手持式超站测树仪研制及功能测试研究
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摘要
森林计测是森林经营与管理的重要基础信息采集工作之一,测树仪器是森林计测的基本工具,其测量精度、自动化效率和成本对森林调查工作的效率和数据的质量起决定性作用。目前现有的测树仪器数据采集方式落后、功能单一、效率低、精度差、价格昂贵、内业工作量大,严重制约了森林资源调查工作的发展。因此,迫切需要自动化、数字化、精准、多功能、便携式的测树仪器来促进森林资源信息采集技术的发展。本研究以森林调查抽样和统计原理为理论基础,结合森林计测学、数学、物理学、机械工程、微电子科学、计算机科学等学科,研究森林精准计测原理、模型及实现方法以及森林计测仪器的数字化、微型化、集成化设计,研制手持式测树超站仪样机及其应用系统,并开展试验,进行功能、精度测试研究。旨在实现森林资源调查工作的数字化、信息化、自动化、智能化、一体化,为森林经营和林业现代化提供服务。主要研究结论归纳如下：
(1)手持式超站测树仪的数字化、微型化、集成化多功能系统设计
为了实现森林的数字化、多功能、精准计测,提出了数字化、便携式、多功能集成的测树仪器研制理念,并研制了一种手持式超站测树仪,该设备以MEMS (micro-electro-mechanical systems)测角传感器、激光测距传感器、电子罗盘等主要硬件为基础,通过测量距离、倾角、磁方位角3个参数,结合森林计测原理,开发了操作软件,实现了单木测量、样地计测、株数密度测量、电子立体角规测树、林分空间结构中的大小比数、混交度、角尺度等的测量,目前己完成第一代和第二代产品设计,同时开发了与之对应的内业处理软件,可以实现外业数据直接导入内业软件计算,免去了外业数据的纸质记录和二次输入问题。
(2)基于手持式超站测树仪单木测量模型、原理与功能精度测试
基于激光测距、倾角测量、方位角测量,提出了树高测量、直径测量、非接触式胸径测量以及单木材积测量模型,将测量模型在手持式超站测树仪实现,并针对各功能开展试验。经试验研究表明,第一代产品测树超站仪相对于全站仪的测高误差在0.28%～1.59%。第二代产品树高测量准确度为20～27cm,精密度为18～27cm。精度范围为：97.37%%～98.33%。CCD直径测量分正直摄影测量和倾斜测量,并与围尺测量值进行比较,该方法胸径测量准确度在1cm以内,精密度3.8mm～6.8mm之间。测量的精度在96.11%～98.44%之间,倾斜测量(正负40。范围)的相对误差在-5.28%～6.26%之间。研究了非接触式胸径测量的两种方法,定点比尺测量方法和移动角规法,两种测量方法虽然精度不理想,但是验证了其模型、原理与实现方法的可行性。提出单木材积测量的原理与方法,并进行了试验,但是,由于胸径测量误差较大,引起了材积测量误差也较大,与全站仪测量误差相比,均偏小。
(3)样地计测模型与原理研究及功能精度测试
本文研究的样地计测模型包括闭合导线及标定、样地树木坐标测量、极坐标测树、株数密度测量、林分平均高测量、圆形样地计测及多边形样地计测,并就各项功能开展了试验,验证了各功能的可行性及精度,分别如下：闭合导线及标定导线全长闭合差在1.41%-14.20%之间；面积测量的相对误差在-2.52%-2.32%之间；实现了样地树木坐标测量及样木分布图的自动绘制；极坐标测树功能样地面积测量误差在0.85%-5.51%之间；株数密度测量与人工测量的平均相对误差为3.89%；林分平均高测量相对误差为5.03%；圆形样地计测中,与每木检尺数据对比分析得出：林分密度、林分平均高、平均胸径、蓄积量的相对误差分别为4.32%、-0.71%、-4.07%、-1.25%；多边形样地计测与每木检尺数据对比分析得出：株数密度测量相对误差在-0.76%～-4.34%之间,样地面积测量相对误差在1.19%-2.22%之间,平均树高测量的相对误差在-0.15%～-3.02%之间,平均胸径测量的相对误差在-4.90%～-20.82%之间,蓄积量估测的相对误差在-8.96%～-18.45%之间。
(4)电子立体角规测树功能及精度验证
电子立体角规测树实现了角规计数值的自动计数,与传统角规计数方法比较,相对误差在-0.33%～-0.07%之间。在角规点上测量计数木的树高、胸径,实现林分株数密度、平均高、蓄积量的估测,与样地每木检尺数据进行比较分析得出,相对误差分别为-5.84%、9.10%、0.12%。同时,成功解决了临界木的自动判断问题,免去了传统临界木判断方法中皮尺测距的麻烦。
(5)林分空间结构参数测量模型与原理研究
提出了一种通过测量参照树和与参照树最邻近木的坐标解算参照树与最邻近木之间的夹角,并根据夹角测量角尺度的方法,同时加入胸径测量,将参照木胸径纳入坐标解算,得到参照木的树心坐标,消除了传统角尺度测量中未考虑参照木胸径引起的角度测量误差。同时实现了混交度测量、大小比数测量,并就林分空间结构中角尺度测量、混交度测量、大小比数测量开展试验,验证了其功能的可行性。
本研究为森林计测提供了新的便携式实用型多功能技术装备,对提高森林调查水平,促进森林调查内外业一体化、信息化、智能化有一定的作用。研制中采用了“电子化”和“数字化”的设计思想,能够保障数据的电子化存储,外业数据可以通过通讯接口直接导入计算机进行内业计算,以及将多种功能进行集成,对我国多功能电子化测树仪的研制具有引导和借鉴作用。
Forest measuration is one of the important basic information gathering work in forest management and dendrometer, whose mensuration accuracy, automatic efficiency and costs play a decisive role in forestry inventory accuracy data quality, is the basic tool for forest mensuration. The existing dendrometers seriously restrict the development of forest inventory work with its outdated data gathering method, functional singleness, low-efficiency, low-precision, high prices and vast indoor work methods. Therefore, an automatic, digitized, accurate, multifunctional and portable dendrometer is urgently needed to promote the development of forest resource information acquisition technology. This research is based on forest survey sampling and statistical theory, combining with forest mensuration-. mathematics、physics、mechanical engineering、microelectronics science and computer etc. This research studied forest precision mensuration theory, modeling, implementation methods and the design of digitized-microminiaturized and integrated dendrometer. Meanwhile this paper developed the handheld mensuration smart station prototype and its application system. And an experiment was carried out to measure its functionalities and precision. This paper aimed at realizing the digitization, informatization, automation and intelligence, and it provides services for forest management and forest modernization. Main research conclusions can be summarized as following:
