CN108364264A - A kind of ocean temperature monitoring method and system based on unmanned plane infrared remote sensing technology - Google Patents
A kind of ocean temperature monitoring method and system based on unmanned plane infrared remote sensing technology Download PDFInfo
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Abstract
The invention discloses a kind of ocean temperature monitoring methods and system based on unmanned plane infrared remote sensing technology, flying platform using unmanned plane as thermal infrared remote sensing, Differential positioning equipment after integrated PPK, design realizes the equidistant concentric circles fitting parameter correcting algorithm of wide-angle infrared lens barrel distortion, the improvement without photo control point geometric correction algorithm is carried out on the basis of traditional polynomial method, coordinate the high-precision location datas of PPK, realize the promotion of the image position precision of unmanned plane infrared remote sensing most critical, after finally carrying out temperature retrieval using Heat transmission equation, one layer of actual measurement aligning step is set again, utilize the sea measured data of acquisition synchronous with unmanned plane, equation of linear regression is established using ENVI analysis softwares, obtain calibration model, improve temperature measurement accuracy.Invention significantly improves the monitoring efficiency of thermal discharge waterfrom nuclear power plant, ensure that the data needed for environmental protection administration are normal, and greatly reduce the monitoring cost of warm water discharge.
Description
Technical field
The invention belongs to marine monitoring technology field, especially a kind of ocean temperature based on unmanned plane infrared remote sensing technology
Monitoring method and system.
Background technology
21st century is the century of ocean, and during developing and utilizing marine environment and resource, the activity of the mankind is not
It is evitable to bring pollution and destruction to marine environment.With the raising of environmental consciousness, it has been recognized that is " first dirty
Administered after dye " development model be not response environment problem correct thinking, it is believed that prevent environment by prior precautionary measures
The generation of problem is only basic solution.Pollution flux is being weighed in the index of marine pollution degree, temperature is then
One important indicator, its estuary can be promoted by coming from cities and towns sewage draining exit sanitary sewage, industrial water, power-plant cooling water
The temperature in marine site, the nuclear power station recirculated cooling water that especially borders on the sea discharge, since displacement is huge, can result in large stretch of marine site Wen Sheng,
Fish production and marine ecology are generated and greatly destroyed.
At present for it is all kinds of enter sea pollution source temperature monitoring method have using ship carry out the water surface acquisition monitoring, satellite it is distant
Sense monitoring and manned aircraft Aerial remote sensing monitoring.Water surface monitoring can provide zonal real-time, discrete, more accurate
Water surface temperature, the disadvantage is that can only reflect that dotted and linear sea and the temperature along depth of water direction index.Space satellite
Remote sensing thermometry be limited in that can only according to satellite transit time carry out image capturing, and Satellite Image Spatial Resolution and
Temperature measurement accuracy is low, is suitable for the monitoring of the not high big-and-middle regional extent of required precision.Air remote sensing monitoring system has speed fast
The characteristics of high resolution, is conducive to the source and the whereabouts that differentiate pollutant.But the shortcomings that manned aircraft air remote sensing is to landing
There is particular/special requirement in place, and time is long and implementation process is complicated, and flexibility is poor, and cost is high.
Invention content
In view of the deficiencies of the prior art, this application provides a kind of landings conveniently, implements flexible, temperature measurement accuracy and positioning accurate
Degree height and unmanned plane ocean temperature monitoring method and system at low cost, in addition while unmanned plane monitors, mistake during acquisition
The infrared remote sensing data of border satellite are used for the overall trend of assistant analysis distribution of water temperature.
