CN108760987A - Atmosphere pollution intelligence observation system - Google Patents
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- CN108760987A CN108760987A CN201810550370.0A CN201810550370A CN108760987A CN 108760987 A CN108760987 A CN 108760987A CN 201810550370 A CN201810550370 A CN 201810550370A CN 108760987 A CN108760987 A CN 108760987A
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- 239000003344 environmental pollutant Substances 0.000 claims abstract description 87
- 231100000719 pollutant Toxicity 0.000 claims abstract description 87
- 230000004927 fusion Effects 0.000 claims abstract description 39
- 238000012545 processing Methods 0.000 claims abstract description 19
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 claims abstract description 8
- 238000012806 monitoring device Methods 0.000 claims abstract description 7
- 230000008569 process Effects 0.000 claims abstract description 6
- 230000002159 abnormal effect Effects 0.000 claims description 15
- 238000009826 distribution Methods 0.000 claims description 13
- RAHZWNYVWXNFOC-UHFFFAOYSA-N Sulphur dioxide Chemical compound O=S=O RAHZWNYVWXNFOC-UHFFFAOYSA-N 0.000 claims description 8
- MWUXSHHQAYIFBG-UHFFFAOYSA-N Nitric oxide Chemical compound O=[N] MWUXSHHQAYIFBG-UHFFFAOYSA-N 0.000 claims description 6
- 230000005856 abnormality Effects 0.000 claims description 4
- 239000002245 particle Substances 0.000 claims description 4
- 238000012800 visualization Methods 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 2
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 claims 1
- 229960004424 carbon dioxide Drugs 0.000 claims 1
- 229910002090 carbon oxide Inorganic materials 0.000 claims 1
- 238000007405 data analysis Methods 0.000 description 11
- 238000012544 monitoring process Methods 0.000 description 5
- 238000004364 calculation method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- KLDZYURQCUYZBL-UHFFFAOYSA-N 2-[3-[(2-hydroxyphenyl)methylideneamino]propyliminomethyl]phenol Chemical compound OC1=CC=CC=C1C=NCCCN=CC1=CC=CC=C1O KLDZYURQCUYZBL-UHFFFAOYSA-N 0.000 description 1
- 230000002547 anomalous effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 201000001098 delayed sleep phase syndrome Diseases 0.000 description 1
- 208000033921 delayed sleep phase type circadian rhythm sleep disease Diseases 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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- 229910052757 nitrogen Inorganic materials 0.000 description 1
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- 238000007254 oxidation reaction Methods 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0027—General constructional details of gas analysers, e.g. portable test equipment concerning the detector
- G01N33/0036—General constructional details of gas analysers, e.g. portable test equipment concerning the detector specially adapted to detect a particular component
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N15/00—Investigating characteristics of particles; Investigating permeability, pore-volume or surface-area of porous materials
- G01N15/06—Investigating concentration of particle suspensions
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- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0027—General constructional details of gas analysers, e.g. portable test equipment concerning the detector
- G01N33/0036—General constructional details of gas analysers, e.g. portable test equipment concerning the detector specially adapted to detect a particular component
- G01N33/004—CO or CO2
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- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/0004—Gaseous mixtures, e.g. polluted air
- G01N33/0009—General constructional details of gas analysers, e.g. portable test equipment
- G01N33/0027—General constructional details of gas analysers, e.g. portable test equipment concerning the detector
- G01N33/0036—General constructional details of gas analysers, e.g. portable test equipment concerning the detector specially adapted to detect a particular component
- G01N33/0042—SO2 or SO3
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- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
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- G01N33/0062—General constructional details of gas analysers, e.g. portable test equipment concerning the measuring method or the display, e.g. intermittent measurement or digital display
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- G01N33/0067—General constructional details of gas analysers, e.g. portable test equipment concerning the measuring method or the display, e.g. intermittent measurement or digital display by measuring the rate of variation of the concentration
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- 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
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Abstract
The present invention provides atmosphere pollution intelligence observation systems, including onboard subsystem, data processing centre and display terminal；The onboard subsystem includes Beidou satellite navigation system, pollutant concentration acquisition module and data transmission module；Onboard subsystem obtains observation position information by Beidou satellite navigation system, and the pollutant concentration data of observation position are obtained and pre-processed by pollutant concentration acquisition module, data processing centre is transmitted to through data transmission module；Wherein pollutant concentration acquisition module includes the grating sensing monitoring device of the pollutant concentration data for obtaining observation position；The data processing centre carries out data exception detection process and Data Fusion to pollutant concentration data, and by treated, data are uploaded to display terminal.
