Method and device for measuring atmospheric boundary layer through laser radar based on Raspberry Pi

Abstract

The invention discloses a method and a device for measuring an atmospheric boundary layer by a laser radar based on Raspberry Pi, belongs to the field of atmospheric detection, and solves the technical problems of insufficient real-time algorithm performance and poor practicability and universality of atmospheric boundary layer measurement equipment in the prior art. The measuring device comprises a base, a laser radar transmitting module, a receiving module and a control terminal, the control terminal comprises a communication module and a Raspberry Pi provided with an operating system; the laser radar transmitting module transmits laser pulses to the atmosphere, and the receiving module receives laser radar back scattering signals and transmits the laser radar back scattering signals to the control terminal. The Raspberry Pi in the control terminal receives the laser radar backscattering signal in a certain time period transmitted by the receiving module, and processes the data into a color image to obtain atmospheric boundary layer height data of the current position; and through the remote management function of the Raspberry Pi, online upgrading and optimization of algorithm codes are carried out, so that the application flexibility and maintainability of the instrument are enhanced.

Description

Technical Field

[0001] The present invention relates to the field of atmospheric detection technology, and in particular to a method and device for measuring the atmospheric boundary layer by using a laser radar based on a Raspberry Pi. Background Art

[0002] The height and aerosol distribution of the atmospheric boundary layer are of great significance in meteorological monitoring, environmental protection and scientific research. As an important means of measuring the atmospheric boundary layer, lidar technology can accurately detect the height and aerosol distribution of the atmospheric boundary layer by emitting laser pulses and receiving backscattered signals.

[0003] The micro-pulse laser radar produced by Sigma Space, which is currently used in the NASAMPLNET project, is a laser radar device for measuring the atmospheric boundary layer height. The data processing and boundary layer height extraction of this device usually rely on offline processing. Although the instrument can collect data continuously, it is difficult to provide high-precision boundary layer height information immediately after collection due to insufficient real-time algorithm performance, which limits its application in real-time monitoring and emergency response. Its design still needs to meet the requirements of fixed installation. The overall size of the equipment is large and requires a stable power supply, which is difficult to meet high-mobility scenarios. The operation and data processing of the equipment usually rely on the support of local computers, making it difficult to achieve remote synchronization of instrument networking for management and algorithm updates. These problems limit the practicality and universality of existing laser radar technology in atmospheric boundary layer measurements. A more lightweight, real-time, remote management and algorithm update-supporting and relatively low-cost solution is urgently needed to improve the status quo. Summary of the invention

[0004] In view of the shortcomings and deficiencies in the prior art, the present invention provides a method and device for measuring the atmospheric boundary layer based on a Raspberry Pi lidar, which can realize accurate detection of the atmospheric boundary layer height and aerosol distribution: real-time high-precision data acquisition and efficient processing, and realize high-precision remote transmission and cloud storage of data, and can simultaneously perform online upgrading and optimization of the algorithm code, thereby enhancing the application flexibility and maintainability of the detection instrument.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: The method for measuring the atmospheric boundary layer by a laser radar based on a Raspberry Pi provided by the present invention comprises a measuring device, the measuring device comprises a base, a laser radar transmitting module, a receiving module and a control terminal; the control terminal comprises a communication module and a Raspberry Pi with an operating system installed;

[0006] The specific measurement method includes the following steps:

[0007] S1, the laser radar transmitting module transmits laser pulses into the atmosphere, and the receiving module receives the laser radar backscattering signal generated by the laser radar transmitting module and transmits it to the control terminal;

[0008] S2. The Raspberry Pi in the control terminal receives the laser radar backscatter signal of a certain period of time transmitted by the receiving module, and processes the data into a color image to obtain the atmospheric boundary layer height data of the current position.

[0009] Preferably, in step S2, the Raspberry Pi in the control terminal processes the laser radar backscatter signal data of a certain time period into a color image, and the specific steps are as follows:

[0010] S2.1 Drawing function defined: The Raspberry Pi operating system includes a color mapping matrix. The color mapping matrix is ​​a 64-row matrix containing specific color values. Each row of the color mapping matrix corresponds to a color.

