生物多样性 ›› 2018, Vol. 26 ›› Issue (8): 892-904. DOI: 10.17520/biods.2018039
邓云1,3,4,*(), 王彬2, 李强2, 张志明2, 邓晓保1,3, 曹敏1, 林露湘1,3
收稿日期:
2018-02-06
接受日期:
2018-08-05
出版日期:
2018-08-20
发布日期:
2018-09-27
通讯作者:
邓云
基金资助:
Deng Yun1,3,4,*(), Wang Bin2, Li Qiang2, Zhang Zhiming2, Deng Xiaobao1,3, Cao Min1, Lin Luxiang1,3
Received:
2018-02-06
Accepted:
2018-08-05
Online:
2018-08-20
Published:
2018-09-27
Contact:
Deng Yun
摘要:
准确的样地坐标位置是无人机航摄数据与地面调查数据融合使用的必要前提, 但是在森林样地的具体实践中, 会有许多因素制约着样地位置的测量精度, 这有可能影响后期的数据融合过程甚至得出错误的结论, 研究者们需要对此予以足够的重视。本文通过对比西双版纳地区10个热带森林样地及周围区域无人机航摄过程中的地面控制点测量精度、Photoscan摄影测量软件所得点云解算精度和照片曝光点重投影精度, 发现: (1)即使使用性能相对较好的实时差分(real time kinematic, RTK)式GNSS系统进行定位, 在林内也很难获得很好的定位精度, 林窗处的地面控制点均方根误差(root mean square error, RMSE)在水平和垂直方向分别为0.167 ± 0.158 m和0.297 ± 0.170 m, 林下样地顶点桩处分别为0.392 ± 0.368 m和0.657 ± 0.412 m; (2)软件的全局解算精度主要受控制点地面测量精度和控制点数量的影响; (3)若仅依托普通的单站式GPS对无人机位置进行定位, 则照片曝光点的重投影坐标位置可能存在较大误差(RMSE在水平和垂直方向上分别为18.434 ± 5.252 m和34.042 ± 6.920 m); (4)估测地形与实测地形间的高差标准差与林冠平均高度正相关(r = 0.713, P < 0.05), 估测地形模型在20 ha样地尺度下的验证结果优于1 ha样地。基于以上结果, 我们建议: (1)在对热带森林进行无人机航摄的过程中, 必须有足够数量和质量的分布相对均匀的地面控制点对测量误差进行控制; (2)摄影测量法的优势在于能够以相对简单的前端设备建立数字表面模型, 但该方法可能很难在森林样地中建立准确的数字地形模型。在使用无人机获取数据之前, 研究者应预先考虑到适合自己的恰当方法以应对以上的精度控制问题。
邓云, 王彬, 李强, 张志明, 邓晓保, 曹敏, 林露湘 (2018) 轻小型无人机航摄技术辅助的热带森林样地测量精度问题探讨. 生物多样性, 26, 892-904. DOI: 10.17520/biods.2018039.
Deng Yun, Wang Bin, Li Qiang, Zhang Zhiming, Deng Xiaobao, Cao Min, Lin Luxiang (2018) An analysis of lightweight-drone-assisted mapping accuracy in tropical forest plot. Biodiversity Science, 26, 892-904. DOI: 10.17520/biods.2018039.
图1 研究样地分布位置。1: 补蚌; 2: 过门山; 3: 茶地头; 4: 大平掌; 5: 石灰山; 6: 新开地; 7: 茶厂后山; 8: 44公里; 9: 勐仑水库; 10: 江边站。
Fig. 1 Distribution of sample plots. 1, Bubeng; 2, Guomenshan; 3, Chaditou; 4, Dapingzhang; 5, Shihuishan; 6, Xinkaidi; 7, Chachanghoushan; 8, 44 Gongli; 9, Menglunshuiku; 10, Jiangbianzhan.
