Forest sample plot investigation and measurement method and system based on dynamic coordinate iterative addressing

Abstract

The invention provides a forest sample plot investigation and measurement method and system based on dynamic coordinate iterative addressing, and relates to the technical field of radar scanning measurement technology and forest sample wood data acquisition, calculation and processing, and the method comprises the following steps: constructing a forest sample plot independent coordinate system by taking a tree as a reference object; based on the independent coordinate system of the forest sample plot, determining a reference object and corresponding coordinates and included angle information; based on the reference object, the corresponding coordinates and the included angle information, moving the mobile measurement device along a fixed route, and calculating the dynamic coordinates of the mobile measurement device; iteratively calculating the coordinates of the sample tree by using the dynamic coordinates of the mobile measurement device; and in the forest sample plot area, iteratively measuring and calculating coordinates of the mobile measuring device and the tree by repeatedly taking the tree as a reference object to obtain a forest sample plot tree coordinate measurement result, and completing forest sample plot investigation and measurement based on dynamic coordinate iteration addressing. The problem that forest sample plot operation is difficult to accurately and efficiently complete is solved.

Description

Technical Field

[0001] The present invention relates to the field of radar scanning measurement technology and forest sample data collection, calculation and processing technology, and in particular to a forest sample plot survey and measurement method and system with dynamic coordinate iterative addressing. Background Art

[0002] Conducting forest plot surveys and measurements is an important part of my country's forest and grassland ecological monitoring system. The basic measurement work of forest plot surveys mainly includes: plot location, plot perimeter measurement, sample tree location and tree diameter measurement. Forest plots are generally square, rectangular and circular. The largest number of forest plots in my country is the 1-acre square plot (i.e.: horizontal projection 25.82 meters × 25.82 meters).

[0003] At present, the survey and measurement of forest sample plots are relatively traditional, and the instruments used mainly include: handheld GPS, RTK, compass, total station, measuring rope and tape measure, etc. Influenced by factors such as lack of visibility and complex forest environment, in actual survey and measurement operations, inevitable problems such as line cutting measurement (cutting off shrubs that block measurement, etc.) and station transfer measurement (a conversion measurement method in slope conditions) are often involved; at the same time, traditional operation methods are also the main factors that lead to high costs, high work intensity, low efficiency and uncontrollable errors in sample site addressing, perimeter measurement, sample tree positioning and other links.

[0004] Since the position of trees in the forest plot area is fixed, they can be used as reference objects for position identification. Therefore, a method based on laser radar scanning equipped with an electronic compass and stabilizer, using the plot trees as reference objects to establish an independent coordinate system for the plot and repeatedly using the trees as position references for dynamic coordinate iterative addressing can achieve efficient, accurate and fast field measurement in operations such as point addressing, perimeter measurement and sample tree positioning in plot survey and measurement, solve the industry's long-standing pain points and difficult problems, and greatly improve the level of intelligent informationization of field work. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the present invention provides a forest plot survey and measurement method and system with dynamic coordinate iterative addressing, which solves the problem that it is difficult to complete the forest plot survey operation accurately and efficiently.

[0006] In order to achieve the above-mentioned invention object, the technical solution adopted by the present invention is: a forest plot survey and measurement method with dynamic coordinate iterative addressing, comprising: S1: Based on the base points of the forest plot, determine the reference objects and the corresponding coordinate and angle information to construct an independent coordinate system for the forest plot; S2: Based on the independent coordinate system of the forest plot, the mobile measuring device is moved along a fixed route, and the dynamic coordinates of the mobile measuring device are calculated using the reference object and the corresponding coordinate and angle information; S3: using the dynamic coordinates of the mobile measurement device to iteratively calculate the coordinates of the sample trees, obtain the coordinate measurement results of the trees in the forest plot, and complete the forest plot survey and measurement based on dynamic coordinate iterative addressing.

[0007] Furthermore, the S1 further comprises: Obtain slope information at each point of the forest plot; Based on the slope information, the horizontal distance is obtained by calculation: ; Using the horizontal distance, the three-dimensional coordinates of the corresponding points are converted into horizontal coordinates to obtain the corrected independent coordinate system of the forest plot: ; in, represents the horizontal distance, Indicates the height of the point relative to the horizontal position. Indicates the slope, represents the horizontal abscissa, represents the three-dimensional horizontal coordinate, represents the horizontal ordinate, Represents the three-dimensional vertical coordinate.