[0011] S2.2 The Raspberry Pi operating system automatically renders the data into a color image based on the height and the corresponding two-dimensional array of the lidar backscatter signal through the defined drawing function and the defined color mapping rules, so that each data value corresponds to a specific color;

[0012] The atmospheric boundary layer of a certain period of time is obtained by processing the lidar backscatter signal of this period of time.

[0013] Preferably, the data measured by the device is a two-dimensional array data of a set of heights and corresponding laser radar backscatter signals measured by the device every minute;

[0014] The altitude range is 350m-5000m, and the altitude resolution is 75m.

[0015] Preferably, the color mapping matrix is ​​as follows: the color of the first row is purple, the color of the third row is dark blue, the color of the 13th row is light blue, the color of the 25th row and the 31st row are both cyan, the color of the 38th row is green, the color of the 43rd row is light green, the color of the 49th row is yellow, the color of the 57th row is orange, the color of the 63rd row and the 64th row are both red, and the rows that are not explicitly set will be interpolated according to the colors of the upper and lower rows to make the color transition smooth.

[0016] Preferably, the drawing function is specifically as follows: if 1 / 3 of the normalized backscatter signals of the lidar corresponding to all the lowest heights within a certain time period are greater than 2, then the value corresponding to 64 rows of the color mapping matrix is ​​2; conversely, if 1 / 3 of the data are greater than 1, then the value corresponding to 64 rows of the color mapping matrix is ​​1; conversely, if 1 / 3 of the data are greater than 0.5, then the value corresponding to 64 rows of the color mapping matrix is ​​0.5, the value corresponding to 1 row of the color mapping matrix is ​​0, and the values ​​of other rows correspond to the values ​​of different rows in arithmetic progression according to the values ​​of the 64 rows.

[0017] Preferably, the specific calculation formula for the atmospheric boundary layer height in the Raspberry Pi operating system is:

[0018]

[0019] Where: z is the height; a is a selected constant; b is a variable; the value range is the range of height; is the upper and lower limits of the integral; is the backscattered signal of the laser radar;

[0020] The a value is 8 times the resolution of the altitude, and the b resolution is 2 times the resolution of the altitude. The a and b values ​​are automatically determined by the Raspberry Pi operating system based on the data of the measuring instrument. The z value corresponding to the maximum value is the altitude PBLH of the atmospheric boundary layer at the current location.

[0021] Preferably, the measuring device further comprises a cloud platform, which generates a color image and atmospheric boundary layer height PBL data at the current position and transmits them to the cloud platform via a network connection of the communication module;

[0022] The device also includes a remote control terminal, which is used to remotely log in to the Raspberry Pi and perform remote command execution and file transfer through the network connection of the communication module;

[0023] The Raspberry Pi operating system also has an SSH service installed. The SSH service is used for remote command execution and file transfer by logging into the Raspberry Pi system through the remote control terminal; remote command execution includes updating algorithm code, starting programs, and viewing logs.

[0024] Preferably, the SSH service also includes setting up a firewall and SSH key authentication. Since the firewall restricts port access, the SSH key authentication replaces the password;

[0025] The Raspberry Pi operating system has a unique device ID that is tied to the fault log.

[0026] Preferably, the communication module is a SIM7600X module, which supports multiple communication modes and is equipped with a built-in diagnostic function, and can automatically switch to an available mode when the network fluctuates;

[0027] The control terminal also includes a SIM card, which is used to provide authentication information. The network verifies the identity of the device and grants access to the network. The communication module is used to connect the Raspberry Pi to the SIM card and achieve network connection through APN settings and SIM card authentication.

[0028] The control terminal also includes a driver program, which is responsible for identifying the communication module and providing communication support.

[0029] A device for measuring the atmospheric boundary layer based on a laser radar of a Raspberry Pi, the measuring device also includes a base, a laser radar transmitting module, a receiving module, a radiator, a power supply, a control terminal, a display, a cloud platform and a remote control terminal;

[0030] The laser radar transmitting module, receiving module, radiator, power supply, control terminal and display are all installed on the bottom plate.

[0031] The control terminal includes a communication module and a Raspberry Pi with an operating system installed; the display of the Raspberry Pi is used to display color images.

