双成像云底高测量的理论与方法研究
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摘要
云观测是气象日常业务重要内容之一,包括云状、云底高、云量三个要素。其中对云底高的量测一般分为目测和器测两类方法,前者具有因人而异,主观性强、观测较为简单、定性;观测频次少,不能全面、连续反映天气现象情况;后者虽然可以量测云底高,但它们缺乏客观评价的试验条件。因此,根据气象日常云观测业务的需求,本文采用摄影测量技术量测云底高,专门研制出一种基于CCD非量测相机的云底高立体量测仪以及针对该量测仪的特殊标校控制场,同时还针对获得的单站云图像数据,将其拼接为全天空云图,进一步拓展了云底高立体量测仪的应用范围。本文研究内容及创新点如下:
1)研制了基于CCD非量测相机的地基云底高立体量测仪该量测仪是以两台相距一定距离的“一体化高速智能球型摄像机”为核心,同时还包含置平系统、通讯系统和视频采集卡等附加装置。该量测仪最显著特点是通过步进电机的控制,实现了将“天空控制点”引到地面,降低了成本,为其大规模推广提供了可能。
2)建立了东、西、南、北和天顶五个方向的检校控制场为了检校云底高立体量测仪转角的系统误差、内方位元素和畸变系数,按照15cm、20cm、40cm间隔在东、西、南、北和天顶五个方向布设了773个标志点。同时为了便于在量测仪检校时,实现标志点的自动提取,设计了标志点的形状、大小和结构。
3)研究了云底高立体量测仪的快速检校方法为加快云底高立体量测仪检校时标志点的快速提取,研究并实现了标志点的自动提取技术。它采用了Canny算法、八邻域跟踪技术和最小二乘椭圆拟合方法。最终,根据自动提取的标志点点位,采用直接线性变换和单像空间后方交会算法对云底高立体量测仪进行粗检校,根据标志点误差,重新调整其图像坐标,直到图像中每一个标志点的点位误差小于0.2像素。
4)在自适应分层匹配的基础上,实现了精确的云底高量测在云底高计算过程中,为提高图像匹配的精度,首先详细研究并实现了Retinex算法的云图像增强,提高了图像匹配的效果;然后,根据自适应分层图像匹配算法确定同名点。具体过程是:首先将云图像分为3层金字塔结构;然后在顶层金字塔采用SIFT匹配;二级金字塔采用基于Forstner特征的匹配方法;底层金字塔图像,对所有获得的同名点采用单点最小二乘匹配算法以获得子像素的精度。同时为了保证量测仪运行的稳定性,推导了单独模型相对定向直接解公式。
5)研究了全天空云图的拼接方法
针对所获得的全天空36幅云图像,首先研究了将云图像根据其方位角和俯仰角转换到统一的以焦距为半径的球面空间,并推导了从像平面→球面→水平面的正、反公式;其次为减少云图像的重叠,减少运算量,加快图像拼接速度,研究了根据图像的方位角和俯仰角,对云图像的水平投影进行半径方向和切线方向适当裁切;最终对裁切后的云图像,采用加权平滑的方法拼接,获得了全天空云图。
该论文有图102幅,表25个,参考文献154篇。
Cloud observation is an important content of daily meteorological tasks, mainly including cloud form, cloud base height, and cloudiness. Traditional methods for measuring the CBH come down to two major ones, i.e., visual measurement and instrument aided measurement. However, the former is a simple quantitative method of great subjectivity due to men’s distinct experiences and incapable of roundly and continuously reflecting weather conditions as a result of limited observation frequencies, while the latter lacks experimental conditions for objective evaluations though it is able to measure the CBH. Hence, according to the requirements of daily meteorological observations, this paper adopts the technologies of photogrammetry to measure the CBH,develops a special CBH stereo measuring instrument based on CCD non-metric cameras, and designs a particular control field for the calibration of the measuring instrument. Meanwhile, the images of clouds obtained by each photographing station are mosaiced to form whole sky nephograms. which further enlarges the application ranges of the instrument. The research work and innovative points are as follows.
1) It develops a stereo measuring instrument of CBH based on non-metric CCD cameras.
