CN109784169B - Detection method for disguised latent target in complex scene - Google Patents
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Abstract
The invention discloses a detection method for a camouflage latent target in a complex scene, which comprises the following steps: s1, obtaining a candidate region M; s2, detecting a signal intensity S in the candidate region M; s3, roughly positioning the target by detecting the direction of the increase of the signal intensity, and determining the minimum range set of the suspected existing area of the target; s4, obtaining the theoretical value and the actual value of the air sulfuric acid concentration in the minimum range in which each target is suspected to exist; s5, fusing the theoretical value of the air sulfuric acid concentration in the minimum range in which each target is suspected to exist with the actual value of the air sulfuric acid concentration to determine the specific position in which the target exists; the invention realizes the anti-reconnaissance of the reconnaissance robot disguised in the complex environment by detecting the wireless transmission signal and the battery. Through the detection of the two characteristic points of the signal and the battery, the problem that the reconnaissance robot is difficult to identify due to camouflage is solved, and the two characteristic points are fused, so that the problems of false detection and missing detection due to the existence of other interferents are solved.
Description
Technical Field
The invention belongs to the field of robot target identification, and particularly relates to a detection method for a camouflage latent target in a complex scene.
Background
Through development of more than half a century, human beings have already achieved outstanding results on military robot technical theory and actual combat experience, and currently more than 60 countries of the world have military troops equipped with military robots, and the types of the military troops exceed 150. The military robots are used in a large quantity, so that the battlefield viability of soldiers is effectively improved, the casualties and the trapped dangers of personnel are reduced, the military robots gradually become the core operational force on the battlefield, the development of unmanned warfare is promoted, and the existence mode of information is changed. The intelligence has been the important support for the strategic development of both the enemy and our parties, so that the success is the best, and the failure is the wrong. Because the electromagnetic space has the characteristic of openness, the electronic reconnaissance and the counter reconnaissance break through the mode of the traditional information station, protect the information receiving and transmitting center of the own party and interfere the reconnaissance of the enemy party through the electronic technology. The unmanned reconnaissance aircraft is a main force army for electronic reconnaissance due to the advantages of low cost, flexible control of reconnaissance regions, high ground target resolution and the like.
At present, a reconnaissance robot mainly acquires the information of the other party by reconnaissance of electromagnetic waves of radars, naval vessels and the like of enemies, and an anti-reconnaissance technology mainly aims to prevent enemies from intercepting electromagnetic radiation signals of the other party, or to enable a control system, a communication system, a power system and the like of an unmanned reconnaissance aircraft to be invalid through technologies such as control information interference, data chain interference and the like, so that the reconnaissance capability of the unmanned reconnaissance aircraft is weakened; or the reconnaissance robot is destroyed by means of guided missiles, lasers, microwaves and the like. Although these anti-reconnaissance techniques are mature, they are costly, environmentally sensitive and are implemented on the premise that the location of the target is known. However, in actual situations, in order to reduce the possibility of discovery, the enemy reconnaissance robot can hide in the environment through active camouflage to make the enemy reconnaissance robot melt in the background as much as possible.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a detection method for a camouflage latent target in a complex scene. In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a detection method for a camouflage latent target in a complex scene comprises the following steps:
s1, the probe robot detects the approximate direction of the presence signal by the signal tester carried by the probe robot, and sets the detected approximate direction as a candidate region M.
S2, the signal intensity S in the candidate region M is detected.
A look-up table based on the detection of the received signal strength of the heterodyne receiver is used.
S2.1, receiving the wireless transmission signal fc by a superheterodyne receiver through an input circuit 1 Peak voltage value of V 1 The amplified wireless transmission signal fc is obtained by a high-frequency amplifier 2 Peak voltage value of V 2 。
S2.2, probingThe local oscillator of the robot generates a local signal with a voltage value V, and the local signal and the amplified wireless transmission signal fc 2 After being processed by the mixer, a fixed frequency between the low frequency and the high frequency is obtained.