序号 No. | 样地名称 Plot name | 植被类型 Vegetation type | 北纬 North latitude | 东经 East longitude | 海拔 Elevation (m) | 飞行高度 Flying altitude (m) | 地面分辨率 Ground resolution (cm/pix) | 航测面积 Coverage area (km2) | 点云密度 Point cloud density (points/m2) |
---|---|---|---|---|---|---|---|---|---|
1 | 补蚌 Bubeng | 季节雨林 Seasonal rainforest | 21.613° | 101.580° | 730 | 362 | 5.52 | 1.85 | 82 |
2 | 过门山 Guomenshan | 山地雨林 Montane rainforest | 22.246° | 100.599° | 1,120 | 300 | 4.47 | 1.87 | 31 |
3 | 茶地头 Chaditou | 常绿阔叶林 Evergreen broad-leaved forest | 22.250° | 100.612° | 1,284 | 310 | 4.18 | 0.58 | 143 |
4 | 大平掌 Dapingzhang | 常绿阔叶林 Evergreen broad- leaved forest | 22.230° | 100.574° | 1,750 | 193 | 2.46 | 0.25 | 103 |
5 | 石灰山 Shihuishan | 石灰山季雨林 Limestone monsoon forest | 21.911° | 101.283° | 606 | 258 | 3.36 | 0.90 | 56 |
6 | 新开地 Xinkaidi | 季节雨林次生林 Secondary forest of seasonal rainforest | 21.903° | 101.275° | 556 | 223 | 2.88 | 0.78 | 75 |
7 | 茶厂后山 Chachanghoushan | 季节雨林 Seasonal rainforest | 22.155° | 100.675° | 784 | 169 | 2.21 | 0.49 | 129 |
8 | 44公里 44 Gongli | 季节雨林 Seasonal rainforest | 21.971° | 101.148° | 806 | 287 | 3.58 | 1.07 | 49 |
9 | 勐仑水库 Menglunshuiku | 季节雨林 Seasonal rainforest | 21.935° | 101.179° | 656 | 361 | 4.56 | 0.72 | 30 |
10 | 江边站 Jiangbianzhan | 季节雨林 Seasonal rainforest | 22.219° | 100.734° | 640 | 407 | 5.24 | 1.03 | 23 |
表1 样地基本情况
Table 1 Basic information of sample plots
序号 No. | 样地名称 Plot name | 植被类型 Vegetation type | 北纬 North latitude | 东经 East longitude | 海拔 Elevation (m) | 飞行高度 Flying altitude (m) | 地面分辨率 Ground resolution (cm/pix) | 航测面积 Coverage area (km2) | 点云密度 Point cloud density (points/m2) |
---|---|---|---|---|---|---|---|---|---|
1 | 补蚌 Bubeng | 季节雨林 Seasonal rainforest | 21.613° | 101.580° | 730 | 362 | 5.52 | 1.85 | 82 |
2 | 过门山 Guomenshan | 山地雨林 Montane rainforest | 22.246° | 100.599° | 1,120 | 300 | 4.47 | 1.87 | 31 |
3 | 茶地头 Chaditou | 常绿阔叶林 Evergreen broad-leaved forest | 22.250° | 100.612° | 1,284 | 310 | 4.18 | 0.58 | 143 |
4 | 大平掌 Dapingzhang | 常绿阔叶林 Evergreen broad- leaved forest | 22.230° | 100.574° | 1,750 | 193 | 2.46 | 0.25 | 103 |
5 | 石灰山 Shihuishan | 石灰山季雨林 Limestone monsoon forest | 21.911° | 101.283° | 606 | 258 | 3.36 | 0.90 | 56 |
