensing equipment, a full-polarization microwave radiometer, a multi-angle polarization radiometer and the like; the active remote sensing equipment comprises a three-dimensional laser radar, a synthetic aperture radar, a full-polarization microwave scatterometer and the like. Since the functions and principles of the remote sensing equipment are different, and the corresponding technical parameters are different, so that the index requirements of each remote sensing equipment are different, when remote sensing operation is carried out under the same flight condition, it is difficult to ensure that each remote sensing equipment can meet the respective index requirements, so that the remote sensing aircraft needs to make up for the difference caused by different index requirements by multiple flight paths and continuously changing the flight height, and the redundancy of flight paths and flight time and the reduction of flight efficiency can be caused.
Disclosure of Invention
The invention aims to provide an active remote sensing route design method based on an aerial remote sensing system, which is characterized in that calculation is carried out according to known parameters of different active remote sensing equipment in the aerial remote sensing system, then a unified flight route plan is generated, and one-time aerial remote sensing operation on a measuring area is realized under the condition of simultaneously meeting the index requirements of the different active remote sensing equipment, so that the operation efficiency can be improved, and repeated operation can be reduced.
In order to achieve the purpose, the invention adopts the following technical scheme:
an active remote sensing route design method based on an aerial remote sensing system comprises the following steps:
step 1) calculating the relative altitudes of different active remote sensing devices; the different active remote sensing devices are an active remote sensing device of an airborne laser radar type, an active remote sensing device of an airborne synthetic aperture radar type and an active remote sensing device of an airborne microwave scatterometer type;
step 2) confirming the relative altitude of the final actual flight;
step 3) calculating the lateral coverage widths of different active remote sensing devices;
step 4) calculating the number and positions of routes of different active remote sensing devices;
step 5) determining a basic route group for the extended route;
step 6), calculating an extended route;
step 7) determining the course of the final actual flight.
Further, in the step 1,
for an active remote sensing device of the airborne lidar type, its relative altitude is calculated according to equation (1):
Figure 59256DEST_PATH_IMAGE001
（1）
wherein the content of the first and second substances,H L the unit is m, which is the relative altitude of the airborne laser radar;fthe pulse frequency of the airborne laser radar can be changed through setting, and the unit is kHz;ρthe point cloud density of the airborne laser radar is obtained in pts/m;vthe speed of the remote sensing airplane is a fixed value for all remote sensing equipment, and the unit is m/s;αthe field angle of the airborne laser radar can be changed through setting, and the unit is degree;
wherein, if the aerial remote sensing task index requires the minimum point cloud density of the laser radar to beρ 0a Then, thenρ≥ρ 0 ；
Wherein, install different airborne laser radar on same remote sensing aircraft, its pulse frequency and angle of view diverse obtain different relative height values according to formula (1):
Figure 215431DEST_PATH_IMAGE002
；
for the active remote sensing equipment of an airborne synthetic aperture radar type, because the image resolution is not influenced by the relative altitude, the relative altitude adopts the highest flight relative altitude of a remote sensing planeH S ；
For an active remote sensing device of an airborne microwave scatterometer type, the relative altitude of the active remote sensing device is the highest flight relative altitude of a remote sensing plane because the data of the active remote sensing device is not influenced by the relative altitudeH S 。
Further, in the step 2,
in that
Figure 746907DEST_PATH_IMAGE003
The largest value is selected
Figure 152480DEST_PATH_IMAGE004
Comparison of
Figure 60393DEST_PATH_IMAGE004
AndH S the size of (c):
if it is
Figure 743179DEST_PATH_IMAGE005
Then, thenH S Is the relative altitude at the time of final actual flightH F ；
If it is
Figure 445555DEST_PATH_IMAGE006
Then, then
Figure 338425DEST_PATH_IMAGE004
Is the relative altitude at the time of final actual flightH F ；
According to the determined relative altitude of the final actual flightH F And equation (2) is calculated to satisfyρ≥ρ 0 Pulse frequency and field angle of different airborne lidar:
Figure 784450DEST_PATH_IMAGE007
（2）
wherein the pulse frequency of the airborne laser radarfAnd angle of viewαValues are taken within a certain range, and the value ranges of different airborne laser radars are different;
