CN116227990A - Unmanned aerial vehicle ecological environment carbon balance assessment method, system and monitoring data acquisition equipment - Google Patents
Unmanned aerial vehicle ecological environment carbon balance assessment method, system and monitoring data acquisition equipment Download PDFInfo
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Abstract
The unmanned aerial vehicle ecological environment carbon balance assessment method, system and monitoring data acquisition equipment are suitable for being used in combination with a small multi-rotor or fixed-wing unmanned aerial vehicle flight platform, can be used for rapidly and directly monitoring regional methane concentration and carbon dioxide concentration spatial distribution, have the advantages of high monitoring precision, high spatial resolution, strong system expansibility and the like, and provide important data support for regional greenhouse gas emission monitoring, plastic source, carbon source/sink characteristic analysis and other applications.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle monitoring design, in particular to an unmanned aerial vehicle ecological environment carbon balance evaluation method and system and monitoring data acquisition equipment.
Background
It has been recognized at the present stage that to improve the accuracy of regional carbon flux and carbon balance assessment, comprehensive observation of regional ecosystem carbon circulation process must be enhanced, long-term observation data and spatially regional environment data are continuously accumulated, and only reliable and sufficient data resource support is possible to obtain relatively accurate regional carbon flux and carbon balance assessment results.
At present, direct observation of regional scale terrestrial ecosystem carbon flux remains difficult. The investigation method of the carbon balance of the traditional land ecological system comprises a plant biomass and soil carbon reserve ecological inventory investigation method, a ground vortex related flux observation method, a satellite remote sensing inversion method and atmospheric CO 2 Concentration inversion methods and ecosystem modeling methods are widely used in carbon flux monitoring of different spatial scales in plots, areas and the world. The ecological list investigation method often needs data accumulation for a plurality of years, and investigation accuracy is easily limited by manpower, material resources, equipment and technology; the ground vortex related flux observation method is based on a mature vortex related method, and has the advantages of high observation precision and non-interference continuous monitoring of CO between the ground ecological system and the atmosphere 2 And hydrothermal flux exchange advantages, but the observed spatial scale is small (the spatial representation is only in the range of tens to hundreds of meters, which is considered as a 'point' scale or a plaque scale), and the technical problems of surface heterogeneity influence and scale conversion still exist when the method is applied to the scale of a large spatial area and need to be broken through; satellite remote sensing inversion and ecosystem model simulation methods have regional and global carbon flux monitoring capability, but due to the inversion and simulation model, the model parameterization and the time-space rule are realized in the process mechanism of the ecosystemThe degree expansion has larger uncertainty, and the model is often required to be verified and calibrated by combining ground observation true values consistent with the grid space scale (usually kilometer level) of the remote sensing pixels or the ecosystem model, so that a carbon flux evaluation result with authentication significance can be obtained.
In recent years, on-board vortex related flux observation techniques are increasingly being used as a general tool in regional scale (kilometer scale) ecosystem flux observation. At present, the flux result measured by the on-board whirl related flux observation technology carrying modern precise instruments is equivalent to that of a traditional ground flux observation tower; the aircraft can quickly form linear sampling in space in a short time due to high flight speed, quickly display instantaneous turbulence flux field in an observation area, and cannot be influenced by turbulence time trend and unsteady state effect like the traditional vortex related technology.
Because of the limitations of early technical conditions and sensor development, the research in the technical field of airborne flux monitoring in China is relatively late, and especially the application basic research of the technical method in the aspect of ecological environment carbon flux monitoring is lacking. The invention provides an ecological environment carbon balance assessment method and system based on an unmanned aerial vehicle, which are important means for solving the problem that current regional scale land ecological system carbon flux observation data are difficult to directly acquire, and have the advantages of regional coverage of the ecological environment and economic flexibility. On the one hand, the instantaneous flux monitoring can cover an area of approximately ten square kilometers or the accumulated flux monitoring area of one flight frame time can cover an area of approximately hundred square kilometers, and the surface CO can be directly obtained 2 Spatially varying information of flux; on the other hand, the equipment can transmit the acquired ecological environment carbon flux data to an ecological environment carbon balance monitoring platform in real time, and the ecological environment carbon balance monitoring platform can monitor the environmental environment carbon balance through the CO of the area 2 The flux is unmixed to obtain typical carbon-like source/sink intensity data, and instantaneous regional carbon flux observations are time-extended to form daily-scale regional carbon balance observation data, thereby effectively implementing ecological environmental carbon balance assessment. Unmanned aerial vehicle-based ecological environment carbon balance assessment method and system can effectively make up for technical development of China in the aspect of land ecological system carbon circulation and carbon balance monitoring at presentThe method is a key for improving the land carbon circulation and regional carbon neutralization evaluation accuracy of China.