[0008] Further, the S2 includes: Fix the mobile measuring device at the southwest base point of the sample plot with the direction pointing to due north, and select sample trees A and B within the visible range as reference objects; The laser radar of the mobile measuring device is used to scan the sample tree A and the sample tree B, and the distance of the sample tree A relative to the base point, the distance of the sample tree B relative to the base point, the angle of the sample tree A relative to the Y axis of the true north, and the angle of the sample tree B relative to the Y axis of the true north are obtained respectively; Based on the distances of the sample trees A and B relative to the base point and the angles relative to the Y-axis of due north, coordinate transformation is performed to obtain the coordinates of the sample trees A and B and the distance and angle between the two sample trees: ; ; ; in, represents the horizontal coordinate of sample A, Indicates the distance of sample A relative to the base point, It indicates the angle of sample tree A relative to the Y axis of due north. represents the ordinate of sample A, represents the horizontal coordinate of sample B, Indicates the distance of sample B relative to the base point, It indicates the angle of sample tree B relative to the Y axis of due north. represents the ordinate of sample B, Indicates the distance between sample tree A and sample tree B, Represents the angle between sample tree A and sample tree B.

[0009] Further, the S3 includes: Move the mobile measuring device northward and use the laser radar to obtain real-time measurement information; wherein the real-time measurement information includes the distance between the mobile measuring device and the sample A and the sample B, and the angle relative to the Y-axis of the true north; Based on the real-time measurement information, the dynamic coordinates of the mobile measurement device are obtained by calculation: ; ; in, represents the abscissa of the mobile measuring device, represents the horizontal coordinate of sample A, represents the distance of sample A relative to the mobile measuring device, It represents the angle between the line connecting the sample tree A and the mobile measuring device and the Y axis of the true north. represents the ordinate of the mobile measuring device, represents the ordinate of sample A, represents the horizontal coordinate of sample B, represents the distance of sample B relative to the mobile measuring device, It represents the angle between the line connecting sample tree B and the mobile measuring device and the Y axis of due north. Represents the vertical coordinate of sample tree B.

[0010] Furthermore, the verification process of the dynamic coordinates of the mobile measurement device includes: The dynamic coordinates of the mobile measuring device are constrained and verified using the cosine theorem, and the uncertainty constraint results of the coordinates of the mobile measuring device are obtained: ; in, It represents the angle between sample A and sample B relative to the mobile measuring device, Indicates the distance between sample tree A and sample tree B.

[0011] Further, the S3 includes: Based on the coordinates of the mobile measuring device after the movement, sample wood C and sample wood D are reselected as reference objects for iterative calculation; Using laser radar, obtain the real-time distance of sample tree C and sample tree D relative to the mobile measuring device and the angle relative to the true north Y axis; By using the real-time distances of the sample trees C and D relative to the mobile measuring device and the angles relative to the true north Y axis, the coordinates of the sample trees C and D and the distance between the two sample trees are obtained by calculation: ; ; ; in, represents the distance of the sample C relative to the mobile measuring device, represents the horizontal coordinate of sample C, represents the abscissa of the mobile measuring device, represents the ordinate of sample C, represents the ordinate of the mobile measuring device, represents the distance of the sample D relative to the mobile measuring device, represents the horizontal coordinate of sample D, represents the ordinate of sample D, Indicates the distance between sample tree C and sample tree D; Repeat the above steps, continuously use trees as reference objects in the forest sample area, and cyclically execute the process of measuring and calculating tree coordinates with a mobile measuring device and calculating the dynamic coordinates of the mobile measuring device with the tree coordinates until the task is completed, and obtain the survey and measurement results of the forest sample area.

[0012] Furthermore, the verification process of the coordinates of the sample tree C and the sample tree D includes: The cosine theorem is used to verify the constraints of the coordinates of sample trees C and D, and the uncertainty constraints of the coordinates of sample trees C and D are obtained: ; in, It represents the angle between sample wood C and sample wood D relative to the mobile measuring device.

