CN113421457A - Thunder detection and positioning method based on mobile phone - Google Patents
Thunder detection and positioning method based on mobile phone Download PDFInfo
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- CN113421457A CN113421457A CN202110634598.XA CN202110634598A CN113421457A CN 113421457 A CN113421457 A CN 113421457A CN 202110634598 A CN202110634598 A CN 202110634598A CN 113421457 A CN113421457 A CN 113421457A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
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Abstract
The invention provides a thunder detection and positioning method based on a mobile phone, which comprises a positioning system, wherein the positioning system comprises a cloud management platform and M mobile intelligent handheld terminals communicated with the cloud management platform, and the thunder can be received by four or any combination of a No. 1 mobile intelligent handheld terminal, a No. 2 mobile intelligent handheld terminal, a No. 3 mobile intelligent handheld terminal, a No. 4 mobile intelligent handheld terminal, … … and an No. M mobile intelligent handheld terminal, and comprises the following steps: s1, the ith mobile intelligent handheld terminal packs the position of the ith mobile intelligent handheld terminal and thunder data information to obtain an ith packed data packet, and the ith packed data packet is sent to the cloud management platform; 1, 2, 3, 4, … … M; and S2, the cloud management platform determines the thunder position according to the received packed data packet. The method and the system can realize thunder positioning and detection by using massive intelligent handheld terminals, generate a driving-away line and ensure the safety of users.
Description
Technical Field
The invention relates to the technical field of thunder positioning, in particular to a thunder detecting and positioning method based on a mobile phone.
Background
The comprehensive observation of natural lightning discharge is an important means for understanding the physical process of lightning discharge. The comprehensive synchronous observation of the physical discharge process of natural lightning is enhanced, effective line lightning protection measures are facilitated, and the method has important significance for guaranteeing the safe and stable operation of the ultra-high voltage transmission project. The patent application number '2019103317815', named 'a natural lightning stroke discharge process monitoring system', discloses a system comprising an intelligent terminal, a server, a light-operated curtain device, a temperature and humidity sensor, a first shooting device, a thunderstorm weather analysis device, a high-speed camera device, an electric field measuring device, a magnetic field measuring device, a thunder sound detecting device, a light detecting device and a second shooting device; the thunderstorm weather analysis device is respectively connected with the second shooting device, the temperature and humidity sensor, the high-speed camera device, the electric field measurement device, the magnetic field measurement device and the thunder detection device; the server is connected with intelligent terminal, high-speed camera device, electric field measuring device, magnetic field measuring device, thunder detecting device, light detecting device second shooting device and first shooting device respectively, can realize that the thunder and lightning is surveyed the in-process full-automatic reliably and is gathered thunder and lightning and observe data, can effectively reduce the drawback that manual operation brought, can effectively improve work efficiency.
Disclosure of Invention
The invention aims to at least solve the technical problems in the prior art, and particularly creatively provides a thunder detection and positioning method based on a mobile phone.
In order to achieve the above object, the present invention provides a thunder detection and location method based on a mobile phone, including a location system, where the location system includes a cloud management platform and M mobile intelligent handheld terminals communicating with the cloud management platform, including a 1 st mobile intelligent handheld terminal, a 2 nd mobile intelligent handheld terminal, a 3 rd mobile intelligent handheld terminal, a 4 th mobile intelligent handheld terminal, … …, and an M th mobile intelligent handheld terminal, where M is a positive integer greater than or equal to 4, and any combination of four or more of the 1 st mobile intelligent handheld terminal, the 2 nd mobile intelligent handheld terminal, the 3 rd mobile intelligent handheld terminal, the 4 th mobile intelligent handheld terminal, … …, and the M th mobile intelligent handheld terminal can receive thunder, and includes the following steps: :
s1, the ith mobile intelligent handheld terminal packs the position of the ith mobile intelligent handheld terminal and thunder data information to obtain an ith packed data packet, and the ith packed data packet is sent to the cloud management platform; 1, 2, 3, 4, … … M;
and S2, the cloud management platform determines the thunder position according to the received packed data packet.
In a preferred embodiment of the present invention, step S1 includes the following steps:
s11, the ith mobile intelligent handheld terminal judges whether the terminal receives thunder:
if the ith mobile intelligent handheld terminal receives thunder, acquiring thunder data information, wherein the thunder data information comprises the moment when the thunder is received at the beginning of the time or/and the moment when the thunder is received at the end of the time, and the moment is respectively marked as tiAnd ti′；tiIs the moment when the ith mobile intelligent handheld terminal receives the thunder at the beginning of the time, ti' is the moment when the ith mobile intelligent handheld terminal receives the thunder at the end of the time;
if the ith mobile intelligent handheld terminal does not receive the thunder, returning to the step S11;
s12, the ith mobile intelligent handheld terminal acquires the position of the ith mobile intelligent handheld terminal by using the positioning module in the ith mobile intelligent handheld terminal, and the position is recorded as (x)i,yi,zi)；(xi,yi,zi) The position coordinates represent the position of the ith mobile intelligent handheld terminal;
s13, step S11T ofi、ti' and (x)i,yi,zi) And packaging, sending to a signal tower, and transmitting data to a cloud management platform by the signal tower.