I. Digitized, microminiaturized and integrated multifunction system designs of handheld smart station dendrometers
Digitized and portable multifunction dendrometer developing idea is put forward to realize the digitized, multifunction, microminiaturized and precision mensuration of forest. And a handheld mensuration smart station dendrometer was developed, whose foundation is MEMS (micro-electro-mechanical systems) angle measurement sensor、laser ranging sensor and electronic compass etc. Operating system is developed through measurement distances、inclination and magnetic azimuth, combined with forest mensuration theory. It realized individual tree mensuration, plot gauging, and number of density mensuration of plants, electronic stereo angle gauge mensuration and Neighborhood Comparison, mingling, uniform angle index mensuration in stand spatial structure. The first and the second generation products have been developed with its indoor processing software, which realizes the direct input of field data into interior work software as to calculate, being free from the problems brought by paper records of field data and second inputs.
II. Models, theories and accuracy testing for individual tree mensuration based on handheld smart station dendrometers
Models of tree height mensuration, diameter mensuration, non-contact diameter at breast height and individual tree volume are put forward based on laser ranging, inclination mensuration and azimuth mensuration. Realizing the mensuration model on the handheld smart station dendrometer and the experiments aimed at each functionality were conducted. Experiments showed that the measurement errors of smart station dendrometers to total stations for the first product are between0.28%-1.59%. The mensuration accuracy of the second product is between20-27cm, its degree of precision is between18-27cm and its precision is between97.37%%-98.33%. CCD diameter measurement is divided into right angle photogrammetry and lean measurement and its measurement values were compared with those of diameter tape. The DBH measurement accuracy is within1cm for this method, degree of precision is between3.8mm-6.8mm.Its measurement accuracy is between96.11%～98.44%, relative error of lean measurement (between-40°and+40°)is between-5.28%～6.26%.
Two methods for non-contact diameter mensuration at breast height were studied-fixed point scale mensuration and mobile angle gauge mensuration, though they aren't ideal in precision, their feasibility of modeling, theory and implementation methods are verified. Individual tree volume measurement theory and method is put forward and experimented, however, its mensuration error is bigger for the mensuration of diameter at breast height, causing the bigger error in volume mensuration. Compared with the error of total station, its error is smaller.