[0013] A forest plot survey and measurement system with dynamic coordinate iterative addressing, comprising: A measurement module, including a laser radar and an electronic compass, is used to obtain the position information of the mobile measurement device and the sample tree; A Bluetooth communication module, used to send measurement data to the calculation module; Stabilization module, including stabilizer, handheld part and bracket, used to stabilize and fix the mobile measurement device; A power supply module, used to provide a stable voltage for the measurement module and the Bluetooth communication module; The calculation module includes a measurement calculation terminal, which is used to calculate the position information of the mobile measurement device and the reference object to obtain the coordinate measurement results of the trees in the forest sample plot.

[0014] The beneficial effects of the present invention are as follows: the mobile measuring device constructs an independent coordinate system for the forest plot, moves the mobile measuring device along a fixed route, calculates the dynamic coordinates of the mobile measuring device, and uses the dynamic coordinates of the mobile measuring device to iteratively calculate the coordinates of the sample trees, thereby obtaining the coordinate measurement results of the trees in the forest plot. (1) By using the sample trees in the forest plot area as reference objects for measurement and iterative coordinate calculation, and using the scanning characteristics of the laser radar, a distance and angle measurement and calculation relationship is established between the mobile measuring device and the sample trees, which can quickly complete the establishment of the independent coordinate system for the plot and perform iterative calculation of the dynamic coordinates of the mobile measuring device and the sample trees, realize the coordinate guidance of the mobile measuring device and the coordinate marking and identification of the trees in the forest plot area, and efficiently complete the forest plot survey and measurement tasks; (2) Using the iterative calculation of the mobile measuring device can greatly improve the data precision and accuracy of the forest plot survey and measurement; at the same time, it can also greatly improve work efficiency, reduce labor intensity, and reduce the number of instruments and measuring tools carried in field work. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] This specification will be further described in the form of exemplary embodiments, which will be described in detail by the accompanying drawings. These embodiments are not restrictive, and in these embodiments, the same number represents the same structure, wherein: Figure 1 It is a module schematic diagram of a forest plot survey and measurement system with dynamic coordinate iterative addressing according to some embodiments of this specification; Figure 2 It is an exemplary flow chart of a forest plot survey and measurement method with dynamic coordinate iterative addressing according to some embodiments of this specification. DETAILED DESCRIPTION

[0016] The specific implementation modes of the present invention are described below so that those skilled in the art can understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation modes. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present invention as defined and determined by the attached claims, these changes are obvious, and all inventions and creations utilizing the concept of the present invention are protected.

[0017] Embodiment 1 Figure 1 It is a module schematic diagram of a forest plot survey and measurement system with dynamic coordinate iterative addressing according to some embodiments of this specification.

[0018] In some embodiments, the dynamic coordinate iterative addressing forest plot survey and measurement system may include a measurement module, a Bluetooth communication module, a stabilization module, a power supply module and a calculation module.

[0019] The measurement module includes a laser radar and an electronic compass, which are used to obtain the position information of the mobile measurement device and the sample.

[0020] LiDAR can be used to provide high-precision distance and angle measurements for mobile measurement devices and samples.

[0021] An electronic compass can be used to provide the direction and angle information of a mobile measuring device.

[0022] Bluetooth communication module, used to send measurement data to the calculation module.

[0023] The Bluetooth communication module can be used to complete data transmission and interaction between the mobile measuring device and the computing module.

[0024] Stabilization module, consisting of stabilizer, hand piece and bracket, for stabilizing and fixing mobile measuring devices.

[0025] The stabilization module can be used to keep the posture of the mobile measurement device stable and ensure the accuracy of the measurement data.

[0026] The power supply module is used to provide a stable voltage for the measurement module and the Bluetooth communication module.

[0027] The power supply module can be a rechargeable lithium battery with a capacity that will ensure several hours of field work time and is equipped with a backup battery.

[0028] The calculation module includes a measurement calculation terminal, which is used to calculate the position information of the mobile measurement device and the reference object to obtain the coordinate measurement results of the trees in the forest sample plot.

