CN110907927A - System and method for automatically positioning and monitoring forest fire target - Google Patents
System and method for automatically positioning and monitoring forest fire target Download PDFInfo
- Publication number
- CN110907927A CN110907927A CN201911174153.7A CN201911174153A CN110907927A CN 110907927 A CN110907927 A CN 110907927A CN 201911174153 A CN201911174153 A CN 201911174153A CN 110907927 A CN110907927 A CN 110907927A
- Authority
- CN
- China
- Prior art keywords
- signal
- target
- mountain fire
- infrared radiation
- fire target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
-
- 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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Abstract
The invention discloses an automatic mountain fire target positioning and monitoring system, belongs to the technical field of mountain fire monitoring, and solves the problem that the positioning accuracy of the prior art for mountain fire targets is obviously insufficient. An automatic mountain fire target positioning and monitoring system comprises a radar monitoring device, an infrared detection device and a data processing host, wherein the radar monitoring device is used for radiating millimeter wave signals to an area needing to be detected through an antenna, receiving echo signals of a mountain fire target, converting the echo signals of the mountain fire target into corresponding electric signals and sending the electric signals to the data processing host; the infrared detection device is used for detecting and receiving infrared radiation emitted by the forest fire target to obtain an infrared radiation signal of the forest fire target, converting the infrared radiation signal into a corresponding electric signal and sending the electric signal to the data processing host; and the data processing host is used for obtaining the position of the forest fire target according to the electric signal corresponding to the echo signal of the forest fire target and the electric signal corresponding to the infrared radiation signal. The accurate positioning of the mountain fire target is realized.
Description
Technical Field
The invention relates to the technical field of mountain fire monitoring, in particular to an automatic mountain fire target positioning and monitoring system and method.
Background
The accident of power transmission line tripping and outage caused by the mountain fire happens, the reliable operation from the power grid to the power grid is seriously restricted, the application of the mountain fire target monitoring inevitably brings greater guarantee and benefit for the safe and economic operation of the transformer substation, and the positioning precision of the prior art to the mountain fire target is obviously insufficient.
Disclosure of Invention
The invention aims to overcome at least one technical defect and provides a mountain fire target automatic positioning and monitoring system and a mountain fire target automatic positioning and monitoring method.
On one hand, the invention provides an automatic mountain fire target positioning and monitoring system, which comprises a radar monitoring device, an infrared detection device and a data processing host,
the radar monitoring device is used for radiating millimeter wave signals to an area needing to be detected through an antenna, receiving echo signals of a forest fire target, converting the echo signals of the forest fire target into corresponding electric signals and sending the electric signals to the data processing host;
the infrared detection device is used for detecting and receiving infrared radiation emitted by the forest fire target to obtain an infrared radiation signal of the forest fire target, converting the infrared radiation signal into a corresponding electric signal and sending the electric signal to the data processing host;
and the data processing host is used for receiving the electric signal corresponding to the mountain fire target echo signal and the electric signal corresponding to the infrared radiation signal and obtaining the position of the mountain fire target according to the electric signal corresponding to the mountain fire target echo signal and the electric signal corresponding to the infrared radiation signal.
The radar monitoring device is used for radiating millimeter wave signals to an area needing to be detected through an antenna and receiving echo signals of a forest fire target.
The infrared detection device is used for detecting and receiving infrared radiation emitted by the forest fire target to obtain an infrared radiation signal of the forest fire target, and specifically comprises the steps of receiving the infrared radiation emitted by the forest fire target, amplifying the infrared radiation by a preamplifier, and converting the infrared radiation into a digital signal by an AD (analog-to-digital) converter, wherein the digital signal is the infrared radiation signal of the forest fire target.
Further, the data processing host obtains the position of the forest fire target according to the electric signal corresponding to the echo signal of the forest fire target and the electric signal corresponding to the infrared radiation signal, and specifically comprises,
and respectively obtaining target position information corresponding to radar detection and target position information corresponding to infrared detection through the electric signal corresponding to the mountain fire target echo signal and the electric signal corresponding to the infrared radiation signal, performing radial distance normalization on the target position information corresponding to the infrared detection by utilizing the target distance corresponding to radar detection, performing data fusion on the target position information obtained by radar detection and the target position information obtained by the infrared detection, and finally outputting the position of the target.
On the other hand, the invention also provides an automatic mountain fire target positioning and monitoring method, which comprises the following steps:
radiating a millimeter wave signal to an area needing to be detected through an antenna, receiving an echo signal of a forest fire target, and converting the echo signal of the forest fire target into a corresponding electric signal;
acquiring infrared radiation emitted by a mountain fire target, acquiring an infrared radiation signal of the mountain fire target, and converting the infrared radiation signal into a corresponding electric signal;
and acquiring an electric signal corresponding to the mountain fire target echo signal and an electric signal corresponding to the infrared radiation signal, and acquiring the position of the mountain fire target according to the electric signal corresponding to the mountain fire target echo signal and the electric signal corresponding to the infrared radiation signal.
Further, the radiating the millimeter wave signal to the area to be detected through the antenna specifically includes amplifying a radio frequency excitation signal from a frequency source, outputting a radio frequency pulse signal and feeding the radio frequency pulse signal to the antenna, and radiating the millimeter wave signal to the area to be detected through an antenna bundle.
The detecting and receiving of the infrared radiation emitted by the mountain fire target to obtain the infrared radiation signal of the mountain fire target specifically comprises receiving the infrared radiation emitted by the mountain fire target, amplifying the infrared radiation by a preamplifier, and converting the infrared radiation into a digital signal by an AD converter, wherein the digital signal is the infrared radiation signal of the mountain fire target.
