Univerzita Pavla Jozefa Šafárika v Košiciach Prírodovedecká fakulta Ústav geografie Aktívne systémy DPZ
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1 Univerzita Pavla Jozefa Šafárika v Košiciach Prírodovedecká fakulta Ústav geografie Aktívne systémy DPZ Mgr. Michal Gallay, PhD. michal.gallay@upjs.sk
2 Porovnanie pasívnych a aktívnych systémov diaľkového prieskumu Pasívne systémy DPZ zaznamenávajú prirodzené EMG žiarenie odrazené (napr. modré, zelené, červené, infračervené svetlo) alebo vyžiarené (napr. termálne EMG) z povrchu Zeme Aktívne systémy DPZ produkujú vlastné EMG žiarenie, ktoré 1) je vysielané zo senzora smerom k Zemi, 2) interaguje s objektami na zemskom povrchu odrážajúc energiu 3) zaznamenávanú prijímačom na senzore. Aktívne systémy nie sú teda závislé na slnečnej EMG ani tepelných vlastnostiach Zeme. Jensen, 2008
3 Aktívne systémy DPZ Najrozšírenejšie: RADAR - využíva dlhovlnné mikrovlnné žiarenie (3 25 cm) a zaznamenáva intenzitu odrazenej časti žiarenia od zemského povrchu; LIDAR, využíva krátkovlnné žiarenie svetla (0,6-10 mm) s vysokou koherenciou (rovnobežný zväzok lúčov) typu LASER zaznamenáva intenzitu odrazenej časti žiarenia od zemského povrchu; SONAR, využíva zvukové vlny vysielané vo vodnom prostredí a zaznamenáva intenzitu odrazenej energie od dna alebo objektov vo vodnom stĺpci. Jensen, 2008
4 RADAR princíp EMG vysielané v dávkach energie pulzoch (cca. každých 0, s) Energia jedného pulzu sa odráža od objektov na povrchu v poradí podľa vzdialenosti od zdroja/vysielača na palube Zaznamenáva sa intenzita odrazenej energie a čas za ktorý sa pre daný pulz vráti. Jensen, 2008
5 RADAR typické vlnové dĺžky a frekvencie pre DPZ mikrovlnné žiarenie Jensen, 2008 Mikrovlnná rúra: 2,5 GHz a vlnová dĺžka okolo 12 cm Mobilní operátori okolo 1 GHz a vlnová dĺžka okolo 30 cm
6 RADAR typické vlnové dĺžky a frekvencie pre DPZ Band Designations (common wavelengths Wavelength ( ) Frequency ( ) shown in parentheses) in cm in GHz K to 18.0 K a (0.86 cm) to 26.5 K u to 12.5 X (3.0 and 3.2 cm) C (7.5, 6.0 cm) S (8.0, 9.6, 12.6 cm) L (23.5, 24.0, 25.0 cm) P (68.0 cm) Jensen, 2008
7 SIR-C/X-SAR Images of a Portion of Rondonia, Brazil, Obtained on April 10, 1994 Jensen, 2008
8 Radarový obraz Rwanda
9 Na porovnanie Landsat Rwanda
10 Predskrátenie, predloženie, a tieň Jensen, 2008 Layover (predloženie obrazu) Radar shadow (radarový tieň) Foreshorteing (skrátenie obrazu)
11 Predskrátenie Foreshortening Jensen, 2008
12 Synthetic Aperture Radar (SAR) Princíp predlžovania antény RADAR SAR Lillesand et al. (2004): Remote Sensing and Image Interpretation
13 Side looking radar (SLAR) h - výška letu, L dĺžka antény, - uhol medzi horizont.rovinou a vyslaným lúčom Priestorové rozlíšenie sa s narastajúcou vzdialenosťou objektu od antény zhoršuje.
14 Radar typu Synthetic aperture radar (SAR) h - výška letu, L dĺžka antény, - uhol medzi horizont.rovinou a vyslaným lúčom Priestorové rozlíšenie je v smere letu nezávislé od vzdialenosti od antény. Teda je konštantné v smere letu a v smere kolmom na let závisí od uhla pohľadu.