The core of this stereo measuring instrument is two integrated high speed global camera separated by a certain distance. Besides, it includes a leveling system, a communication system, video capture cards and other additional devices. This instrument is characterized by its realization of projecting the sky control points to the ground though the control of stepped motor, which cuts down the cost and helps arrive at a probably large-scale popularization.
2) It builds a special indoor control field of five directions, i.e., south, west, north, east and zenith, which serves to calibrate the instrument.
In order to calibrate the inner orientation elements, the systematic error of rotation angles, and the distortion elements pertaining to the instrument, 773 mark points are set up with 15 centimeters apart, 20 centimeters apart or 40 centimeters apart in the five directions. Meanwhile, the shape, size and structure of the mark points are designed so as to realize the automatic extraction and make it convenient for the instrument calibration.
3) It studies the fast calibration method for the stereo measuring instrument of the CBH.
In order to fasten the speed of the mark point extraction during the calibration of the speed, an automation extraction technology is researched and realized. It adopts Canny algorithm, eight neighborhood tracking and least square ellipse fitting method. According to the positions of the automatically extracted mark points, direct linear transform (DLT) and space resection of single image are utilized to roughly calibrate the measuring instrument. The image coordinates are readjusted according to the mark point errors until the error is less than 0.2 pixel.
4) It accomplishes accurately measuring the CBH on the basis of self-adapting match of different pyramid layer.
In order to improve the accuracy of image matching in the process of calculating the CBH, an algorithm named Retinex is detailedly researched and realized, which improves the effect of the image matching. Then, an adaptive stratified image matching algorithm is utilized to ascertain the same points. The concrete process includes: 1) diving the cloud image into a three-layer structure; 2) applying SIFT matching to the top layer; 3) applying the Fostner feature matching algorithm to the second layer; 4) utilizing the least square matching method to obtain sub-pixel accuracy to the bottom layer. At the same time, a direct solution formula of relative orientation for single model is derived to insure the stability of the measuring instrument.
5) It studies the mosaic method for the whole sky Nephogram.
As for the 36 images of whole sky obtained by the instrument, the cloud images are firstly transformed into a spherical space with a radius of focal length according to their azimuth angles and pitching angles. And the forward and inverse formulae of the transformation among the image plane, the spherical plane and the horizontal plane are derived. Secondly, a clip method is researched to moderately clip the horizontally projected cloud image in the radius and tangent direction, which reduces the overlaps between images, decrease the operation load, and increases the speed of image mosaic. Finally, a weighted smoothing method is utilized to mosaic the clipped images to acquire the whole sky nephogram.
This paper has 102 figures,25 tables and 154 references.
1)研制了基于CCD非量测相机的地基云底高立体量测仪该量测仪是以两台相距一定距离的“一体化高速智能球型摄像机”为核心,同时还包含置平系统、通讯系统和视频采集卡等附加装置。该量测仪最显著特点是通过步进电机的控制,实现了将“天空控制点”引到地面,降低了成本,为其大规模推广提供了可能。
2)建立了东、西、南、北和天顶五个方向的检校控制场为了检校云底高立体量测仪转角的系统误差、内方位元素和畸变系数,按照15cm、20cm、40cm间隔在东、西、南、北和天顶五个方向布设了773个标志点。同时为了便于在量测仪检校时,实现标志点的自动提取,设计了标志点的形状、大小和结构。
3)研究了云底高立体量测仪的快速检校方法为加快云底高立体量测仪检校时标志点的快速提取,研究并实现了标志点的自动提取技术。它采用了Canny算法、八邻域跟踪技术和最小二乘椭圆拟合方法。最终,根据自动提取的标志点点位,采用直接线性变换和单像空间后方交会算法对云底高立体量测仪进行粗检校,根据标志点误差,重新调整其图像坐标,直到图像中每一个标志点的点位误差小于0.2像素。
4)在自适应分层匹配的基础上,实现了精确的云底高量测在云底高计算过程中,为提高图像匹配的精度,首先详细研究并实现了Retinex算法的云图像增强,提高了图像匹配的效果;然后,根据自适应分层图像匹配算法确定同名点。具体过程是:首先将云图像分为3层金字塔结构;然后在顶层金字塔采用SIFT匹配;二级金字塔采用基于Forstner特征的匹配方法;底层金字塔图像,对所有获得的同名点采用单点最小二乘匹配算法以获得子像素的精度。同时为了保证量测仪运行的稳定性,推导了单独模型相对定向直接解公式。
5)研究了全天空云图的拼接方法
针对所获得的全天空36幅云图像,首先研究了将云图像根据其方位角和俯仰角转换到统一的以焦距为半径的球面空间,并推导了从像平面→球面→水平面的正、反公式;其次为减少云图像的重叠,减少运算量,加快图像拼接速度,研究了根据图像的方位角和俯仰角,对云图像的水平投影进行半径方向和切线方向适当裁切;最终对裁切后的云图像,采用加权平滑的方法拼接,获得了全天空云图。
该论文有图102幅,表25个,参考文献154篇。