Further, the obtaining of the position of the forest fire target according to the electric signal corresponding to the echo signal of the forest fire target and the electric signal corresponding to the infrared radiation signal specifically comprises,
and respectively obtaining target position information corresponding to radar detection and target position information corresponding to infrared detection through the electric signal corresponding to the mountain fire target echo signal and the electric signal corresponding to the infrared radiation signal, performing radial distance normalization on the target position information corresponding to the infrared detection by utilizing the target distance corresponding to radar detection, performing data fusion on the target position information obtained by radar detection and the target position information obtained by the infrared detection, and finally outputting the position of the target.
Compared with the prior art, the invention has the beneficial effects that: the method comprises the steps that millimeter wave signals are radiated to an area needing to be detected through a radar monitoring device according to an antenna, echo signals of a forest fire target are received, the echo signals of the forest fire target are converted into corresponding electric signals, and the corresponding electric signals are sent to a data processing host; the infrared detection device is used for detecting and receiving infrared radiation emitted by the forest fire target to obtain an infrared radiation signal of the forest fire target, converting the infrared radiation signal into a corresponding electric signal and sending the electric signal to the data processing host; the data processing host receives an electric signal corresponding to the mountain fire target echo signal and an electric signal corresponding to the infrared radiation signal, and obtains the position of the mountain fire target according to the electric signal corresponding to the mountain fire target echo signal and the electric signal corresponding to the infrared radiation signal; the accurate positioning of the mountain fire target is realized.
Drawings
Fig. 1 is a schematic structural diagram of an automatic mountain fire target positioning and monitoring system according to embodiment 1 of the present invention;
fig. 2 is a block diagram showing the components of the millimeter wave radar device according to embodiment 1 of the present invention;
fig. 3 is a schematic diagram of extraction of target positioning information of the millimeter wave radar according to embodiment 1 of the present invention;
fig. 4 is a schematic structural diagram of an infrared detection device according to embodiment 1 of the present invention;
fig. 5 is a schematic diagram of information interaction according to embodiment 1 of the present invention;
fig. 6 is a schematic block diagram of an automatic mountain fire target positioning and monitoring system according to embodiment 1 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
The embodiment of the invention provides an automatic mountain fire target positioning and monitoring system, which has a schematic structural diagram, as shown in fig. 1, and comprises a radar monitoring device, an infrared detection device and a data processing host,
the radar monitoring device is used for radiating millimeter wave signals to an area needing to be detected through an antenna, receiving echo signals of a forest fire target, converting the echo signals of the forest fire target into corresponding electric signals and sending the electric signals to the data processing host;
the infrared detection device is used for detecting and receiving infrared radiation emitted by the forest fire target to obtain an infrared radiation signal of the forest fire target, converting the infrared radiation signal into a corresponding electric signal and sending the electric signal to the data processing host;
and the data processing host is used for receiving the electric signal corresponding to the mountain fire target echo signal and the electric signal corresponding to the infrared radiation signal and obtaining the position of the mountain fire target according to the electric signal corresponding to the mountain fire target echo signal and the electric signal corresponding to the infrared radiation signal.
In specific implementation, the automatic mountain fire target positioning and monitoring system further comprises a power supply system, and the battery system comprises a silicon energy battery pack, photovoltaic equipment and a charging and discharging management module; the silicon energy battery pack is the core of the electric energy transfer of the whole system, receives the electricity supply supplementary energy from the solar panel and the ground wire, and simultaneously needs to provide energy for the system operation;
the silicon energy battery is also a lead-acid battery essentially, except that the electrolyte used by the silicon energy battery is not strong sulfuric acid used by a common lead storage battery any longer, but silicate is used, so that the pollution to the environment is reduced in both production and use;
the silicon energy battery is selected, except for the pollution-free characteristic, mainly because the energy of the silicon energy battery is more than that of a lead storage battery under the condition of the same quality, the internal resistance of the silicon energy battery is smaller, the charging speed is high, and the adaptability to the environment is stronger; in the aspect of cost performance, the silicon energy battery is also superior to the lead storage battery; the lithium battery is light in weight, high in energy and mass, the system is mounted on a tower, the self weight of the system is light, the load of the tower can be reduced, and the influence on the safety of the tower is reduced;
the photovoltaic equipment is arranged on the power transmission line tower, and in order to ensure that the photovoltaic equipment can continuously provide charging energy for the storage battery in the daytime with the sun, the solar panel is generally arranged in a direction of north and south and at a forty-five degree angle with the horizontal plane;
the charging and discharging management module is mainly used for managing the solar panel, managing the charging of the induction power taking equipment to the storage battery and managing the power supply of the storage battery to the equipment; when the storage battery is fully charged, the charging loop needs to be cut off, and when the voltage of the battery is too low, the discharging loop needs to be cut off, so that the influence of over-charging and over-discharging of the battery on the service life of the battery is reduced; the management module also needs to monitor charging and discharging currents, the charging speed needs to be adjusted in a PWM mode when the charging current is too large, and a discharging loop needs to be disconnected when the discharging current is too large, possibly due to equipment failure, and the like; the charging and discharging management module, in addition to processing the detected charging and discharging state, also needs to communicate with the host computer to execute corresponding operations, such as reporting data of the charging and discharging state, battery voltage, and the like.