S2.3, amplifying the obtained fixed frequency signal by an intermediate frequency amplifier, detecting a communication signal by a detector, and outputting a mean voltage V of the signal by a low frequency amplifier c 。
S2.4, according to the mean voltage V c The relationship between the impedance Z and the signal strength S, the signal strength S is calculated:
and S3, roughly positioning the target by detecting the direction of increasing the signal intensity, and determining the minimum range set of the suspected existing area of the target.
And S3.1, setting the threshold value of the signal intensity detected by the detection robot to be T when the signal source is in the visible range of the detection robot.
S3.2, detecting that the robot passes through the signal detector at the position A (x) A ,y A ) Where a signal is detected, the signal strength is recorded as S A 。
S3.3, in position A (x) A ,y A ) As a starting point, the detection robot finds a position B (x) with equal signal intensity in a spiral mode B ,y B ) And position C (x) C ,y C ) Position B (x) B ,y B ) Has a signal intensity of S B Position C (x) C ,y C ) Has a signal intensity of S C And S is B ≥T+S A 。
S3.4, detecting a signal source by taking a vertical bisector L1 of BC as a direction, detecting the signal intensity of the current position every a meters, and if the current position E (x) is detected E ,y E ) The signal strength at is greater than the previous position D (x) D ,y D ) The signal intensity is detected in the direction; otherwise, the next step is performed.
S3.5, with CurrentPosition E (x) E ,y E ) For the center point, the position F (x) is found by means of a spiral F ,y F ) And position F (x) F ,y F ) The signal strength at is greater than the position D (x) D ,y D ) And detecting the signal source with the direction DF as the direction.
S3.6, when the detection robot detects the position P (x) i ,y i ) The signal intensity at the position is greater than the signal intensity at the periphery and the position P (x) i ,y i ) When the signal intensity is greater than or equal to T, the position P (x) is used i ,y i ) As the center of circle, position P (x) i ,y i ) To position P (x) i-1 ,y i-1 ) The circle whose distance is the radius of (a) is the minimum range in which the target exists.
S3.7, at position A (x) A ,y A ) As a starting point, the detection robot detects the position B (x) with equal signal intensity in a spiral mode B ,y B ) And position C (x) C ,y C ) To detect another set of points with the same signal intensity and different from the position B (x) B ,y B ) And position C (x) C ,y C ) Position B of 1 And C 1 Repeating steps S3.4-S3.6 as a starting point to obtain the minimum range of all targets in the candidate region M, and forming the set of minimum ranges of the suspected targets, where R is { R ═ R 1 ,R 2 ,…,R n }。
And S4, obtaining the theoretical value and the actual value of the air sulfuric acid concentration in the minimum range in which each target is suspected to be present.
And S4.1, establishing a standard sulfuric acid solution peak height database with different concentrations.
And S4.2, calculating the theoretical value of the air sulfuric acid concentration of the minimum range set R in which the target is suspected to exist.
S4.2.1, a calculation formula of the sulfuric acid concentration is constructed:
in the formula, C (x) i ,y i ) Indicates the position (x) i ,y i ) Sulfuric acid concentration of (x) 0 ,y 0 ) For coordinate position of scout robot, d is position (x) i ,y i ) To scout the robot (x) 0 ,y 0 ) K is the diffusion coefficient of sulfuric acid in air.
S4.2.2, the theoretical value of the concentration of sulfuric acid in air in the minimum range where each target is suspected to be present is obtained in step S4.2.1.
And S4.3, measuring actual values of the air sulfuric acid concentration of the minimum range set R in which the target is suspected to be present.
S4.3.1, sodium hydroxide is used as absorption liquid, and sodium hydroxide is filled into the absorption tube by adopting a U-shaped porous glass plate absorption tube with a valve at the bottom end.