6 | 新开地 Xinkaidi | 季节雨林次生林 Secondary forest of seasonal rainforest | 21.903° | 101.275° | 556 | 223 | 2.88 | 0.78 | 75 |
7 | 茶厂后山 Chachanghoushan | 季节雨林 Seasonal rainforest | 22.155° | 100.675° | 784 | 169 | 2.21 | 0.49 | 129 |
8 | 44公里 44 Gongli | 季节雨林 Seasonal rainforest | 21.971° | 101.148° | 806 | 287 | 3.58 | 1.07 | 49 |
9 | 勐仑水库 Menglunshuiku | 季节雨林 Seasonal rainforest | 21.935° | 101.179° | 656 | 361 | 4.56 | 0.72 | 30 |
10 | 江边站 Jiangbianzhan | 季节雨林 Seasonal rainforest | 22.219° | 100.734° | 640 | 407 | 5.24 | 1.03 | 23 |
图5 实测数字地形模型(a)、估测数字地形模型(b)、数字表面模型(c)和林冠高度模型(d)示意图
Fig. 5 Example of measured digital terrain model (a), estimated digital terrain model (b), digital surface model (c) and canopy height model (d)
样地名称 Plot name | 地面控制点RMSE RMSE of ground control point | 样地顶点RMSE RMSE of corner stake | ||||||
---|---|---|---|---|---|---|---|---|
数量 Number | 垂直 Vertical (m) | 水平 Horizontal (m) | 全局 Total (m) | 数量 Number | 垂直 Vertical (m) | 水平 Horizontal (m) | 全局 Total (m) | |
补蚌 Bubeng | 10 | 0.581 | 0.454 | 0.476 | 4 | 0.891 | 0.659 | 0.846 |
过门山 Guomenshan | 6 | 0.247 | 0.057 | 0.076 | 4 | 0.833 | 0.634 | 0.648 |
茶地头 Chaditou | 8 | 0.404 | 0.324 | 0.368 | 4 | 0.125 | 0.007 | 0.012 |
大平掌 Dapingzhang | 10 | 0.333 | 0.202 | 0.260 | 4 | 0.633 | 0.336 | 0.532 |
石灰山 Shihuishan | 7 | 0.086 | 0.005 | 0.007 | 4 | 0.671 | 0.311 | 0.560 |
新开地 Xinkaidi | 7 | 0.205 | 0.090 | 0.091 | 4 | 0.284 | 0.022 | 0.100 |
茶厂后山 Chachanghoushan | 7 | 0.104 | 0.006 | 0.009 | 4 | 0.293 | 0.020 | 0.104 |
44公里 44 Gongli | 5 | 0.131 | 0.007 | 0.013 | 4 | 1.430 | 1.101 | 1.700 |
勐仑水库 Menglunshuiku | 5 | 0.487 | 0.292 | 0.406 | 4 | 1.082 | 0.691 | 0.994 |
江边站 Jiangbianzhan | 7 | 0.397 | 0.228 | 0.310 | 4 | 0.325 | 0.139 | 0.161 |
最大 Maximum | 10 | 0.581 | 0.454 | 0.476 | 4 | 1.430 | 1.101 | 1.700 |
最小 Minimum | 5 | 0.086 | 0.005 | 0.007 | 4 | 0.125 | 0.007 | 0.012 |
平均值 ± 标准差 Mean ± SD | 7 ± 2 | 0.297 ± 0.170 | 0.167 ± 0.158 | 0.202 ± 0.182 | 4 ± 0 | 0.657 ± 0.412 | 0.392 ± 0.368 | 0.566 ± 0.523 |
表2 样地控制点与样地顶点均方根误差
Table 2 RMSE of ground control point and corner stake in sample plots
样地名称 Plot name | 地面控制点RMSE RMSE of ground control point | 样地顶点RMSE RMSE of corner stake | ||||||
---|---|---|---|---|---|---|---|---|
数量 Number | 垂直 Vertical (m) | 水平 Horizontal (m) | 全局 Total (m) | 数量 Number | 垂直 Vertical (m) | 水平 Horizontal (m) | 全局 Total (m) | |
