CN109375209B - Search and rescue device and method integrating vibration and radar detection - Google Patents
Search and rescue device and method integrating vibration and radar detection Download PDFInfo
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- CN109375209B CN109375209B CN201811459875.2A CN201811459875A CN109375209B CN 109375209 B CN109375209 B CN 109375209B CN 201811459875 A CN201811459875 A CN 201811459875A CN 109375209 B CN109375209 B CN 109375209B
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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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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Abstract
The invention discloses a search and rescue device and a method for fusion of vibration and radar detection, wherein the device comprises a host module, a vibration detection module and a radar detection module, wherein the vibration detection module and the radar detection module are respectively connected with the host module, the vibration detection module detects vibration signals in a target area and sends vibration detection results to the host module, and the radar detection module detects vital sign signals of targets to be rescued in the area and sends radar detection results to the host module; the method obtains the final detection result of the target to be saved by fusing the vibration detection result and the radar detection result. The invention has the advantages of simple realization, high search efficiency and precision, strong anti-interference performance and the like.
Description
Technical Field
The invention relates to the technical field of search and rescue, in particular to a search and rescue device and method integrating vibration and radar detection.
Background
When natural disasters such as earthquake collapse occur, the key problem is to identify and position the trapped human targets in ruins so as to quickly and efficiently search the trapped human targets under the ruins. Aiming at searching and rescuing in natural disaster scenes, a life detection radar (biological radar) is generally adopted at present to carry out detection and search, and the life detection radar is vital sign target searching equipment integrating radar technology and biomedical engineering technology, and can penetrate nonmetallic media (brick walls, ruins and the like) to detect vital signs (such as respiration, heartbeat, body movement and the like) of a human body in a non-contact and long-distance manner. The life detection radar works by combining electromagnetic waves with a micro Doppler principle, and the electromagnetic waves have good ruins (nonmetal) penetrability, so that trapped people in the ruins can be detected, and the judgment of whether vital sign targets exist or not and the calculation of distances are realized by combining the analyzed Doppler frequency, time difference and phase information, wherein the analyzed Doppler frequency has correlation with human heartbeats and breathing.
However, the following problems exist when searching and rescuing in natural disaster scenes by directly adopting a life detection radar:
1. The life detection radar cannot distinguish the types of the targets, the trapped vital sign targets under ruins are large poultry such as dogs, cats and pigs except human bodies, the human body targets are buried under the ruins, the conditions such as time lapse and injury are aggravated, the heartbeat, respiration frequency and amplitude change range are large, so that the difference of the human body targets or the animals is difficult, and the targets actually detected by the life detection radar can be animals such as poultry, so that the rescue force is wasted;
2. The working frequency of the life detection radar is generally low, so that the radiator (antenna) is large in size, most of the radiators are unit antennas, the directional pattern beam is wide and is easy to be interfered by the environment, the environment in a disaster scene is complex, and false alarms can be caused by actions of personnel, equipment and the like in the surrounding/nearby area of the ruin surface;
3. The life detection radar is usually a single-shot single-receiving system, can only realize a two-dimensional positioning function, is difficult to accurately realize three-dimensional positioning of a target, and has the advantages that the number of channels in the life detection radar with the two-dimensional positioning function is generally small, the propagation path of electromagnetic waves in ruins of a mixed structure is complex, obvious multipath effects exist, and the positioning precision can be further influenced.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems existing in the prior art, the invention provides the search and rescue device integrating vibration and radar detection, which has the advantages of simple structure, low cost, high search efficiency and precision and strong anti-interference performance, and the search and rescue method which has the advantages of simple realization, high search efficiency and precision and strong anti-interference performance.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
The utility model provides a search and rescue device that vibrations and radar detection fuse which characterized in that: the system comprises a host module, a vibration detection module and a radar detection module, wherein the vibration detection module and the radar detection module are respectively connected with the host module, the vibration detection module detects vibration signals in an area to be detected and sends vibration detection results to the host module, and the radar detection module detects target signals to be saved in the area to be detected and sends radar detection results to the host module.
As a further improvement of the device of the invention: the radar detection module is arranged in the central area of the area to be detected, the vibration detection module comprises a plurality of vibration detection units, and each vibration detection unit is respectively arranged in the area to be detected by taking the radar detection module as the center according to a specified interval distance and an interval angle.
