CN108594175A - Object localization method in a kind of fire prevention of forest aviation - Google Patents
Object localization method in a kind of fire prevention of forest aviation Download PDFInfo
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- CN108594175A CN108594175A CN201810339772.6A CN201810339772A CN108594175A CN 108594175 A CN108594175 A CN 108594175A CN 201810339772 A CN201810339772 A CN 201810339772A CN 108594175 A CN108594175 A CN 108594175A
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- target
- aircraft
- fire prevention
- object localization
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
Abstract
The invention discloses object localization methods in a kind of fire prevention of forest aviation, target position is determined first, by the navigation system of aircraft obtain aircraft n position coordinate, again by laser ranging obtain n position of aircraft to target M distance, row write out the n equation using coordinates of targets as unknown quantity, the equation group of this n equation composition is carried out to linearize and apply least square solution, obtains the coordinate of target M.Object localization method provided by the invention is suitable for any orographic condition；Poor source is few, can obtain higher positioning accuracy；And algorithm is simple, it is easy to accomplish.
Description
Technical field
The present invention relates to target positioning field, object localization method in specifically a kind of fire prevention of forest aviation.
Background technology
Since the generation of forest fire must exist for condition with combustible, oxygen (oxidizer) and burning things which may cause a fire disaster, that takes flutters
Combustible should be able to be isolated in the measure of rescuing, or the quantity of steam of reduction combustible makes it below the lower limit that catches fire；Air-isolation, or make air
The content of middle oxygen is less than 14~18%；Also the temperature of combustible should be made to drop to burning point or less.It, can be by various forests by this principle
Fire attack method is summarised as：1. smother play.It such as earth backing, spraying fire-extinguishing agent and swats, the air needed for burning can be isolated,
Reach fire extinguishing purpose.Suitable for fire early period of origination.2. cooling method.I.e. in the covering wet soil or watering etc. on combustible that catch fire, make
The temperature of combustible of catching fire drops to burning point or less and puts out a fire.3. combustible is isolated.Such as open up fire line, will fire combustible with
Unburned combustible is completely separated；Chemical retardation agent is sprayed in combustible surface, or a large amount of waterings form inhibiting tape, keep its fire retardant
Or it is non-ignitable.
Forest extinguishing need to determine that fire location realizes that fire extinguishing, existing fire prevention of forest aviation have become the main side of forest fire prevention and control in time
Method can effectively obtain distant object information using fire disaster target location technology, Target indication is provided for fire-fighting, however
Existing object localization method error is big, and precision is low.
Invention content
The purpose of the present invention is to provide object localization methods in a kind of fire prevention of forest aviation, to solve above-mentioned background technology
The problem of middle proposition.
To achieve the above object, the present invention provides the following technical solutions：
Object localization method in a kind of fire prevention of forest aviation, is as follows：
The first step, under ground earth rectangular coordinate system, selected target M (x, y, z) T, aircraft flies above target M；
Second step, aircraft acquire n position P1 (x1, y1, z1) T, the P2 (x2, y2, z2) of itself in flight course
T ... the coordinate of Pn (xn, yn, zn) T, n >=3, n position are obtained by the navigation system of aircraft；
Third walks, and the distance of location point P1, P2 ... Pn to target M are obtained by laser rangingRow
It writes out with the n range equation that target M coordinates (x, y, z) T is unknown quantity, enablesThen there is equation group
4th step solves the equation group of the range equation composition, obtains the coordinate value of target M, i.e., target M's is specific
Position；
5th step calculates the value of spatial position precision mp, if current coordinates of targets meets spatial position precision requirement,
Using the coordinate value resolved in the 4th step as the final coordinate of target, positioning terminates, and otherwise returns to second step, continues to acquire aircraft
Position.
As a further solution of the present invention：It at least should there are three positions not with always in the n aircraft position
On line, the flight route of aircraft is the orbit above target.
As further scheme of the invention：It is specific as follows that 4th step solves the step of equation group：
Take M0=(x0,y0,z0)TFor the initial position of target M, to fi(x, y, z) is in point M0=(x0,y0,z0)TPlace is safe
Series expansion is strangled, and takes first approximation expression formula：
Wherein i=1,2 ... n,
Equation group (2) is expressed as matrix form：Am=b
Wherein,
Wherein, and respectively the earth's core O to the current location M and initial position M0 of target vector；To Am=b
Using least square method, i.e. M=(ATA) -1ATb+M0 resolves M=(ATA) -1ATb+M0 using iterative method,
After solving for the first time, initial value (x0, y0, z0) T of coordinates of targets is updated using obtained coordinates of targets (x, y, z) T, then
Again equation group is solved, this solution process is repeated, until the mould of the difference of the adjacent coordinates of targets resolved twice
Until given threshold.
