CN115933010A

CN115933010A - Radar echo extrapolation near weather prediction method

Info

Publication number: CN115933010A
Application number: CN202211688110.2A
Authority: CN
Inventors: 程勇; 钱坤; 王军; 何光鑫; 渠海峰; 王伟; 何佳信
Original assignee: Nanjing University of Information Science and Technology
Current assignee: Nanjing University of Information Science and Technology
Priority date: 2022-12-28
Filing date: 2022-12-28
Publication date: 2023-04-07

Abstract

The invention discloses a method for predicting the weather near the radar echo extrapolation, which comprises the following steps: obtaining a historical radar echo sequence sample; building and training a prediction neural network model based on AFR-LSTM, dividing a radar echo sequence sample into batch _ sizes, inputting the samples into the prediction neural network model, and performing backward propagation to update network weights after forward propagation of a multilayer network to obtain the trained prediction neural network model; inputting a radar echo sequence sample in a set time period into a trained prediction neural network model to obtain a radar echo extrapolation image sequence; and determining an adjacent weather prediction result according to the radar echo extrapolation image sequence.

Description

Radar echo extrapolation near weather prediction method

Technical Field

The invention belongs to the technical field of short-term weather forecast, and particularly relates to a radar echo extrapolation near weather prediction method.

Background

The radar echo extrapolation can be regarded as the estimation and prediction of the change trend of continuous time series images, namely, the radar echo images in a certain time in the future are predicted by using the existing radar echo images in a certain time. The nowcasting generally refers to the description of the current weather condition and the weather forecast within two hours in the future, and the main forecast objects include the disastrous weather such as strong precipitation, strong wind, hail and the like. For example, the goal of the near-heavy precipitation forecast is to accurately and timely forecast the regional precipitation intensity and distribution in the next two hours. The visible radar echo extrapolation method can provide visual radar echo image reference for the nowcasting, so that how to rapidly and accurately predict a weather radar image sequence becomes one of the hot spots for the research in the weather field.

The deep learning method has the capability of modeling a highly nonlinear complex system, combines deep learning and radar echo extrapolation, and can find out a potential rule from massive radar data, so that the accuracy of weather condition prediction in a future period of a specified area is improved. Long-Short Term Memory (LSTM) is a variant of RNN (recurrent neural networks) that solves the problem of Long-Term dependence of sequences by introducing Memory and gating units in RNN network elements. Many improved models have been derived based on this, such as ConvLSTM (convolutional Long short term memory), predRNN (predictive recurrent neural network). To maintain long-term spatiotemporal correlations, eidetic 3D LSTM and SA-ConvLSTM utilize a mechanism of attention. The attention mechanism can search information from historical memory and can save more space-time representations. However, they only recall previous time memories by using a single attention mechanism, and can only recall information of a single channel; and they do not consider the problem of information loss during the encoding and decoding process. Therefore, the information transfer capability of these networks is insufficient, and the rainfall prediction accuracy at the future time is affected.

Disclosure of Invention

The invention aims to overcome the defects that in the prior art, attention mechanisms only can recall information of a single channel and information loss in the encoding and decoding process is not fully considered. It is mentioned herein

The purpose is as follows: in order to solve the above problems, the present invention provides a method for predicting the radar echo extrapolation close weather, which provides an Attention Fusion module (Attention Fusion), and uses the Attention module to fuse the channel information and the time-space information to obtain a better long-term time-space representation, so that the memory unit can effectively recall the stored memory across a plurality of timestamps even after a long-term interference; and secondly, an information Recall mechanism (Recall) is added in the coding and decoding of information transmission to help Recall the information input by coding during decoding, so that the radar echo extrapolation prediction effect with higher accuracy is realized.

In order to achieve the purpose, the invention adopts the following technical scheme:

in a first aspect, a method for predicting weather near radar echo extrapolation is provided, including:

s1, obtaining a historical radar echo sequence sample;

s2, constructing and training a prediction neural network model based on AFR-LSTM, dividing a radar echo sequence sample into batch _ sizes, inputting the samples into the prediction neural network model, and performing backward propagation to update network weights after the samples are subjected to forward propagation of a multilayer network to obtain the trained prediction neural network model;

s3, inputting a radar echo sequence sample in a set time period into a trained prediction neural network model to obtain a radar echo extrapolation image sequence;

and S4, determining a prediction result of the adjacent weather according to the radar echo extrapolation image sequence.

In some embodiments, in step S1, obtaining historical radar echo sequence samples includes:

and (3) sequentially carrying out coordinate conversion, data interpolation and horizontal sampling pretreatment on the radar echo map acquired by the Doppler radar to obtain a gray scale map.

Further, the coordinate transformation includes: converting radar echo map data under three-dimensional polar coordinates into a three-dimensional Cartesian rectangular coordinate system;

the data interpolation includes: performing data interpolation by adopting an inverse distance weighting method to obtain regular grid data under a three-dimensional Cartesian rectangular coordinate system;

the horizontal sampling comprises the following steps: performing horizontal sampling on regular grid data under a three-dimensional Cartesian rectangular coordinate system, extracting two-dimensional plane data under a height, and mapping the two-dimensional plane data to 0-255 to obtain an echo intensity CAPPI gray image; wherein the data mapping formula is:

wherein P is a grayscale pixel; z is the intensity value of the data,

indicating that the value is rounded down.

In some embodiments, step S1 further comprises: converting the data into normalized gray data normalized _ data through normalization;

the resulting normalized gray scale data has a value of [0,1].

In some embodiments, in step S2, the AFR-LSTM-based predictive neural network model sequentially includes: an Encoder Encoder, an AF-LSTM module and a Decoder;

the Encoder comprises 5 convolutional layers for extracting radar echo sequence sample I _t Depth feature X of _t ；

The AF-LSTM module comprises 4 layers of AF-LSTM network units which are sequentially stacked behind the Encoder Encoder network in order and used for extracting depth characteristics X of radar echo sequence sample _t Temporal and spatial information of (2), hidden state of output

Inputting the data into a Decoder;

the AF-LSTM module is used for outputting a memory unit of the same layer network at the previous moment

And hidden state

Hidden state output by one layer of network before current moment>

Space-time memory unit M of the previous layer ^l-1 And a set M of spatiotemporal memory cells of the front τ layer ^l-τ:l-1 Inputting the data into AF-LSTM network unit at the l-th layer at the t moment, and obtaining the hidden state/combination outputted by the current network unit after forward propagation>

Memory cell>

Spatiotemporal memory cell>

Wherein t =1,2 \ 8230; 10,l =1,2,3,4; />

Setting parameters through initialization;

the Decoder comprises 5 convolutional layers for hiding the output of the AF-LSTM module

Decoding and correspondingly fusing the output of each convolution layer of the encoder to obtain the output radar echoPush image sequence

In some embodiments, the processing of the AF-LSTM module comprises:

step 2-1, the space-time memory unit M of the previous layer is processed ^l-1 Forgetting door f _t ' and the previous several layers of the set M of continuous history space-time memory units ^l-τ:l-1 As input, outputting by a fusion attention mechanism to obtain a space-time memory unit Attfusion with a plurality of time steps;

step 2-2, the hidden state output by the previous layer network at the current moment

Hidden state output by the same layer network at the previous moment>

And a memory unit>

By means of an input modulation gate g _t And input gate i _t And forget door f _t Updating the current memory cell->

The formula is as follows:

wherein "" indicates convolution operation, "" indicates dot product operation of matrix, tanh indicates hyperbolic tangent activation function

Sigma denotes Sigmoid activation function>

W _xg ,W _hg ,W _xi ,W _hi ,W _xf ,W _hf The sizes of all the filter _ size and the filter _ size are num _ hidden _ num _ hidden; b _g ,b _i ,b _f Indicating a deviation;

step 2-3, the hidden state output by the previous layer network at the current moment

Space-time memory unit M of the previous layer ^l-1 And a set M of contiguous historical spatiotemporal memory units ^l-τ:l-1 As input, the space-time memory unit AttFusion of step 2-1, input modulation gate g _t ', input gate i _t ' and forget door f _t ' updating the current spatiotemporal memory unit>