[0032] The present invention provides a method and device for measuring the atmospheric boundary layer using a laser radar based on a Raspberry Pi. The method has the following beneficial effects:

[0033] (1) The method and device for measuring the atmospheric boundary layer by using a laser radar based on Raspberry Pi of the present invention is a miniaturized and intelligent laser radar measuring instrument based on Raspberry Pi, which utilizes the flexibility and expansibility of Raspberry Pi to realize real-time data acquisition and efficient processing of the laser radar module. At the same time, by combining communication modules such as SIM7600X and configuring a SIM card, remote transmission and cloud storage of data can be realized; remote access based on the network connection of the communication module and the SIM card can be realized on the Raspberry Pi, and the algorithm code can be upgraded and optimized online, thereby enhancing the application flexibility and maintainability of the instrument.

[0034] (2) The control terminal step in the present invention can automatically determine parameters and process relevant data, form a color image in real time and obtain the atmospheric boundary layer height PBL at the current position, and provide high-precision boundary layer height information to achieve application in real-time monitoring and emergency response.

[0035] (3) The Raspberry Pi in the present invention uploads data to the cloud through a network connection based on a communication module and a SIM card. By assigning a unique device ID and binding the device ID with a fault log, it can manage multiple devices on the cloud platform, analyze the atmospheric boundary layer data in the area, and troubleshoot equipment faults.

[0036] (4) The test instrument of the present invention is used to improve the security of the device and ensure the security of network communications by setting up a firewall and an SSH key authentication firewall, thereby ensuring the reliability of the data security transmission process.

[0037] (5) The device for measuring the atmospheric boundary layer by using a lidar based on Raspberry Pi of the present invention has the advantages of small size, simple operation, and strong real-time detection data. It can significantly reduce labor costs through comprehensive management and synergy of multiple devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a schematic diagram of the structure of the device for measuring the atmospheric boundary layer using a laser radar according to this embodiment;

[0039] Figure 2 for Figure 1 The structural diagram of the control terminal;

[0040] Figure 3 This is a working flow chart of the device for measuring the atmospheric boundary layer using a laser radar in this embodiment;

[0041] Figure 4 This is a display diagram of the color image result generated in this embodiment.

[0042] In the figure: 1. LiDAR transmitting module; 2. Receiving module; 3. Radiator; 4. Power supply; 5. Control terminal; 6. Display; 7. Base; 8. Raspberry Pi with installed system; 9. Communication module; 10. SIM card; 11. Cloud platform; 12. Remote control terminal. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0044] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] Example 1

[0046] like Figure 1 and Figure 2 As shown, the present invention provides a method and device for measuring the atmospheric boundary layer by a laser radar based on Raspberry Pi: comprising a measuring device, the measuring device comprising a base 7, a laser radar transmitting module 1, a receiving module 2, a radiator 3, a power supply 4, a control terminal 5, and a display 6; the control terminal 5 comprises a Raspberry Pi 8 with an installed operating system and a communication module 9.

[0047] The laser radar transmitting module 1, receiving module 2, radiator 3, power supply 4, control terminal 5 and display 6 are all installed on the base plate 7; the laser radar transmitting module 1 is fixedly set on the upper left end of the base 7, and the receiving module 2 is set on the ground plate at the right end of the laser radar transmitting module 1, and is set close to the laser radar transmitting module 1; the display 6 is fixedly set on the right side of the base 7; the radiator 3 is fixedly set in the middle position of the base 7; the control terminal 5 is fixedly set at the lower right end of the base; the power supply is fixedly set at the lower left end of the base.

[0048] like Figure 3 As shown, the working process of the measuring device of the present invention is: the laser radar transmitting module 1 is used to transmit laser pulses to the atmosphere; the receiving module 2 is used to receive the laser radar backscattering signal generated by the laser radar transmitting module 1 and transmit it to the control terminal 5.

[0049] The Raspberry Pi 5 in the control terminal 5 is used to receive the backscattered signal sent by the receiving module 2, and process the backscattered signal data to generate a color image and obtain the atmospheric boundary layer height PBL at the current position; and transmit the generated color image and the atmospheric boundary layer height PBL data at the current position to the cloud platform 11 through the network connection of the communication module 9.

