CN104049267A - Forest fire point positioning method based on GPS and microwave distance measurement - Google Patents

Forest fire point positioning method based on GPS and microwave distance measurement Download PDF

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Publication number
CN104049267A
CN104049267A CN201410316018.2A CN201410316018A CN104049267A CN 104049267 A CN104049267 A CN 104049267A CN 201410316018 A CN201410316018 A CN 201410316018A CN 104049267 A CN104049267 A CN 104049267A
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CN
China
Prior art keywords
control center
camera
gps receiver
controller
forest
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Pending
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CN201410316018.2A
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Chinese (zh)
Inventor
张思玉
何诚
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Nanjing Forest Police College
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Nanjing Forest Police College
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Publication date
Application filed by Nanjing Forest Police College filed Critical Nanjing Forest Police College
Priority to CN201410316018.2A priority Critical patent/CN104049267A/en
Publication of CN104049267A publication Critical patent/CN104049267A/en
Pending legal-status Critical Current

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    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/05—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing aiding data
    • 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
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention provides a forest fire point positioning method based on GPS and microwave distance measurement. Through the method, the forest fire point position can be rapidly and accurately judged. A GPS receiver and a cloud deck are arranged on an unmanned aerial vehicle. A camera and a microwave distance meter are arranged on the cloud deck. A controller conducting wireless communication with a control center on the ground is electrically connected with a controller driving the cloud deck to move, a driving center controlling the unmanned aerial vehicle to move, the camera, the microwave distance meter, and the GPS receiver respectively. The fire point positioning method includes the steps that the camera conducting camera shooting on a forest, and transmits the shot images to the control center in real time; after seeing the forest fire images, the control center orders the unmanned aerial vehicle to be in a hovering state; the microwave distance meter measures the distance L between the microwave distance meter and the fire point, the controller measures the inclined angle B between the camera optical axis and the XwYwZw horizontal plane in the XwYwZw geodetic coordinate system and the inclined angle A between the projection of the camera optical axis in the horizontal direction and the Yw axis, and the GPS receiver receives the coordinate S (XS, YS, ZS) in the XwYwZw geodetic coordinate system, and calculates out the coordinate E (XE, YE, ZE) of the fire point, wherein the XE=LcosAcosB +XS, YE= LsinAcosB +YS, and ZE+LsinB +ZS.