The formula is as follows:

wherein "+" denotes convolution operation, "" denotes dot product operation of matrix, and tanh denotes hyperbolic tangent activation function

Sigma denotes a Sigmoid activation function>

W _xi ',W _hi ',W _xg ',W _hg ',W _xf ',W _hf ' are all filter _ size × filter _ size, in number num _ hidden _ num _ hidden; b _i ',b _g ',b _f ' denotes a deviation;

step 2-4, the hidden state output by the previous layer network at the current moment

Hidden state output by the same layer at the previous moment>

The memory cell updated in step 2->

And step 2-3 the updated spatiotemporal memory unit>

As an output gate O _t For hidden state->

Updating is carried out, and the formula is as follows:

wherein "+" indicates convolution operation, and "-" indicates dot product operation of matrix, [, ·]Showing that the two matrixes are spliced according to columns and the rows are kept unchanged; tanh represents the hyperbolic tangent activation function

Convolution kernel W _1*1 The size of (1) × 1, the number num _ hidden × num _ hidden; w _xo ,W _ho ,W _co ,W _mo Is 5 × 5, in a number num _ hidden _ num _ hidden; b _o The deviation is indicated.

In some embodiments, step 2-1 comprises: each space-time memory unit Attfusion comprises a space-time attention module, a channel attention module and a fusion attention module;

step 2-1-1, a space-time attention module: forget door f ₁ ^2' ∈R ^B×C×H×W Is regarded as a query matrix Q _l B, C, H and W respectively represent the batch size of the characteristic images, the number of channels, the image height and the image width; will inquire about the matrix Q _l Remodelling to Q _l ∈R ^N ^×(H*W)×C (ii) a Set M of corresponding continuous historical spatio-temporal feature maps ^0:1 ∈R ^{B×C×τ×H×W} Is regarded as a key matrix K _l Sum matrix V _l τ refers to the length of the time series; also, a key matrix K _l Sum matrix V _l Are respectively reshaped into K _l ∈R ^{B×(τ*H*W)×C} And V _l ∈R ^B ^{×(τ*H*W)×C} (ii) a According to Q _l ∈R ^N×(H*W)×C 、K _l ∈R ^{B×(τ*H*W)×C} And V _l ∈R ^{B×(τ*H*W)×C} The output of the spatiotemporal attention module, ST _ ATT, is obtained:

Q _l ＝f ₁ ^2' ；K _l ＝V _l ＝M ^0:1

wherein the content of the first and second substances,

representation pair query matrix Q _l And key matrix K _l The transposed matrix multiplication operation is followed by application to a softmax layer, representing the query matrix Q _l And key matrix K _l The position similarity between them, i.e. representing the forgetting of the door f ₁ ^2' And a set M of continuous historical spatiotemporal feature maps ^0:1 The degree of correlation of (c); then using the value matrix V _l Calculating matrix product as weight of updated information, selectively adding M ^0:1 The space-time information is collected, and then the matrix is reshaped to the original shape; finally, the time-space memory unit which is arranged on the upper layer is used for storing and storing the data>

Applying the sum to a layerorm layer to obtain the output ST _ ATT of the space-time attention module;

step 2-1-2, the channel attention module: forgetting to see door f _t '∈R ^B×C×H×W For querying the matrix Q _c Remodeling it into Q _c ∈R ^B×C×(H*W) (ii) a Set M of corresponding continuous historical spatio-temporal feature maps ^l-τ:l-1 ∈R ^{B×C×τ×H×W} As a key matrix K _c Sum matrix V _c Key matrix K _c Sum matrix V _c Is reshaped into K _c ∈R ^{B×(τ*C)×(H*W)} And V _c ∈R ^{B×(τ*C)×(H*W)} (ii) a According to Q _c ∈R ^B×C×(H*W) 、K _c ∈R ^{B×(τ*C)×(H*W)} And V _c ∈R ^{B×(τ*C)×(H*W)} And obtaining the output C _ ATT of the channel attention module:

C_ATT＝AttC(M ^l-1 ,f _t ',M ^l-τ:l-1 )

＝layernorm(M ^l-1 +softmax(Q _c ·K _c ^T )·V _c )

Q _c ＝f _t '；K _c ＝V _c ＝M ^l-τ:l-1

wherein, the first and the second end of the pipe are connected with each other,

representing a query matrix Q _c Key matrix K _c Degree of influence on the channel; then, is at>

And value matrix V _c Taking matrix product as weight of updated information, selectively dividing M ^l-τ:l-1 The channel information of the matrix is collected, and the matrix is reshaped to the original shape; finally, the space-time memory unit M of the previous layer is passed ^l-1 After summing, applying the sum to a layerorm layer to obtain the output C _ ATT of the channel attention module;

step 2-1-3, fusing an attention module: and fusing the output ST _ ATT of the space-time attention module and the output C _ ATT of the channel attention module to obtain a fused attention result Attfusion:

AttFusion＝Sum(ST_ATT,C_ATT)

＝conv(conv(layernorm(ReLU(conv(ST_ATT))))

+conv(layernorm(ReLU(conv(C_ATT)))))

the ST _ ATT and the C _ ATT respectively pass through a convolution layer with convolution kernel size of 3, a normalization layer of layerorm, an activation function layer of Re LU and a convolution layer with convolution kernel size of 1, element summation is performed on the two results, finally, the convolution layer is utilized to generate a result finally fused with attention, and Attfusion is output by the instant memory unit.

In some embodiments, hidden states to AF-LSTM module output

Decoding is carried out, and the decoding and the corresponding fusion with the output of each convolution layer of the encoder respectively comprise:

wherein, dec _l-1 Representing the output of one convolutional layer of the decoder, enc _-1 () Representing the output, dec, of the encoder corresponding to the convolutional layer _l Which represents the final encoder result obtained by adding the results of the two.

In a second aspect, the present invention provides a radar echo extrapolation neighboring weather predictor device, including a processor and a storage medium;

the storage medium is used for storing instructions;

the processor is configured to operate in accordance with the instructions to perform the steps of the method according to the first aspect.

In a third aspect, the present invention provides a storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of the first aspect.

In a fourth aspect, the present invention provides a computer device comprising a processor and a storage medium;

the storage medium is used for storing instructions;

Has the advantages that: compared with the prior art, the invention provides a method for predicting the weather near the radar echo extrapolation, which has the following advantages:

(1) An Attention Fusion mechanism (Attention Fusion) is provided, channel information and space-time information are fused with each other to obtain better long-term space-time representation so as to replace the space-time memory update of an LSTM neural network forget gate, so that more space-time historical information is associated, the loss in the information transmission process is reduced, and better space-time representation is formed;

(2) Adding an information Recall (Recall) module between the encoder and the decoder, and fusing information between the result of the decoder and the input of the encoder so as to Recall stacked multi-stage encoder information and further save the prediction details;

(3) Designing a long-term and short-term memory network structure based on an attention fusion mechanism and information recall, and extracting the depth characteristics of a radar sample through a coding structure; then stacking multiple layers of prediction units to extract the spatio-temporal information of the data; and the space-time information output by the last layer of prediction unit is decoded and output.

Drawings

FIG. 1 is a flow chart of a method of an embodiment of the present invention.

FIG. 2 is a schematic diagram of an attention fusion module according to an embodiment of the invention.

FIG. 3 is a schematic diagram of the structure of the AF-LSTM unit in the embodiment of the invention.

FIG. 4 is a schematic diagram of an information recall module in an embodiment of the invention;

fig. 5 is a schematic structural diagram of a stacked network element prediction network according to an embodiment of the present invention.

Detailed Description

The invention is further explained below with reference to the drawings and the embodiments. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

In the description of the present invention, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present numbers, and the above, below, within, etc. are understood as including the present numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Example 1

As shown in fig. 1, a method for predicting weather near radar echo extrapolation includes:

s1, obtaining a historical radar echo sequence sample;

and S4, determining an adjacent weather prediction result according to the radar echo extrapolation image sequence.