Disclosure of Invention
In view of the above, the invention aims to provide an unmanned aerial vehicle ecological environment carbon balance assessment method, system and monitoring data acquisition equipment, so as to solve the defects of the prior art, solve the problem of how to transmit data acquired by an unmanned aerial vehicle to an ecological environment carbon balance monitoring platform in real time based on deep combination of an unmanned aerial vehicle remote sensing technology and an ecological environment carbon flux monitoring technology, and realize the real-time monitoring of regional CO 2 The flux is unmixed to obtain typically carbon-like source/sink intensity data and the instantaneous regional carbon flux observations are time-extended to form a problem of regional carbon balance observations on a daily scale.
In order to achieve the above purpose, one of the technical solutions proposed by the present invention is:
the unmanned aerial vehicle ecological environment carbon balance assessment method comprises the following steps:
s1, data acquisition and transmission: parameters to be observed by the ecological environment unmanned aerial vehicle carbon flux monitoring equipment include CO 2 Concentration, H 2 O concentration, ambient temperature, atmospheric pressure, H 2 O/CO 2 The signal intensity, the compensation temperature and the infrared light source emission duration data are transmitted to an ecological environment carbon balance data processing system in real time;
s2, preprocessing the observed data;
s201, acquiring calibration parameters: calibrating the angle offset of the GNSS/INS module loaded by the ecological environment unmanned aerial vehicle carbon flux monitoring equipment and the installation of the turbulence probe;
s202, noise reduction is carried out on original observation data;
s3, pre-introducing the existing geographic information into an ecological environment carbon balance monitoring platform system, and simultaneously, establishing an electronic fence on a map to ensure that the position information of the unmanned aerial vehicle track is always kept in a region to be detected;
s4, data processing: processing and analyzing the related data acquired in the step S1;
s401, preprocessing the original data observed by the unmanned aerial vehicle in S2, and interpolating the missing data by adopting a linear interpolation method to obtain continuous data variables, so as to calculate turbulent water, heat and carbon flux data;
s5, data visualization: the acquired data in the step S1 and turbulent water, heat and carbon flux data obtained after processing and analyzing by the step S4 are visually displayed in a form and energy spectrum mode;
s6, evaluating carbon balance: by adopting a vortex motion correlation method, according to the principle of micro-aeropictography, the net CO between the land ecological system and the atmosphere in a fixed coverage area is directly measured 2 Exchange amount, estimating regional scale net ecosystem CO through scale deduction 2 Productivity, and long-term continuous positioning observation of carbon flux on a fine time scale.
Further, in step S201, the angular offset of the GNSS/INS module and the turbulence probe is calibrated, and the calibration parameters including the pitch deflection angle ε are obtained θ Yaw off angle ε φ Angle epsilon of departure from rolling ψ ；
Obtaining epsilon by adopting an iterative calculation mode θ And epsilon ψ Is a calibration value of (2): for epsilon θ Setting epsilon θ The value of (2) is within + -3 DEG, iterative calculation is carried out by taking 0.02 DEG as step length, and the value of the average vertical wind speed w is found to be 0 in four straight-line flights (namely
) Position epsilon θ And finally average to determine the final epsilon θ A value;
for epsilon ψ Epsilon is also set ψ The value of (2) is within +/-3 DEG, iterative calculation is carried out by taking 0.02 DEG as step length, and the variance sigma of the wind speed direction in four straight-line flight is found out Udir Sum wind speed variance sigma U Minimum position epsilon ψ By averaging to determine the final epsilon ψ Values.
Further, in step S202, a variance verification method is adopted, and the average value and variance of the data points in the window are calculated by a sliding window filtering mode, and when the deviation sequence average value of the data points is 4 times greater than the standard deviation of the data sequences in the window, the data points are considered as noise points, and then marked;
and removing marked noise data, and interpolating the missing data by adopting a linear interpolation method to obtain continuous data variables so as to finish noise reduction of the original observed data.