Preferably, the radar monitoring device radiates the millimeter wave signal to an area to be detected through the antenna and receives an echo signal of the mountain fire target, and specifically includes a transmitter of the radar monitoring device amplifying a radio frequency excitation signal from a frequency source, outputting a radio frequency pulse signal and feeding the radio frequency pulse signal to the antenna, radiating the millimeter wave signal to the area to be detected through an antenna cluster, and a receiver of the radar monitoring device receiving the echo signal of the mountain fire target.
In specific implementation, the radar monitoring device is a multispectral millimeter wave radar device, and the millimeter wave radar device radiates millimeter wave signals to a region to be detected through an antenna; part of radiated energy (signals) is intercepted by a reflector (target) at a certain distance, the intercepted energy of the target is radiated to a plurality of directions again, and part of re-radiated (echo) energy returns to the radar antenna, is received by the millimeter wave radar antenna, is amplified by the millimeter wave radar receiver and is processed by proper signals, and then the judgment of whether the target echo signals exist is made at the output end of the receiver; at this point, the location of the target and possibly other information about the target is obtained;
the millimeter wave radar device is shown in a block diagram in fig. 2; a transmitter of the millimeter wave radar device amplifies a radio frequency excitation signal from a frequency source, outputs a high-power radio frequency pulse signal, feeds the high-power radio frequency pulse signal to an antenna, and radiates the high-power radio frequency pulse signal to a space through an antenna cluster; an antenna of the millimeter wave radar radiates energy into a narrow beam, so that the power is gathered and the direction of a target can be judged; the antenna generates a directional narrow beam when transmitting, and generally has a large area when receiving, so as to collect weak echo signals from a target;
the antenna not only gathers energy during transmission and collects echo energy during reception, but also can be used as a spatial filter to provide angle resolution and other capabilities; the receiver amplifies the received weak signal to a level capable of detecting the existence of the weak signal, because noise is the final restriction of the radar for making reliable detection judgment and extracting target information, the receiver needs to be ensured to generate low internal noise, the noise influencing the performance of the radar is usually from the first stage of the receiver, and high amplification in figure 2 is a low noise amplifier; the function of the circulator in figure 2 is to allow the use of a single antenna to protect sensitive receivers from burning out and to direct received echo signals to receivers other than the transmitter when the transmitter is in operation;
the limitation on detection is that the ambient echo is not required (called clutter) when the receiver has a dynamic range large enough to avoid clutter saturating the receiver, thereby severely affecting the detection of the desired moving object, the dynamic range of the receiver, usually expressed in decibels, being defined as the ratio of the maximum and minimum input power levels at which the receiver can operate with some prescribed performance; the maximum signal level is set according to the allowed receiver response non-linear effects (e.g., the signal power at which the receiver begins to saturate), while the minimum signal level may be the minimum detectable signal; a signal processor, typically located in the intermediate frequency portion of the receiver, may be described as the portion of the receiver separating the desired signal from the undesired signal that would degrade detection performance;
the signal processing comprises a matched filter which enables the output signal-to-noise ratio to be maximum, and also comprises Doppler processing which enables the signal-to-noise ratio of the moving target to be maximum when clutter is larger than noise; doppler processing can separate different moving targets or separate moving targets from clutter; the detection decision is made at the receiver output, and when the receiver output exceeds a predetermined threshold, a target is declared to exist; if the threshold is set too low, receiver noise can cause excessive false alarms; if the threshold is set too high, a detected target may be missed; the criterion for determining the decision threshold level is to set the threshold so that it produces an acceptable predetermined average false alarm rate due to noise at the receiver;
the pulse width is an important factor influencing the detection capability of the radar, the pulse width is increased, the echo power of a return signal can be improved, and the noise power is reduced, so that the detection capability of the radar system is effectively improved, but the range resolution of the return signal is reduced, and the fine detection of a target structure is not facilitated, so that the range resolution is ensured by using a pulse compression technology. The working principle of the radar is that the wide pulse and the narrow pulse are used alternately, and the wide pulse is adopted for transmitting during transmitting, so that the average transmitting power of a transmitter is improved, and the farthest detection distance of the radar is ensured. When receiving, the wide pulse is changed into the narrow pulse through the pulse compression technology, so that the distance resolution is improved;
when a radar seeker signal processor detects a target and turns to a state of tracking an appointed target, as a certain interception probability is required to be met and a false alarm probability is reduced as far as possible when a radar detection range is far away, stable and reliable detection needs to be kept, the signal-to-noise ratio is continuously improved along with the approach of the target distance, and the target can be detected with higher precision under a strong signal condition; in a commonly adopted monopulse system radar, echo processing utilizes a range wave gate preset on a static or movable target, obtains deviation angle information in an amplitude comparison or phase comparison mode, and makes a radar antenna continuously and accurately align to a target to be detected by adopting follow-up control; the monopulse radar can extract all information of the target angular position by using one echo pulse, the time for obtaining the angular error information is short, and the monopulse radar is not influenced by fluctuation change of echo amplitude, so that higher measurement precision can be obtained; a schematic diagram of millimeter wave radar target positioning information extraction, as shown in fig. 3; through analysis of millimeter wave radar echo signals, information such as Doppler frequency shift, intermediate frequency, phase difference and the like of a target can be obtained, so that distance and direction information of the target is obtained, and then the target is positioned;
in the radar return signal processing, a fast Fourier transform spectrum analysis (FFT) or pulse pair processing technology (PPP) is commonly used for estimating spectrum parameters, a plurality of signal pulses with strict phase relation are superposed (namely coherent accumulation) before envelope detection is finished, so that the amplitude of the signals is increased, the corresponding signal power is also increased, the noise is random, for each distance unit, the noise of adjacent repetition periods meets the statistical independent condition, the accumulation effect is to superpose average power, so that the total power of the noise is increased, therefore, the signal-to-noise ratio (SNR) can be increased by adopting coherent accumulation, the detection capability of the radar is improved, and by adopting a method of combining large and small wide transmitting signals, the large-time wide transmitting signal ensures the detection capability of a radar system, and the small-time wide transmitting signal ensures the short-distance shielding dead zone of the radar system. The large-time-width transmitting signal is processed by a pulse compression technology, so that the range resolution and the range measurement precision of a radar system are ensured;
preferably, the infrared detection device detects and receives infrared radiation emitted by the mountain fire target to obtain an infrared radiation signal of the mountain fire target, and specifically includes receiving the infrared radiation emitted by the mountain fire target, amplifying the infrared radiation by a preamplifier, and converting the infrared radiation signal into a digital signal by an AD converter, where the digital signal is the infrared radiation signal of the mountain fire target.
