CN113325465B - Method and system for quickly positioning ground intrusion target - Google Patents
Method and system for quickly positioning ground intrusion target Download PDFInfo
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Abstract
The invention belongs to the seismic positioning technology, and particularly relates to a method and a system for quickly positioning a ground invasion target, wherein the method comprises the following steps: arranging at least one equal-side-length square vibration area in the warning area according to a matrix; judging a vibration area where a vibration point appears; if the seismic point appears in at least one equal-side-length square vibration area arranged in the matrix, acquiring seismic wave signal amplitudes of four vertexes of the vibration area where the seismic point appears, finding out the vertex where the maximum seismic wave signal amplitude appears, taking the vertex position where the maximum seismic wave signal amplitude appears as a base point, taking one half of the side length of the vibration area as a first positioning side length, and taking one quarter of the area of the vibration area as a first positioning range. The invention can improve the positioning efficiency by realizing the positioning of the intrusion target, and solves the problem that the TDOA positioning equation is not solved in a blocking positioning mode. And the vibration positioning precision of the ground invasion target can be improved within a certain range.
Description
Technical Field
The invention belongs to the seismic positioning technology, and particularly relates to a method and a system for quickly positioning a ground invasion target.
Background
Ground vibration positioning systems have important applications in a number of areas, particularly military. Ground battlefield sensors are born based on the passive detection, and the sensors can monitor seismic signals generated by targets, so that the tasks of preventing invasion of other people, positioning the targets, searching and the like are completed. The anti-invasion mode is applied to the area needing to be monitored, so that manpower and material resources can be greatly saved. In other fields, such as bank vaults, prisons, even family houses and the like, where monitoring and management are needed, the anti-intrusion mode is practical and effective. The positioning of the vibration target mainly comprises two parts: firstly, picking up seismic wave first break; secondly, positioning is realized according to a corresponding positioning algorithm.
Common first arrival wave extraction methods include: the method is a time window energy ratio method and a time window amplitude ratio method, the picking efficiency of the method is relatively high, but the influence of the time window length on the picking precision is large. The correlation method has good effect of extracting weak signals with low signal-to-noise ratio. The AIC method is greatly affected by the time window, but has higher accuracy when the first arrival approximate position is known.
The currently common passive positioning method mainly comprises the following steps: time of arrival (TOA) based on the target signal, angle of arrival (AOA) based on the target signal, and time difference of arrival (TDOA) based on the target signal.
The accuracy of the TOA directly depends on the accuracy of the signal arrival time, has high requirement on the time synchronism of the response of each sensor channel, and is easily influenced by errors; the AOA is influenced by factors such as multipath effect, angular resolution, noise and the like, and has poor positioning effect in plane positioning application, so that the method is mainly used for spatial three-dimensional positioning; the TDOA obtains the position of the target by measuring the time difference of the measured signal transmitted to a plurality of signal acquisition nodes, and the method only needs time synchronization among the nodes and does not require the accurate synchronization of the target and the nodes all the time, and the method can effectively inhibit the influence of the same interference factor in the environment on the positioning by using the arrival time difference of the seismic waves measured by different nodes in the same test environment. Therefore, TDOA is often used as a positioning method in most positioning systems. In a traditional vibration positioning system, a TDOA positioning algorithm is adopted to realize positioning, positioning efficiency is not high when the number of used acquisition stations is too large, and meanwhile, the condition that an equation is not solved occurs in the process of solving a TDOA equation set.
How to improve the positioning efficiency and realize the real-time positioning of the intrusion target while ensuring the positioning accuracy and the reliability of the whole method is an urgent problem to be solved.
Disclosure of Invention
The invention provides a method and a system for quickly positioning a ground intrusion target, which solve the problems of low positioning efficiency and poor precision in the related technical field.
The present invention is achieved in such a way that,
a method for rapidly locating a ground intrusion target, the method comprising:
arranging at least one equal-side-length square vibration area in the warning area according to a matrix;
judging a vibration area where a vibration point appears;
if the seismic point appears in at least one equal-side-length square vibration area arranged in the matrix, acquiring seismic wave signal amplitudes of four vertexes of the vibration area where the seismic point appears, finding out the vertex where the maximum seismic wave signal amplitude appears, taking the vertex position where the maximum seismic wave signal amplitude appears as a base point, taking one-half side length of the vibration area as a first positioning side length, and taking one-quarter area of the vibration area as a first positioning range.