Further, in step S401, the method further includes:
s4011, deriving the original data: the derived data includes raw pressure measurement data of the turbulence probe, position, speed and attitude data of the GPS/INS, temperature pulsation data of the thermal resistor, H 2 O/CO 2 Concentration pulsation data;
s4012, carrying out noise reduction treatment on the original observed data, and eliminating abnormal values;
s4013, converting the pressure measurement value of the turbulence probe into a three-dimensional wind speed coordinate under an earth coordinate system, wherein the three-dimensional wind speed coordinate comprises a horizontal wind speed u, a side wind speed v and a vertical wind speed w;
s4014, three-dimensional wind speed coordinate secondary coordinate rotation: after determining the window length of turbulent flow calculation, carrying out secondary coordinate rotation on the three-dimensional wind speed coordinate in the window length to ensure that the x-axis of the coordinate system and the average horizontal wind speed
The directions are parallel, so that the average crosswind speed is +.>
And average vertical wind speed->
Is 0;
s4015, calculating a spatial average of turbulence variables: the calculation of the airborne vortex related flux observation adopts a space average mode, wherein the vertical wind speed w is taken as an example, and the space average calculation formula is as follows:
wherein U is pi The instantaneous speed to ground of the aircraft is in m/s; w (w) i Is the instantaneous speed of the vertical wind speed w in m/s;
the unit is m/s, which is the average flying speed; Δt is the time increment in s; t is the total time length, and the unit is s;
s4016, calculate turbulence pulsation value: the horizontal wind speed u, the side wind speed v, the vertical wind speed w and the air temperature T a Humidity ρ v And CO 2 Density ρ C Subtracting the corresponding spatial average value calculated in step S4015 from the observed value of (2) to obtain the pulse values u ', v ', w ', T of the observed turbulence quantity a '、ρ v '、ρ C '；
S4017, calculating turbulence flux according to a whirl correlation method: wherein, the heat-sensitive flux H is calculated in W/m 2 The relation is as follows:
calculation of the latent heat flux LE in W/m 2 After WPL correction is considered, the relation is as follows:
for CO 2 Flux F C Is calculated in g/m 2 s, after the WPL correction is considered, the relation is:
for momentum flux τ, its unit is N/m 2 Friction speed u * The calculation in m/s is expressed as:
wherein ρ is the air density in units ofIs kg/m 3 ；c p The constant pressure specific heat of air is 1012J/kgK; lambda is the latent heat of vaporization of water vapor in J/kg; ρ v Is humidity in kg/m 3 ；ρ d Is the dry air density in kg/m 3 ；ρ C Is CO 2 Density in kg/m 3 ；μ＝M d /M v Is the ratio of dry air to water vapor molecular weight, M v ＝1.608；
Is the ratio of water vapor to dry air density.
Further, in step S4017, the average value of the observed turbulence variables calculated by the whirl correlation method can be calculated in step S4015.
The other technical scheme provided by the invention is as follows:
the unmanned aerial vehicle ecological environment carbon balance assessment system is suitable for the unmanned aerial vehicle ecological environment carbon balance assessment method, and comprises a geographic information module, a data processing module, a data visualization module and a carbon balance assessment module.
Further, the geographic information module is used for selecting the map information of the area of the ecosystem, which is appointed to be observed, from the middle frame of the carbon balance monitoring system of the ecological environment;
the data processing module is used for processing the CO acquired by the geographic information module 2 Concentration, H 2 O concentration, ambient temperature, atmospheric pressure, H 2 O/CO 2 Processing and analyzing the signal intensity, the compensation temperature and the infrared light source emission duration data;
the data visualization module is used for displaying and collecting the geographic information module to the CO 2 Concentration, H 2 O concentration, ambient temperature, atmospheric pressure, H 2 O/CO 2 The signal intensity, the compensation temperature and the data of the turbulence wind speed and the turbulence flux are obtained after the infrared light source emission duration data and the data processing module are processed and analyzed;
and the carbon balance evaluation module is used for evaluating the carbon balance condition of the ecological system of the monitoring area.
The other technical scheme provided by the invention is as follows: the unmanned aerial vehicle ecological environment carbon flux monitoring data acquisition equipment acquires data which are used in the unmanned aerial vehicle ecological environment carbon balance evaluation system, and the equipment comprises a scientific observation part, an unmanned aerial vehicle control part and a ground control monitoring station;
the scientific observation part is used for observing the functional element variables of the ecological system;
including mobile flux observers and auxiliary observers;
mobile flux observation instrument for collecting CO 2 Concentration, H 2 O concentration, ambient temperature, atmospheric pressure, H 2 O/CO 2 Signal intensity, compensation temperature and infrared light source emission duration data;
the auxiliary observer device is used for analyzing and explaining the observation result;
the scientific observation instruments are all connected to the airborne control computer, and the airborne control computer is responsible for data acquisition and storage, analog/data signal conversion, observation signal rapid processing, power distribution and configuration and data export of the observation instruments.
Further, the unmanned aerial vehicle control part is responsible for controlling the unmanned aerial vehicle to fly automatically according to the pre-designed flight route, flight altitude and attitude conditions, and sends control information to the servo equipment after analyzing the position, speed and attitude state information of the unmanned aerial vehicle sensed in real time by the collecting state sensor, so as to adjust the flight attitude of the unmanned aerial vehicle in real time, and send the position and attitude parameters of the unmanned aerial vehicle to the ground control monitoring station through the airborne radio station.
Further, the ground control monitoring station is responsible for setting the flight route, the flight attitude, the speed and the height of the unmanned aerial vehicle before flying, setting and adjusting the carried observation system through the airborne control computer, receiving real-time state data sent by the unmanned aerial vehicle and the observation system in flying, responding to instruments or observation problems found in observation in time, and ensuring the flying safety.
The beneficial effects of the invention are as follows:
according to the invention, through deep combination of an unmanned plane remote sensing technology and an ecological environment carbon flux monitoring technology, data acquired by an unmanned plane are transmitted to an ecological environment carbon balance monitoring platform in real time, regional CO2 flux is unmixed to acquire typical carbon source/sink intensity data, and instantaneous regional carbon flux observation is subjected to time expansion to form daily regional carbon balance observation data.
