CN108008468B - Natural disaster detection device with accurate detection - Google Patents

Natural disaster detection device with accurate detection Download PDF

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CN108008468B
CN108008468B CN201711437051.0A CN201711437051A CN108008468B CN 108008468 B CN108008468 B CN 108008468B CN 201711437051 A CN201711437051 A CN 201711437051A CN 108008468 B CN108008468 B CN 108008468B
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positioning
detection
detection device
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evaluation value
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CN108008468A (en
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马董伟
苏瀚
宋炎
方荣耀
孙秀容
程丹秋
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Nanjing Ningxing Safety Technology Research Institute Co.,Ltd.
SHANGHAI SHENFENG INSTITUTE OF NOVEL GEOLOGICAL TECHNIQUES Co.,Ltd.
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Shanghai Shenfeng Institute Of Novel Geological Techniques Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G08B21/10—Alarms for ensuring the safety of persons responsive to calamitous events, e.g. tornados or earthquakes

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Abstract

The invention provides a natural disaster detection device with accurate detection, which comprises a task system, a positioning system, a detection system and an early warning system, wherein the task system comprises a task platform, a positioning system, a detection system and a warning system; the task system is used for determining a detection area and a detection task and sending the detection task to the detection system, the positioning system is used for obtaining the positioning of the detection device and sending the positioning to the detection system, the detection system detects natural disasters at the position of the detection device by using the detector according to the detection task, the detector comprises a vibration detector, an inclination detector and a meteorological detector, and the early warning system sends out natural disaster early warning according to the detection condition. The invention has the beneficial effects that: by positioning the detection device and adopting various detectors to detect the natural disasters, the accurate detection and early warning of the natural disasters are realized.