In a preferred embodiment of the present invention, step S13 includes the following steps:
s131, the signal tower performs the following operations on the received packed data packet:
Transfer valuei＝MD5(Bale data packi)，
wherein MD5() represents a hash digest function employing MD 5;
Bale data packiindicating the ith packed data packet received by the signal tower;
Transfer valueirepresenting the ith packed data packet (Bale data pack)iThe corresponding ith transmission value;
s132, transferring value of ith transmission valueiSending the data to a cloud management platform, and judging whether the ith transmission value Transfer value exists in a transmission value database of the cloud management platformi：
If the ith transmission value Transfer value does not exist in the transmission value database in the cloud management platformiThen the ith transmission value is transmittediStoring the data into a transmission value database, and packing the ith packed data packet (Bale data pack)iSending the data to a cloud management platform;
if the ith transmission value Transfer value exists in the transmission value database in the cloud management platformiIf the packet is not the ith packet, the packet is not the packet data packiAnd sending the data to a cloud management platform. The signal tower is prevented from repeatedly transmitting the packed data packet to the cloud management platform, data redundancy is caused, and efficiency is improved.
In a preferred embodiment of the present invention, step S2 includes the following steps:
s21, the cloud management platform counts the total number of the received packed data packets, and the number is recorded as K, wherein K represents the total number of the packed data packets received by the cloud management platform, and is a positive integer which is less than or equal to M and greater than or equal to 4, namely a 1 st cloud packed data packet, a 2 nd cloud packed data packet, a 3 rd cloud packed data packet, a 4 th cloud packed data packet, … … and a Kth cloud packed data packet; let the acquisition number k equal to 1;
s22, the cloud management platform acquires the moment when the thunder is received at the beginning of the current time, the moment when the thunder is received at the end of the current time and the position coordinates in the kth cloud packaging data packet; k is k + 1;
s23, if K is larger than sigma, sigma is a positive integer larger than or equal to 4 and smaller than or equal to K, executing step S24; if k is less than or equal to sigma, returning to the step S22;
s24, calculating the thunder position coordinate, wherein the calculation method of the thunder position coordinate comprises the following steps:
alternatively, the first and second electrodes may be,
wherein, (X, Y, Z) represents thunder position coordinates;
(`xj,`yj,`zj) Representing the position coordinates of the mobile intelligent handheld terminal in the jth cloud packaging data packet; j is a positive integer less than or equal to σ; ("x)1,`y1,`z1) The position coordinates of the mobile intelligent handheld terminal in the 1 st cloud packaging data packet are represented; ("x)2,`y2,`z2) Representing the position coordinates of the mobile intelligent handheld terminal in the 2 nd cloud packaging data packet; ("x)3,`y3,`z3) Representing the position coordinates of the mobile intelligent handheld terminal in the 3 rd cloud packaging data packet; ("x)4,`y4,`z4) Representing the position coordinates of the mobile intelligent handheld terminal in the 4 th cloud packaging data packet; ("x)σ,`yσ,`zσ) Expressing the position coordinates of the mobile intelligent handheld terminal in the sigma cloud packaging data packet;
v represents the speed of propagation of thunder;
ζvsystem for indicating influence of thunder velocityNumber, ζv∈(0,0.12]；
`tjThe moment when the thunder is received at the beginning of the time in the jth cloud-end packaging data packet is represented; 't' of1The time when the thunder is received at the beginning of the time in the 1 st cloud packaging data packet is represented; 't' of2The moment when the thunder is received at the beginning of the time in the 2 nd cloud-end packaging data packet is shown; 't' of3The moment when the thunder is received at the beginning of the time in the 3 rd cloud-side packaging data packet is represented; 't' of4The moment when the thunder is received at the beginning of the 4 th cloud-end packaging data packet is represented; 't' ofσThe moment when the thunder is received at the beginning of the time in the sigma cloud-end packaging data packet is shown;
t0representing the thunder emission time;
εjthe positioning error rate of the mobile intelligent handheld terminal corresponding to the jth cloud packaging data packet is represented; epsilon1The method represents the positioning error rate, epsilon, of the mobile intelligent handheld terminal corresponding to the 1 st cloud-end packaging data packet1∈(0,0.013]；ε2The positioning error rate, epsilon, of the mobile intelligent handheld terminal corresponding to the 2 nd cloud-end packaging data packet is shown2∈(0,0.013]；ε3The positioning error rate, epsilon, of the mobile intelligent handheld terminal corresponding to the 3 rd cloud-end packaging data packet is shown3∈(0,0.013]；ε4The positioning error rate, epsilon, of the mobile intelligent handheld terminal corresponding to the 4 th cloud-end packaging data packet is shown4∈(0,0.013]；εσThe positioning error rate, epsilon, of the mobile intelligent handheld terminal corresponding to the sigma cloud-end packed data packet is representedσ∈(0,0.013]；
tj"' indicates the moment when the thunder is received in the jth cloud end packaging data packet at this time; t is t1"' indicates the moment when the thunder is received in the 1 st cloud end packed data packet; t is t2"' indicates the moment when the thunder is received in the 2 nd cloud-end packed data packet at this time; t is t3"' indicates the moment when the thunder is received in the 3 rd cloud-end packed data packet at this time; t is t4"' indicates the time when the thunder is received in the 4 th cloud-end packed data packet; t is tσ' represents the time when the thunder is received in the sigma-th cloud-side packed data packet at this time;
t0' indicates the time when the lightning sound emission ends.