further obtaining the field angles of different airborne laser radars:α 1 、α 2 ···α n 。
further, in the step 3,
for an active remote sensing device of an airborne laser radar type, calculating the lateral coverage width of a laser point cloud on the ground according to the field angle and the relative altitude:
Figure 649638DEST_PATH_IMAGE008
（3）
wherein, the first and the second end of the pipe are connected with each other,L L is the lateral coverage width of the laser point cloud of the airborne laser radar on the ground,H F is the relative altitude of the remote sensing aircraft in the final actual flight,αis the field angle of the airborne laser radar; the field angles of the different airborne laser radars areα 1 、α 2 ···α n Then the corresponding ground side coverage width is
Figure 709866DEST_PATH_IMAGE009
；
For an active remote sensing device of an airborne synthetic aperture radar type, calculating the lateral coverage width of a radar image on the ground according to the beam width, the ground wiping angle and the relative altitude:
Figure 27715DEST_PATH_IMAGE010
（4）
wherein the content of the first and second substances,L S is the lateral coverage width of the image of the airborne synthetic aperture radar on the ground,H F is the relative altitude of the remote sensing aircraft in the final actual flight,βis the beamwidth of the airborne synthetic aperture radar,γis the ground wiping angle of the airborne synthetic aperture radar; different airborne synthetic aperture radars or the same airborne synthetic aperture radar can be set with different beam widths and ground wiping angles, namely: (β 1 ,γ 1 )、(β 2 ,γ 2 )···(β n ,γ n ) Then the corresponding ground side coverage width is
Figure 74169DEST_PATH_IMAGE011
；
For an active remote sensing device of an airborne microwave scatterometer type, the lateral coverage width of an incident beam on the ground is calculated according to the incident angle and the relative altitude:
L SC =2H F tanθ （5）
wherein the content of the first and second substances,L SC is the lateral coverage width of the incident beam of the airborne microwave scatterometer on the ground,H F is the relative altitude of the remote sensing aircraft in the final actual flight,θis the incident angle of the airborne microwave scatterometer; the incident angles of the different on-board microwave scatterometers areθ 1 、θ 2 ···θ n Then the corresponding ground side coverage width is
Figure 793863DEST_PATH_IMAGE012
。
Further, in the step 4, the step of,
lateral coverage width on the ground based on data of an active remote sensing deviceLFlight survey areaRange, relative altitude at final actual flightH F Designing flight paths by using the lateral overlapping rate and the DEM, and calculating the number of the corresponding flight paths of different active remote sensing equipmentNAnd a location; wherein the content of the first and second substances,Llateral image coverage on the ground including an airborne synthetic aperture radarL S Lateral coverage width of incident beam of airborne microwave scatterometer on groundL SC (ii) a The flight measurement area range and the DEM are fixed values;
the adjacent routes are overlapped to ensure that the whole flight survey area is covered; the side direction overlapping rate is influenced by the relief of the terrain, and the change of the route interval is caused;
Figure 510146DEST_PATH_IMAGE013
（6）
in the formulahIs the height difference of the ground undulation point relative to the average elevation datum plane,H F is the relative flight height at the time of final actual flight,Qfor the actual side-to-side overlap ratio,Q'is the projected side-to-side overlap ratio;
height difference of ground undulation point relative to average elevation datum planehObtaining from DEM, calculating the actual side direction overlapping rate according to equation (6), and then calculating the interval of adjacent routes:
D=L×Q （7）
and sequentially calculating the interval of each pair of adjacent routes according to the formula until the laid routes cover the whole flight survey area.
Further, in the step 5,
after the laid routes cover the whole flight survey area range, the number of the flight routes laid by different active remote sensing equipment is different:
for an active remote sensing device of the airborne lidar type, a group of routes with the most routes is selected, the number of routes being
Figure 377608DEST_PATH_IMAGE014
；
For an active remote sensing device of the airborne synthetic aperture radar type, a group of routes with the most routes is selected, and the number of routes is
Figure 165436DEST_PATH_IMAGE015
；
For an active remote sensing device of the airborne microwave scatterometer type, a group of routes with the most routes is selected, and the number of routes is
Figure 5216DEST_PATH_IMAGE016
；
Comparison
Figure 407247DEST_PATH_IMAGE017
And selecting the route group corresponding to the maximum numerical value as the basic route group according to the sizes of the three.