Further, the coordinate conversion includes: converting radar echo map data under three-dimensional polar coordinates into a three-dimensional Cartesian rectangular coordinate system;

the horizontal sampling comprises the following steps: performing horizontal sampling on regular grid data under a three-dimensional Cartesian rectangular coordinate system, extracting two-dimensional plane data under a height, and mapping the two-dimensional plane data to 0-255 to obtain an echo intensity CAPPI gray image; wherein the data mapping formula is as follows:

wherein P is a grayscale pixel; z being dataThe intensity value is a value of the intensity,

indicating that the value is rounded down.

the resulting normalized gray scale data has a value of [0,1].

the Encoder Encoder comprises 5 convolutional layers for extracting radar echo sequence samples I _t Depth feature X of _t ；

The AF-LSTM module comprises 4 layers of AF-LSTM network units which are sequentially stacked behind the Encoder Encoder network in order and used for extracting depth characteristics X of radar echo sequence sample _t The temporal-spatial information of (2), the hidden state of the output

Inputting the data into a Decoder;

And hidden state

Hidden state output by one layer of network before current moment>

Space-time memory unit M of the previous layer ^l-1 And a set M of spatiotemporal memory cells of the front τ layer ^l-τ:l-1 When input to tIn the AF-LSTM network unit of the ith layer, the hidden state output by the current network unit is obtained after forward propagation>

Memory unit->

Spatiotemporal memory unit->

Wherein t =1,2 823010, 10,l =1,2,3,4; />

Setting parameters through initialization;

Decoding, and correspondingly fusing with the output of each convolution layer of the encoder to obtain the output radar echo extrapolation image sequence

In some embodiments, as shown in fig. 1, the method for radar echo extrapolation of a neural network structure based on spatiotemporal prediction of an attention fusion mechanism and information recall includes the following steps:

step 1: and (4) preprocessing data. The method comprises the steps of removing invalid data with no rainfall or little rainfall from Doppler weather radar base data, obtaining CAPPI data through data interpolation, converting the CAPPI data into normalized gray data and obtaining a gray image data set, and finally dividing the data set into a training sample set and a testing sample set.

The step 1 comprises the following steps:

step 1-1: data interpolation: and converting the data under the three-dimensional polar coordinate into a three-dimensional Cartesian rectangular coordinate system, and performing data interpolation by adopting an inverse distance weighting method to obtain regular grid data under the three-dimensional Cartesian rectangular coordinate system. And then, carrying out horizontal sampling on the data, extracting two-dimensional plane data under a certain height, and mapping the data to 0-255 to obtain an echo intensity CAPPI gray image. And then converting the reflectivity data into normalized gray data through normalization.

Wherein the data mapping formula is as follows:

wherein P is a grayscale pixel; z is the intensity value of the data,

indicating that the value is rounded down.

The normalization formula is:

the resulting normalized gray scale data has a value of [0,1].

Step 1-2: data set partitioning: total _ length is set to 20, i.e. every 20 data are divided into one sequence, wherein the first 10 data are input sequences and the last 10 data are comparison sequences. Randomly dividing all sequences in each month in the data set into a training sequence sample subset and a test sequence sample subset according to the ratio of 3.

Step 2: and constructing and training an AFR-LSTM network. Inputting the divided training sequence sample set train _ data into a convolution space-time prediction neural network, and training through a multilayer network.

The step 2 comprises the following steps:

and 2-1, initializing training parameters. Height, width, and channel of an input image, convolution kernel filter _ size, convolution step size stride, prediction unit stack layer number num _ layers, convolution kernel number num _ hidden, the number of samples per input of the training stage, training maximum round number max _ epoch, learning rate λ, input sequence length input _ length, and extrapolated sequence length output _ length, and the like are set.

In this embodiment, the image height =480, the width =480, the channel number channel =1, the af-LSTM module (as shown in fig. 3) stacks the number of layers num _ layers =4, the convolution kernel size filter _ size =5, the step size =1, the number of convolution kernels hidden _ num =64, the learning rate λ =0.001, the input sequence length input _ length =10, the extrapolation sequence length output _ length =10, the number of samples per input in the training phase, batch _ size =4, and the maximum number of iterations max _ iterations =80000.

And 2-2, constructing a neural network. Firstly, an Encoder is constructed, which comprises 5 convolutional layers: the input channel of the convolution layer 1 is 1, the output channel is 64, the convolution kernel is 1, and the step length is 1; the input channel of the 2 nd convolutional layer is 64, the output channel is 64, the convolutional kernel is 3, the step length is 2, and the padding is 1; the input channel of the convolution layer of the 3 rd layer is 64, the output channel is 64, the convolution kernel is 3, the step length is 2, and the padding is 1; the input channel of the 4 th convolutional layer is 64, the output channel is 64, the convolutional kernel is 3, the step length is 2, and the padding is 1; the 5 th convolutional layer has an input channel of 64, an output channel of 64, a convolutional kernel of 3, a step size of 2, and padding of 1. Each layer of convolution is followed by sequential nonlinear activation. And secondly, constructing 4 layers of AF-LSTMs according to the stacking layer number, the convolution kernel size, the step length and the convolution kernel number of the AF-LSTM modules set in the step 2-1, and sequentially stacking the AF-LSTM modules behind the Encoder network. The Decoder was constructed again, containing 5 convolutional layers: the input channel of the convolution layer 1 is 64, the output channel is 64, the convolution kernel is 3, the step length is 2, and the padding is 1; the input channel of the 2 nd convolutional layer is 64, the output channel is 64, the convolutional kernel is 3, the step length is 2, and padding is 1; the input channel of the convolution layer 3 is 64, the output channel is 64, the convolution kernel is 3, the step length is 2, and the padding is 1; the input channel of the 4 th convolutional layer is 64, the output channel is 64, the convolutional kernel is 3, the step length is 2, and the padding is 1; in the layer 5 convolutional layer, the input channel is 64, the output channel is 1, the convolutional kernel is 1, and the step size is 1.

In this embodiment, the hidden state is initially set

Memory unit->

Spatiotemporal memory unit->

Set M of spatiotemporal memory cells initialized to an all-zero tensor, of size (4, 64, 30, 30), the first τ time steps ^l-τ:l-1 Also initialized to an all-zero tensor of size (τ,4, 64, 30, 30), and the output of each layer is updated every time a time elapses. In this example τ is 3.

And 2-3, reading a training sample. Fetch _ size =4 sequence samples from the training sample set at each training as input I of the network _t 。

Step 2-4, input I at a certain moment _t (t＝1,2,…,10)，I _t Has a size of (4, 1, 480, 480); will I _t Extracting the depth characteristic of the sample from the input Encoder coder Encoder, and outputting the depth characteristic as X after 5-layer convolution of the Encoder _t = (4, 64, 30, 30). The formula is as follows:

X _t ＝Enc(I _t )

enc () represents an encoder for extracting deep features from an input.

Step 2-5, memory units output by the same layer network at the previous moment

And hidden state->

Hidden state output by one layer of network before current moment>

Space-time memory unit M of the previous layer ^l-1 And a set M of spatiotemporal memory cells of the front τ layer ^l-τ:l-1 Inputting the signal into the AF-LSTM network unit on the ith layer at the moment t, and obtaining the hidden state output by the current network unit after forward propagation>

Memory unit->

Spatiotemporal memory unit->

Wherein t =1,2 \ 8230, 10,l =1,2,3,4.