In a preferred embodiment of the present invention, the method further comprises the following constraint conditions:
Wherein S is not equal to S, and S and S are positive integers less than or equal to sigma;
if true, the position coordinates (' x)S,`yS,`zS) With position coordinates (' x)s,`ys,`zs) Associating;
if not, the position coordinate ('x') is determinedS,`yS,`zS) With position coordinates (' x)s,`ys,`zs) Are not associated.
In a preferred embodiment of the present invention, the method further comprises step S3, wherein the method for driving the thunder position away from the thunder area according to the determined thunder position of step S2 comprises the following steps:
s31, the cloud management platform provides a safe position coordinate for the user waiting to drive away from the thunder area;
s32, the cloud management platform generates at least one driving-away line according to the position of the user, and sends the generated driving-away line to the mobile intelligent handheld terminal of the user;
in a preferred embodiment of the invention, the method for generating a drive-off route comprises the following steps:
s311, acquiring end points at two ends of the path according to the current position of the user, respectively being a first end point and a second end point, and judging the to-be-driven angle of the path
The size of (2):
if it is
Taking the current position of the user to the first endpoint or the second endpoint as the direction to be driven away;
if it is
Setting the direction from the first end point or the second end point to the current position of the user as the direction to be driven away;
s312, select the first route as the driving direction at the first end point or the second end point, and select the first route as the driving-away direction.
In a preferred embodiment of the present invention, the step S311 includes the following steps:
s3111, selecting any point on a path from the current position of the user to the first endpoint or the second endpoint;
s3112, calculating the angle to be departed, wherein the method for calculating the angle to be departed comprises the following steps:
wherein, (X ', Y', Z ') represents the user's current location;
(x, y, z) represents a safe location coordinate;
(x ', y', z ') represents any point on the path from the user's current location to the first endpoint or the second endpoint;
d(x-X′,y-Y′,z-Z′)representing a first distance;
d(x′-X′,y′-Y′,z′-Z′)represents a second distance;
first distance d(x-X′,y-Y′,z-Z′)The calculation method comprises the following steps:
second oneDistance d(x′-X′,y′-Y′,z′-Z′)The calculation method comprises the following steps:
represents the vector point by inner product.
In a preferred embodiment of the present invention, the step S312 includes the following steps:
s3121, acquiring the position of the first endpoint or the second endpoint and any point on the ith path at the first endpoint or the second endpoint;
s3122, calculating the to-be-driven-off end point angle, wherein the calculation method of the to-be-driven-off end point angle is as follows:
wherein (X)λ,l,Yλ,l,Zλ,l) Representing any point on the ith path at the first endpoint or the second endpoint;
(Xλ,Yλ,Zλ) Representing the location of the first endpoint or the second endpoint;
first end point distance
The calculation method comprises the following steps:
second end point distance
The calculation method comprises the following steps:
φλ,lrepresenting an endpoint angle to be driven; phi is aλ,l∈[0,π]；
S3123, in min [ [ phi ] ]λ,lThe corresponding path is the driving direction, min represents the minimum value, { phi }λ,lAnd represents the set of angles of the endpoint to be driven away.
In a preferred embodiment of the invention, the intelligent handheld terminal is further provided with a radar module, and in the driving process, if the intelligent handheld terminal detects that the distance between the obstacle and the driving vehicle is smaller than or equal to a preset distance threshold value, alarm information is sent out, so that the vehicle body is prevented from being damaged due to collision.