补蚌 Bubeng | 10 | 0.581 | 0.454 | 0.476 | 4 | 0.891 | 0.659 | 0.846 |
过门山 Guomenshan | 6 | 0.247 | 0.057 | 0.076 | 4 | 0.833 | 0.634 | 0.648 |
茶地头 Chaditou | 8 | 0.404 | 0.324 | 0.368 | 4 | 0.125 | 0.007 | 0.012 |
大平掌 Dapingzhang | 10 | 0.333 | 0.202 | 0.260 | 4 | 0.633 | 0.336 | 0.532 |
石灰山 Shihuishan | 7 | 0.086 | 0.005 | 0.007 | 4 | 0.671 | 0.311 | 0.560 |
新开地 Xinkaidi | 7 | 0.205 | 0.090 | 0.091 | 4 | 0.284 | 0.022 | 0.100 |
茶厂后山 Chachanghoushan | 7 | 0.104 | 0.006 | 0.009 | 4 | 0.293 | 0.020 | 0.104 |
44公里 44 Gongli | 5 | 0.131 | 0.007 | 0.013 | 4 | 1.430 | 1.101 | 1.700 |
勐仑水库 Menglunshuiku | 5 | 0.487 | 0.292 | 0.406 | 4 | 1.082 | 0.691 | 0.994 |
江边站 Jiangbianzhan | 7 | 0.397 | 0.228 | 0.310 | 4 | 0.325 | 0.139 | 0.161 |
最大 Maximum | 10 | 0.581 | 0.454 | 0.476 | 4 | 1.430 | 1.101 | 1.700 |
最小 Minimum | 5 | 0.086 | 0.005 | 0.007 | 4 | 0.125 | 0.007 | 0.012 |
平均值 ± 标准差 Mean ± SD | 7 ± 2 | 0.297 ± 0.170 | 0.167 ± 0.158 | 0.202 ± 0.182 | 4 ± 0 | 0.657 ± 0.412 | 0.392 ± 0.368 | 0.566 ± 0.523 |
y | 模型垂直均方根 误差 Vertical RMSE in estimated model | 模型水平均方根 误差 Horizontal RMSE in estimated model | 模型整体均方根 误差 Total RMSE in estimated model |
---|---|---|---|
截距 Intercept | -3.336E-16 | 4.430E-17 | -1.540E-16 |
x1 | -0.309* | 0.082 | -0.176 |
x2 | -0.005 | 0.003* | |
x3 | 4.964* | 3.157** | |
VIF_x1 | 2.022 | 1.026 | 1.237 |
VIF_x2 | 3.285 | 1.026 | |
VIF_x3 | 3.775 | 1.237 | |
R2 | 0.757 | 0.493 | 0.650 |
F-统计量 F-statistic | 6.245 | 3.405 | 6.504 |
P | 0.028 | 0.093 | 0.025 |
表3 控制点数量(x1)、飞行高度(x2)和对应方向上的RTK均方根误差(x3)对点云解算模型中均方根误差的逐步回归结果
Table 3 Stepwise regression analysis result of ground control point amount (x1), flying height (x2), and root mean square error of RTK in related direction (x3) to root mean square error (RMSE) in estimated model (point cloud based)
y | 模型垂直均方根 误差 Vertical RMSE in estimated model | 模型水平均方根 误差 Horizontal RMSE in estimated model | 模型整体均方根 误差 Total RMSE in estimated model |
---|---|---|---|
截距 Intercept | -3.336E-16 | 4.430E-17 | -1.540E-16 |
x1 | -0.309* | 0.082 | -0.176 |
x2 | -0.005 | 0.003* | |
x3 | 4.964* | 3.157** | |
VIF_x1 | 2.022 | 1.026 | 1.237 |
VIF_x2 | 3.285 | 1.026 | |
VIF_x3 | 3.775 | 1.237 | |
R2 | 0.757 | 0.493 | 0.650 |