In specific implementation, the infrared detection device receives infrared radiation emitted by mountain fire by using an optical system and a detector for receiving infrared spectrum, the signal is amplified by a preamplifier, converted into a digital signal by an AD converter and transmitted to a command center by a communication system; after receiving the data, the system analyzes the infrared energy radiation value, and obtains the size of a fire point and the position on the map through map matching and fire source product size matching;
the infrared detection device mainly comprises an optical system, an infrared imaging combination (comprising a medium wave detector and a detector reading circuit), an infrared signal processing system, a servo control system and the like, and the structure schematic diagram of the infrared detection device is shown in figure 4,
the high-resolution staring detector component performs photoelectric conversion on a scene to form an infrared image, performs reconstruction, non-uniform correction and pretreatment on the image by high-speed infrared imaging signal processing, and performs identification processing on the established red image. Generally, an infrared optical system and an infrared imaging combination are integrated integrally and are installed on a stable platform together, so that when the posture of a detection system carrier changes, an infrared image can still keep imaging quality under high dynamic conditions; according to the difference of characteristic information such as gray scale, shape, position, movement speed and the like of a target and a background in an infrared scene, an infrared imaging signal is processed to finish the detection of an image, the azimuth and the pitch angle difference of the target relative to an optical axis are obtained, then the angle difference of the two axes is output to a servo system, a control signal controls a driving motor through a certain current amplification circuit, the motor drives an optical system on an execution mechanism to move towards the direction of reducing the angle difference, and the continuous and stable detection and tracking of the target are ensured through a reasonable signal processing algorithm.
The function of the optical system is to transmit the infrared radiation of an object onto the focal plane array, and the function of the scanner is to decompose the image sequentially and completely based on an optical method; the working temperature range of the optical system is-40 ℃ to +60 ℃, and the drastic change of the environmental temperature can cause the change of parameters of the optical system, such as curvature radius, thickness, interval, lens materials and refractive index of a system medium, thereby causing the reduction of the system performance; in order to keep the imaging quality of the optical system good under different environmental temperatures, athermal design is required. In the occasion with larger environment requirement variation range, the used optical system generally adopts a passive athermalized design, and the design method does not need to add any focusing mechanism, has simple structure and high reliability;
in an infrared optical system, the selection of materials is particularly critical, and the change of the dn/dt coefficient of the optical lens material can cause focal length deviation, thereby causing defocusing and seriously influencing the imaging quality; in the specific implementation, the passive athermalization design of the optical system enables the positive and negative offset of focal length deviation caused by the expansion coefficient of the optical lens materials dn/dt in the imaging optical system to be counteracted, and a method for realizing the mutual passive compensation of a plurality of optical incidence units through the expansion change of the optical materials is called as the passive athermalization design, so that the method can effectively ensure that the imaging quality is effectively ensured within the environmental working temperature required by the infrared optical system; the power is generally distributed by using a material with a large coefficient of thermal difference (i.e., a material with a large dn/dt as a negative lens, and a material with a small coefficient of thermal difference as a positive lens, in addition, a diffraction surface can be introduced into the system to realize athermalization; in contrast to the situation where most infrared materials have positive thermal differential properties, the diffractive element has negative thermal differential properties, partial thermal differences can be counteracted; in addition, the diffraction element has large dispersion, and the dispersion coefficient is opposite in sign to that of the conventional material, therefore, the diffraction element can play a good role in achromatization, has the advantages of athermalization and achromatization, and also can play a role in simplifying the structure, this is because the diffractive element can conveniently form the hybrid transmission mirror on one side of the refractive component, so that the refractive and diffractive combination forming the hybrid lens is similar to that of a single refractive lens in volume, size and weight;
the infrared detector is the core part of an infrared thermal imaging system and has the functions of converting thermal radiation into measurable electric signals and converting object space information into electrical time information. Since the detector elements are located at discrete positions, the spatial information of the scene needs to be sampled in the horizontal and vertical directions. The image processing function is to utilize an algorithm to enhance, denoise and the like the image, and convert the image data into a format compatible with the requirement of a display, and the image reconstruction function is to remove the stair shape of the data connecting line edge output by D/A conversion, smoothen the data connecting line edge and output an analog signal;
preferably, the data processing host obtains the position of the forest fire target according to the electric signal corresponding to the echo signal of the forest fire target and the electric signal corresponding to the infrared radiation signal, and specifically includes obtaining target position information corresponding to radar detection and target position information corresponding to infrared detection respectively through the electric signal corresponding to the echo signal of the forest fire target and the electric signal corresponding to the infrared radiation signal, performing radial distance normalization on the target position information corresponding to infrared detection by using the target distance corresponding to radar detection, performing data fusion on the target position information obtained by radar detection and the target position information obtained by infrared detection, and finally outputting the position of the target.
