全波形星载激光测距误差抑制的滑动窗口高斯拟合算法

doi:10.11947/j.AGCS.2021.20200466

测绘学报 ›› 2021, Vol. 50 ›› Issue (9): 1240-1250.doi: 10.11947/j.AGCS.2021.20200466

全波形星载激光测距误差抑制的滑动窗口高斯拟合算法

谢俊峰^1,2, 刘仁^1,2

1. 自然资源部国土卫星遥感应用中心, 北京 100048;
2. 河海大学地球科学与工程学院, 江苏南京 211100

收稿日期:2020-09-25 修回日期:2021-06-03 发布日期:2021-10-09
通讯作者: 刘仁 E-mail:rs_liur@163.com
作者简介:谢俊峰(1981-),男,博士,研究员,研究方向为星载激光测高仪几何检校与数据处理、卫星定姿。E-mail:junfeng_xie@163.com
基金资助:
科技部重点研发计划（2020YFE0200800）；高分测绘应用示范项目二期（42-Y30B04-9001-19/21）；国家自然科学基金（41971426；41771360；41571440）；国防科技工业局科学预先研究项目（D040105；D040106）；自然资源部青年创新人才计划（12110600000018003930）

Sliding window Gaussian fitting algorithm for ranging error suppression of full-waveform spaceborne laser

XIE Junfeng^1,2, LIU Ren^1,2

1. Land Satellite Remote Sensing Application Center, Ministry of Natural Resources, Beijing 100048, China;
2. School of earth sciences and engineering, Hohai university, Nanjing 211100, China

Received:2020-09-25 Revised:2021-06-03 Published:2021-10-09
Supported by:
The Key Research and Development Program of Ministry of Science and Technology (No. 2020YFE0200800); The High-resolution Surveying and Mapping Application Project (No. 42-Y30B04-9001-19/21); The National Natural Science Foundation of China (Nos. 41971426; 41771360; 41571440); The Science Advance Research Project of National Defense Science, Technology, and Industry Bureau (Nos. D040105; D040106); The Innovative Youth Talents Program, MNR (No. 12110600000018003930)

摘要/Abstract

摘要： 星载激光测距精度是影响激光测高仪几何检校与处理精度的主要来源之一。针对由全波形星载激光模拟信号经数字化处理后的量化误差带来的激光测距提取精度不高、稳定性低的问题，本文提出一种全波形星载激光测距误差抑制的滑动窗口高斯拟合算法。该方法利用滑动窗口剔除波峰附近似噪声点，并基于高斯曲线拟合优化波形峰值，从而精化激光测距值。然后以高分七号国产星载激光测高仪为试验对象，利用冰面、内陆湖面和平坦陆地地表进行激光高程相对和绝对精度对比验证。结果表明，相对于一般峰值方法，本文算法使得激光测距精度提升了7.5 cm；基于本文方法提取的测距值，计算的激光高程相对精度提升4.2 cm；利用机载LiDAR点云数据验证，高程绝对精度提升了4.5 cm；充分说明本文方法可作为有效减少星载激光测距随机误差的一种方法，为高分七号卫星亚米级高程测量精度处理提供了不可或缺的基础。

关键词: 星载全波形激光, 测距精度, 一般峰值法, 滑动窗口, 相对精度, 绝对精度

Abstract: The ranging accuracy of spaceborne laser altimeter is one of the main sources that affect the geometric calibration and processing accuracy of the laser.Aiming at the issues of laser ranging extraction lower accuracy and the stability, caused by the quantization error of the full-waveform spaceborne laser analog signal after digital processing, so a sliding window Gaussian fitting algorithm for ranging error suppression of full-waveform spaceborne laser is proposed.This method uses a sliding window to eliminate noise points near the peak, and optimizes the peak value of the waveform to extract a more accurate ranging value.Finally, the GF-7 laser altimeter was used as the test object, the relative and absolute accuracy of laser elevation were compared and verified by using the ice surface, inland lake and the flat ground.The results indicate that, the laser ranging accuracy of the paper algorithm is improved by 7.5 cm compared with the general peak method. Based on the ranging value of the paper method, the relative accuracy of laser elevation is improved by 4.3 cm. The absolute accuracy of laser elevation is increased by 4.5 cm verified by airborne LiDAR point cloud data. Which fully shows that the method in this paper can be used as a method to reduce effectively the random error of laser ranging, and provides an indispensable foundation for the sub-meter elevation measurement accuracy of the GF-7 satellite.

Key words: full-waveform spaceborne laser, ranging accuracy, waveform peak method, sliding window, relative accuracy, absolute accuracy

中图分类号:

P236

谢俊峰, 刘仁. 全波形星载激光测距误差抑制的滑动窗口高斯拟合算法[J]. 测绘学报, 2021, 50(9): 1240-1250.

XIE Junfeng, LIU Ren. Sliding window Gaussian fitting algorithm for ranging error suppression of full-waveform spaceborne laser[J]. Acta Geodaetica et Cartographica Sinica, 2021, 50(9): 1240-1250.