[0050] The remote control terminal 12 is used to remotely log in to the Raspberry Pi 8, and to perform remote command execution and file transfer through the network connection of the communication module 9. Specifically, the operating system of the Raspberry Pi 8 is also installed with an SSH service, which is used for remote command execution and file transfer by logging into the Raspberry Pi 8 system through the remote control terminal 12; remote command execution includes updating algorithm code, starting the program, and viewing logs. Among them, updating the algorithm code specifically includes: after logging in to the Raspberry Pi 8 using the SSH client, enter the code storage directory; use scp or rsync to transfer the new algorithm code package from the remote control terminal 12 to the Raspberry Pi 8; enter the code directory, unzip the latest code package, and then update it; after updating, run the test script to ensure that the algorithm works normally on the Raspberry Pi.

[0051] SSH service also includes setting up firewalls and SSH key authentication. Firewalls restrict port access, and SSH key authentication replaces passwords to improve device security. Firewalls work with communication modules to ensure network communication security, thereby ensuring data security.

[0052] The operating system of Raspberry Pi 8 has a unique device ID, which is bound to the fault log. The PBL and image data displayed on the management interface of the cloud platform 11 distinguish the data sources of different devices through the unique device ID. At the same time, the unique device ID is bound to the fault log. Through the cloud log function, the time, data volume and error information of each data upload are recorded to quickly locate the problem, which can realize multi-device fault location and batch repair.

[0053] The control terminal 5 also includes a SIM card 10, which is used to provide authentication information. The network verifies the identity of the device and grants access to the network. The communication module 9 is used to connect the Raspberry Pi 8 and the SIM card 10, and to achieve network connection through APN settings and SIM card 10 authentication. The control terminal 5 also includes a driver. The driver identifies the module and provides communication support. By installing the driver, it ensures seamless integration with the Raspberry Pi with the installed system.

[0054] The communication module 9 is a SIM7600X module. The SIM7600X module 9 specifically includes a main control chip processor, a SIM card slot and a USB interface. The main control chip processor is responsible for all logic processing and communication control of the module. The SIM card slot is used to insert a SIM card for communication through a mobile network. The USB interface is used to connect the SIM7600X module to the Raspberry Pi 8 for data transmission. The communication module 9 contains a complete network protocol stack, which is responsible for interacting with the network and transmitting data. It processes network requests from the application layer and packages the data and sends it to the communication network. The communication module 9 supports multiple communication modes and is equipped with a built-in diagnostic function to detect signal strength and connection quality in real time, and can automatically switch to an available mode when the network fluctuates.

[0055] The method and device for measuring the atmospheric boundary layer by a laser radar based on Raspberry Pi of the present invention is a miniaturized and intelligent laser radar measuring instrument based on Raspberry Pi. By utilizing the flexibility and scalability of Raspberry Pi, real-time data acquisition and efficient processing of the laser radar module can be realized. In combination with communication modules such as SIM7600X, by configuring a SIM card to support 4G / 5G network communication, remote transmission and cloud storage of data can be realized; through the remote management function of Raspberry Pi, the algorithm code can be upgraded and optimized online, thereby enhancing the application flexibility and maintainability of the instrument. The measuring device of the present invention is small in size and simple to operate. It can significantly reduce labor costs through multi-device management and synergy.

[0056] Example 2

[0057] The specific measurement method of the Raspberry Pi-based laser radar device for measuring the atmospheric boundary layer of the present invention comprises the following steps:

[0058] S1, the laser radar transmitting module 1 transmits laser pulses into the atmosphere, and the receiving module 2 receives the laser radar backscattering signal generated by the laser radar transmitting module 1 and transmits it to the control terminal 5;

[0059] S2, the Raspberry Pi 8 in the control terminal 5 receives the laser radar backscattering signal of a certain time period transmitted by the receiving module 2, and processes the data;

[0060] S3, the Raspberry Pi 8 in the control terminal 5 processes the laser radar backscatter signal data in a certain period of time into a color image, specifically:

[0061] The defined drawing function, the operating system of Raspberry Pi 8 includes a color mapping matrix, which is specifically a 64-row matrix containing specific color values, each row of the color mapping matrix corresponds to a color; the color of the first row is purple, the third row: the color is dark blue, the 13th row: the color is light blue, the 25th and 31st rows: the colors are both cyan, the 38th row: the color is green, the 43rd row: the color is light green, the 49th row: the color is yellow, the 57th row: the color is orange, the 63rd and 64th rows: the colors are both red, and the rows that are not explicitly set will be interpolated according to the colors of the upper and lower rows to make the color transition smooth.