S4.3.2, collecting air samples by using an air sampler with the minimum range of a suspected existing target as a sampling point, wherein one end of the sampler is connected with the absorption tube, and the other end of the sampler is in contact with air; the lower end of the valve of the absorption tube is connected with the microporous filter membrane.
S4.3.3, obtaining the blank ion peak height C only having the absorption liquid in the minimum range of the current target suspected to exist ij (x i ,y i )。
S4.3.4, opening the valve after a set time, and allowing the mixed liquid of the absorption liquid and the air to enter an ion chromatograph through a microporous filter membrane to obtain the ion peak height of the current target in the minimum range suspected to exist.
S4.3.5, subtracting the blank ion peak height from the measured ion peak height and comparing with the calibration curve in the database in step S4.1 to obtain the actual value of the concentration of the sulfuric acid molecule in the minimum range where the target is suspected to be present.
S4.3.6, repeating steps S4.3.2-S4.3.5 to obtain the actual value C of the sulfuric acid concentration in the air in the minimum range where each target is suspected to be present j (x i ,y i )。
And S5, fusing the theoretical value of the air sulfuric acid concentration in the minimum range in which each target is suspected to exist with the actual value of the air sulfuric acid concentration, determining the specific position where the target exists, and realizing the detection of the enemy scout.
S5.1, calculating the position Q (x) in each target suspected area i ,y i ) Corresponding air sulfuric acid concentration error sum of squares E i ；
C j (x i ,y i ) Indicating that the probing robot is at the sampling point (x) i ,y i ) Collected actual value of air sulfuric acid concentration, C ij (x i ,y i ) Indicating that (x) is present when the scout robot is present i ,y i ) The theoretical value of the air sulfuric acid concentration, i ═ j ═ 1,2, …, n, i, is the ith target suspected-to-be-present area.
S5.2, air sulfuric acid concentration error sum of squares E i The position corresponding to the minimum value is the real existing position of the scout robot.
The detection robot firstly detects the direction of the existing signal through the signal detector; then measuring signal strength value, using table look-up method to detect signal strength received by superheterodyne receiver, determining signal strength value of current position, and according to the method for increasing signal strength determining minimum range of signal source, in which R is equal to { R is equal to R } 1 ,R 2 ,…,R n And (is a positive integer). The invention provides a method for gradually approaching a signal source in a spiral mode, and the minimum range of the signal source is determined. Establishing a standard sulfuric acid solution peak height database with different concentrations, and detecting the ion peak height of the blank sample absorption liquid in advance; and detecting the sulfuric acid volatilized from the lead storage battery at the determined signal source position by adopting ion chromatography, processing the detection result, and comparing the detection result with a database to obtain the corresponding concentration of the sulfuric acid molecules. And finally, comparing the concentration of the sulfuric acid molecules in the sample with the concentration of the sulfuric acid molecules in the natural air, determining the position of the reconnaissance robot by adopting a signal and battery information which are estimated and fused based on least square, and finishing the detection of the active camouflage latent reconnaissance robot.
The invention realizes the anti-reconnaissance of the reconnaissance robot disguised in a complex environment by detecting the wireless transmission signal and the battery. The problem that the detection is difficult to identify due to disguising of the reconnaissance robot is solved by detecting the signal characteristic points and the battery characteristic points, and the problem that false detection and missing detection occur due to the existence of other interferents is solved by fusing the two characteristic points.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of the system of the present invention.
Fig. 2 is a flowchart of a method for determining a target existence region according to a signal strength increase direction according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
The essential difference of the reconnaissance robot relative to the background environment is that the reconnaissance robot contains a battery inside, and because the reconnaissance robot needs to transmit the reconnaissance data to the rear console, wireless communication signals are generated. Based on the two essential differences, the invention provides an anti-reconnaissance technology for detecting the battery and the communication signal of the reconnaissance robot, and the position of the reconnaissance robot is determined.