Further, in the step 6,
when the basic route group is
Figure 434109DEST_PATH_IMAGE018
Corresponding set of routesFP L According to the number of routes
Figure 87944DEST_PATH_IMAGE019
Parameters of the airborne synthetic aperture radar: lateral coverage width of radar image on ground
Figure 782231DEST_PATH_IMAGE020
Range of flight survey area and final relative altitudeH F The side direction overlapping rate and the DEM, and calculating the extended route group according to a formula (6) and a formula (7)FP EXP Until complete coverage
Figure 168213DEST_PATH_IMAGE021
And
Figure 885633DEST_PATH_IMAGE022
the corresponding two groups of routes;
when the basic route set is
Figure 15263DEST_PATH_IMAGE023
Corresponding set of routesFP S According to the number of routes
Figure 360794DEST_PATH_IMAGE024
Parameters of the airborne synthetic aperture radar: lateral coverage width of radar image on ground
Figure 448835DEST_PATH_IMAGE025
Range of flight survey area, relative altitude at final actual flightH F The side direction overlapping rate and the DEM, and calculating the extended route group according to a formula (6) and a formula (7)FP EXP Until complete coverage
Figure 450289DEST_PATH_IMAGE026
And
Figure 304982DEST_PATH_IMAGE027
the corresponding two groups of routes;
when the basic route group is
Figure 708281DEST_PATH_IMAGE028
Corresponding set of routesFP SC According to the number of routes
Figure 967224DEST_PATH_IMAGE024
Parameters of the airborne synthetic aperture radar: lateral coverage width of radar image on ground
Figure 252712DEST_PATH_IMAGE029
Range of flight survey area and final relative altitudeH F The side direction overlapping rate and the DEM, and calculating the extended route group according to a formula (6) and a formula (7)FP EXP Until complete coverage
Figure 989724DEST_PATH_IMAGE030
And
Figure 513109DEST_PATH_IMAGE031
the corresponding two groups of routes;
and the basic route group and the expanded route group are the final route group in actual flight, and at the moment, the active remote sensing route design based on the aerial remote sensing system is completed.
The invention has the advantages that:
1. the multifunctional aircraft remote sensing system has the advantages that the multifunctional aircraft remote sensing system is multifunctional, various active remote sensing data can be obtained through one-time flight, and an industrial mode that the traditional aircraft remote sensing system is used by one aircraft is replaced;
2. the aerial remote sensing operation under the background of time-space consistency is realized, redundant flight is avoided, the flight route is reduced, the flight time, the flight number and the oil consumption of an airplane are reduced, the aerial operation intensity and the difficulty of later data processing are reduced, the cost is saved, and the operation efficiency is improved;
3. the problems of different parameters and performances of the remote sensing equipment are solved, a series of equivalent parameters such as relative flight height, point cloud density, field angle, flight route number and the like can be generated, and basic guarantee is provided for subsequent operation planning;
4. the flight route can be compatible with different remote sensing equipment, and the GSD index, the side direction overlapping rate index, the route coverage area index and the like can meet the requirements at the same time.
Drawings
FIG. 1 is a flow chart of an active remote sensing route design method based on an aerial remote sensing system of the invention;
FIG. 2 is a schematic diagram of a data acquisition mode of different active remote sensing devices according to the present invention;
3a, 3b and 3c are schematic diagrams of the relationship between the field angle, the beam width, the ground wiping angle, the incident angle and the like of different active remote sensing devices of the invention and the relative navigational height and the lateral coverage width; wherein, FIG. 3a shows the angle of view of the laser radarαAnd relative altitudeH F Lateral coverage widthL L The relationship is shown schematically in FIG. 3b, which is the incident angle of the microwave scatterometerθAnd relative altitudeH F Lateral coverage widthL SC FIG. 3c is a schematic diagram of a synthetic aperture radar beam widthβFloor-scrubbing cornerγAnd relative altitudeH F Lateral coverage widthL S A relationship diagram;
4a, 4b, 4c and 4d are schematic diagrams of the routing of different active remote sensing devices according to the invention; fig. 4a is a schematic diagram of laser radar route laying, fig. 4b is a schematic diagram of microwave scatterometer route laying, fig. 4c is a schematic diagram of synthetic aperture radar route laying, and fig. 4d is a schematic diagram of route laying in final actual flight.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by a person skilled in the art based on the embodiments of the present invention belong to the protection scope of the present invention without creative efforts.
Referring to fig. 1, according to an embodiment of the invention, a method for designing an active remote sensing route based on an aerial remote sensing system is provided, calculation is performed according to known parameters of different active remote sensing devices in the aerial remote sensing system to obtain various equivalent new parameters, then a unified flight route plan is generated, and one-time aerial remote sensing operation on a survey area is realized under the condition that index requirements of different remote sensing devices are met at the same time. The different active remote sensing devices are an active remote sensing device of an airborne laser radar type, an active remote sensing device of an airborne synthetic aperture radar type and an active remote sensing device of an airborne microwave scatterometer type.