[0062] The data measured by the device is a two-dimensional array data of a set of heights and corresponding laser radar backscatter signals measured by the device every minute; the height range is 350m-5000m, and the height resolution is 75m.

[0063] Raspberry Pi 8 automatically determines that if 1 / 3 of the laser radar normalized backscatter signals corresponding to the lowest height of the time period for the color image to be generated are greater than 2, the value corresponding to the 64th row of the color mapping matrix is ​​2; if 1 / 3 of the data are greater than 1, the value corresponding to the 64th row of the color mapping matrix is ​​1; if 1 / 3 of the data are greater than 0.5, the value corresponding to the 64th row of the color mapping matrix is ​​0.5, the value corresponding to the 1st row of the color mapping matrix is ​​0, and the values ​​of the other rows correspond to the values ​​of different rows in arithmetic progression according to the values ​​of the 64th row. Apply the defined color mapping rules to render the data into a color image so that each data value corresponds to a specific color;

[0064] The Raspberry Pi 8 renders all the data of the two-dimensional array of height and corresponding LiDAR backscatter signal into an image through the drawing function described above, and applies the defined color mapping so that each data value corresponds to a specific color. In order to make the relationship between color and data clearer, a color bar is added to the image to mark the color range corresponding to the data value. The resulting color image is directly displayed on the monitor 6 of the Raspberry Pi 8 connected to the installed system. Figure 4 As shown, the image will show a gradient effect from purple to red, which can clearly show the distribution of the data.

[0065] S4. Raspberry Pi (8) processes the laser radar backscatter signal of a certain time period to obtain the atmospheric boundary layer of this time period: Raspberry Pi 8 operating system uses the wavelet covariance method to obtain the atmospheric boundary layer height PBL, and the specific formula is as follows:

[0066]

[0067] Where z is the height; a is the selected constant; b is the variable; the value range is the range of height; z t 、z b are the upper and lower limits of the integration, and X(z) is the laser radar backscatter signal.

[0068] The Raspberry Pi 8 operating system will automatically determine the appropriate a and b values ​​based on the device data. The a value is 8 times the resolution of the height, and the b resolution is 2 times the resolution of the height. At this time, the processing result is the best. The z value corresponding to the maximum value of W(a, b) is the height PBL corresponding to the atmospheric boundary layer at the current location.

[0069] S5. Set up SSH service on the Raspberry Pi 8 operating system for remote management and maintenance of the device. After starting the SSH service on the Raspberry Pi 8 operating system, obtain the current public network IP through code commands. The public network IP is obtained through the network of the communication module 9 and recorded for remote access; at the same time, enable the SSH service for remote access using the TCP protocol to ensure that remote access is secure and reliable.

[0070] Log in to the Raspberry Pi 8 with the installed system from the remote control terminal 12 through SSH. The SSH protocol is used for file transfer and remote command execution. After sending the code package to the Raspberry Pi 8 with the installed system, enter the code directory and update the algorithm code. In this process, ensure the stability of the network and the integrity of the algorithm execution environment;

[0071] Set up a firewall in the SSH service to limit port access, set up SSH key authentication instead of passwords, and improve the security of the device. The firewall cooperates with the communication module 9 to ensure the security of network communications, thereby ensuring the security of data.

[0072] S6. Configure the Git repository to ensure that the Raspberry Pi 8 with the system installed can access the remote Git repository through SSH keys and other methods. The Git command communicates with the remote repository through the IP protocol, and the communication module 9 and the SIM card 10 provide network support.

[0073] S7. Execute the algorithm code on the Raspberry Pi 8 with the system installed to test the update effect. The code execution results are fed back to the remote computer through the network.

[0074] S8. Write a detection script to regularly monitor the network connection status of the communication module 9 and the SIM card 10, troubleshoot in a timely manner, check and record the code running log, and ensure the stability of the algorithm operation; combine the built-in diagnostic function of the communication module 9 to detect the signal strength and connection quality in real time, and automatically switch the network mode.

