对地观测星载激光测高系统高程误差分析

星载激光测高系统通过接收卫星平台激光器发出的激光脉冲经地表反射的微弱回波,计算卫星与地表的距离;结合卫星轨道和姿态数据,生成激光脚点精确地理位置和高程结果.其高程误差主要受器件、环境和目标参数影响,目前还没有完整描述对地观测星载激光测高系统平面和高程误差的数学模型.简化并完善了针对固体地表的激光测距误差模型,建立了完整的激光脚点平面和高程误差模型.利用高程精度和空间分辨率更高的机载Lidar数据评估了星载激光测高系统GLAS实测数据的高程偏差,评估结果符合所建误差模型.在较平坦的冰盖表面,GLAS系统高程精度可以达到设计值约15 cm.研究内容对测高系统高程误差评估和系统参数设计具有参考意义.     

Satellite laser altimetry of terrestrial topography: verticalaccuracy as a function of surface slope, roughness, and cloud cover

Analysis of the sensitivity of laser ranging errors to surface conditions indicates that predicted single-shot range errors are primarily dependent on surface slope. Range errors are less sensitive to variations in surface roughness or reflectivity. Values of total surface slope and roughness for nine terrestrial landforms, derived from digital elevation data at a 186 m length scale, vary from 2° to 40° and 0.8 to 15 m, respectively, at a 90% frequency of occurrence. This range of surface morphologies yields a variation in single shot laser ranging error from 0.4 to 8 m, assuming system parameters for the proposed Topographic Mapping Laser Altimeter (TMLA) and a nominal 30% surface reflectivity. The total elevation accuracy of data obtained via satellite laser altimetry, although dominated by the range error, is also a function of additional error sources, including orbit ephemeris, atmospheric, and calibration errors. Averaging of multiple laser measurements improves the vertical accuracy of the elevation data by statistical reduction of random errors. During a three-year mission, two to three laser measurements will be acquired, on average, for each 200-m footprint at low to moderate latitudes, accounting for the latitudinal variation of ground track spacing and cloud cover. For high-latitude regions, the narrow spacing of satellite ground tracks in a polar orbit will provide frequent repeat observations yielding, on average, 4 to 25 measurements of each footprint over the Antarctic and Greenland ice sheets. Averaging of these multiple repeat observations at high latitude will yield an improvement in vertical accuracy by a factor of two to five     

ICESat Altimetry Data Product Verification at White Sands Space Harbor

Three unique techniques have been developed to validate the Ice, Cloud, and Land Elevation Satellite (ICESat) mission altimetry data product and implemented at White Sands Space Harbor (WSSH) in New Mexico. One specific technique at WSSH utilizes zenith-pointed sensors to detect the laser on the surface and enable geolocation determination of the altimeter footprint that is independent of the data product generation. The system of detectors also registers the laser light time of arrival, which is related to the data product time tag. Several overflights of the WSSH have validated these time tags to less than 3plusmn1 mus. The ground-based detector system also verified the laser illuminated spot geolocation to 10.6 m (3.5 arcsec) plusmn4.5 m on one occasion, which is consistent with the requirement of 3.5 m (1sigma). A third technique using corner cube retroreflector signatures in the altimeter echo waveforms was also shown to provide an assessment of the laser spot geolocation. Although the accuracy of this technique is not equal to the other methodologies, it does offer position determination for comparison to the spacecraft altimetry data product. In addition, elevation verifications were made using the comparison of the ICESat elevation products at WSSH to those acquired with an airborne light detection and ranging. The elevation comparisons show an agreement to within plusmn34 cm (plusmn6.7 cm under best conditions) which indicate no significant errors associated with the pointing knowledge of the altimeter     

ICESat Full-Waveform Altimetry Compared to Airborne Laser Scanning Altimetry Over The Netherlands