As a further improvement of the device of the invention: the number of the vibration detection units is four, and the vibration detection units (21) are respectively arranged around the area to be detected at intervals of 90 degrees by taking the radar detection module as the center.
As a further improvement of the device of the invention: the system comprises a radar detection module, vibration detection units, an ad hoc network module, a host computer and a slave computer, wherein the radar detection module and the vibration detection units are respectively provided with the ad hoc network module for networking and positioning, the ad hoc network module in the vibration detection units is the slave computer, and the ad hoc network module in the radar detection module is the host computer.
As a further improvement of the device of the invention: the control end sends control instructions to the radar detection module, the vibration detection units and the control end receives detection results uploaded by the host module.
A search and rescue method integrating vibration and radar detection comprises the following steps:
S1, arranging a vibration detection module and a radar detection module in a region to be detected respectively;
S2, when searching and rescuing, detecting a vibration signal in the region to be detected by the vibration detection module, outputting a vibration detection result, detecting a target signal to be rescuing in the region to be detected by the radar detection module, and outputting a radar detection result;
s3, respectively receiving the vibration detection result and the radar detection result, and carrying out fusion judgment to obtain a final target detection result to be saved.
As a further improvement of the process of the invention: when fusion determination is performed in the step S3, if the areas of the targets detected by the vibration detection module and the radar detection module are the same or similar, it is determined that the target to be saved exists at a higher probability of the position of the target detected by the radar detection module, otherwise, it is determined that the target to be saved exists at a lower probability of the position of the target detected by the radar detection module.
As a further improvement of the device of the invention: in the step S1, the radar detection module is arranged in a central area of the area to be detected, a plurality of vibration detection units are arranged in a target area with the radar detection module as a center according to a specified interval distance and an interval angle, the area to be detected is divided into a plurality of sub-areas, and a detection range of each vibration detection unit covers one sub-area.
As a further improvement of the device of the invention: when fusion determination is performed in the step S3, if the radar detection module detects that the target area of the target coincides with the target sub-area corresponding to the vibration detection unit that detects the target signal, it is determined that the target to be saved exists in the target area with the maximum probability, if the target area does not coincide with the target sub-area, and the target area and the target sub-area are both located on the same side in the longitudinal direction or the transverse direction, it is determined that the target to be saved exists in the target area with the medium probability, otherwise, it is determined that the target to be saved exists in the target area with the minimum probability.
As a further improvement of the device of the invention: in the step S2, when the radar detection module detects the signal of the target to be saved in the area, the signal is detected once in the direction perpendicular to the baseline direction, and the detection results obtained by the two detection are combined to obtain the three-dimensional position information of the target.
Compared with the prior art, the invention has the advantages that:
1. according to the searching and rescuing device and the searching and rescuing method based on the integration of vibration and radar detection, the vibration detection module and the radar detection module are configured to detect targets simultaneously, so that vibration detection is introduced into target detection of vital signs under ruins burying, vibration signals of life signs of targets to be rescuing and vibration signals such as knocks sent out can be detected simultaneously, the combination of vibration detection and radar detection is realized, respective detection results can be checked and verified mutually, meanwhile, searching precision of the targets to be rescuing can be improved, false alarms caused by interference targets such as animals are reduced, and false alarms are effectively eliminated, and detection probability and positioning precision are improved.
2. According to the searching and rescuing device and method integrating vibration and radar detection, the radar detection module is further arranged in the central area of the area to be detected, each vibration detection unit is respectively arranged in the area to be detected at intervals by taking the radar detection module as the center, each vibration detection unit covers one sub-area in the area to be detected, and by means of the arrangement mode, the radar detection module and each vibration detection unit simultaneously detect the position corresponding relation of the targets, double positioning judgment of the targets to be rescuing can be achieved, and therefore accurate identification and positioning of the targets of trapped human bodies in building ruins can be achieved.
3. According to the search and rescue device and the search and rescue method based on the integration of vibration and radar detection, double judgment is further carried out by integrating the radar detection result and the vibration detection result, when the radar detection module and the vibration detection module detect targets in the same area at the same time, the targets to be saved are judged to exist with high probability, otherwise, the targets to be saved are judged to exist with low probability, the interference targets of animals and the like can be effectively removed, the detection precision is improved, and false alarm is reduced.
Drawings
Fig. 1 is a schematic structural diagram of a search and rescue device integrating vibration and radar detection in this embodiment.
Fig. 2 is a schematic diagram of an arrangement of a vibration sensor and a radar sensor according to an embodiment of the present invention.
