CN115980787A - Pollution monitoring and positioning method based on particulate radar - Google Patents
Pollution monitoring and positioning method based on particulate radar Download PDFInfo
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Abstract
The invention discloses a pollution monitoring and positioning method based on a particulate radar, which relates to the technical field of atmospheric pollution monitoring, and is characterized in that a computer algorithm is adopted for processing, a distance point with high pollution degree is calculated, and an interval and an area with high pollution degree can be obtained in real time for tracking; therefore, real-time and effective pollution monitoring and positioning can be carried out on the scanning area, the pollution area is found out, and the position of a pollution center is positioned; and the pollution condition in the current scanning direction is analyzed and recorded in real time in the scanning process, so that the monitoring efficiency and the traceability are improved. The invention realizes the highly automatic monitoring of the polluted area by the mode of using the camera and the unmanned aerial vehicle in a remote network linkage manner, and compared with the traditional manual monitoring means, the monitoring of the invention is more three-dimensional and more business.
Description
Technical Field
The invention relates to the technical field of atmospheric pollution monitoring, in particular to a pollution monitoring and positioning method based on a particulate radar.
Background
The particle laser radar is an effective means for detecting atmosphere, and is widely applied to the research on atmospheric aerosol, atmospheric meteorological parameters, cloud and the like. The particle laser radar detects the concentration distribution and the shape characteristics of particles on a laser path by adopting the Mie scattering principle. When the scanning monitoring of the particle laser radar is carried out, the azimuth angle and the pitch angle of the radar work are set, so that the radar located at a certain fixed point carries out real-time online scanning monitoring on areas such as a building site, a living service area, an industrial park and the like, and the radial distribution rule and the spatial distribution rule of pollutants are described.
At present at the in-process that uses particulate matter laser radar, need the operation and maintenance staff to monitor the operation conditions and the detection data of radar in real time, carry out analysis and positioning to the pollution in real time, need the operation and maintenance personnel to possess certain professional technical level, in addition, partial pollution is possessing the ageing, if burn the balloonflower, set off fireworks etc. if carry out the analysis and positioning who pollutes again after a period of time, will hardly obtain real pollution information.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a pollution monitoring and positioning method based on a particulate radar, which can effectively monitor and position the pollution of a radar scanning area in real time, find out the pollution area and position the position of a pollution center; and the pollution condition on the current scanning direction is analyzed and recorded in real time in the scanning process, so that the monitoring efficiency and the traceability are improved.
In order to achieve the purpose, the invention adopts the following technical scheme that:
a pollution monitoring and positioning method based on a particle radar comprises the following steps:
s1, fixing the pitch angle of a particle radar, scanning along the current direction, and obtaining particle concentration data at different distance points in the current direction;
s2, judging the pollution degree of each distance point in the current position according to the particulate matter concentration data of each distance point in the current position, wherein if the particulate matter concentration of a certain distance point is greater than or equal to a set threshold value, the pollution degree of the distance point is high; if the concentration of the particulate matters at a certain distance point is less than a set threshold value, the pollution degree at the distance point is low;
s3, searching a pollution interval in the current position according to the pollution degree of each distance point in the current position; the pollution interval is an interval consisting of a or more than a continuous distance points with high pollution degree;
s4, if a pollution interval exists in the current position, controlling the camera to shoot towards the current position according to the pitch angle of the particle radar to obtain a pollution image of the current position;
s5, the particle radar scans the positions in sequence according to the stepping angle to obtain particle concentration data of different distance points in each position, sequentially judges the pollution degree of each distance point in each position according to the mode of the steps S2-S4, searches pollution sections in each position and obtains pollution images in each position;
s6, constructing a matrix A according to the pollution degree of each distance point in each direction; row i of the matrix represents an azimuth serial number, namely the ith azimuth; column j of the matrix represents the serial number of the distance point, namely the jth distance point; the element value of the element Aij of the ith row and the jth column in the matrix represents the pollution degree at the jth distance point in the ith direction, the element value is 1 to represent that the pollution degree is high, and the element value is 0 to represent that the pollution degree is low;
s7, searching a connected domain in the matrix, namely a polluted area, and searching the central position of the connected domain; the connected domain is a region formed by more than b elements with the adjacent element values of 1;
s8, obtaining the position of the pollution center according to the position serial number and the distance point serial number corresponding to the central position of the connected domain;
and S9, dispatching the unmanned aerial vehicle to the position of the pollution center, and photographing the pollution center to obtain a pollution center image.
