CN1614392A - Collecting method for intelligent agricultural machinery loading high spectrum - Google Patents
Collecting method for intelligent agricultural machinery loading high spectrum Download PDFInfo
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Abstract
A system utilizes visual basic and map objects to have GPS, GIS and RS integrated so that on one hand it can realize integration of collection, positioning and storage for spectrum data by integrating GPS and on the other hand it can realize real time display for moving point trace and corresponding point attribute for each chart layer as well as can realize calculation for plant differential spectrum and vegetation index of NDVI by integrating GIS.
Description
One, technical field
The present invention is based on a kind of intelligent agricultural machinery and carry the hyper-spectral data gathering method, belong to the technical method that obtains agricultural land information based on the high density of GPS, be exclusively used in the dynamic monitoring of accurate agricultural production technology.
Two, technical background
" accurate agricultural " is the hot fields of research of agricultural science in the world in recent years, and it is the combination of existing agricultural production measure and modern high technology, and core is Geographic Information System, Global Positioning System (GPS), remote sensing and computer automatic control system.Accurate agricultural is exactly the application by automated control technologies such as Geographic Information System, Global Positioning System (GPS), remote sensing technologies, actual conditions according to each operating unit of field, meticulous every control measures of adjusting soil and crop exactly, optimize to greatest extent and use every agricultural to drop into, transfer soil productivity, reach equal income or higher income with input minimum or that save most, improve environment, utilize all kinds of agricultural resources efficiently, obtain good economic benefit and environmental benefit.
Accurate agricultural needs highdensity as far as possible, comprehensive agricultural land information as foundation.At present, remote sensing is obtained advantage with its unique information becomes the main means that agricultural land information obtains just gradually.Obtain soil and plant parameter is commonplace with remote sensing, remotely-sensed data is to belong to the face data, can cover whole farmland, does not resemble the just point data that conventional sampling analysis means are obtained.High-spectrum remote-sensing is an important trend of remote sensing development, and high-spectrum remote-sensing is that remote sensing application has brought powerful vigor with the entrained spectral information that enriches of its high spectral resolution characteristic.Domestic and international many scholars have set foot in the research of high-spectrum remote-sensing aspect vegetation biophysics information and biochemical information extraction.Satellite and aerial remote sens ing technique further develop with maturation before, high-spectrum remote-sensing is developed into high density and is obtained the technological means of agricultural land information.
Along with deepening continuously that high-spectrum remote-sensing is used, more and more become in " dynamic monitoring " under the situation of people's common recognition, develop high efficiency rapid remote sensing technology and just become the problem that must consider.For this reason, when utilizing high spectrometer spectrum recognition capability very strong, realize synchronous " location " of spectroscopic data fast, give three-dimensional coordinate, form " qualitative ", " location " integrated rapid remote sensing technology is extremely urgent.Carry based on the intelligent agricultural machinery of GPS that the hyper-spectral data gathering system conducts a research just under this background.
Three, invention scheme
Technical matters the object of the present invention is to provide a kind of intelligent agricultural machinery based on GPS to carry the hyper-spectral data gathering method, can obtain crop canopies spectral signature in real time with space attribute, on each figure layer of known agricultural land information, locate simultaneously, and obtain the attribute of corresponding point, as soil nutrient information etc., calculate some important indicators of crop growth conditions such as spectrum vegetation index NDVI, obtain geo-localisation information, soil attribute data and spectroscopic data one to one, provide reliable crop parameter for realizing that precisely fertilising waits.