Fig. 3 is a schematic diagram showing a specific structure of the vibration detecting unit in the present embodiment.
Fig. 4 is a schematic flow chart of a search and rescue device for realizing target search in a specific application embodiment of the invention.
Fig. 5 is a schematic diagram of the principle of using a biological radar for two detections in an embodiment of the present invention.
Fig. 6 shows the first detection result of the object (the two types of sensors detect the coincidence of the areas of the object) obtained in the embodiment of the present invention.
Fig. 7 shows the second type of object detection result (the two types of sensors detect the non-coincident areas of the object, and the same side) obtained in the embodiment of the present invention.
Fig. 8 shows the result of detecting the target in the third embodiment (the two types of sensors detect the non-coincident and non-identical side of the target).
Legend description: 1. a host module; 2. a vibration detection module; 21. a vibration detecting unit; 211. a conical fixing member; 3. a radar detection module; 4. an ad hoc network module; 5. and a control end.
Detailed Description
The invention is further described below in connection with the drawings and the specific preferred embodiments, but the scope of protection of the invention is not limited thereby.
As shown in fig. 1, the search and rescue device integrating vibration and radar detection in this embodiment includes a host module 1, a vibration detection module 2 and a radar detection module 3, where the vibration detection module 2 and the radar detection module 3 are respectively connected with the host module 1, the vibration detection module 2 detects vibration signals in a region to be detected and sends the vibration detection result to the host module 1, and the radar detection module 3 detects target signals to be saved in the region to be detected and sends the radar detection result to the host module 1.
Unlike animals, trapped people usually call for help in the ruins by shouting, regularly striking, regularly swinging their limbs, etc. According to the embodiment, aiming at searching and rescuing trapped people in a complex disaster environment, the vibration detection module 2 and the radar detection module 3 are configured to detect targets, vibration detection is introduced into target detection of vital signs under ruins burying conditions, vibration and biological radar fusion detection is realized, vital sign signals of targets to be rescuing (trapped people) and sent vibration signals can be detected at the same time, and accordingly respective detection results can be checked and verified mutually by combining the vibration detection mode and the radar detection mode, false alarms caused by interference targets such as animals are reduced, and false alarms are effectively eliminated, and detection probability and positioning accuracy are improved.
In this embodiment, the radar detection module 3 is disposed in a central area of the area to be detected, the vibration detection module 2 includes a plurality of vibration detection units 21, each vibration detection unit 21 is disposed around the radar detection module 3 in the area to be detected at a specified interval distance and an interval angle around the radar detection module 3, each vibration detection unit 21 covers a part of the area to be detected, and a range covered by all the vibration detection units 21 can completely cover the entire range of the area to be detected. The detection ranges covered by the vibration detection units 21 may be configured to be non-overlapping according to actual requirements, or may be configured such that the coverage ranges between two adjacent vibration detection units 21 are partially overlapping to further improve detection accuracy. Through the arrangement mode, the possibility of the target to be saved can be judged according to the position corresponding relation when the radar detection module 3 and the vibration detection units 21 detect the target simultaneously, so that the accurate identification and positioning of the trapped human body target in the building ruins can be realized, and if the radar detection module 3 detects the target in the target area, if the vibration detection unit 21 corresponding to the target area also detects the vibration signal, the target to be saved is judged to exist in the target area with larger probability.
As shown in fig. 2, in the embodiment of the present invention, the number of vibration detection units 21 is four, each vibration detection unit 21 is respectively arranged around the area to be detected at intervals of 90 degrees with the radar detection module 3 as the center, each vibration detection unit 21 covers one hemispherical sub-area in the area to be detected, and the four vibration detection units 21 can completely cover the area to be detected. The vibration detection units 21 may be specifically arranged around the radar detection module 3 with a radius of 5-10m, and each vibration detection unit 21 is responsible for detecting vibration information in a hemispherical sub-area with a radius of 5-10 m.
The radar detection module 3 of the embodiment specifically adopts a two-dimensional positioning biological radar with a low-frequency ultra-wideband MIMO (Multiple-Input Multiple-Output) system, the receiving antenna arrays of the radar are distributed and have angular resolution capability, two-dimensional positioning can be realized, and the radar detection module 3 specifically comprises a transmitting antenna array, a radar transmitter, a radar receiver, a microwave switch matrix, a signal acquisition and data processing platform, a wireless communication module and the like. It will be appreciated that other types of radar may be used by the radar detection module 3.