Preferably, in step S4, the camera and the particle radar are fixed at the same position, have the same pitch angle, and rotate synchronously.
Preferably, the particulate matter concentration data includes a concentration value of PM2.5 and a concentration value of PM 10;
in step S2, if the concentration value of PM2.5 at a certain distance point is greater than or equal to a set first threshold value, or the concentration value of PM10 is greater than or equal to a set second threshold value, the pollution degree at the distance point is high; otherwise, the contamination level at this distance point is low.
Preferably, in step S8, the location of the center of contamination includes a latitude Lat1 and a longitude Lng1, wherein,
Lat1=Lat0+D×cos(π×angle/180)/rd；
Lng1=Lng0+D×[sin(π×angle/180)/(r×π×cos(π×Lat0/180)/180)]；
wherein Lat1 is the latitude of the pollution center; lat0 is the latitude of the particulate matter radar, and rd is the actual geographic distance corresponding to one longitude; lng1 is the longitude of the center of the contaminant; lng0 is the latitude of the particle radar; r is the radius of the earth;
d is a distance value corresponding to a distance point serial number n of the central position, D = n x f, f is a distance resolution ratio detected by the particle radar, and n is the distance point serial number of the central position;
the angle is an angle value corresponding to the azimuth number m of the center position, and m is the azimuth number of the center position.
Preferably, in step S3, the search mode of the contaminated area is specifically as follows:
s31, initializing an interval counting variable C =0, initializing an interval initial index variable L =1, and counting a queue Sn in a pollution interval; wherein, the index is a distance point, and the index value is a distance point sequence number;
s32, starting from the interval initial index variable L, sequentially judging each index, namely each distance point,
if the current distance point, namely the pollution degree of the current index is low, jumping to the step S33;
if the pollution degree of the current distance point, namely the current index is high, updating the value of the interval counting variable C into the difference value between the current index value and the interval starting index variable L plus 1, then judging the next index, namely the next distance point, until the index with low pollution degree is judged, and skipping to the step S33;
s33, judging the value of the interval counting variable C,
if C is larger than or equal to a, the current distance point is considered as the end position of the current pollution interval, information of the current distance point and an interval counting variable C is added into a pollution interval statistical queue Sn, namely the current pollution interval is formed by the previous C distance points of the current distance point; then updating the interval counting variable C to 0, updating the interval initial index variable L to a next index, returning to the step S32, and performing the next interval search;
if C < a, the current interval is not considered to form a pollution interval, the value of a counting variable C of the current interval is updated to 0, an initial interval index variable L is updated to a next index, and the step S32 is returned to perform the next interval search;
and S34, counting the queue Sn according to the pollution interval until the last distance point is judged, and obtaining all the pollution intervals in the current direction.
Preferably, the particulate matter concentration data at 3000 distance points are acquired at each orientation, a =4.
Preferably, in step S6, the area scanned within 1 minute by the particle radar is used as a primary pollutant monitoring and positioning area, that is, after z azimuth particle concentration data acquired by scanning the radar for 1 minute is obtained by accumulation, a matrix is constructed, the pollution area is searched, and the position of the pollution center is positioned.
Preferably, the camera, the particle radar and the unmanned aerial vehicle are controlled through network linkage.
The invention has the advantages that:
(1) The invention can effectively monitor and position the pollution of a scanning area in real time, find out the polluted area and position the position of a pollution center; and the pollution condition on the current scanning direction is analyzed and recorded in real time in the scanning process, so that the monitoring efficiency and the traceability are improved.
(2) The invention adopts computer algorithm to process, calculates the distance point with high pollution degree, and can acquire the interval and the area with high pollution degree in real time for tracking processing.