The detection robot is mainly used for detecting the detection robot using the lead storage battery. The electrolyte leakage of the lead storage battery can be caused by the problems of battery discharge, not tight packaging and the like in the use process, and the electrolyte of the lead storage battery is sulfuric acid, so that a leakage source is found by detecting sulfuric acid molecules. The main task of the reconnaissance robot is to reconnaissance the military situation of the other party and send information to the back of the reconnaissance robot, so that a signal source can be found by detecting a communication signal. However, in an actual environment, other waste batteries and other signals may exist, which may cause interference to the presence of a single detection battery or a communication signal, so that false detection and missing detection occur, therefore, the invention adopts a multi-source data fusion method to realize the fusion of two detection methods, and finally realizes the anti-reconnaissance of the reconnaissance robot disguised in a complex environment, specifically:
a detection method for a disguised latent target in a complex scene is shown in FIG. 1, and comprises the following steps:
s1, the probe robot detects the approximate direction of the presence signal by the signal tester carried by the probe robot, and sets the detected approximate direction as a candidate region M.
S2, the signal intensity S in the candidate region M is detected.
A look-up table based on the detection of the received signal strength of the heterodyne receiver is used.
S2.1, receiving the wireless transmission signal fc by a superheterodyne receiver through an input circuit 1 Peak voltage value of V 1 The amplified wireless transmission signal fc is obtained by a high-frequency amplifier 2 Peak voltage value of V 2 。
S2.2, a local oscillator of the detection robot generates a local signal with a voltage value V, and the local signal and the amplified wireless transmission signal fc are transmitted 2 After being processed by the mixer, a fixed frequency between the low frequency and the high frequency is obtained.
S2.3, amplifying the obtained fixed frequency signal by an intermediate frequency amplifier, detecting a communication signal by a detector, and outputting a mean voltage V of the signal by a low frequency amplifier c 。
S2.4, according to the mean voltage V c Impedance Z and signal strength S, calculating signal strength S:
s3, roughly locate the target by detecting the direction of increasing signal strength, and determine the minimum range set of the suspected existing areas of the target, as shown in fig. 2.
And S3.1, setting the threshold value of the signal intensity detected by the detection robot to be T when the signal source is in the visible range of the detection robot.
S3.2, detecting that the robot passes through the signal detector at the position A (x) A ,y A ) Where a signal is detected, the signal strength is recorded as S A 。
S3.3, in position A (x) A ,y A ) As a starting point, the detection robot finds a position B (x) with equal signal intensity in a spiral mode B ,y B ) And position C (x) C ,y C ) Position B (x) B ,y B ) Has a signal intensity of S B Position C (x) C ,y C ) Has a signal intensity of S C And S is B ≥T+S A 。
S3.4, detecting a signal source by taking the perpendicular bisector L1 of BC as a direction, detecting the signal intensity of the current position every a meters, and if the current position E (x) is detected E ,y E ) The signal strength at is greater than the previous position D (x) D ,y D ) The signal intensity is detected in the direction; otherwise, the next step is performed.
S3.5, with the current position E (x) E ,y E ) The position F (x) is found by means of a spiral for the central point F ,y F ) And position F (x) F ,y F ) The signal strength at is greater than the position D (x) D ,y D ) And detecting the signal source with the direction DF as the direction.
S3.6, when the detecting robot detects the position P (x) i ,y i ) The signal intensity at the position is greater than the signal intensities at the periphery and the position P (x) i ,y i ) When the signal intensity is greater than or equal to T, the position P (x) is used i ,y i ) As the center of a circlePosition P (x) i ,y i ) To position P (x) i-1 ,y i-1 ) The circle whose distance is the radius of (a) is the minimum range in which the target exists.
