CN111175846A - Positioning system and working method thereof - Google Patents
Positioning system and working method thereof Download PDFInfo
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- CN111175846A CN111175846A CN202010056928.7A CN202010056928A CN111175846A CN 111175846 A CN111175846 A CN 111175846A CN 202010056928 A CN202010056928 A CN 202010056928A CN 111175846 A CN111175846 A CN 111175846A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/10—Alarms for ensuring the safety of persons responsive to calamitous events, e.g. tornados or earthquakes
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Abstract
The invention provides a positioning system and a working method thereof, wherein the positioning system comprises a task system, a positioning system, a detection system and an early warning system; the task system is used for determining a detection area and a detection task and sending the detection task to the detection system, the positioning system is used for obtaining the positioning of the detection device and sending the positioning to the detection system, the detection system detects natural disasters at the position of the detection device by using the detector according to the detection task, the detector comprises a vibration detector, an inclination detector and a meteorological detector, and the early warning system sends out natural disaster early warning according to the detection condition. The invention has the beneficial effects that: by positioning the detection device and adopting various detectors to detect the natural disasters, the accurate detection and early warning of the natural disasters are realized.
Description
Technical Field
The invention relates to the technical field of natural disasters, in particular to a positioning system and a working method thereof.
Background
China is one of countries in the world with frequent occurrence of natural disasters, various disasters and serious life and property losses, and a great number of casualties can be caused every year, so that how to accurately detect natural disasters becomes a difficult problem in front of people.
Disclosure of Invention
In view of the above problems, the present invention is directed to provide a natural disaster detection device that can detect a natural disaster accurately.
The purpose of the invention is realized by adopting the following technical scheme: the natural disaster detection device comprises a task system, a positioning system, a detection system and an early warning system; the task system is used for determining a detection area and a detection task and sending the detection task to the detection system, the positioning system is used for obtaining the positioning of the detection device and sending the positioning to the detection system, the detection system detects natural disasters at the position of the detection device by using the detector according to the detection task, the detector comprises a vibration detector, an inclination detector and a meteorological detector, and the early warning system sends out natural disaster early warning according to the detection condition.
The invention has the beneficial effects that: by positioning the detection device and adopting various detectors to detect the natural disasters, the accurate detection and early warning of the natural disasters are realized.
Drawings
The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
FIG. 1 is a schematic structural view of the present invention;
reference numerals:
the system comprises a task system 1, a positioning system 2, a detection system 3 and an early warning system 4.
Detailed Description
The invention is further described with reference to the following examples.
Referring to fig. 1, the natural disaster detection device for accurately detecting natural disasters of the present embodiment includes a task system 1, a positioning system 2, a detection system 3, and an early warning system 4; the task system 1 is used for determining a detection area and a detection task and sending the detection task to the detection system 3, the positioning system 2 is used for obtaining the positioning of the detection device and sending the positioning to the detection system 3, the detection system 3 detects natural disasters at the position of the detection device by using a detector according to the detection task, the detector comprises a vibration detector, an inclination detector and a meteorological detector, and the early warning system 4 sends out natural disaster early warning according to the detection condition.
This embodiment adopts multiple detector to survey natural disasters through fixing a position detection device, has realized natural disasters' accurate detection and early warning.
Preferably, the positioning system 2 includes a first positioning unit, a second positioning unit, a comprehensive positioning unit, and an evaluation unit, the first positioning unit obtains a first position of the detection device based on the global positioning system, the second positioning unit obtains a second position of the detection device based on the laser range finder, the comprehensive positioning unit is configured to determine the positioning of the detection device according to the first position and the second position, and the evaluation unit is configured to evaluate the positioning accuracy.
The positioning system of the preferred embodiment positions the detection device through the first position and the second position, and improves the positioning accuracy of the detection device.
Preferably, the second positioning unit includes a primary data acquiring unit, a secondary data processing unit, a tertiary feature extracting unit and a quartic map matching unit, the primary data acquiring unit is used for the laser range finder to acquire laser scanning data of the surrounding environment, the secondary data processing unit is used for rejecting wrong laser scanning data, the tertiary feature extracting unit is used for extracting line segment feature information of the surrounding environment according to the processed laser scanning data, and the quartic map matching unit is used for matching the line segment feature information with a map to acquire second position information of the detection device.