As further scheme of the invention：The given threshold is taken as 0.01 meter.
As further scheme of the invention：The spatial position precision mp and spatial position precision factor PDOP's
Size is related, i.e.,：Mp=σ 0PDOP, wherein σ 0 are laser ranging error, are enabledQ is power
Coefficient matrix, PDOP are defined by the formula：
Compared with prior art, the beneficial effects of the invention are as follows：Novel design of the present invention is applicable to any landform, error
Source is few, can obtain higher positioning accuracy, and algorithm is simple, it is easy to accomplish, fire location in forest can be quickly positioned, it is real
Now put out a fire.
Specific implementation mode
The technical solution of this patent is described in more detail With reference to embodiment.
Object localization method in a kind of fire prevention of forest aviation, is as follows：
The first step, selected target M (x, y, z) T, aircraft fly above target M；
Second step, aircraft acquired in flight course itself n position P (x, y, z) T, P (x, y, z) T ... P (x,
Y, z) T, n >=3.The coordinate of n position is obtained by the navigation system of aircraft, and Waypoint cannot be straight line, n aircraft position
In at least should there are three positions not on the same line, the optimal air line of aircraft is the orbit above target；
Third walks, and the distance of location point P1, P2 ... Pn to target M are obtained by laser ranging
The n range equation write out so that target M coordinates (x, y, z) T is unknown quantity can be then arranged, is enabledThen
Have：
4th step solves the range equation, obtains the coordinate value of target M, the i.e. specific location of target M；Take M0=
Initial position that (x0, y0, z0) T is target M (location point P1 during the initial position co-ordinates can be walked according to third,
P2 ... Pn coordinates are averaged to obtain), to fi (x, y, z), (i=1,2 ... n) at point M0=(x0, y0, z0) T with Taylor's grade
Number expansion, and take first approximation expression formula (i.e. linearized expression)：
Wherein i=1,2 ... n,
Equation group (2) is expressed as matrix form：Am=b
Wherein,
Wherein, and respectively the earth's core O to target current location M and initial position M0Vector；
To Am=b application least square methods, i.e. M=(ATA)-1ATb+M0, to M=(ATA)-1ATb+M0Using iterative method
It calculates, i.e., after solving for the first time, utilizes obtained coordinates of targets (x, y, z)TUpdate the initial value (x of coordinates of targets0,y0,z0)T, then
Again equation group is solved, this solution process is repeated, until the mould of the difference of the adjacent coordinates of targets resolved twice
Until less than given threshold, i.e., the difference of+1 iteration of kth obtains coordinates of targets and the coordinates of targets that kth time iteration obtains is small
In given threshold,K is positive integer, represents the number of iteration.Given threshold is generally taken as 0.01 meter；
5th step calculates spatial position precision mpValue, if current coordinates of targets meet spatial position precision requirement,
Using the coordinate value resolved in the 4th step as the final coordinate of target, positioning terminates, and otherwise returns to second step, continues to acquire aircraft
Position, the aircraft position for continuing acquisition participate in operation together with the aircraft position of front；Target space position precision and space (three
Dimension) position dilution of precision PDOP size it is related, in laser ranging error σ0In the case of determination, make the numerical value of PDOP as possible
Ground is reduced, and can improve spatial position precision；
It enablesQ is weight coefficient matrix (also known as coordinating because of primitive matrix)；
PDOP is defined by the formula：
Spatial position precision mpFor：mp=σ0PDOP, wherein σ0For laser ranging error.
Emulation positioning is carried out using object localization method in fire prevention of forest aviation provided by the invention, simulated conditions are as follows；
(1) aircraft orbit (right over approximate) above target, turn circle radius is about 7500 meters, and flying height is about
It it is 7000 meters, flying speed size is 100 meter per seconds；
(2) aircraft, which spirals one week, about needs 500 seconds, and aircraft position coordinate of each second record records 500 times altogether；
(3) aircraft position error (δ x；δy；δ z) be obey zero-mean gaussian distribution stochastic variable, δ x~N (0,
8.6), (0,8.6) δ y~N,(unit：Rice)；
(4) aircraft flight path is in the projection in the faces earth rectangular coordinate system XOY, and M is projection of the target location in XOY, and C is
The projection of point right over M at 7000 meters in the faces XOY.
