CN101860562B - Integrated forest fire dynamic monitoring and accurate positioning system and positioning method - Google Patents

Abstract

The invention relates to an integrated forest fire dynamic monitoring and accurate positioning system and method. The invention is characterized in that the positioning system mainly comprises a monitoring center (1), an on-site monitoring and transmission terminal (2) and a mobile hand-held terminal (3), wherein a PDA (301) in the mobile hand-held terminal (3) is connected with a 3G module (101) in the monitoring center (1) through a 3G module (302) in a two-way wireless manner, a 3G module (103) is connected with a server (104), the server (104) is connected with a wireless bridge (101), the wireless bridge (101) is connected with a TV wall (102) and in double-way connection with the wireless bridge (203) of the on-site monitoring and transmission terminal (2), the wireless bridge (203) is in double-way connection with a video server (202), and the video server (202) is in double-way connection with a digital camera (201) with a tripod head; and the method of the invention is mainly as follows: the successive approximation exhaust method and the bisection method are combined with the rotation angle and pitch angle of the camera to fast calculate the position of the fire point. The system of the invention has high automation level, simple structure and low cost, is easy to realize and control and can perform quick positioning to the fire point.

Description

Integrated forest fire dynamic monitoring and Precise Position System and localization method

Technical field

The present invention relates to a kind of forest fire protection method and system, especially a kind of forest fire protection localization method and the quick positioning system that forest fire can be monitored in real time and position, specifically a kind of integrated forest fire dynamic monitoring and accurate positioning method and system.

Background technology

As everyone knows, traditional fire monitoring relies on artificial patrol, artificial loud and clear prestige to monitor with the location is general.When fire, then rule of thumb and to the familiarity in forest farm judge the position that fire is put by the observer.The monitoring of China's forest fire at present remain with artificial ground patrol and fixed point to watch from a height or a distance be main, aviation patrol with technology such as satellite sounding be the system of assisting.Artificial patrol, Ren Gong lookout have the problem that the visual field is limited, continuous monitoring can produce visual fatigue and mental fatigue; Aviation patrol exist information security, real-time transmission of information and can accurately navigator fix etc. problem, there is complex structure in the monitoring of satellite forest fires, cost is high, upgrade maintenance is difficult, the problem of anti-electromagnetic interference capability difference.Therefore develop a kind of advanced person's visual long-distance monitorng device and the fire point that is absorbed is located fast, win the rich and honour time in time stamping out a fire and have crucial meaning through corresponding localization method.

Summary of the invention

The objective of the invention is to the low problem of existing forest fire protection monitoring automation level; It is low to design a kind of cost, and high also ability pinpoint integrated forest fire dynamic monitoring and the Precise Position System of automatization level also provides a kind of localization method that can confirm fire point longitude and latitude according to the data that system passes back fast.

One of technical scheme of the present invention is:

A kind of integrated forest fire dynamic monitoring and Precise Position System; It is characterized in that it mainly is made up of Surveillance center 1, on-site supervision transmission terminal 2 and mobile handheld terminal 3; Described Surveillance center 1 mainly is made up of wireless bridge 101, video wall 102,3G module 103 and server 104; Described on-site supervision transmission terminal 2 mainly is made up of digital monopod video camera 201, video server 202 and wireless bridge 203; Described mobile handheld terminal 3 mainly is made up of PDA301 and 3G module 302, and PDA301 links to each other with 3G module 101 double-direction radios in the Surveillance center 1 through 3G module 302, and 3G module 103 links to each other with server 104; Server 104 links to each other with wireless bridge 101; When wireless bridge 101 and video wall 102 links to each other through 203 two-way connections of wireless bridge wireless and on-site supervision transmission terminal 2, wireless bridge 203 and 202 two-way connections of video server, video server 202 and digital 201 two-way connections of monopod video camera.

Be integrated with GPS navigation appearance 303, speech ciphering equipment 304 and CCD camera 305 among the described PDA301.