[0029] The measurement and calculation terminal may include a handheld measurement and calculation APP. For example, the handheld measurement and calculation APP may have built-in sample plot coordinate system initialization, coordinate iteration algorithm, point addressing, slope calculation, sample tree coordinate measurement mark, sample tree diameter at breast height measurement and data information entry, human-computer interaction interface, etc.

[0030] In some embodiments, the handheld measurement and calculation APP can achieve (1) completing the addressing of the southwest base point of the sample plot using the traditional industry method; (2) establishing an independent coordinate system for the sample plot; (3) the sample point addressing algorithm of the mobile measurement device: the north point addressing guidance algorithm, addressing (0, 25.82); the northeast point addressing guidance algorithm, addressing (25.82, 25.82); the east point addressing guidance algorithm, addressing (25.82, 0); the southwest point addresses the east point, the second addressing (25.82, 0), and the calculation of the enclosure difference; (4) the sample tree position identification and sample tree coordinate marking algorithm; (5) the sample tree breast diameter measurement; (6) the sample plot perimeter measurement marking; (7) the slope coordinate conversion horizontal coordinate algorithm; (8) data information entry, human-computer interaction and management interface, etc.

[0031] In some embodiments, a forest plot survey and measurement system with dynamic coordinate iterative addressing can be used to execute a forest plot survey and measurement method with dynamic coordinate iterative addressing, including: S1: based on the base point of the forest plot, determine the reference object and the corresponding coordinate and angle information, and construct an independent coordinate system for the forest plot; S2: based on the independent coordinate system of the forest plot, move the mobile measuring device along a fixed route, and use the reference object and the corresponding coordinate and angle information to calculate the dynamic coordinates of the mobile measuring device; S3: using the dynamic coordinates of the mobile measuring device, iteratively calculate the coordinates of the sample trees, obtain the coordinate measurement results of the forest plot trees, and complete the forest plot survey and measurement based on dynamic coordinate iterative addressing.

[0032] In some embodiments of the present specification, the mobile measuring device uses a forest plot survey and measurement system with dynamic coordinate iterative addressing to perform a forest plot survey and measurement method with dynamic coordinate iterative addressing. (1) By taking the sample trees in the forest plot area as reference objects for measurement and coordinate iterative calculation, and utilizing the scanning characteristics of the laser radar, a distance and angle measurement and calculation relationship is established between the mobile measuring device and the sample trees, which can quickly complete the establishment of an independent coordinate system for the plot and perform dynamic coordinate iterative calculation of the mobile measuring device and the sample trees, realize the coordinate guidance of the mobile measuring device and the coordinate marking and identification of the trees in the forest plot area, and efficiently complete the forest plot survey and measurement task; (2) Using the iterative calculation of the mobile measuring device, the data precision and accuracy of the forest plot survey and measurement can be greatly improved; at the same time, it can also greatly improve work efficiency, reduce labor intensity, and reduce the number of instruments and measuring tools carried in field work.

[0033] Embodiment 2 Figure 2 This is an exemplary flow chart of a forest plot survey and measurement method using dynamic coordinate iterative addressing according to some embodiments of this specification. Figure 2 As shown, the process includes the following steps. In some embodiments, the process can be executed by a mobile measurement device.

[0034] S1: Based on the base points of the forest plot, determine the reference objects and the corresponding coordinate and angle information to construct an independent coordinate system for the forest plot.

[0035] The forest plot independent coordinate system is an independent coordinate system used to investigate forest plots.

[0036] In some embodiments, the staff can determine the scope of the forest plot according to the survey and measurement tasks, and construct an independent coordinate system based on the scope of the forest plot. For example, based on the southwest point of the plot, the staff can use tools such as a compass, a measuring rope, and a tape measure to find the due north point, northeast point, and due east point of the plot and measure the perimeter and enclosure difference of the plot.

[0037] In some embodiments, the mobile measuring device can correct the independent coordinate system of the forest plot in the following manner: obtain the slope information of each point of the forest plot; obtain the horizontal distance through calculation based on the slope information; use the horizontal distance to convert the three-dimensional coordinates of the corresponding point into horizontal coordinates to obtain a corrected independent coordinate system of the forest plot.

[0038] Slope information is information that reflects the slope conditions of a point and the surrounding area.