As it can be seen that object localization method provided by the invention can provide the positioning result of at least 2.1 meters of precision, can obtain
Obtain higher positioning accuracy.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, nothing
By from the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by institute
Attached claim rather than above description limit, it is intended that will fall within the meaning and scope of the equivalent requirements of the claims
All changes be included within the present invention.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (5)
1. object localization method in a kind of fire prevention of forest aviation, which is characterized in that be as follows：
The first step, under ground earth rectangular coordinate system, selected target M (x, y, z) T, aircraft flies above target M；
Second step, aircraft acquired in flight course itself n position P1 (x1, y1, z1) T, P2 (x2, y2, z2) T ...
Pn (xn, yn, zn) T, n >=3, the coordinate of n position are obtained by the navigation system of aircraft；
Third walks, and the distance of location point P1, P2 ... Pn to target M are obtained by laser rangingRow write out
With the n range equation that target M coordinates (x, y, z) T is unknown quantity, enableThen there is equation group
4th step solves the equation group of the range equation composition, obtains the coordinate value of target M, the i.e. specific location of target M；
5th step calculates the value of spatial position precision mp, if current coordinates of targets meets spatial position precision requirement, with the
The coordinate value resolved in four steps is the final coordinate of target, and positioning terminates, and otherwise returns to second step, continues to acquire aircraft position.
2. object localization method in fire prevention of forest aviation according to claim 1, which is characterized in that the n aircraft
In position at least should there are three positions not on the same line, the flight route of aircraft is the orbit above target.
3. object localization method in fire prevention of forest aviation according to claim 1, which is characterized in that the 4th step solves equation
The step of group, is specific as follows：
Take M0=(x0,y0,z0)TFor the initial position of target M, to fi(x, y, z) is in point M0=(x0,y0,z0)TPlace's Taylor series
Expansion, and take first approximation expression formula：
Wherein i=1,2 ... n,
Equation group (2) is expressed as matrix form：Am=b
Wherein,
Wherein, and respectively the earth's core O to the current location M and initial position M0 of target vector；To Am=b application least squares
Method, i.e. M=(ATA) -1ATb+M0 is resolved M=(ATA) -1ATb+M0 using iterative method, i.e., after solving for the first time, utilized
Initial value (x0, y0, z0) T of coordinates of targets (x, y, z) T update coordinates of targets arrived, then equation group is solved again, instead
This solution process is carried out again, until the mould of the difference of the adjacent coordinates of targets resolved twice is less than given threshold.
4. object localization method in fire prevention of forest aviation according to claim 1, which is characterized in that the given threshold
It is taken as 0.01 meter.
5. object localization method in fire prevention of forest aviation according to claim 1, which is characterized in that the spatial position
Precision mp is related with the size of spatial position precision factor PDOP, i.e.,：Mp=σ 0PDOP, wherein σ 0 are laser ranging error,
It enablesQ is weight coefficient matrix, and PDOP is defined by the formula：
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112066978A (en) * | 2020-09-17 | 2020-12-11 | 西安思丹德信息技术有限公司 | Ground target active positioning method and device suitable for airborne equipment |
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| CN102707726A (en) * | 2012-05-28 | 2012-10-03 | 北京航空航天大学 | Target location method of unmanned plane |
| CN104155995A (en) * | 2014-08-11 | 2014-11-19 | 江苏恒创软件有限公司 | Unmanned helicopter-based mining subsidence monitoring method |
| CN104457756A (en) * | 2014-11-24 | 2015-03-25 | 中国运载火箭技术研究院 | Ocean surface object positioning method based on double-plane distance measurement |
| CN107396309A (en) * | 2017-07-12 | 2017-11-24 | 浙江农林大学 | A kind of wireless sensor network forest localization method |
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2018
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102707726A (en) * | 2012-05-28 | 2012-10-03 | 北京航空航天大学 | Target location method of unmanned plane |
| CN104155995A (en) * | 2014-08-11 | 2014-11-19 | 江苏恒创软件有限公司 | Unmanned helicopter-based mining subsidence monitoring method |
| CN104457756A (en) * | 2014-11-24 | 2015-03-25 | 中国运载火箭技术研究院 | Ocean surface object positioning method based on double-plane distance measurement |
| CN107396309A (en) * | 2017-07-12 | 2017-11-24 | 浙江农林大学 | A kind of wireless sensor network forest localization method |
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| CN112066978A (en) * | 2020-09-17 | 2020-12-11 | 西安思丹德信息技术有限公司 | Ground target active positioning method and device suitable for airborne equipment |
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Application publication date: 20180928 |