CN107085209A - A kind of UAV system ULTRA-WIDEBAND RADAR fire-fighting localization method - Google Patents
A kind of UAV system ULTRA-WIDEBAND RADAR fire-fighting localization method Download PDFInfo
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- CN107085209A CN107085209A CN201710355483.0A CN201710355483A CN107085209A CN 107085209 A CN107085209 A CN 107085209A CN 201710355483 A CN201710355483 A CN 201710355483A CN 107085209 A CN107085209 A CN 107085209A
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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
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
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- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention provides a kind of UAV system ULTRA-WIDEBAND RADAR fire-fighting localization method, it is characterised in that the localization method is as follows：Position label and send wireless ultra-narrow pulse signal to ULTRA-WIDEBAND RADAR base station；Microwave radiometer uses the technology of passive measurement, and infrared thermography measures to the body surface temperature of scene of fire, the temperature signal of scene of fire is sent in control platform；Video monitoring system extracts the vision signal of scene of fire, is sent to control platform；Real-time live image capturing system based on Tango technologies, sends to control platform；Control platform receives the positional information from base station, temperature information and vision signal simultaneously, and the control signal for controlling UAV Attitude is sent to base station, location information is handled in real time, realtime graphic, control UAV Attitude that intensity of a fire information, vision signal, Tango technologies are extracted is extracted.The problem of present invention solution is applied to the indoor locating system of any scene of fire, can extract intensity of a fire information.
Description
Technical field
The present invention relates to field of locating technology, more particularly to a kind of combine unmanned plane, microwave applied to fire-fighting domain
Radiometer, infrared thermoviewer, Tango technologies, the localization method of ULTRA-WIDEBAND RADAR.
Background technology
In recent years, near radio power technology high speed development and wireless local area network technology progress so that it is indoor
Location technology is advanced by leaps and bounds.Out of doors, global position system GPS and the Big Dipper can provide point-device location information, with this
Meanwhile, people are also growing day by day to the demand of indoor positioning information, airport, exhibition, office building, underground parking, safety and protection monitoring,
Military training, logistics management and fire-fighting domain are required for using accurate indoor positioning information.
Existing a variety of wireless technologys can carry out indoor positioning, including indoor GPS, RFID, IR, bluetooth and ultra wide band
(UWB) radar.Especially ultra-wideband radar technology is the brand-new radiotechnics risen in recent years, is appeared in earliest military
Using because prominent performance advantage is also admirably suitable for civilian each field.Compared to other location technologies, ULTRA-WIDEBAND RADAR
Have the advantages that identification capability is strong, positioning precision is high, corresponding speed is fast, communication capacity is good.
At present, existing many companies declare that the ULTRA-WIDEBAND RADAR indoor locating system applied to fire-fighting domain can be provided,
But existing scheme exists following not enough mostly:
(1) positioning label is arranged on fireman's helmet, and signal transmitting and receiving machine is installed indoors, but due to the environment of scene of fire
It is very severe, and may have a power failure, so this scheme practicality is not strong；
(2) because scene of fire is not necessarily provided with indoor locating system, so existing scheme can not meet all occasions；
(3) prior art is that can indicate firefighter locator, does not have acquisition capacity to intensity of a fire information, it is impossible to provide sufficient
Scene of fire information.
The content of the invention
Technical problem：, will be super it is an object of the invention to provide a kind of UAV system ULTRA-WIDEBAND RADAR fire-fighting localization method
Wideband radar indoor locating system combines the technologies such as unmanned plane, microwave radiometer, infrared imaging, it is intended to solve applied to any
The indoor locating system of scene of fire, the problem of intensity of a fire information can be extracted.