Two of technical scheme of the present invention is:

A kind of integrated forest fire dynamic monitoring and accurate positioning method is characterized in that it comprises:

1) visual range according to video camera is provided with some video cameras in the forest zone; Through wired or wireless communication modes taking the photograph image is reached the parameter that matches with image and be sent in real time on the computer and video wall of control centre, and the geographical location information of video camera is stored in the computer of control centre;

2) adopt the single-point positioning mode to confirm burning things which may cause a fire disaster, promptly when wherein arbitrary video camera captures fire point picture, confirm the position of fire point immediately through following method:

At first,, confirm the anglec of rotation of this video camera, with the direction of confirming that the fire point takes place with respect to direct north through passing the information of the entrained relevant video camera of image back;

Secondly, through video camera with respect to the horizontal plane the angle of pitch and the anglec of rotation and combine the progressive method of exhaustion to confirm that fire puts the height FD apart from the sea level;

At last, calculate the longitude and latitude of a F that fires according to following formula:

$\left\{\begin{array}{c}\mathrm{AO}=\mathrm{DO}\·\sin \mathrm{\β}=\mathrm{FC}\·\sin \mathrm{\β}=\mathrm{HC}\·\tan \mathrm{\α}\·\sin \mathrm{\β}=(\mathrm{HO}-\mathrm{FD})\·\tan \mathrm{\α}\·\sin \mathrm{\β}\\ \mathrm{BO}=\mathrm{DO}\·\cos \mathrm{\β}=\mathrm{FC}\·\cos \mathrm{\β}=\mathrm{HC}\·\tan \mathrm{\α}\·\cos \mathrm{\β}=(\mathrm{HO}-\mathrm{FD})\·\tan \mathrm{\α}\·\cos \mathrm{\β}\\ \mathrm{HF}=n*N\\ \mathrm{FD}=\mathrm{HO}-\mathrm{HC}=\mathrm{HO}-\mathrm{HF}\·\cos \mathrm{\β}\end{array}\right.$

In the formula:

AO is the fire point distance with respect to the directions X of video camera, and it is the longitude that fire is put with the longitude sum of video camera;

BO is to be the fire point distance with respect to the Y direction of video camera, and it is the latitude value that fire is put with the latitude sum of video camera;

α and β are respectively the anglec of rotation and the angle of pitch of video camera;

N is a constant, desirable arbitrary constant, it is good generally getting integers such as 10 meters, 50 meters, 100 meters for convenience of calculation, the value size is preferably according to the decision of camera visual range, the big value of visual range more greatly, the value that visual range is little is littler, what use always is that 50 meters and 100 meters are more.

HO is the height of video camera, can check in through the geographical location information of this video camera, and F is fiery point, and FD is the height of fire point, and FC and DO put to the distance between the video camera floor projection point for the floor projection of fire point; HC is that the height above sea level of video camera is put the poor of height above sea level with fire, and n is progressive exhaustive number of times.

Described video camera is the video camera that has The Cloud Terrace, and the angle of pitch of video camera and the anglec of rotation are the angle of pitch and the anglec of rotation of The Cloud Terrace.

In order to improve locating speed, the method that also can adopt the progressive method of exhaustion to combine with dichotomy quickens to find the solution the coordinate figure that fire point F is ordered.

Beneficial effect of the present invention:

(1) the present invention helps observing intuitively the condition of a fire.The digitlization of three-dimensional map and real-time video transmission make the observer can observe the information in forest zone more intuitively.

(2) accurately locate automatically.Fast accurately the location has been reduced the loss that fire brings and has been improved the forest efficient of putting out a fire to save life and property greatly.

(3) compare past forest fire monitoring and navigation system, acquisition cost greatly reduces; Portable terminal is convenient small and exquisite, and stability is high.The interlock of GIS and digital The Cloud Terrace, more convenient personnel's management and observation.