F-统计量 F-statistic | 6.245 | 3.405 | 6.504 |
P | 0.028 | 0.093 | 0.025 |
样地名称 Plot name | 照片数量 Number of photos | RMSE | ||
---|---|---|---|---|
垂直 Vertical (m) | 水平 Horizontal (m) | 全局 Total (m) | ||
补蚌 Bubeng | 1,142 | 28.924 | 19.230 | 34.733 |
过门山 Guomenshan | 1,632 | 21.951 | 12.690 | 25.356 |
茶地头 Chaditou | 625 | 32.228 | 22.554 | 39.336 |
大平掌 Dapingzhang | 858 | 36.709 | 13.466 | 39.101 |
石灰山 Shihuishan | 1,536 | 39.100 | 23.704 | 45.724 |
新开地 Xinkaidi | 1,293 | 37.688 | 25.509 | 45.510 |
茶厂后山 Chachanghoushan | 2,088 | 47.508 | 18.102 | 50.839 |
44公里 44 Gongli | 2,013 | 34.682 | 12.663 | 36.922 |
勐仑水库 Menglunshuiku | 675 | 32.660 | 12.659 | 35.028 |
江边站 Jiangbianzhan | 1,132 | 28.973 | 23.759 | 37.469 |
最大 Maximum | 2,088 | 47.508 | 25.509 | 50.839 |
最小 Minimum | 625 | 21.951 | 12.659 | 25.356 |
平均值 ± 标准差 Mean ± SD | 1,299 ± 515 | 34.042 ± 6.920 | 18.434 ± 5.252 | 39.002 ± 7.108 |
表4 各样地相机曝光点重投影误差
Table 4 Reprojection error of camera exposure position in sample plots
样地名称 Plot name | 照片数量 Number of photos | RMSE | ||
---|---|---|---|---|
垂直 Vertical (m) | 水平 Horizontal (m) | 全局 Total (m) | ||
补蚌 Bubeng | 1,142 | 28.924 | 19.230 | 34.733 |
过门山 Guomenshan | 1,632 | 21.951 | 12.690 | 25.356 |
茶地头 Chaditou | 625 | 32.228 | 22.554 | 39.336 |
大平掌 Dapingzhang | 858 | 36.709 | 13.466 | 39.101 |
石灰山 Shihuishan | 1,536 | 39.100 | 23.704 | 45.724 |
新开地 Xinkaidi | 1,293 | 37.688 | 25.509 | 45.510 |
茶厂后山 Chachanghoushan | 2,088 | 47.508 | 18.102 | 50.839 |
44公里 44 Gongli | 2,013 | 34.682 | 12.663 | 36.922 |
勐仑水库 Menglunshuiku | 675 | 32.660 | 12.659 | 35.028 |
江边站 Jiangbianzhan | 1,132 | 28.973 | 23.759 | 37.469 |
最大 Maximum | 2,088 | 47.508 | 25.509 | 50.839 |
最小 Minimum | 625 | 21.951 | 12.659 | 25.356 |
平均值 ± 标准差 Mean ± SD | 1,299 ± 515 | 34.042 ± 6.920 | 18.434 ± 5.252 | 39.002 ± 7.108 |
样地名称 Plot name | 面积 Area (ha) | 林冠覆盖度 Canopy cover | 林冠最大高度 Maximum height of canopy (m) | 林冠平均高度 Average height of canopy (m) | 估测地形与实测地形高差均值 Mean difference between DTMestimated and DTMmeasured | 估测地形与实测地形高差标准差 Standard deviation between DTMestimated and DTMmeasured | 估测地形模型(y)与实测地形模型(x)的检验方程参数对比 Linear equation test result of DTMestimated (y) and DTMmeasured (x) | ||
---|---|---|---|---|---|---|---|---|---|
k | b | R2 | |||||||