Since 2003, the full-waveform laser altimetry system onboard NASA's Ice, Cloud and land Elevation Satellite (ICESat) has acquired a worldwide elevation database. ICESat data are widely applied for change detection of ice sheet mass balance, forest structure estimation, and digital terrain model generation of remote areas. ICESat's measurements will be continued by a follow-up mission. To fully assess the application possibilities of the full-waveform products of these missions, this research analyzes the vertical accuracy of ICESat products over complex terrain with respect to land cover type. For remote areas, validation of individual laser shots is often beyond reach. For a country with extensive geo-infrastructure such as The Netherlands, excellent countrywide validation is possible. Therefore, the ICESat full-waveform product GLA01 and the land elevation product GLA14 are compared to data from the Dutch airborne laser altimetry archive Actual Height model of the Netherlands (AHN). For a total population of 3172 waveforms, differences between ICESat- and AHN-derived terrain heights are determined. The average differences are below 25 cm over bare land and urban areas. Over forests, differences are even smaller but with slightly larger standard deviations of about 60 cm. Moreover, a waveform-based feature height comparison resulted in feature height differences of 1.89 m over forest, 1.48 m over urban areas, and 29 cm over low vegetation. These results, in combination with the presented processing chain and individual waveform examples, show that state-of-the-art ICESat waveform processing is able to analyze waveforms at the individual shot level, particularly outside urban areas.     

对地观测星载激光测高仪在轨姿态系统误差检校方法

星载激光测高仪通过接收经地表反射的微弱激光脉冲回波,计算卫星与地表的距离;结合卫星位置和姿态数据,生成激光脚点精确地理位置和高程结果。对于高程精度10 cm量级的对地观测激光测高仪,必须对影响严重的姿态角系统误差进行标定和校正。文中推导得出星载激光测高仪姿态角误差与已知地表先验信息相关联的数学模型,设计了利用大洋表面作为地表标定场,通过卫星姿态机动方式,最小二乘估计算法校正卫星在轨系统误差的具体方法。仿真结果表明,所设计的方法能够准确估计存在的姿态系统误差,即使大规模观测值丢失,估计偏差也小于5%。这种在轨运行系统误差的标定方法对于对地观测星载激光测高仪的姿态误差检校具有参考意义。     

激光测高卫星大气散射延迟改正现状及展望

激光测高卫星可以在大范围内获得亚米甚至厘米级的地表高程信息,但不可避免受云、气溶胶等粒子引起的散射影响,其中前向散射引起的激光测距和最终测高误差不容忽视。文中系统梳理激光测高卫星大气散射误差改正技术,介绍了国内外卫星激光测高系统参数、大气探测及散射改正算法,有别于已有的蒙特卡洛模拟改正方法,提出了一种基于指数函数模型的大气散射改正算法,选择青海湖等区域的ICESat/GLAS开展试验,结果表明,光学厚度小于2时能有效提升受大气散射影响的数据精度,同时提升数据可利用率约9%,该算法更易于实现业务化应用。最后针对大气参数同步探测的必要性,结合星载大气参数探测设备对后续国产激光测高卫星大气散射改正提出了若干建议。     

激光陀螺随机误差建模方法研究

随机误差是陀螺的主要误差。为了减小随机误差对激光陀螺精度的影响。介绍了依据激光陀螺漂移数据建立时间序列模型的方法并进行了建模实验,并在此基础上采用卡尔曼滤波算法对激光陀螺的漂移数据进行了处理,取得了较好的效果。结果表明,此方法能有效地抑制激光陀螺的随机误差,提高激光陀螺的精度。     

Atmospheric multiple scattering effects on GLAS altimetry. II. Analysis of expected errors in Antarctic altitude measurements

For pt.I see ibid., vol.39, no.1, p.92-101 (2001). The altimetry bias in the Geoscience Laser Altimeter System (GLAS) or other laser altimeters resulting from atmospheric multiple scattering is studied in relationship to current knowledge of cloud properties over the Antarctic Plateau. Estimates of seasonal and interannual changes in the bias are presented. Results show the bias in altitude from multiple scattering in clouds would be a significant error source without correction. The selective use of low-optical-depth clouds or cloud-free observations, as well as improved analysis of the return pulse such as by the Gaussian method used here, is necessary to minimize the surface altitude errors. The magnitude of the bias is affected by variations in cloud height, cloud effective particle size, and optical depth. Interannual variations in these properties as well as in cloud cover fraction could lead to significant year-to-year variations in the altitude bias. Although cloud-free observations reduce biases in surface elevation measurements from space, over Antarctica these may often include near-surface blowing snow, also a source of scattering-induced delay. With careful selection and analysis of data, laser altimetry specifications can be met.     