Description of drawings

Fig. 1 is a composition structural representation of the present invention.

Fig. 2 is a software overall architecture sketch map of the present invention.

Fig. 3 is a forest fires recognition principle sketch map of the present invention.

Fig. 4 is a forest fires positioning principle sketch map of the present invention.

Fig. 5 is a single-point of the present invention location Mathematical Modeling sketch map.

Fig. 6 is a fiery point location sketch map of the present invention.

Fig. 7 is that the angle of pitch of the present invention is proofreaied and correct the mathematics illustraton of model.

Fig. 8 is concrete location test sketch map as a result in the embodiment of the invention.

Embodiment

Below in conjunction with accompanying drawing and embodiment the present invention is further described.

Embodiment one.

Shown in Fig. 1-4.

A kind of integrated forest fire dynamic monitoring and Precise Position System, it mainly is made up of Surveillance center 1, on-site supervision transmission terminal 2 and mobile handheld terminal 3, and is as shown in Figure 1.Surveillance center 1 mainly carries out data collection and shows on video wall with the image of handling and in real time on-site supervision is used that video camera absorbed; And according to the actual measurement field condition send wireless instructions to video camera and tour personnel; On-site supervision transmission terminal 2 mainly is the action according to the commands for controlling numerical control monopod video camera of program of setting and Surveillance center 1; Realization passes the image of picked-up to Surveillance center 1 back, and mobile handheld terminal 3 mainly is to supply the ground patrolman to use, and the zone that can't capture for digital monopod video camera replenishes; And can be Surveillance center and the fire extinguishing personnel navigate, for the foundation of electronic chart provides field data etc.Described Surveillance center 1 mainly is made up of wireless bridge 101 (BreezeNet high-speed radio bridge B100), video wall 102,3G module 103 (WCDMA of Huawei module EM770) and server 104 (the 4 above processors of running quickly); Described on-site supervision transmission terminal 2 mainly is made up of digital monopod video camera 201, video server 202 (DS-6001HF) and wireless bridge 203 (BreezeNet high-speed radio bridge B100); Described mobile handheld terminal 3 mainly is made up of PDA301 (SBC8100 single board computer) and 3G module 302 (WCDMA of Huawei module EM770); Also should be integrated with GPS navigation appearance 303, speech ciphering equipment 304 and CCD camera 305 among the PDA301; PDA301 links to each other with 3G module 101 double-direction radios in the Surveillance center 1 through 3G module 302; 3G module 103 links to each other with server 104; Server 104 links to each other with wireless bridge 101; When wireless bridge 101 and video wall 102 links to each other through 203 two-way connections of wireless bridge wireless and on-site supervision transmission terminal 2, wireless bridge 203 and 202 two-way connections of video server, video server 202 and digital 201 two-way connections of monopod video camera.

The course of work of the present invention is:

The vision signal of numeral monopod video camera is handled the back with real-time angle through video server and is transferred to Surveillance center by radio transmission apparatus (wireless bridge); Control signal from Surveillance center is transferred to video server through wireless transmitting system, realizes the control to zoom lens, The Cloud Terrace through video server, digital The Cloud Terrace decoder.

The present invention is a development platform with the secondary development components ArcEngine of VS2005 (C#) and ESRI, and the basic function, database manipulation, forest fires that realizes GIS-Geographic Information System be the interlock of location and two-dimensional map, threedimensional model and digital The Cloud Terrace automatically; Based on machine vision, adopt digital image processing techniques to carry out forest fires identification; And utilize embedded system platform, combining global positioning system GPS module is navigated to the forest zone; Utilize WCDMA to be transferred to server end to real-time video.

(1) utilize current popular embedded system system source code open fully, system trimming is easy, and the characteristics that autgmentability is strong combine with the GIS technology and to develop the required function interface of user, like PDA, and smart mobile phone etc.And cost is lower, and volume is convenient for carrying for a short time, and stability and security performance can effectively be guaranteed.