补蚌 Bubeng | 20 | 0.90 | 54.67 | 22.43 | 10.06 | 6.09 | 0.995 | 14.187 | 0.981 |
过门山 Guomenshan | 20 | 0.97 | 52.10 | 22.90 | 2.10 | 6.70 | 1.005 | -2.782 | 0.992 |
茶地头 Chaditou | 1 | 0.95 | 35.63 | 16.79 | 4.55 | 5.90 | 0.979 | 30.783 | 0.761 |
大平掌 Dapingzhang | 1 | 0.93 | 37.66 | 18.37 | -2.91 | 5.28 | 0.888 | 188.821 | 0.920 |
石灰山 Shihuishan | 1 | 0.75 | 22.82 | 8.22 | 0.50 | 2.27 | 0.982 | 11.895 | 0.978 |
新开地 Xinkaidi | 1 | 0.90 | 20.37 | 11.68 | 2.79 | 3.94 | 1.199 | -108.789 | 0.788 |
茶厂后山 Chachanghoushan | 1 | 0.98 | 48.98 | 24.44 | 7.62 | 6.37 | 0.839 | 125.731 | 0.834 |
44公里 44 Gongli | 1 | 0.99 | 44.80 | 25.36 | -3.60 | 8.58 | 1.237 | -196.197 | 0.761 |
仑水库 Menglunshuiku | 1 | 0.89 | 45.79 | 23.82 | -26.48 | 7.42 | 0.973 | -7.650 | 0.779 |
江边站 Jiangbianzhan | 1 | 0.93 | 52.46 | 26.43 | 0.18 | 17.12 | 1.245 | -159.057 | 0.638 |
表5 线性方程检验结果与样地结构特征
Table 5 Linear equation test result and structure characteristics of sample plots
样地名称 Plot name | 面积 Area (ha) | 林冠覆盖度 Canopy cover | 林冠最大高度 Maximum height of canopy (m) | 林冠平均高度 Average height of canopy (m) | 估测地形与实测地形高差均值 Mean difference between DTMestimated and DTMmeasured | 估测地形与实测地形高差标准差 Standard deviation between DTMestimated and DTMmeasured | 估测地形模型(y)与实测地形模型(x)的检验方程参数对比 Linear equation test result of DTMestimated (y) and DTMmeasured (x) | ||
---|---|---|---|---|---|---|---|---|---|
k | b | R2 | |||||||
补蚌 Bubeng | 20 | 0.90 | 54.67 | 22.43 | 10.06 | 6.09 | 0.995 | 14.187 | 0.981 |
过门山 Guomenshan | 20 | 0.97 | 52.10 | 22.90 | 2.10 | 6.70 | 1.005 | -2.782 | 0.992 |
茶地头 Chaditou | 1 | 0.95 | 35.63 | 16.79 | 4.55 | 5.90 | 0.979 | 30.783 | 0.761 |
大平掌 Dapingzhang | 1 | 0.93 | 37.66 | 18.37 | -2.91 | 5.28 | 0.888 | 188.821 | 0.920 |
石灰山 Shihuishan | 1 | 0.75 | 22.82 | 8.22 | 0.50 | 2.27 | 0.982 | 11.895 | 0.978 |
新开地 Xinkaidi | 1 | 0.90 | 20.37 | 11.68 | 2.79 | 3.94 | 1.199 | -108.789 | 0.788 |
茶厂后山 Chachanghoushan | 1 | 0.98 | 48.98 | 24.44 | 7.62 | 6.37 | 0.839 | 125.731 | 0.834 |
44公里 44 Gongli | 1 | 0.99 | 44.80 | 25.36 | -3.60 | 8.58 | 1.237 | -196.197 | 0.761 |
仑水库 Menglunshuiku | 1 | 0.89 | 45.79 | 23.82 | -26.48 | 7.42 | 0.973 | -7.650 | 0.779 |
江边站 Jiangbianzhan | 1 | 0.93 | 52.46 | 26.43 | 0.18 | 17.12 | 1.245 | -159.057 | 0.638 |
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