Furthermore, a connecting line of a vertex where the maximum seismic wave signal amplitude appears and a center point of the first vibration region is determined as a boundary line, and the first positioning range is divided into a first side face and a second side face which are equal in area and serve as a second positioning range;
comparing arrival times of the maximum seismic wave signal amplitude values at two vertexes adjacent to the vertex where the maximum seismic wave signal amplitude appears in the vibration area;
determining that the seismic point is located on the first side surface or the second side surface according to the side where the arrival-time shortest vertex is located;
if the two times are equal, the vibration occurs on the intersecting line of the first side surface and the second side surface.
Further, before judging the vertex where the maximum seismic wave signal amplitude appears, vibration is given to the vicinity of four vertices of a square of the vibration area and the central position of the vibration area by adopting a test vibration signal, and effective vibration signals at the four vertices and the central position of each vibration area are obtained; and judging whether effective vibration signals can be picked up at the four vertexes and the center, and if not, adjusting the side length of the square in the vibration area.
Further, before the vertex where the maximum seismic wave signal amplitude appears is judged, the method further comprises the steps of adopting a test vibration signal to vibrate the center position of the square of each vibration area, obtaining effective vibration signals at four vertices of each vibration area, and taking the minimum effective vibration signal amplitude as an alert threshold A0And when the maximum seismic wave signal amplitude is greater than the warning threshold A0While making a first vibrationAnd (5) judging the area.
Further, the determination of the arrival time includes: from exceeding the alert threshold A0The point is moved forward by N points to the next N points, and 2N +1 sampling points are used for performing STA/LTA first arrival picking calculation to obtain the arrival time;
and acquiring the maximum amplitude value and the arrival time of N data points before and after the picked arrival time, wherein N is less than N.
Further, when the arrival time of the vibration signal cannot be picked up by the STA/LTA method, the arrival time of the maximum amplitude of the same vibration region is taken as a reference for the data which cannot be picked up to obtain the vertex, and a data point corresponding to the maximum amplitude is selected from 2n +1 data points before and after the arrival time of the maximum amplitude of the same vibration region to participate in judgment.
Further, the step of judging the vibration region where the vibration point appears comprises the following steps:
acquiring the seismic wave velocity in the warning area;
the arrival time at the vertex of one or more rectangular vibration areas in the warning area is acquired,
obtaining the distance difference between every two vertexes and an unknown seismic source in the same vibration region according to the seismic wave velocity and the arrival time difference between every two vertexes;
calculating the area of a triangle formed by the shock point and two adjacent vertexes by using the distance difference and the side length of the corresponding shock region;
comparing the areas of the four triangles in the same vibration region with half of the area of the vibration region;
judging whether the vibration generated by the unknown seismic source occurs in the vibration area according to the comparison result of the sizes;
and finding out a vibration area in which whether the vibration generated by the unknown seismic source occurs or not.
A system for rapidly locating a ground intrusion target, comprising:
the acquisition channels are arranged in the warning area and are arranged into at least one equilateral long square according to a matrix, and the acquisition channels are positioned at four vertexes of the square;
the acquisition station is used for acquiring data of at least one acquisition channel;
the upper computer receives the information of the acquisition station and judges a vibration area where a vibration point appears;
if the seismic point appears in at least one equal-side-length square vibration area arranged in the matrix, acquiring seismic wave signal amplitudes of four vertexes of the vibration area where the seismic point appears, finding out the vertex where the maximum seismic wave signal amplitude appears, taking the vertex position where the maximum seismic wave signal amplitude appears as a base point, taking one half of the side length of the vibration area as a first positioning side length, and taking one quarter of the area of the vibration area as a first positioning range.
Further, when the acquisition tracks form a square array with a fixed side length and comprise vibration areas formed by two or more squares, two adjacent vibration areas share two acquisition tracks on a common side.
Further, the software in the upper computer runs the following process:
determining a connecting line of a vertex where the maximum seismic wave signal amplitude appears and a central point of the first vibration area as a first side surface and a second side surface which are used for dividing the first positioning range into equal areas by a boundary line;
comparing arrival times of the maximum seismic wave signal amplitude values at two vertexes adjacent to the vertex where the maximum seismic wave signal amplitude appears in the first vibration area;
and determining that the seismic point is positioned on the first side surface or the second side surface as a second positioning range according to the side where the shortest arrival time vertex is positioned.