To achieve the above object, the first technical solution of the application use is：One kind being based on unmanned plane infrared remote sensing skill
The ocean temperature monitoring method of art, is as follows：
Step 1：Unmanned Aerial Vehicle Data acquisition platform is built, using unmanned plane as platform, carries thermal infrared sensor equipment, union
At PPK reception antennas, to the precise positioning of unmanned plane；
Step 2：Nuclear power operating mode, meteorological data are collected, area course line is surveyed in planning, determines, fine situation smaller in wind-force
Lower progress field data acquisition, it is synchronous to carry out ship, the actual measurement of buoy temperature；
Step 3：Data processing is screened effective infrared image according to unmanned plane POS data in ArcGIS, and is designed
A kind of infrared image spatial information representation based on ArcEngine is realized, by establishing image vector file, is assigned each
Pixel position and temperature property.According to unmanned plane POS data, space ginseng of infrared image under the conditions of unmanned plane is just penetrated is determined
Examine information：Projected coordinate system, position, range ultimately produce under the conditions of unmanned plane just penetrates, the corresponding spatial data of infrared image；
Step 4：The camera lens of distortion correction, the infrared thermography that the present invention uses is wide-angle lens, and it is abnormal that there are wide-angles
Become, Distortion Law and parameter can determine, and have uniformity.For the technical parameter of this camera lens, design realizes one kind
Barrel distortion model of fit based on equidistant concentric circles, obtains the deformation parameter of the corresponding position of discrete radius, is corrected
Spatial data afterwards.In order to ensure the accuracy of temperature, the 10% of edge is dismissed so that other remaining to Duplication between image
10%；
Step 5：Geometric correction, the key that seawater thermometric is carried out using unmanned plane are to ensure the position essence of orthography
Degree, the present invention design realize it is a kind of on the basis of traditional polynomial method be suitable for geometric correction of the sea without photo control point situation,
The accurate angle information provided using elements of exterior orientation calculates deviation post；
Step 6：Temperature retrieval, it is contemplated that in shooting process under different height air, steam, incident angle difference, temperature
Atmospheric radiation correction, incident angle amendment are carried out when spending inverting, to improve temperature measurement accuracy, design is obtained using sea ship, buoy
Measured value is taken, realizes using temperature difference rule between ENVI analysis software different zones, school is established using linear regression fit
The method of positive model and precision evaluation model finally obtains ocean temperature by correction；
Step 7：The temperature value of the calculated infrared image of step 6 is assigned to by image reduction according to position correspondence
Then spatial data is converted into raster data in such a way that temperature value is pixel value, obtained by the spatial data of infrared image
Existing spatial referencing information has the image of temperature information again.
The application use second of technical solution be：A kind of ocean temperature monitoring based on unmanned plane infrared remote sensing technology
System, including unmanned plane and the infrared sensing equipment for measuring ocean temperature, the infrared sensor are built in unmanned plane
The camera lens of cabin bottom, infrared sensor leans out to come from unmanned plane cabin bottom.
Further, the unmanned plane is equipped with integrated PPK reception antennas.
Further, above system further includes：Buoy carries temperature sensor at the universal sensor interface of buoy,
Water temperature is monitored.
Further, above system further includes：Water quality instrument, for measuring seawater water temperature.
The present invention uses above technical scheme, can obtain following technique effect：Air remote sensing and sea actual measurement are mutually tied
It closes, is suitable for the temperature monitoring in large area marine site, has the features such as inexpensive, convenient, flexible, speed is fast.Choose UAV flight
Infrared sensor reduces the cost of similar temperature measuring application as sampling instrument, is improved using the geometric correction of no photo control point
The positioning accuracy of infrared image；Means are surveyed using synchronous sea to be corrected infrared data, can significantly improve temperature survey
Accuracy of measurement.This method causes temperature to rise environmental disruption and provides efficiently and effectively monitoring means for the pollution sources that border on the sea.
Description of the drawings
Fig. 1 is the ocean temperature monitoring method flow chart based on unmanned plane infrared remote sensing technology；
Fig. 2 is unmanned plane schematic diagram；
Fig. 3 is infrared sensing equipment schematic diagram；
Fig. 4 is buoy usage state diagram.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with the accompanying drawings with specific implementation case
The present invention will be described in detail.The application is using low profile thermal infrared thermoviewer as load, using fixed-wing unmanned plane as flying platform,
Synchronous progress sea ship, buoy actual measurement are corrected and are verified for infrared data inverting, i.e. unmanned plane+infrared sensor+sea
Survey alignment technique method.