It should be noted that, the radar or the infrared information processor performs detection processing on data acquired by respective sensors, and target association must be performed on a target passing through a detection threshold;
for radar and infrared subsystems, angle information is only redundant, so that target association processing of the angle information is adopted, namely, single-dimensional association criterion judgment is carried out on observation data obtained at a certain moment to determine whether the observation data come from the same target;
the target angle observation data of the radar subsystem and the infrared subsystem are respectively set as Z1And Z2Then, then
Z1＝X1+V1(196)
Z2＝X2+V1(197)
X1And X2Is the true angular position of the target, V1And V1Is observed noise, subject to mean of zero and variance of
And
is normally distributed.
Construction inspection quantity Λ ═ Z1-Z2
As can be seen, the lambda obeys a mean value of X1-X2Variance is
Is normally distributed. If the radar and infrared observation data come from the same target, X1-X2When the value is equal to 0, then
Where N (0,1) represents a standard normal distribution defining a significance level α, then:
wherein
Being normally distributed
The point of separation, which can be uniquely determined by the significance level α. the significance level α represents the probability that the observed data from the same target can be correctly correlated
Quantile and noise variance
And
determining an association threshold G:
observations are considered to be from the same target when | Λ | is within the threshold G, otherwise they are considered to be from a different target.
The joint identification of radar and infrared is the process of eliminating interference, typical radar interference does not act on infrared, and typical infrared interference cannot influence radar, so that in the joint identification process, the influence of photoelectric interference is eliminated by adopting a data fusion method of combinational logic, the fusion detection technology is established on the basis of target binary detection of an active coherent radar/infrared sensor, and the aim of improving the detection probability P of the whole composite system is to improvedReducing false alarm probability Pf. The method is easy to realize in engineering.
And after the radar and the infrared target are associated, the angle error observed values obtained by the radar and the infrared subsystem are fused. And performing fusion processing by adopting a weighted average method to obtain a fusion tracking angle error for driving servo closed angle tracking. When the weighted average method is used for fusion processing of observation data, the selection of the weight has a great influence on the fusion precision.
Observed value theta of radar angle deviationR(k) The measurement error is zero as the mean value and the variance is
White gaussian noise of (1); the observed value of infrared angular deviation is thetaI(k) The measurement error is zero as the mean value and the variance is
White gaussian noise. Then at tkThe time fusion angle error and the variance thereof are as follows:
the weighted average method considers the influence of noise intensity, so that the larger the error variance is, the smaller the weight occupied by the weighted average method in the fusion tracking is, and the smaller the error variance is, the larger the weight occupied by the weighted average method in the fusion tracking is;
the information interaction between the millimeter wave radar and the infrared imaging is completed in the integrated information processor, the information interaction is the basis for information fusion, and the millimeter wave radar signal processor transmits the following information to the infrared imaging signal processor: distance, position, radial length, etc., the infrared imaging signal processor transmits the following information to the radar signal processor: orientation, target profile characteristics, etc., information interaction diagram, as shown in fig. 5;
the millimeter wave radar and the infrared detection both have own advantages and limitations, and the combination of the two can give full play to the respective advantages of the two detection modes and complement the limitations;
the millimeter wave radar system adopts a monopulse amplitude-comparison angle measuring system, the infrared system adopts a focal plane staring imaging system, the composite detection system adopts a composite detection mode that heterogeneous sensors share a common caliber, the radar and the infrared sensor are an antenna, an optical system and a detector, are positioned on the same servo stable platform and are coaxially installed, the antenna adopts an antenna with an opening in the middle, and the infrared optical system and the detector are arranged in the center of the radar antenna, so that space search and stable tracking can be simultaneously carried out during work, and radar and infrared biplane detection is realized.
It should be noted that the automatic mountain fire target positioning and monitoring system further comprises a communication system and an early warning platform, wherein the communication system transmits target position information to the monitoring center extranet server through the communication system. After receiving the monitoring data, the outer network server copies the data to the inner network server according to the requirement; the monitoring device is characterized in that communication is carried out in the ways of RF, Zigbee, WIFI and the like, RJ45, RF, Zigbee, WIFI and the like are adopted between monitoring devices (a radar detection device and an infrared detection device) and a CMA (state monitoring agent), communication is carried out between the CMA or the monitoring device integrated with the CMA function and a CAG (state information access gateway machine) in the ways of OPGW, WIFI, GPRS/CDMA/3G/4G, satellites and the like, the monitoring device on a tower with an optical fiber access condition is provided, and the optical transceiver is adopted to transmit mountain fire target position information data to a central CAG, so that the data fall to the ground; the monitoring device on the tower without the optical fiber access condition collects data of each monitoring device to the monitoring device on the tower with the optical fiber access condition through a Wireless (WIFI) network, and transmits the data of the wireless monitoring device to a central CAG (computer aided generation) through an optical switch;
the early warning platform comprises a data receiving, diagnosis, analysis and display unit, and is used for combining radar monitoring data and infrared monitoring data to perform feature extraction and identification on a high-temperature point, analyzing the longitude and latitude of a hot point, and issuing early warning information in time if the position of a mountain fire is very close to a line; the display of the early warning information can adopt various modes, such as data and graphs, and is combined with a GIS system for display; a schematic block diagram of an automatic mountain fire target positioning and monitoring system is shown in FIG. 6.