Compared with the prior art, the invention has the beneficial effects that: the invention can improve the positioning efficiency by realizing the positioning of the intrusion target, and solves the problem that the TDOA positioning equation is not solved in a blocking positioning mode. And the vibration positioning precision of the ground invasion target can be improved within a certain range.
Drawings
FIG. 1 illustrates a vibration region employed in one embodiment of the present invention;
FIG. 2 is a diagram of a first time location range of an embodiment of the present invention;
FIG. 3 is a diagram of a second positioning range according to an embodiment of the present invention;
FIG. 4 is a diagram of determining a vibration region where a vibration point occurs according to an embodiment of the present invention;
FIG. 5 is a diagram of a square vibration region according to an embodiment 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 further described in detail with reference to the following 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.
A quick positioning method for ground intrusion targets is used for only carrying out block positioning on intrusion targets in a vibration area, and comprises the following steps:
arranging at least one equal-side-length square vibration area in the warning area according to a matrix; the number of the vibration areas is determined according to the warning area, and can be one or a plurality of vibration areas, the vibration areas are arranged according to an array, and the outline of the matrix can be square or rectangular.
Judging a vibration area where a vibration point appears;
if the seismic point appears in at least one equal-side-length square vibration area arranged in the matrix, acquiring seismic wave signal amplitudes of four vertexes of the vibration area where the seismic point appears, finding out the vertex where the maximum seismic wave signal amplitude appears, taking the vertex position where the maximum seismic wave signal amplitude appears as a base point, taking one-half side length of the vibration area as a first positioning side length, and taking one-quarter area of the vibration area as a first positioning range.
The connecting line of the vertex where the maximum seismic wave signal amplitude appears and the center point of the vibration area is determined as a boundary line to divide the first positioning range into a first side surface and a second side surface which are equal in area.
Comparing arrival times of the maximum seismic wave signal amplitude values at two vertexes adjacent to the vertex where the maximum seismic wave signal amplitude appears in the vibration area;
and determining that the seismic point is positioned on the first side surface or the second side surface according to the side where the shortest arrival time vertex is positioned. The distance between the two adjacent vertexes reaching the first side face and the second side face can be determined when passing, so that the earthquake point is determined to be positioned on the first side face or the second side face group when being compared, the earthquake point serves as a second positioning range, and the position of the earthquake point is reduced again.
Further, before the judgment of the vertex where the maximum seismic wave signal amplitude appears, vibration is given to the positions near four vertexes of a square of the vibration area and the center position of the vibration area by adopting a test vibration signal, and effective vibration signals at the four vertexes and the center position of each vibration area are obtained; judging whether effective vibration signals can be picked up at four vertexes and the center, wherein the effective vibration signals refer to that the vibration signals can be tested at the four vertexes, if one vertex cannot be tested, adjusting the size to test, and if the vibration signals cannot be tested after adjustment, adjusting the side length of a square in a vibration area. The vertex positions of the vibration areas are tested by testing the vibration signals, for example, hammer signals are selected, so that whether the effective vibration signals can be picked up at the four vertexes and the center can be ensured. The hammering signal is carried out near four vertexes and a central point, the hammering signal simulates a seismic signal, when hammering, whether effective vibration signals can be obtained by other vertexes and the central position or not is judged, and when the square side length of a vibration region is adjusted, other vibration regions are adjusted along with the adjustment. So that each vibration region has a uniform area. The test procedure is the same for each vibration region.
Before the vertex where the maximum seismic wave signal amplitude appears is judged, vibration is given to the center position of the square of each vibration area by adopting a test vibration signal, effective vibration signals at four vertices of each vibration area are obtained, and the minimum effective vibration signal amplitude is used as an alert threshold A0And when the maximum seismic wave signal amplitude is greater than the warning threshold A0Then, the first vibration region is determined.
The time-up judgment has two types, the first type is that the time-up judgment can be realized through an alarm threshold value, and the method specifically comprises the following steps: from exceeding the alert threshold A0The point is moved forward by N points to the next N points, and 2N +1 sampling points are used for performing STA/LTA first arrival picking calculation to obtain the arrival time; by using SThe TA/LTA method increases the accuracy of the algorithm by picking up the seismic waves first and then picking up the maximum amplitude value, and meanwhile, the calculation efficiency is improved by starting the STA/LTA picking up at the position where the vibration area exceeds the warning threshold value and the maximum amplitude.