The present embodiment provides a kind of ocean temperature monitoring methods based on unmanned plane infrared remote sensing technology, specifically：
1, in this example, the understanding of the factors such as environment, landform is carried out to measuring marine site first, selectes ward as nothing
Man-machine landing place of taking off, stands in local built-in on the spot face CORS, for Differential positioning after the PPK of unmanned plane.To seashore wind-force
Situation is understood, and determines the wind-force period less than normal.
2, the flight course planning of unmanned plane is carried out to measuring marine site, in this example, the range area to be measured is 20 × 6km long
120 square kilometres of wide marine sites are arranged Duplication to prevent leak-stopping bat situation to aerial photograph in unmanned plane planning, determine flight
Height is set as 600m, Duplication 20%.In the actual measurement of sea, discharge outlet and intake and several key areas is selected to lay floating
Mark, ship actual measurement divide 3 pieces of regions since region is larger, and every piece of region is measured using two ships.
3, the data processing based on ArcGIS, after obtaining infrared image, in conjunction with system for flight control computer POS data, camera
Real-time attitude angular data, infrared thermography photographed data carry out data prediction process it is as described below.
1) data screening
For unmanned plane in flight course, corner has larger shaking, this partial data is weeded out, according to overlapping
Rate requires to select available POS points.POS and infrared video time are all made of GPS time, are accurate to second, stringent synchronization, and reference has been selected
It carries out cutting frame in the time to infrared video file of POS points, obtains POS points and the infrared image with radiation value in the same time.
2) spatial resolution is determined
The resolution ratio of infrared image is 640*480, i.e., has 640*480 in the field range of infrared thermography camera lens
The radiation value of pixel.The actual size that pixel projects to sea is directly proportional to unmanned plane shooting height, 600m height unmanned planes
Visual field scope is 692.8m × 497.1m, size 1.1m × 1.0m of each pixel.
3) framing
According to condition is just penetrated, infrared image, which is navigated to the parameter needed on correct geographical location, to be had：Image center
Coordinate, shooting height, image actual size, course angle.
Picture centre point coordinates：In unmanned plane scanning process, infrared thermography is equipped with correction holder, ensures camera lens
Scanning sea is just penetrated, unmanned plane POS coordinate datas can be used as the center of the sea field range captured by infrared thermography
Point coordinates.
Shooting height：That is the difference of aircraft altitude height and the height above sea level on sea level, unmanned plane fly higher, and shooting regards
Field range is bigger.
Image actual size：According to field of view angle and unmanned plane shooting height, the field range of 600m height is as infrared
Sea actual range 692.8m × 497.1m of thermal imaging system shooting.
Course angle：With the clockwise angle of due north.
Vector file is established using ArcGIS Desktop, condition is just penetrated according to the length of side, angle drafting since central point
Under image capturing range.
4) pixel figure
Grid, lattice are generated according to picture position, Pixel size, pixel ranks number in the corresponding actual range of infrared image
Subnumber is 640*480, and each grid represents a pixel of infrared image, the pixel figure arranged in order.
4, lens distortion calibration, since damp state influences thermo parameters method situation, the crawl large area marine site in a damp state
Temperature field information certainly will use wide-angle lens, letter is carried out using wide-angle lens in this example in view of nobody current flying speed
Breath acquisition, and to be this example will solve the problems, such as barrel distortion situation existing for wide-angle lens.
According to this infrared camera wide-angle feature, the non standard template of an equidistant concentric circles is selected, one kind is used
Modification method is as follows：
It a., can be with if equidistantly the density of concentric circles is bigger close to the minimum concentric circles deformation at deformation center minimum
Think that minimum concentric circles does not have deformation.
B. after equidistant concentric circles is projected to by ideal camera lens on CCD or equidistant concentric circles.
C. barrel distortion is continuous, i.e. the deformation of the connected point of image is not mutated.According to this theoretical foundation, with making
Non-standard template alignment relative Calibration is carried out to wide-angle lens.