Description

Natural disaster detection device with accurate detection
Technical Field
The invention relates to the technical field of natural disasters, in particular to a natural disaster detection device capable of accurately detecting natural disasters.
Background
China is one of countries in the world with frequent occurrence of natural disasters, various disasters and serious life and property losses, and a great number of casualties can be caused every year, so that how to accurately detect natural disasters becomes a difficult problem in front of people.
Disclosure of Invention
In view of the above problems, the present invention is directed to provide a natural disaster detection device that can detect a natural disaster accurately.
The purpose of the invention is realized by adopting the following technical scheme:
the natural disaster detection device comprises a task system, a positioning system, a detection system and an early warning system; the task system is used for determining a detection area and a detection task and sending the detection task to the detection system, the positioning system is used for obtaining the positioning of the detection device and sending the positioning to the detection system, the detection system detects natural disasters at the position of the detection device by using the detector according to the detection task, the detector comprises a vibration detector, an inclination detector and a meteorological detector, and the early warning system sends out natural disaster early warning according to the detection condition.
The invention has the beneficial effects that: by positioning the detection device and adopting various detectors to detect the natural disasters, the accurate detection and early warning of the natural disasters are realized.
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The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
FIG. 1 is a schematic structural view of the present invention;
reference numerals:
the system comprises a task system 1, a positioning system 2, a detection system 3 and an early warning system 4.
Detailed Description
The invention is further described with reference to the following examples.
Referring to fig. 1, the natural disaster detection device for accurately detecting natural disasters of the present embodiment includes a task system 1, a positioning system 2, a detection system 3, and an early warning system 4; the task system 1 is used for determining a detection area and a detection task and sending the detection task to the detection system 3, the positioning system 2 is used for obtaining the positioning of the detection device and sending the positioning to the detection system 3, the detection system 3 detects natural disasters at the position of the detection device by using a detector according to the detection task, the detector comprises a vibration detector, an inclination detector and a meteorological detector, and the early warning system 4 sends out natural disaster early warning according to the detection condition.
This embodiment adopts multiple detector to survey natural disasters through fixing a position detection device, has realized natural disasters' accurate detection and early warning.
Preferably, the positioning system 2 includes a first positioning unit, a second positioning unit, a comprehensive positioning unit, and an evaluation unit, the first positioning unit obtains a first position of the detection device based on the global positioning system, the second positioning unit obtains a second position of the detection device based on the laser range finder, the comprehensive positioning unit is configured to determine the positioning of the detection device according to the first position and the second position, and the evaluation unit is configured to evaluate the positioning accuracy.
The positioning system of the preferred embodiment positions the detection device through the first position and the second position, and improves the positioning accuracy of the detection device.
Preferably, the second positioning unit includes a primary data acquiring unit, a secondary data processing unit, a tertiary feature extracting unit and a quartic map matching unit, the primary data acquiring unit is used for the laser range finder to acquire laser scanning data of the surrounding environment, the secondary data processing unit is used for rejecting wrong laser scanning data, the tertiary feature extracting unit is used for extracting line segment feature information of the surrounding environment according to the processed laser scanning data, and the quartic map matching unit is used for matching the line segment feature information with a map to acquire second position information of the detection device.
In the preferred embodiment, the second positioning unit extracts the feature information of the surrounding line segment through the laser scanning data, and matches the feature information with the map, so as to obtain the accurate second position information of the detection device.
Preferably, the tertiary feature extraction unit includes a primary modeling subunit and a secondary extraction subunit, the primary modeling subunit is configured to establish an environment model, and the secondary extraction subunit is configured to extract line segment feature information according to the environment model;
the primary modeling subunit is used for establishing an environment model: representing the plane in the environment by a line segment in a map, wherein the line segment P is the line segment in the map1P2Corresponding to a plane in the environment, from the origin of coordinates O to P1P2Making a perpendicular line, intersecting at a point P, and assuming that A (x, y) is a line segment P1P2A point above, line segment P1P2Expressed in the global coordinate system as xcos β + ysin β -rho being 0, in the formula β represents the angle between OP and the positive direction of the X axis of the global coordinate system, and rho represents the vector