Technical scheme
A kind of intelligent agricultural machinery of the present invention carries the hyper-spectral data gathering method, comprise: the position of determining agricultural machinery with GPS, obtain the various information of crop and farmland in real time with sensor, with microcomputer record, analytical information, the instruction of transmission control corresponding, thereby drive agricultural machinery and produce corresponding action, it is characterized in that:
1) adopt differential GPS 25-lvs OEM plate location, differential GPS 25-lvs OEM plate is by RS-232 mouth or RS-232 ﹠amp; The USB converter links to each other with microcomputer or notebook computer, when gathering pedotheque, utilize the GPS receiver in the computing machine grating map, to locate, the accurate position of record acquisition point, after sample collecting is intact, in the laboratory sample is carried out analytical test, obtain corresponding soil attribute data, and add in this raster map layer;
2) utilize tractor to hang spectrometer, adopt the high spectrum of MSR 16R type portable spectrometer realization crop canopies to monitor in real time, spectrometer is by RS-232 or RS-232 ﹠amp; The USB converter links to each other with microcomputer or notebook computer, utilize Visual Basic6.0 and pccomm.dll dynamic link library, the design serial communication programmer, computing machine reads the crop canopies target optical spectrum multiband information that collects from spectrometer, from GPS, read the space time information of this spectroscopic data simultaneously, and finish the parsing of related data, adopt Event triggered mode supervisory computer serial ports buffer zone in the software design, when buffer zone has data, can trigger this incident reading of data automatically, the real time data that receiving spectrum instrument and GPS transmit, transfer equipment steering order in real time.The formula that the raw data of MSR 16R portable spectrometer provides according to CropScan INC is changed and is obtained crop hat top light spectrum reflectivity R;
3) utilize Map Objects OCX control to realize farmland Geographic Information System GIS administration module: to search corresponding map elements with SQL statement, the positional information that DGPS is accepted projects in the planimetric coordinates system, or the conversion mutually between different projections and coordinate system of figure layer; Utilize the Tracking layer of Map Objects dynamically to show on agricultural machinery and implement movement locus and the Ge Tu layer attribute data with the corresponding point of anchor point; The spectroscopic data table that utilizes Maplay.AddRelate to finish automatically to have locating information is related with the figure layer; " GPS electronic chart coordinates transformation method is transformed into moving coordinates under the 1954_GK coordinate of Beijing from the WGS-84 coordinate system in utilization; Utilize Map Objects that figure layer original coordinate system is converted to the WGS-84 coordinate system, externally database related with figure layer in, at first the locating information that GPS is transmitted is located in the figure layer, and read the FeatureId value, and the FeatureId value, the conversion after spectroscopic data and locating information store in the database, obtain geo-localisation information, soil attribute data and spectroscopic data one to one.
Beneficial effect
The present invention is the integrated achievement in research of accurate agricultural information acquiring technology.At present, computing machine is with independent high spectrometer or link to each other commonplace with independent GPS, but can't on the communication program basis that manufacturer provides, expand the application program of oneself, must link to each other these two equipment with computing machine simultaneously to the specific (special) requirements (spectroscopic data) of spectroscopic data in order to satisfy precision agriculture with geographical attribute, exploitation can be controlled sample frequency and the isoparametric communication program of serial transmission speed, to adapt to spectrometer and different GPS, simultaneously on this basis, exploitation is based on GPS, and the agricultural machinery of GIS carries hyper-spectral data gathering system software platform.
Utilize Visual Basic and MapObjects that GPS, GIS and MSR 16R type portable spectrometer are carried out organic integration, have following characteristics: (1) system is by integrated GPS, high-precision locus attribute can be provided for the spectroscopic data that collects, and input database, realize that spectrum data gathering, location, storage are integrated; (2) by integrated GIS, realize having the spectroscopic data visualized management and the analyzing and processing of space attribute, can show moving point trace in real time simultaneously; (3) realized the rasterizing of sampling field piece; (4) can show each figure layer corresponding point geographical attribute and calculate function such as plant physiology parameter by spectroscopic data in real time.The present invention can be and realizes precisely fertilising, particularly imposing of nitrogenous fertilizer from now on, and timely, reliable information is provided.
Four, Figure of description
Fig. 1 hardware system structure figure
Fig. 2 software system structure
Five, embodiment
(1) system hardware structure
In the robotization agricultural machinery hardware system of typical embodiment precision agriculture thought, the general real-time that embodies, determine the position of agricultural machinery with GPS, obtain the various information of crop and farmland in real time with sensor, information and other known information with microcomputer record, analysis position information, respective sensor, according to analysis result, send the control corresponding instruction, produce corresponding action thereby drive agricultural machinery.This just needs GPS, RS, GIS and ES to combine closely, and makes total system have movability, real-time.(see figure 1):
1 tractor hitch
This system utilizes tractor to hang the hydraulic suspension elevating mechanism of agricultural machinery and implement, utilize three joint sleeve pipes to realize Telescopic, length is 8 meters, utilizes hydraulic jack to realize elevating function, spectrometer is moved with agricultural machinery and implement, realize removing the crop monitoring of edge effect simultaneously.Parallel to the ground in order to guarantee the spectrometer sensitive surface, we have adopted Universal-head, cross counterweight isoequilibrium mode in the spectrometer hitch, make the rapid return of spectrometer energy after losing level, and the damping of scalable Universal-head and positive stop spring plate, swing significantly reduced.