The early warning platform has the functions of providing warning that a line near a mountain fire point is possibly tripped by mountain fire and other dangers, providing guarantee for line safety, retrieving the nearest tower distance of the day fire point, if the tripping possibility exists within a specified safety distance, providing mountain fire warning information for the line and the corresponding tower number, and timely notifying and issuing the mountain fire warning information to related operation and maintenance personnel in a short message form; rendering the early warning grade influence range of each fire point on the map in different colors according to different safety distances, highlighting the tower and the line to be warned on the map according to the distance between the nearest tower and the nearest line, generating a warning statistical information table, performing operations such as spatial interpolation, reclassification and the like according to a mountain fire early warning grade index calculation formula, and expressing different mountain fire early warning grades according to different colors.
Example 2
The embodiment of the invention provides a method for automatically positioning and monitoring a forest fire target, which comprises the following steps:
radiating a millimeter wave signal to an area needing to be detected through an antenna, receiving an echo signal of a forest fire target, and converting the echo signal of the forest fire target into a corresponding electric signal;
acquiring infrared radiation emitted by a mountain fire target, acquiring an infrared radiation signal of the mountain fire target, and converting the infrared radiation signal into a corresponding electric signal;
and acquiring an electric signal corresponding to the mountain fire target echo signal and an electric signal corresponding to the infrared radiation signal, and acquiring the position of the mountain fire target according to the electric signal corresponding to the mountain fire target echo signal and the electric signal corresponding to the infrared radiation signal.
Preferably, the radiating the millimeter wave signal to the area to be detected through the antenna specifically includes amplifying a radio frequency excitation signal from a frequency source, outputting a radio frequency pulse signal and feeding the radio frequency pulse signal to the antenna, and radiating the millimeter wave signal to the area to be detected through an antenna bundle.
Preferably, the detecting and receiving the infrared radiation emitted by the mountain fire target to obtain the infrared radiation signal of the mountain fire target specifically includes receiving the infrared radiation emitted by the mountain fire target, amplifying the infrared radiation by a preamplifier, and converting the infrared radiation into a digital signal by an AD converter, where the digital signal is the infrared radiation signal of the mountain fire target.
The method for obtaining the position of the mountain fire target according to the electric signal corresponding to the echo signal of the mountain fire target and the electric signal corresponding to the infrared radiation signal specifically comprises the following steps,
and respectively obtaining target position information corresponding to radar detection and target position information corresponding to infrared detection through the electric signal corresponding to the mountain fire target echo signal and the electric signal corresponding to the infrared radiation signal, performing radial distance normalization on the target position information corresponding to the infrared detection by utilizing the target distance corresponding to radar detection, performing data fusion on the target position information obtained by radar detection and the target position information obtained by the infrared detection, and finally outputting the position of the target.
It should be noted that the description of example 1 and example 2 is not repeated, and they can be referred to each other.
The invention discloses a mountain fire target automatic positioning monitoring system and a method, wherein a radar monitoring device is used for radiating a millimeter wave signal to a region to be detected according to an antenna, receiving an echo signal of a mountain fire target, converting the echo signal of the mountain fire target into a corresponding electric signal and sending the electric signal to a data processing host; the infrared detection device is used for detecting and receiving infrared radiation emitted by the forest fire target to obtain an infrared radiation signal of the forest fire target, converting the infrared radiation signal into a corresponding electric signal and sending the electric signal to the data processing host; the data processing host receives an electric signal corresponding to the mountain fire target echo signal and an electric signal corresponding to the infrared radiation signal, and obtains the position of the mountain fire target according to the electric signal corresponding to the mountain fire target echo signal and the electric signal corresponding to the infrared radiation signal; the accurate positioning of the mountain fire target is realized.
The scheme of the invention can automatically identify and judge the sudden mountain fire (open fire or blind fire) in the area with the radius of 10km near the line, and can not be influenced by weather, smoke, haze and day and night, thereby realizing the all-weather detection of the mountain fire near the line all day long;
the natural environments such as the landform, the landform and the like around the device can be converted into a panoramic electronic map; once the mountain fire happens, the system can accurately mark the specific position where the mountain fire happens on the panoramic electronic map, and display the coordinate information based on the spectral radar mounting point, so that the mountain fire is accurately positioned and imaged, and the emergency command and processing of background management and command personnel on mountain fire accidents are facilitated.
The system can preposition data processing of all forest fire detection and positioning, automatically returns data only when forest fire is found, has small data transmission amount, can finish data interaction between a front end and a background by means of a wireless transmission technology, has low operation cost, can realize panoramic electronic map marking alarm, acousto-optic alarm and short message alarm, and can perform one-step positioning and monitoring according to a map and an iron tower video after alarm.
Those skilled in the art will appreciate that all or part of the flow of the method implementing the above embodiments may be implemented by a computer program, which is stored in a computer readable storage medium, to instruct related hardware. The computer readable storage medium is a magnetic disk, an optical disk, a read-only memory or a random access memory.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (8)
1. An automatic positioning and monitoring system for a mountain fire target is characterized by comprising a radar monitoring device, an infrared detection device and a data processing host,
the radar monitoring device is used for radiating millimeter wave signals to an area needing to be detected through an antenna, receiving echo signals of a forest fire target, converting the echo signals of the forest fire target into corresponding electric signals and sending the electric signals to the data processing host;
the infrared detection device is used for detecting and receiving infrared radiation emitted by the forest fire target to obtain an infrared radiation signal of the forest fire target, converting the infrared radiation signal into a corresponding electric signal and sending the electric signal to the data processing host;
and the data processing host is used for receiving the electric signal corresponding to the mountain fire target echo signal and the electric signal corresponding to the infrared radiation signal and obtaining the position of the mountain fire target according to the electric signal corresponding to the mountain fire target echo signal and the electric signal corresponding to the infrared radiation signal.