15 Synthetic Aperture Radar (SAR) Princíp zaostrovania pozície antény smer letu R a, R b, R c vzdialenosti k objektu O objekt O signálom ožiarená stopa Li et al. (2005): Digital Terrain Modeling, Principles and Methodology
16 Synthetic Aperture Radar (SAR) Princíp zaostrovania pozície antény smer letu R a, R b, R c vzdialenosti k objektu O objekt O signálom ožiarená stopa Li et al. (2005): Digital Terrain Modeling, Principles and Methodology
17 Synthetic Aperture Radar (SAR) Princíp zaostrovania pozície antény smer letu R a, R b, R c vzdialenosti k objektu O objekt O signálom ožiarená stopa Li et al. (2005): Digital Terrain Modeling, Principles and Methodology
18 Synthetic Aperture Radar (SAR) Princíp zaostrovania pozície antény R a, R b, R c vzdialenosti k objektu O y smer letu x objekt O signálom ožiarená stopa x L 2 y c. p 2.sin i L dĺžka antény Li et al. (2005): Digital Terrain Modeling, Principles and Methodology c rýchlosť svetla p - dĺžka trvania pulzu
19 Synthetic Aperture Radar (SAR) Dôsledky šikmého snímania SLAR Forma SAR záznamu SAR RADAR Lillesand et al. (2004): Remote Sensing and Image Interpretation SAR
20 Synthetic Aperture Radar (SAR) Určovanie nadmorskej výšky? Kianička (2005), Li et al. (2005)
21 Synthetic Aperture Radar (SAR) Určovanie nadmorskej výšky
22 Synthetic Aperture Radar (SAR) Metódy analýzy obrazu Radargrametria Intenzita prijatého signálu Interferometria Fázový rozdiel prijatého signálu (c) Intermap Inc. (c) Intermap Inc.
23 Synthetic Aperture Radar (SAR) Radargrametria Princíp merania paralaxy bodu P pomocou SAR stereosnímok. h cot p 1 cot 2 Range direction Kianička (2005), Li et al. (2005) Paralaxa p
24 Synthetic Aperture Radar (SAR) Radargrametria - podobne ako pri fotogrametrii Stereosnímky s prekryvom h cot p 1 cot 2 Range direction DTM Kianička (2005), Li et al. (2005) Parallax p (c) Intermap Inc.
25 Zber údajov o nadmorskej výške Synthetic Aperture Radar (SAR) Interferometria Princíp merania fázového rozdielu dvoch snímok SAR záznam 1 SAR záznam arcsin 4..B Koregistrácia snímok interferogram h H R 1. cos GCPs rozbalenie fáz prevod fáz na výšky DTM
26 Synthetic Aperture Radar (SAR) Diferenciálna interferometria opakované snímanie s časovým odstupom meranie zmien výšky povrchu (seizmické poruchy, pohyb ľadovca, morskej hladiny) subcentimetrová presnosť SAR 1 Interferogram Dif. interferogram SAR 2 SAR 3 Kianička (2005): Radar Interfeometry used for detection of landslides and subsidences in Northern Bohemia Brown Coal Basin. PhD Thesis
27 Výhody a nevýhody radarového snímania zložitejší vznik obrazu ako vo fotogrametrii - nezávislosť od dennej doby (deň-noc) - nezávislosť od počasia (signál preniká oblačnosťou) - potrebný vlastný zdroj energie - obmedzená životnosť - možnosť snímania niekoľkých vlnových dĺžok - prienik pod zem dlhšie vlnové dĺžky - zber výšok reliéfu - určovanie veľmi malých zmien relatívnej výšky povrchu (diferenciálna interferometria)
28 Využitie radarového obrazu kartografia oblačné oblasti - geológia geologické mapovanie - hydrológia pôdna vlhkosť, povodne, sneh - poľnohospodárstvo rozlíšenie kultúr - lesníctvo holoruby, požiare - oceanológia tvar, smer vĺn, znečistenie - obrana, NATO,... - Družicové merania použiteľné pre mapovanie 1: Letecké meranie okolo 1:10 000
29 Prienik mikrovĺn Prienik mikrovĺn = 3 až 15 cm : povrch sladká voda čistý ľad morský ľad suchá pôda mokrá pôda prienik do hĺbky mm až cm 1 m až 100-ky m cm až 1 m cm až m cm až cm
30 Jazero Vostok Antarktída - pod 4000 m hrubou vrstvou ľadu - ukryté pod ľadom min rokov - hĺbka 670 m, plocha km 2 - objav radar x 50 km - 5/2005 ostrov v jazere
31 Radarové snímacie systémy Radarsat (1995), RS 8 až 100 m - Radarsat (leto 2007), RS 3 m - ERS 1 (1991), RS 10 m - ERS 2 (1995) - Envisat (2002), najväčšia družica DPZ - JERS (1992) - ALMAZ (1991) - STS-59, STS-68, STS-99 (Endeavour OV-105)