In conclusion, by adopting the technical scheme, the thunder positioning and detection can be realized by utilizing massive intelligent handheld terminals, and the driving-away line is generated, so that the safety of a user is guaranteed.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic block diagram of the process of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
The invention provides a thunder detection and positioning method based on a mobile phone, which comprises a positioning system, wherein the positioning system comprises a cloud management platform and M mobile intelligent handheld terminals which are communicated with the cloud management platform, namely a 1 st mobile intelligent handheld terminal, a 2 nd mobile intelligent handheld terminal, a 3 rd mobile intelligent handheld terminal, a 4 th mobile intelligent handheld terminal, … … and an M mobile intelligent handheld terminal, wherein M is a positive integer which is more than or equal to 4, and the thunder can be received by any combination of the 1 st mobile intelligent handheld terminal, the 2 nd mobile intelligent handheld terminal, the 3 rd mobile intelligent handheld terminal, the 4 th mobile intelligent handheld terminal, … … and the M mobile intelligent handheld terminal, and the method comprises the following steps:
s1, the ith mobile intelligent handheld terminal packs the position of the ith mobile intelligent handheld terminal and thunder data information to obtain an ith packed data packet, and the ith packed data packet is sent to the cloud management platform; 1, 2, 3, 4, … … M;
and S2, the cloud management platform determines the thunder position according to the received packed data packet.
Through the huge number of users of a cloud management platform (a mobile phone platform), a mobile phone platform voice processing algorithm is adopted to identify thunder, and a high-quality mobile phone thunder positioning point is screened out by an algorithm capable of identifying or rejecting a positioning information point with a large error, so that the occurrence position and time of the thunder are confirmed more accurately. Based on a large amount of mobile phone position information and thunder identification data which are simultaneously on-line, the accuracy and reliability of thunder positioning can be improved through a related error theory.
In a preferred embodiment of the present invention, step S1 includes the following steps:
s11, the ith mobile intelligent handheld terminal judges whether the terminal receives thunder:
if the ith mobile intelligent handheld terminal receives thunder, acquiring thunder data information, wherein the thunder data information comprises the moment when the thunder is received at the beginning of the time or/and the moment when the thunder is received at the end of the time, and the moment is respectively marked as tiAnd ti′；tiIs the moment when the ith mobile intelligent handheld terminal receives the thunder at the beginning of the time, ti' is the moment when the ith mobile intelligent handheld terminal receives the thunder at the end of the time;
if the ith mobile intelligent handheld terminal does not receive the thunder, returning to the step S11;
s12, the ith mobile intelligent handheld terminal acquires the position of the ith mobile intelligent handheld terminal by using the positioning module in the ith mobile intelligent handheld terminal, and the position is recorded as (x)i,yi,zi)；(xi,yi,zi) The position coordinates represent the position of the ith mobile intelligent handheld terminal;
s13, step S11, ti、ti' and (x)i,yi,zi) And packaging, sending to a signal tower, and transmitting data to a cloud management platform by the signal tower.
In a preferred embodiment of the present invention, step S13 includes the following steps:
s131, the signal tower performs the following operations on the received packed data packet:
Transfer valuei＝MD5(Bale data packi)，
wherein MD5() represents a hash digest function employing MD 5;
Bale data packiindicating the ith packed data packet received by the signal tower;
Transfer valueirepresenting the ith packed data packet (Bale data pack)iThe corresponding ith transmission value;
s132, transferring value of ith transmission valueiSending the data to a cloud management platform, and judging whether the ith transmission value Transfer value exists in a transmission value database of the cloud management platformi：
If the ith transmission value Transfer value does not exist in the transmission value database in the cloud management platformiThen the ith transmission value is transmittediStoring the data into a transmission value database, and packing the ith packed data packet (Bale data pack)iSending the data to a cloud management platform;
if the ith transmission value Transfer value exists in the transmission value database in the cloud management platformiIf the packet is not the ith packet, the packet is not the packet data packiAnd sending the data to a cloud management platform.