S3.7, at position A (x) A ,y A ) As a starting point, the detection robot detects the position B (x) with equal signal intensity in a spiral mode B ,y B ) And position C (x) C ,y C ) To detect another set of points with the same signal intensity and different from the position B (x) B ,y B ) And position C (x) C ,y C ) Position B of 1 And C 1 Repeating steps S3.4-S3.6 as a starting point to obtain the minimum range of all targets in the candidate region M, and forming the set of minimum ranges R ═ R for the suspected presence of targets 1 ,R 2 ,…,E n }。
And S4, obtaining the theoretical value and the actual value of the air sulfuric acid concentration in the minimum range in which each target is suspected to be present.
And S4.1, establishing a standard sulfuric acid solution peak height database with different concentrations.
And S4.2, calculating the theoretical value of the air sulfuric acid concentration of the minimum range set R in which the target is suspected to exist.
S4.2.1, a calculation formula of the sulfuric acid concentration is constructed:
in the formula, C (x) i ,y i ) Indicates the position (x) i ,y i ) Sulfuric acid concentration of (x) 0 ,y 0 ) For coordinate position of scout robot, d is position (x) i ,y i ) To scout the robot (x) 0 ,y 0 ) K is the diffusion coefficient of sulfuric acid in air.
S4.2.2, the theoretical value of the concentration of sulfuric acid in air in the minimum range where each target is suspected to be present is obtained in step S4.2.1.
And S4.3, measuring actual values of the air sulfuric acid concentration of the minimum range set R in which the target is suspected to be present.
S4.3.1, sodium hydroxide is used as absorption liquid, and sodium hydroxide is filled into the absorption tube by adopting a U-shaped porous glass plate absorption tube with a valve at the bottom end.
S4.3.2, collecting air samples by using an air sampler with the minimum range of a suspected existing target as a sampling point, wherein one end of the sampler is connected with the absorption tube, and the other end of the sampler is in contact with air; the lower end of the valve of the absorption tube is connected with the microporous filter membrane.
S4.3.3, obtaining the blank ion peak height C only having the absorption liquid in the minimum range of the current target suspected to exist ij (x i ,y i )。
S4.3.4, opening the valve after a set time, and allowing the mixed liquid of the absorption liquid and the air to enter an ion chromatograph through a microporous filter membrane to obtain the ion peak height of the current target in the minimum range suspected to exist.
S4.3.5, subtracting the blank ion peak height from the measured ion peak height and comparing with the calibration curve in the database in step S4.1 to obtain the actual value of the concentration of the sulfuric acid molecule in the minimum range where the target is suspected to be present.
S4.3.6, repeating steps S4.3.2-S4.3.5 to obtain the actual value C of the sulfuric acid concentration in the air in the minimum range where each target is suspected to be present j (x i ,y i )。
And S5, fusing the theoretical value of the air sulfuric acid concentration in the minimum range in which each target is suspected to exist with the actual value of the air sulfuric acid concentration, determining the specific position where the target exists, and realizing the detection of the enemy scout.
S5.1, calculating the position Q (x) in each target suspected area i ,y i ) Corresponding air sulfuric acid concentration error sum of squares E i ；
C j (x i ,y i ) Indicating the probing robot isSample point (x) i ,y i ) Collected actual value of air sulfuric acid concentration, C ij (x i ,y i ) Indicating that (x) is present when the scout robot is present i ,y i ) The theoretical value of the air sulfuric acid concentration, i ═ j ═ 1,2, …, n, i, is the ith target suspected-to-be-present area.
S5.2, air sulfuric acid concentration error sum of squares E i The position corresponding to the minimum value is the real existing position of the reconnaissance robot.
The invention realizes the anti-reconnaissance of the reconnaissance robot disguised in a complex environment by detecting the wireless transmission signal and the battery. Through the detection of the two characteristic points of the signal and the battery, the problem that the reconnaissance robot is difficult to identify due to camouflage is solved, and the two characteristic points are fused, so that the problems of false detection and missing detection due to the existence of other interferents are solved.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. A detection method for a camouflage latent target in a complex scene is characterized by comprising the following steps:
s1, the approximate direction in which the probe robot detects the presence signal by the signal tester carried by the probe robot is set as a candidate region M:
s2, detecting the signal intensity S in the candidate region M;
s3, the target is roughly positioned by detecting the direction of increasing the signal intensity, and the minimum range set of the suspected existing area of the target is determined:
s4, obtaining the theoretical value and the actual value of the air sulfuric acid concentration in the minimum range in which each target is suspected to exist;
and S5, fusing the theoretical value of the air sulfuric acid concentration in the minimum range in which each target is suspected to exist with the actual value of the air sulfuric acid concentration, determining the specific position where the target exists, and realizing the detection of the enemy scout.