III. Study of the plot mensuration model, theories and functional precision testing
The plot mensuration model studied in this paper includes closed traverse calibration, coordinate measuring in the plot, polar coordinate mensuration, number density mensuration of plants, average height mensuration of forest, circle plot gauging and polygon plot measurement gauging. What is more, each function is tested. Verifying the feasibility and precision as follows:total length closing errors of closed traverse and calibration line are between1.41%～14.20%and relative error for area measurement is between-2.52%and2.32%; realization of tree coordinate mensuration in the plot and the automatic drawing of sample tree distribution map; area mensuration error of polar coordinate mensuration function is between0.85%and5.51%.The relative error between number density mensuration of plant and manual measuring is3.89%; the relative error for forest average height is5.03%.It can be draw from the data of tally in the circular plot that the relative error for stand density, stand average height, average DBH and volume is4.32%,-0.71%,-4.07%and-1.25%;as for the polygon plot mensuration, the relative error for number density mensuration of plant is between-0.76%and4.34%,and error of plot area mensuration between1.19%and2.22%, relative error for the DBH between-4.90%and-20.82%, relative error for volume evaluation between-8.96%and-18.45%.
IV. Mensuration functionalities and functional precision verifying of electronic stereo angle gauges
Automatic counting of angle gauge counting was realized by electronic stereo angle gauge, whose relative error is between-0.33%and-0.07%compared with traditional angle gauge counting. Tree height, DBH is measured on the angle gauge points, the evaluation of number density of plants, average height and volume in forest is realized. Results compared with the data of field individual measurement shows that the relative error for volume evaluating is-5.84%,9.10%, and0.12%for average height mensuration error. Meanwhile, problems of automatic judgment for f trees in the borderline is resolved, exempt from the trouble of tape ranging in the traditional way of judging borderline trees.
V. Study on measurement models and principles of stand spatial structure parameters
A way of calculating the angle between reference trees and their closest tree is put forward by measuring the coordinates between reference trees and their closest tree. Meanwhile, DBH mensuration is add according to the method of intersection angle measuring uniform angle indice. And coordinates in the tree center of the reference tree are obtained, eliminating the angle measurement error caused by the reference tree DBH in traditional angle measuring. Mingling mensuration and uniform angle mensuration are realized, and uniform angle mensuration, mingling mensuration and neighborhood comparison measurement are run in stand spatial structure, verifying it feasibility.
This research provides a new portable practical multifunction technical equipment for forest mensuration, playing a role in promoting forest inventory level, promoting the integration of field work and indoor work, informatization and intelligentization. The ideal of electronization and digitization is adopted in the development, which can make sure the electronic storage of data. Field data can be directly inputted into the computer and calculated by Serial Communication Interface and multifunction is integrated, offering guidance and lessons for the development of our country's multifunction dendrometers.
(1)手持式超站测树仪的数字化、微型化、集成化多功能系统设计
为了实现森林的数字化、多功能、精准计测,提出了数字化、便携式、多功能集成的测树仪器研制理念,并研制了一种手持式超站测树仪,该设备以MEMS (micro-electro-mechanical systems)测角传感器、激光测距传感器、电子罗盘等主要硬件为基础,通过测量距离、倾角、磁方位角3个参数,结合森林计测原理,开发了操作软件,实现了单木测量、样地计测、株数密度测量、电子立体角规测树、林分空间结构中的大小比数、混交度、角尺度等的测量,目前己完成第一代和第二代产品设计,同时开发了与之对应的内业处理软件,可以实现外业数据直接导入内业软件计算,免去了外业数据的纸质记录和二次输入问题。
(2)基于手持式超站测树仪单木测量模型、原理与功能精度测试