In a preferred embodiment of the present invention, step S2 includes the following steps:
s21, the cloud management platform counts the total number of the received packed data packets, and the number is recorded as K, wherein K represents the total number of the packed data packets received by the cloud management platform, and is a positive integer which is less than or equal to M and greater than or equal to 4, namely a 1 st cloud packed data packet, a 2 nd cloud packed data packet, a 3 rd cloud packed data packet, a 4 th cloud packed data packet, … … and a Kth cloud packed data packet; let the acquisition number k equal to 1;
s22, the cloud management platform acquires the moment when the thunder is received at the beginning of the current time, the moment when the thunder is received at the end of the current time and the position coordinates in the kth cloud packaging data packet; k is k + 1;
s23, if K is larger than sigma, sigma is a positive integer larger than or equal to 4 and smaller than or equal to K, executing step S24; if k is less than or equal to sigma, returning to the step S22;
s24, calculating the thunder position coordinate, wherein the calculation method of the thunder position coordinate comprises the following steps:
alternatively, the first and second electrodes may be,
preferably, the first and second liquid crystal materials are,
wherein, (X, Y, Z) represents thunder position coordinates;
(`xj,`yj,`zj) Representing the position coordinates of the mobile intelligent handheld terminal in the jth cloud packaging data packet; j is a positive integer less than or equal to σ; ("x)1,`y1,`z1) The position coordinates of the mobile intelligent handheld terminal in the 1 st cloud packaging data packet are represented; ("x)2,`y2,`z2) Representing the position coordinates of the mobile intelligent handheld terminal in the 2 nd cloud packaging data packet; ("x)3,`y3,`z3) Representing the position coordinates of the mobile intelligent handheld terminal in the 3 rd cloud packaging data packet; ("x)4,`y4,`z4) Representing the position coordinates of the mobile intelligent handheld terminal in the 4 th cloud packaging data packet; ("x)σ,`yσ,`zσ) Expressing the position coordinates of the mobile intelligent handheld terminal in the sigma cloud packaging data packet;
v represents the speed of propagation of thunder;
ζvindicates the influence coefficient, ζ, of the thunder velocityv∈(0,0.12]；
`tjThe moment when the thunder is received at the beginning of the time in the jth cloud-end packaging data packet is represented; 't' of1The time when the thunder is received at the beginning of the time in the 1 st cloud packaging data packet is represented; 't' of2The moment when the thunder is received at the beginning of the time in the 2 nd cloud-end packaging data packet is shown; 't' of3The moment when the thunder is received at the beginning of the time in the 3 rd cloud-side packaging data packet is represented; 't' of4The moment when the thunder is received at the beginning of the 4 th cloud-end packaging data packet is represented; 't' ofσThe moment when the thunder is received at the beginning of the time in the sigma cloud-end packaging data packet is shown;
t0to representThe moment when thunder is emitted;
εjthe positioning error rate of the mobile intelligent handheld terminal corresponding to the jth cloud packaging data packet is represented; epsilon1The method represents the positioning error rate, epsilon, of the mobile intelligent handheld terminal corresponding to the 1 st cloud-end packaging data packet1∈(0,0.013]；ε2The positioning error rate, epsilon, of the mobile intelligent handheld terminal corresponding to the 2 nd cloud-end packaging data packet is shown2∈(0,0.013]；ε3The positioning error rate, epsilon, of the mobile intelligent handheld terminal corresponding to the 3 rd cloud-end packaging data packet is shown3∈(0,0.013]；ε4The positioning error rate, epsilon, of the mobile intelligent handheld terminal corresponding to the 4 th cloud-end packaging data packet is shown4∈(0,0.013]；εσThe positioning error rate, epsilon, of the mobile intelligent handheld terminal corresponding to the sigma cloud-end packed data packet is representedσ∈(0,0.013]；
tj"' indicates the moment when the thunder is received in the jth cloud end packaging data packet at this time; t is t1"' indicates the moment when the thunder is received in the 1 st cloud end packed data packet; t is t2"' indicates the moment when the thunder is received in the 2 nd cloud-end packed data packet at this time; t is t3"' indicates the moment when the thunder is received in the 3 rd cloud-end packed data packet at this time; t is t4"' indicates the time when the thunder is received in the 4 th cloud-end packed data packet; t is tσ' represents the time when the thunder is received in the sigma-th cloud-side packed data packet at this time;
t0' indicates the time when the lightning sound emission ends.
In a preferred embodiment of the present invention, the method further comprises the following constraint conditions:
Wherein S is not equal to S, and S and S are positive integers less than or equal to sigma;
if true, the position coordinates (' x)S,`yS,`zS) With position coordinates (' x)s,`ys,`zs) Associating;
if not, the position coordinate ('x') is determinedS,`yS,`zS) With position coordinates (' x)s,`ys,`zs) Are not associated. The number of the combination is
When σ is 6, the number of combinations is 15, as follows:
(`x5,`y5,`z5) Representing the position coordinates of the mobile intelligent handheld terminal in the 5 th cloud packaging data packet; ("x)6,`y6,`z6) Representing the position coordinates of the mobile intelligent handheld terminal in the 6 th cloud packaging data packet; and taking the first four coordinate positions with the most correlation as the calibration positions.