2 DGPS systems
The GPS technology implements to provide spatial positional information accurately for the field of field intelligence sample such as soil types, characteristics of soil fertility, moisture, crop growth situation, disease pest and weed and crop yield and decision scheme.In this system, GPS adopts the differential GPS 25-lvsOEM plate of the GARMIN company production that is widely used in accurate agricultural, and stable performance is reliable; Have fast and catch, recapture fast and extremely strong anti-screening capacity, and superior EMC, EMI Electromagnetic Compatibility, can be good at adapting to applied environment complicated and changeable.Its effect mainly contains 3 points:
(1) Kinematic Positioning of intelligent agricultural mechanical operation.
(2) Agricultural Information is gathered the sampling point location.Promptly the data collection point that is provided with in the farmland, location, artificial data collection point all need the GPS locator data, enter GIS so that form Information Level.
(3) sensor information GPS location.Promptly the unique point in the sensor information is gathered locator data with GPS so that with the GIS registration.
3 RS systems
The high spectrum of MSR 16R type portable spectrometer realization crop canopies that the ground remote sensing system adopts U.S. CROPSC INC to produce is monitored in real time.This instrument field angle is 31 degree.The spectral resolution of this instrument has reached the spectral resolution scope of high spectrum, and has covered the wave band (the wave band feature sees Table 1) of most of crop biophysics information and biochemical information sensitivity substantially.It mainly acts on is monitoring crop individual growth situation, crop hat top light spectrum, thereby understands the Physiology and biochemistry parameters such as nutrient situation of crop.
The centre wavelength and the bandwidth of table 1 Cropscan MSR 16R wave band
Wave band Band 460 510 560 610 660 680 710 760
Centre wavelength (nm) 461.3 510.5 561.6 609.9 659.1 680.9 711.8 759.5
Bandwidth (nm) 8.3 8.1 8.5 10.0 10.8 11.3 9.2 9.8
Wave band Band 810 870 950 1,100 1,220 1,480 1,500 1650
Centre wavelength (nm) 810.1 871.6 951.0 1101.9 1222.8 1481.1 1500.9 1669.0
Bandwidth (nm) 10.7 12.5 11.0 16.3 11.5 13.5 13.2 195.0
4 intelligence control systems
It is to be core with the microcomputer, utilizes the real-time transfer equipment steering order of computer serial communication technology, the real time data that receiving spectrum instrument and GPS transmit etc.Design of System Software:
The key of precision agriculture is the variable operation, and the variable operation needs GPS, RS and GIS combines closely.The GIS that is applicable to agricultural machinery should have general spatial analysis functions, also must combine with data acquisition system (DAS), decision support system (DSS) simultaneously, thereby realize the organic integration of each hardware device.General generalized information system can't satisfy these requirements simultaneously at present.Therefore, be badly in need of GPS, GIS and RS integrated technology and the system that research is applicable to precision agriculture at present.We adopt integrated secondary development, are development platform with object-oriented visual developing instrument Visual Basic6.0, utilize GIS tool software MapObjects2.2 to realize the GIS basic function.Both can make full use of the efficiently programing function easily of visual software developing instrument, realize various special uses, complex analysis methods, and make full use of the complete spatial data visual analyzing processing capacity of GIS tool software, improve the development efficiency of application system greatly, the application program of using the object-oriented visual software development to come out have good surface appearance, perfect functions, preferably reliability, be convenient to advantage such as maintenance.
These software systems comprise 5 modules, as shown in Figure 2.
4.1 serial communication module
Hardware system is integrated MSR 16R type portable spectrometer and GPS25-lvs differential GPS.These two equipment are by two RS-232 (or RS-232 ﹠amp; The USB converter) links to each other with microcomputer (notebook computer), computing machine reads target (crop canopies) the spectrum multiband information that collects from spectrometer, from GPS, read the space time information of this spectroscopic data simultaneously, and finish the parsing of related data.In order accurately and timely to handle the data that peripheral hardware is sent to the computing machine serial port, we utilize Visual Basic6.0 and pccomm.dll dynamic link library, and adopt Event triggered mode supervisory computer serial ports buffer zone, when buffer zone has data, can trigger this incident reading of data automatically.