Description
Technical field
The present invention relates to air monitoring technical fields, and in particular to atmosphere pollution intelligence observation system.
Background technology
It targetedly carries out atmosphere pollution prevention and control and administers, need to supervise atmosphere pollution spatial and temporal distributions in city
Control.It is too low generally in survey station density, be difficult to measure in real time and from the point of view of the pollutant monitoring present situation of current city
Situation.
In the prior art, pollutant is observed mainly based on surface weather station's observation and emergent mobile observation.
For surface weather station's observation, construction cost is high and by environmental restrictions, and distribution density is too low, can not adapt to air in city
The demand of concentration distribution of pollutants real time monitoring；And for mobile observation, for obtain as far as possible simultaneously time more data,
Need a large amount of mobile observation vehicle, the cost observed so also will be very high, in Business studies pollutant concentration real-time distribution
In be lost practical significance.
Invention content
In view of the above-mentioned problems, the present invention provides atmosphere pollution intelligence observation system.
The purpose of the present invention is realized using following technical scheme：
Provide atmosphere pollution intelligence observation system, including onboard subsystem, data processing centre and display terminal；
The onboard subsystem includes Beidou satellite navigation system, pollutant concentration acquisition module and data transmission module；
Onboard subsystem obtains observation position information by Beidou satellite navigation system, is obtained by pollutant concentration acquisition module and pre-
The pollutant concentration data for handling observation position, data processing centre is transmitted to through data transmission module；Wherein pollutant concentration
Acquisition module includes the grating sensing monitoring device of the pollutant concentration data for obtaining observation position；
The data processing centre carries out data exception detection process and Data Fusion to pollutant concentration data, will
Treated, and data are uploaded to display terminal.
Preferably, grating sensing monitoring device includes：Carbonomonoxide concentration sensor, sulfur dioxide concentration sensor, an oxidation
Nitrogen concentration sensor, particle concentration sensor.
Preferably, the visualization display system includes：The real-time DYNAMIC DISTRIBUTION unit in region, pollutant forecast model products with
And data result release module；
The real-time DYNAMIC DISTRIBUTION unit in region is used to show the real-time distribution figure of urban atmospheric pollution object concentration and consolidates
Determine the tendency chart that place pollutant concentration changes over time；
The forecast model products of the pollutant for the assessment of output area air quality, the forecast of future developing trend and
Suggestion in terms of trip；
The data result release module is for publication observation data result and Related product on the client.
Beneficial effects of the present invention are：Real-time navigation capability based on Beidou satellite navigation system, with urban mass-transit system
For platform, establish urban atmospheric pollution object concentration observational network, realize pollutant mobile observation, observed result more and
When, it is accurate, provide effective support sizes evidence with improvement for urban atmospheric pollution prevention and control.
Description of the drawings
Using attached drawing, the invention will be further described, but the embodiment in attached drawing does not constitute any limit to the present invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is the structural schematic block diagram of the atmosphere pollution intelligence observation system of an illustrative embodiment of the invention；
Fig. 2 is the structural schematic block diagram of the onboard subsystem of an illustrative embodiment of the invention；
Fig. 3 is the structural schematic block diagram of the data processing centre of an illustrative embodiment of the invention.
Reference numeral：
Onboard subsystem 1, data processing centre 2, display terminal 3, Beidou satellite navigation system 10, pollutant concentration acquisition
Module 20, data transmission module 30, data exception detection module 100, Data Fusion module 200.
Specific implementation mode
The invention will be further described with the following Examples.
Referring to Fig. 1, Fig. 2, an embodiment of the present invention provides atmosphere pollution intelligence observation system, including onboard subsystem 1,
Data processing centre 2 and display terminal 3；
The onboard subsystem 1 includes Beidou satellite navigation system 10, pollutant concentration acquisition module 20 and data transmission
Module 30；Onboard subsystem 1 obtains observation position information by Beidou satellite navigation system 10, and mould is acquired by pollutant concentration
Block 20 obtains and pre-processes the pollutant concentration data of observation position, and data processing centre 2 is transmitted to through data transmission module 30；
Wherein pollutant concentration acquisition module 20 includes the grating sensing monitoring device of the pollutant concentration data for obtaining observation position；
The data processing centre 2 carries out data exception detection process and Data Fusion to pollutant concentration data,
By treated, data are uploaded to display terminal 3.