To the non-equidistant concentric circles on the fault image that actually obtains, equidistantly adjusted according to minimum concentric circles,
The deformation parameter of discrete radius corresponding position is obtained in this process.Assuming that lens centre and image plane center are straight in same
On line, then the different pixels on image are due to the radius r differences to picture centre, distortion situation is just different.
According to the deformation principle of continuity, use respectively linear regression and quartic polynomial respectively to the barrel distortion of wide-angle lens into
Row fitting, obtains the Deformation Law of wide-angle lens.
It is fitted barrel distortion rule with primary recurrence：
st(r)=ar+b
Wherein a, b are distortion factors.
It is fitted barrel distortion rule with quartic polynomial：
st(r)=ar4+br3+cr2+dr+e
Wherein a, b, c, d, e are distortion factors.
Scene carries out image distortion experiment by the sea for selection.Aircraft is acquired more using more rotary wind types under different height
Width image selects shooting height for 600 meters of a width thermal infrared imagery.Thermal infrared images imaging clearly, different atural objects (including sea
Face, harbour, shore protection, road, square) heat radiation imaging resolution is higher.And it is above-mentioned apparent in ground actual acquisition using GPS
Culture point and as more modified foundation,
With primary return barrel distortion rule is fitted with quartic polynomial：
st(r)=- 0.005190740r-0.9432991
It is fitted barrel distortion rule with quartic polynomial：
st(r)=0.017430r4-0.084409r3+0.085233r2-0.047001r+1.003114
5, geometric correction is done in geometric distortion correction, image geometry distortion caused by changing for sensor elements of exterior orientation,
Wherein elements of exterior orientation includes coordinate Xs of the photo centre point S in selected ground space coordinate systems、Ys、Zs, and photography moment picture
The posture of planeω, k, i.e. pitch angle, roll angle, course angle.
The collinearity equation for describing image object-image relation is as follows,
Wherein f is the focal length of photographic camera, and (x, y) and (X, Y, Z) is the image coordinate and ground coordinate of culture point, (Xs,
Ys, Zs) be video camera ground coordinate, aiFor elements of exterior orientation,Identified spin matrix element.
Using elements of exterior orientation as variable, differential process is carried out to above formula, while considering under approximately perpendicular photography conditions,ω, k are the angles of very little, can be approximately zero, and the first order public affairs that elements of exterior orientation variation influences picpointed coordinate can be obtained
Formula
DX as can be seen from the above equations、dYs、dZsInfluence with dk to whole picture image is to bring it about translation, rotation and scaling
Etc. linear changes, and only haveImage can be just set to generate nonlinear distortion with d ω.
When camera lens tilt, picture point offset and picture point to image center point apart from directly proportional, image center point it is inclined
Shifting amount is minimum, and edge offset is maximum.High-performance holder is carried during unmanned plane during flying, high-frequency adjusts the appearance of camera lens in real time
State ensures that camera lens is vertically shot so thatω (pitching, roll) angle reaches minimum, in order to ensure accuracy, infrared heat at
As fixing high-precision dual-axis inclinator on instrument, to obtain the accurate attitude angle parameter of camera lens, because infrared thermography is per second
32 frames are imaged, setting inclinator angle acquisition frequency is also 32Hz, the pitch angle at synchronous recording infrared thermography each moment
And roll angle.In 600m height, when the roll of camera lens, pitch angle are 0.1 °, caused image is 1m with ground offset, complete
The requirement of full up 5 meters of foot ground space resolution ratio, so, to improve data-handling efficiency as far as possible, not to pitching, roll angle
Image less than 0.1 ° does geometric correction, and the image primarily directed to pitching, roll angle more than 0.1 ° does geometric correction.
In geometric correction, multinomial correction method has very strong versatility, is suitable for the geometric correction of landform flat country.
And this example measures on large area sea, landform is flatter, so geometric distortion correction is carried out using multinomial correction method, and herein
On the basis of, realize the geometric correction process without photo control point.