(2) receive latitude and longitude information, thereby initial data is converted into the two dimensional surface coordinate of a certain geographic coverage, for GPS navigation provides the accurate data source through screening reception, gauss projection and relative coordinate conversion scheduling algorithm from the GPS module.

(3) combine the agreement of WCDMA agreement and coding and decoding video that video data is handled, thereby realize that the real-time Transmission video carries out dynamic monitoring condition of a fire information.

(4) according to horizontal angle, the anglec of rotation of dem data, lookout tower height above sea level and video camera, calculate the center line of camera video window and the intersection point on ground, thus can be in the zone that two-dimensional map and three-dimensional map real-time tracking The Cloud Terrace are observed; Simultaneously also can remove to observe an impact point, thereby inverse goes out the horizontal angle and the anglec of rotation of The Cloud Terrace, thereby the control The Cloud Terrace forwards required impact point to according to user's interest and demand.Thereby realize the interlock of GIS and The Cloud Terrace.

(5) it is wide that the single-point location has the monitoring overlay area, can carry out the advantage of fiery point location at three dimensions, but owing to the azimuth and the horizontal angle data of only limiting to single lookout tower observation just must be by electronic charts.

(6) forest fires smog recognition methods, the one, the histogram distribution of separating the H component, S component and the I component that obtain behind the image process HSI spatial alternation, the 2nd, the texture information of smog is set up smog identification masterplate, thereby is realized the forest fires early warning.

The software overall architecture:

The assembly and the tool set that utilize ArcEngine to provide comprise ArcEngine DeveloperKit and ArcEngine Runtime two parts compositions [3], can realize the two-dimensional map operating function, can also realize Premium Features such as three-dimensional display, three dimensional analysis.As shown in Figure 2.

Forest fires identification:

The purpose of forest fires identification is to realize the automatic early-warning of forest fires, so need to set up the model of cognition of smog through a large amount of tests, when identified suspicious region meets Rule of judgment in finding image, then is judged as the fire point and sends early warning signal.The present invention mainly discerns forest fires smog from two aspects; The one, the histogram distribution of separating the H component, S component and the I component that obtain behind the image process HSI spatial alternation, the 2nd, the texture information of smog is set up smog identification masterplate; Thereby realize the forest fires early warning, as shown in Figure 3.

The forest fires location:

Adopt scan mode constantly to read data of monitoring point; The angle that comprises video and video camera utilizes condition of a fire identification module that video is handled, and whether analyze has the condition of a fire; If have the condition of a fire to take place then report to the police and the forest fires location, video camera also temporarily rests on fire point position to camera lens; Otherwise two-dimensional map, threedimensional model and video camera interlock.As shown in Figure 4.If define fiery point, then carry out the location of fire point by the mode of embodiment two.

Embodiment two.

Shown in Fig. 5-8.

A kind of integrated forest fire dynamic monitoring and accurate positioning method, it may further comprise the steps:

1) visual range according to video camera is provided with some video cameras in the forest zone; Through wired or wireless communication modes taking the photograph image is reached the parameter that matches with image and be sent in real time on the computer and video wall of control centre, and the geographical location information of video camera is stored in the computer of control centre;

2) adopt the single-point positioning mode to confirm burning things which may cause a fire disaster, promptly when wherein arbitrary video camera captures fire point picture, confirm the position of fire point immediately through following method:

At first,, confirm the anglec of rotation of this video camera, with the direction of confirming that the fire point takes place with respect to direct north through passing the information of the entrained relevant video camera of image back;

Secondly, through video camera with respect to the horizontal plane the angle of pitch and the anglec of rotation and combine the progressive method of exhaustion to confirm that fire puts the height FD apart from the sea level;

At last, calculate the longitude and latitude of a F that fires according to following formula:

$\left\{\begin{array}{c}\mathrm{AO}=\mathrm{DO}\·\sin \mathrm{\β}=\mathrm{FC}\·\sin \mathrm{\β}=\mathrm{HC}\·\tan \mathrm{\α}\·\sin \mathrm{\β}=(\mathrm{HO}-\mathrm{FD})\·\tan \mathrm{\α}\·\sin \mathrm{\β}\\ \mathrm{BO}=\mathrm{DO}\·\cos \mathrm{\β}=\mathrm{FC}\·\cos \mathrm{\β}=\mathrm{HC}\·\tan \mathrm{\α}\·\cos \mathrm{\β}=(\mathrm{HO}-\mathrm{FD})\·\tan \mathrm{\α}\·\cos \mathrm{\β}\\ \mathrm{HF}=n*N\\ \mathrm{FD}=\mathrm{HO}-\mathrm{HC}=\mathrm{HO}-\mathrm{HF}\·\cos \mathrm{\β}\end{array}\right.$

In the formula:

AO is the fire point distance with respect to the directions X of video camera, and it is the longitude that fire is put with the longitude sum of video camera;

BO is to be the fire point distance with respect to the Y direction of video camera, and it is the latitude value that fire is put with the latitude sum of video camera;

α and β are respectively the anglec of rotation and the angle of pitch of video camera;

N is a constant, and present embodiment is got 50 meters as the counting period, can select according to the visual range size of video camera during practical implementation, and visual range is big, and the value of N can be suitably big;

HO is the height of video camera, can check in through the geographical location information of this video camera, and F is fiery point, and FD is the height of fire point, and FC and DO put to the distance between the video camera floor projection point for the floor projection of fire point; HC is that the height above sea level of video camera is put the poor of height above sea level with fire, and n is progressive exhaustive number of times.

Details are as follows:

The present invention utilizes GIS digital figure and database, the single-point location that the parameter that provides through The Cloud Terrace realizes forest fires.The single-point location is based on single lookout tower and realizes the location, according to the angle of pitch, the anglec of rotation of DEM (digital elevation model) data, lookout tower height above sea level and video camera, calculates the center line of camera video window and the intersection point on ground.Because the angle of pitch that monopod video camera provides and the information of the anglec of rotation are relevant with factors such as ground mapping precision, digital The Cloud Terrace angle mechanical deviation, real-time meteorological condition, each opposite sex of the geographical gradient; Will influence locating accuracy; The angle correct that therefore, also should be rotated the angle and the angle of pitch before the practical implementation compensates and improves positioning accuracy.

1, the foundation of location model

At first, on map, demarcating direct north is the initial zero angle of digital The Cloud Terrace, confirms the direction that the fire point takes place through the anglec of rotation of The Cloud Terrace.Secondly, confirm the particular location of fire point through the angle of pitch.It is as shown in Figure 5 to set up Mathematical Modeling.α and β are respectively the anglec of rotation and the angle of pitch of The Cloud Terrace among the figure, and line segment HO is long to be the lookout tower height above sea level, and F is imaginary fiery point, and D is the projection of F point on plane, coordinate system sea level (being X-Y).

The height that can be got fiery some F by the progressive method of exhaustion is FD, the longitude and latitude of known lookout tower be (x, y), height above sea level is HO, the anglec of rotation of video camera is β, the angle of pitch is α, is got by Fig. 5:

$\left\{\begin{array}{c}\mathrm{AO}=\mathrm{DO}\·\sin \mathrm{\β}=\mathrm{FC}\·\sin \mathrm{\β}=\mathrm{HC}\·\tan \mathrm{\α}\·\sin \mathrm{\β}=(\mathrm{HO}-\mathrm{FD})\·\tan \mathrm{\α}\·\sin \mathrm{\β}\\ \mathrm{BO}=\mathrm{DO}\·\cos \mathrm{\β}=\mathrm{FC}\·\cos \mathrm{\β}=\mathrm{HC}\·\tan \mathrm{\α}\·\cos \mathrm{\β}=(\mathrm{HO}-\mathrm{FD})\·\tan \mathrm{\α}\·\cos \mathrm{\β}\\ \mathrm{HF}=n*50\\ \mathrm{FD}=\mathrm{HO}-\mathrm{HC}=\mathrm{HO}-\mathrm{HF}\·\cos \mathrm{\β}\end{array}\right.---\left(1\right)$