[0039] In some embodiments, the mobile measuring device may obtain slope information based on the result of an on-site slope measurement performed by a slope meter.

[0040] The horizontal distance is the height distance of the point relative to the horizontal position.

[0041] The three-dimensional coordinates of a point are point coordinates having three-dimensional information.

[0042] The horizontal coordinate of a point is the coordinate of the point with horizontal information.

[0043] The corrected forest plot independent coordinate system is the forest plot independent coordinate system of the horizontal coordinate information of the response points after slope correction.

[0044] In some embodiments, the expression for the horizontal distance may be: ; in, represents the horizontal distance, Indicates the height of the point relative to the horizontal position. Indicates slope.

[0045] In some embodiments, the expression of the modified forest plot independent coordinate system may be: ; in, represents the horizontal abscissa, represents the three-dimensional horizontal coordinate, represents the horizontal ordinate, Represents the three-dimensional vertical coordinate.

[0046] Reference objects are sample trees used to determine the position of the mobile measurement device. For example, the reference objects may include sample trees A, B, C and D and all trees in the forest plot area used for iterative measurement calculations.

[0047] The coordinate and angle information corresponding to the reference object may include the coordinates of the sample tree, the angle between the sample tree and the mobile measuring device relative to the true north Y axis, and the angle between the sample trees.

[0048] In some embodiments, the mobile measuring device can implement S2 based on the following steps: fix the mobile measuring device at the southwest base point of the sample plot with the direction pointing to due north, and select sample trees A and sample trees B within the visible range as reference objects; use the laser radar of the mobile measuring device to scan sample trees A and sample trees B, and obtain the distance of sample tree A relative to the base point, the distance of sample tree B relative to the base point, the angle of sample tree A relative to the north Y-axis, and the angle of sample tree B relative to the north Y-axis respectively; based on the distance of sample tree A and sample tree B relative to the base point and the angle relative to the north Y-axis, perform coordinate transformation to obtain the coordinates of sample tree A and sample tree B and the distance and angle between the two sample trees.

[0049] In some embodiments, the coordinates of sample A and sample B and the distance and angle between the two samples can be expressed as: ; ; ; in, represents the horizontal coordinate of sample A, Indicates the distance of sample A relative to the base point, It indicates the angle of sample tree A relative to the Y axis of due north. represents the ordinate of sample A, represents the horizontal coordinate of sample B, Indicates the distance of sample B relative to the base point, It indicates the angle of sample tree B relative to the Y axis of due north. represents the ordinate of sample B, Indicates the distance between sample tree A and sample tree B, Represents the angle between sample tree A and sample tree B.

[0050] S2: Based on the reference object and the corresponding coordinate and angle information, the dynamic coordinates of the mobile measuring device are calculated by moving the mobile measuring device along a fixed route.

[0051] A fixed route is a moving route of a mobile measuring device used to survey and measure a forest plot. For example, a fixed route may include moving from the southwest base point of the plot to the due north point (0, 25.82), then from the due north point to the northeast point (25.82, 25.82), and finally from the northeast point to the due east point (25.82, 0), completing the moving route of addressing the three points of the due north, northeast, and due east of the plot; it may also be a moving route for measuring, calculating, and identifying the coordinates of trees in the forest plot area, etc.

[0052] The dynamic coordinates of the mobile measuring device are the coordinates of the mobile measuring device during movement.

[0053] In some embodiments, the mobile measuring device can implement S3 based on the following steps: move the mobile measuring device northward and obtain real-time measurement information using a laser radar; and obtain the dynamic coordinates of the mobile measuring device through calculation based on the real-time measurement information.

[0054] The real-time measurement information is, for example, the real-time measurement information may include the distance between the mobile measurement device and the sample A and the sample B, and the angle relative to the Y-axis of the true north.

[0055] In some embodiments, the expression of the dynamic coordinates of the mobile measurement device may be: ; ; in, represents the abscissa of the mobile measuring device, represents the horizontal coordinate of sample A, represents the distance of sample A relative to the mobile measuring device, It represents the angle between the line connecting the sample tree A and the mobile measuring device and the Y axis of the true north. represents the ordinate of the mobile measuring device, represents the ordinate of sample A, represents the horizontal coordinate of sample B, represents the distance of sample B relative to the mobile measuring device, It represents the angle between the line connecting sample tree B and the mobile measuring device and the Y axis of due north. Represents the vertical coordinate of sample tree B.