The active remote sensing route design method based on the aerial remote sensing system comprises the following steps:
step 1) as shown in fig. 2, for an active remote sensing device of the airborne lidar type, the relative altitude is calculated according to the formula (1):
Figure 349478DEST_PATH_IMAGE032
（1）
wherein the content of the first and second substances,H L the relative flight height of the airborne laser radar is m;fthe pulse frequency of the airborne laser radar can be changed through setting, and the unit is kHz;ρthe point cloud density of the airborne laser radar is obtained in pts/m;vthe speed of the remote sensing airplane is a fixed value for all remote sensing equipment, and the unit is m/s;αthe field angle of the airborne laser radar can be changed through setting, and the unit is degree;
wherein, if the aerial remote sensing task index requires the minimum value of the point cloud density of the laser radar, the point cloud density isρ 0 Then, thenρ≥ρ 0 ；
Wherein, install different airborne laser radar on same remote sensing aircraft, its pulse frequency and angle of view diverse can obtain different relative height values according to formula (1):
Figure 325524DEST_PATH_IMAGE033
。
for the active remote sensing equipment of an airborne synthetic aperture radar type, because the image resolution is not influenced by the relative altitude, the relative altitude adopts the highest flight relative altitude of a remote sensing planeH S 。
For the active remote sensing equipment of an airborne microwave scatterometer type, because the image resolution is not influenced by the relative altitude, the relative altitude adopts the highest flight relative altitude of a remote sensing planeH S 。
Step 2) in
Figure 866227DEST_PATH_IMAGE034
Selecting the largest value
Figure 40857DEST_PATH_IMAGE035
Comparison of
Figure 376023DEST_PATH_IMAGE036
AndH S the size of (2):
if it is
Figure 839365DEST_PATH_IMAGE037
Then, thenH S Is the relative altitude at the time of final actual flightH F ；
If it is
Figure 105130DEST_PATH_IMAGE038
Then, then
Figure 337529DEST_PATH_IMAGE039
Is the relative altitude at the time of final actual flightH F 。
According to determined relative altitudeH F And equation (2) is calculated to satisfyρ≥ρ 0 Of different airborne lidarfAnd angle of viewα：
Figure 640334DEST_PATH_IMAGE040
（2）
Wherein the pulse frequency of the airborne laser radarfAnd angle of viewαAll take values in a certain range, and the value ranges of different airborne laser radars are different.
Further obtaining the field angles of different airborne laser radars:α 1 、α 2 ···α n 。
step 3) As shown in FIGS. 3a, 3b, and 3c, for an airborne lidar type active remote sensing device, the view angle is determined according to the deviceα n And relative altitudeH F Calculating the lateral coverage width of the laser point cloud on the ground:
Figure 856552DEST_PATH_IMAGE041
（3）
wherein the content of the first and second substances,L L machine for makingThe laser point cloud carrying the laser radar has a lateral coverage width on the ground,H F is the final relative altitude of the remote sensing airplane in actual flight,αis the field angle of the airborne lidar. The field angles of the different airborne laser radars areα 1 、α 2 ···α n Then the corresponding ground side coverage width is
Figure 473478DEST_PATH_IMAGE042
。
For an active remote sensing device of an airborne synthetic aperture radar type, calculating the lateral coverage width of a radar image on the ground according to the beam width, the ground wiping angle and the relative altitude:
Figure 498066DEST_PATH_IMAGE043
（4）
wherein the content of the first and second substances,L S is the lateral coverage width of the image of the airborne synthetic aperture radar on the ground,H F is the final relative altitude of the remote sensing airplane in actual flight,βis the beamwidth of the airborne synthetic aperture radar,γis the ground wiping angle of the airborne synthetic aperture radar. Different or the same airborne synthetic aperture radar may be set with different beam widths and scrub angles, i.e., (β 1 ,γ 1 )、(β 2 ,γ 2 )···(β n ,γ n ) Then the corresponding ground side coverage width is
Figure 909455DEST_PATH_IMAGE044
。
For an active remote sensing device of the airborne microwave scatterometer type, according to its angle of incidenceθAnd relative altitudeH F Calculating the lateral coverage width of the incident beam on the ground:
L SC =2H F tanθ （5）
wherein the content of the first and second substances,L SC is the lateral coverage width of the incident beam of the airborne microwave scatterometer on the ground,H F is the relative altitude of the remote sensing aircraft in the final actual flight,θis the angle of incidence of the on-board microwave scatterometer. The incident angles of the different on-board microwave scatterometers areθ 1 、θ 2 ···θ n Then the corresponding ground side coverage width is
Figure 347390DEST_PATH_IMAGE045
。
Step 4) according to the data of the active remote sensing equipment, the lateral coverage width on the groundLRange of flight survey area, relative altitude at final actual flightH F Designing flight paths by using the lateral overlapping rate and the DEM, and calculating the number of the corresponding flight paths of different active remote sensing equipmentNAnd a location. Wherein the content of the first and second substances,Llateral image coverage on ground including airborne synthetic aperture radarL S Lateral coverage width of incident beam of airborne microwave scatterometer on groundL SC 。
Wherein the flight survey area range and the DEM are fixed values.
