CN110389353A - A kind of forest fire point precise positioning method and system - Google Patents
A kind of forest fire point precise positioning method and system Download PDFInfo
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- CN110389353A CN110389353A CN201910775478.4A CN201910775478A CN110389353A CN 110389353 A CN110389353 A CN 110389353A CN 201910775478 A CN201910775478 A CN 201910775478A CN 110389353 A CN110389353 A CN 110389353A
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/46—Indirect determination of position data
- G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
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Abstract
The present invention relates to a kind of forest fire point precise positioning method and system, comprising: presets the coordinate (E0, N0) of test point, the height H0 of test point, sets 0 ° of direction of level；Test point is measured by the way of infrared distance measuring to the linear distance S of tested point, returns to horizontal angle angle value A, pitch angle angle value B of the tested point to test point；Obtain the length N of test point location unit longitude length E and unit latitude；Calculate the coordinate (E1, N1) of tested point and the height H1 of tested point.It the accurate tested point of the present invention and the distance between surveys, according to the coordinate value that holder returns, height value, horizontal angle angle value, the unit length value of pitch angle angle value and known latitude and longitude obtains the coordinate value of practical fire point.This system method is easy to use, accurate positioning, can just position when forest fire occurs, and accuracy rate is high, verifies without artificial.
Description
Technical field
The present invention relates to forest fire protection intelligent positioning technical fields, and in particular to a kind of forest fire point precise positioning
Method and system.
Background technique
The early warning of forest fire is always the most important thing of forest zone work, it is desirable that is prevented in " not firing ".It is anti-from forest
The historical development of fire sees that early stage forest ranger builds in forest zone makes sightseeing tower, is protected a forest in artificial long-term mode on duty.Work as discovery
After fire behavior, due to that cannot determine fire point position rapidly, cause fire prevention direction department that cannot deploy in time, establishment officer and equipment throw
Enter the scene of a fire, delays the best opportunity of fire extinguishing.With the development of electronic technology, simulation electronic monitoring device replaces in some forest zones
The work of forest ranger on sightseeing tower.Video camera on sightseeing tower looks down forest zone, the personnel of control room can be allowed to understand in real time existing
The case where field, plays positive effect for finding fire behavior in time, reducing forest ranger's working strength.But simulation monitoring equipment is same
Sample not can solve fire point position problems.
Summary of the invention
The present invention for the technical problems in the prior art, provide a kind of forest fire point precise positioning method and
System, structure is simple, easy to use, accurate positioning, can just position when forest fire occurs, and accuracy rate is high, is not necessarily to
It is artificial to verify.
The technical scheme to solve the above technical problems is that
A kind of forest fire point precise positioning method, comprising the following steps:
The coordinate (E0, N0) of test point, the height H0 of the test point are preset, 0 ° of direction of level is set；
The test point is measured by the way of infrared distance measuring to the linear distance S of tested point, returns to the tested point
Horizontal angle angle value A, pitch angle angle value B to the test point；
According to the map, the length N for obtaining the test point location unit longitude length E and unit latitude is calculated；
Pass through the coordinate (E0, N0) of the test point, the height H0 of the test point, the linear distance S, the level
Angle value A, the pitch angle angle value B, the unit longitude length E and the unit latitude length N calculate it is described to be measured
The coordinate (E1, N1) of point and the height H1 of the tested point.
Based on the above technical solution, the present invention can also be improved as follows.
Preferably, the coordinate (E1, N1) for calculating the tested point is realized by following formula:
E1=E0+ [* 360 ° of S*cos (B) * sin (A)]/N,
N1=N0+ [* 360 ° of S*cos (B) * cos (A)]/E.
Preferably, the height H1 for calculating the tested point is realized by following formula:
H1=H0-S*sin (B).
Preferably, the linear distance S that the test point is measured by the way of infrared distance measuring to tested point, packet
It includes:
Emit infrared ray to the tested point, receiving infrared-ray feedback signal is returned by the infrared ray from being emitted to
Time difference t and infrared ray conduction of velocity v calculate the test point to the linear distance S between the tested point.
Preferably, the linear distance S is calculated by following formula: S=v*t/2.
Preferably, horizontal angle angle value A angle in the horizontal direction between tested point and O °.
Preferably, angle of the pitch angle angle value B between the infrared ray and horizontal plane.