Precision and Accuracy of Satellite Radar and Laser Altimeter Data Over the Continental Ice Sheets

The unprecedented accuracy of elevations retrieved from the Ice Cloud and Land Elevation Satellite (ICESat) laser altimeter is investigated and used to characterize the range errors in the Environmental Satellite (Envisat) and European Remote Sensing 2 Satellite (ERS-2) radar altimeters over the continental ice sheets. Cross-mission crossover analysis between time-coincident ERS-2-, Envisat-, and ICESat-retrieved elevations and comparisons to an ICESat-derived digital elevation map are used to quantify the radar elevation error budget as a function of surface slope and to investigate the effectiveness of a method to account for the radar altimeter slope-induced error. The precision and accuracy of the elevations retrieved from the ICESat Geoscience Laser Altimeter System and the European Space Agency radar altimeters on ERS-2 and Envisat are calculated over the Greenland and Antarctic ice sheets using a crossover analysis. As a result of this work, the laser precision is found to vary as a function of surface slope from 14 to 59 cm, and the radar precision varies from 59 cm to 3.7 m for ERS-2 and from 28 cm to 2.06 m for Envisat. Envisat elevation retrievals when compared with ICESat results over regions with less than 0.1deg surface slopes show a mean difference of 9plusmn5 cm for Greenland and -40plusmn98 cm over Antarctica. ERS-2 elevation retrievals over these same low surface slope regions differ from ICESat results by -56plusmn72 cm over Greenland and 1.12plusmn1.16 m over Antarctica. At higher surface slopes of 0.7deg to 0.8deg, the Envisat/ICESat differences increase to -2.27plusmn23 m over Greenland and to 0.05plusmn26 m over Antarctica     

高分七号卫星多源遥感数据精度优化与评估

高分七号卫星是国内首个亚米级双线阵立体成像卫星,同时配有两套激光测高仪和激光足印相机,可同期获取多源遥感数据。文中采用高分七号卫星获取的多源遥感数据进行平面和高程精度优化,利用激光测高数据对立体影像密集匹配的DSM进行偏度、中值、线性和二阶多项式模型和高程优化评估,利用足印影像对DOM进行一阶仿射变换方法和平面优化评估,并利用外业控制点对无控平面高程、激光高程优化、足印-激光平面高程优化、外业-激光平面高程优化等不同优化模型的结果进行精度评估。实验结果表明,利用激光测高数据可明显优化DSM高程精度,无控DSM高程误差平均值为?4.268 m,中误差为4.518 m,经过中值模型优化后的DSM高程误差平均值提升为?0.272 m,中误差提升为1.508 m,经过线性模型优化后的DSM高程误差平均值提升为?0.320 m,中误差提升为1.351 m;利用足印影像可改善DOM的平面精度,平面误差平均值从13.606 m提升到5.341 m,中误差从13.626 m提升到5.495 m。     

Verification of the Vertical Error in C-Band SRTM DEM Using ICESat and Landsat-7, Otter Tail County, MN

The Shuttle Radar Topography Mission (SRTM) provided scientists with digital elevation data on a nearly global scale and with highly consistent accuracy. This paper compares elevation values of the C-band SRTM 30-m digital elevation model (DEM) with pointwise elevations from the Ice, Cloud, and land-Elevation Satellite (ICESat) laser altimetry for Otter Tail County, Minnesota. The accuracy of SRTM DEM is measured as a function of land covers and geomorphologic characteristics. The typical mean vertical difference between the SRTM DEM and ICESat elevations in this paper was determined in each classified land-use type and is approximately 1.5 m over bare ground, with the SRTM measuring lower elevations. Significant changes in the SRTM DEM uncertainties have been identified over different surface types classified from Landsat-7 imagery, e.g., bare ground, urban, and forested areas. Based on this result, the difference of the SRTM 30-m DEM and ICESat elevations has been removed from the DEM and made available for improved hydrological applications     