In the preferred embodiment, the second positioning unit extracts the feature information of the surrounding line segment through the laser scanning data, and matches the feature information with the map, so as to obtain the accurate second position information of the detection device.
Preferably, the tertiary feature extraction unit includes a primary modeling subunit and a secondary extraction subunit, the primary modeling subunit is configured to establish an environment model, and the secondary extraction subunit is configured to extract line segment feature information according to the environment model;
the primary modeling subunit is used for establishing an environment model, wherein a plane in the environment is represented by a line segment in a map, the line segment P1P2 in the map corresponds to one plane in the environment, a perpendicular line is drawn from the coordinate origin O to the P1P2 and intersects at the point P, the line segment P1P2 is represented as xcos β + ysin β -rho 0 in a global coordinate system on the assumption that A (X, y) is one point on the line segment P1P2, in the formula, β represents an included angle between OP and the positive direction of the X axis of the global coordinate system, and rho represents a vector
In the unit vector
the local coordinate system of the detection device and the local coordinate system of the laser range finder are superposed, and if certain laser scanning data is (ρ i, α i), ρ i represents the measured distance, α i represents the angle of the laser beam relative to the positive direction of the x axis of the local coordinate system of the detection device, the coordinate (xi, yi) of the scanning data in the local coordinate system of the detection device is as follows:
the secondary extraction subunit is used for extracting the line segment characteristic information according to the environment model: the position of the detection device at the time k is represented by a vector X (k) ([ X (k), y (k), theta (k) ] T, the laser range finder performs one scanning on the surrounding environment of the detection device at the time to obtain n discrete laser scanning data, the data are expressed in a polar coordinate form and are expressed by (xL (i), yL (i)) (1 ≦ i ≦ n) in a local coordinate system of the detection device, and the corresponding coordinates are (xG (i), yG (i)) (1 ≦ i ≦ n) in a global coordinate system.
the quartic map matching unit is used for matching the line segment characteristic information with a map, wherein for a line segment P1P2 corresponding to a certain plane in the environment in the map, if a laser beam is projected on the plane and return data are represented by polar coordinates as (rho i, α i), the global coordinates are (xG (i), yG (i)), the matching factors are calculated by the following formula, RU 2+ | xG (i) cos β + yG (i) sin β -rho |2, and if RU is less than or equal to MH, MH ∈ [150mm,250mm ], points (xG (i), yG (i)) are matched with the line segment P1P2, data matched with the line segment P1P2 are found from n laser data, and the line segment characteristic information and the map are matched.
The preferred embodiment realizes the environmental modeling and the extraction of the environmental line segment characteristics, and the matching performance is improved by adopting the matching factors to match the line segment characteristic information with the map due to the measurement error of the laser range finder.
Preferably, the integrated positioning unit is configured to determine the positioning of the detection device according to the first position and the second position: RX q1RX1+ q2RX2, where RX denotes the position of the probe, RX1 denotes the first position of the probe, RX2 denotes the second position of the probe, q1, q2 denote weight coefficients, and q1+ q2 is 1.
The evaluation unit includes a first precision evaluation subunit for acquiring a first evaluation value of the positioning precision of the detection device, a second precision evaluation subunit for acquiring a second evaluation value of the positioning precision of the detection device, and a comprehensive precision evaluation subunit for evaluating the positioning precision based on the first evaluation value and the second evaluation value.
The first precision evaluation subunit is configured to obtain a first evaluation value of the positioning precision of the detection device, and the first evaluation value is performed according to the following formula:
in the equation, DT1 denotes a first evaluation value, n denotes the number of times of positioning of the probe apparatus, FNiRepresenting the true position of the probe in the ith position fix, RXiIndicating the location of the detecting device in the ith location;
the second precision evaluation subunit is configured to obtain a first evaluation value of the positioning precision of the detection device, and the first evaluation value is performed according to the following formula:
in the equation, DT2 denotes a second evaluation value, m denotes the number of detection devices, FNjIndicating the true position of the j-th probe, RXjIndicating the location of the j-th probe device；
The comprehensive precision evaluation subunit evaluates the positioning precision according to the first evaluation value and the second evaluation value: calculating a comprehensive evaluation value of positioning accuracy:
in the formula, DT represents a comprehensive evaluation value; the smaller the overall evaluation value is, the higher the positioning accuracy is.