Technical scheme：A kind of UAV system ULTRA-WIDEBAND RADAR fire-fighting localization method of the present invention, the localization method is as follows：
Position label and send wireless ultra-narrow pulse signal to ULTRA-WIDEBAND RADAR base station, ULTRA-WIDEBAND RADAR base station is determined according to difference
The pulse signal that position label is sent reaches the time of diverse location ULTRA-WIDEBAND RADAR base station to calculate label to the distance of base station, and
It is sent to by ZigBee technology in control platform, control platform is filtered to the positioning signal of reception, sampled, A/D and carry
Take, calculating obtains final range information, finally gives the position of label, and be shown on console screen；
Microwave radiometer uses the technology of passive measurement, and infrared thermography is carried out to the body surface temperature of scene of fire
Measurement, the temperature signal of scene of fire is sent in control platform by ZigBee technology, control platform is according to different ultra-wide
Position with radar base station and measurement temperature signal, calculate intensity of a fire distributed intelligence, and are shown on screen, are easy to fire-fighting command
Member's schedule；
Video monitoring system extracts the vision signal of scene of fire, is sent to control platform by ZigBee technology and shows
Come；
Real-time live image capturing system based on Tango technologies, is sent to control platform, control by Radio Transmission Technology
Platform processed carries out motion tracking, depth perception and regional learning according to image scene data, and live building structure is determined in real time, real
Scene modeling；
Control platform receives the positional information from base station, temperature information and vision signal simultaneously, and is sent to base station
The control signal of UAV Attitude is controlled, location information is handled in real time, intensity of a fire information, vision signal, the extraction of Tango technologies is extracted
Realtime graphic, control UAV Attitude.
Present invention employs the realization of UAV system ULTRA-WIDEBAND RADAR fire-fighting alignment system, the alignment system includes ultra wide band thunder
Up to base station, video monitoring system, multiband microwave radiometer, infrared thermography, unmanned plane, positioning label, based on Tango skills
The real-time live image capturing system of art, control platform；The ULTRA-WIDEBAND RADAR base station, video monitoring system, multiband microwave
Radiometer and infrared thermography are arranged on unmanned plane, positioning label and the real-time live IMAQ based on Tango technologies
System is arranged on fireman's helmet；The ULTRA-WIDEBAND RADAR base station, video monitoring system, showing in real time based on Tango technologies
Field picture acquisition system, multiband microwave radiometer, infrared thermography and positioning label are respectively between control platform with nothing
Line mode is connected.
Be provided with the unmanned plane at least 3, the frame unmanned plane of wherein at least one multiband microwave radiometer, it is infrared heat into
As instrument.
The unmanned plane hovering height is higher than scene of fire.
Beneficial effect：Compared with prior art, the beneficial effects of the invention are as follows：
(1) ULTRA-WIDEBAND RADAR base station is arranged on rotor wing unmanned aerial vehicle in the inventive method, can with what topography and geomorphology in office, appoint
The periphery of what shape building is quickly disposed, because ultra-broadband signal has stronger penetration capacity, so the system
Accurate stationkeeping ability can be provided to the building that any material is constituted；
(2) microwave radiometer/infrared thermography can be accurately measured the intensity of a fire in the inventive method, by information and
When be supplied to fireman and fire missions, be easy to floor manager；
(3) unmanned plane can provide video information in the inventive method, allow fire missions to understand field data in time；
(4) the inventive method uses Tango technology extract real-time constructure inner structure information, and fire field environment is presented in real time
And building structure.
Brief description of the drawings
Fig. 1 is the deployment schematic diagram of the scene of fire of the present invention.
Fig. 2 is the system block diagram of the present invention.
Fig. 3 is the functional block diagram of the control platform of the present invention.
Embodiment
A kind of UAV system ULTRA-WIDEBAND RADAR fire-fighting localization method of the present invention, it is characterised in that the localization method is such as
Under：
Position label and send wireless ultra-narrow pulse signal to ULTRA-WIDEBAND RADAR base station, ULTRA-WIDEBAND RADAR base station is determined according to difference
The pulse signal that position label is sent reaches the time of diverse location ULTRA-WIDEBAND RADAR base station to calculate label to the distance of base station, and
It is sent to by ZigBee technology in control platform, control platform is filtered to the positioning signal of reception, sampled, A/D and carry
Take, calculating obtains final range information, finally gives the position of label, and be shown on console screen；
Microwave radiometer uses the technology of passive measurement, and infrared thermography is carried out to the body surface temperature of scene of fire
Measurement, the temperature signal of scene of fire is sent in control platform by ZigBee technology, control platform is according to different ultra-wide
Position with radar base station and measurement temperature signal, calculate intensity of a fire distributed intelligence, and are shown on screen, are easy to fire-fighting command
Member's schedule；
Video monitoring system extracts the vision signal of scene of fire, is sent to control platform by ZigBee technology and shows
Come；
Real-time live image capturing system based on Tango technologies, is sent to control platform, control by Radio Transmission Technology
Platform processed carries out motion tracking, depth perception and regional learning according to image scene data, and live building structure is determined in real time, real
Scene modeling；
Control platform receives the positional information from base station, temperature information and vision signal simultaneously, and is sent to base station
The control signal of UAV Attitude is controlled, location information is handled in real time, intensity of a fire information, vision signal, the extraction of Tango technologies is extracted
Realtime graphic, control UAV Attitude.