Description

Forest fire independent positioning method based on GPS and tellurometer survey
Technical field
The present invention relates to the kindling point localization method that the kindling point of forest is carried out fast, accurately located.
Background technology
Forest fire is very large to the harm of forest.In order to find in time the condition of a fire, general Gou Jian sightseeing tower in forest, manually to carry out routine observation.Also have the method for making an inspection tour with the unmanned plane of video camera that adopts, unmanned plane is the image transmitting of taking to control center, and control center once again image carries out technical Analysis, judgement has or not catches fire, if caught fire, then compare according to image and topomap, the position of judgement kindling point.This method, data processing amount is very large, and the judgement time is long, and the ignition point position error obtaining is very large, little to the effect of fire fighting, fire extinguishing.
Summary of the invention
The object of this invention is to provide a kind of forest fire independent positioning method based on GPS and tellurometer survey that can rapidly, accurately judge forest fire point position.
Forest fire independent positioning method based on GPS and tellurometer survey of the present invention, since be provided with gps receiver and reach the The Cloud Terrace that left rotation and right rotation can be rotated again up and down on unmanned plane; Be arranged on video camera, microwave ranger on The Cloud Terrace; For the controller that carries out wireless telecommunications with the control center on ground respectively with drive the driver of The Cloud Terrace action, control steer center, video camera, microwave ranger, the gps receiver of unmanned plane action and be electrically connected to; Described kindling point localization method is:
When unmanned plane circles in the air above forest, by video camera, forest is made a video recording, and by controller, the Image Real-time Transmission of taking is arrived to control center;
If see the image of forest fire in control center, with control center, to steer center, send instruction, allow unmanned plane hover;
By microwave ranger, measure it to the distance L of kindling point, by controller, measure included angle B and camera optical axis projection in the horizontal direction and the included angle A of Yw axle of the XwYw surface level in camera optical axis and XwYwZw earth coordinates, gps receiver receives coordinate S (XS in XwYwZw earth coordinates, YS, ZS)
With following formula, calculate the coordinate E(XE of kindling point, YE, ZE):
XE=LcosAcosB+XS
YE=LsinAcosB+YS
ZE=LsinB+ZS。
Above-mentioned forest fire independent positioning method, is sent to control center distance L, included angle B, included angle A, XS value, YS value, ZS value by controller, calculates the coordinate E(XE of kindling point, YE, ZE in control center) and show.
Above-mentioned forest fire independent positioning method, on gps receiver setting and video camera, and is positioned on camera optical axis.Like this, can further reduce the error of location.
Beneficial effect of the present invention: the present invention gps receiver, video camera, microwave ranger, can left-right rotation and the The Cloud Terrace that rotates up and down etc. organically merge on unmanned plane, microwave ranger is measured it to the distance L of kindling point, controller is measured included angle B and camera optical axis projection in the horizontal direction and the included angle A of Yw axle of the XwYw surface level in camera optical axis and XwYwZw earth coordinates, gps receiver receives coordinate S (XS in XwYwZw earth coordinates, YS, ZS), with this, calculate fast the coordinate of kindling point.The method can be found the condition of a fire fast, obtains in time the accurate location of kindling point, for fire fighting provides, provides powerful support for, and can reduce the loss that fire causes.
Accompanying drawing explanation
Fig. 1 is the block diagram of the unmanned plane (containing gps receiver, video camera, microwave ranger, The Cloud Terrace) that uses in the present invention;
Fig. 2 is the S point at gps receiver (video camera) place and the locus schematic diagram that kindling point E is ordered.
Embodiment
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
Referring to Fig. 1,2, be subject to arrange on the unmanned spacecraft of ground remote control (unmanned plane) controller and Zw axle left rotation and right rotation that can be in XwYwZw earth coordinates again can be at XwZw(or YwZw) The Cloud Terrace of rotation up and down in plane; On The Cloud Terrace, be fixed with video camera, microwave ranger; Gps receiver is connected with video camera, and is positioned on the optical axis of video camera.Controller is for carrying out wireless telecommunications with the control center on ground, and driver, steer center, video camera, microwave ranger, the gps receiver of controlling unmanned plane action that controller moves with driving The Cloud Terrace are respectively electrically connected to.
Dead ahead range finding direction and the camera light direction of principal axis keeping parallelism of microwave ranger, The Cloud Terrace is left rotation and right rotation and rotation up and down under the driving of driver, and the microwave ranger being fixed on The Cloud Terrace moves with The Cloud Terrace together with video camera.The left rotation and right rotation angle of The Cloud Terrace and up and down anglec of rotation Shi You control center control, and control center is needing the angle of the angle of The Cloud Terrace left rotation and right rotation and rotation up and down to send to driver by controller, and driver is according to the order-driven cloud platform rotation receiving.Controller can calculate included angle B and camera optical axis projection in the horizontal direction and the included angle A of Yw axle of the XwYw surface level in camera optical axis and XwYwZw earth coordinates in real time.
With control center, to steer center, send instruction, by steer center, control unmanned plane and circle in the air above forest.
When unmanned plane circles in the air above forest, control the regular action of The Cloud Terrace, and by video camera, forest is made a video recording, and by controller, the image real-time radio of taking is transferred to control center.
If see the image of forest fire in control center, control center sends instruction to controller, and The Cloud Terrace stops action, hovers by steer center by unmanned plane simultaneously.Now, kindling point is positioned on the optical axis of video camera.
Referring to Fig. 2, by gps receiver, receive gps receiver coordinate S (XS, YS, ZS) in XwYwZw earth coordinates.Because distance between gps receiver, video camera, microwave ranger is very little, can think that gps receiver, video camera, microwave ranger are all positioned at S point.By microwave ranger, measure microwave ranger to the distance L of kindling point, by controller, obtain included angle B and camera optical axis projection SF in the horizontal direction and the included angle A of Yw axle of the XwYw surface level in camera optical axis SE and XwYwZw earth coordinates.
Distance L, included angle B, included angle A, XS value, YS value, ZS value are sent to control center by controller, in control center, with following formula, calculate the coordinate E(XE of kindling point, YE, ZE) and show.
XE=LcosAcosB+XS
YE=LsinAcosB+YS
ZE=LsinB+ZS。

Claims (3)

1. the forest fire independent positioning method based on GPS and tellurometer survey, is characterized in that: since be provided with gps receiver and reach the The Cloud Terrace that left rotation and right rotation can be rotated again up and down on unmanned plane; Be arranged on video camera, microwave ranger on The Cloud Terrace; For the controller that carries out wireless telecommunications with the control center on ground respectively with drive the driver of The Cloud Terrace action, control steer center, video camera, microwave ranger, the gps receiver of unmanned plane action and be electrically connected to; Described kindling point localization method is:
When unmanned plane circles in the air above forest, by video camera, forest is made a video recording, and by controller, the Image Real-time Transmission of taking is arrived to control center;
If see the image of forest fire in control center, with control center, to steer center, send instruction, allow unmanned plane hover;
By microwave ranger, measure it to the distance L of kindling point, by controller, measure included angle B and camera optical axis projection in the horizontal direction and the included angle A of Yw axle of XwYw surface level in camera optical axis and XwYwZw earth coordinates, gps receiver receives coordinate S (XS in XwYwZw earth coordinates, YS, ZS)
With following formula, calculate the coordinate E(XE of kindling point, YE, ZE):
XE=LcosAcosB+XS
YE=LsinAcosB+YS
ZE=LsinB+ZS。
2. forest fire independent positioning method as claimed in claim 1, it is characterized in that: distance L, included angle B, included angle A, XS value, YS value, ZS value are sent to control center by controller, in control center, calculate the coordinate E(XE of kindling point, YE, ZE) and show.
3. forest fire independent positioning method as claimed in claim 1, is characterized in that: on gps receiver setting and video camera, and be positioned on camera optical axis.
CN201410316018.2A 2014-07-04 2014-07-04 Forest fire point positioning method based on GPS and microwave distance measurement Pending CN104049267A (en)