激光雷达测绘卫星发展及应用

星载激光测绘技术的迅猛发展对传统卫星对地观测领域带来了新的突破,高精度对地观测数据有利于提升整体几何精度、高效率数据处理特性有利于实现快速应用,因此激光测绘卫星数据获取、处理和应用成为研究热点。首先介绍了激光测绘卫星原理特点和发展现状,然后以目前在轨激光雷达卫星ICESat-2为例,分析了载荷配置特点、数据处理方法以及在影像联合精确定位、多源地形融合、全球植被测量、浅海水深测绘等多个领域的测绘应用情况,最后就我国下一步发展激光测绘卫星谈一些思考。     

多策略ATLAS数据优选与影像匹配相结合的SAR高程控制点提取

为了精化星载SAR影像几何参数并提高立体定位精度,借鉴星载激光测高数据光学遥感影像高程控制点提取思路,设计了一种多策略高级地形激光测高系统(ATLAS)数据优选与影像匹配相结合的SAR高程控制点提取方法。该方法采用非夜间观测光子滤除、高置信度光子选取、SRTM DEM辅助的粗差剔除、大偏心率椭圆滤波核平坦区域光子筛选等多种策略,从ATLAS数据ATL03级产品中提取高质量、平坦区域的激光高程点,再依据SRTM DEM对斜距SAR影像进行地理编码,按激光高程点的平面坐标选取局部谷歌地球影像作为足印影像,采用秩自相似描述子进行足印影像与SAR地理编码影像的匹配,得到与激光高程点对应的SAR影像像点坐标,从而提取SAR高程控制点。采用中国登封市、日本横须贺市两个区域的ATLAS数据进行了高分三号SAR高程控制点提取实验,利用提取的高程控制点进行SAR影像几何参数精化,大幅提升了立体定位精度,验证了该文高程控制点提取方法的可行性和有效性。      

激光陀螺随机漂移的渐消Kalman滤波

随机漂移误差是激光陀螺的主要误差源之一.Kalman滤波算法能够有效抑制激光陀螺的随机误差,但是当计算模型不准确时,采用常规Kalman滤波易导致结果发散.渐消Kalman滤波能够抑制历史信息、重用现时量测信息,得到连续平稳的滤波结果.采用渐消Kalman滤波对激光陀螺随机漂移进行最优估计,取得了较好的效果.结果表明,...     

Atmospheric Refractivity Corrections in Satellite Laser Ranging

Atmospheric refraction can cause significant errors in satellite laser ranging (SLR) systems. There are two techniques which can be used to correct for these errors. Atmospheric models based upon surface measurements of pressure, temperature, and relative humidity have been shown by ray tracing to be accurate to within a few centimeters at 20° elevation angle. The residual errors in the models are thought to be primarily caused by horizontal gradients in the refractivity. vity. Although models have been developed to predict the grnt effects, initial studies show that they can be sensitive to local topographic effects. Atmospheric turbulence can introduce random fluctuations in the refractivity, but only introduces centimeter level errors at elevation angles below 10°. Pulsed two-color ranging systems can directly measura the atmospheric delay in satellite ranging. These systems require mode-locked multiple-frequency lasers and streak-camera-based receivers and currently appear capable of measuring the atmospheric delay with an accuracy of 0.5 cm or better.     

Statistical geodesy—An engineering perspective

Motivated largely by the needs of the navigation community, engineers have become increasingly involved in understanding and modeling the fine structure of the earth's gravity field. In this endeavor, the engineer has augmented the applied mathematical tools of the "geodesist-scientist" with those of modern estimation and control theory, state-space mathematics, and random process theory. One of the outputs of this involvement has been the development of "statistical geodesy." In this paper, the mathematical structure and applications of statistical geodesy are reviewed, with an emphasis on the engineer's contribution. Geodetic terminology, geopotential theory, and estimation theory are briefly reviewed, and models with a random-process-theory structure are presented for uncertainties in the earth's gravity field. These models are then utilized in a variety of applications: estimation of gravimetric uncertainties, error analysis of inertial navigation systems, gravity gradiometry, satellite altimetry, etc. Finally, a new algorithm is presented-frequency-domain collocation-suitable for the efficient processing of large amounts of gravimetric data.     