Grating sensing monitoring device includes：Carbonomonoxide concentration sensor, sulfur dioxide concentration sensor, nitric oxide concentration pass
Sensor, particle concentration sensor.
Wherein, the visualization display system includes：The real-time DYNAMIC DISTRIBUTION unit in region, pollutant forecast model products and
Data result release module；
The real-time DYNAMIC DISTRIBUTION unit in region is used to show the real-time distribution figure of urban atmospheric pollution object concentration and consolidates
Determine the tendency chart that place pollutant concentration changes over time；
The forecast model products of the pollutant for the assessment of output area air quality, the forecast of future developing trend and
Suggestion in terms of trip；
The data result release module is for publication observation data result and Related product on the client.
Real-time navigation capability of the above embodiment of the present invention based on Beidou satellite navigation system 10 be with urban mass-transit system
Platform, establishes urban atmospheric pollution object concentration observational network, realizes pollutant mobile observation, observed result more and
When, it is accurate, provide effective support sizes evidence with improvement for urban atmospheric pollution prevention and control.
In one embodiment, as shown in figure 3, the data processing centre 2 includes data exception detection module 100 and data
Fusion treatment module 200, data exception detection module 100 is for carrying out abnormality detection pollutant concentration data and to detecting
Abnormal data repaired, Data Fusion module 200 be used for pollutant concentration data carry out fusion treatment.
In one embodiment, when disposing sensor, monitoring region is subjected to subregion, inhomogeneity is disposed in each subregion
The sensor of type, the quantity for being deployed in the same type of sensor in different subregions is identical, and sets the data of each sensor
Sampling time interval is consistent.Wherein, the type of sensor include carbonomonoxide concentration sensor, sulfur dioxide concentration sensor,
Nitric oxide concentration sensor, particle concentration sensor.
The sensor deployment mode of above-described embodiment can be in order to subsequently carrying out data processing.
In one embodiment, data exception detection module 100 carries out abnormality detection pollutant concentration data, specific to wrap
It includes：
(1) width G for setting data-analysis time window, is received and dispatched using the data-analysis time window real-time scan data
The pollutant concentration data that module 10 is sent, if scanning to a pollutant concentration data ziBeyond preset normal range (NR), then into
Row (2)；Otherwise judge that the pollutant concentration data are normal；
(2) scanning pollutant concentration data z is calculatediData-analysis time window in pollutant concentration data mean value,
Standard deviation and intermediate value；
(3) if pollutant concentration data ziMeet following condition, then judges pollutant concentration data ziIt is normal；Otherwise
Judge pollutant concentration data ziFor abnormal data：
In formula,To scan pollutant concentration data ziData-analysis time window in pollutant concentration data mean value,
U is scanning pollutant concentration data ziData-analysis time window in pollutant concentration data standard deviation.
Pollutant concentration data there is a situation where there are two types of exceptions, first, due to sensor fault, data collection station event
The influence of barrier, the factors such as environment is bad, second is that since robot running parameter itself goes wrong caused exception.It is monitoring
When, since the abnormal data that robot running parameter itself goes wrong and acquires is typically significant data, need to remain
Further data analysis is carried out, and abnormal data caused by due to hardware fault itself etc. is not truthful data, is needed
The false abnormal data is repaired.
For the above situation, the present embodiment innovatively proposes a kind of testing mechanism of abnormal data, which uses
The mode of window scanning is detected pollutant concentration data, due to only to the pollutant concentration beyond preset normal range (NR)
Data carry out abnormality detection, and relative to the mode being detected one by one to pollutant concentration data, can more quickly complete dirt
Contaminate the anomalous identification of object concentration data.
The present embodiment is by analyzing in pollutant concentration data and data-analysis time window beyond default normal range (NR)
Relationship between pollutant concentration data can judge that the pollutant concentration data exceed the practical original of default normal range (NR)
Cause, so that it is determined that whether the abnormal data detected is truthful data.
In one embodiment, data exception detection module 100 repairs the abnormal data detected, specific to wrap
It includes：If judging pollutant concentration data ziFor abnormal data, which is replaced using reparation value, and be marked；
Wherein, set the calculation formula of reparation value as：
In formula, z ' expression reparation values, max is the maximum value of pollutant concentration data in current data analysis time window,
Min is the minimum value of pollutant concentration data in current data analysis time window, zmedFor in current data analysis time window
The intermediate value of pollutant concentration data, λ1、λ2For the weight coefficient of setting, and meet λ1+λ2=1.