In this embodiment, the vibration detecting unit 21 specifically adopts a micro vibration sensor, and includes a micro vibration sensing module, a signal acquisition processing module, a battery, and the like. The micro vibration sensor adopts a special micro electronic processor, can identify micro vibration propagated in air and solid, so as to effectively search survivors trapped under concrete and other solid, accurately identify vibration signals such as shouting, beating, scoring, knocking and the like of the survivors, and can filter surrounding background noise.
As shown in fig. 3, the bottom of the vibration detecting unit 21 in this embodiment is provided with a conical fixing member 211, specifically, a metal long cone is embedded in the bottom of the housing of the micro vibration sensor, and the conical fixing member 211 can be inserted into the ruins and media to fix and strengthen the contact with the ruins and media, so that the vibration detecting unit can be sensitive to the vibration in the ruins, thereby achieving the effect of filtering the interference signals on the ground.
In this embodiment, the ad hoc network modules 4 for networking and positioning are disposed in the radar detection module 3 and each vibration detection unit 21, the ad hoc network module 4 in each vibration detection unit 21 is a slave, and the ad hoc network module 4 in the radar detection module 3 is a master, so that the ad hoc network positioning function is provided between the radar detection module 3 and each vibration detection unit 21, and the position information between each vibration detection unit 21 and the radar detection module 3 can be obtained in real time, so that the centimeter-level automatic positioning centered on the radar detection module 3 can be realized.
In this embodiment, the system further includes a control end 5 connected to the host module 1, where the control end 5 sends a control instruction to the radar detection module 3 and each shock detection unit 21 through the host module 1, and the control end 5 receives the detection result uploaded by the host module 1.
In a specific application embodiment, the self-networking module 4 is respectively arranged inside each micro-vibration wireless sensor and the biological radar to be used as an internal networking and positioning module of the whole system, and the self-networking module 4 inside the biological radar is used as a host computer and other self-networking modules are used as slaves, so that the accurate positioning of each sensor can be realized, and meanwhile, the self-networking module has the function of collecting and summarizing detection data of the micro-vibration sensors; the control end 5 is communicated with the biological radar host through WIFI signals, can control the biological radar and control each micro-vibration wireless sensor through the biological radar, and further can display the detection result of each sensor and the detection result after fusion, and can display the position information between each micro-vibration wireless sensor and the biological radar in real time at the control end 5.
In this embodiment, a data fusion processing unit is disposed in the host module 1, and is configured to receive detection results sent by the radar detection module 3 and each vibration detection unit 21, perform fusion analysis, and output a final detection result.
The search and rescue method utilizing the vibration and radar detection fusion of the device comprises the following steps:
S1, arranging a vibration detection module 2 and a radar detection module 3 in a region to be detected respectively;
s2, when searching and rescuing, detecting a vibration signal in the region to be detected by the vibration detection module 2, outputting a vibration detection result, detecting a target signal to be rescuing in the region to be detected by the radar detection module 3, and outputting a radar detection result;
S3, respectively receiving the vibration detection result and the radar detection result, and carrying out fusion judgment to obtain a final target detection result to be saved.
According to the embodiment, the final detection result of the target to be saved is determined by fusing the detection results of the vibration and the biological radar, the detection results of the vibration and the biological radar can be utilized to realize mutual rechecking verification, meanwhile, the search precision of the target to be saved can be improved by combining the two detection results, false alarms caused by interference targets such as animals are reduced, and accurate identification and positioning of the trapped human body targets in building ruins are realized.
In this embodiment, when the fusion determination is performed in step S3, if the areas of the targets detected by the vibration detection module 2 and the radar detection module 3 are the same or similar, it is determined that the target to be saved exists at a relatively high probability of the position of the target detected by the radar detection module 3, otherwise, it is determined that the target to be saved exists at a relatively low probability of the position of the target detected by the radar detection module 3. By fusing the radar detection result and the vibration detection result to perform double judgment, when the radar detection module 3 and the vibration detection module 2 detect targets in the same area at the same time, targets to be saved exist with high probability, interference targets such as animals can be effectively removed, detection accuracy is improved, and false alarm is reduced.