(3) The invention realizes the highly automatic monitoring of the polluted area by the mode of using the camera and the unmanned aerial vehicle in a remote network linkage manner, and compared with the traditional manual monitoring means, the monitoring of the invention is more three-dimensional and more business.
(4) The invention provides a pollution monitoring and positioning method based on a radar, which can be widely used in the radar monitoring process, is used for carrying out real-time online scanning monitoring on various pollution high-incidence areas and acquiring high-timeliness pollution early warning information.
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Fig. 1 is a flow chart of a pollution monitoring and positioning method based on a particulate radar.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In this embodiment, select suitable nothing and shelter from the position, erect particulate matter radar and watch the camera from a lookout at the high altitude, arrange LAN linkage particulate matter radar, watch the camera and unmanned aerial vehicle from a lookout at the high altitude, control particulate matter radar and camera synchronous rotation, and the camera is the same with the angle of pitch of particulate matter radar.
As shown in fig. 1, a pollution monitoring and positioning method based on a particle radar includes the following steps:
s1, fixing a pitch angle of the particle radar and setting a step angle of azimuth scanning. And the particle radar scans along the current direction to obtain particle concentration data at different distance points in the current direction.
In this embodiment, particulate matter concentration data at 3000 distance points is acquired, and the particulate matter concentration data includes a concentration value of PM2.5 and a concentration value of PM 10.
S2, judging the pollution degree of each distance point according to the particulate matter concentration data of different distance points in the current direction, wherein if the particulate matter concentration of a certain distance point is more than or equal to a set threshold value, the pollution degree of the distance point is high; if the concentration of the particulate matters at a certain distance point is less than a set threshold value, the pollution degree at the distance point is low.
In this embodiment, if the concentration value of PM2.5 at a certain distance point is greater than or equal to a set first threshold value, or the concentration value of PM10 is greater than or equal to a set second threshold value, the pollution degree at the distance point is high; otherwise, the degree of contamination at this distance point is low.
S3, searching a pollution interval in the current position according to the pollution degree of each distance point in the current position; the contamination interval is an interval consisting of a or more continuous distance points having a high contamination degree.
In this embodiment, a =4, that is, the contamination interval includes at least 4 distance points with high continuous contamination degree, so as to eliminate interference of single or partial abnormal values.
In this embodiment, the search mode of the polluted region is specifically as follows:
s31, initializing an interval counting variable C =0, initializing an interval initial index variable L =1, and counting a queue Sn in a pollution interval; wherein, the index is a distance point, and the index value is a distance point sequence number;
s32, starting from the variable L of the initial index of the interval, sequentially judging each subsequent index, namely each distance point,
if the current distance point, namely the pollution degree of the current index is low, jumping to the step S33;
if the current distance point is high in pollution degree of the current index, updating the value of the interval counting variable C to be the difference value of the current index and the interval initial index variable L plus 1, and then judging the next index; skipping to the step S33 until the index with low pollution degree is judged;
s33, judging the value of the interval counting variable C,
if C is more than or equal to 4, the current formed pollution interval is considered, namely the range of the current pollution interval is larger, and the current distance point is the end position of the current pollution interval, information of the current distance point and an interval counting variable C is added into a pollution interval statistical queue Sn, namely the current pollution interval is formed by the previous C distance points of the current distance point; then updating the interval counting variable C to 0, updating the interval initial index variable L to a next index, returning to the step S32, and performing the next interval search;
if C <4, the current interval is not considered to form a pollution interval, the value of a counting variable C of the current interval is updated to 0, an initial interval index variable L is updated to a next index, and the step S32 is returned to perform the next interval search;
and S34, counting the queue Sn according to the pollution interval until the last distance point is judged, and obtaining all the pollution intervals in the current direction.
And S4, if a pollution interval exists in the current position, controlling the camera to shoot towards the current position according to the pitch angle of the particle radar, and obtaining a pollution image of the current position.
The camera is an overhead observation camera, rotates synchronously with the particle radar, and has the same pitch angle with the particle radar. In this embodiment, the step angle of the azimuth scanning is 2 °.
And S5, the particle radar scans the positions in sequence according to the stepping angles to obtain particle concentration data of different distance points in each position, sequentially judges the pollution degree of each distance point in each position according to the mode of the steps S2-S4, searches pollution intervals in each position and obtains pollution images in each position.