2. The method for detecting a disguised latent object in a complex scene according to claim 1, wherein in step S2, a table lookup method based on heterodyne receiver received signal strength detection is adopted, and the specific steps are as follows:
s2.1, receiving the wireless transmission signal fc by a superheterodyne receiver through an input circuit 1 Peak voltage value of V 1 The amplified wireless transmission signal fc is obtained by a high-frequency amplifier 2 Peak voltage value of V 2 ；
S2.2, a local oscillator of the detection robot generates a local signal with a voltage value V, and the local signal and the amplified wireless transmission signal fc 2 Processing the signals by a mixer to obtain a fixed frequency between a low frequency and a high frequency;
s2.3, amplifying the obtained fixed frequency signal by an intermediate frequency amplifier, detecting a communication signal by a detector, and outputting a mean voltage V of the signal by a low frequency amplifier c ；
S2.4, according to the mean voltage V c The relationship between the impedance Z and the signal strength S, the signal strength S is calculated:
3. the method for detecting the disguised latent object in the complex scene according to claim 1, wherein in step S3, the specific steps are as follows:
s3.1, setting a signal intensity threshold value detected by the detection robot to be T when the signal source is in a visible range of the detection robot;
s3.2, detecting that the robot passes through the signal detector at the position A (x) A ，y A ) Where a signal is detected, the signal strength is recorded as S A ；
S3.3, in position A (x) A ，y A ) As a starting point, the detection robot finds a position B (x) with equal signal intensity in a spiral mode B ，y B ) And position C (x) C ，y C ) Position B (x) B ，y B ) Has a signal intensity of S B Position C (x) C ，y C ) Has a signal intensity of S C And S is B ≥T+S A ；
S3.4, detecting a signal source by taking a vertical bisector L1 of BC as a direction, detecting the signal intensity of the current position every a meters, and if the current position E (x) is detected E ，y E ) Is greater than the previous position D (x) D ，y D ) The signal intensity is detected in the direction; otherwise, executing the next step;
s3.5, with the current position E (x) E ，y E ) For the center point, the position F (x) is found by means of a spiral F ，y F ) And position F (x) F ，y F ) The signal strength at is greater than the position D (x) D ，y D ) Detecting the signal source by taking DF as the direction;
s3.6, when the detection robot detects the position P (x) i ，y i ) The signal intensity at the position is greater than the signal intensity at the periphery and the position P (x) i ，y i ) When the signal intensity is greater than or equal to T, the position P (x) is used i ，y i ) As the center of circle, position P (x) i ，y i ) To position P (x) i-1 ，y i-1 ) The circle with the radius as the distance of (a) is the minimum range in which the target exists;
s3.7, at position A (x) A ，y A ) As a starting point, the detection robot detects the position B (x) with equal signal intensity in a spiral mode B ，y B ) And position C (x) C ，y C ) To detect another set of points with the same signal intensity and different from the position B (x) B ，y B ) And position C (x) C ，y C ) Position B of 1 And C 1 Repeating steps S3.4-S3.6 as a starting point to obtain the minimum range of all targets in the candidate region M, and forming the set of minimum ranges R ═ R for the suspected presence of targets 1 ，R 2 ，…，R n }。
4. The method for detecting the disguised latent object in the complex scene according to claim 1, wherein in step S4, the specific steps are as follows:
s4.1, establishing a standard sulfuric acid solution peak height database with different concentrations;
s4.2, calculating the theoretical value of the air sulfuric acid concentration of the minimum range set in which the target is suspected to exist;
and S4.3, measuring actual values of the air sulfuric acid concentration of the minimum range set R in which the target is suspected to be present.