A kind of forest fire point precise positioning system, including holder, thermal infrared imaging camera, PC machine, it is described infrared
Thermal imaging camera is mounted on the holder, and the holder and the PC machine communicate to connect；The thermal infrared imaging camera
In be equipped with infrared distance measurement module, be provided with data acquisition module and data transmission module, the data acquisition module in the holder
Block and the thermal infrared imaging camera communicate to connect, and are provided with GIS map and logical operation module, the number in the PC machine
It is communicated to connect according to transmission module and the logical operation module.
Preferably, the holder and the PC machine pass through network connection.
A kind of forest fire point precise positioning system, including thermal infrared imaging camera, holder and control device,
The thermal infrared imaging camera is mounted on the holder and by wirelessly or non-wirelessly communication mode and the control
Device connection processed, for shooting the graphic images information of forest and being uploaded to the control device,
The control device includes:
Preprocessing module, for being pre-processed and being extracted characteristic point to the graphic images information, be determined with fiery point
Region and be marked as tested point, obtain the coordinate (E0, N0) of test point；
Straight line range finder module, for infrared ray from be emitted to return time difference t and infrared ray conduction of velocity v calculate described in
Test point is to the linear distance S between the tested point；
Goniometry module, 0 ° of direction calculating of camera angle and preset level for being returned according to the holder are discharged
Straight angle angle value A and pitch angle angle value B；
Height computing module, height value H0, the linear distance S and the pitch angle angle value for being returned according to holder
B calculates the height value H1 of test point；
Coordinate calculation module, for calculating the unit longitude length E and unit latitude in test point location according to the map
Length N, according to the unit longitude length E, the length N of the unit latitude, the linear distance S, the level angle
The value A and pitch angle angle value B calculates the coordinate (E1, N1) of the tested point.
A kind of forest fire point accurate-location device, comprising:
Memory, for storing computer software programs；
Processor realizes a kind of forest fire described above due to reading and executing the computer software programs
Point precise positioning method.
A kind of non-transient computer readable storage medium, storage is appointed for realizing claim 1-7 in the storage medium
A kind of computer software programs of forest fire point precise positioning method described in one.
The beneficial effects of the present invention are: the present invention solves the problems, such as existing forest fire protection positioning system inaccuracy, essence
Really the distance between tested point and holder, according to the coordinate value of holder return, height value, horizontal angle angle value, pitch angle angle value
And the unit length value of known latitude and longitude, obtain the latitude and longitude coordinates value of practical fire point.Infrared distance measurement module measures first
Out then region to be measured returns data to PC machine end by holder to the linear distance of holder, passes through the meter of logical operation module
It calculates, obtains the corresponding coordinate position of the fire point.This system method is easy to use, accurate positioning, can occur in forest fire
When just position, and accuracy rate is high, verifies without artificial.
Detailed description of the invention
Fig. 1 is present system composition schematic diagram；
Fig. 2 is horizontal angle angle value A schematic diagram of the present invention；
Fig. 3 is tested point data acquisition schematic diagram of the present invention；
Fig. 4 is that tested point latitude of the present invention obtains schematic diagram (when horizontal angle angle value A is less than 90 °)；
Fig. 5 is that tested point latitude of the present invention obtains schematic diagram (when horizontal angle angle value A is located at 90 °~180 °)；
Fig. 6 is that tested point latitude of the present invention obtains schematic diagram (when horizontal angle angle value A is located at 180 °~270 °)；
Fig. 7 is that tested point latitude of the present invention obtains schematic diagram (when horizontal angle angle value A is located at 270 °~360 °).
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.
It is as shown in Figure 1 present system composition schematic diagram.A kind of forest fire point precise positioning system, including cloud
Platform, thermal infrared imaging camera, PC machine, the thermal infrared imaging camera are mounted on the holder, the holder with it is described
PC machine passes through network connection；Holder can be realized 0 °~360 ° degree rotations of horizontal direction, while can be realized -30 ° of vertical direction
Level angle transformed value and vertical angle transformed value are passed through transmission of network to PC machine by~40 ° of rotations, holder.It is described it is infrared heat at
As being equipped with infrared distance measurement module in video camera, data acquisition module and data transmission module, the number are provided in the holder
It is communicated to connect according to acquisition module and the thermal infrared imaging camera, is provided with GIS map and logical operation mould in the PC machine
Block, the data transmission module and the logical operation module communicate to connect.