基于激光测距、倾角测量、方位角测量,提出了树高测量、直径测量、非接触式胸径测量以及单木材积测量模型,将测量模型在手持式超站测树仪实现,并针对各功能开展试验。经试验研究表明,第一代产品测树超站仪相对于全站仪的测高误差在0.28%～1.59%。第二代产品树高测量准确度为20～27cm,精密度为18～27cm。精度范围为：97.37%%～98.33%。CCD直径测量分正直摄影测量和倾斜测量,并与围尺测量值进行比较,该方法胸径测量准确度在1cm以内,精密度3.8mm～6.8mm之间。测量的精度在96.11%～98.44%之间,倾斜测量(正负40。范围)的相对误差在-5.28%～6.26%之间。研究了非接触式胸径测量的两种方法,定点比尺测量方法和移动角规法,两种测量方法虽然精度不理想,但是验证了其模型、原理与实现方法的可行性。提出单木材积测量的原理与方法,并进行了试验,但是,由于胸径测量误差较大,引起了材积测量误差也较大,与全站仪测量误差相比,均偏小。
(3)样地计测模型与原理研究及功能精度测试
本文研究的样地计测模型包括闭合导线及标定、样地树木坐标测量、极坐标测树、株数密度测量、林分平均高测量、圆形样地计测及多边形样地计测,并就各项功能开展了试验,验证了各功能的可行性及精度,分别如下：闭合导线及标定导线全长闭合差在1.41%-14.20%之间；面积测量的相对误差在-2.52%-2.32%之间；实现了样地树木坐标测量及样木分布图的自动绘制；极坐标测树功能样地面积测量误差在0.85%-5.51%之间；株数密度测量与人工测量的平均相对误差为3.89%；林分平均高测量相对误差为5.03%；圆形样地计测中,与每木检尺数据对比分析得出：林分密度、林分平均高、平均胸径、蓄积量的相对误差分别为4.32%、-0.71%、-4.07%、-1.25%；多边形样地计测与每木检尺数据对比分析得出：株数密度测量相对误差在-0.76%～-4.34%之间,样地面积测量相对误差在1.19%-2.22%之间,平均树高测量的相对误差在-0.15%～-3.02%之间,平均胸径测量的相对误差在-4.90%～-20.82%之间,蓄积量估测的相对误差在-8.96%～-18.45%之间。
(4)电子立体角规测树功能及精度验证
电子立体角规测树实现了角规计数值的自动计数,与传统角规计数方法比较,相对误差在-0.33%～-0.07%之间。在角规点上测量计数木的树高、胸径,实现林分株数密度、平均高、蓄积量的估测,与样地每木检尺数据进行比较分析得出,相对误差分别为-5.84%、9.10%、0.12%。同时,成功解决了临界木的自动判断问题,免去了传统临界木判断方法中皮尺测距的麻烦。
(5)林分空间结构参数测量模型与原理研究
提出了一种通过测量参照树和与参照树最邻近木的坐标解算参照树与最邻近木之间的夹角,并根据夹角测量角尺度的方法,同时加入胸径测量,将参照木胸径纳入坐标解算,得到参照木的树心坐标,消除了传统角尺度测量中未考虑参照木胸径引起的角度测量误差。同时实现了混交度测量、大小比数测量,并就林分空间结构中角尺度测量、混交度测量、大小比数测量开展试验,验证了其功能的可行性。
本研究为森林计测提供了新的便携式实用型多功能技术装备,对提高森林调查水平,促进森林调查内外业一体化、信息化、智能化有一定的作用。研制中采用了“电子化”和“数字化”的设计思想,能够保障数据的电子化存储,外业数据可以通过通讯接口直接导入计算机进行内业计算,以及将多种功能进行集成,对我国多功能电子化测树仪的研制具有引导和借鉴作用。
Forest measuration is one of the important basic information gathering work in forest management and dendrometer, whose mensuration accuracy, automatic efficiency and costs play a decisive role in forestry inventory accuracy data quality, is the basic tool for forest mensuration. The existing dendrometers seriously restrict the development of forest inventory work with its outdated data gathering method, functional singleness, low-efficiency, low-precision, high prices and vast indoor work methods. Therefore, an automatic, digitized, accurate, multifunctional and portable dendrometer is urgently needed to promote the development of forest resource information acquisition technology. This research is based on forest survey sampling and statistical theory, combining with forest mensuration-. mathematics、physics、mechanical engineering、microelectronics science and computer etc. This research studied forest precision mensuration theory, modeling, implementation methods and the design of digitized-microminiaturized and integrated dendrometer. Meanwhile this paper developed the handheld mensuration smart station prototype and its application system. And an experiment was carried out to measure its functionalities and precision. This paper aimed at realizing the digitization, informatization, automation and intelligence, and it provides services for forest management and forest modernization. Main research conclusions can be summarized as following:
I. Digitized, microminiaturized and integrated multifunction system designs of handheld smart station dendrometers
Digitized and portable multifunction dendrometer developing idea is put forward to realize the digitized, multifunction, microminiaturized and precision mensuration of forest. And a handheld mensuration smart station dendrometer was developed, whose foundation is MEMS (micro-electro-mechanical systems) angle measurement sensor、laser ranging sensor and electronic compass etc. Operating system is developed through measurement distances、inclination and magnetic azimuth, combined with forest mensuration theory. It realized individual tree mensuration, plot gauging, and number of density mensuration of plants, electronic stereo angle gauge mensuration and Neighborhood Comparison, mingling, uniform angle index mensuration in stand spatial structure. The first and the second generation products have been developed with its indoor processing software, which realizes the direct input of field data into interior work software as to calculate, being free from the problems brought by paper records of field data and second inputs.