The ordinary GPS receiver all provides the function that sends the NMEA formatted data to serial ports of computers.The data of NMEA form are the character strings of series of variable length, and each character string with OD OA ending, with ', ' is separated each different data item in the character string with ' $ ' beginning.For synchronous GPS and spectrometer, when the starting spectrometer, utilize the A/D conversion of ' $ ' character startup spectrometer of GPS, solved the stationary problem of GPS and spectral reflectance instrument so effectively.
This module has two kinds of mode of operations: (1) manual mode, receive a secondary data by the SPACE keyed jointing.(2) automatic mode received a secondary data every 3 seconds.
4.2 MSR 16R spectroscopic data modular converter
The raw data of MSR 16R portable spectrometer is the magnitude of voltage rather than the crop hat top light spectrum reflectivity of each passage light activated element, thus must change according to following formula, to satisfy the requirement of decision-making module.
(1) black level of calculating sensor when actual temperature.
(2) utilize black level to proofread and correct
(3) utilize temperature correction
(4) utilize calibration factor to proofread and correct
(5) utilize sun cosine of an angle to proofread and correct
UpmVreading＝UpmVreading*COSINECOR(SUNANGLE) ………………(5)
(6) calculate solar angle
SUNANGLE＝90-ATN([SIN(LA*RA)*SIN(DY*RA)
+COS(LA*RA)*COS(DY*RA)*COS(HA*RA)]
/[SQR(1-Z^2)*57.29578]
GT:Greenwich time HH:Hour MM:Minute GMTDIFF:difference in hours from yourtime zone to Greenwich time LO:Longitude LA:Latitude JD:Julian Day wherein
RA：0.745329E-02
(7) calculate spectral reflectivity
PERCENTREFL＝100*DnmVreading/UpmVreading ………………(7)
(8) utilize white standard calibration factor to proofread and correct
PERCENTREFL＝PERCENTREFL*2PTCF ………………(8)
Above-mentioned formula is provided by Crop Scan INC.
4.3 farmland GIS administration module
The status of Geographic Information System (GIS) in the accurate agricultural technical system holds the balance, it appears at from planning, field information acquisition, information processing and management, information analysis, to the whole process that the field decision scheme is implemented, this will be owing to the dependence of accurate agricultural enforcement to spatial information.Agricultural land information has polyphyly, is in particular in storage format diversity, multiple dimensioned property, obtain manner diversity, also comprises the complicacy of system or data base data organization in addition.By the GIS platform, set up orderly management and the analysis of farmland management system realization on the basis of fusion multi-source data to multi-source, multidate agricultural land information, this is the basis that accurate agricultural is implemented, and its effect shows data organization and integrated management, spatial analysis inquiry, spatial data renewal and overall treatment, visual analyzing and expression.GIS provides Back ground Information for the field information acquisition, also provides information source for field variable implementation decision analysis.
Utilize Map Objects OCX control to realize: (1) multi-layer image shows; (2) to operations such as the figure layer amplify, dwindles, moves; (3) calculate some statistical values of selected vector data; (4) graphical pointv, line, ellipse, rectangle, polygonal figures on the figure layer; (5) show and upgrade the property value of selected vector data; (6) search corresponding map elements with SQL statement; (7) coordinate projection conversion, the positional information that DGPS is accepted projects in the planimetric coordinates system, or the conversion mutually between different projections and coordinate system of figure layer; (8) utilize the Trackinglayer of Map Objects dynamically to show on agricultural machinery and implement movement locus and the Ge Tu layer attribute data with the corresponding point of anchor point; (9) the spectroscopic data table that utilizes Maplay.AddRelate to finish automatically to have locating information and figure layer is related.
In the navigation of moving point location, because the positional information that obtains from GPS is warp, latitude the WGS-84 coordinate under, the electronic chart of China Beijing commonly used 1954 coordinates, employing Gauss Kru﹠4﹠ger projection.Therefore, before moving point location navigation, must carry out the coordinate projection conversion.Conversion method: (1) utilizes the shortcut calculation in " GPS electronic chart coordinates transformation method and realization " literary composition, and moving coordinates is transformed under the 1954_GK coordinate of Beijing from the WGS-84 coordinate system.(2) utilize Map Objects that figure layer original coordinate system is converted to the WGS-84 coordinate system.