A kind of forest fire point precise positioning method of forest fire point precise positioning system based on the present embodiment,
The following steps are included:
The coordinate (E0, N0) of test point, the height H0 of the test point are preset, 0 ° of direction of level is set；The seat of test point
The position of holder (E0, N0) i.e. is marked, the height H0, that is, mountain height and tower height of test point add the height of holder, this is known number
According to, be fixed parameter, can respectively pass through professional equipment obtain.It is preferred that it regard Due South or the positive north as 0 ° of direction of level,
The present embodiment is used as 0 ° of direction of level using positive analogy.
The test point is measured by the way of infrared distance measuring to the linear distance S of tested point, returns to the tested point
Horizontal angle angle value A, pitch angle angle value B to the test point；Linear distance S uses meter Zuo Wei unit.Tested point is fiery point
It sets, linear distance of linear distance S, that is, holder position to fire point position.It is illustrated in figure 2 the acquisition signal of horizontal angle angle value A
Figure, it is in the horizontal direction between horizontal angle angle value A angle in the horizontal direction between tested point and O °, i.e. fire point position and O °
Angle.It is illustrated in figure 3 the data acquisition schematic diagram of the present embodiment tested point.Pitch angle angle value B is the infrared ray and level
Angle between face, the data acquisition returned by holder.
According to GIS map, the length N for obtaining the test point location unit longitude length E and unit latitude is calculated；
Pass through the coordinate (E0, N0) of the test point, the height H0 of the test point, the linear distance S, the level
Angle value A, the pitch angle angle value B, the unit longitude length E and the unit latitude length N calculate it is described to be measured
The coordinate (E1, N1) of point and the height H1 of the tested point.
In the present embodiment, the coordinate (E1, N1) for calculating the tested point is realized by following formula:
E1=E0+ [* 360 ° of S*cos (B) * sin (A)]/N,
N1=N0+ [* 360 ° of S*cos (B) * cos (A)]/E.
By formula cosine formula, can calculate and obtain floor projection length (horizontal distance) L of fire point to holder position is L
=S*cos (B)；By SIN function formula, the altitude information for obtaining fire point location can be calculated:
H1=H0-S*sin (B).
In the present embodiment, it is described measured by the way of infrared distance measuring the test point to tested point linear distance S,
Include:
Emit infrared ray to the tested point, receiving infrared-ray feedback signal is returned by the infrared ray from being emitted to
Time difference t and infrared ray conduction of velocity v calculate the test point to the linear distance S between the tested point, the straight line
Distance S is calculated by following formula: S=v*t/2.
When being illustrated in figure 4 horizontal angle angle value A less than 90 °, tested point latitude obtains schematic diagram.Due to fire point location
The length of warp and the length of weft can be found, then can find out the length per the once length E of warp and per once weft
N:
Length/180 of E=warp
Length/360 of N=weft.
If the longitude and latitude in current holder location is (E0, N0), this parameter can be measured by professional equipment.
When fire point is in following position；A≤90 °, when the angle that holder turns over is 0 °~90 °, by just
Cosine formula can calculate the final coordinate flared up a little:
Wherein [* 360 ° of L*sin (A)]/N is difference of longitude, and [* 360 ° of L*cos (A)]/E is difference of latitude.Then there is following formula
It sets up:
E1=E0+ [* 360 ° of L*sin (A)]/N=E0+ [* 360 ° of S*cos (B) * sin (A)]/N,
N1=N0+ [* 360 ° of L*cos (A)]/E=N0+ [* 360 ° of S*cos (B) * cos (A)]/E.
When being illustrated in figure 5 horizontal angle angle value A positioned at 90 °~180 °, tested point latitude obtains schematic diagram.When holder turns over
Angle be 90 °~180 ° when, the final coordinate flared up a little can be calculated by sine and cosine formula:
Wherein [* 360 ° of L*sin (180 ° of-A)]/N is difference of longitude, and [* 360 ° of L*cos (180 ° of-A)]/E is difference of latitude.Then
There is following formula establishment:
E1=E0+ [* 360 ° of L*sin (180 ° of-A)]/N=E0+ [* 360 ° of S*cos (B) * sin (A)]/N,
N1=N0- [* 360 ° of L*cos (180 ° of-A)]/E=N0+ [* 360 ° of S*cos (B) * cos (A)]/E.