When the present embodiment data exception detection module 100 repairs the abnormal data detected, according to repairing for setting
The calculation formula of complex value obtains replacing the reparation value of abnormal data, and the wherein calculation formula combines dirty in data-analysis time window
Contaminate mean value and the intermediate value of object concentration data to calculate the reparation value for replacing abnormal data, compared with the existing technology in directly use it is equal
It is worth the mode as reparation value, the replacement of abnormal data can be more made to meet the rule of current data, to further ensures pollution
The precision of object concentration data.
In one embodiment, Data Fusion module 200 carries out fusion treatment to pollutant concentration data, specifically
For：Same type will be belonged to and belong to the sensor of same subregion and be considered as same fusion component units, to belonging to same fusion group
Fusion treatment is carried out as unit of the time cycle at the pollutant concentration data of unit.
Wherein, the pollutant concentration data for belonging to same fusion component units are carried out as unit of the time cycle at fusion
Reason, specifically includes：
(1) it using the pollutant concentration data for belonging to same fusion component units as the basic data for participating in fusion, calculates
The basic data average value of wherein each sensor corresponding each time cycle, and calculate each sensor corresponding each week time
Marked pollutant concentration data bulk in phase；
(2) each sensor is extracted in the basic data average value of same a period of time as data to be fused, is formed and is waited melting
Close data sequenceK is the basic data average value number extracted, and obtains the corresponding biography of each data to be fused
The noise variance of sensor；
(3) reliability of the corresponding sensor of each data to be fused is calculated：
In formula, HiIndicate the corresponding sensor of i-th of data to be fused, HlIndicate the corresponding sensing of first of data to be fused
Device,Indicate sensor HiReliability,For sensor HiNoise variance,For sensor HlNoise variance；For within the described i-th data to be fused corresponding time cycle, sensor HiIt has been marked in the pollutant concentration data of acquisition
The pollutant concentration data bulk of note；For within the described first data to be fused corresponding time cycle, sensor HiIt adopts
Marked pollutant concentration data bulk in the pollutant concentration data of collection；μ1、μ2For setting weight coefficient and meet μ1+
μ2=1；
(4) fused data sequence is treated according to the following formulaCarry out fusion treatment：
In formula, z indicates fusion results.
The present embodiment considers the characteristic of multi-source pollutant concentration data, innovatively proposes a kind of Data Fusion
Mechanism, the mechanism consider the time-space registration problem of data, to belong to it is same fusion component units pollutant concentration data with
Time cycle is that unit carries out fusion treatment, so as to obtain the fused data of the same area same period.The present embodiment has
When body treats fused data progress fusion treatment, it is contemplated that the sensor reliability issues belonging to data to be fused utilize sensing
Weight of the device reliability as data to be fused, and fusion value is calculated based on average weighted method so that it is calculated to melt
Conjunction value more can closing to reality situation, the data precision higher.
The present embodiment number and the aspect of noise variance two of abnormal data got based on sensor come design sensor can
By the calculation formula of degree, performance quality of the sensor in terms of accuracy of data acquisition more can be objectively weighed, to subject to
It really calculates fusion value to lay a good foundation, further increases atmosphere pollution intelligence observation system in data acquisition and data
Precision in terms of processing.
Through the above description of the embodiments, those skilled in the art can be understood that it should be appreciated that can
To realize the embodiments described herein with hardware, software, firmware, middleware, code or its any appropriate combination.For hardware
It realizes, each module can be realized in one or more the following units：Application-specific integrated circuit (ASIC), digital signal processor
(DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array (FPGA), processing
Device, controller, microcontroller, microprocessor, other electronic units or combinations thereof designed for realizing functions described herein.
For software implementations, some or all of embodiment flow can instruct relevant hardware to complete by computer program.
When realization, above procedure can be stored in computer-readable medium or as the one or more on computer-readable medium
Instruction or code are transmitted.Computer-readable medium includes computer storage media and communication media, wherein communication media packet
It includes convenient for transmitting any medium of computer program from a place to another place.Storage medium can be that computer can
Any usable medium of access.Computer-readable medium can include but is not limited to RAM, ROM, EEPROM, CD-ROM or other
Optical disc storage, magnetic disk storage medium or other magnetic storage apparatus or can be used in carry or store with instruction or data
The desired program code of structure type simultaneously can be by any other medium of computer access.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although being explained in detail to the present invention with reference to preferred embodiment, those skilled in the art answer
Work as understanding, technical scheme of the present invention can be modified or replaced equivalently, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (6)
1. atmosphere pollution intelligence observation system, characterized in that including onboard subsystem, data processing centre and display terminal；
The onboard subsystem includes Beidou satellite navigation system, pollutant concentration acquisition module and data transmission module；It is vehicle-mounted
Subsystem obtains observation position information by Beidou satellite navigation system, obtains and pre-processes by pollutant concentration acquisition module
The pollutant concentration data of observation position, data processing centre is transmitted to through data transmission module；Wherein pollutant concentration acquires
Module includes the grating sensing monitoring device of the pollutant concentration data for obtaining observation position；
The data processing centre carries out data exception detection process and Data Fusion to pollutant concentration data, will handle
Data afterwards are uploaded to display terminal.