And S6, constructing a matrix A according to the pollution degree of each distance point in each direction. Row i of the matrix represents an azimuth serial number, namely the ith azimuth; column j of the matrix represents the serial number of the distance point, namely the jth distance point; the element value of the ith row and jth column element Aij in the matrix represents the pollution degree at the jth distance point in the ith azimuth, the element value of 1 represents that the pollution degree is high, and the element value of 0 represents that the pollution degree is low.
In this embodiment, the particle radar scans 6 directions continuously, which takes about 1 minute, so that a two-dimensional matrix is constructed after the particle concentration data of 6 directions are accumulated, the scanning areas of 6 directions are used as a pollutant monitoring and positioning area for one time, a pollution area is searched, and the position of a pollution center is positioned.
S7, searching a connected domain in the matrix, namely a polluted area, and searching the central position of the connected domain. The connected component is a region composed of b or more elements whose adjacent element values are all 1. The position serial number corresponding to the central position of the connected domain is m, and the distance point serial number is n.
In this embodiment, the connected domain is set as a square region, the connected domain, that is, the square region, is cyclically found in a dynamic programming manner, and then the center position of the connected domain is determined, which may be referred to in the prior art.
And S8, obtaining the position of the pollution center according to the position serial number and the distance point serial number corresponding to the central position of the connected domain.
The location of the center of contamination comprises a latitude Lat1 and a longitude Lng1, wherein,
Lat1=Lat0+D×cos(π×angle/180)/rd；
Lng1=Lng0+D×[sin(π×angle/180)/(r×π×cos(π×Lat0/180)/180)]；
wherein Lat1 is the latitude of the pollution center; lat0 is the latitude of the particle radar; rd is the actual geographic distance corresponding to one longitude, in meters; lng1 is the longitude of the center of the contaminant; lng0 is the latitude of the particle radar; r is the radius of the earth in meters;
d is a distance value corresponding to a distance point serial number n of the central position, D = n × f, f is a distance resolution ratio of particle radar detection, and n is a distance point serial number of the central position;
the angle is an angle value corresponding to the azimuth number m of the center position, and m is the azimuth number of the center position.
And S9, dispatching the unmanned aerial vehicle to the position of the pollution center, and taking a picture of the pollution center to obtain a pollution center image.
The method adopts the computer algorithm to process, calculates the distance points with high pollution degree, and can acquire the intervals and areas with high pollution degree in real time for tracking; therefore, real-time and effective pollution monitoring and positioning can be carried out on the scanning area, the pollution area is found out, and the position of a pollution center is positioned; and the pollution condition on the current scanning direction is analyzed and recorded in real time in the scanning process, so that the monitoring efficiency and the traceability are improved.
The invention realizes the highly automatic monitoring of the polluted area by the mode of using the camera and the unmanned aerial vehicle in a remote network linkage manner, and compared with the traditional manual monitoring means, the monitoring of the invention is more three-dimensional and more business.
The invention is not to be considered as limited to the specific embodiments shown and described, but is to be understood to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A pollution monitoring and positioning method based on a particulate radar is characterized by comprising the following steps:
s1, fixing the pitch angle of a particle radar, scanning along the current direction, and obtaining particle concentration data at different distance points in the current direction;
s2, judging the pollution degree of each distance point in the current position according to the particulate matter concentration data of each distance point in the current position, wherein if the particulate matter concentration of a certain distance point is greater than or equal to a set threshold value, the pollution degree of the distance point is high; if the concentration of the particulate matters at a certain distance point is less than a set threshold value, the pollution degree at the distance point is low;
s3, searching a pollution interval in the current position according to the pollution degree of each distance point in the current position; the pollution interval is an interval consisting of a or more than a continuous distance points with high pollution degree;
s4, if a pollution interval exists in the current position, controlling the camera to shoot towards the current position according to the pitch angle of the particle radar to obtain a pollution image of the current position;
s5, the particle radar scans the positions in sequence according to the stepping angle to obtain particle concentration data of different distance points in each position, sequentially judges the pollution degree of each distance point in each position according to the mode of the steps S2-S4, searches pollution intervals in each position and obtains pollution images in each position;
s6, constructing a matrix A according to the pollution degree of each distance point in each direction; row i of the matrix represents an azimuth serial number, namely the ith azimuth; the column j of the matrix represents the sequence number of the distance point, namely the jth distance point; the element value of the ith row and jth column element Aij in the matrix represents the pollution degree at the jth distance point in the ith direction, the element value is 1 to represent that the pollution degree is high, and the element value is 0 to represent that the pollution degree is low;
s7, searching a connected domain in the matrix, namely a pollution area, and searching the central position of the connected domain; the connected domain is a region formed by more than b elements with the adjacent element values being 1;
s8, obtaining the position of the pollution center according to the position serial number and the distance point serial number corresponding to the central position of the connected domain;
and S9, dispatching the unmanned aerial vehicle to the position of the pollution center, and photographing the pollution center to obtain a pollution center image.