And acquiring the maximum amplitude value and the arrival time of N data points before and after the picked arrival time, wherein N is less than N.
Secondly, when the arrival time of the vibration signal cannot be picked up by the STA/LTA method, the arrival time of the maximum amplitude of the same vibration region is taken as a reference for the data which cannot be picked up to obtain the vertex, and a data point corresponding to the maximum amplitude is selected from 2n +1 data points before and after the arrival time of the maximum amplitude of the same vibration region to participate in judgment.
The method of the invention also solves the problem that the TDOA positioning equation is not solved by adopting a blocking positioning mode. And the vibration positioning precision of the ground invasion target can be improved within a certain range. The method can use as few acquisition stations and detectors as possible in a certain warning area and obtain a quick and accurate positioning result of the intrusion target.
For a plurality of vibration areas, firstly, the vibration area where the vibration point appears needs to be judged, and the positioning range of the vibration area is narrowed, and the vibration area where the vibration point appears is broken, which comprises:
acquiring the seismic wave velocity in the warning area;
and acquiring arrival time at the vertexes of one or more rectangular vibration areas in the warning area, wherein the vibration areas are square.
Obtaining the distance difference between every two vertexes and an unknown seismic source in the same vibration region according to the seismic wave velocity and the arrival time difference between every two vertexes;
calculating the area of a triangle formed by the shock point and two adjacent vertexes by using the distance difference and the side length of the corresponding shock region;
comparing the areas of the four triangles in the same vibration region with half of the area of the vibration region;
judging whether the vibration generated by the unknown seismic source occurs in the vibration area according to the comparison result of the sizes;
and finding out a vibration area in which whether the vibration generated by the unknown seismic source occurs or not.
The method needs to utilize a ground acquisition station to acquire data of the vibration signal, and calculates and processes the vibration signal generated by the unknown seismic source according to the data. And (3) placing a detector at each vertex as a collection channel, and dividing the whole area into two parts by using a collection channel array: outside the alert region and within the alert region. It is necessary to determine in which seismic region the vibrations generated by the unknown seismic source occur. It is defined here that every four acquisition traces (geophones) constitute a rectangular seismic region. The four acquisition traces are located at the vertices of a matrix.
Calculating the area of a triangle formed by the shock point and two adjacent vertexes by using the distance difference and the side length of the corresponding shock region, wherein the area comprises the following steps: the area of the triangle is calculated by adopting a Helen formula, and then the triangle is converted into a distance difference form. And calculating the areas of the four triangles by utilizing a Helen formula and converting the areas into a form of distance difference between two sides of the triangle. And multiplying the arrival time difference between the acquisition channels by the seismic wave velocity to obtain the distance difference between each two acquisition channels and the seismic source. The distance difference is substituted to calculate the areas of the four triangles, and the logic can be used for judging whether the unknown seismic source vibration occurs inside or outside the vibration region or which vibration region the unknown seismic source vibration occurs in. The Helen formula converts the area of four triangles into the difference between the distances of two sides of a triangle as follows: as shown with reference to figure 4 of the drawings,
four line segments AO, BO, EO and DO with lengths a, B, E and D are respectively made for connecting the collection tracks A, B, E and D of each vertex of the rectangle with the vibration occurrence point O (hypothesis), and two side lengths AB (DE) and c (c) of the rectangle1,AD＝BE＝c2Is an arbitrary value;
to OH1Perpendicular rectangle AD is bordered by H1、OH2Vertical rectangle BE is bordered by H2As shown in FIG. 4, let DH1＝EH2＝x,AH1＝BH2＝c2-x. The following can be obtained:
d2-x2＝a2-(c2-x)2 (1)
e2-x2＝b2-(c2-x)2 (2)
then (1) - (2) get:
a2-b2＝d2-e2 (3)
using a sum-difference product formula and arranging to obtain:
from the formula (4):
and a is expressed by the difference of the distance between each vertex acquisition track and the seismic source, namely the difference of a, b, d and e:
b is expressed as the difference between a and a, b:
b＝a+(b-a) (7)
from the Helen formula, the area of the triangular AOB is:
substituting (7) into (8) to obtain:
finishing to obtain:
substituting (6) into (10) for 2a gives:
finishing to obtain:
this time equation (12) has been obtained by dividing the triangle into areas in the form of range differences, and multiplying the measured wave velocity v by the arrival time differences: d-a, e-a, b-a, a-b, d-e five distance differences (constant) are carried into a formula (12) to obtain the area of the triangular AOB;
similarly, the areas of the other three triangular DOEs, AODs and BOEs can be calculated;
by using the area of the four triangles and half of the area of the rectangle
The comparison is carried out in such a way that,
when the area of one triangle is larger than half of the area of the vibration region, judging that the vibration generated by the unknown seismic source occurs outside the vibration region;
when the areas of the four triangles are smaller than half of the area of the vibration area, judging that the vibration generated by the unknown seismic source occurs in the vibration area; when a triangle with the area equal to half of the area of the vibration region exists, the vibration generated by the unknown seismic source is judged to be generated on the boundary of the vibration region.