II. Models, theories and accuracy testing for individual tree mensuration based on handheld smart station dendrometers
Models of tree height mensuration, diameter mensuration, non-contact diameter at breast height and individual tree volume are put forward based on laser ranging, inclination mensuration and azimuth mensuration. Realizing the mensuration model on the handheld smart station dendrometer and the experiments aimed at each functionality were conducted. Experiments showed that the measurement errors of smart station dendrometers to total stations for the first product are between0.28%-1.59%. The mensuration accuracy of the second product is between20-27cm, its degree of precision is between18-27cm and its precision is between97.37%%-98.33%. CCD diameter measurement is divided into right angle photogrammetry and lean measurement and its measurement values were compared with those of diameter tape. The DBH measurement accuracy is within1cm for this method, degree of precision is between3.8mm-6.8mm.Its measurement accuracy is between96.11%～98.44%, relative error of lean measurement (between-40°and+40°)is between-5.28%～6.26%.
Two methods for non-contact diameter mensuration at breast height were studied-fixed point scale mensuration and mobile angle gauge mensuration, though they aren't ideal in precision, their feasibility of modeling, theory and implementation methods are verified. Individual tree volume measurement theory and method is put forward and experimented, however, its mensuration error is bigger for the mensuration of diameter at breast height, causing the bigger error in volume mensuration. Compared with the error of total station, its error is smaller.
III. Study of the plot mensuration model, theories and functional precision testing
The plot mensuration model studied in this paper includes closed traverse calibration, coordinate measuring in the plot, polar coordinate mensuration, number density mensuration of plants, average height mensuration of forest, circle plot gauging and polygon plot measurement gauging. What is more, each function is tested. Verifying the feasibility and precision as follows:total length closing errors of closed traverse and calibration line are between1.41%～14.20%and relative error for area measurement is between-2.52%and2.32%; realization of tree coordinate mensuration in the plot and the automatic drawing of sample tree distribution map; area mensuration error of polar coordinate mensuration function is between0.85%and5.51%.The relative error between number density mensuration of plant and manual measuring is3.89%; the relative error for forest average height is5.03%.It can be draw from the data of tally in the circular plot that the relative error for stand density, stand average height, average DBH and volume is4.32%,-0.71%,-4.07%and-1.25%;as for the polygon plot mensuration, the relative error for number density mensuration of plant is between-0.76%and4.34%,and error of plot area mensuration between1.19%and2.22%, relative error for the DBH between-4.90%and-20.82%, relative error for volume evaluation between-8.96%and-18.45%.
IV. Mensuration functionalities and functional precision verifying of electronic stereo angle gauges
Automatic counting of angle gauge counting was realized by electronic stereo angle gauge, whose relative error is between-0.33%and-0.07%compared with traditional angle gauge counting. Tree height, DBH is measured on the angle gauge points, the evaluation of number density of plants, average height and volume in forest is realized. Results compared with the data of field individual measurement shows that the relative error for volume evaluating is-5.84%,9.10%, and0.12%for average height mensuration error. Meanwhile, problems of automatic judgment for f trees in the borderline is resolved, exempt from the trouble of tape ranging in the traditional way of judging borderline trees.
V. Study on measurement models and principles of stand spatial structure parameters
A way of calculating the angle between reference trees and their closest tree is put forward by measuring the coordinates between reference trees and their closest tree. Meanwhile, DBH mensuration is add according to the method of intersection angle measuring uniform angle indice. And coordinates in the tree center of the reference tree are obtained, eliminating the angle measurement error caused by the reference tree DBH in traditional angle measuring. Mingling mensuration and uniform angle mensuration are realized, and uniform angle mensuration, mingling mensuration and neighborhood comparison measurement are run in stand spatial structure, verifying it feasibility.
This research provides a new portable practical multifunction technical equipment for forest mensuration, playing a role in promoting forest inventory level, promoting the integration of field work and indoor work, informatization and intelligentization. The ideal of electronization and digitization is adopted in the development, which can make sure the electronic storage of data. Field data can be directly inputted into the computer and calculated by Serial Communication Interface and multifunction is integrated, offering guidance and lessons for the development of our country's multifunction dendrometers.
引文
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