Drawings
FIG. 1 is a flow chart of data acquisition and transmission employing embodiment 1 of the present invention;
FIG. 2 is a flow chart of noise reduction of raw observation data employing embodiment 1 of the present invention;
FIG. 3 is a flow chart of turbulent water, heat, carbon flux calculations employing example 1 of the present invention;
FIG. 4 is a graphical representation of the turbulent energy spectrum of example 2 employing the present invention;
fig. 5 is a topological structure diagram of the integration of each device in the unmanned aerial vehicle ecological environment carbon flux monitoring data acquisition device according to embodiment 3 of the present invention;
Detailed Description
For a better understanding of the present invention, the present invention is further described below with reference to specific examples and drawings.
Example 1
The unmanned aerial vehicle ecological environment carbon balance assessment method comprises the following steps:
s1, data acquisition and transmission: parameters to be observed by the ecological environment unmanned aerial vehicle carbon flux monitoring equipment include CO 2 Concentration, H 2 O concentration, ambient temperature, atmospheric pressure, H 2 O/CO 2 The signal intensity, the compensation temperature and the infrared light source emission duration data are transmitted to an ecological environment carbon balance data processing system in real time;
as shown in fig. 1, specifically, the data acquisition and control device is used as a control center of the whole system to be responsible for power supply and data acquisition and storage of each observation instrument, and provides accurate time information for time synchronization between different devices at a later stage. In the data acquisition process, the subprocess is responsible for monitoring the data acquisition process of each instrument, the main process stores the acquired data of each observation subprocess into NetCDF format data, and simultaneously a Marker File is generated for recording the running state conditions (such as the starting time of observation, the total scanning number and the data loss rate of each observation instrument) of the system during each observation.
S2, preprocessing the observed data;
specifically, S201, obtain calibration parameters: calibrating the angle offset of the GNSS/INS module loaded by the ecological environment unmanned aerial vehicle carbon flux monitoring equipment and the installation of the turbulence probe;
specifically, in step S201, the angular offset of the installation of the GNSS/INS module and the turbulence probe is calibrated, and the obtaining of the calibration parameter includes pitching off angle epsilon θ Yaw off angle ε φ Angle epsilon of departure from rolling ψ ；
Obtaining epsilon by adopting an iterative calculation mode θ And epsilon ψ Is a calibration value of (2): for epsilon θ Setting epsilon θ The value of (2) is within + -3 DEG, iterative calculation is carried out by taking 0.02 DEG as step length, and the value of the average vertical wind speed w is found to be 0 in four straight-line flights (namely
) Position epsilon θ And finally average to determine the final epsilon θ A value;
for epsilon ψ Epsilon is also set ψ The value of (2) is within +/-3 DEG, iterative calculation is carried out by taking 0.02 DEG as step length, and the variance sigma of the wind speed direction in four straight-line flight is found out Udir Sum wind speed variance sigma U Minimum position epsilon ψ By averaging to determine the final epsilon ψ Values.
S202, as shown in FIG. 2, noise reduction is carried out on original observed data; the noise point is a value with short duration and large signal change amplitude in the recorded data sequence caused by the instability of an internal circuit of the observation instrument and a power supply or the influence of water drops and dust factors in the outside air.
Specifically, in step S202, a variance verification method is adopted, and the average value and variance of data points in a window are calculated by a sliding window filtering mode, and when the deviation sequence average value of the data points is greater than 4 times of the standard deviation of the data sequences in the window, the data points are considered as noise points, and then marked;
and removing marked noise data, and interpolating the missing data by adopting a linear interpolation method to obtain continuous data variables so as to finish noise reduction of the original observed data.