In this embodiment, in step S1, the radar detection module 3 is first disposed in a central area of the area to be detected, the plurality of vibration detection units 21 are disposed in a target area with the radar detection module 3 as a center according to a specified interval distance and interval angle, the area to be detected is divided into a plurality of sub-areas, and a detection range of each vibration detection unit 21 covers one sub-area. As shown in fig. 2, in this embodiment, the area to be measured is specifically divided into four hemispherical subregions, and each vibration detection unit 21 is respectively arranged around the area to be measured at intervals of 90 degrees with the radar detection module 3 as the center, and each vibration detection unit 21 covers one subregion.
In this embodiment, the detection signals of the vibration detection units 21 are firstly obtained respectively for amplitude comparison and phase comparison, the subarea covered by the vibration detection unit 21 of the target is determined, and then the final position coordinates of the target are obtained by rechecking in combination with the detection data of the radar detection module 3, so that the interference can be filtered, and the positioning accuracy is improved.
In this embodiment, when the fusion determination is performed in step S3, if the target area detected by the specific radar detection module 3 coincides with the target sub-area corresponding to the vibration detection unit 21 that detects the target signal, that is, if the radar detection and the vibration detection are both in the same area, it is determined that the target to be saved exists at the highest probability in the target area, if the target area does not coincide and the target area and the target sub-area are both located on the same side in the longitudinal direction or the transverse direction, that is, the target detected by the radar detection and the vibration detection is not identical but is located closer, it is determined that the target to be saved exists at the medium probability in the target area, otherwise, if the target area does not coincide and the target area and the target sub-area are not located on the same side, it is determined that the target to be saved exists at the lowest probability in the target area, and is more likely not the target to be saved. By the method, the data of the radar detection module 3 and the vibration detection unit 21 can be fused to realize accurate positioning of the target to be saved.
In this embodiment, in step S2, when the radar detection module 3 detects the target signal to be saved in the area to be saved, the target signal is detected once in the direction perpendicular to the baseline direction, and the position of the target point is obtained by combining the detection results obtained by the two detections. Specifically, the radar detection module 3 detects the intersection point of the two circular arcs obtained by detection in the base line direction and the direction perpendicular to the base line direction once, and the intersection point is used as the position of the target point, so that the three-dimensional positioning function of the target can be further realized.
As shown in fig. 4 and 5, in a specific application embodiment of the present invention, after each sensor is arranged according to fig. 2, each sensor and a wireless ad hoc network function are started, and system position layout is completed, so that target detection and identification positioning are performed for the micro-vibration wireless sensor and the biological radar respectively, during the detection of the biological radar, first identification positioning is performed in a baseline direction, then second identification positioning is performed in a direction perpendicular to the baseline direction, a target position is determined by synthesizing the detection results of the two times, and the target position detected by the biological radar and the target position identified by the micro-vibration sensor are fused, so as to obtain a final target position.
In a specific application embodiment, in the detection results obtained by arranging the sensors according to fig. 2, the first case is shown in fig. 6, that is, the two sensors detect that the target areas coincide, where the shadow area is the area detected by both the biological radar and the micro-vibration sensor, and it can be determined that the target to be saved exists in the area with a high probability; the second case is shown in fig. 7, that is, the two sensors detect that the target areas are not coincident but are on the same side, wherein the target area detected by the biological radar is a second quadrant area with the coordinates shown, the targets detected by the micro-vibration sensors are located in the first quadrant and the third quadrant, and if the targets detected by the micro-vibration sensors are located in the first quadrant, the biological radar and the areas detected by the micro-vibration sensors are located on one side above the X axis; if the micro-vibration detection is in the third quadrant, the biological radar and the micro-vibration detection area are both positioned at the left side of the Y axis, and the existence of a target to be saved with medium probability is judged; in the third case, as shown in fig. 8, the target areas detected by the two sensors are completely misaligned, wherein the target area detected by the biological radar is the second quadrant area of the coordinates, and the target detected by the micro-vibration sensor is located in the fourth quadrant, and the probability is lower based on the detection result of the biological radar at this time, so that a larger false alarm possibility exists.
The foregoing is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. While the invention has been described with reference to preferred embodiments, it is not intended to be limiting. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention shall fall within the scope of the technical solution of the present invention.