Calculate the geographical coordinate of 2 of A, B by the anti-method of separating geographical coordinate of Gauss Kru&4&ger projection's plane rectangular coordinates, thereby calculate the longitude and latitude of a F that fires.

2, location algorithm

In order to accelerate arithmetic speed, the method that can adopt the progressive method of exhaustion to combine with dichotomy is found the solution the coordinate that F is ordered.The concrete orientation that fire is put can be confirmed through anglec of rotation α, the distance of fire point can be confirmed apart from monopod video camera through the angle of pitch.It is as shown in Figure 5 to get a plane of OCFD formation.

If the visual range of the video camera of front end video monitoring is 10 kilometers.According to practical situations; Location algorithm projection on ground of adopting) beginning from origin of coordinates class 0 equipment Ji observation tower; Whenever get on the ray HF a bit at a distance from 50 meters; Deduct this with the height value of putting on the ray and put the elevation of putting on the corresponding hillside (can get through the geographic position information system inquiry), twice difference is long-pending less than 0 up to front and back.Long-pending less than 0 time when twice difference in front and back adopts dichotomy to confirm fire point position.

The correction of camera angle

The actual location error remove with outside the Pass above-mentioned location algorithm has also with ground mapping precision, digital The Cloud Terrace angle mechanical deviation, factors such as meteorological condition, each opposite sex of the geographical gradient are relevant closely in real time, particularly the minor deviations of the angle of pitch can produce considerable influence to final positioning result.In order to reduce the error of single-point location, must the angle of pitch α and the anglec of rotation β of video camera be proofreaied and correct.In the Mathematical Modeling of single-point location, when α=90 °, video camera is wanted abswolute level in the time of 0 °＜β＜360 °, and video camera will be towards direct north when β=0 °.

At present level meter is adopted in the correction of the video camera angle of pitch more, then the The Cloud Terrace support on the lookout tower is adjusted, difficulty is bigger, and cost is higher; Compass is adopted in correction to the video camera anglec of rotation more, receives in the horizontal stage electric machine magnetic interference very big.Adopt these two kinds of methods that all there is very mistake in the correction of camera angle.Native system utilizes GPS and GIS that camera angle is proofreaied and correct under the prerequisite that does not change hardware configurations such as The Cloud Terrace support, and the angle error compensates, and practices thrift construction cost, and efficient is high, has improved positioning accuracy.

1, the correction of the angle of pitch

In practical application, the installation of video camera and The Cloud Terrace is difficult to reach the desirable level position.Camera-scanning one all determined planes and horizontal plane have an angle, have certain deviation between the angle of pitch that causes monitoring point passback and the angle of pitch of video camera reality, and this deviation change along with the variation of the anglec of rotation.

Suppose that the angle between camera-scanning one all determined planes and the horizontal plane is θ, the difference of the angle of pitch that the angle of pitch of monitoring point passback and video camera are actual is γ, and the anglec of rotation of known video camera is β, and the Mathematical Modeling that the angle of pitch is proofreaied and correct is as shown in Figure 7:

Can get by Fig. 7:

$\mathrm{AH}=\frac{\mathrm{HC}}{\cos \mathrm{\β}}$

AC＝HC·tanβ

AB＝AC·sinθ＝HC·tanβ·sinθ

$\sin \mathrm{\γ}=\frac{\mathrm{AB}}{\mathrm{AH}}=\frac{\mathrm{HC}\·\tan \mathrm{\β}\·\sin \mathrm{\θ}}{\frac{\mathrm{HC}}{\cos \mathrm{\β}}}=\sin \mathrm{\β}\·\sin \mathrm{\θ}---\left(2\right)$