When being illustrated in figure 6 horizontal angle angle value A positioned at 180 °~270 °, tested point latitude obtains schematic diagram.When holder turns
When the angle crossed is 180 °~270 °, the final coordinate flared up a little can be calculated by sine and cosine formula:
Wherein [* 360 ° of L*sin (A-180 °)]/N is difference of longitude, and [* 360 ° of L*cos (A-180 °)]/E is difference of latitude.
E1=E0- [* 360 ° of L*sin (A-180 °)]/N=E0+ [* 360 ° of S*cos (B) * sin (A)]/N,
N1=N0- [* 360 ° of L*cos (A-180 °)]/E=N0+ [* 360 ° of S*cos (B) * cos (A)]/E.
When being illustrated in figure 7 level angle A positioned at 270 °~360 °, tested point latitude obtains schematic diagram.When holder turns over
Angle be 270 °~360 ° when, the final coordinate flared up a little can be calculated by sine and cosine formula:
Wherein [L*sin (360 ° of-A)]/N is difference of longitude, and [L*cos (360 ° of-A)]/E is difference of latitude.
E1=E0- [* 360 ° of L*sin (360 ° of-A)]/N=E0+ [* 360 ° of S*cos (B) * sin (A)]/N,
N1=N0+ [* 360 ° of L*cos (360 ° of-A)]/E=N0+ [* 360 ° of S*cos (B) * cos (A)]/E.
In conclusion can finally show that the final formula of fire point longitude and latitude is as follows:
E1=E0+ [* 360 ° of S*COS (B) * SIN (A)]/N,
N1=N0+ [* 360 ° of S*COS (B) * COS (A)]/E.
Finally, after the accurate coordinates parameter and height parameter for determining fire point, so that it may pass through the fire point longitude and latitude of calculating
Coordinate (E1, N1) marks the position of fire point in GIS map, then can determine in time preferred plan, dispatch personnel, vehicle
, goods and materials, forest fires are effectively controlled and are put out, by fire bring loss be preferably minimized.
A kind of forest fire point precise positioning system, including thermal infrared imaging camera, holder and control device,
The thermal infrared imaging camera is mounted on the holder and by wirelessly or non-wirelessly communication mode and the control
Device connection processed, for shooting the graphic images information of forest and being uploaded to the control device,
The control device includes:
Preprocessing module, for being pre-processed and being extracted characteristic point to the graphic images information, be determined with fiery point
Region and be marked as tested point, obtain the coordinate (E0, N0) of test point；
Straight line range finder module, for infrared ray from be emitted to return time difference t and infrared ray conduction of velocity v calculate described in
Test point is to the linear distance S between the tested point；
Goniometry module, 0 ° of direction calculating of camera angle and preset level for being returned according to the holder are discharged
Straight angle angle value A and pitch angle angle value B；
Height computing module, height value H0, the linear distance S and the pitch angle angle value for being returned according to holder
B calculates the height value H1 of test point；
Coordinate calculation module, for calculating the unit longitude length E and unit latitude in test point location according to the map
Length N, according to the unit longitude length E, the length N of the unit latitude, the linear distance S, the level angle
The value A and pitch angle angle value B calculates the coordinate (E1, N1) of the tested point.
A kind of forest fire point accurate-location device, comprising:
Memory, for storing computer software programs；
Processor realizes a kind of forest described in the present embodiment due to reading and executing the computer software programs
Fire fire point precise positioning method.
A kind of non-transient computer readable storage medium, storage is for realizing described in the present embodiment in the storage medium
A kind of forest fire point precise positioning method computer software programs.