The parameters are set by initialization. The structure of the AF-LSTM network element is shown in FIG. 3, and comprises the following steps: />

Step 2-5-1, the space-time memory unit M of the previous layer is processed ^l-1 Forgetting door f _t ' and the previous several layers of the set M of continuous history space-time memory units ^l-τ:l-1 As input, the output is performed by fusing the attention mechanism, resulting in a spatiotemporal memory unit AttFusion with multiple time steps. As shown in fig. 2, the method comprises the following steps:

step 2-5-1-1, forget gate f _t '∈R ^B×C×H×W It is regarded as a query matrix Q _l Here, B, C, H, and W represent the feature image batch size, the number of channels, the image height, and the image width, respectively. Firstly, directly remolding the mixture into Q _l ∈R ^N ^×(H*W)×C . Set M of corresponding continuous historical spatio-temporal feature maps ^l-τ:l-1 ∈R ^{B×C×τ×H×W} It is regarded as a key matrix K _l Sum matrix V _l Where τ refers to the length of the time series. Also, they are respectively provided withRemodelling to K _l ∈R ^{B×(τ*H*W)×C} And V _l ∈R ^B ^{×(τ*H*W)×C} . Next, the output ST _ ATT of the spatiotemporal attention module can be obtained, and the specific formula is as follows:

Q _l ＝f _t '；K _l ＝V _l ＝M ^l-τ:l-1

as shown in the blue part of fig. 2, here

Representation pair query matrix Q _l And key matrix K _l The transposed matrix multiplication operation is followed by application to a softmax layer, representing the query matrix Q _l And key matrix K _l The position similarity between them, i.e. representing the forgetting of the door f _t ' and set M of continuous historical spatio-temporal feature maps ^l-τ:l-1 The degree of correlation of (c). Then using the value matrix V _l Calculating matrix product as weight of updated information, selectively adding M ^l-τ:l-1 The spatio-temporal information of (a) is assembled and the matrix is reshaped back to its original shape. Finally, the space-time memory unit M of the previous layer is passed ^l-1 The sum is applied to a layerorm layer to obtain the final output ST _ ATT of the spatiotemporal attention module.

Step 2-5-1-2, also forget to look at door f _t '∈R ^B×C×H×W For querying the matrix Q _c Remodelling it to Q, unlike the spatiotemporal attention module _c ∈R ^B×C×(H*W) . Set M of corresponding continuous historical spatio-temporal feature maps ^l-τ:l-1 ∈R ^{B×C×τ×H×W} As a key matrix K _c Sum matrix V _c They are reshaped to K _c ∈R ^{B×(τ*C)×(H*W)} And V _c ∈R ^{B×(τ*C)×(H*W)} . Next, the output C _ ATT of the channel attention module can be obtained, and the specific formula is as follows:

Q _c ＝f _t '；K _c ＝V _c ＝M ^l-τ:l-1

as shown in the orange portion of figure 2,

representing a query matrix Q _c Key matrix K _c The extent of influence on the channel. Then, it is combined with the value matrix V _c Taking matrix product as weight of updated information, selectively dividing M ^l-τ:l-1 And then the matrix is reshaped back to its original shape. Finally, the space-time memory unit M of the previous layer is passed ^l-1 And after summation, applying the sum to a layerorm layer to obtain the output C _ ATT of the final channel attention module.

Step 2-5-1-3, the output of the spatiotemporal attention module ST _ ATT of step 2-5-1-1 and the output of the channel attention module C _ ATT of step 2-5-1-2 are fused, as shown in the green part of FIG. 2. Specifically, the ST _ ATT and the C _ ATT respectively pass through a convolution layer with a convolution kernel size of 3, a normalization layer of layerorm, an activation function layer of Re L U, and a convolution layer with a convolution kernel size of 1, then element summation is performed on the two results, and finally the convolution layer is used to generate a result AttFusion of final fusion attention, wherein a specific calculation formula is as follows:

AttFusion＝Sum(ST_ATT,C_ATT)

＝conv(conv(layernorm(ReLU(conv(ST_ATT))))

+conv(layernorm(ReLU(conv(C_ATT)))))

step 2-5-2, the hidden state output by the previous layer network at the current moment is output

Hidden state output by the same layer network at the previous moment>

And a memory unit->

By means of an input modulation gate g _t And an input gate i _t And forget door f _t Updating the current memory cell->

The formula is as follows:

Sigma denotes Sigmoid activation function>

W _xg ,W _hg ,W _xi ,W _hi ,W _xf ,W _hf The sizes of the two layers are all filter _ size _ filter _ size, and the number of the two layers is num _ hidden _ num _ hidden; b _g ,b _i ,b _f The deviation is indicated.

Step 2-5-3, the hidden state output by the previous layer network at the current moment is output

Space-time memory unit M of the previous layer ^l-1 And a set M of contiguous historical spatiotemporal memory units ^l-τ:l-1 As input, the attention fused equation Attfusion, input modulation gate g, by step 2-5-1 _t ', input gate i _t ' and forget door f _t ' updating the current spatiotemporal memory unit>

The formula is as follows:

Sigma denotes Sigmoid activation function>

W _xi ',W _hi ',W _xg ',W _hg ',W _xf ',W _hf ' are all filter _ size × filter _ size, in number num _ hidden _ num _ hidden; b _i ',b _g ',b _f ' denotes the deviation.

Step 2-5-4, the hidden state output by the previous layer network at the current moment is output

Hidden state output by the same layer at the previous moment>

Memory cell updated in step 2-5-2 and step 2-5-3>

And space-time memory

As an output gate O _t For hidden states>

Updating is carried out, and the formula is as follows:

wherein "" denotes a convolution operation, "all" indicates a dot product operation of the matrix, [, ]]The two matrixes are spliced according to columns and the rows are kept unchanged; tanh represents the hyperbolic tangent activation function

Convolution kernel W _1*1 Is 1 × 1, in a number num _ hidden _ num _ hidden; w is a group of _xo ,W _ho ,W _co ,W _mo Is 5 by 5 in number num _ hidden by num _ hidden; b _o The deviation is indicated.

Step 2-6, as shown in FIG. 5, the hidden state H output after repeating step 2-5 four times _t ^l Input into Decoder, and then fused with the output of each convolutional layer of the encoder, as shown in fig. 4, the formula is as follows:

wherein Enc _-1 () Representing the encoder output, dec, used to extract depth features from a data set _l-1 Representing the decoder output, dec, through a stacking network _l Indicating the final encoder result obtained by adding the two results.

Step 2-7, decoding result Dec output from step 2-6 _l I.e. output of prediction result images of the network

Size (4, 1, 480, 480), and final completion of slave input I _t To/>

Extrapolation of the radar echo. The formula is as follows:

step 2-8, when t is more than or equal to 10, the output of step 2-7

As an input, steps 2-4 to 2-7 are repeated until t =19, in turn resulting in an image sequence ≥ at a predicted future moment>

And (5) finishing the extrapolation of the radar echo sequence.

And 2-9, calculating a loss function value. For the prediction sequence obtained by the forward propagation from the step 2-4 to the step 2-8

And extrapolated reference sequence group _ truths = { I ₁₁ ,I ₁₂ ,...,I ₂₀ The mean square error is taken as the loss function. Number obtained from loss functionAnd calculating the network parameter gradient by the value, updating the network parameter and finishing back propagation.

In a specific embodiment, the above steps 2-4 to 2-9 may be embodied as steps (1) to (16):

step (1), sample I ₁ (t = 1) into an Encoder comprising a 5-layer convolution structure by which the depth feature X of the sample is preliminarily extracted ₁ 。

Step (2), initializing all-zero memory cell

And hidden state->

Hidden state output by one layer of network before current moment>

(equal to X) _t ) Space-time memory cell M of the previous layer ⁰ (initialized to full 0 tensor) and set M of spatio-temporal memory cells of the front τ layer ^0:0 Input to the layer 1 AF-LSTM network element at time 1. The hidden state output by the current network unit is obtained after forward propagation>

Memory unit->

Spatiotemporal memory unit->

Set M of consecutive historical spatiotemporal memory units simultaneously updating the previous τ time steps ^0:1 As input to the attention module of the next cell. The AF-LSTM network element, as shown in fig. 3, comprises the following steps:

step (2-1), the space-time memory unit M of the previous layer is processed ⁰ (initialization is full 0 tensor), forgetting gate f ₁ ^1' And the first several layers of continuous history space-time memory unitClosing M ^0:0 As input, the output is performed by fusing the attention mechanism, resulting in a spatiotemporal memory unit AttFusion with multiple time steps. As shown in fig. 2, the method comprises the following steps:

step (2-1-1), forgetting the door f ₁ ^1' ∈R ^B×C×H×W It is regarded as a query matrix Q _l Here, B, C, H, and W represent the feature image batch size, the number of channels, the image height, and the image width, respectively. Firstly, directly remolding the mixture into Q _l ∈R ^N ^×(H*W)×C . Set M of corresponding continuous historical spatio-temporal feature maps ^0:0 ∈R ^{B×C×τ×H×W} It is considered as a key matrix K _l Sum matrix V _l . Also, they are individually reshaped to K _l ∈R ^{B×(τ*H*W)×C} And V _l ∈R ^{B×(τ*H*W)×C} . Next, the output ST _ ATT of the spatiotemporal attention module can be obtained, and the specific formula is as follows:

Q _l ＝f ₁ ^1' ；K _l ＝V _l ＝M ^0:0

as shown in the blue part of fig. 2, here

Representation pair query matrix Q _l And key matrix K _l The transposed matrix multiplication operation is followed by application to a softmax layer, representing the query matrix Q _l And key matrix K _l The position similarity between them, i.e. representing the forgetting of the door f ₁ ^1' And a set M of continuous historical spatiotemporal feature maps ^0:0 The degree of correlation of (c). Then using the value matrix V _l Calculating matrix product as weight of updated information, selectively adding M ^0:0 The spatio-temporal information of (a) is assembled and the matrix is reshaped back to its original shape. Finally, the space-time memory unit M of the previous layer is passed ⁰ After summing, applying the sum to a layerorm layer to obtain the final timeThe output of the null attention module ST _ ATT.

Step (2-1-2), forgetting to look door f ₁ ^1' ∈R ^B×C×H×W For querying the matrix Q _c Remodelling it to Q, unlike the spatiotemporal attention module _c ∈R ^B×C×(H*W) . Set M of corresponding continuous historical spatio-temporal feature maps ^0:0 ∈R ^{B×C×τ×H×W} As a key matrix K _c Sum matrix V _c They are reshaped to K _c ∈R ^{B×(τ*C)×(H*W)} And V _c ∈R ^{B×(τ*C)×(H*W)} . Next, the output C _ ATT of the channel attention module can be obtained, and the specific formula is as follows:

Q _c ＝f ₁ ^1' ；K _c ＝V _c ＝M ^0:0

as shown in the orange portion of figure 2,

representing a query matrix Q _c Key matrix K _c The extent of influence on the channel. Then, it is combined with the value matrix V _c Taking matrix product as weight of updated information, selectively dividing M ^0:0 And then the matrix is reshaped back to its original shape. Finally, the space-time memory unit M of the previous layer is passed ⁰ And after summation, applying the sum to a layerorm layer to obtain the output C _ ATT of the final channel attention module.

And (2-1-3) fusing the output ST _ ATT of the spatiotemporal attention module of the step 2-1-1 and the output C _ ATT of the channel attention module of the step 2-1-2, as shown in the green part of FIG. 2. Specifically, the ST _ ATT and the C _ ATT respectively pass through a convolution layer with a convolution kernel size of 3, a normalization layer of layerorm, an activation function layer of ReLU, and a convolution layer with a convolution kernel size of 1, then element summation is performed on the two results, and finally the convolution layer is used to generate a final attention fused result AttFusion, wherein a specific calculation formula is as follows:

AttFusion＝Sum(ST_ATT,C_ATT)

＝conv(conv(layernorm(ReLU(conv(ST_ATT))))

+conv(layernorm(ReLU(conv(C_ATT)))))

step (2-2), the hidden state X input at the current moment is input ₁ Hidden state of same layer network output at previous moment

And a memory unit>

Modulation gate by input>

Input door/door>

And forget door f ₁ ¹ Updating the current memory cell->

The formula is as follows:

a step (2-3) of,outputting the hidden state X of the previous layer network at the current moment ₁ The space-time memory cell of the previous layer

And a set M of contiguous historical spatiotemporal memory units ^0:0 As input, by the attention fused formula AttFusion, input modulation door @, of step 2-1>

Input door/door>

And forget door f ₁ ^1' Updating the current spatiotemporal memory cell>

The formula is as follows:

/>

step (2-4), the hidden state X output by the previous layer network at the current moment is output ₁ Hidden state of the same layer output at the previous time

The memory cell updated in step 2-2 and step 2-3 is then selected>

And spatiotemporal memory->

As an output gate>

For hidden states>

Updating is carried out, and the formula is as follows:

step (3) of hiding the output state of the step (2)

Memory cell>

Spatiotemporal memory>

And hidden status of same layer network output at previous time>

Set M of spatiotemporal memory cells of the sum front τ layer ^0:1 Inputting the data into a layer 2 AF-LSTM network unit at the 1 st moment, and obtaining the hidden state of the output of the layer after forward propagation>

Memory unit->

And space-time memory

Set M of consecutive historical spatiotemporal memory units simultaneously updating the previous τ time steps ^0:2 As input to the attention module of the next unit. The AF-LSTM network element, as shown in fig. 3, comprises the following steps:

step (3-1), the space-time memory unit of the previous layer is processed

Forget door f ₁ ^2' And the previous several layers of continuous historical space-time memory unit set M ^0:1 As input, the output is made by a fusion attention mechanism, resulting in a spatiotemporal memory unit AttFusion with multiple time steps. As shown in fig. 2, the method comprises the following steps:

step (3-1-1), forgetting the door f ₁ ^2' ∈R ^B×C×H×W It is regarded as a query matrix Q _l Here, B, C, H, and W represent the feature image batch size, the number of channels, the image height, and the image width, respectively. Firstly, directly remodelling the compound into Q _l ∈R ^N ^×(H*W)×C . Set M of corresponding continuous historical spatio-temporal feature maps ^0:1 ∈R ^{B×C×τ×H×W} It is regarded as a key matrix K _l Sum matrix V _l Where τ refers to the length of the time series. Also, they are individually reshaped to K _l ∈R ^{B×(τ*H*W)×C} And V _l ∈R ^B ^{×(τ*H*W)×C} . Next, the output ST _ ATT of the spatiotemporal attention module can be obtained, and the specific formula is as follows:

Q _l ＝f ₁ ^2' ；K _l ＝V _l ＝M ^0:1

as shown in the blue part of fig. 2, here

Representation pair query matrix Q _l And key matrix K _l The transposed matrix multiplication operation is followed by application to a softmax layer, representing the query matrix Q _l And key matrix K _l The position similarity between them, i.e. representing the forgetting of the door f ₁ ^2' And a set M of continuous historical spatiotemporal feature maps ^0:1 The degree of correlation of (c). Then using the value matrix V _l Calculating matrix product as weight of updated information, selectively adding M ^0:1 The spatiotemporal information of (a) is assembled and the matrix is reshaped back to its original shape. Finally, the time-space memory unit which is arranged on the upper layer is used for storing and storing the data>

The sum is applied to a layerorm layer to obtain the final output ST _ ATT of the spatiotemporal attention module.

Step (3-1-2), forgetting to look at door f ₁ ^2' ∈R ^B×C×H×W For querying the matrix Q _c Remodelling it to Q, unlike the spatiotemporal attention module _c ∈R ^B×C×(H*W) . Set M of corresponding continuous historical spatio-temporal feature maps ^0:1 ∈R ^{B×C×τ×H×W} It is regarded as a key matrix K _c Sum matrix V _c They are reshaped to K _c ∈R ^{B×(τ*C)×(H*W)} And V _c ∈R ^{B×(τ*C)×(H*W)} . Next, the output C _ ATT of the channel attention module can be obtained, and the specific formula is as follows:

Q _c ＝f ₁ ^2' ；K _c ＝V _c ＝M ^0:1

as shown in the orange portion of figure 2,

representing a query matrix Q _c Moment of mutual couplingMatrix K _c The extent of influence on the channel. Then, it is combined with the value matrix V _c Taking matrix product as weight of updated information, selectively dividing M ^0:1 And then the matrix is reshaped back to its original shape. Finally, the space-time memory unit M of the previous layer is passed ₁ ¹ And after summation, applying the sum to a layerorm layer to obtain the output C _ ATT of the final channel attention module.