θ is the constant an of the unknown in the formula (2), can calculate through initial value of substitution.Suppose an impact point P, make video camera form center line aim at P, the video camera angle of pitch of monitoring point passback is α '; The longitude and latitude that utilizes GPS to measure P order (x, y), the longitude and latitude that known video camera H is ordered and highly; In GIS, calculate the actual angle of pitch α of video camera, can get:

θ＝α′-α (3)

2, the correction of the anglec of rotation

The selected impact point P of the direct north of ， Zai sightseeing tower makes video camera form center line aim at P in GIS-Geographic Information System, and the actual anglec of rotation of video camera this moment should be zero, and the video camera anglec of rotation β ' of monitoring point passback is the error amount of the anglec of rotation.

Test data

With three wide mountains, Inner Mongolia White wolf forest zone is example.At first, record the longitude and latitude (x of three wide mountain lookout towers ₁, y ₁) be (120 ° 13 ' 15.30 ", 46 ° 97 ' 19.97 "), height above sea level is 1528.58, tower height is 15 meters.In the monitoring range of video camera, selected 4 testing sites to carry out the test of setting fire respectively, system automatically identifies the fire point and positions, and positioning result is as shown in Figure 8.

When α=37.5 °, during β=72 °, height above sea level is H, and the some height is c with the difference of height above sea level on the ray, F ₁The computational process of some fire prevention testing site (is 50 meters with the N value and is the example explanation of giving an example) as follows:

Calculate for the first time: n=1

S ₁S ₃＝1526.986；

HP ₁＝n*50＝50；

AO＝28.93；

OB＝9.4；

H＝1505.834；

c＝21.152；

d＝c；

d*c＞0

Calculate for the second time: n=2

S ₁S ₃＝1525.849；

HP ₁＝n*50＝100；

AO＝57.865；

OB＝18.801；

H＝1505.433；

c＝20.416；

d*c＞0；

d＝c；

……

S ₁S ₃＝1072.774；

AO＝87.142；

OB＝28.314；

H＝1072.774；

c＝0；

d*c＝0

Be converted into latitude and longitude information to the distance of fire point Ju Li sightseeing tower again and obtain fire point F ₁Longitude and latitude (can calculate and get) by means of corresponding calculated Automatic Program in GIS-Geographic Information System and the computer.Adopt similar method can calculate fire point F ₂, F ₃, F ₄Latitude and longitude information.Result such as table 1:

The testing site longitude and latitude that table 1 system orients automatically

It is as shown in table 2 to utilize GPS to implement to record the latitude and longitude coordinates of the testing site of setting fire again:

The testing site longitude and latitude that table 2GPS measures

The testing site latitude and longitude coordinates of setting fire that automatic location test result of comparison system and GPS record is considered the GPS position error, and it probably is 8 that system locatees the longitude and latitude error automatically ", range error probably is 250 meters.

This gap meets monitoring requirement fully for a big forest farm.

The present invention does not relate to all identical with the prior art prior art that maybe can adopt of part and realizes.

Claims (5)

1. integrated forest fire dynamic monitoring and Precise Position System; It is characterized in that it mainly is made up of Surveillance center (1), on-site supervision transmission terminal (2) and mobile handheld terminal (3); Described Surveillance center (1) mainly is made up of wireless bridge (101), video wall (102), 3G module (103) and server (104); Described on-site supervision transmission terminal (2) mainly is made up of digital monopod video camera (201), video server (202) and wireless bridge (203); Described mobile handheld terminal (3) mainly is made up of PDA (301) and 3G module (302); PDA (301) links to each other with 3G module (101) double-direction radio in the Surveillance center (1) through 3G module (103); 3G module (103) links to each other with server (104), and server (104) links to each other with wireless bridge (101), when wireless bridge (101) and video wall (102) link to each other through two-way connections of wireless bridge (203) wireless and on-site supervision transmission terminal (2); Wireless bridge (203) and two-way connection of video server (202), video server (202) and two-way connection of digital monopod video camera (201).