32 Porovnanie digitálnych modelov zemského povrchu zo SAR a LiDAR údajov Systematic noise Low-pass filtering Downscaling the DEM Denoising algorithms
33 kanadská družica Radarsat
34 ERS European Radar System európske družice - ERS1, ERS2
35 Envisat európska družica kg
36 japonská družica JERS zánik nad Atlantikom
37 sovietska družica zánik ALMAZ
38 SRTM Shuttle Radar Topographic Mission (február 2000) Topografické mapovanie pomocou raketoplánom neseného radaru - Interferometrické meranie výšok povrchu pomocou dvoch SAR antén
39 Jensen, 2008
40 Laserová altimetria (LIDAR)
41 Laserové skenovanie Rýchla, presná a detailná technológia pre zber polohovo lokalizovaných informácií Laserové skenovanie reálnejšia aproximácia krajiny Michal Gallay, Ján Kaňuk Seminár Centra excelentnosti informatických vied a znalostných systémov, Košice
42 Technológia LiDAR najmodernejšia metóda diaľkového prieskumu Zeme (DPZ) rozmach v posledných 20 rokoch vysoko efektívna (presnosť, rýchlosť a hustota zberu údajov) na základe snímania povrchu laserovým lúčom (laser scanning ) LADAR (LAser Detection And Ranging ) LIDAR (Light Detection And Ranging)
43 Geometria snímania Pulzný laser CW laser - rozlíšenie v smere lúča t - čas od vyslania po prijatie pulzu t - dĺžka pulzu c rýchlosť svetla - fáza - fázový rozdiel f - frekvencia Li et al. (2005): Digital Terrain Modeling, Principles and Methodology
44 Mechanizmy skenovania mechanizmus vzor na skenovanom povrchu Brenner et al. 2006
45 Nosiče Nosič Výška letu Priemer stopy Vertikálna presnosť Družicový (napr. GLAS) Letecký (LLS) Pozemný (PLS) 600 km 1 km 1 m 60 m 25 cm 1-10 cm 15 cm - 10 m (závisí od sklonu svahu) 20 cm (závisí od sklonu svahu) 1-10 cm (závisí najmä od vzdialenosti)
46 Nosiče Družicový LiDAR Nosič: Ice, Cloud, and land Elevation Satellite (ICESat) Lidarový senzor - Geoscience Laser Altimeter System (GLAS) Rozpätie bodov: 170 m Priemer stopy: 70 m DMR Grónska z GLAS údajov
47 Referenčné dáta CaKS metadáta k bodom LLS Pre Centrum excelentnosti znalostných systémov Obdobie snímkovania: 09/2009 Nosič senzora: lietadlo Výška letu nad terénom: 3500 m Presnosť merania (RMSE z): 23 cm Rozloha: 141 km 2 Počet bodov: Priemerná vzdialenosť bodov: 2,4 m Rozsah oblasti: východná časť NP Slovenský kras (Soroška-Drienovec)
48 Referenčné dáta CaKS klasifikácia bodov Všetky typy bodov (7) Prvý odraz Posledný odraz Model povrchu vegetácie nad modelom terénu Model terénu
49 Pozemné laserové skenovanie
50 Site at the Middle Fell Farm LS point cloud LS point cloud N Site at the Rossett Bridge
51 Kombinácia pozemného a leteckého skenovania pre extrakciu budov. Böhm, J., Haala, N. (2005): Efficient integration of aerial and terrestrial laser data for virtual city modeling using lasermaps
52 Objektové skenovanie Digitálny model povrchu pieskovca pred a po 40 cykloch laboratórneho soľného zvetrávania. Hustota merania bodov/m2. Zdroj: Stephen McCabe (QUB Belfast)
53 Presnosť, frekvencia, výška letu Leica ALS50-II
54 Odrazivosť povrchu Slaboodrazivé povrchy môžu byť nedetekovateľné, resp. vysokoodrazivé povrchy menej presne zamerané. Príliš silný odraz slnečného žiarenia od vysokoodrazivého povrchu môže presýtiť detektor a meranie bude neplané alebo menej presné. Najmenší rozmer detekovateľného objektu závisí od odrazivosti jeho povrchu.
55 Diskrétny a full waveform záznam odrazu laserového lúča
56 Výhody Full waveform záznam odrazu laserového lúča Oproti diskrétnemu záznamu umožňuje vyššiu hustotu meraní neobmedzené množstvo záznamov odrazu jedného pulzu (zachytenie rôznych úrovní), vysoké rozlíšenie viacerých objektov zachytených v rámci jednej stopy (od 0.5 m pre RIEGLLMS-Q560), určenie priečneho rezu laserovou stopou.
