Single-photon laser height measurement data denoising method and device based on density statistics

Abstract

The invention relates to a single-photon laser height measurement data denoising method and device based on density statistics. The method comprises the following steps: 1) obtaining single-photon laser altimetry data; 2) performing data preprocessing; 3) carrying out photon density calculation by using an ellipse search area whose direction and size change adaptively with the gradient; and 4) adaptively calculating segmented threshold separation signal photons and noise photons by adopting an OTSU method, and removing discrete noise points by adopting a K nearest neighbor distance. Compared with the prior art, the method is not influenced by non-uniform background noise photons, and is high in adaptability, the direction of the search ellipse can be changed adaptively along with the slope, the size can be changed, signal photons and noise photons of each segment are separated by using the segmentation threshold, and a small number of discrete noise points left after rough denoising are further removed; and the method is complete in signal extraction, high in denoising precision and high in efficiency.

Description

technical field [0001] The invention relates to the field of laser altimetry data processing, in particular to a method and device for denoising single-photon laser altimetry data based on density statistics. Background technique [0002] Spaceborne laser altimetry technology has the characteristics of good detection directionality, high spatial resolution, and high ranging accuracy, and has great potential in the fields of deep space exploration and earth observation. Most of the existing laser altimeters for earth observation use linear detection system with high energy consumption, which is not suitable for large-scale and multi-temporal three-dimensional data acquisition by space platforms such as satellites. Quantum information technology has developed rapidly, and photon detection is the key technology. The integration of photon detection technology and laser altimetry technology has made laser altimetry technology develop to a new height. Photon detection reduces the ...

AI Technical Summary

Problems solved by technology

[0004] Existing density-based methods are not comprehensive enough

First, photon-counting laser altimetry data have differences in background photon density along the track due to differences in surface reflectivity along the track, a phenomenon that has implications for density-based methods

Secondly, the existing methods have poor adaptability, only changing the direction of the search ellipse for the slope, without considering the characteristics of the sparse distribution on the slope, and adaptively changing the size of the search ellipse

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