The present invention solves the problems, such as existing forest fire protection positioning system inaccuracy, accurate between tested point and holder
Distance, according to holder return coordinate value, height value, horizontal angle angle value, the list of pitch angle angle value and known latitude and longitude
Bit length angle value obtains the latitude and longitude coordinates value of practical fire point.Infrared distance measurement module measures region to be measured to the straight of holder first
Then linear distance returns data to PC machine end by holder, by the calculating of logical operation module, obtain the corresponding of the fire point
Coordinate position.This system method is easy to use, accurate positioning, can just position when forest fire occurs, and accuracy rate is high, nothing
It need to manually verify.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of forest fire point precise positioning method, which comprises the following steps:
The coordinate (E0, N0) of test point, the height H0 of the test point are preset, 0 ° of direction of level is set；
The test point is measured by the way of infrared distance measuring to the linear distance S of tested point, returns to the tested point to institute
State horizontal angle angle value A, the pitch angle angle value B of test point；
According to the map, the length N for obtaining the test point location unit longitude length E and unit latitude is calculated；
Pass through the coordinate (E0, N0) of the test point, the height H0 of the test point, the linear distance S, the level angle
Value A, the pitch angle angle value B, the unit longitude length E and the unit latitude length N calculate the tested point
The height H1 of coordinate (E1, N1) and the tested point.
2. a kind of forest fire point precise positioning method according to claim 1, which is characterized in that it is described calculate it is described
The coordinate (E1, N1) of tested point is realized by following formula:
E1=E0+ [* 360 ° of S*cos (B) * sin (A)]/N,
N1=N0+ [* 360 ° of S*cos (B) * cos (A)]/E.
3. a kind of forest fire point precise positioning method according to claim 1, which is characterized in that it is described calculate it is described
The height H1 of tested point is realized by following formula:
H1=H0-S*sin (B).
4. a kind of forest fire point precise positioning method according to claim 1, which is characterized in that described to use infrared ray
The mode of ranging measures the test point to the linear distance S of tested point, comprising:
Emit infrared ray to the tested point, receiving infrared-ray feedback signal, by the infrared ray from be emitted to return when
Between difference t and infrared ray conduction of velocity v calculate the test point to the linear distance S between the tested point.
5. a kind of forest fire point precise positioning method according to claim 4, which is characterized in that the linear distance S
It is calculated by following formula: S=v*t/2.
6. a kind of forest fire point precise positioning method according to claim 1, which is characterized in that the horizontal angle angle value
A angle in the horizontal direction between tested point and O °.
7. a kind of forest fire point precise positioning method according to claim 1, which is characterized in that the pitch angle angle value
Angle of the B between the infrared ray and horizontal plane.
8. a kind of forest fire point precise positioning system, which is characterized in that including thermal infrared imaging camera, holder and control
Device,
The thermal infrared imaging camera is mounted on the holder and is filled by wirelessly or non-wirelessly communication mode and the control
Connection is set, for shooting the graphic images information of forest and being uploaded to the control device,
The control device includes:
Preprocessing module, the area for being pre-processed and being extracted characteristic point to the graphic images information, be determined with fire point
Domain is simultaneously marked as tested point, obtains the coordinate (E0, N0) of test point；
Straight line range finder module calculates the test from the time difference t and infrared ray conduction of velocity v for being emitted to return for infrared ray
Point arrives the linear distance S between the tested point；
Goniometry module, camera angle and 0 ° of direction calculating of preset level for being returned according to the holder go out horizontal angle
Angle value A and pitch angle angle value B；
Based on height computing module, height value H0, the linear distance S by being returned according to holder and the pitch angle angle value B
Calculate the height value H1 of test point；
Coordinate calculation module, the length of unit longitude length E and unit latitude for calculating test point location according to the map
Spend N, according to the unit longitude length E, the length N of the unit latitude, the linear distance S, the horizontal angle angle value A with
The pitch angle angle value B calculates the coordinate (E1, N1) of the tested point.
9. a kind of forest fire point accurate-location device characterized by comprising
Memory, for storing computer software programs；
Processor realizes that the described in any item one kind of claim 1-7 are gloomy due to reading and executing the computer software programs
Forest fires calamity fire point precise positioning method.
10. a kind of non-transient computer readable storage medium, which is characterized in that storage is in the storage medium for realizing right
It is required that a kind of described in any item computer software programs of forest fire point precise positioning method of 1-7.
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| CN114993267A (en) * | 2022-05-11 | 2022-09-02 | 杭州海康威视数字技术股份有限公司 | Fire point positioning method and device based on digital elevation model and electronic equipment |
| CN114973588A (en) * | 2022-05-20 | 2022-08-30 | 深兰人工智能应用研究院(山东)有限公司 | Fire source positioning method and device, electronic equipment and storage medium |
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Application publication date: 20191029 |