S3, pre-introducing the existing geographic information into an ecological environment carbon balance monitoring platform system, and simultaneously, establishing an electronic fence on a map to ensure that the position information of the unmanned aerial vehicle track is always kept in a region to be detected;
s4, data processing: processing and analyzing the related data acquired in the step S1;
specifically, after preprocessing the original data observed by the unmanned aerial vehicle in S2, interpolating the missing data by adopting a linear interpolation method to obtain continuous data variables, and further calculating to obtain turbulent water, heat and carbon flux data;
as shown in fig. 3, in step S401, further, the method further includes:
s4011, deriving the original data: the derived data includes raw pressure measurement data of the turbulence probe, position, speed and attitude data of the GPS/INS, temperature pulsation data of the thermal resistor, H 2 O/CO 2 Concentration pulsation data;
s4012, carrying out noise reduction treatment on the original observed data, and eliminating abnormal values;
s4013, converting the pressure measurement value of the turbulence probe into a three-dimensional wind speed coordinate under an earth coordinate system, wherein the three-dimensional wind speed coordinate comprises a horizontal wind speed u, a side wind speed v and a vertical wind speed w;
s4014, three-dimensional wind speed coordinate secondary coordinate rotation: after determining the window length of turbulent flow calculation, carrying out secondary coordinate rotation on the three-dimensional wind speed coordinate in the window length to enable the x-axis of the coordinate system to be parallel to the average horizontal wind speed direction and enable the average crosswind speed to be the same as the average horizontal wind speed
And average vertical wind speed->
Is 0;
s4015, calculating a spatial average of turbulence variables: the calculation of the airborne vortex related flux observation adopts a spatial average mode, wherein the vertical wind speed w has the spatial average calculation formula:
wherein U is pi The instantaneous speed to ground of the aircraft is in m/s; w (w) i Is the instantaneous speed of the vertical wind speed w in m/s;
the unit is m/s, which is the average flying speed; Δt is the time increment in s; t is the total time length, and the unit is s;
s4016, calculate turbulence pulsation value: the horizontal wind speed u, the side wind speed v, the vertical wind speed w and the air temperature T a Humidity ρ v And CO 2 Density ρ C Subtracting the corresponding spatial average value calculated in step S4015 from the observed value of (2) to obtain the pulse values u ', v ', w ', T of the observed turbulence quantity a '、ρ v '、ρ C '；
S4017, calculating turbulence flux according to a whirl correlation method: wherein, the heat-sensitive flux H is calculated in W/m 2 The relation is as follows:
calculation of the latent heat flux LE in W/m 2 After WPL correction is considered, the relation is as follows:
for CO 2 Flux F C Is calculated in g/m 2 s, after the WPL correction is considered, the relation is:
for momentum flux τ, its unit is N/m 2 Friction speed u * The calculation in m/s is expressed as:
wherein ρ is the air density in kg/m 3 ；c p The constant pressure specific heat of air is 1012J/kgK; lambda is the latent heat of vaporization of water vapor in J/kg; ρ v Is humidity in kg/m 3 ；ρ d Is the dry air density in kg/m 3 ；ρ C Is CO 2 Density in kg/m 3 ；μ＝M d /M v Is the ratio of dry air to water vapor molecular weight, M v ＝1.608；
Is the ratio of water vapor to dry air density.
Further, in step S4017, the average value of the observed turbulence variables calculated by the whirl correlation method can be calculated in step S4015.
S5, data visualization: the acquired data in the step S1 and turbulent water, heat and carbon flux data obtained after processing and analyzing by the step S4 are visually displayed in a form and energy spectrum mode;
s6, evaluating carbon balance: directly measuring the net CO between the land ecological system and the atmosphere in a fixed coverage range according to the principle of micro-aeropictography by adopting a vorticity correlation method 2 Exchange amount, estimating regional scale net ecosystem CO through scale deduction 2 Productivity is finishedLong-term continuous positioning observation of carbon flux on a fine time scale is formed to reflect the influence of climate fluctuation on the productivity of the net ecological system, so that carbon balance assessment is completed.
Example 2
The unmanned aerial vehicle ecological environment carbon balance evaluation system is suitable for the unmanned aerial vehicle ecological environment carbon balance evaluation method of the embodiment 1, and comprises a geographic information module, a data processing module, a data visualization module and a carbon balance evaluation module.
Further, the geographic information module is used for selecting the map information of the area of the ecosystem, which is appointed to be observed, from the middle frame of the carbon balance monitoring system of the ecological environment;
a data processing module for collecting the CO from the geographic information module 2 Concentration, H 2 O concentration, ambient temperature, atmospheric pressure, H 2 O/CO 2 Processing and analyzing the signal intensity, the compensation temperature and the infrared light source emission duration data;
specifically, according to the carbon monitoring evaluation test point working scheme issued by the 2021 ecological environment section, the areas where carbon flux observation is required each year at present are explicitly pointed out as follows: 9 national test point natural protection areas, 16 national test point cities and 49 test point key industry enterprises. And pre-introducing the geographical information of the test point area into an ecological environment carbon balance monitoring platform system so as to directly select when corresponding business is developed. And establishing an electronic fence on the map to ensure that the position information of the unmanned aerial vehicle track is always kept in the region to be detected.
As shown in fig. 4, the data visualization module is configured to show that the geographic information module collects CO 2 Concentration, H 2 O concentration, ambient temperature, atmospheric pressure, H 2 O/CO 2 The signal intensity, the compensation temperature and the data of the turbulence wind speed and the turbulence flux are obtained after the infrared light source emission duration data and the data processing module are processed and analyzed;
specifically, the data are visually displayed in a form and energy spectrum mode, so that carbon balance evaluation and comparison analysis are conducted on a ecological environment carbon balance monitoring platform, and accurate evaluation of the carbon balance condition of an ecological system is achieved.