[0056] In some embodiments, the mobile measurement device can implement the verification process of the dynamic coordinates of the mobile measurement device in the following manner: perform constraint verification on the dynamic coordinates of the mobile measurement device using the cosine theorem to obtain uncertainty constraint results of the coordinates of the mobile measurement device.

[0057] The uncertainty constraint results of the coordinates of the mobile measuring device are results used to verify whether the coordinates of the mobile measuring device are correct.

[0058] In some embodiments, the mobile measuring device can compare the calculated angles between sample A and sample B relative to the mobile measuring device with the measurement results. When the comparison results are equal, the uncertainty constraint results of the coordinates of the mobile measuring device are correct; when the comparison results are unequal, the uncertainty constraint results of the coordinates of the mobile measuring device are incorrect and are recalculated.

[0059] In some embodiments, the angle between sample A and sample B and the mobile measuring device may be expressed as: ; in, It represents the angle between sample A and sample B relative to the mobile measuring device, Indicates the distance between sample tree A and sample tree B.

[0060] S3: using the dynamic coordinates of the mobile measurement device to iteratively calculate the coordinates of the sample trees, obtain the coordinate measurement results of the trees in the forest plot, and complete the forest plot survey and measurement based on dynamic coordinate iterative addressing.

[0061] The coordinate measurement results of trees in forest plots are the measurement results reflecting the coordinates of all trees in the forest plots.

[0062] In some embodiments, the mobile measuring device can implement S3 based on the following steps: based on the coordinates of the mobile measuring device after the movement, reselect sample tree C and sample tree D as reference objects for iterative calculation; use laser radar to obtain the real-time distance of sample tree C and sample tree D relative to the mobile measuring device and the angle relative to the north Y axis; use the real-time distance of sample tree C and sample tree D relative to the mobile measuring device and the angle relative to the north Y axis to obtain the coordinates of sample tree C and sample tree D and the distance between the two sample trees through calculation; repeat the above steps, continuously use trees as reference objects in the forest sample plot area, and cyclically execute the process of measuring and calculating tree coordinates with the mobile measuring device and calculating the dynamic coordinates of the mobile measuring device with the tree coordinates until the task is completed, and obtain the survey and measurement results of the forest sample plot.

[0063] In some embodiments, the coordinates of sample C and sample D and the distance between the two samples may be expressed as: ; ; ; in, represents the distance of the sample C relative to the mobile measuring device, represents the horizontal coordinate of sample C, represents the abscissa of the mobile measuring device, represents the ordinate of sample C, represents the ordinate of the mobile measuring device, represents the distance of the sample D relative to the mobile measuring device, represents the horizontal coordinate of sample D, represents the ordinate of sample D, Indicates the distance between sample tree C and sample tree D.

[0064] In some embodiments, the mobile measurement device can implement the coordinate verification process of sample tree C and sample tree D based on the following steps: use the cosine theorem to perform constraint verification on the coordinates of sample tree C and sample tree D to obtain the uncertainty constraint results of the coordinates of sample tree C and sample tree D.

[0065] The uncertainty constraint results of the coordinates of the sample trees C and D are used to verify whether the coordinates of the sample trees C and D are correct.

[0066] In some embodiments, the mobile measuring device can compare the calculated angles of sample trees C and sample trees D relative to the mobile measuring device with the measurement results. When the comparison results are equal, the uncertainty constraint results of the coordinates of sample trees C and sample trees D are correct; when the comparison results are unequal, the uncertainty constraint results of the coordinates of sample trees C and sample trees D are incorrect and are recalculated.

[0067] In some embodiments, the angle between the sample C and the sample D relative to the mobile measuring device may be expressed as: ; in, It represents the angle between sample wood C and sample wood D relative to the mobile measuring device.

[0068] In some embodiments, the mobile measuring device can use laser radar scanning data to obtain the breast diameter of sample trees in the forest sample plot, and complete the task of measuring the breast diameter of sample trees in the forest sample plot.