2. The automatic mountain fire target positioning and monitoring system according to claim 1, wherein the radar monitoring device radiates millimeter wave signals to an area to be detected through an antenna and receives echo signals of the mountain fire target, and specifically comprises a transmitter of the radar monitoring device which amplifies radio frequency excitation signals from a frequency source, outputs radio frequency pulse signals and feeds the radio frequency pulse signals to the antenna, the millimeter wave signals are radiated to the area to be detected through an antenna cluster, and a receiver of the radar monitoring device receives the mountain fire target echo signals.
3. The automatic mountain fire target positioning and monitoring system according to claim 1, wherein the infrared detector detects and receives infrared radiation from the mountain fire target to obtain an infrared radiation signal of the mountain fire target, and specifically comprises the steps of receiving the infrared radiation from the mountain fire target, amplifying the infrared radiation by a preamplifier, and converting the infrared radiation signal into a digital signal by an AD converter, wherein the digital signal is the infrared radiation signal of the mountain fire target.
4. The automatic mountain fire target positioning and monitoring system according to claim 1, wherein the data processing host obtains the position of the mountain fire target according to the electrical signal corresponding to the echo signal of the mountain fire target and the electrical signal corresponding to the infrared radiation signal, specifically comprising,
and respectively obtaining target position information corresponding to radar detection and target position information corresponding to infrared detection through the electric signal corresponding to the mountain fire target echo signal and the electric signal corresponding to the infrared radiation signal, performing radial distance normalization on the target position information corresponding to the infrared detection by utilizing the target distance corresponding to radar detection, performing data fusion on the target position information obtained by radar detection and the target position information obtained by the infrared detection, and finally outputting the position of the target.
5. The automatic mountain fire target positioning and monitoring method is characterized by comprising the following steps of:
radiating a millimeter wave signal to an area needing to be detected through an antenna, receiving an echo signal of a forest fire target, and converting the echo signal of the forest fire target into a corresponding electric signal;
acquiring infrared radiation emitted by a mountain fire target, acquiring an infrared radiation signal of the mountain fire target, and converting the infrared radiation signal into a corresponding electric signal;
and acquiring an electric signal corresponding to the mountain fire target echo signal and an electric signal corresponding to the infrared radiation signal, and acquiring the position of the mountain fire target according to the electric signal corresponding to the mountain fire target echo signal and the electric signal corresponding to the infrared radiation signal.
6. The method for automatically positioning and monitoring the forest fire target according to claim 5, wherein the step of radiating the millimeter wave signal to the area to be detected through the antenna specifically comprises the steps of amplifying a radio frequency excitation signal from a frequency source, outputting a radio frequency pulse signal and feeding the radio frequency pulse signal to the antenna, and radiating the millimeter wave signal to the area to be detected through an antenna cluster.
7. The automatic mountain fire target positioning and monitoring method according to claim 5, wherein the detecting and receiving infrared radiation emitted by the mountain fire target to obtain the infrared radiation signal of the mountain fire target comprises receiving the infrared radiation emitted by the mountain fire target, amplifying the infrared radiation by a preamplifier, and converting the infrared radiation signal into a digital signal by an AD converter, wherein the digital signal is the infrared radiation signal of the mountain fire target.
8. The automatic mountain fire target positioning and monitoring method according to claim 5, wherein the obtaining of the position of the mountain fire target according to the electrical signal corresponding to the echo signal of the mountain fire target and the electrical signal corresponding to the infrared radiation signal comprises,
and respectively obtaining target position information corresponding to radar detection and target position information corresponding to infrared detection through the electric signal corresponding to the mountain fire target echo signal and the electric signal corresponding to the infrared radiation signal, performing radial distance normalization on the target position information corresponding to the infrared detection by utilizing the target distance corresponding to radar detection, performing data fusion on the target position information obtained by radar detection and the target position information obtained by the infrared detection, and finally outputting the position of the target.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911174153.7A CN110907927A (en) | 2019-11-26 | 2019-11-26 | System and method for automatically positioning and monitoring forest fire target |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911174153.7A CN110907927A (en) | 2019-11-26 | 2019-11-26 | System and method for automatically positioning and monitoring forest fire target |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110907927A true CN110907927A (en) | 2020-03-24 |
Family
ID=69819590
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911174153.7A Pending CN110907927A (en) | 2019-11-26 | 2019-11-26 | System and method for automatically positioning and monitoring forest fire target |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110907927A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112114305A (en) * | 2020-08-17 | 2020-12-22 | 西安电子科技大学 | Non-contact river channel radar monitoring method, system, device and application |