And (3-1-3) fusing the output ST _ ATT of the spatiotemporal attention module of the step 3-1-1 and the output C _ ATT of the channel attention module of the step 3-1-2, as shown in the green part of FIG. 2. Specifically, the ST _ ATT and the C _ ATT respectively pass through a convolution layer with a convolution kernel size of 3, a normalization layer of layerorm, an activation function layer of ReLU, and a convolution layer with a convolution kernel size of 1, then element summation is performed on the two results, and finally the convolution layer is used to generate a final attention fused result AttFusion, wherein a specific calculation formula is as follows:

AttFusion＝Sum(ST_ATT,C_ATT)

＝conv(conv(layernorm(ReLU(conv(ST_ATT))))

+conv(layernorm(ReLU(conv(C_ATT)))))

step (3-2), the hidden state output by the previous layer network at the current moment is output

Hidden state output by the same layer network at the previous moment>

And a memory unit->

Modulating the door by an input>

Input door/door>

And forget door f ₁ ² Updating the current memory cell->

The formula is as follows:

step (3-3), the hidden state output by the previous layer network at the current moment is output

The space-time memory unit of the previous layer->

And a set M of contiguous historical spatiotemporal memory units ^0:1 As an input, the input modulation door @, by the fused attention formula AttFusion of step 3-1>

Input door/door>

And forget door f ₁ ^2' Updating the current spatiotemporal memory cell>

The formula is as follows:

step (3-4), the hidden state output by the previous layer network at the current moment is output

Hidden state of the same output in the preceding time>

The memory cell updated in step 3-2 and step 3-3 is then selected>

And a spatiotemporal memory unit>

As an output gate>

For hidden state->

Updating is carried out, and the formula is as follows: />

Step (4) of hiding the output of step (3)

Spatiotemporal memory unit->

Inputting the signal into a 3 rd layer space-time convolution long-short term memory network of the network, and obtaining the hidden state of the output of the layer after forward propagation>

Memory cell>

And spatiotemporal memory>

Set M of consecutive historical spatiotemporal memory cells simultaneously updating the first τ time steps ^0:2 The concrete steps are the same as the step (3).

Step (5) of hiding the output of step (4)

Spatiotemporal memory>

Inputting the signal into a 4 th layer space-time convolution long-short term memory network of the network, and obtaining the hidden state of the output of the layer after forward propagation>

Memory unit->

And space-time memory

Set M of consecutive historical spatiotemporal memory units simultaneously updating the previous τ time steps ^1:3 The concrete steps are the same as the step (3).

Step (6) of hiding the output of step (5)

The decoded output is input into a Decoder of the Decoder, and then is correspondingly fused with the output of each convolution layer of the encoder, and the formula is as follows:

step (7), the decoder result Dec output in step (6) _l I.e. output of prediction result images of the network

Finally completing the slave input I _t To>

And (4) extrapolation of the radar echo. The formula is as follows:

step (8) of sampling the sample I _t (t =2,3 8230; 10) into an Encoder comprising a 5-layer convolution structure by which the depth feature X of a sample is preliminarily extracted _t 。

Step (9), the memory unit of the layer 1 at the previous moment

And hidden state>

Hidden state output by previous layer network at current moment>

(equal to X) _t ) The space-time memory unit of the previous layer->

(spatio-temporal memory cell of layer 4 at previous time) and set M of spatio-temporal memory cells of layer τ before ^l-τ:l-1 Inputting the data into the layer 1 space-time long short-term memory network unit at the time t. Output hidden state after forward propagation>

Cell status->

Spatiotemporal memory unit->

Set M of consecutive historical spatiotemporal memory units simultaneously updating the previous τ time steps ^l-τ:l-1 As input to the attention module of the next cell. The AF-LSTM network element, as shown in fig. 3, comprises the following steps:

step (9-1), the space-time memory unit M of the previous layer is processed ^l-1 Forgetting door f _t ^1' And the previous several layers of continuous history space-time memory unit set M ^l-τ:l-1 As input, the output is made by a fusion attention mechanism, resulting in a spatiotemporal memory unit AttFusion with multiple time steps. As shown in fig. 2, the method comprises the following steps:

step (9-1-1), forgetting to gate f _t ^1' ∈R ^B×C×H×W It is regarded as a query matrix Q _l Here, B, C, H, and W represent the feature image batch size, the number of channels, the image height, and the image width, respectively. Firstly, directly remolding the mixture into Q _l ∈R ^N ^×(H*W)×C . Set M of corresponding continuous historical spatio-temporal feature maps ^l-τ:l-1 ∈R ^{B×C×τ×H×W} It is regarded as a key matrix K _l Sum matrix V _l Where τ refers to the length of the time series. The same applies toThey are each reshaped to K _l ∈R ^{B×(τ*H*W)×C} And V _l ∈R ^B ^{×(τ*H*W)×C} . Next, the output ST _ ATT of the spatiotemporal attention module can be obtained, and the specific formula is as follows:

Q _l ＝f _t ^1' ；K _l ＝V _l ＝M ^l-τ:l-1

as shown in the blue part of fig. 2, here

Step (9-1-2), forgetting to look at door f _t ^1' ∈R ^B×C×H×W For querying the matrix Q _c Remodelling it to Q, unlike the spatiotemporal attention module _c ∈R ^B×C×(H*W) . Set M of corresponding continuous historical spatio-temporal feature maps ^l-τ:l-1 ∈R ^{B×C×τ×H×W} It is regarded as a key matrix K _c Sum matrix V _c They are reshaped to K _c ∈R ^{B×(τ*C)×(H*W)} And V _c ∈R ^{B×(τ*C)×(H*W)} . Next, the output C _ ATT of the channel attention module can be obtained, and the specific formula is as follows:

Q _c ＝f _t ^1' ；K _c ＝V _c ＝M ^l-τ:l-1

as shown in the orange portion of fig. 2, softmax (Q) _c ·K _c ^T )∈R ^B×C×(τ*C) Representing a query matrix Q _c Key matrix K _c The extent of influence on the channel. Then, it is combined with the value matrix V _c Taking matrix product as weight of updated information, selectively dividing M ^l-τ:l-1 And then the matrix is reshaped back to its original shape. Finally, the space-time memory unit of the previous layer is passed through ^Ml-1 And after summation, applying the sum to a layerorm layer to obtain the output C _ ATT of the final channel attention module.

And (9-1-3) fusing the output ST _ ATT of the spatiotemporal attention module of step 9-1-1 and the output C _ ATT of the channel attention module of step 9-1-2, as shown in the green part of FIG. 2. Specifically, the ST _ ATT and the C _ ATT respectively pass through a convolution layer with a convolution kernel size of 3, a normalization layer of layerorm, an activation function layer of ReLU, and a convolution layer with a convolution kernel size of 1, then element summation is performed on the two results, and finally the convolution layer is used to generate a final attention fused result AttFusion, wherein a specific calculation formula is as follows:

AttFusion＝Sum(ST_ATT,C_ATT)

＝conv(conv(layernorm(ReLU(conv(ST_ATT))))

+conv(layernorm(ReLU(conv(C_ATT)))))

step (9-2), the hidden state X input at the current moment is input _t Hidden state of same layer network output at previous moment

And a memory unit->

Modulating the door by an input>

Input door/door>

And forget door f _t ¹ Updating the current memory cell->

The formula is as follows:

step (9-3), the hidden state X output by the previous layer network at the current moment is output _t Space-time memory cell M of the previous layer ^l-1 And a set M of contiguous historical spatiotemporal memory units ^l-τ:l-1 As an input, the attention fused equation Attfusion, input modulation gate, via step 9-1

Input door/door>

And forget door f ₁ ^1' Updating the current spatiotemporal memory cell>

The formula is as follows: />

f ₁ ^1' ＝σ(W′ _xf *X _t +W _mf *M ^l-1 +b' _f )

Step (9-4), the hidden state X output by the previous layer network at the current moment is output _t Hidden state of the same layer output at the previous time

The memory cell updated in step 9-2 and step 9-3 is then based on the status of the memory cell->