The adjacent routes need to be overlapped to ensure that the whole flight survey area is covered; the topographic relief can affect the side-to-side overlap rate and also cause the variation of the course spacing;
Figure 830324DEST_PATH_IMAGE046
（6）
in the formulahIs the height difference of the ground undulation point relative to the average elevation datum plane,H F is the relative altitude at which the aircraft is ultimately actually flying,Qfor the actual side-by-side overlap ratio,Q'is the projected side-to-side overlap ratio;
height difference of ground undulation point relative to average elevation datum planehThe actual side-to-side overlapping rate can be calculated according to the formula (5) obtained from the DEM, and then the adjacent route is calculatedSpacing:
D=L×Q （7）
and sequentially calculating the interval of each pair of adjacent routes according to the formula until the laid routes cover the whole flight survey area.
Step 5) as shown in fig. 4a, 4b, 4c and 4d, when the laid routes cover the whole flight survey area, the number of the flight routes laid by different active remote sensing devices is different:
for an active remote sensing device of the airborne lidar type, a group of routes with the most routes is selected, the number of routes being
Figure 771735DEST_PATH_IMAGE047
；
For an active remote sensing device of the airborne synthetic aperture radar type, a group of routes with the most routes is selected, and the number of routes is
Figure 885185DEST_PATH_IMAGE048
；
For an active remote sensing device of the airborne microwave scatterometer type, a group of routes with the most routes is selected, and the number of routes is
Figure 731787DEST_PATH_IMAGE049
；
Comparison
Figure 690516DEST_PATH_IMAGE050
Selecting the route group corresponding to the maximum numerical value as a basic route group according to the sizes of the three;
step 6) when the basic route group is
Figure 17592DEST_PATH_IMAGE051
Corresponding set of routesFP L According to the number of routes
Figure 98680DEST_PATH_IMAGE052
Parameters of the airborne synthetic aperture radar: thunderReach the lateral covering width of the image on the ground
Figure 245628DEST_PATH_IMAGE053
Range of flight survey area, final relative altitudeH F The side direction overlapping rate and the DEM, and calculating the extended route group according to a formula (6) and a formula (7)FP EXP Until complete coverage
Figure 8047DEST_PATH_IMAGE054
And
Figure 189630DEST_PATH_IMAGE055
the corresponding two groups of routes;
when the basic route group is
Figure 316986DEST_PATH_IMAGE056
Corresponding set of routesFP S According to the number of routes
Figure 216809DEST_PATH_IMAGE057
Parameters of the airborne synthetic aperture radar: lateral coverage width of radar image on ground
Figure 517340DEST_PATH_IMAGE058
Range of flight survey area, relative altitude at final actual flightH F The side direction overlapping rate and the DEM, and calculating the extended route group according to a formula (6) and a formula (7)FP EXP Until complete coverage
Figure 350167DEST_PATH_IMAGE059
And
Figure 976320DEST_PATH_IMAGE060
the corresponding two groups of routes;
when the basic route set is
Figure 832281DEST_PATH_IMAGE061
Corresponding set of routesFP SC According to the number of routes
Figure 202082DEST_PATH_IMAGE062
Parameters of the airborne synthetic aperture radar: lateral coverage width of radar image on ground
Figure 279629DEST_PATH_IMAGE063
Range of flight survey area, relative altitude at final actual flightH F Side direction overlapping rate and DEM, calculating the extended route group according to the formula (6) and the formula (7)FP EXP Until complete coverage
Figure 76683DEST_PATH_IMAGE064
And
Figure 419940DEST_PATH_IMAGE065
the corresponding two groups of routes;
and the basic route group and the extended route group are the final route group in actual flight, and at the moment, the active remote sensing route design based on the aerial remote sensing system is completed. According to one embodiment of the invention, the active remote sensing device in step 1) comprises different models of airborne laser radar, airborne synthetic aperture radar, airborne microwave scatterometer and the like; the relative navigational height refers to the height of the remote sensing equipment relative to the ground;
according to an embodiment of the present invention, the operation mode of the airborne synthetic aperture radar in step 3) is side view scanning, that is, scanning by transmitting microwave beams to the left side or scanning by transmitting microwave beams to the right side; the airborne laser radar scans downward, namely, vertically emits laser beams downward for scanning; the airborne microwave scatterometer is downward cone scanning, namely vertically downward launching cone-shaped microwave beam scanning. The ground coverage ranges corresponding to the remote sensing data collected by the three devices are different.