When the vibration generated by the unknown seismic source is judged to be outside the vibration area, the arrival time of four vertexes of the vibration area is judged, two vertexes with the shortest arrival time are obtained, the sides of a rectangle where the two vertexes are located are determined, and the direction of the unknown seismic source outside the vibration area is determined.
Specifically, the method comprises the following steps: when four triangles are all in the same direction
Judging that the vibration generated by the unknown seismic source occurs in the vibration area;
when a triangle exists, the
Judging that the vibration generated by the unknown seismic source occurs on the boundary of the vibration area;
when a triangle exists, the
And judging that the vibration generated by the unknown seismic source occurs outside the vibration area.
In the present invention, the rectangle is a square, c1＝c2See fig. 5.
The judgment of each vibration area can be carried out according to the sequence of the rows and the columns, and when a vibration point is found in one vibration area, the judgment is stopped.
The invention also provides a system for quickly positioning the ground intrusion target, which comprises the following components:
the acquisition channels are arranged in the warning area and are arranged into at least one equilateral long square according to a matrix, and the acquisition channels are positioned at four vertexes of the square;
a plurality of acquisition stations, one acquisition station acquiring data of at least one acquisition channel;
the upper computer receives the information of the acquisition station and judges a vibration area where the vibration point appears;
if the seismic point appears in at least one equal-side-length square vibration area arranged in the matrix, acquiring seismic wave signal amplitudes of four vertexes of the vibration area where the seismic point appears, finding out the vertex where the maximum seismic wave signal amplitude appears, taking the vertex position where the maximum seismic wave signal amplitude appears as a base point, taking one-half side length of the vibration area as a first positioning side length, and taking one-quarter area of the vibration area as a first positioning range. When the acquisition channels form a square array with a fixed side length and comprise vibration areas formed by two or more squares, two adjacent vibration areas share two acquisition channels on the common side.
Operating software in the upper computer to perform process control and calculation, wherein the process control and calculation comprises the following steps:
determining a connecting line of a vertex where the maximum seismic wave signal amplitude appears and a central point of the vibration area as a boundary line to divide the first positioning range into a first side surface and a second side surface which are equal in area;
comparing arrival times of the maximum seismic wave signal amplitude values of two adjacent vertexes where the maximum seismic wave signal amplitude appears in the vibration area;
and determining that the seismic point is positioned on the first side surface or the second side surface according to the side where the shortest arrival time vertex is positioned.
Examples
In the embodiment, a ground acquisition station is arranged in a warning area to acquire seismic signals, the acquisition station transmits acquired vibration data to an upper computer in real time, and the upper computer processes the data to further realize early warning and positioning functions on an intrusion target. The acquisition station needs to use a single-component detector which can transmit data in real time and is used in two-dimensional ground vibration positioning. The acquisition stations need to be arranged according to a certain array type, each minimum vibration area is defined to be formed by four detectors of one or more acquisition stations, and the four detectors (acquisition channels) form a square array with fixed side length. According to actual requirements, when the warning area is small, the blocking positioning can be realized only by using one vibration area; when the warning area is larger, a plurality of vibration areas are adopted to cover the whole area. And two adjacent vibration regions can share two detectors on the common edge of the two vibration regions, and when one vibration region exists, a new block vibration region can be formed by only arranging two detectors each time, as shown in fig. 1.