[0069] In some embodiments, the mobile measurement device can determine whether the tree is within the forest plot based on the coordinate measurement results of the tree in the forest plot.

[0070] In some examples, after determining the dynamic coordinates, the mobile measurement device can use a laser radar to simultaneously scan multiple trees to measure, calculate, and identify their position coordinates.

[0071] In some instances, when calculating the dynamic coordinates of a mobile measuring device using trees as reference objects, the dynamic coordinates can be used to guide the coordinates of the mobile measuring device to approach (0, 25.82), (25.82, 25.82), and (25.82, 0), thereby completing the addressing of the due north, northeast, and east points of the forest plot.

[0072] In some embodiments of the present specification, the mobile measuring device constructs an independent coordinate system for the forest plot, moves the mobile measuring device along a fixed route, calculates the dynamic coordinates of the mobile measuring device, and uses the dynamic coordinates of the mobile measuring device to iteratively calculate the coordinates of the sample trees to obtain the coordinate measurement results of the trees in the forest plot. (1) By taking the sample trees in the forest plot area as reference objects for measurement and iterative coordinate calculation, and using the scanning characteristics of the laser radar, a distance and angle measurement and calculation relationship is established between the mobile measuring device and the sample trees, which can quickly complete the establishment of the independent coordinate system for the plot and perform iterative calculation of the dynamic coordinates of the mobile measuring device and the sample trees, realize the coordinate guidance of the mobile measuring device and the coordinate marking and identification of the trees in the forest plot area, and efficiently complete the forest plot survey and measurement tasks; (2) Using the iterative calculation of the mobile measuring device can greatly improve the data precision and accuracy of the forest plot survey and measurement; at the same time, it can also greatly improve work efficiency, reduce labor intensity, and reduce the number of instruments and measuring tools carried in field work.

Claims

1. A forest plot survey and measurement method with dynamic coordinate iterative addressing. It is characterized in that include: S1: Based on the base points of the forest plot, determine the reference objects and the corresponding coordinate and angle information to construct an independent coordinate system for the forest plot; S2: Based on the independent coordinate system of the forest plot, the mobile measuring device is moved along a fixed route, and the dynamic coordinates of the mobile measuring device are calculated using the reference object and the corresponding coordinate and angle information; S3: using the dynamic coordinates of the mobile measurement device to iteratively calculate the coordinates of the sample trees, obtain the coordinate measurement results of the trees in the forest plot, and complete the forest plot survey and measurement based on dynamic coordinate iterative addressing.

2. The forest plot survey and measurement method with dynamic coordinate iterative addressing according to claim 1, It is characterized in that The S1 further comprises: Obtain slope information at each point of the forest plot; Based on the slope information, the horizontal distance is obtained by calculation: ； Using the horizontal distance, the three-dimensional coordinates of the corresponding points are converted into horizontal coordinates to obtain the corrected independent coordinate system of the forest plot: ； in, represents the horizontal distance, Indicates the height of the point relative to the horizontal position. Indicates the slope, represents the horizontal abscissa, represents the three-dimensional horizontal coordinate, represents the horizontal ordinate, Represents the three-dimensional vertical coordinate.

3. The forest plot survey and measurement method with dynamic coordinate iterative addressing according to claim 1, It is characterized in that Determining the reference object and the corresponding coordinate and angle information in S1 includes: Fix the mobile measuring device at the southwest base point of the sample plot with the direction pointing to due north, and select sample trees A and B within the visible range as reference objects; The laser radar of the mobile measuring device is used to scan the sample tree A and the sample tree B, and the distance of the sample tree A relative to the base point, the distance of the sample tree B relative to the base point, the angle of the sample tree A relative to the Y axis of the true north, and the angle of the sample tree B relative to the Y axis of the true north are obtained respectively; Based on the distances of the sample trees A and B relative to the base point and the angles relative to the Y-axis of due north, coordinate transformation is performed to obtain the coordinates of the sample trees A and B and the distance and angle between the two sample trees: ； ； ； in, represents the horizontal coordinate of sample A, Indicates the distance of sample A relative to the base point, It indicates the angle of sample tree A relative to the Y axis of due north. represents the ordinate of sample A, represents the horizontal coordinate of sample B, Indicates the distance of sample B relative to the base point, It indicates the angle of sample tree B relative to the Y axis of due north. represents the ordinate of sample B, Indicates the distance between sample tree A and sample tree B, Represents the angle between sample tree A and sample tree B.