And spatiotemporal memory->

As an output door->

For hidden state->

Updating is carried out, and the formula is as follows:

step (10) of hiding the output of step (9)

Memory unit->

Spatiotemporal memory->

And hidden status of same layer network output at previous time>

And a set M of spatiotemporal memory cells of the front τ layer ^l-τ:l-1 Inputting the signal into a layer 2 AF-LSTM network unit at the t moment, and obtaining the hidden state of the output of the layer after forward propagation>

Memory unit->

And spatiotemporal memory->

step (10-1), the space-time memory unit M of the previous layer is processed ^l-1 Forgetting door f _t ^2' And the previous several layers of continuous historical space-time memory unit set M ^l-τ:l-1 As input, the output is performed by fusing the attention mechanism, resulting in a spatiotemporal memory unit AttFusion with multiple time steps. As shown in fig. 2, the method comprises the following steps:

step (10-1-1), forgetting to gate f _t ^2' ∈R ^B×C×H×W It is regarded as a query matrix Q _l Here, B, C, H, and W represent the feature image batch size, the number of channels, the image height, and the image width, respectively. Firstly, directly remolding the mixture into Q _l ∈R ^N ^×(H*W)×C . Set M of corresponding continuous historical spatio-temporal feature maps ^l-τ:l-1 ∈R ^{B×C×τ×H×W} It is regarded as a key matrix K _l Sum matrix V _l Where τ refers to the length of the time series. Also, they are individually reshaped to K _l ∈R ^{B×(τ*H*W)×C} And V _l ∈R ^B ^{×(τ*H*W)×C} . Next, the output ST _ ATT of the spatiotemporal attention module can be obtained, and the specific formula is as follows:

Q _l ＝f _t ^2' ；K _l ＝V _l ＝M ^l-τ:l-1

as shown in the blue part of fig. 2, here

Representation pair query matrix Q _l And key matrix K _l The transposed matrix multiplication operation is followed by application to a softmax layer, representing the query matrix Q _l And key matrix K _l The position similarity between them, i.e. representing the forgetting of the door f _t ^2' And a set M of continuous historical spatiotemporal feature maps ^l-τ:l-1 The degree of correlation of (c). Then using the value matrix V _l Calculating matrix product as weight of updated information, selectively adding M ^l-τ:l-1 The spatio-temporal information of (a) is assembled and the matrix is reshaped back to its original shape. Finally, the last layer of space-time memory unit M is passed through ^l-1 And applying the summation to a layerorm layer to obtain the output ST _ ATT of the final space-time attention module.

Step (10-1-2), forgetting to look at door f _t ^2' ∈R ^B×C×H×W For querying the matrix Q _c And is andthe difference between the space-time attention module and the attention module is that the space-time attention module reshapes the space-time attention module into Q _c ∈R ^B×C×(H*W) . Set M of corresponding continuous historical spatio-temporal feature maps ^l-τ:l-1 ∈R ^{B×C×τ×H×W} It is regarded as a key matrix K _c Sum matrix V _c They are reshaped to K _c ∈R ^{B×(τ*C)×(H*W)} And V _c ∈R ^{B×(τ*C)×(H*W)} . Next, the output C _ ATT of the channel attention module can be obtained, and the specific formula is as follows:

Q _c ＝f _t ^2' ；K _c ＝V _c ＝M ^l-τ:l-1

as shown in the orange portion of figure 2,

representing a query matrix Q _c Key matrix K _c The extent of influence on the channel. Then, it is combined with the value matrix V _c Taking matrix product as weight of updated information, selectively dividing M ^l-τ:l-1 And then the matrix is reshaped back to its original shape. Finally, the last layer of space-time memory unit M is passed through ^l-1 And after summation, applying the sum to a layerorm layer to obtain the output C _ ATT of the final channel attention module.

And (10-1-3) fusing the output ST _ ATT of the spatiotemporal attention module of step 10-1-1 and the output C _ ATT of the channel attention module of step 10-1-2, as shown in the green part of FIG. 2. Specifically, the ST _ ATT and the C _ ATT respectively pass through a convolution layer with a convolution kernel size of 3, a normalization layer of layerorm, an activation function layer of ReLU, and a convolution layer with a convolution kernel size of 1, then element summation is performed on the two results, and finally the convolution layer is used to generate a final attention fused result AttFusion, wherein a specific calculation formula is as follows:

AttFusion＝Sum(ST_ATT,C_ATT)

＝conv(conv(layernorm(ReLU(conv(ST_ATT))))

+conv(layernorm(ReLU(conv(C_ATT)))))

step (10-2), the hidden state output by the previous layer network at the current moment is output

Hidden state in the output of the same layer network at a preceding instant>

And a memory unit>

Modulating the door by an input>

Input door/door>

And forget door f _t ² Updating a current memory cell>

The formula is as follows:

step (10-3), the previous layer of the current time is processedHidden state of network output

Space-time memory unit M of the previous layer ^l-1 And a set M of contiguous historical spatiotemporal memory units ^l-τ:l-1 As an input, the input modulation door @, by the fused attention formula AttFusion of step 10-1>

Input door>

And forget door f _t ^2' Updating the current spatiotemporal memory cell>

The formula is as follows:

step (10-4), the hidden state output by the previous layer network at the current moment is output

Hidden state output by the same layer at the previous moment>

Through the step 10-2And step 10-3 the updated memory unit->

And spatiotemporal memory->

As an output gate

For hidden states>

Updating is carried out, and the formula is as follows:

/>

step (11) of hiding the output of step (10)

Spatiotemporal memory->

Memory cell>

And space-time memory

The concrete steps are the same as the step (10).

Step (12) of subjecting the mixture to(11) Hidden state of output

Spatiotemporal memory>

Inputting into the 4 th layer space-time convolution long-short term memory network of the network, and obtaining the hidden state of the output of the layer after forward propagation>

Memory unit->

And space-time memory

The concrete steps are the same as the step (10).

Step (13) of hiding the output of step (12)

step (14), the decoder result Dec output in step (13) _l I.e. output of prediction images of the network

Finally completing the slave input I _t To>

And (4) extrapolation of the radar echo. The formula is as follows:

step (15), when t =11,12, \ 8230;, 19, the previous time is output through the prediction layer

And (4) as the input of the network, repeatedly executing the steps (9) to (14) until t =19, and sequentially obtaining the image sequence of the predicted future time

And (5) finishing the extrapolation of the radar echo sequence.

And (16) calculating a loss function value. For the prediction sequence obtained in step (15)

And extrapolated reference sequence group _ truths = { I ₁₁ ,I ₁₂ ,...,I ₂₀ Calculate the mean square error as a loss function. And calculating the gradient of the network parameters according to the numerical value obtained by the loss function, updating the network parameters and performing back propagation.

And 2-10, calculating all data in the training set into one round once, and repeatedly executing the steps 2-3 to 2-9 until the maximum number of rounds of training is finished or the convergence condition is reached, thereby finishing the AFR-LSTM network training.

And step 3: and (4) predicting the AF-LSTM network. And (3) predicting by using the AFR-LSTM network trained in the step (2) and the test sequence sample set obtained by dividing in the step (1). During prediction, 1 sequence sample data is read from the test sequence sample set test _ data each time, and the sample data is input into the trained AFR-LSTM network to obtain a final extrapolation image sequence.

In this embodiment, step 3 includes the following steps:

and 3-1, reading a test set sample. 1 sequence sample at a time is read from the test sequence sample set test _ data.

And 3-2, extrapolating the radar echo image. And inputting the test sequence sample into the trained AFR-LSTM network, and finally obtaining a radar echo extrapolation image sequence with the length of output _ length =10 through forward propagation.

The present invention provides a method for predicting the weather near radar echo extrapolation, and a plurality of methods and approaches for implementing the technical solution are provided, and the above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and embellishments can be made without departing from the principle of the present invention, and these modifications and embellishments should also be regarded as the protection scope of the present invention. All the components not specified in the present embodiment can be realized by the prior art.

Example 2

In a second aspect, the present embodiment provides a radar echo extrapolation neighboring weather predictor device, including a processor and a storage medium;

the storage medium is used for storing instructions;

the processor is configured to operate in accordance with the instructions to perform the steps of the method according to embodiment 1.