Figure BDA0001526000180000021
In the unit vector
Figure BDA0001526000180000022
Projection of (2); the local coordinate system of the detecting device is superposed with the local coordinate system of the laser range finder, and certain laser scanning data is set as (rho)i,αi)，ρiIndicating the measured distance, αiRepresenting the angle of the laser beam in the positive direction of the x-axis of the local coordinate system of the detection device, the coordinates (x) of the scan data in the local coordinate system of the detection devicei,yi) Comprises the following steps:
Figure BDA0001526000180000023
the secondary extraction subunit is used for extracting the line segment characteristic information according to the environment model: the position vector X (k) of the probe at time k is represented by [ x (k), y (k), and θ (k)]TThat is, the laser distance measuring device scans the surroundings of the detection device once at this time, and n discrete laser scanning data are obtained, which are expressed in polar coordinate form and in (x) in the local coordinate system of the detection deviceL(i),yL(i) (1. ltoreq. i. ltoreq. n) and the corresponding coordinate in the global coordinate system is (x)G(i),yG(i))(1≤i≤n)。
The fourth timeThe map matching unit is used for matching the line segment characteristic information with a map: segment P corresponding in a map for a plane in an environment1P2If the laser beam impinges on the plane and the return data is expressed in polar coordinates as (p)i,αi) Then the global coordinate is (x)G(i),yG(i) ); the matching factor is calculated using the following formula: RU ═ 2+ | xG(i)cosβ+yG(i)sinβ-ρ|2MH ∈ [150mm,250mm ] if RU is less than or equal to MH]Then point (x)G(i),yG(i) And line segment P)1P2Matching; finding the line segment P from the n laser data1P2And matching the line segment characteristic information and the map by the matched data.
The preferred embodiment realizes the environmental modeling and the extraction of the environmental line segment characteristics, and the matching performance is improved by adopting the matching factors to match the line segment characteristic information with the map due to the measurement error of the laser range finder.
Preferably, the integrated positioning unit is configured to determine the positioning of the detection device according to the first position and the second position: RX = q1RX1+q2RX2In the formula, RX denotes the positioning of the probe device, RX1Indicating a first position, RX, of the detecting means2Indicating a second position of the detecting means, q1、q2Representing the weight coefficient, q1+q2＝1.
The evaluation unit includes a first precision evaluation subunit for acquiring a first evaluation value of the positioning precision of the detection device, a second precision evaluation subunit for acquiring a second evaluation value of the positioning precision of the detection device, and a comprehensive precision evaluation subunit for evaluating the positioning precision based on the first evaluation value and the second evaluation value.
The first precision evaluation subunit is configured to obtain a first evaluation value of the positioning precision of the detection device, and the first evaluation value is performed according to the following formula:
Figure BDA0001526000180000031
in-situ typeZili, DT1Indicating a first evaluation value, n indicating the number of times of positioning of the detecting means, FNiRepresenting the true position of the probe in the ith position fix, RXiIndicating the location of the detecting device in the ith location;
the second precision evaluation subunit is configured to obtain a first evaluation value of the positioning precision of the detection device, and the first evaluation value is performed according to the following formula:
Figure BDA0001526000180000032
in the formula, DT2Denotes a second evaluation value, m denotes the number of detection devices, FNjIndicating the true position of the j-th probe, RXjIndicating the location of the jth probe device;
the comprehensive precision evaluation subunit evaluates the positioning precision according to the first evaluation value and the second evaluation value: calculating a comprehensive evaluation value of positioning accuracy:
Figure BDA0001526000180000033
in the formula, DT represents a comprehensive evaluation value; the smaller the overall evaluation value is, the higher the positioning accuracy is.
The comprehensive positioning unit of the preferred embodiment obtains the positioning of the detection device based on satellite positioning and a laser range finder, and the positioning result is more accurate; the evaluation unit guarantees positioning accuracy, lays a foundation for subsequent detection devices to complete tasks, specifically, the first evaluation value is obtained by positioning the detection devices for multiple times, the second evaluation value is obtained by positioning the detection devices, the comprehensive evaluation value is obtained by calculating the first evaluation value and the second evaluation value, and accurate evaluation of the positioning accuracy is achieved.
The natural disaster detection device with accurate detection is adopted to detect natural disasters, 5 detection areas are selected to carry out simulation experiments, namely a detection area 1, a detection area 2, a detection area 3, a detection area 4 and a detection area 5, the detection efficiency and the detection accuracy are counted, and compared with the existing detection device, the natural disaster detection device has the following beneficial effects:
detection efficiency improvement Detection accuracy improvement
Detection area 1 29％ 27％
Detection area 2 27％ 26％
Detection area 3 26％ 26％
Detection region 4 25％ 24％
Detection region 5 24％ 22％
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims (1)