According to an embodiment of the present invention, the largest relative altitude is selected in step 2)
Figure 327853DEST_PATH_IMAGE066
The relative flight height of the final actual flight of the airborne laser radar is used for reducing the flight route of the airborne laser radar and improving the working efficiency of the airborne laser radar; and secondly, in order to be as close to the relative flight heights of the airborne synthetic aperture radar and the airborne microwave scatterometer as possible, the airborne synthetic aperture radar and the airborne microwave scatterometer are ensured not to increase redundant flight paths, and the reduction of the working efficiency is avoided. Because the higher the relative altitude, the fewer flight paths and the faster the mission can be completed. Due to the increased relative altitude of some airborne lidar, the corresponding spot density may be less thanρ 0 That is, the requirement of the aerial remote sensing task cannot be met, and the pulse frequency is required to be the samefAnd angle of viewαSelecting a proper value in the value range of (A) to satisfy the calculated dot density ≧ρ 0 Meanwhile, parameter change needs to be carried out on the corresponding airborne laser radar remote sensing equipment. Another method for ensuring the point density to reach the standard is as follows: the working mode of the airborne synthetic aperture radar is side-looking scanning, namely microwave beam scanning is transmitted to the left side or microwave beam scanning is transmitted to the right side, the remote sensing aircraft can only enter from one side of the flight path group to ensure that the airborne synthetic aperture radar can acquire remote sensing data of the side-looking scanning, the airborne laser radar is downward-looking scanning, the remote sensing aircraft can enter from two sides of the flight path group to ensure that the airborne laser radar can acquire the remote sensing data, in order to ensure that the remote sensing aircraft flies off all flight paths of the airborne synthetic aperture radar, the remote sensing aircraft needs to enter from the other side of the flight path group and flies off the same number of flight paths, the same flight paths, namely flight paths flying repeatedly exist, at the moment, the airborne laser radar acquires the flight paths flying repeatedly twice at the same time, the point density of the airborne laser radar can be increased, and the defect that the point density is reduced due to the increase of the relative flight height of the remote sensing aircraft can be overcome.
According to an embodiment of the invention, the number of routes in the final actual flight in the step 6) is more than the number of effective flight routes of all active remote sensing loads, that is, the effective flight route of each active remote sensing device is less than the route in the final actual flight, which is to ensure that the remote sensing data collected by all the active remote sensing devices can cover the survey area range. Each active remote sensing device has different redundant flight routes, and can acquire remote sensing data corresponding to the flight routes or not, and the data are determined by the arrangement of remote sensing tasks.
According to an embodiment of the invention, the flight survey area range in the step 4) is known, and comprises a survey area, survey corner point coordinates and the like; the lateral overlapping rate is also known and is set according to index requirements of different remote sensing equipment; the DEM refers to a digital elevation model and is also known data; the most selected group of air routes as the final air route in actual flight is based on the fact that some remote sensing equipment can cover the whole measuring area only by a small number of air routes, and then the most selected group of air routes can cover the whole measuring area more, but the reverse is not possible. Some of the remote sensing devices referred to herein are visible light remote sensing devices such as large area array digital cameras, large field of view three-line cameras, and the like. The Digital Elevation Model (DEM): the method is a solid ground Model which expresses the ground elevation in the form of a group of ordered numerical value arrays, is a branch of a Digital Terrain Model (DTM for short), and can derive other various Terrain characteristic values. It is generally recognized that DTM is a spatial distribution describing a linear and nonlinear combination of various topographical factors including elevation, such as slope, direction, rate of change of slope, etc., where DEM is a zero-order simple univocal digital topographical model, and other topographical features such as slope, direction, and rate of change of slope may be derived based on DEM.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. Not all embodiments are exhaustive. All obvious changes and modifications which are obvious to the technical scheme of the invention are covered by the protection scope of the invention.