Present invention employs the realization of UAV system ULTRA-WIDEBAND RADAR fire-fighting alignment system, the alignment system includes ultra wide band thunder
Up to base station, unmanned plane, positioning label, multiband microwave radiometer, infrared thermography, video monitoring system, based on Tango skills
Real-time live image capturing system, daemon software and the control platform of art；The ULTRA-WIDEBAND RADAR base station, video monitoring system,
Multiband microwave radiometer and infrared thermography are arranged on unmanned plane, position label and existing in real time based on Tango technologies
Field picture acquisition system is arranged on fireman's helmet, the ULTRA-WIDEBAND RADAR base station, video monitoring system, based on Tango skills
Real-time live image capturing system, multiband microwave radiometer/infrared thermography and the positioning label of art are put down with control respectively
Wirelessly connected between platform；Wherein：
Positioning label is used to send wireless ultra-narrow pulse signal to ULTRA-WIDEBAND RADAR base station, the arteries and veins sent according to different labels
Rush signal to reach the time of diverse location base station to calculate label to the distance of base station, label is obtained eventually through processing software
Position；
ULTRA-WIDEBAND RADAR base station calculates location information, and is sent to by ZigBee technology in control platform, control platform
The positioning signal of reception is filtered, sampled, A/D and extraction, obtain final range information further according to localization process algorithm, and
It is shown on console screen；
Microwave radiometer employs the technology of passive measurement, and infrared thermography enters to the body surface temperature of scene of fire
Row measurement, the temperature signal of scene of fire is sent in control platform by ZigBee technology, control platform is according to different bases
The position stood and measurement temperature signal, calculate intensity of a fire distributed intelligence, and are shown on screen, are easy to fire missions scheduling peace
Row；
Video monitoring system extracts the vision signal of scene of fire, is sent to control platform by ZigBee technology and shows
Come；
Real-time live image capturing system based on Tango technologies, is sent to after control platform by ZigBee technology
Platform software；
Daemon software carries out motion tracking, depth perception and regional learning according to image scene data, and scene is determined in real time
Building structure is sent to the daemon software of control platform by ZigBee technology, realizes scene modeling；
Control platform receives the positional information from base station, temperature information and vision signal simultaneously, and is sent to base station
The control signal of UAV Attitude is controlled, processing location information is realized, extracts intensity of a fire information, vision signal, the extraction of Tango technologies
Realtime graphic, control UAV Attitude.
Be provided with the unmanned plane at least 3, the frame unmanned plane of wherein at least one multiband microwave radiometer/infrared heat into
As instrument.
The unmanned plane hovering height is higher than scene of fire.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing and case study on implementation,
The present invention will be described in further detail.
What the present invention was realized in:
A. ULTRA-WIDEBAND RADAR base station is installed on multi rack rotor wing unmanned aerial vehicle (at least more than 3 framves), positioning label is installed
On fireman's helmet, unmanned plane is deployed in each position (hovering height is higher than scene of fire) of scene of fire periphery, by
There is stronger penetration capacity in ultra-broadband signal, so the system can provide accurate stationkeeping ability.
B., multiband microwave radiometer/infrared thermography is at least installed, microwave radiometer is used on a frame unmanned plane
Passive mode receives the microwave energy from scene of fire, and infrared thermography is used for the body surface temperature for reflecting scene of fire
Degree, two kinds of technologies be combined with each other, naked light/dying fire of scene of fire accurately can be measured.