| CN113589273A (en) * | 2021-08-11 | 2021-11-02 | 中国科学院大气物理研究所 | Millimeter wave/infrared active and passive imaging detection device and method |
| CN113589312A (en) * | 2021-07-15 | 2021-11-02 | 中国科学院上海技术物理研究所 | Space-based infrared aerial target detection waveband selection method |
| CN116047546A (en) * | 2022-07-07 | 2023-05-02 | 北京玖天气象科技有限公司 | Mountain fire monitoring method based on multi-source satellite data |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206322291U (en) * | 2016-12-27 | 2017-07-11 | 国网山西省电力公司电力科学研究院 | A kind of transmission line forest fire monitoring and prior-warning device based on multispectral heat energy monitoring radar |
| CN108033015A (en) * | 2017-12-20 | 2018-05-15 | 西安科技大学 | A kind of unmanned plane device and method for the monitoring of coal gangue hill ignition point |
| CN108205862A (en) * | 2017-12-11 | 2018-06-26 | 厦门亿力吉奥信息科技有限公司 | Transmission line forest fire guard system |
| CN108922098A (en) * | 2018-05-04 | 2018-11-30 | 国网山西省电力公司电力科学研究院 | A kind of forest fire monitoring system and method based on infrared guidance and radar detection |
| CN109377701A (en) * | 2018-10-29 | 2019-02-22 | 国网四川省电力公司电力科学研究院 | The real-time early warning system and method for transmission line forest fire fire behavior development trend |
-
2019
- 2019-11-26 CN CN201911174153.7A patent/CN110907927A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206322291U (en) * | 2016-12-27 | 2017-07-11 | 国网山西省电力公司电力科学研究院 | A kind of transmission line forest fire monitoring and prior-warning device based on multispectral heat energy monitoring radar |
| CN108205862A (en) * | 2017-12-11 | 2018-06-26 | 厦门亿力吉奥信息科技有限公司 | Transmission line forest fire guard system |
| CN108033015A (en) * | 2017-12-20 | 2018-05-15 | 西安科技大学 | A kind of unmanned plane device and method for the monitoring of coal gangue hill ignition point |
| CN108922098A (en) * | 2018-05-04 | 2018-11-30 | 国网山西省电力公司电力科学研究院 | A kind of forest fire monitoring system and method based on infrared guidance and radar detection |
| CN109377701A (en) * | 2018-10-29 | 2019-02-22 | 国网四川省电力公司电力科学研究院 | The real-time early warning system and method for transmission line forest fire fire behavior development trend |
Non-Patent Citations (2)
| Title |
|---|
| 张钧: "毫米波雷达/红外复合探测系统的设计与实现", 《中国优秀博硕士学位论文全文数据库（硕士） 信息科技辑》 * |
| 王天正 等: "基于毫米波雷达的输电走廊山火监测研究", 《科技通报》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112114305A (en) * | 2020-08-17 | 2020-12-22 | 西安电子科技大学 | Non-contact river channel radar monitoring method, system, device and application |
| CN113589312A (en) * | 2021-07-15 | 2021-11-02 | 中国科学院上海技术物理研究所 | Space-based infrared aerial target detection waveband selection method |
| CN113589273A (en) * | 2021-08-11 | 2021-11-02 | 中国科学院大气物理研究所 | Millimeter wave/infrared active and passive imaging detection device and method |
| CN116047546A (en) * | 2022-07-07 | 2023-05-02 | 北京玖天气象科技有限公司 | Mountain fire monitoring method based on multi-source satellite data |
| CN116047546B (en) * | 2022-07-07 | 2024-02-27 | 北京玖天气象科技有限公司 | Mountain fire monitoring method based on multi-source satellite data |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110907927A (en) | System and method for automatically positioning and monitoring forest fire target | |
| US11486548B2 (en) | System for detecting crack growth of asphalt pavement based on binocular image analysis | |
| JP3301297B2 (en) | Surface deformation observation method using radar device, synthetic aperture radar device and transponder used in this method | |
| CN202046439U (en) | Hedgehopping obstacle avoiding subsystem for electric line patrol unmanned helicopter | |
| CN107678023A (en) | A kind of passive location and identifying system to civilian unmanned plane | |
| CN112965517A (en) | Unmanned aerial vehicle inspection safety obstacle avoidance system and method based on binocular vision fusion laser radar and electromagnetic field detection | |
| CN107991674A (en) | Water pollution microwave active-passive composite detection method and device | |
| CN103605136A (en) | Ocean buoy platform laser radar three-dimensional wind field cross section detection system and detection method | |
| CN102288959A (en) | Passive imaging system and method for millimeter wave focal plane | |
| CN106950975A (en) | Large angle maneuver high-resolution microwave remote sensing satellite overall control method | |
| CN111624592A (en) | Low-altitude target detection method and system based on multi-source detector | |
| De Oliveira et al. | Aerial infrared thermography of a utility-scale PV plant after a meteorological tsunami in Brazil | |
| CN116008989B (en) | Wisdom traffic is with many concatenation multidimensional omnidirectional scanning millimeter wave radar | |
| CN102750799B (en) | Ion spatial electric current density-based direct current transmission line mountain fire monitoring device | |
| CN105610087A (en) | Power transmission line inspection system of power grid | |
| Li et al. | The Internet of Things and smart grid | |
| CN110531378B (en) | Continuous wave laser coherent wind-finding radar system of wind turbine generator | |
| CN110515059A (en) | Lidar transmit-receive optical axis matches system safety testing device under vacuum and low temperature | |
| CN112326039B (en) | Photovoltaic power plant patrols and examines auxiliary system | |
| CN211669119U (en) | Unmanned aerial vehicle detection device and system for heat collection tubes | |
| CN209992667U (en) | Laser radar device and detection system based on split lens | |
| CN111323771A (en) | Fixed-distance-based millimeter wave radar and video data fusion method | |
| Mahin et al. | Millimeter wave based sag measurement using parabolic approximation for smart grid overhead transmission line monitoring | |
| CN115753602A (en) | Sea fog detection method and system | |
| CN110203139A (en) | A kind of electric car T-BOX system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200324 |