Several steps crucial in the multinomial geometric correction method of no photo control point are described in detail below；
(1) image control point is chosen, on the image with spatial referencing information, according to the principle being evenly distributed, simultaneously
Since from image center to edge, distortion, so when selecting control point, leans on proximal edge more in rule is become larger.
(2) each control point calibration recoil mark is calculated, is calculated according to flying height, the angle of view, course and just penetrates condition
Under image position, several points are chosen, using unmanned plane flying height, the angle of view, attitude angle (pitching, roll) according to triangle letter
Number calculates the coordinate after each control point geometric distortion, is just under control a little pair.
(3) determine fine correction model, in order to enable positional accuracy higher after correction, using 15 pairs of control points, to image into
Row cubic polynomial corrects.
6, temperature retrieval and correction, temperature retrieval use radiation transfer equation method.Radiation transfer equation method is red by a heat
The radiation energy that outer tunnel (in atmospheric window) obtains calculates temperature.The energy that thermal infrared radiation sensor receives includes mainly three
Part：Earth's surface heat radiation after atmospheric extinction；The earth surface reflection of Downward atmospheric long-wave radiation；Air uplink radiation, such as following formula：
T in formulaSFor atural object temperature；Lai ↑For air uplink wave spectrum heat radiation；Lai ↓For downward atmospheric heat radiation；εiFor water
Table emissivity；τiFor atmospheric transmittance；Under indicate i parameter be corresponding wave spectrum channel i weighted mean.
Parameter in formula can pass through radiation transmission in addition to water meter emissivity (being determined according to the look-up table of foundation)
It simulates to seek.In actual application, surveyed with MODTRAN atmospheric radiation transmissions and sounding balloon and surface weather station
Data come assist calculate atmospheric parameter.
Under the flying height of hundreds of meters of unmanned plane, atmospheric effect with the variation of Vertical Temperature and moisture profile it is progressive gradually
Become.Above-mentioned radiation transfer equation can be expressed as following form：
B(T0)=τ [ε B (T1)+(1-ε)I↓]+I↑
In formula：T0For the brightness temperature of thermal infrared sensor detection；T1For temperature of surface water；τ is atmospheric transmissivity；ε is water meter
Radiance；B(T0) be thermal infrared sensor received by caloradiance；B(T1) be water meter in sensor wave band section
Blackbody radiation intensity；I↑And I↓Respectively up and down caloradiance of the air in detecting band section.
In order to reduce the Systematic Errors of infrared temperature inverting, in conjunction with boat measurement, buoy measurement data, with data acquisition time
For sequence, foundation takes photo by plane infrared temperature angle value and the one-to-one data of sea observed temperature value to set.It is established using ENVI softwares
In the equation of linear regression taken photo by plane between infrared temperature and sea observed temperature value by atmospheric correction, and then applied to infrared
The correction process of load data, inverting obtain true sea surface temperature value.
Present invention likewise provides the precision evaluation of the temperature value for acquisition and verification methods, and the time is used using non-modeling
Match point boat-carrying walks boat and fixed point buoy observation data make independent sample inspection to model algorithm result precision.Precision evaluation uses
Model inversion end value obtains precision evaluation and error statistics with the warm comparing mode in field measurement sea, such as formula：
In formula：Tci, TjiThe field measurement sea temperature value and model inversion of i-th of matched data pair respectively in verify data
End value；For the mean error of inversion algorithm.
Verify 30% of sample number not less than actual measurement sample number.
Boat is walked with time match point boat-carrying using non-modeling and fixed point buoy observation data make model algorithm result precision
Independent sample is examined, and total matched data collection is thus divided into two parts, most for correcting, least a portion of for examining
It tests, into the interference that sample may be not present, realizes that independent sample is examined.