Claims (7)
1. The utility model provides a search and rescue device that vibrations and radar detection fuse which characterized in that: the system comprises a host module (1), a vibration detection module (2) and a radar detection module (3), wherein the vibration detection module (2) and the radar detection module (3) are respectively connected with the host module (1), the vibration detection module (2) detects vibration signals in a region to be detected and sends vibration detection results to the host module (1), the radar detection module (3) detects vital sign signals of a target to be saved in the region to be saved and sends radar detection results to the host module (1), the radar detection module (3) is arranged in a central region of the region to be detected, the vibration detection module (2) comprises a plurality of vibration detection units (21), each vibration detection unit (21) is arranged in the region to be detected with the radar detection module (3) as a center according to a specified interval distance and an interval angle, when the host module (1) carries out fusion judgment, the target region detected by the radar detection module (3) coincides with a target waiting region corresponding to the vibration detection unit (21) of the target signal, if the target region to be saved coincides, the maximum probability is judged to be the target region to be saved in the same longitudinal direction, otherwise, the target region to be saved is not coincident with the target region to be saved in the longitudinal direction, and if the target region to be saved in the longitudinal direction is not coincident with the target region to be saved in the longitudinal direction.
2. The search and rescue device integrating vibration and radar detection as claimed in claim 1, wherein: the number of the vibration detection units (21) is four, and the vibration detection units (21) are respectively arranged around the area to be detected at intervals of 90 degrees by taking the radar detection module (3) as the center.
3. The search and rescue apparatus of claim 1 or 2, wherein the vibration and radar detection are integrated, and wherein: the radar detection module (3) and the vibration detection units (21) are respectively provided with an ad hoc network module (4) for networking and positioning, the ad hoc network module (4) in each vibration detection unit (21) is a slave, and the ad hoc network module (4) in the radar detection module (3) is a master.
4. A shake and radar detection fused search and rescue apparatus according to claim 3, wherein: the system also comprises a control end (5) connected with the host module (1), wherein the control end (5) sends control instructions to the radar detection module (3) and the vibration detection units (21) through the host module (1), and the control end (5) receives detection results uploaded by the host module (1).
5. The search and rescue method integrating vibration and radar detection is characterized by comprising the following steps of:
S1, arranging a vibration detection module (2) and a radar detection module (3) in a region to be detected respectively;
S2, when searching and rescuing, detecting vibration signals in the area to be detected by the vibration detection module (2), outputting vibration detection results, detecting target signals to be rescuing in the area to be detected by the radar detection module (3), and outputting radar detection results;
s3, respectively receiving the vibration detection result and the radar detection result, and carrying out fusion judgment to obtain a final target detection result to be saved;
In the step S1, the radar detection module (3) is arranged in a central area of a region to be detected, a plurality of vibration detection units (21) are arranged in a target area with the radar detection module (3) as a center according to a specified interval distance and interval angle, the region to be detected is divided into a plurality of subareas, and the detection range of each vibration detection unit (21) covers one subarea;
When fusion determination is performed in the step S3, if the radar detection module (3) detects that the target area of the target coincides with the target subarea corresponding to the vibration detection unit (21) that detects the target signal, it is determined that the target to be saved exists in the target area with the highest probability, if the target area does not coincide and the target area and the target subarea are located on the same side in the longitudinal direction or the transverse direction, it is determined that the target to be saved exists in the target area with the medium probability, otherwise, it is determined that the target to be saved exists in the target area with the lowest probability.
6. The search and rescue method of claim 5, wherein the vibration and radar detection are integrated, and the method comprises the steps of: when fusion determination is performed in the step S3, if the areas of the targets detected by the vibration detection module (2) and the radar detection module (3) are the same or similar, it is determined that the target to be saved exists at a higher probability of detecting the position of the target by the radar detection module (3), otherwise, it is determined that the target to be saved exists at a lower probability of detecting the position of the target by the radar detection module (3).
7. The search and rescue method of vibration and radar detection fusion of claim 5 or 6, wherein: in the step S2, when the radar detection module (3) detects the target signal to be saved in the area, the target signal is detected once in the direction perpendicular to the baseline direction, and the detection results obtained by the two detection are combined to obtain the three-dimensional position information of the target point.
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| CN110737220A (en) * | 2019-10-18 | 2020-01-31 | 国网浙江宁波市奉化区供电有限公司 | pole-climbing detection device |
| CN111025305B (en) * | 2019-12-27 | 2021-10-08 | 湖南华诺星空电子技术有限公司 | Radar and vibration combined distributed partition wall detection system |
| CN111123209A (en) * | 2020-02-10 | 2020-05-08 | 北京市公安局反恐怖和特警总队 | Multi-mode composite detection system for sensing environment behind non-visual obstacle |
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