And the carbon balance evaluation module is used for evaluating the carbon balance condition of the ecological system of the monitoring area. Direct measurement of net CO between an inland ecosystem in a fixed coverage area (typically several square meters to several square kilometers) and the atmosphere based on microaerophilic principles 2 The exchange quantity can realize long-term continuous positioning observation of carbon flux on a fine time scale (for example, every half hour) by estimating the net ecosystem productivity of the regional scale on the scale, thereby reflecting the influence of climate fluctuation on the net ecosystem productivity. The method can be used for observing and researching the forest carbon flux for a long time and has higher precision.
Example 3
As shown in fig. 5, the data collected by the unmanned aerial vehicle ecological environment carbon flux monitoring data collection device is used in the unmanned aerial vehicle ecological environment carbon balance evaluation system of the above-mentioned embodiment 2, and the device comprises a scientific observation part, an unmanned aerial vehicle control part and a ground control monitoring station;
the scientific observation part is used for observing the functional element variables of the ecological system;
including mobile flux observers and auxiliary observers;
mobile flux observation instrument for collecting CO 2 Concentration, H 2 O concentration, ambient temperature, atmospheric pressure, H 2 O/CO 2 Signal intensity, compensation temperature and infrared light source emission duration data;
specifically, the mobile flux observation instrument is based on the whirl-related method, and the mobile flux observation instrument includes but is not limited to: (1) The airborne porous turbulence probe is used for measuring three-dimensional wind speed coordinates; (2) The GNSS/INS combined position and posture measurement system is used for measuring the real-time position, speed and posture of the unmanned aerial vehicle and calculating the three-dimensional wind speed coordinate under the earth coordinate system together with the airborne porous turbulence probe; (3) Open circuit H 2 O/CO 2 Gas analyzer for measuring high frequency atmospheric water vapor concentration and CO 2 Concentration; (4) Platinum thermal resistor for measuring high frequency air temperature pulsation. Vortex related observation instrument for measuring ecosystemWater, heat, carbon flux exchange amount information with the atmosphere. The auxiliary observation equipment is used for analyzing and explaining the observation result; auxiliary viewing devices include, but are not limited to: (1) A net radiometer for measuring the difference between the projection of sky downward on the ground surface and the projection of full-wave band radiation quantity upward from the ground surface; (2) A photosynthetically active radiation meter is used for measuring the radiation quantity in the spectral range which is effective for photosynthesis of plants in solar radiation.
The scientific observation instruments are all connected to the airborne control computer, and the airborne control computer is responsible for data acquisition and storage, analog/data signal conversion, observation signal rapid processing, power distribution and configuration and data export of the observation instruments.
Specifically, the whole unmanned aerial vehicle ecological environment carbon flux monitoring data acquisition equipment is independent of an automatic driving system of the unmanned aerial vehicle and is powered by an independent power supply module.
Further, the unmanned aerial vehicle control part is responsible for controlling the unmanned aerial vehicle to fly automatically according to the pre-designed flight route, flight altitude and attitude conditions, and sends control information to the servo equipment after analyzing the position, speed and attitude state information of the unmanned aerial vehicle sensed in real time by the collecting state sensor, so as to adjust the flight attitude of the unmanned aerial vehicle in real time, and send the position and attitude parameters of the unmanned aerial vehicle to the ground control monitoring station through the airborne radio station.
Further, the ground control monitoring station is responsible for setting the flight route, the flight attitude, the speed and the height of the unmanned aerial vehicle before flying, setting and adjusting the carried observation system through the airborne control computer, receiving real-time state data sent by the unmanned aerial vehicle and the observation system in flying, responding to instruments or observation problems found in observation in time, and ensuring the flying safety.
Specifically, the ground control monitoring station comprises an image system, a double-screen display system is embedded, the data display of the cradle head module and the real-time display of unmanned aerial vehicle data can be simultaneously supported, the screen size is 21.5 inches (1980 multiplied by 1080), and the auxiliary screen is 10 inches.
The ground control monitoring station is internally provided with a 4G network and a WIFI network, the control range can reach 10km, and the ground control monitoring station has two paths of HDMI input, USB output and DC12V voltage output.
The ground control monitoring station is embedded with a touch PAD module of a high-performance WIN10 operating system, and is used for implementing control and monitoring on the unmanned aerial vehicle.
The ground control monitoring station is internally provided with an unmanned aerial vehicle ground control software system, can regulate and control the unmanned aerial vehicle on the outfield site, can check the flight state of the unmanned aerial vehicle, can directly check the real-time feedback data of the scientific observation system, and completes the monitoring of the whole observation platform.
In addition, the ground control monitoring station does not need an external power supply, and the full-load endurance time can reach 4.5 hours. The data link is used for long-distance monitoring of the unmanned aerial vehicle observation platform, and the communication distance can reach 30km.
The foregoing describes one embodiment of the present invention in detail, but the disclosure is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All changes and modifications that come within the meaning and range of equivalency of the claims are to be embraced within their scope.