2. integrated forest fire dynamic monitoring according to claim 1 and Precise Position System is characterized in that being integrated with among the described PDA (301) GPS navigation appearance (303), speech ciphering equipment (304) and CCD camera (305).

3. integrated forest fire dynamic monitoring and accurate positioning method is characterized in that it comprises:

1) visual range according to video camera is provided with some video cameras in the forest zone; Through wired or wireless communication modes taking the photograph image is reached the parameter that matches with image and be sent in real time on the computer and video wall of control centre, and the geographical location information of video camera is stored in the computer of control centre;

2) adopt the single-point positioning mode to confirm burning things which may cause a fire disaster, promptly when wherein arbitrary video camera captures fire point picture, confirm the position of fire point immediately through following method:

At first,, confirm the anglec of rotation of this video camera, with the direction of confirming that the fire point takes place with respect to direct north through passing the information of the entrained relevant video camera of image back;

Secondly, through video camera with respect to the horizontal plane the angle of pitch and the anglec of rotation and combine the progressive method of exhaustion to confirm that fire puts the height FD apart from the sea level;

At last, calculate the longitude and latitude of a F that fires according to following formula:

$\left\{\begin{array}{c}\mathrm{AO}=\mathrm{DO}\·\sin \mathrm{\β}=\mathrm{FC}\·\sin \mathrm{\β}=\mathrm{HC}\·\tan \mathrm{\α}\·\sin \mathrm{\β}=(\mathrm{HO}-\mathrm{FD})\·\tan \mathrm{\α}\·\sin \mathrm{\β}\\ \mathrm{BO}=\mathrm{DO}\·\cos \mathrm{\β}=\mathrm{FC}\·\cos \mathrm{\β}=\mathrm{HC}\·\tan \mathrm{\α}\·\cos \mathrm{\β}=(\mathrm{HO}-\mathrm{FD})\·\tan \mathrm{\α}\·\cos \mathrm{\β}\\ \mathrm{HF}=n*N\\ \mathrm{FD}=\mathrm{HO}-\mathrm{HC}=\mathrm{HO}-\mathrm{HF}\·\cos \mathrm{\β}\end{array}\right.$

In the formula:

AO is the fire point distance with respect to the directions X of video camera, and it is the longitude that fire is put with the longitude sum of video camera;

BO is to be the fire point distance with respect to the Y direction of video camera, and it is the latitude value that fire is put with the latitude sum of video camera;

α and β are respectively the anglec of rotation and the angle of pitch of video camera;

N is a constant;

HO is the height of video camera, can check in through the geographical location information of this video camera, and F is fiery point, and FD is the height of fire point, and FC and DO put to the distance between the video camera floor projection point for the floor projection of fire point; HC is that the height above sea level of video camera is put the poor of height above sea level with fire, and n is progressive exhaustive number of times.

4. integrated forest fire dynamic monitoring according to claim 3 and accurate positioning method is characterized in that described video camera is the video camera that has The Cloud Terrace, and the angle of pitch of video camera and the anglec of rotation are the angle of pitch and the anglec of rotation of The Cloud Terrace.

5. integrated forest fire dynamic monitoring according to claim 3 and accurate positioning method; The method that it is characterized in that adopting the progressive method of exhaustion to combine with dichotomy quickens to find the solution the coordinate figure that fire point F is ordered; The described method of exhaustion is meant Cong sightseeing tower H and begins every to get on the ray HF a bit at a distance from A rice; Deduct this with the height value of putting on the ray and put the elevation of putting on the corresponding hillside, twice amassing of difference is less than or equal to 0 up to front and back.