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Application Number Priority Date Filing Date Title
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105068099A (en) * 2015-08-14 2015-11-18 北京林业大学 Method for developing single monitoring station to determine forest ignition points based on flat computer
CN105093237A (en) * 2015-09-08 2015-11-25 零度智控（北京）智能科技有限公司 Detection device of barriers for unmanned plane and detection method thereof
CN107578595A (en) * 2016-07-05 2018-01-12 株式会社日立制作所 Liquid analytical equipment
CN110389353A (en) * 2019-08-21 2019-10-29 深圳云感物联网科技有限公司 A kind of forest fire point precise positioning method and system
CN110796822A (en) * 2019-09-15 2020-02-14 杭州拓深科技有限公司 Method for prejudging fire point direction based on improved smoke alarm
CN112668397A (en) * 2020-12-04 2021-04-16 普宙飞行器科技（深圳）有限公司 Fire real-time detection and analysis method and system, storage medium and electronic equipment

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Publication number Priority date Publication date Assignee Title
US20110122245A1 (en) * 2009-11-23 2011-05-26 Ashok Kumar Sinha FOREST FIRE CONTROL SYSTEMS (FFiCS) WITH SCANNER AND OPTICAL /INFRARED RADIATION DETECTOR (SOIRD) AND OPTIONALLY ALSO INCLUDING A SCANNER WITH ACCURATE LOCATION CALCULATOR (SALC) AND A SUPER-EFFICIENT SATELLITE/WIRELESS ANTENNA SYSTEM (SSWAS)
CN102928861A (en) * 2012-09-29 2013-02-13 凯迈（洛阳）测控有限公司 Target positioning method and device for airborne equipment
CN203338507U (en) * 2013-07-25 2013-12-11 黑龙江省森林保护研究所 Airborne forest fire monitoring device with dual-band stable imaging function

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Publication number Priority date Publication date Assignee Title
US20110122245A1 (en) * 2009-11-23 2011-05-26 Ashok Kumar Sinha FOREST FIRE CONTROL SYSTEMS (FFiCS) WITH SCANNER AND OPTICAL /INFRARED RADIATION DETECTOR (SOIRD) AND OPTIONALLY ALSO INCLUDING A SCANNER WITH ACCURATE LOCATION CALCULATOR (SALC) AND A SUPER-EFFICIENT SATELLITE/WIRELESS ANTENNA SYSTEM (SSWAS)
CN102928861A (en) * 2012-09-29 2013-02-13 凯迈（洛阳）测控有限公司 Target positioning method and device for airborne equipment
CN203338507U (en) * 2013-07-25 2013-12-11 黑龙江省森林保护研究所 Airborne forest fire monitoring device with dual-band stable imaging function

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李春林 等: "红外成像林火监测报警车载指挥系统的研究", 《林业机械与木工设备》 *

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105068099A (en) * 2015-08-14 2015-11-18 北京林业大学 Method for developing single monitoring station to determine forest ignition points based on flat computer
CN105093237A (en) * 2015-09-08 2015-11-25 零度智控（北京）智能科技有限公司 Detection device of barriers for unmanned plane and detection method thereof
CN105093237B (en) * 2015-09-08 2018-05-11 天津远翥科技有限公司 A kind of unmanned plane obstacle detector and its detection method
CN107578595A (en) * 2016-07-05 2018-01-12 株式会社日立制作所 Liquid analytical equipment
CN110389353A (en) * 2019-08-21 2019-10-29 深圳云感物联网科技有限公司 A kind of forest fire point precise positioning method and system
CN110796822A (en) * 2019-09-15 2020-02-14 杭州拓深科技有限公司 Method for prejudging fire point direction based on improved smoke alarm
CN112668397A (en) * 2020-12-04 2021-04-16 普宙飞行器科技（深圳）有限公司 Fire real-time detection and analysis method and system, storage medium and electronic equipment

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Application publication date: 20140917

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