In a preferred embodiment of the present invention, the method further comprises step S3, wherein the method for driving the thunder position away from the thunder area according to the determined thunder position of step S2 comprises the following steps:
s31, the cloud management platform provides a safe position coordinate for the user waiting to drive away from the thunder area;
s32, the cloud management platform generates at least one driving-away line according to the position of the user, and sends the generated driving-away line to the mobile intelligent handheld terminal of the user;
in a preferred embodiment of the invention, the method for generating a drive-off route comprises the following steps:
s311, acquiring end points at two ends of the path according to the current position of the user, respectively being a first end point and a second end point, and judging the to-be-driven angle of the path
The size of (2):
if it is
Taking the current position of the user to the first endpoint or the second endpoint as the direction to be driven away;
if it is
Setting the direction from the first end point or the second end point to the current position of the user as the direction to be driven away;
s312, select the first route as the driving direction at the first end point or the second end point, and select the first route as the driving-away direction. And (4) making the next endpoint be a first endpoint or a second endpoint, and repeating the step (S312) until the vehicle leaves the safe position coordinate.
In a preferred embodiment of the present invention, the step S311 includes the following steps:
s3111, selecting any point on a path from the current position of the user to the first endpoint or the second endpoint, excluding the current position, the first endpoint and the second endpoint; the first end point or the second end point comprises three or more than three driving paths at the end point.
S3112, calculating the angle to be departed, wherein the method for calculating the angle to be departed comprises the following steps:
wherein, (X ', Y', Z ') represents the user's current location;
(x, y, z) represents a safe location coordinate;
(x ', y', z ') represents any point on the path from the user's current location to the first endpoint or the second endpoint;
d(x-X′,y-Y′,z-Z′)representing a first distance;
d(x′-X′,y′-Y′,z′-Z′)represents a second distance;
first distance d(x-X′,y-Y′,z-Z′) The calculation method comprises the following steps:
second distance d(x′-X′,y′-Y′,z′-Z′)The calculation method comprises the following steps:
represents the vector point by inner product.
In a preferred embodiment of the present invention, the step S312 includes the following steps:
s3121, acquiring the position of the first endpoint or the second endpoint and any point on the ith path at the first endpoint or the second endpoint; l is 1, 2, 3, … …, L is the total number of paths at the position of the first end point or the second end point, L is a positive integer greater than or equal to 3; any point on the l path from the first endpoint or the second endpoint is obtained without the first endpoint, the second endpoint and the next endpoint in the path from the first endpoint or the second endpoint to the next endpoint.
S3122, calculating the to-be-driven-off end point angle, wherein the calculation method of the to-be-driven-off end point angle is as follows:
wherein (X)λ,l,Yλ,l,Zλ,l) Representing any point on the ith path at the first endpoint or the second endpoint;
(Xλ,Yλ,Zλ) Representing the location of the first endpoint or the second endpoint;
first end point distance
The calculation method comprises the following steps:
second end point distance
The calculation method comprises the following steps:
φλ,lrepresenting an endpoint angle to be driven; phi is aλ,l∈[0,π]；
S3123, in min [ [ phi ] ]λ,lThe corresponding path is the driving direction, min represents the minimum value, { phi }λ,lDenotes the end to be driven awayAnd (5) point angle collection.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (9)
1. The utility model provides a thunder detects and positioning method based on cell-phone, includes positioning system, positioning system includes the cloud management platform and M mobile intelligent handheld terminals with the communication of cloud management platform, is 1 st mobile intelligent handheld terminal, 2 nd mobile intelligent handheld terminal, 3 rd mobile intelligent handheld terminal, 4 th mobile intelligent handheld terminal, … …, M mobile intelligent handheld terminal respectively, M is more than or equal to 4 positive integer, and fourth and above arbitrary combination of 1 st mobile intelligent handheld terminal, 2 nd mobile intelligent handheld terminal, 3 rd mobile intelligent handheld terminal, 4 th mobile intelligent handheld terminal, … …, M mobile intelligent handheld terminal can receive the thunder, its characterized in that, includes the following steps: :
s1, the ith mobile intelligent handheld terminal packs the position of the ith mobile intelligent handheld terminal and thunder data information to obtain an ith packed data packet, and the ith packed data packet is sent to the cloud management platform; 1, 2, 3, 4, … … M;
and S2, the cloud management platform determines the thunder position according to the received packed data packet.