7, temperature value after above-mentioned steps is assigned to the spatial data of infrared image according to position correspondence, then
Spatial data is converted into raster data in such a way that temperature value is pixel value, obtain existing spatial referencing information has temperature again
The image of information, finally complete complete thermo parameters method figure.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope of present disclosure, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of ocean temperature monitoring method based on unmanned plane infrared remote sensing technology, which is characterized in that be as follows：
Step 1：Build Unmanned Aerial Vehicle Data acquisition platform；
Step 2：Nuclear power operating mode, meteorological data are collected, area course line is surveyed in planning, then carries out field data acquisition；
Step 3：Data processing screens effective infrared image according to unmanned plane POS data, by establishing image vector file,
Assign each pixel position and temperature property；Determine infrared image unmanned plane spatial referencing information；
Step 4：Distortion correction obtains the correspondence of discrete radius using the barrel distortion model of fit based on equidistant concentric circles
The deformation parameter of position obtains revised spatial data；
Step 5：Geometric correction is realized the geometric correction of unmanned plane image using the multinomial algorithm of no photo control point, utilizes foreign side
The precision information that bit element provides calculates deviation post；
Step 6：Temperature retrieval and correction carry out Atmospheric radiation correction, incident angle amendment using Heat transmission equation, pass through line
Property regression fit establishes calibration model and precision evaluation model, the ocean temperature after being corrected；
Step 7：The temperature value of the calculated infrared image of step 6 is assigned to according to position correspondence infrared by image reduction
Then spatial data is converted into raster data in such a way that temperature value is pixel value, obtained existing by the spatial data of image
Spatial referencing information has the image of temperature information again.
2. a kind of ocean temperature monitoring method based on unmanned plane infrared remote sensing technology, feature exist according to claim 1
In using the barrel distortion model of fit based on equidistant concentric circles, specially：According to the deformation principle of continuity, use respectively linear
It returns and quartic polynomial is respectively fitted the barrel distortion of wide-angle lens, obtain the Deformation Law of wide-angle lens；
It is fitted barrel distortion size with primary recurrence：
st(r)=ar+b
Wherein, r is radius, and a, b are distortion factors；
It is fitted barrel distortion size with quartic polynomial：
st(r)=ar4+br3+cr2+dr+e
Wherein, r is radius, and a, b, c, d, e is distortion factor.
3. a kind of ocean temperature monitoring method based on unmanned plane infrared remote sensing technology, feature exist according to claim 1
In the multinomial algorithm of the no photo control point realizes the geometric correction of unmanned plane image, specially：
Using elements of exterior orientation as variable, differential process is carried out to the collinearity equation of geometric correction, obtains elements of exterior orientation variation pair
The first order formula that picpointed coordinate influences；When choosing control point in infrared image, marginal portion distortion is big, and choosing is by proximal edge
Point.
4. a kind of ocean temperature monitoring method based on unmanned plane infrared remote sensing technology, feature exist according to claim 1
In the temperature retrieval and correction are specially monitored while being surveyed using ship, buoy temperature, school in unmanned aerial vehicle remote sensing
Timing utilizes one-to-one measured value and infrared temperature angle value, establishes equation of linear regression, one-to-one temperature value time difference
It is required that control is within a certain period of time.
5. a kind of ocean temperature based on unmanned plane infrared remote sensing technology monitors system, which is characterized in that including unmanned plane and use
In the infrared sensing equipment for measuring ocean temperature, the infrared sensor is built in the cabin bottom of unmanned plane, infrared sensor
Camera lens from unmanned plane cabin bottom lean out come.
6. a kind of ocean temperature based on unmanned plane infrared remote sensing technology monitors system according to claim 5, feature exists
In the unmanned plane is equipped with integrated PPK reception antennas.
7. according to a kind of ocean temperature monitoring system based on unmanned plane infrared remote sensing technology of claim 5 or 6, feature
It is, further includes：Buoy carries temperature sensor at the universal sensor interface of buoy, is monitored to water temperature.
8. a kind of ocean temperature based on unmanned plane infrared remote sensing technology monitors system according to claim 7, it is characterized in that,
Further include：Water quality instrument, for measuring seawater water temperature.
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