The comprehensive positioning unit of the preferred embodiment obtains the positioning of the detection device based on satellite positioning and a laser range finder, and the positioning result is more accurate; the evaluation unit guarantees positioning accuracy, lays a foundation for subsequent detection devices to complete tasks, specifically, the first evaluation value is obtained by positioning the detection devices for multiple times, the second evaluation value is obtained by positioning the detection devices, the comprehensive evaluation value is obtained by calculating the first evaluation value and the second evaluation value, and accurate evaluation of the positioning accuracy is achieved.
The natural disaster detection device with accurate detection is adopted to detect natural disasters, 5 detection areas are selected to carry out simulation experiments, namely a detection area 1, a detection area 2, a detection area 3, a detection area 4 and a detection area 5, the detection efficiency and the detection accuracy are counted, and compared with the existing detection device, the natural disaster detection device has the following beneficial effects:
| detection efficiency improvement | Detection accuracy improvement | |
| Detection area 1 | 29％ | 27％ |
| Detection area 2 | 27％ | 26％ |
| Detection area 3 | 26％ | 26％ |
| Detection region 4 | 25％ | 24％ |
| Detection region 5 | 24％ | 22％ |
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims (5)
1. A positioning system comprises a first positioning unit, a second positioning unit, a comprehensive positioning unit and an evaluation unit, wherein the first positioning unit acquires a first position of a detection device based on a global positioning system, the second positioning unit acquires a second position of the detection device based on a laser range finder, the comprehensive positioning unit is used for determining the positioning of the detection device according to the first position and the second position, and the evaluation unit is used for evaluating the positioning accuracy; the second positioning unit comprises a primary data acquisition unit, a secondary data processing unit, a tertiary feature extraction unit and a quartic map matching unit, the primary data acquisition unit is used for acquiring laser scanning data of the surrounding environment by the laser range finder, the secondary data processing unit is used for eliminating wrong laser scanning data, the tertiary feature extraction unit is used for extracting line segment feature information of the surrounding environment according to the processed laser scanning data, and the quartic map matching unit is used for matching the line segment feature information with a map to acquire second position information of the detection device.
2. A natural disaster detection device with accurate detection, characterized by comprising a mission system, a positioning system according to claim 1, a detection system and an early warning system; the task system is used for determining a detection area and a detection task and sending the detection task to the detection system, the positioning system is used for obtaining the positioning of the detection device and sending the positioning to the detection system, the detection system detects natural disasters at the position of the detection device by using a detector according to the detection task, the detector comprises a vibration detector, an inclination detector and a meteorological detector, and the early warning system sends out natural disaster early warning according to the detection condition;
the tertiary feature extraction unit comprises a primary modeling subunit and a secondary extraction subunit, the primary modeling subunit is used for establishing an environment model, and the secondary extraction subunit is used for extracting line segment feature information according to the environment model;
the working method comprises the step of establishing the environment model by the primary modeling unit, wherein a plane in the environment is represented by a line segment in a map, the line segment P1P2 in the map corresponds to the plane in the environment, a perpendicular line is drawn from a coordinate origin O to a P1P2 and is intersected with a point P, the line segment P1P2 is represented as xcos β + ysin β -rho ═ 0 in a global coordinate system on the assumption that A (X, y) is a point on the line segment P1P2, β represents an included angle between OP and the positive direction of an X axis of the global coordinate system, and rho represents a vector
In the unit vector
Is thrownand if the local coordinate system of the detection device is superposed with the local coordinate system of the laser range finder, and certain laser scanning data is (rho i, α i), wherein rho i represents the measured distance, α i represents the angle of the laser beam relative to the positive direction of the x axis of the local coordinate system of the detection device, the coordinate (xi, yi) of the scanning data in the local coordinate system of the detection device is as follows:
3. the working method according to claim 2, wherein the secondary extraction subunit is configured to extract segment feature information according to an environment model: the position of the detection device at the time k is represented by a vector X (k) ([ X (k), y (k), theta (k) ] T, the laser range finder performs one scanning on the surrounding environment of the detection device at the time to obtain n discrete laser scanning data, the data are expressed in a polar coordinate form and are expressed by (xL (i), yL (i)) (1 ≦ i ≦ n) in a local coordinate system of the detection device, and the corresponding coordinates are (xG (i), yG (i)) (1 ≦ i ≦ n) in a global coordinate system.