57 Aplikácie fullwaveform lidaru Monitorovanie v lesníctve a poľnohospodárstve Výška vegetácie, štruktúra vegetácie, zdravotný stav vegetácie, výpočet biomasy Vysokodetailné mapovanie urbánnej krajiny 3D modelovanie budov, vegetácie zlúčenie so záznamom z pozemného laserového skenovania Vysokodetailné mapovanie zaplavovaných území Vysokokvalitné digitálne modely terénu, schopnosť rozlíšiť aj nízku vegetáciu, presnejšie určenie drsnosti povrchu Plánovanie a manažment infraštruktúry mapovanie elektrického vedenia, potrubí, železníc, ciest
58 Hustota merania Body zamerané totálnou stanicou Body zamerané diferenciálnym GPS Body z leteckého laserového skenovania Body z pozemného laserového skenovania
59 Hustota vzorkovania reality úroveň detailu (mierka) Radar typu ISAR, DSM Bunka: 5x5m Hustota pôvodných meraní: 2,5x2,5m Pomocná mriežka: 10x10m Svah pri Middle Fell Farm, Great Langdale Valley, Anglicko. Pôvodné údaje: (c) Intermap Ltd.
60 Hustota vzorkovania reality úroveň detailu (mierka) Letecký lidar, DSM Bunka: 5m Hustota pôvodných meraní: 2m Pomocná mriežka: 10x10m Svah pri Middle Fell Farm, Great Langdale Valley, Anglicko. Pôvodné údaje: (c) Environment Agency UK
61 Hustota vzorkovania reality úroveň detailu (mierka) Pozemný lidar DSM Bunka: 5 m Hustota pôvodných meraní: 0,2m Pomocná mriežka: 10x10m Svah pri Middle Fell Farm, Great Langdale Valley, Anglicko.
62 Hustota vzorkovania reality úroveň detailu (mierka) Lidar DSM Bunka: 2m Hustota pôvodných meraní: 2m Pomocná mriežka: 10x10m Svah pri Middle Fell Farm, Great Langdale Valley, Anglicko Pôvodné údaje: (c) Environment Agency UK
63 Hustota vzorkovania reality úroveň detailu (mierka) Pozemný lidar DSM Bunka: 0,2m Hustota pôvodných meraní: 0,2m Pomocná mriežka: 10x10m
64 Zdroje chýb Zber uhol sklonu reliéfu uhol skenovania presnosť klesá so vzrastajúcim sklonom svahu Laserová stopa na svahu XY Z
65 Zdroje chýb Filtrovanie údajov Záznam viacerých odrazov laserového lúča Pre tvorbu modelov reliéfu (terénu), detekciu budov, stromov, je potrebné body filtrovať (klasifikovať) Rôzne algoritmy produkujú rôzne výsledky. Porovnávanie bodov v definovanom malom okolí. Napr. na základe lokálneho sklonu, krivosti, zhlukovania.
66 Spracovanie LiDAR údajov filtrovanie DSM zo všetkých bodov DMR po po filtrácii Oblasť západne od obce Silica Bunka rastra: 1 m
67 Zdroje chýb Systematické chyby nepresná kalibrácia celého meracieho systému (skener+dgps+imu) limituje externú orientáciu skenovaných pásov výsledkom je systematická chyba merania ( odskok pásu bodov) Odstránenie chyby vyžaduje zber kontrolných bodov skenovaním naprieč cez ostatné pásy Taktiež pozemný zber kontrolných bodov (najmä okraje násypov, rohy budov) Zlepšenie horizontálne chyby (40%) a vertikálnej chyby (25%) Priečny prekryt viacerých pásov je potrebný pre úplne vyrovnanie chýb. Výsledné mračno bodov po odstránení systematických chýb.
68 Súvisiace problémy Zachytenie rozdielnych rozlišovacích úrovní Náhodné chyby (šum) Prítomnosť antropogénnych foriem reliéfu, Redundancia údajov, a súvisiaca výpočtová náročnosť. Náhodné chyby LiDAR DMR DMR z vrstevníc
69 Využitie laserového skenovania tvorba digitálnych modelov reliéfu najmä urbánne oblasti povodňové oblasti - mobilní operátori - architektúra - modelovanie povodní - detekcia elektrických vedení - Lesníctvo - výška lesného porastu, výpočet biomasy - prírodné havárie - meteorológia - podzemné staviteľstvo,...
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