2. The handset-based thunder detection and location method according to claim 1, wherein in step S1, the method comprises the following steps:
s11, the ith mobile intelligent handheld terminal judges whether the terminal receives thunder:
if the ith mobile intelligent handheld terminal receives thunder, acquiring thunder data information, wherein the thunder data information comprises the moment when the thunder is received at the beginning of the time or/and the moment when the thunder is received at the end of the time, and the moment is respectively marked as tiAnd ti′；tiIs the moment when the ith mobile intelligent handheld terminal receives the thunder at the beginning of the time, ti' is the moment when the ith mobile intelligent handheld terminal receives the thunder at the end of the time;
if the ith mobile intelligent handheld terminal does not receive the thunder, returning to the step S11;
s12, the ith mobile intelligent handheld terminal acquires the position of the ith mobile intelligent handheld terminal by using the positioning module in the ith mobile intelligent handheld terminal, and the position is recorded as (x)i,yi,zi)；(xi,yi,zi) The position coordinates represent the position of the ith mobile intelligent handheld terminal;
s13, step S11, ti、ti' and (x)i,yi,zi) And packaging, sending to a signal tower, and transmitting data to a cloud management platform by the signal tower.
3. The handset-based thunder detection and location method according to claim 2, wherein in step S13, the method comprises the following steps:
s131, the signal tower performs the following operations on the received packed data packet:
Transfer valuei＝MD5(Bale data packi)，
wherein MD5() represents a hash digest function employing MD 5;
Bale data packiindicating the ith packed data packet received by the signal tower;
Transfer valueirepresenting the ith packed data packet (Bale data pack)iThe corresponding ith transmission value;
s132, transferring value of ith transmission valueiSending the data to a cloud management platform, and judging whether the ith transmission value Transfer value exists in a transmission value database of the cloud management platformi：
If the ith transmission value Transfer value does not exist in the transmission value database in the cloud management platformiThen the ith transmission value is transmittediStoring in a transmission value database, and packaging the ith packet Bale data packiSending the data to a cloud management platform;
if the ith transmission value Transfer value exists in the transmission value database in the cloud management platformiIf the packet is not the ith packet, the packet is not the packet data packiAnd sending the data to a cloud management platform.
4. The handset-based thunder detection and location method according to claim 1, wherein in step S2, the method comprises the following steps:
s21, the cloud management platform counts the total number of the received packed data packets, and the number is recorded as K, wherein K represents the total number of the packed data packets received by the cloud management platform, and is a positive integer which is less than or equal to M and greater than or equal to 4, namely a 1 st cloud packed data packet, a 2 nd cloud packed data packet, a 3 rd cloud packed data packet, a 4 th cloud packed data packet, … … and a Kth cloud packed data packet; let the acquisition number k equal to 1;
s22, the cloud management platform acquires the moment when the thunder is received at the beginning of the current time, the moment when the thunder is received at the end of the current time and the position coordinates in the kth cloud packaging data packet; k is k + 1;
s23, if K is larger than sigma, sigma is a positive integer larger than or equal to 4 and smaller than or equal to K, executing step S24; if k is less than or equal to sigma, returning to the step S22;
s24, calculating the thunder position coordinate, wherein the calculation method of the thunder position coordinate comprises the following steps:
alternatively, the first and second electrodes may be,
wherein, (X, Y, Z) represents thunder position coordinates;
(`xj,`yj,`zj) Representing the position coordinates of the mobile intelligent handheld terminal in the jth cloud packaging data packet; j is less than or equal to σA positive integer; ("x)1,`y1,`z1) The position coordinates of the mobile intelligent handheld terminal in the 1 st cloud packaging data packet are represented; ("x)2,`y2,`z2) Representing the position coordinates of the mobile intelligent handheld terminal in the 2 nd cloud packaging data packet; ("x)3,`y3,`z3) Representing the position coordinates of the mobile intelligent handheld terminal in the 3 rd cloud packaging data packet; ("x)4,`y4,`z4) Representing the position coordinates of the mobile intelligent handheld terminal in the 4 th cloud packaging data packet; ("x)σ,`yσ,`zσ) Expressing the position coordinates of the mobile intelligent handheld terminal in the sigma cloud packaging data packet;
v represents the speed of propagation of thunder;
ζvindicates the influence coefficient, ζ, of the thunder velocityv∈(0,0.12]；
`tjThe moment when the thunder is received at the beginning of the time in the jth cloud-end packaging data packet is represented; 't' of1The time when the thunder is received at the beginning of the time in the 1 st cloud packaging data packet is represented; 't' of2The moment when the thunder is received at the beginning of the time in the 2 nd cloud-end packaging data packet is shown; 't' of3The moment when the thunder is received at the beginning of the time in the 3 rd cloud-side packaging data packet is represented; 't' of4The moment when the thunder is received at the beginning of the 4 th cloud-end packaging data packet is represented; 't' ofσThe moment when the thunder is received at the beginning of the time in the sigma cloud-end packaging data packet is shown;