5. The method for detecting a disguised latent object in a complex scene according to claim 4, wherein in step S4.2, the specific steps are as follows:
s4.2.1, a calculation formula of the sulfuric acid concentration is constructed:
in the formula, C (x) i ，y i ) Indicates the position (x) i ，y i ) Sulfuric acid concentration of (x) 0 ，y 0 ) For coordinate position of scout robot, d is position (x) i ，y i ) To scout the robot (x) 0 ，y 0 ) K is the diffusion coefficient of sulfuric acid in air;
s4.2.2, the theoretical value of the concentration of sulfuric acid in air within the minimum range suspected to exist in each target is obtained in step S4.2.1.
6. The method for detecting a disguised latent object in a complex scene according to claim 4, wherein in step S4.3, the specific steps are as follows:
s4.3.1, taking sodium hydroxide as absorption liquid, adopting a U-shaped porous glass plate absorption tube with a valve at the bottom end, and filling the sodium hydroxide into the absorption tube;
s4.3.2, collecting air samples by using an air sampler with the minimum range of a suspected existing target as a sampling point, wherein one end of the sampler is connected with the absorption tube, and the other end of the sampler is in contact with air; the lower end of the valve of the absorption tube is connected with the microporous filter membrane;
s4.3.3, obtaining the blank ion peak height C only having the absorption liquid in the minimum range of the current target suspected to exist ij (x i ，y i )；
S4.3.4, opening the valve after a set time, and allowing the mixed liquid of the absorption liquid and the air to enter an ion chromatograph through a microporous filter membrane to obtain the ion peak height of the current target in the minimum range suspected to exist;
s4.3.5, subtracting the blank ion peak height from the measured ion peak height, and comparing with the calibration curve in the database in the step S4.1 to obtain the actual value of the concentration of the sulfuric acid molecule in the minimum range suspected to exist in the current target;
s4.3.6, repeating steps S4.3.2-S4.3.5 to obtain the actual value C of the sulfuric acid concentration in the air in the minimum range where each target is suspected to be present j (x i ，y i )。
7. The method for detecting a latent camouflage target in a complex scene according to claim 4, wherein in step S5, the specific steps are as follows:
s5.1, calculating the position Q (x) in each target suspected area i ，y i ) Corresponding air sulfuric acid concentration error sum of squares E i ；
C j (x i ，y i ) Indicating that the probing robot is at the sampling point (x) i ，y i ) Collected actual value of air sulfuric acid concentration, C ij (x i ，y i ) Indicating that (x) is present when the scout robot is present i ，y i ) Theoretical value of sulfuric acid concentration in airI-j-1, 2, n, i is the ith target suspected-to-be-present area;
s5.2, air sulfuric acid concentration error sum of squares E i The position corresponding to the minimum value is the real existing position of the reconnaissance robot.
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| EP1369493A1 (en) * | 2002-06-05 | 2003-12-10 | Epigenomics AG | Quantitative determination method for the degree of methylation of cytosines in CpG positions |
| CN101111042A (en) * | 2007-08-21 | 2008-01-23 | 北京航空航天大学 | Method for measuring communications volume area distribution in wireless mobile self-organizing network |
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| EP1369493A1 (en) * | 2002-06-05 | 2003-12-10 | Epigenomics AG | Quantitative determination method for the degree of methylation of cytosines in CpG positions |
| CN101111042A (en) * | 2007-08-21 | 2008-01-23 | 北京航空航天大学 | Method for measuring communications volume area distribution in wireless mobile self-organizing network |
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| 基于目标自动识别技术的热红外伪装效果评价;何鹄等;《光电技术应用》;20100615(第03期);全文 * |
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