4. The forest plot survey and measurement method with dynamic coordinate iterative addressing according to claim 1, It is characterized in that The S2 includes: Move the mobile measuring device northward and use the laser radar to obtain real-time measurement information; wherein the real-time measurement information includes the distance between the mobile measuring device and the sample A and the sample B, and the angle relative to the Y-axis of the true north; Based on the real-time measurement information, the dynamic coordinates of the mobile measurement device are obtained by calculation: ； ； in, represents the abscissa of the mobile measuring device, represents the horizontal coordinate of sample A, represents the distance of sample A relative to the mobile measuring device, It represents the angle between the line connecting the sample tree A and the mobile measuring device and the Y axis of the true north. represents the ordinate of the mobile measuring device, represents the ordinate of sample A, represents the horizontal coordinate of sample B, represents the distance of sample B relative to the mobile measuring device, It represents the angle between the line connecting sample tree B and the mobile measuring device and the Y axis of due north. Represents the vertical coordinate of sample tree B.

5. The forest plot survey and measurement method with dynamic coordinate iterative addressing according to claim 4, It is characterized in that The verification process of the dynamic coordinates of the mobile measurement device includes: The dynamic coordinates of the mobile measuring device are constrained and verified using the cosine theorem, and the uncertainty constraint results of the coordinates of the mobile measuring device are obtained: ； in, It represents the angle between sample A and sample B relative to the mobile measuring device, Indicates the distance between sample tree A and sample tree B.

6. The forest plot survey and measurement method with dynamic coordinate iterative addressing according to claim 1, It is characterized in that The S3 includes: Based on the coordinates of the mobile measuring device after the movement, sample wood C and sample wood D are reselected as reference objects for iterative calculation; Using laser radar, obtain the real-time distance of sample tree C and sample tree D relative to the mobile measuring device and the angle relative to the true north Y axis; By using the real-time distances of the sample trees C and D relative to the mobile measuring device and the angles relative to the true north Y axis, the coordinates of the sample trees C and D and the distance between the two sample trees are obtained by calculation: ； ； ； in, represents the distance of the sample C relative to the mobile measuring device, represents the horizontal coordinate of sample C, represents the abscissa of the mobile measuring device, represents the ordinate of sample C, represents the ordinate of the mobile measuring device, represents the distance of the sample D relative to the mobile measuring device, represents the horizontal coordinate of sample D, represents the ordinate of sample D, Indicates the distance between sample tree C and sample tree D; Repeat the above steps, continuously use trees as reference objects in the forest sample area, and cyclically execute the process of measuring and calculating tree coordinates with a mobile measuring device and calculating the dynamic coordinates of the mobile measuring device with the tree coordinates until the task is completed, and obtain the survey and measurement results of the forest sample area.

7. The forest plot survey and measurement method with dynamic coordinate iterative addressing according to claim 6, It is characterized in that The verification process of the coordinates of the sample tree C and the sample tree D includes: The cosine theorem is used to verify the constraints of the coordinates of sample trees C and D, and the uncertainty constraints of the coordinates of sample trees C and D are obtained: ； in, It represents the angle between sample wood C and sample wood D relative to the mobile measuring device.

8. A forest plot survey and measurement system with dynamic coordinate iterative addressing, used to execute the forest plot survey and measurement method with dynamic coordinate iterative addressing as claimed in any one of claims 1 to 7, It is characterized in that include: A measurement module, including a laser radar and an electronic compass, is used to obtain the position information of the mobile measurement device and the sample tree; A Bluetooth communication module, used to send measurement data to the calculation module; Stabilization module, including stabilizer, handheld part and bracket, used to stabilize and fix the mobile measurement device; A power supply module, used to provide a stable voltage for the measurement module and the Bluetooth communication module; The calculation module includes a measurement calculation terminal, which is used to calculate the position information of the mobile measurement device and the reference object to obtain the coordinate measurement results of the trees in the forest sample plot.

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