[0075] S9, select a cloud platform 11, and create a database on it for storing PBL data and color images. Raspberry Pi 8 uses HTTP / HTTPS protocol for data upload through the network connection of communication module 9 and SIM card 10, configures access rights, and ensures that only authorized devices can upload data; Raspberry Pi 8 obtains the height PBL and color image corresponding to the atmospheric boundary layer at the current position through laser radar backscatter signal data processing, and saves them in txt and png formats respectively; the height PBL data corresponding to the atmospheric boundary layer at the current position and the color image data of the laser radar backscatter signal are packaged into zip format in a time-corresponding form and uploaded to the cloud platform 11 through the communication module 9.

[0076] S10. Log in to the management interface of the cloud platform 11 and browse the uploaded PBL data corresponding to the atmospheric boundary layer at the current location and the color image data of the laser radar backscatter signal. The management interface of the cloud platform 11 displays PBL and image data, and distinguishes the data sources of different devices through a unique device ID; through the logging function of the cloud platform 11, the time, data volume and error information of each data upload are recorded to quickly locate the problem. The device ID is bound to the fault log to achieve multi-device fault location and batch repair. Assign a unique device ID, and the device status and data upload status are displayed in real time on the cloud platform 11. The MQTT protocol is used for status synchronization between devices.

[0077] In summary, the method and device for measuring the atmospheric boundary layer by a lidar based on Raspberry Pi of the present invention realize remote access to the network connection of the communication module and the SIM card on the basis of Raspberry Pi, so as to facilitate the iterative update of the algorithm code by multiple devices; the algorithm based on Raspberry Pi cooperates with multi-device management and synergy to realize real-time and accurate analysis and transmission of the atmospheric boundary layer data in the area, and the security and reliability of the data are significantly improved; at the same time, the measuring device is small in size and simple to operate, which significantly reduces labor costs.

[0078] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A method for measuring the atmospheric boundary layer using a laser radar based on a Raspberry Pi, characterized in that: The measuring device comprises a laser radar transmitting module (1), a receiving module (2) and a control terminal (5); the control terminal (5) comprises a communication module (9) and a Raspberry Pi (8) on which an operating system is installed; The specific measurement method includes the following steps: S1, the laser radar transmitting module (1) transmits a laser pulse into the atmosphere, the receiving module (2) receives a laser radar backscattering signal generated by the laser radar transmitting module (1), and transmits it to a control terminal (5); S2. The Raspberry Pi (8) in the control terminal (5) receives the laser radar backscatter signal of a certain time period transmitted by the receiving module (2), and processes the data into a color image to obtain the atmospheric boundary layer height data of the current position.

2. The method for measuring the atmospheric boundary layer using a laser radar based on Raspberry Pi according to claim 1, characterized in that: In step S2, the Raspberry Pi (8) in the control terminal (5) processes the laser radar backscatter signal data of a certain time period into a color image, and the specific steps are as follows: Drawing function defined in S2.1: The operating system of the Raspberry Pi (8) includes a color mapping matrix, wherein the color mapping matrix is ​​specifically a matrix having 64 rows containing specific color values, and each row of the color mapping matrix corresponds to a color; S2.2 The Raspberry Pi (8) operating system automatically renders the data into a color image based on all the data of the two-dimensional array of the corresponding laser radar backscatter signal according to the height, by applying the defined color mapping rules through the defined drawing function, so that each data value corresponds to a specific color; The atmospheric boundary layer of a certain period of time is obtained by processing the lidar backscatter signal of this period of time.

3. The method for measuring the atmospheric boundary layer using a laser radar based on Raspberry Pi according to claim 2, characterized in that: The data measured by the device is a two-dimensional array data of a set of heights and corresponding laser radar backscatter signals measured by the device every minute; The altitude ranges from 350m to 5000m, and the altitude resolution is 75m.

4. The method for measuring the atmospheric boundary layer using a laser radar based on Raspberry Pi according to claim 2, characterized in that: The color mapping matrix is ​​specifically purple in the first row, dark blue in the third row, light blue in the 13th row, cyan in the 25th row and the 31st row, green in the 38th row, light green in the 43rd row, yellow in the 49th row, orange in the 57th row, red in the 63rd row and the 64th row. The rows that are not explicitly set will be interpolated according to the colors of the upper and lower rows to make the color transition smooth.