Claims (10)
1. The unmanned aerial vehicle ecological environment carbon balance assessment method is characterized by comprising the following steps of:
s1, data acquisition and transmission: parameters to be observed by the ecological environment unmanned aerial vehicle carbon flux monitoring equipment include CO 2 Concentration, H 2 O concentration, ambient temperature, atmospheric pressure, H 2 O/CO 2 The signal intensity, the compensation temperature and the infrared light source emission duration data are transmitted to an ecological environment carbon balance data processing system in real time;
s2, preprocessing the observed data;
s201, acquiring calibration parameters: calibrating the angle offset of the GNSS/INS module loaded by the ecological environment unmanned aerial vehicle carbon flux monitoring equipment and the installation of the turbulence probe;
s202, noise reduction is carried out on original observation data;
s3, pre-introducing the existing geographic information into an ecological environment carbon balance monitoring platform system, and simultaneously, establishing an electronic fence on a map to ensure that the position information of the unmanned aerial vehicle track is always kept in a region to be detected;
s4, data processing: processing and analyzing the related data acquired in the step S1;
s401, preprocessing the original data observed by the unmanned aerial vehicle in S2, and interpolating the missing data by adopting a linear interpolation method to obtain continuous data variables, so as to calculate turbulent water, heat and carbon flux data;
s5, data visualization: the acquired data in the step S1 and turbulent water, heat and carbon flux data obtained after processing and analyzing by the step S4 are visually displayed in a form and energy spectrum mode;
s6, evaluating carbon balance: directly measuring the net CO between the land ecological system and the atmosphere in a fixed coverage range according to the principle of micro-aeropictography by adopting a vorticity correlation method 2 Exchange amount, estimating regional scale net ecosystem CO through scale deduction 2 Productivity, and long-term continuous positioning observation of carbon flux on a fine time scale.
2. The unmanned aerial vehicle ecological environment carbon balance assessment method according to claim 1, wherein in step S201, the angular offset of the installation of the GNSS/INS module and the turbulence probe is calibrated, and the acquisition of the calibration parameters includes a pitch offset angle epsilon θ Yaw off angle ε φ Angle epsilon of departure from rolling ψ ；
Obtaining epsilon by adopting an iterative calculation mode θ And epsilon ψ Is a calibration value of (2): for epsilon θ Setting epsilon θ The value of (2) is within +/-3 DEG, iterative calculation is carried out by taking 0.02 DEG as step length, and epsilon at which the value of the average vertical wind speed w is 0 in four straight-line flights is found out θ And finally average to determine the final epsilon θ A value;
for epsilon ψ Epsilon is also set ψ The value of (2) is within +/-3 DEG, iterative calculation is carried out by taking 0.02 DEG as step length, and the variance sigma of the wind speed direction in four straight-line flight is found out Udir Sum wind speed variance sigma U Minimum position epsilon ψ By taking the average of the values of (2),determining the final ε ψ Values.
3. The unmanned aerial vehicle ecological environment carbon balance assessment method according to claim 1, wherein in step S202, a variance verification method is adopted, the average value and variance of data points in a window are calculated through a sliding window filtering mode, and when the deviation sequence average value of the data points is 4 times greater than the standard deviation of the data sequence in the window, the data points are considered as noise points, and marking is carried out;
and removing marked noise data, and interpolating the missing data by adopting a linear interpolation method to obtain continuous data variables so as to finish noise reduction of the original observed data.
4. The unmanned aerial vehicle ecological environment carbon balance evaluation method according to claim 1, wherein in step S401, further comprising:
s4011, deriving the original data: the derived data includes raw pressure measurement data of the turbulence probe, position, speed and attitude data of the GPS/INS, temperature pulsation data of the thermal resistor, H 2 O/CO 2 Concentration pulsation data;
s4012, carrying out noise reduction treatment on the original observed data, and eliminating abnormal values;
s4013, converting the pressure measurement value of the turbulence probe into a three-dimensional wind speed coordinate under an earth coordinate system, wherein the three-dimensional wind speed coordinate comprises a horizontal wind speed u, a side wind speed v and a vertical wind speed w;
s4014, three-dimensional wind speed coordinate secondary coordinate rotation: after determining the window length of turbulent flow calculation, carrying out secondary coordinate rotation on the three-dimensional wind speed coordinate in the window length to enable the x-axis of the coordinate system to be parallel to the average horizontal wind speed direction and enable the average crosswind speed to be the same as the average horizontal wind speed
And average vertical wind speed->
Is 0;
s4015, calculating a spatial average of turbulence variables: the calculation of the airborne vortex flux observation adopts a space average mode, wherein the vertical wind speed w has the space average calculation formula:
wherein U is pi The instantaneous speed to ground of the aircraft is in m/s; w (w) i Is the instantaneous speed of the vertical wind speed w in m/s;
the unit is m/s, which is the average flying speed; Δt is the time increment in s; t is the total time length, and the unit is s;
s4016, calculate turbulence pulsation value: the horizontal wind speed u, the side wind speed v, the vertical wind speed w and the air temperature T a Humidity ρ v And CO 2 Density ρ C Subtracting the corresponding spatial average value calculated in step S4015 from the observed value of (2) to obtain the pulse values u ', v ', w ', T of the observed turbulence quantity a '、ρ v '、ρ C '；
S4017, calculate turbulent flux according to vortex method: wherein, the heat-sensitive flux H is calculated in W/m 2 The relation is as follows:
calculation of the latent heat flux LE in W/m 2 After WPL correction is considered, the relation is as follows:
for CO 2 Flux F C Is calculated in g/m 2 s, after the WPL correction is considered, the relation is:
for momentum flux τ, its unit is N/m 2 Friction speed u * The calculation in m/s is expressed as:
wherein ρ is the air density in kg/m 3 ；c p The constant pressure specific heat of air is 1012J/kgK; lambda is the latent heat of vaporization of water vapor in J/kg; ρ v Is humidity in kg/m 3 ；ρ d Is the dry air density in kg/m 3 ；ρ C Is CO 2 Density in kg/m 3 ；μ＝M d /M v Is the ratio of dry air to water vapor molecular weight, M v ＝1.608；
Is the ratio of water vapor to dry air density.