C., video monitoring system can be installed on unmanned plane, the vision signal of scene of fire is extracted.
D., real-time live image capturing system based on Tango technologies is installed on fireman's helmet, by being wirelessly transferred
Technology is sent to daemon software.Daemon software carries out motion tracking (MotionTracking), depth according to image scene data
Perceive (DepthPerception) and regional learning (AreaLearning).Live building structure is determined in real time, is fire-fighting command
Member provides reference.
E. the system contains a portable control platform, realizes processing location information, extracts intensity of a fire information, video letter
Number, Tango technologies extract realtime graphic, a variety of functions of control UAV Attitude etc., this control platform may be mounted at fire-fighting
Che Shang, or carried by fire missions.
ULTRA-WIDEBAND RADAR positioning label is used to send wireless ultra-narrow pulse, and design size is less than 10 × 6 × 0.8cm, work
Frequency range in S-band, the pulse sent according to different labels reach the time of diverse location base station calculate label to base station away from
From obtaining the position of label eventually through processing software.The range accuracy of this programme can reach 2-10 centimetres, and orientation range is big
In 500m.According to the principle of three-point fix, the unmanned plane of base station is carried in set of system at least more than 3.Unmanned plane hovers
Scene of fire is highly necessarily be greater than, prevents the pulse signal that positioning label is sent from not received by base station.As shown in figure -1.
Location information is calculated by base station, and is sent to by ZigBee technology in control platform.Control platform is to reception
Positioning signal is filtered, sampled, A/D and extraction, obtains final range information further according to localization process algorithm, and be shown in control
On platform screen processed.
Microwave radiometer employs the technology of passive measurement, and infrared thermography enters to the body surface temperature of scene of fire
Row measurement, the two combines and the live intensity of a fire accurately can be measured.Microwave radiometer/infrared thermography is installed in certain
On several unmanned planes, the temperature signal of scene of fire is sent in control platform by ZigBee.Control platform is according to difference
The position of base station and measurement temperature signal, calculate intensity of a fire distributed intelligence, and are shown on screen, are easy to fire missions to dispatch
Arrange.
Camera is installed on unmanned plane, the vision signal of scene of fire can be extracted, control is sent to by ZigBee
Platform is shown.
Real-time live image capturing system based on Tango technologies is installed on fireman's helmet, sent by ZigBee
To the daemon software of control platform, scene modeling is realized.
Control platform receives the positional information from base station, temperature information and vision signal simultaneously, and can be sent out to base station
Send the control signal of control UAV Attitude.In addition, control platform can also send voice messaging to positioning label.Such as Fig. 2 and Fig. 3
It is shown.
Claims (4)
1. a kind of UAV system ULTRA-WIDEBAND RADAR fire-fighting localization method, it is characterised in that the localization method is as follows：
Position label and send wireless ultra-narrow pulse signal to ULTRA-WIDEBAND RADAR base station, ULTRA-WIDEBAND RADAR base station is marked according to different positioning
Sign and issue the pulse signal sent to reach the time of diverse location ULTRA-WIDEBAND RADAR base station to calculate label to the distance of base station, and pass through
ZigBee technology is sent in control platform, and control platform is filtered to the positioning signal of reception, sampled, A/D and extraction, meter
Calculation obtains final range information, finally gives the position of label, and is shown on console screen；
Microwave radiometer uses the technology of passive measurement, and infrared thermography is surveyed to the body surface temperature of scene of fire
Amount, the temperature signal of scene of fire is sent in control platform by ZigBee technology, control platform is according to different ultra wide bands
The position of radar base station and measurement temperature signal, calculate intensity of a fire distributed intelligence, and are shown on screen, are easy to fire missions
Schedule；
Video monitoring system extracts the vision signal of scene of fire, is sent to control platform by ZigBee technology and shows；
Real-time live image capturing system based on Tango technologies, is sent to control platform, control is flat by Radio Transmission Technology
Platform carries out motion tracking, depth perception and regional learning according to image scene data, and live building structure is determined in real time, realizes existing
Field modeling；
Control platform receives the positional information from base station, temperature information and vision signal simultaneously, and sends control to base station
The control signal of UAV Attitude, handles location information, extracts the reality that intensity of a fire information, vision signal, Tango technologies are extracted in real time
When image, control UAV Attitude.