参考文献

[1] 唐新明, 陈继溢, 李国元, 等. 资源三号02星激光测高误差分析与指向角粗标定[J]. 武汉大学学报(信息科学版), 2018, 43(11): 1611-1619. TANG Xinming, CHEN Jiyi, LI Guoyuan. et al. Error analysis and preliminary pointing angle calibration of laser altimeter on Ziyuan-3 02 satellite[J]. Geomatics and Information Science of Wuhan University, 2018, 43(11): 1611-1619.
[2] SCHUTZ B E, ZWALLY H J, SHUMAN C A, et al. Overview of the ICESat mission[J]. Geophysical Research Letters, 2005, 32(21): 97-116.
[3] ZWALLY H J, SCHUTZ B, ABDALATI W, et al. ICESat’s laser measurements of polar ice, atmosphere, ocean, and land[J]. Journal of Geodynamics, 2002, 34(3-4): 405-445.
[4] 唐新明, 谢俊峰, 付兴科, 等. 资源三号02星激光测高仪在轨几何检校与试验验证[J]. 测绘学报, 2017, 46(6): 714-723.DOI: 10.11947/j.AGCS.2017.20160597. TANG Xinming, XIE Junfeng, FU Xingke, et al. ZY3-02 laser altimeter on-orbit geometrical calibration and test[J]. Acta Geodaetica et Cartographica Sinica, 2017, 46(6): 714-723.DOI: 10.11947/j.AGCS.2017.20160597.
[5] LI Guoyuan, YE Fanghong, TANG Xinming, et al, Genhua Huang. Influence of range gate width on detection probability and ranging accuracy of single photon laser altimetry satellite[J]. Journal of Geodesy and Geoinformation Science, 2020, 3(2): 36-44.
[6] 李国元, 唐新明. 资源三号02星激光测高精度分析与验证[J]. 测绘学报, 2017, 46(12): 1939-1949.DOI: 10.11947/j.AGCS.2017.20170174. LI Guoyuan, TANG Xinming. Analysis and validation of ZY-3 02 satellite laser altimetry data[J]. Acta Geodaetica et Cartographica Sinica, 2017, 46(12): 1939-1949.DOI: 10.11947/j.AGCS.2017.20170174.
[7] TANG Xinming, XIE Junfeng, LIU Ren, et al. Overview of the GF-7 laser altimeter system mission[J]. Earth and Space Science, 2020, 7(1): e2019EA000777.
[8] XIE Junfeng, HUANG Genghua, LIU Ren, et al. Design and data processing of China’s first spaceborne laser altimeter system for earth observation: Gaofen-7[J]. IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing, 2020, 13: 1034-1044.
[9] TANG Xinming, GAO Xiaoming, CAO Haiyi, et al. The China ZY3-03 mission: surveying and mapping technology for high-resolution remote sensing satellites[J]. IEEE Geoscience and Remote Sensing Magazine, 2020, 8(3): 8-17.
[10] XIE Junfeng, LIU Ren, MO Fan, et al. Pointing bias calibration of Gaofen-7 laser altimeter based on single laser footprint image[J]. ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 2020(2): 113-119.
[11] 唐新明, 谢俊峰, 莫凡, 等. 资源三号02星激光测高仪足印位置预报方法[J]. 测绘学报, 2017, 46(7): 866-873.DOI: 10.11947/j.AGCS.2017.20160639. TANG Xinming, XIE Junfeng, MO Fan, et al. Footprint location prediction method of ZY3-02 altimeter[J]. Acta Geodaetica et Cartographica Sinica, 2017, 46(7): 866-873.DOI: 10.11947/j.AGCS.2017.20160639.
[12] 李国元, 唐新明, 樊文锋, 等. 基于地面红外探测器的星载激光测高仪在轨几何定标[J]. 红外与激光工程, 2017, 46(11): 214-220. LI Guoyuan, TANG Xinming, FAN Wenfeng, et al. On-orbit geometric calibration of satellite laser altimeter using ground-based IR detectors[J]. Infrared and Laser Engineering, 2017, 46(11): 214-220.
[13] 张过, 李少宁, 黄文超, 等. 资源三号02星对地激光测高系统几何检校及验证[J]. 武汉大学学报(信息科学版), 2017, 42(11): 1589-1596. ZHANG Guo, LI Shaoning, HUANG Wenchao, et al. Geometric calibration and validation of ZY3-02 satellite laser altimeter system[J]. Geomatics and Information Science of Wuhan University, 2017, 42(11): 1589-1596.
[14] 陈继溢, 李国元, 高小明, 等. 国产星载激光测高误差分析与精度验证[C]//新型光电探测技术及其应用研讨会会议. 西安, 中国: [s.n.], 2016. CHEN Jiyi, LI Guoyuan, GAO Xiaomin, et al. Error analysis of satellite laser altimeter and accuracy verification[C]//Seminar on Novel Optoelectronic Detection Technology and Application. Xi’an, China: [s.n.], 2016.