An Assessment of a Ka-Band Radar Interferometer Mission Accuracy Over Eurasian Rivers

The Water Elevation Recovery satellite mission is dedicated to the determination of land surface water extent, elevation, and slope using a Ka-band radar interferometer (KaRIn) as its primary instrument. Determining these parameters to the accuracy desired for hydrologic applications is challenging. The scientific objectives of the mission have been set up to 10 cm for the height budget and 10 $muhbox{rad}$ (1 cm/1 km) for the slope budget. In this paper, we implement a Virtual Mission simulation and use it to examine the measurement performances for three case studies in Europe: a relatively small river such as the Meuse in Northern Western Europe, the Lena river in Russia, one of the major Siberian rivers, and Lake Leman in Western Europe. We simulate KaRIn data with the associated instrument and geophysical error sources and implement ground processing techniques to go from the original raw data to science data. We examine the impact of external errors in detail and implement calibration techniques that rely on the use of ancillary topographic data, such as the Shuttle Radar Topography Mission digital elevation model (DEM). We find that the impact of external errors can be reduced to a few centimeters. The random error budget can also be reduced below 10 cm by means of appropriate processing. The scientific requirements of the mission are shown to be met for all cases.      

面向ICESat-2单光子激光雷达的陆地目标测距误差分析

单光子激光雷达所获取的光子事件存在随机分布的特点,使得其激光测距值出现不确定性,从而降低了单光子激光雷达的测距精度。在不减小采样分辨率的情况下,采用累积邻近多光斑的光子事件来构建光子累积直方图,并基于反算的目标响应函数的时间重心来确定激光测距值。针对ICESat-2单光子激光雷达,以测距均方根误差（RMSE）和平均绝对误差（MAE）为性能指标,构建出一种综合考虑陆地地形、累积光斑数目和回波光子数等多因素对其测距误差影响的评估方法。同时,选取ICESat-2过境美国犹他州西瓦利城的某观测条带的随机地形数据进行验证分析。结果表明,所提出的激光测距值解算方法能够使该条带的测距RMSE值由114.25 cm降低到63.84 cm,MAE值由70.97 cm降低到48.52 cm,均优于ICESat-2数据产品提供的137.96 cm RMSE值和97.24 cm MAE值,这对提升单光子激光雷达在陆地区域的测距精度具有一定的借鉴作用。     

小波域中值滤波在激光陀螺信号处理中的应用

各种随机噪声是导致激光陀螺产生误差的主要因素,且其性质特殊,很难用传统的滤波方法去除。为了减小激光陀螺的随机误差,提高测量精度,提出了小波域的中值滤波器滤波方法,对激光陀螺零漂数据进行了滤波,并采用Allan方差法对滤波效果进行了定量分析。结果表明,此方法的滤波效果优于中值滤波和小波软阈值滤波效果,能有效地减小激光陀螺零漂信号中的角度随机游走、角速度随机游走、速率斜坡、零偏不稳定性和量化噪声,提高激光陀螺零漂输出的稳定性。     

空间激光测高技术发展及展望

空间激光测高技术通过在天基平台搭载脉冲激光测距仪,实现行星表面形貌信息获取,是开展对地和深空探测的重要手段。系统梳理了空间激光测高技术的发展历史和现状,提出应向多波束观测、近海及岛礁水下地形探测、激光主动多光谱探测这三个方向发展,建议开展近红外波段单光子探测、超窄带光学滤波、多光子分辨探测、单光子数据星上预处理、高转换效率激光及非线性光频变换关键技术研究,促进我国空间激光测高技术的进一步发展。