Example 3

In a third aspect, the present embodiment provides a storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of embodiment 1.

Example 4

In a fourth aspect, the present embodiment provides a computer device, including a processor and a storage medium;

the storage medium is used for storing instructions;

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention, and such modifications and adaptations are intended to be within the scope of the invention.

Claims

1. A method for predicting the weather near the radar echo extrapolation is characterized by comprising the following steps:

s1, obtaining a historical radar echo sequence sample;

2. The method for predicting weather near radar echo extrapolation according to claim 1, wherein in step S1, obtaining a historical radar echo sequence sample comprises:

3. The method of radar echo extrapolation neighboring weather prediction according to claim 2, characterized in that the coordinate transformation comprises: converting radar echo map data under three-dimensional polar coordinates into a three-dimensional Cartesian rectangular coordinate system;

the data interpolation includes: performing data interpolation by adopting a reverse distance weighting method to obtain regular grid data under a three-dimensional Cartesian rectangular coordinate system;

the horizontal sampling comprises the following steps: performing horizontal sampling on regular grid data under a three-dimensional Cartesian rectangular coordinate system, extracting two-dimensional plane data under a height, and mapping the two-dimensional plane data to 0-255 to obtain a CAPPI gray image of echo intensity; wherein the data mapping formula is as follows:

wherein P is a grayscale pixel; z is the intensity value of the data,

indicating that the value is rounded down.

4. The method for predicting radar echo adjacent weather according to claim 3, wherein the step S1 further includes: converting the data into normalized gray data normalized _ data through normalization;

the resulting normalized gray scale data has a value of [0,1].

5. The method for predicting radar echo adjacent weather according to claim 1, wherein in step S2, the AFR-LSTM-based prediction neural network model sequentially comprises: an Encoder Encoder, an AF-LSTM module and a Decoder;

Inputting the data into a Decoder;

the AF-LSTM module is used for outputting memory units of the same layer network at the previous time

And hidden state->

Hidden state output by one layer of network before current moment>

Memory unit->

Spatiotemporal memory unit->

Wherein t =1,2 823010, 10,l =1,2,3,4;

setting parameters through initialization;

Decoding is carried out, and the decoding is correspondingly fused with the output of each convolution layer of the encoder respectively to obtain an output radar echo extrapolated image sequence->

6. The method of claim 5, wherein the processing of the AF-LSTM module comprises:

Hidden state output by the same layer network at the previous moment>

And a memory unit->

The formula is as follows:

Sigma denotes Sigmoid activation function>

W _xg ,W _hg ,W _xi ,W _hi ,W _xf ,W _hf The sizes of the two layers are all filter _ size _ filter _ size, and the number of the two layers is num _ hidden _ num _ hidden; b _g ,b _i ,b _f Indicating a deviation;

step 2-3, the hidden state output by the previous layer network at the current moment is output

Space-time memory unit M of the previous layer ^l-1 And a set M of contiguous historical spatiotemporal memory units ^l-τ:l-1 As input, the data is passed through the space-time memory unit AttFusion of step 2-1, and the input modulation gate g' _t And an input gate i' _t And forget gate f' _t Updating a current spatiotemporal memory cell>

The formula is as follows:

Sigma denotes a Sigmoid activation function>

W _xi ′，W _hi ′，W _xg ′，W _hg ′，W _xf ′，W _hf ' are all filter _ size × filter _ size, in number numhidden _ num _ hidden; b _i ′，b _g ′，b _f ' denotes a deviation;

Hidden state output by the same layer at the previous moment>

The memory cell updated in step 2->

And step 2-3 the updated spatiotemporal memory unit>

As output gate O _t For hidden state->

Updating is carried out, and the formula is as follows:

Convolution kernel W _1*1 The size of (1) × 1, the number num _ hidden × num _ hidden; w _xo ,W _ho ,W _co ,W _mo Is 5 by 5 in number num _ hidden by num _ hidden; b is a mixture of _o The deviation is indicated.

7. The method of claim 6, wherein step 2-1 comprises: each space-time memory unit Attfusion comprises a space-time attention module, a channel attention module and a fusion attention module;

step 2-1-1, a space-time attention module: forget door f ₁ ^2' ∈R ^B×C×H×W Is regarded as a query matrix Q _l B, C, H and W respectively represent the batch size of the characteristic images, the number of channels, the image height and the image width; will inquire about the matrix Q _l Remodeling into Q _l ∈R ^N ^×(H*W)×C (ii) a Set M of corresponding continuous historical spatiotemporal feature maps ^0:1 ∈R ^{B×C×τ×H×W} Is regarded as a key matrix K _l Sum matrix V _l τ refers to the length of the time series; also, a key matrix K _l Sum matrix V _l Are respectively reshaped into K _l ∈R ^{B×(τ*H*W)×C} And V _l ∈R ^B ^{×(τ*H*W)×C} (ii) a According to Q _l ∈R ^N×(H*W)×C 、K _l ∈R ^{B×(τ*H*W)×C} And V _l ∈R ^{B×(τ*H*W)×C} The output of the spatiotemporal attention module, ST _ ATT, is obtained:

wherein the content of the first and second substances,

representation pair query matrix Q _l And key matrix K _l The transposed matrix multiplication operation is followed by application to a softmax layer, representing the query matrix Q _l And key matrix K _l The position similarity between them, i.e. representing the forgetting of the door f ₁ ² ' and set M of continuous historical spatio-temporal feature maps ^0:1 The degree of correlation of (c); then using the value matrix V _l Calculating matrix product as weight of updated information, selectively dividing M ^0:1 The space-time information is collected, and then the matrix is reshaped to the original shape; finally, the time-space memory unit which is arranged on the upper layer is used for storing and storing the data>

step 2-1-2, the channel attention module: forgetting to see door f _t '∈R ^B×C×H×W For querying the matrix Q _c Remodeling it to Q _c ∈R ^B ^×C×(H*W) (ii) a Set M of corresponding continuous historical spatiotemporal feature maps ^l-τ:l-1 ∈R ^{B×C×τ×H×W} As a key matrix K _c Sum matrix V _c Key matrix K _c Sum matrix V _c Is reshaped into K _c ∈R ^{B×(τ*C)×(H*W)} And V _c ∈R ^{B×(τ*C)×(H*W)} (ii) a According to Q _c ∈R ^B×C×(H*W) 、K _c ∈R ^{B×(τ*C)×(H*W)} And V _c ∈R ^{B×(τ*C)×(H*W)} And obtaining the output C _ ATT of the channel attention module:

/>

representing a query matrix Q _c Key matrix K _c The extent of the effect on the channel; then in>

And value matrix V _c Taking matrix product as weight of updated information, selectively dividing M ^l-τ:l-1 The channel information of the matrix is collected, and the matrix is reshaped to the original shape; finally, the last layer of space-time memory unit M is passed through ^l-1 After summing, applying the sum to a layerorm layer to obtain the output C _ ATT of the channel attention module;

AttFusion＝Sum(ST_ATT,C_ATT)

＝conv(conv(layernorm(ReLU(conv(ST_ATT))))+conv(layernorm(ReLU(conv(C_ATT)))))

the ST _ ATT and the C _ ATT respectively pass through a convolution layer with a convolution kernel size of 3, a normalization layer of layerorm, an activation function layer of ReLU and a convolution layer with a convolution kernel size of 1, element summation is performed on the two results, finally, the convolution layer is utilized to generate a result finally fused with attention, and Attfusion is output by the instant memory unit.

8. The method of claim 5, wherein the hidden state of the AF-LSTM module output is hidden from the radar echo extrapolation

9. A radar echo extrapolation adjacent weather prediction device is characterized by comprising a processor and a storage medium;

the storage medium is to store instructions;

the processor is configured to operate in accordance with the instructions to perform the steps of the method according to any one of claims 1 to 8.

10. A storage medium having a computer program stored thereon, the computer program, when being executed by a processor, performing the steps of the method of any one of claims 1 to 8.