[15] 吴钰, 周木春, 赵琦, 等. 脉冲激光测距中阈值: 峰值双通道时刻鉴别方法[J]. 红外与激光工程, 2019, 48(6): 318-324. WU Yu, ZHOU Muchun, ZHAO Qi, et al. Threshold—peak dual-channel time discrimination method for pulse laser ranging[J]. Infrared and Laser Engineering, 2019, 48(6): 318-324.
[16] 宋博, 李旭, 郑伟, 等. 资源三号(02)星载高精度激光测距技术的实现[J]. 光电子技术, 2017, 37(1): 61-65. SONG Bo, LI Xu, ZHENG Wei, et al. The implementation of high precision space-borne laser ranging technology in ZY-3(02) satellite[J]. Optoelectronic Technology, 2017, 37(1): 61-65.
[17] 王春辉, 蒙裴贝, 李旭, 等. “资源三号”02星载激光高度计收发匹配设计[J]. 航天返回与遥感, 2018, 39(5): 81-88. WANG Chunhui, MENG Peibei, LI Xu, et al. Design of boresight alignment for spaceborne laser altimeter of the ZY-3(02) satellite[J]. Spacecraft Recovery & Remote Sensing, 2018, 39(5): 81-88.
[18] 吴南, 孙世君, 李旭. 星载激光测距仪全波形测距技术[J]. 航天返回与遥感, 2014, 35(3): 68-75. WU Nan, SUN Shijun, LI Xu. Space-borne laser full-waveform ranging technology[J]. Spacecraft Recovery & Remote Sensing, 2014, 35(3): 68-75.
[19] 闫利, 戴集成, 谭骏祥, 等. SLAM激光点云整体精配准位姿图技术[J]. 测绘学报,2019,48(3):313-321. DOI: 10.11947/j.AGCS.2019.20170716. YAN Li, DAI Jicheng, TAN Junxiang, et al. Global fine registration of point cloud in LiDAR SLAM based on pose graph[J]. Acta Geodaetica et Cartographica Sinica, 2019, 48(3): 313-321. DOI: 10.11947/j.AGCS.2019.20170716.
[20] 王兵团. 平面曲线离散点集拐点的快速查找算法[J]. 北方交通大学学报, 2001, 25(6): 85-87. WANG Bingtuan. Quick locating algorithm for turning points in discrete point set of plane curve[J]. Journal of Northern Jiaotong University, 2001, 25(6): 85-87.
[21] 唐冲, 惠辉辉. 基于Matlab的高斯曲线拟合求解[J]. 计算机与数字工程, 2013, 41(8): 1262-1263, 1297. TANG Chong, HUI Huihui. Gaussian curve fitting solution based on Matlab[J]. Computer & Digital Engineering, 2013, 41(8): 1262-1263, 1297.
[22] 张文豪, 李松, 马跃, 等. 利用境内气象站观测数据的激光测高仪大气延迟改进算法[J]. 红外与激光工程, 2018, 47(2): 137-142. ZHANG Wenhao, LI Song, MA Yue, et al. Improved method of atmospheric delay correction using China meteorological station data for a laser altimeter[J]. Infrared and Laser Engineering, 2018, 47(2): 137-142.
[23] YANG Yuekui, MARSHAK A, VARNAI T, et al. Uncertainties in ice-sheet altimetry from a spaceborne 1064-nm single-channel lidar due to undetected thin clouds[J]. IEEE Transactions on Geoscience and Remote Sensing, 2010, 48(1): 250-259.
[24] FRICKER H A, RIDGWAY J R, MINSTER J B, et al. The algorithm theoretical basis document for tidal corrections[R]. Hanover, MD: NASA Center for AeroSpace Information, 2012.
[25] 管斌, 孙中苗, 刘晓刚, 等. 验潮站和深海压力仪用于卫星高度计性能评估的可行性分析[J]. 测绘学报,2019,48(2):161-168. DOI: 10.11947/j.AGCS.2019.20170655. GUAN Bin, SUN Zhongmiao, LIU Xiaogang, et al. Feasibility analysis of performance validation for satellite altimeters using tide gauge and deep-ocean bottom pressure recorder[J]. Acta Geodaetica et Cartographica Sinica, 2019, 48(2): 161-168. DOI: 10.11947/j.AGCS.2019.20170655.

全波形星载激光测距误差抑制的滑动窗口高斯拟合算法

Sliding window Gaussian fitting algorithm for ranging error suppression of full-waveform spaceborne laser

RichHTML

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 4

编辑推荐

Metrics

本文评价

[1]	黄良珂, 朱葛, 彭华, 陈华, 刘立龙, 姜卫平. 全球ZWD垂直剖面滑动窗口的格网模型[J]. 测绘学报, 2021, 50(5): 685-694.
[2]	边少锋, 周威, 刘立龙, 李厚朴, 刘备. 小波变换与滑动窗口相结合的GNSS-IR雪深估测模型[J]. 测绘学报, 2020, 49(9): 1179-1188.
[3]	李国元, 黄佳鹏, 唐新明, 黄庚华, 周世宏, 赵严铭. 距离门宽度对单光子激光测高卫星探测概率及测距精度的影响[J]. 测绘学报, 2018, 47(11): 1487-1494.
[4]	李洋, 张润宁. 高度计测距精度对沿轨迹重力异常反演的影响[J]. 测绘学报, 2015, 44(4): 363-369.