Externally database related with figure layer in, the locating information that we at first transmit GPS is the location in the figure layer, and read the FeatureId value, and the FeatureId value, the conversion after spectroscopic data and locating information store in the database, after fulfiling assignment, system finishes the related of figure layer and database according to the ID value.
4.4 farmland sampling rasterizing module
At present, general farmland does not possess large-scale map, so it is not too suitable to obtain the method for farmland Back ground Information map by digitizing; For the small size zone utilize that GPS adopts that a mapping farmland essential information figure layer then is that a kind of relative cost is lower, speed method faster.
Before sampling, can utilize GPS to obtain the point of field block boundary, on the figure layer, generate polygon then, utilize WGS_1984_UTM_Zone_50N[32650] (is example with the Yizheng, Jiangsu), polygon is projected on the WGS_1984 plane right-angle coordinate, generate the sampling grid, and number for each polygon, with the Intersect statement that Map Objects provides the polygon of each little rectangle and generation is intersected computing according to the ranks order, and calculate each plot girth, area is when area merges less than four of the grid area/a period of time and the adjacent polygons of going together.
When gathering pedotheque, utilize the GPS receiver in grid, to take a sample, the accurate position of record acquisition point, after sample collecting is intact, can carry out analytical test to sample in the laboratory according to specific requirement, obtain corresponding soil attribute data, and add in this figure layer, realize that sampled point space orientation, attribute record and navigation implementation process organically combine.
4.5 message processing module
The measured spectrum of spectral reflectance instrument (wave spectrum) is the mixed spectra of numerous atural object absorption spectrums and scattering spectrum, generally is to express with reflectivity.For decipher remotely-sensed data correctly, therefrom extract the characteristic information of object, and reduce the influence of background, people have constructed multiple vegetation index, also use the differential smoothing technology.
4.5.1 differential smoothing
Studies show that: the reflectance spectrum curve of plant has notable attribute, and the different growth and development stages of same kind of plant and the difference of fertilizer application condition all can cause the variation of plant reflectance spectrum curve.Therefore, can utilize this feature of vegetation spectrum, use open-air spectrometer to measure their single order differential reflectance spectrums under certain condition, study the upgrowth situation of plant various wave bands.
The single order differential smoothing:
Wherein R is a spectral reflectivity
4.5.2 index NDVI is planted in normalization
There is high correlation in nitrogen content in NDVI and the plant, tillering Sheng phase, boot stage and heading stage, by spectroscopic assay, calculates that with NDVI the nitrogen content effect of plant is better, and this imposes and play a significant role for directly utilizing in the future spectrum to control crop nitrogenous fertilizer.
The spectrum vegetation index
R wherein, NIR represent the red spectral band got and the spectral reflectivity of near infrared light wave band respectively.
Index NDVI etc. is planted in the spectroscopic data spectral reflectivity R, single order differential smoothing, the normalization that obtain to have the soil nutrient data N, P, K, trace element etc. of geographical attribute by computer run operation and have a geographical attribute, thereby instructs variable mechanical work such as fertilising, sowing, irrigation.