2. atmosphere pollution intelligence observation system according to claim 1, characterized in that grating sensing monitoring device includes：One
Carbonoxide concentration sensor, sulfur dioxide concentration sensor, nitric oxide concentration sensor, particle concentration sensor.
3. atmosphere pollution intelligence observation system according to claim 1, characterized in that the visualization display system packet
It includes：The forecast model products and data result release module of the real-time DYNAMIC DISTRIBUTION unit in region, pollutant；
The real-time DYNAMIC DISTRIBUTION unit in region is used to show the real-time distribution figure and fixedly of urban atmospheric pollution object concentration
The tendency chart of point pollution object concentration changes with time；
The forecast model products of the pollutant are for the assessment of output area air quality, the forecast and trip of future developing trend
The suggestion of aspect；
The data result release module is for publication observation data result and Related product on the client.
4. according to claim 1-3 any one of them atmosphere pollution intelligence observation systems, characterized in that the data processing
Center includes data exception detection module and Data Fusion module, and data exception detection module is used for pollutant concentration number
According to carrying out abnormality detection and being repaired to the abnormal data detected, Data Fusion module is used for pollutant concentration number
According to progress fusion treatment.
5. atmosphere pollution intelligence observation system according to claim 4, characterized in that when deployment sensor, will monitor
Region carries out subregion, different types of sensor is disposed in each subregion, the same type of biography being deployed in different subregions
The quantity of sensor is identical, and the data sampling time interval for setting each sensor is consistent；Data Fusion module is to pollutant
Concentration data carries out fusion treatment, specially：Same type will be belonged to and belong to the sensor of same subregion and be considered as same fusion
Component units, the pollutant concentration data to belonging to same fusion component units carry out fusion treatment as unit of the time cycle.
6. atmosphere pollution intelligence observation system according to claim 5, characterized in that described pair belongs to same fusion group
Fusion treatment is carried out as unit of the time cycle at the pollutant concentration data of unit, is specifically included：
(1) it using the pollutant concentration data for belonging to same fusion component units as the basic data for participating in fusion, calculates wherein
The basic data average value of each sensor corresponding each time cycle, and calculate in each sensor corresponding each time cycle
Marked pollutant concentration data bulk；
(2) each sensor is extracted in the basic data average value of same a period of time as data to be fused, forms number to be fused
According to sequenceK is the basic data average value number extracted, and obtains the corresponding sensor of each data to be fused
Noise variance；
(3) reliability of the corresponding sensor of each data to be fused is calculated：
In formula, HiIndicate the corresponding sensor of i-th of data to be fused, HlIndicate the corresponding sensor of first of data to be fused,Indicate sensor HiReliability,For sensor HiNoise variance,For sensor HlNoise variance；For
Within the described i-th data to be fused corresponding time cycle, sensor HiIt is marked in the pollutant concentration data of acquisition
Pollutant concentration data bulk；For within the described first data to be fused corresponding time cycle, sensor HiAcquisition
Marked pollutant concentration data bulk in pollutant concentration data；μ1、μ2For setting weight coefficient and meet μ1+μ2=
1；
(4) fused data sequence is treated according to the following formulaCarry out fusion treatment：
In formula, z indicates fusion results.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112597122A (en) * | 2020-09-03 | 2021-04-02 | 禾多科技（北京）有限公司 | Vehicle-mounted data processing method and device for automatic driving vehicle and electronic equipment |
| CN114034339A (en) * | 2021-11-05 | 2022-02-11 | 北京国网富达科技发展有限责任公司 | Power transmission line galloping monitoring method and system based on multi-sensor fusion |
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| CN107451100A (en) * | 2017-07-13 | 2017-12-08 | 南京信息工程大学 | A kind of pollutant observation system and its observation procedure |
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