4. the operating method of claim 2, wherein the quartic map matching unit is configured to match the line segment feature information with a map, wherein for a line segment P1P2 corresponding to a certain plane in the environment in the map, if the laser beam is applied to the plane and the return data is represented by polar coordinates as (ρ i, α i), the global coordinates are (xG (i), yG (i)), calculate a matching factor using the following formula, RU ═ 2+ | xG (i) cos β + yG (i) sin β - ρ |2, and if RU ≦ MH, MH ∈ [150mm,250mm ], the point (xG (i), yG (i)) is matched with the line segment P1P2, and find data matching the line segment P1P2 from the n laser data, thereby completing the line segment feature information and map matching.
5. The operating method according to claim 1, characterized in that the integrated positioning unit is configured to determine the positioning of the detection device from the first position and the second position: RX q1RX1+ q2RX2, where RX denotes the position of the probe, RX1 denotes the first position of the probe, RX2 denotes the second position of the probe, q1, q2 denote weight coefficients, and q1+ q2 is 1;
the evaluation unit includes a first precision evaluation subunit for acquiring a first evaluation value of the positioning precision of the detection device, a second precision evaluation subunit for acquiring a second evaluation value of the positioning precision of the detection device, and a comprehensive precision evaluation subunit for evaluating the positioning precision based on the first evaluation value and the second evaluation value.
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| CN202010056928.7A CN111175846A (en) | 2017-12-26 | 2017-12-26 | Positioning system and working method thereof |
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| CN201711437051.0A CN108008468B (en) | 2017-12-26 | 2017-12-26 | Natural disaster detection device with accurate detection |
| CN202010056928.7A CN111175846A (en) | 2017-12-26 | 2017-12-26 | Positioning system and working method thereof |
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| CN202010056927.2A Pending CN111175845A (en) | 2017-12-26 | 2017-12-26 | Natural disaster detection method adopting positioning system |
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| JPH1125162A (en) * | 1997-07-09 | 1999-01-29 | Fujitsu F I P Kk | Environment evaluation system and recording medium |
| JP4379493B2 (en) * | 2007-06-07 | 2009-12-09 | ソニー株式会社 | Imaging apparatus, information processing apparatus, information processing method, and computer program |
| CN102354431B (en) * | 2011-08-06 | 2013-01-16 | 河北省第一测绘院 | Monitoring and prewarning system and method for geological disasters |
| CN203299851U (en) * | 2013-05-30 | 2013-11-20 | 航天恒星科技有限公司 | Throwing-type data acquisition terminal system for monitoring and early warning |
| CN104950349A (en) * | 2014-09-04 | 2015-09-30 | 国网山东省电力公司应急管理中心 | Power-grid-GIS-based real-time early warning method and apparatus of satellite cloud picture |
| CN104700399A (en) * | 2015-01-08 | 2015-06-10 | 东北大学 | Method for demarcating large-deformation landslide displacement field based on high-resolution remote sensing image |
| CN104897059B (en) * | 2015-06-17 | 2017-11-14 | 珠江水利委员会珠江水利科学研究院 | A kind of irregular stacking body volume measuring method of pocket |
| CN105547282B (en) * | 2015-12-10 | 2019-04-02 | 科盾科技股份有限公司 | One kind being used for running fix mesh calibration method and measuring device |
| JP6531701B2 (en) * | 2016-04-13 | 2019-06-19 | 株式会社デンソー | Map matching evaluation system, map matching evaluation method |
| CN107504914B (en) * | 2017-07-28 | 2019-10-01 | 安徽威德萨科技有限公司 | A kind of deformation monitoring method of danger zone and alarm |
| CN107452185A (en) * | 2017-09-21 | 2017-12-08 | 深圳市晟达机械设计有限公司 | A kind of effective mountain area natural calamity early warning system |
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