2. UAV system ULTRA-WIDEBAND RADAR fire-fighting localization method according to claim 1, it is characterised in that employ nobody
Airborne ULTRA-WIDEBAND RADAR fire-fighting alignment system realizes that the alignment system includes ULTRA-WIDEBAND RADAR base station, video monitoring system, many ripples
Section microwave radiometer, infrared thermography, unmanned plane, positioning label, the real-time live IMAQ system based on Tango technologies
System, control platform；The ULTRA-WIDEBAND RADAR base station, video monitoring system, multiband microwave radiometer and infrared thermography peace
On unmanned plane, positioning label and the real-time live image capturing system based on Tango technologies are arranged on fireman's helmet；
The ULTRA-WIDEBAND RADAR base station, video monitoring system, real-time live image capturing system, multiband based on Tango technologies are micro-
Wave radiation meter, infrared thermography and positioning label are wirelessly connected between control platform respectively.
3. UAV system ULTRA-WIDEBAND RADAR fire-fighting localization method according to claim 2, it is characterised in that the unmanned plane
At least 3, multiband microwave radiometer, infrared thermography are installed on the frame unmanned plane of wherein at least one.
4. UAV system ULTRA-WIDEBAND RADAR fire-fighting localization method according to claim 2, it is characterised in that the unmanned plane
Hovering height is higher than scene of fire.
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| CN107610082A (en) * | 2017-09-20 | 2018-01-19 | 中国水利水电科学研究院 | A kind of higher spatial resolution region surface temperature unmanned plane acquisition device and system |
| CN107820215A (en) * | 2017-12-05 | 2018-03-20 | 南京沃旭通讯科技有限公司 | A kind of unmanned plane near field guides system and method |
| CN109125994A (en) * | 2018-09-20 | 2019-01-04 | 长沙中联消防机械有限公司 | Fire fighting truck intelligence control system and method and fire fighting truck |
| CN109275097A (en) * | 2018-11-16 | 2019-01-25 | 华东理工大学 | Indoor positioning and monitoring system based on UWB |
| CN109490899A (en) * | 2018-11-12 | 2019-03-19 | 广西交通科学研究院有限公司 | Fire source localization method in a kind of tunnel based on laser radar and infrared thermal imager |
| CN109557506A (en) * | 2018-11-09 | 2019-04-02 | 武汉伊莱维特电力科技有限公司 | A kind of ultra wide band unmanned plane accurate positioning method |
| CN111579092A (en) * | 2020-06-02 | 2020-08-25 | 成都电科慧安科技有限公司 | Indoor correction infrared temperature measurement sensor device based on UWB (ultra wide band) |
| CN117152593A (en) * | 2023-11-01 | 2023-12-01 | 锐驰激光(深圳)有限公司 | Fire scene searching method, fire scene searching device, terminal equipment and storage medium |
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| CN109490899A (en) * | 2018-11-12 | 2019-03-19 | 广西交通科学研究院有限公司 | Fire source localization method in a kind of tunnel based on laser radar and infrared thermal imager |
| CN109275097A (en) * | 2018-11-16 | 2019-01-25 | 华东理工大学 | Indoor positioning and monitoring system based on UWB |
| CN111579092A (en) * | 2020-06-02 | 2020-08-25 | 成都电科慧安科技有限公司 | Indoor correction infrared temperature measurement sensor device based on UWB (ultra wide band) |
| CN111579092B (en) * | 2020-06-02 | 2021-09-10 | 成都电科慧安科技有限公司 | Indoor correction infrared temperature measurement sensor device based on UWB (ultra wide band) |
| CN117152593A (en) * | 2023-11-01 | 2023-12-01 | 锐驰激光(深圳)有限公司 | Fire scene searching method, fire scene searching device, terminal equipment and storage medium |
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