5. The method for measuring the atmospheric boundary layer using a laser radar based on Raspberry Pi according to claim 4, characterized in that: The drawing function is specifically: if 1 / 3 of the laser radar normalized backscatter signals corresponding to all the lowest heights within a certain time period are greater than 2, the values ​​corresponding to 64 rows of the color mapping matrix are 2; otherwise, if 1 / 3 of the data are greater than 1, the values ​​corresponding to 64 rows of the color mapping matrix are 1; otherwise, if 1 / 3 of the data are greater than 0.5, the values ​​corresponding to 64 rows of the color mapping matrix are 0.5, the value corresponding to 1 row of the color mapping matrix is ​​0, and the values ​​of other rows are arithmetically spaced to correspond to the values ​​of different rows according to the values ​​of the 64 rows.

6. The method for measuring the atmospheric boundary layer using a laser radar based on Raspberry Pi according to claim 5, characterized in that: The specific calculation formula of the atmospheric boundary layer height in the operating system of the Raspberry Pi (8) is: Where: z is the height; a is the selected constant; b is the variable; the value range is the range of height; z t 、z b are the upper and lower limits of the integration; X(z) is the backscattered signal of the laser radar; The a value is 8 times the resolution of the altitude, and the b resolution is 2 times the resolution of the altitude. The a and b values ​​are automatically determined by the Raspberry Pi (8) operating system based on the data of the measuring instrument. The z value corresponding to the maximum value of W(a, b) is the altitude PBLH corresponding to the atmospheric boundary layer at the current position.

7. The method for measuring the atmospheric boundary layer using a laser radar based on Raspberry Pi according to claim 1, characterized in that: The measuring device also includes a cloud platform (11), which generates a color image and atmospheric boundary layer height PBL data at the current position and transmits them to the cloud platform (11) through the network connection of the communication module (9); The device also includes a remote control terminal (12), which is used to remotely log in to the Raspberry Pi (8) and perform remote command execution and file transmission through the network connection of the communication module (9); The operating system of the Raspberry Pi (8) is also installed with an SSH service, which is used for remote command execution and file transfer by logging into the Raspberry Pi (8) system through the remote control terminal (12); the remote command execution includes updating algorithm code, starting a program and viewing logs.

8. The method for measuring the atmospheric boundary layer using a laser radar based on Raspberry Pi according to claim 7, characterized in that: The SSH service also includes setting up a firewall and SSH key authentication. Since the firewall restricts port access, the SSH key authentication replaces the password; The operating system of the Raspberry Pi (8) has a unique device ID and is bound to the fault log.

9. The method for measuring the atmospheric boundary layer using a laser radar based on Raspberry Pi according to claim 1, characterized in that: The communication module (9) is a SIM7600X module, which supports multiple communication modes and is equipped with a built-in diagnostic function, and can automatically switch to an available mode when the network fluctuates; The control terminal (5) further comprises a SIM card (10), wherein the SIM card (10) is used to provide authentication information, and the network verifies the identity of the device and grants the right to access the network; the communication module (9) is used to connect the Raspberry Pi (8) and the SIM card (10), and to achieve network connection through APN setting and authentication with the SIM card (10); The control terminal (5) also includes a driver program, which is responsible for identifying the communication module (9) and providing communication support.

10. A device for measuring the atmospheric boundary layer using a laser radar based on Raspberry Pi, characterized in that: A method for measuring the atmospheric boundary layer using a Raspberry Pi-based laser radar according to any one of claims 1 to 9, characterized in that the measuring device further comprises a base (7), a laser radar transmitting module (1), a receiving module (2), a heat sink (3), a power supply (4), a control terminal (5), a display (6), a cloud platform (11) and a remote control terminal (12); The laser radar transmitting module (1), receiving module (2), radiator (3), power supply (4), control terminal (5) and display (6) are all mounted on a bottom plate (7). The control terminal (5) comprises a communication module (9) and a Raspberry Pi (8) on which an operating system has been installed; the display (6) of the Raspberry Pi (8) is used for displaying color images.

Images