5. The unmanned aerial vehicle ecological environment carbon balance evaluation method according to claim 4, wherein in step S4017, the average value of the observed turbulence variables calculated by the whirl correlation method can be calculated in step S4015.
6. The unmanned aerial vehicle ecological environment carbon balance assessment system is characterized in that the system is suitable for the unmanned aerial vehicle ecological environment carbon balance assessment method according to any one of claims 1-5, and comprises a geographic information module, a data processing module, a data visualization module and a carbon balance assessment module.
7. The unmanned aerial vehicle ecological environment carbon balance evaluation system of claim 6, wherein,
the geographical information module is used for selecting the map information of the ecological system area which is appointed to be observed from the ecological environment carbon balance monitoring system;
the data processing module is used for processing the CO acquired by the geographic information module 2 Concentration, H 2 O concentration, ambient temperature, atmospheric pressure, H 2 O/CO 2 Processing and analyzing the signal intensity, the compensation temperature and the infrared light source emission duration data;
the data visualization module is used for displaying that the geographic information module collects the CO 2 Concentration, H 2 O concentration, ambient temperature, atmospheric pressure, H 2 O/CO 2 The signal intensity, the compensation temperature and the data of the turbulence wind speed and the turbulence flux are obtained after the infrared light source emission duration data and the data processing module are processed and analyzed;
and the carbon balance evaluation module is used for evaluating the carbon balance condition of the ecological system of the monitoring area.
8. The unmanned aerial vehicle ecological environment carbon flux monitoring data acquisition device is characterized in that the device acquires data for use in the unmanned aerial vehicle ecological environment carbon balance assessment system according to claim 7, and the device comprises a scientific observation part, an unmanned aerial vehicle control part and a ground control monitoring station;
the scientific observation part is used for observing the functional element variables of the ecological system;
including mobile flux observers and auxiliary observers;
mobile flux observation instrument for collecting CO 2 Concentration, H 2 O concentration, ambient temperature, atmospheric pressure, H 2 O/CO 2 Signal intensity, compensation temperature and infrared light source emission duration data;
the auxiliary observer device is used for analyzing and explaining the observation result;
the scientific observation instruments are all connected to the airborne control computer, and the airborne control computer is responsible for data acquisition and storage, analog/data signal conversion, observation signal rapid processing, power distribution and configuration and data export of the observation instruments.
9. The unmanned aerial vehicle ecological environment carbon flux monitoring data acquisition device according to claim 8, wherein the unmanned aerial vehicle control part is responsible for controlling the unmanned aerial vehicle to automatically fly according to the pre-designed flight route, flight altitude and attitude conditions, and sending control information to the servo device after analyzing by collecting the unmanned aerial vehicle position, speed and attitude state information sensed by the state sensor in real time, and sending the unmanned aerial vehicle position and attitude parameters to the ground control monitoring station through the airborne radio station.
10. The unmanned aerial vehicle ecological environment carbon flux monitoring data acquisition device according to claim 8, wherein the ground control monitoring station is responsible for setting the flight route, the flight attitude, the speed and the height of the unmanned aerial vehicle before flying, setting and adjusting an onboard observation system through an onboard control computer, receiving real-time state data sent by the unmanned aerial vehicle and the observation system in flight, responding to instruments or observation problems found in observation in time, and ensuring flying safety.
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| CN117951469A (en) * | 2023-12-19 | 2024-04-30 | 宁夏大学 | Day-air-ground integrated carbon sink monitoring system and method for vineyard ecosystem |
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| CN117951469A (en) * | 2023-12-19 | 2024-04-30 | 宁夏大学 | Day-air-ground integrated carbon sink monitoring system and method for vineyard ecosystem |
| CN117871793A (en) * | 2024-03-13 | 2024-04-12 | 自然资源部第二海洋研究所 | Sea-gas carbon dioxide flux estimation method considering precipitation influence |
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