t0representing the thunder emission time;
εjthe positioning error rate of the mobile intelligent handheld terminal corresponding to the jth cloud packaging data packet is represented; epsilon1The method represents the positioning error rate, epsilon, of the mobile intelligent handheld terminal corresponding to the 1 st cloud-end packaging data packet1∈(0,0.013]；ε2Indicating 2 nd cloud hitLocating error rate epsilon of mobile intelligent hand-held terminal corresponding to packet data packet2∈(0,0.013]；ε3The positioning error rate, epsilon, of the mobile intelligent handheld terminal corresponding to the 3 rd cloud-end packaging data packet is shown3∈(0,0.013]；ε4The positioning error rate, epsilon, of the mobile intelligent handheld terminal corresponding to the 4 th cloud-end packaging data packet is shown4∈(0,0.013]；εσThe positioning error rate, epsilon, of the mobile intelligent handheld terminal corresponding to the sigma cloud-end packed data packet is representedσ∈(0,0.013]；
tj"' indicates the moment when the thunder is received in the jth cloud end packaging data packet at this time; t is t1"' indicates the moment when the thunder is received in the 1 st cloud end packed data packet; t is t2"' indicates the moment when the thunder is received in the 2 nd cloud-end packed data packet at this time; t is t3"' indicates the moment when the thunder is received in the 3 rd cloud-end packed data packet at this time; t is t4"' indicates the time when the thunder is received in the 4 th cloud-end packed data packet; t is tσ' represents the time when the thunder is received in the sigma-th cloud-side packed data packet at this time;
t0' indicates the time when the lightning sound emission ends.
5. The handset-based thunder detection and location method according to claim 4, further comprising constraints, the constraints being:
Wherein S is not equal to S, and S and S are positive integers less than or equal to sigma;
if true, the position coordinates (' x)S,`yS,`zS) With position coordinates (' x)s,`ys,`zs) Associating;
if not, the position coordinate ('x') is determinedS,`yS,`zS) With position coordinates (' x)s,`ys,`zs) Are not associated.
6. The handset-based thunder detecting and locating method according to claim 1 and further comprising a step S3 of driving away from the thunder area according to the thunder position determined in step S2, comprising the steps of:
s31, the cloud management platform provides a safe position coordinate for the user waiting to drive away from the thunder area;
and S32, the cloud management platform generates at least one driving-away line according to the position of the user, and sends the generated driving-away line to the mobile intelligent handheld terminal of the user.
7. The handset-based thunder detection and location method according to claim 6 and wherein the method of implementing the generation of the drive-off route comprises the steps of:
s311, acquiring end points at two ends of the path according to the current position of the user, respectively being a first end point and a second end point, and judging the to-be-driven angle of the path
The size of (2):
if it is
Taking the current position of the user to the first endpoint or the second endpoint as the direction to be driven away;
if it is
Setting the direction from the first end point or the second end point to the current position of the user as the direction to be driven away;
s312, select the first route as the driving direction at the first end point or the second end point, and select the first route as the driving-away direction.
8. The handset-based thunder detection and location method according to claim 6, wherein step S311 comprises the following steps:
s3111, selecting any point on a path from the current position of the user to the first endpoint or the second endpoint;
s3112, calculating the angle to be departed, wherein the method for calculating the angle to be departed comprises the following steps:
wherein, (X ', Y', Z ') represents the user's current location;
(x, y, z) represents a safe location coordinate;
(x ', y', z ') represents any point on the path from the user's current location to the first endpoint or the second endpoint;
d(x-X′,y-Y′,z-Z′)representing a first distance;
d(x′-X′,y′-Y′,z′-Z′)represents a second distance;
first distance d(x-X′,y-Y′,z-Z′)The calculation method comprises the following steps:
second distance d(x′-X′,y′-Y′,z′-Z′)The calculation method comprises the following steps:
represents the vector point by inner product.
9. The handset-based thunder detection and location method according to claim 7, wherein step S312 comprises the steps of:
s3121, acquiring the position of the first endpoint or the second endpoint and any point on the ith path at the first endpoint or the second endpoint;
s3122, calculating the to-be-driven-off end point angle, wherein the calculation method of the to-be-driven-off end point angle is as follows:
wherein (X)λ,l,Yλ,l,Zλ,l) Representing any point on the ith path at the first endpoint or the second endpoint;
(Xλ,Yλ,Zλ) Representing the location of the first endpoint or the second endpoint;
first end point distance
The calculation method comprises the following steps:
second end point distance
Is calculated byThe method comprises the following steps:
φλ,lrepresenting an endpoint angle to be driven; phi is aλ,l∈[0,π]；
S3123, in min [ [ phi ] ]λ,lThe corresponding path is the driving direction, min represents the minimum value, { phi }λ,lAnd represents the set of angles of the endpoint to be driven away.
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