Cloud observation is an important content of daily meteorological tasks, mainly including cloud form, cloud base height, and cloudiness. Traditional methods for measuring the CBH come down to two major ones, i.e., visual measurement and instrument aided measurement. However, the former is a simple quantitative method of great subjectivity due to men’s distinct experiences and incapable of roundly and continuously reflecting weather conditions as a result of limited observation frequencies, while the latter lacks experimental conditions for objective evaluations though it is able to measure the CBH. Hence, according to the requirements of daily meteorological observations, this paper adopts the technologies of photogrammetry to measure the CBH,develops a special CBH stereo measuring instrument based on CCD non-metric cameras, and designs a particular control field for the calibration of the measuring instrument. Meanwhile, the images of clouds obtained by each photographing station are mosaiced to form whole sky nephograms. which further enlarges the application ranges of the instrument. The research work and innovative points are as follows.
1) It develops a stereo measuring instrument of CBH based on non-metric CCD cameras.
The core of this stereo measuring instrument is two integrated high speed global camera separated by a certain distance. Besides, it includes a leveling system, a communication system, video capture cards and other additional devices. This instrument is characterized by its realization of projecting the sky control points to the ground though the control of stepped motor, which cuts down the cost and helps arrive at a probably large-scale popularization.
2) It builds a special indoor control field of five directions, i.e., south, west, north, east and zenith, which serves to calibrate the instrument.
In order to calibrate the inner orientation elements, the systematic error of rotation angles, and the distortion elements pertaining to the instrument, 773 mark points are set up with 15 centimeters apart, 20 centimeters apart or 40 centimeters apart in the five directions. Meanwhile, the shape, size and structure of the mark points are designed so as to realize the automatic extraction and make it convenient for the instrument calibration.
3) It studies the fast calibration method for the stereo measuring instrument of the CBH.
In order to fasten the speed of the mark point extraction during the calibration of the speed, an automation extraction technology is researched and realized. It adopts Canny algorithm, eight neighborhood tracking and least square ellipse fitting method. According to the positions of the automatically extracted mark points, direct linear transform (DLT) and space resection of single image are utilized to roughly calibrate the measuring instrument. The image coordinates are readjusted according to the mark point errors until the error is less than 0.2 pixel.
4) It accomplishes accurately measuring the CBH on the basis of self-adapting match of different pyramid layer.
In order to improve the accuracy of image matching in the process of calculating the CBH, an algorithm named Retinex is detailedly researched and realized, which improves the effect of the image matching. Then, an adaptive stratified image matching algorithm is utilized to ascertain the same points. The concrete process includes: 1) diving the cloud image into a three-layer structure; 2) applying SIFT matching to the top layer; 3) applying the Fostner feature matching algorithm to the second layer; 4) utilizing the least square matching method to obtain sub-pixel accuracy to the bottom layer. At the same time, a direct solution formula of relative orientation for single model is derived to insure the stability of the measuring instrument.
5) It studies the mosaic method for the whole sky Nephogram.
As for the 36 images of whole sky obtained by the instrument, the cloud images are firstly transformed into a spherical space with a radius of focal length according to their azimuth angles and pitching angles. And the forward and inverse formulae of the transformation among the image plane, the spherical plane and the horizontal plane are derived. Secondly, a clip method is researched to moderately clip the horizontally projected cloud image in the radius and tangent direction, which reduces the overlaps between images, decrease the operation load, and increases the speed of image mosaic. Finally, a weighted smoothing method is utilized to mosaic the clipped images to acquire the whole sky nephogram.
This paper has 102 figures,25 tables and 154 references.
引文
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