When the method is applied to a new warning area, prior information of the area needs to be acquired, and the specific acquisition mode is as follows: five locations of the vibration zone are tested using a test vibration signal, such as a hammer signal. These five positions are: four detectors are positioned near four vertexes of the square, and the center of the vibration area. The number of tests at each location is determined based on the actual site conditions. The purpose of this test is: 1. and judging whether effective vibration signals capable of being picked up exist in the four detectors (acquisition channels) at the five test positions or not, and if the effective vibration signals cannot be picked up all the time, properly adjusting the side length of the vibration area. 2. Recording the amplitude of the signal received by the four acquisition channels, and taking the amplitude as the site prior information, and setting a reference warning threshold A0 according to the amplitude of the signal received by the four acquisition channels (the test vibration signal needs to be tested according to actual conditions). The alert threshold a0 is equal to the amplitude received from each acquisition of the test seismic signal at the center of the seismic zone, and ideally the amplitudes obtained from the four acquisition channels are the same. When the actual positioning situation is different from the ideal situation, the parameters of the method can be modified according to the prior information.
When the intrusion target enters the vibration area, the partitioning and positioning process of the intrusion target is as follows:
judging which specific vibration area the invading target enters;
for entering the vibration area, the whole vibration area is divided into four same square blocks by using two middle lines of the square vibration area. The upper computer keeps real-time monitoring on the seismic wave data returned by each acquisition station during acquisition and records the maximum value of the amplitude in all channels and the channel in which the maximum value of the amplitude appears. When the maximum value of the data amplitude is larger than the warning threshold value A0, the positioning range is reduced to one fourth of the whole vibration region according to the acquisition channel in which the maximum value of the amplitude occurs. If the value is less than the predetermined value, the signal is not used as an effective vibration signal.
And then continuously dividing each square vibration area by using two diagonal lines, and dividing the whole positioning area into eight same areas together with the previous two central lines, wherein each area is an isosceles right triangle and is one eighth of the area of the vibration area. When the amplitude maximum value of a certain data in the four channels exceeds the set warning threshold value A0, the data of each channel in the vibration area containing the amplitude maximum value detector moves forwards from a point 100 points beyond the threshold value A0 to a point 100 points behind the point, and the sampling points are 201 to carry out STA/LTA first-arrival pickup calculation so as to obtain the arrival time of each channel. The maximum amplitude of 30 data points before and after the arrival time of the pick-up and the arrival time thereof are searched. When the STA/LTA method cannot pick up the arrival time of the vibration signal, the arrival time of the maximum amplitude of the four detectors in the same vibration region is taken as a reference in the non-pickup way, and the maximum amplitude is selected from 61 data points in total of 30 before and after the arrival time of the maximum amplitude in the four detectors to participate in judgment. And comparing the arrival times of the amplitude maximums of the two detectors with the amplitude maximums near the same vibration region, wherein the target vibration occurs in one of the two blocks closest to the detector with the amplitude maximums and is close to the detector with the smaller arrival time. If the two times are equal, the target vibration appears on the intersection line of the two blocks. And finally, the positioning range of the intrusion target is reduced to one eighth of the area of the whole vibration area, namely, the isosceles right triangle area when the square vibration area is divided.
In the actual anti-intrusion monitoring, parameters such as an alert threshold value A0, an STA/LTA pickup threshold value, a length of a long time window and a short time window which are more consistent with the actual situation can be set according to the alert area and the oriented anti-intrusion target. And judging whether the precision requirement is met, and if the precision requirement is not met, continuing to adjust until the positioning precision, the false alarm rate and the false alarm rate meet the precision requirement.
Example when an intruding object enters a vibrating area:
firstly, dividing the whole vibration area into four square blocks by using two middle lines of the square vibration area. If the maximum amplitude Amax in the vibration region occurs at the fourth track position, it can be determined that the vibration of the intrusion target occurs in the quarter area, i.e. 4 area, of the square vibration region close to the acquisition track 4, as shown in fig. 2. At this time, each square vibration region is continuously divided by two diagonal lines, and the vibration region is divided into eight identical isosceles right triangle regions together with the previous two central lines. And comparing arrival times of the maximum amplitude values picked up by the acquisition tracks 1 and 3, and judging that the position of the intrusion target is in the 8 th area when the arrival time of the maximum amplitude value of the acquisition track 1 is smaller than that of the acquisition track 3. Otherwise, the vibration position of the intrusion object is positioned in the 7 th area. When the two are equal to each other, the position where the intrusion object appears is determined to be on the intersecting line of the 7 and 8 areas, as shown in fig. 3.