Computing machine and GPS and spectrometer serial communication part source program:
Claims (1)
1, a kind of intelligent agricultural machinery carries the hyper-spectral data gathering method, comprising: determine the position of agricultural machinery to obtain the various information of crop and farmland in real time with sensor with GPS, with microcomputer record, analytical information, send the control corresponding instruction, it is characterized in that:
1) adopt differential GPS 25-lvs OEM plate location, differential GPS 25-lvs OEM plate is by RS-232 mouth or RS-232﹠amp; The USB converter links to each other with microcomputer or notebook computer, when gathering pedotheque, utilize the GPS receiver in the computing machine grating map, to locate, the accurate position of record acquisition point, after sample collecting is intact, in the laboratory sample is carried out analytical test, obtain corresponding soil attribute data, and add in this raster map layer;
2) utilize tractor to hang spectrometer, adopt the high spectrum of MSR 16R type portable spectrometer realization crop canopies to monitor in real time, spectrometer is by RS-232 or RS-232﹠amp; The USB converter links to each other with microcomputer or notebook computer, utilize Visual Basic6.0 and pccomm.dll dynamic link library, the design serial communication programmer, computing machine reads the crop canopies target optical spectrum multiband information that collects from spectrometer, from GPS, read the space time information of this spectroscopic data simultaneously, and finish the parsing of related data, adopt Event triggered mode supervisory computer serial ports buffer zone in the software design, when buffer zone has data, can trigger this incident reading of data automatically, the real time data that receiving spectrum instrument and GPS transmit, real-time transfer equipment steering order, the formula that the raw data of MSR 16R portable spectrometer provides according to CropScan INC are changed and are obtained crop hat top light spectrum reflectivity R;
3) utilize Map Objects OCX control to realize farmland Geographic Information System GIS administration module: search corresponding map elements with SQL statement, the positional information that DGPS is accepted projects in the planimetric coordinates system; Realize the conversion mutually between different projections and coordinate system of figure layer; Utilize the Tracking layer of Map Objects dynamically to show on agricultural machinery and implement movement locus and the Ge Tu layer attribute data with the corresponding point of anchor point; The spectroscopic data table that utilizes Maplay.AddRelate to finish automatically to have locating information is related with the figure layer; Utilize GPS electronic chart coordinates transformation method, moving coordinates is transformed under the 1954_GK coordinate of Beijing from the WGS-84 coordinate system; Utilize Map Objects that figure layer original coordinate system is converted to the WGS-84 coordinate system, externally database related with figure layer in, at first the locating information that GPS is transmitted is located in the figure layer, and read the FeatureId value, and the FeatureId value, the conversion after spectroscopic data and locating information store in the database, obtain geo-localisation information, soil attribute data and spectroscopic data one to one.
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| CN101149267B (en) * | 2006-09-19 | 2010-11-03 | 厦门雅迅网络股份有限公司 | Target navigation method for farm machinery maintenance service |
| CN101975941A (en) * | 2010-09-08 | 2011-02-16 | 吉林大学 | Portable remote sensing image information field acquisition system and acquisition method |
| CN101995380A (en) * | 2010-10-11 | 2011-03-30 | 中国科学院植物研究所 | Method for monitoring soil petroleum pollution based on hyperspectral vegetation index |
| CN103278197A (en) * | 2013-05-31 | 2013-09-04 | 南京农业大学 | Crop growth monitoring device and method based on vehicle-mounted system |
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| FR2783945B1 (en) * | 1998-09-29 | 2000-12-15 | Pellenc Sa | PROCESS FOR EXPLOITING LOCALIZED AGRICULTURAL DATA TO OPTIMIZE THE CULTIVATION OF PERENNIAL PLANTS |
| CN1252625C (en) * | 2003-07-11 | 2006-04-19 | 中国地质大学（武汉） | Computer-aided geologic investigation system based on portable machine |
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| CN101149267B (en) * | 2006-09-19 | 2010-11-03 | 厦门雅迅网络股份有限公司 | Target navigation method for farm machinery maintenance service |
| CN101975941A (en) * | 2010-09-08 | 2011-02-16 | 吉林大学 | Portable remote sensing image information field acquisition system and acquisition method |
| CN101975941B (en) * | 2010-09-08 | 2013-09-18 | 吉林大学 | Portable remote sensing image information field acquisition system and acquisition method |
| CN101995380A (en) * | 2010-10-11 | 2011-03-30 | 中国科学院植物研究所 | Method for monitoring soil petroleum pollution based on hyperspectral vegetation index |
| CN101995380B (en) * | 2010-10-11 | 2012-07-18 | 中国科学院植物研究所 | Method for monitoring soil petroleum pollution based on hyperspectral vegetation index |
| CN103364792B (en) * | 2012-04-11 | 2016-06-22 | 南京财经大学 | The grain remote sensing ground reference information collection method that user drives |
| CN103364792A (en) * | 2012-04-11 | 2013-10-23 | 南京财经大学 | User-driven grain remote sensing ground reference information collection method |
| CN103278197A (en) * | 2013-05-31 | 2013-09-04 | 南京农业大学 | Crop growth monitoring device and method based on vehicle-mounted system |
| CN103278197B (en) * | 2013-05-31 | 2016-02-03 | 南京农业大学 | A kind of crop growth monitoring apparatus and method based on onboard system |
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| CN111179185A (en) * | 2019-12-04 | 2020-05-19 | 中国资源卫星应用中心 | Remote sensing image color correction method and system based on cloud pickling film and MSR |
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