Claims (4)

1. An active remote sensing route design method based on an aerial remote sensing system is characterized by comprising the following steps:
step 1) calculating the relative altitudes of different active remote sensing devices; the different active remote sensing devices are an active remote sensing device of an airborne laser radar type, an active remote sensing device of an airborne synthetic aperture radar type and an active remote sensing device of an airborne microwave scatterometer type;
step 2) confirming the relative altitude of the final actual flight;
step 3) calculating the lateral coverage width of different active remote sensing devices, comprising the following steps:
for an active remote sensing device of an airborne laser radar type, calculating the lateral coverage width of a laser point cloud on the ground according to the field angle and the relative altitude:
Figure QLYQS_1
（3）
wherein, the first and the second end of the pipe are connected with each other,L L is the lateral coverage width of the laser point cloud of the airborne laser radar on the ground,H F is the relative altitude of the remote sensing airplane when the airplane finally actually flies,αis the field angle of the airborne laser radar; the field angles of the different airborne laser radars areα 1 、α 2 ···α n Then the corresponding ground side coverage width is
Figure QLYQS_2
；
For an active remote sensing device of an airborne synthetic aperture radar type, calculating the lateral coverage width of a radar image on the ground according to the beam width, the ground wiping angle and the relative altitude:
Figure QLYQS_3
（4）
wherein, the first and the second end of the pipe are connected with each other,L S is the lateral coverage width of the image of the airborne synthetic aperture radar on the ground,H F is the relative altitude of the remote sensing aircraft in the final actual flight,βis the beam width of an airborne synthetic aperture radarThe degree of the magnetic field is measured,γis the ground wiping angle of the airborne synthetic aperture radar; different airborne synthetic aperture radars or the same airborne synthetic aperture radar can be set with different beam widths and ground wiping angles, namely: (β 1 ,γ 1 )、(β 2 ,γ 2 )···(β n ,γ n ) Then the corresponding ground side coverage width is
Figure QLYQS_4
；
For an active remote sensing device of an airborne microwave scatterometer type, the lateral coverage width of an incident beam on the ground is calculated according to the incident angle and the relative altitude:
L SC =2H F tanθ （5）
wherein the content of the first and second substances,L SC is the lateral coverage width of the incident beam of the airborne microwave scatterometer on the ground,H F is the relative altitude of the remote sensing aircraft in the final actual flight,θis the angle of incidence of the airborne microwave scatterometer; the incident angles of the different on-board microwave scatterometers areθ 1 、θ 2 ···θ n Then the corresponding ground side coverage width is
Figure QLYQS_5
；
Step 4) calculating the number and positions of routes of different active remote sensing devices;
step 5) determining a basic route group for the extended route, comprising:
after the laid routes cover the whole flight survey area range, the number of the flight routes laid by different active remote sensing equipment is different:
for an active remote sensing device of the airborne lidar type, a group of routes with the most routes is selected, the number of routes being
Figure QLYQS_6
；
For an active remote sensing device of the type of an airborne synthetic aperture radar, a set of most flight paths is selected, the number of which is
Figure QLYQS_7
；
For an active remote sensing device of the airborne microwave scatterometer type, a group of routes with the most routes is selected, and the number of routes is
Figure QLYQS_8
；
Comparison
Figure QLYQS_9
Selecting the route group corresponding to the maximum numerical value as a basic route group according to the sizes of the three groups;
step 6) calculating an extended route, comprising:
when the basic route group is
Figure QLYQS_10
Corresponding set of routesFP L According to the number of routes
Figure QLYQS_11
Parameters of the airborne synthetic aperture radar: lateral coverage width of radar image on ground
Figure QLYQS_12
Range of flight survey area, final relative altitudeH F The side direction overlapping rate and the DEM, and calculating the extended route group according to a formula (6) and a formula (7)FP EXP Until complete coverage
Figure QLYQS_13
And
Figure QLYQS_14
the corresponding two groups of routes;
when the basic route group is
Figure QLYQS_15
Corresponding set of routesFP S According to the number of routes
Figure QLYQS_16
Parameters of the airborne synthetic aperture radar: lateral coverage width of radar image on ground
Figure QLYQS_17
Range of flight survey area, relative altitude at final actual flightH F The side direction overlapping rate and the DEM, and calculating the extended route group according to a formula (6) and a formula (7)FP EXP Until complete coverage
Figure QLYQS_18
And
Figure QLYQS_19
the corresponding two groups of routes;
when the basic route group is
Figure QLYQS_20
Corresponding set of routesFP SC According to the number of routes
Figure QLYQS_21
Parameters of the airborne synthetic aperture radar: lateral coverage width of radar image on ground
Figure QLYQS_22
Range of flight survey area and final relative altitudeH F The side direction overlapping rate and the DEM, and calculating the extended route group according to a formula (6) and a formula (7)FP EXP Until complete coverage
Figure QLYQS_23
And
Figure QLYQS_24
the corresponding two groups of routes;
the basic route group and the extended route group are the final route group in actual flight, and at the moment, the active remote sensing route design based on the aerial remote sensing system is completed;
step 7) determining the course of the final actual flight.