1. A natural disaster detection device with accurate detection is characterized by comprising a task system, a positioning system, a detection system and an early warning system; the task system is used for determining a detection area and a detection task and sending the detection task to the detection system, the positioning system is used for obtaining the positioning of the detection device and sending the positioning to the detection system, the detection system utilizes the detector to detect the natural disaster at the position of the detection device according to the detection task, the detector comprises a vibration detector, an inclination detector and a meteorological detector, the early warning system sends out natural disaster early warning according to the detection condition, the positioning system comprises a first positioning unit, a second positioning unit, a comprehensive positioning unit and an evaluation unit, the first positioning unit obtains the first position of the detection device based on a global positioning system, the second positioning unit obtains the second position of the detection device based on a laser range finder, and the comprehensive positioning unit is used for determining the positioning of the detection device according to the first position and the second position, the evaluation unit is used for evaluating the positioning precision; the second positioning unit comprises a primary data acquisition unit, a secondary data processing unit, a tertiary feature extraction unit and a quartic map matching unit, the primary data acquisition unit is used for acquiring laser scanning data of the surrounding environment by the laser range finder, the secondary data processing unit is used for eliminating wrong laser scanning data, the tertiary feature extraction unit is used for extracting line segment feature information of the surrounding environment according to the processed laser scanning data, the quartic map matching unit is used for matching the line segment feature information with a map to acquire second position information of the detection device, the tertiary feature extraction unit comprises a primary modeling subunit and a secondary extraction subunit, the primary modeling subunit is used for establishing an environment model, and the secondary extraction subunit is used for extracting line segment feature information according to the environment model;
the primary modeling subunit is used for establishing an environment model: representing the plane in the environment by a line segment in a map, wherein the line segment P is the line segment in the map1P2Corresponding to a plane in the environment, from the origin of coordinates O to P1P2Making a perpendicular line, intersecting at a point P, and assuming that A (x, y) is a line segment P1P2A point above, line segment P1P2Expressed in the global coordinate system as xcos β + ysin β -rho being 0, in the formula β represents the angle between OP and the positive direction of the X axis of the global coordinate system, and rho represents the vector
Figure FDA0002310785230000011
In the unit vector
Figure FDA0002310785230000012
Projection of (2); the local coordinate system of the detecting device is superposed with the local coordinate system of the laser range finder, and certain laser scanning data is set as (rho)i，αi)，ρiIndicating the measured distance, αiRepresenting the angle of the laser beam in the positive direction of the x-axis of the local coordinate system of the detection device, the coordinates (x) of the scan data in the local coordinate system of the detection devicei，yi) Comprises the following steps:
Figure FDA0002310785230000013
the secondary extraction subunit is used for extracting the line segment characteristic information according to the environment model: the position vector X (k) of the probe at time k is represented by [ x (k), y (k), and θ (k)]TThat is, the laser distance measuring device scans the surroundings of the detection device once at this time, and n discrete laser scanning data are obtained, which are expressed in polar coordinate form and in (x) in the local coordinate system of the detection deviceL(i)，yL(i) 1 ≦ i ≦ n, and the corresponding coordinate in the global coordinate system is (x)G(i)，yG(i) I is more than or equal to 1 and less than or equal to n, and the quartic map matching unit is used for matching the line segment characteristic information with the map: segment P corresponding in a map for a plane in an environment1P2If the laser beam impinges on the plane and the return data is expressed in polar coordinates as (p)i，αi) Then the global coordinate is (x)G(i)，yG(i) ); the matching factor is calculated using the following formula: RU ═ 2+ | xG(i)cosβ+yG(i)sinβ-ρ|2MH ∈ [150mm,250mm ] if RU is less than or equal to MH]Then point (x)G(i)，yG(i) And line segment P)1P2Matching; finding the line segment P from the n laser data1P2Matching the line segment characteristic information and the map by the matched data; the integrated positioning unit is used for determining the positioning of the detection device according to the first position and the second position: RX ═ q1RX1+q2RX2In the formula, RX denotes the positioning of the probe device, RX1Indicating a first position, RX, of the detecting means2Indicating a second position of the detecting means, q1、q2Representing the weight coefficient, q1+q2＝1；
The evaluation unit comprises a first precision evaluation subunit, a second precision evaluation subunit and a comprehensive precision evaluation subunit, wherein the first precision evaluation subunit is used for acquiring a first evaluation value of the positioning precision of the detection device, the second precision evaluation subunit is used for acquiring a second evaluation value of the positioning precision of the detection device, and the comprehensive precision evaluation subunit evaluates the positioning precision according to the first evaluation value and the second evaluation value; the first precision evaluation subunit is configured to obtain a first evaluation value of the positioning precision of the detection device, and the first evaluation value is performed according to the following formula:
Figure FDA0002310785230000021
in the formula, DT1Indicating a first evaluation value, n indicating the number of times of positioning of the detecting means, FNiRepresenting the true position of the probe in the ith position fix, RXiIndicating the location of the detecting device in the ith location;
the second precision evaluation subunit is configured to obtain a second evaluation value of the positioning precision of the detection device, and the second evaluation value is performed according to the following formula:
Figure FDA0002310785230000022
in the formula, DT2Denotes a second evaluation value, m denotes the number of detection devices, FNjIndicating the true position of the j-th probe, RXjIndicating the location of the jth probe device;
the comprehensive precision evaluation subunit evaluates the positioning precision according to the first evaluation value and the second evaluation value: calculating a comprehensive evaluation value of positioning accuracy:
Figure FDA0002310785230000023
in the formula, DT represents a comprehensive evaluation value; the smaller the overall evaluation value is, the higher the positioning accuracy is.
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