The method adopts an STA/LTA method to pick up the first arrival of seismic waves collected by each detector. The STA/LTA method is a long-short time averaging method. According to the method, two time windows with different lengths are taken on a time axis, and the ratio of energy in the two time windows is respectively calculated. As the two time windows slide on the time axis, when this ratio is greater than the set STA/LTA threshold, the first arrival time of the seismic wave can be obtained, as shown in equation (13):
where x (i) ═ 1, …, N represents data in a short time window, x (j) · 1.., M) represents data in a long time window, and M and N represent the number of samples in the long and short time windows, respectively.
The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (5)
1. A method for rapidly positioning a ground intrusion target is characterized by comprising the following steps:
arranging at least one equal-side-length square vibration area in the warning area according to a matrix;
judging a vibration area where a vibration point appears;
if the seismic point appears in at least one equal-side-length square vibration area arranged in the matrix, acquiring seismic wave signal amplitudes of four vertexes of the vibration area where the seismic point appears, finding out the vertex where the maximum seismic wave signal amplitude appears, taking the vertex position where the maximum seismic wave signal amplitude appears as a base point, taking one-half side length of the vibration area as a first positioning side length, and taking one-quarter area of the vibration area as a first positioning range;
determining a connecting line of a vertex where the maximum seismic wave signal amplitude appears and a central point of the first vibration area as a boundary line to divide the first positioning range into a first side surface and a second side surface which are equal in area as a second positioning range;
comparing arrival times of the maximum seismic wave signal amplitude values of two adjacent vertexes where the maximum seismic wave signal amplitude appears in the vibration area;
determining that the seismic point is located on the first side surface or the second side surface according to the side where the arrival-time shortest vertex is located;
if the two phases are equal, the vibration occurs on the intersecting line of the first side surface and the second side surface;
judging the vibration area where the vibration point appears comprises the following steps:
acquiring the seismic wave velocity in the warning area;
the arrival time at the vertex of one or more square vibration zones in the warning zone is obtained,
obtaining the distance difference between every two vertexes and a seismic point in the same seismic region according to the seismic wave velocity and the arrival time difference between every two vertexes;
calculating the area of a triangle formed by the shock point and two adjacent vertexes by using the distance difference and the side length of the corresponding shock region;
comparing the areas of the four triangles in the same vibration region with half of the area of the vibration region;
judging whether the vibration generated by the vibration point occurs in the vibration area or not according to the comparison result of the sizes;
and finding out a vibration area whether the vibration generated by the vibration point occurs or not.
2. The method of claim 1, wherein determining the vertices where the largest seismic signal amplitudes occur further comprises using test seismic signals to impart seismic vibrations to the seismic regions near the four vertices of the square and to the center locations of the seismic regions, and obtaining effective seismic signals at the four vertices and at the center locations of each seismic region; and judging whether effective vibration signals can be picked up at the four vertexes and the center, and if not, adjusting the side length of the square in the vibration area.
3. The method of claim 1 wherein determining the vertices where the largest seismic signal amplitudes occur further comprises applying a test seismic signal to the center of each seismic zone square and obtaining effective seismic signals at the four vertices of each seismic zone, and using the smallest effective seismic signal amplitude as the warning threshold a0And when it is at maximumThe amplitude of the seismic wave signal is greater than a warning threshold A0Then, the first vibration region is determined.
4. The method of claim 3, wherein the determination of the expiration time comprises: from exceeding the alert threshold A0The point is moved forward by N points to the next N points, and 2N +1 sampling points are used for performing STA/LTA first arrival picking calculation to obtain the arrival time;
and acquiring the maximum amplitude value and the arrival time of N data points before and after the picked arrival time, wherein N is less than N.
5. The method as claimed in claim 4, wherein when the STA/LTA method cannot pick up the arrival time of the vibration signal, the data which cannot pick up the vertex is determined by taking the arrival time of the maximum amplitude of the same vibration region as a reference, and taking the data point corresponding to the maximum amplitude from the 2n +1 data points before and after the arrival time to participate in the determination.
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