2. The active remote sensing route design method based on the aerial remote sensing system according to claim 1, characterized in that: in the step 1, the step of processing the raw material,
for an active remote sensing device of the airborne lidar type, its relative altitude is calculated according to equation (1):
Figure QLYQS_25
（1）
wherein the content of the first and second substances,H L the unit is m, which is the relative altitude of the airborne laser radar;fthe pulse frequency of the airborne laser radar can be changed through setting, and the unit is kHz;ρthe point cloud density of the airborne laser radar is obtained in pts/m;vthe speed of the remote sensing airplane is a fixed value for all remote sensing equipment, and the unit is m/s;αthe field angle of the airborne laser radar is changed through setting, and the unit is degree;
wherein, if the aerial remote sensing task index requires the minimum point cloud density of the laser radar to beρ 0 Then, thenρ≥ρ 0 ；
Wherein, install different airborne laser radar on same remote sensing aircraft, its pulse frequency and angle of view diverse obtain different relative height values according to formula (1):
Figure QLYQS_26
、
Figure QLYQS_27
···
Figure QLYQS_28
；
for the active remote sensing equipment of an airborne synthetic aperture radar type, because the image resolution is not influenced by the relative altitude, the relative altitude adopts the highest flight relative altitude of a remote sensing planeH S ；
For an active remote sensing device of an airborne microwave scatterometer type, the relative altitude of the active remote sensing device is the highest flight relative altitude of a remote sensing plane because the data of the active remote sensing device is not influenced by the relative altitudeH S 。
3. The active remote sensing route design method based on the aerial remote sensing system according to claim 2, characterized in that: in the step 2, in the step of processing,
in that
Figure QLYQS_29
、
Figure QLYQS_30
···
Figure QLYQS_31
The largest value is selected
Figure QLYQS_32
Comparison of
Figure QLYQS_33
AndH S the size of (2):
if it is
Figure QLYQS_34
Then, thenH S Is the relative altitude at the time of final actual flightH F ；
If it is
Figure QLYQS_35
Then, then
Figure QLYQS_36
Is the relative altitude at the time of final actual flightH F ；
According to the determined relative altitude of the final actual flightH F And equation (2) is calculated to satisfyρ≥ρ 0 Pulse frequency and field angle of different airborne lidar:
Figure QLYQS_37
（2）
wherein the pulse frequency of the airborne laser radarfAnd angle of viewαValues are taken within a certain range, and the value ranges of different airborne laser radars are different;
further obtaining the field angles of different airborne laser radars:α 1 、α 2 ···α n 。
4. the active remote sensing route design method based on the aerial remote sensing system according to claim 3, characterized in that: in the step 4, the process of the step,
lateral coverage width on ground based on data of active remote sensing deviceLRange of flight survey area, relative altitude at final actual flightH F Designing flight paths by using the lateral overlapping rate and the DEM, and calculating the number of the corresponding flight paths of different active remote sensing equipmentNAnd a location; wherein the content of the first and second substances,Llateral image coverage on ground including airborne synthetic aperture radarL S Lateral coverage width of incident beam of airborne microwave scatterometer on groundL SC (ii) a The flight measurement area range and the DEM are fixed values;
the adjacent routes are overlapped to ensure that the whole flight survey area is covered; the side direction overlapping rate is influenced by the topographic relief, so that the route interval is changed;
Figure QLYQS_38
（6）
in the formulahIs the height difference of the ground undulation point relative to the average elevation datum plane,H F is the relative flight height at the time of final actual flight,Qfor the actual side-to-side overlap ratio,Q'is the projected side lap ratio;
height difference of ground undulation point relative to average elevation datum planehObtaining from DEM, calculating the actual side direction overlapping rate according to equation (6), and then calculating the interval of adjacent routes:
D=L×Q （7）
and sequentially calculating the interval of each pair of adjacent routes according to the formula until the laid routes cover the whole flight survey area.
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