2. The pollution monitoring and positioning method based on the particle radar as claimed in claim 1, wherein in the step S4, the camera and the particle radar are fixed at the same position, have the same pitch angle and rotate synchronously.
3. The pollution monitoring and positioning method based on the particulate matter radar as claimed in claim 1, wherein the particulate matter concentration data comprises a concentration value of PM2.5 and a concentration value of PM 10;
in step S2, if the concentration value of PM2.5 at a certain distance point is greater than or equal to a set first threshold value, or the concentration value of PM10 is greater than or equal to a set second threshold value, the pollution degree at the distance point is high; otherwise, the degree of contamination at this distance point is low.
4. The particle radar-based pollution monitoring and positioning method as claimed in claim 1, wherein in step S8, the location of the pollution center comprises latitude Lat1 and longitude Lng1, wherein,
Lat1=Lat0+D×cos(π×angle/180)/rd；
Lng1=Lng0+D×[sin(π×angle/180)/(r×π×cos(π×Lat0/180)/180)]；
wherein Lat1 is the latitude of the pollution center; lat0 is the latitude of the particulate matter radar, and rd is the actual geographic distance corresponding to one longitude; lng1 is the longitude of the center of the contaminant; lng0 is the latitude of the particle radar; r is the earth radius;
d is a distance value corresponding to a distance point serial number n of the central position, D = n x f, f is a distance resolution ratio detected by the particle radar, and n is the distance point serial number of the central position;
the angle is an angle value corresponding to the azimuth number m of the center position, and m is the azimuth number of the center position.
5. The pollution monitoring and positioning method based on the particle radar as claimed in claim 1, wherein in the step S3, the searching mode of the pollution interval is as follows:
s31, initializing an interval counting variable C =0, initializing an interval initial index variable L =1, and counting a queue Sn in a pollution interval; wherein, the index is a distance point, and the index value is a distance point sequence number;
s32, starting from the interval initial index variable L, sequentially judging each index, namely each distance point,
if the current distance point, namely the pollution degree of the current index is low, jumping to the step S33;
if the pollution degree of the current distance point, namely the current index is high, updating the value of the interval counting variable C into the difference value between the current index value and the interval starting index variable L plus 1, then judging the next index, namely the next distance point, until the index with low pollution degree is judged, and skipping to the step S33;
s33, judging the value of the interval counting variable C,
if C is larger than or equal to a, the current distance point is considered as the end position of the current pollution interval, information of the current distance point and an interval counting variable C is added into a pollution interval statistical queue Sn, namely the current pollution interval is formed by the previous C distance points of the current distance point; then updating the interval counting variable C to 0, updating the interval initial index variable L to a next index, returning to the step S32, and performing the next interval search;
if C < a, the current interval is not considered to form a pollution interval, the value of a counting variable C of the current interval is updated to 0, an initial interval index variable L is updated to a next index, and the step S32 is returned to perform the next interval search;
and S34, counting the queue Sn according to the pollution interval until the last distance point is judged, and obtaining all the pollution intervals in the current direction.
6. The pollution monitoring and positioning method based on the particle radar as claimed in claim 1 or 5, wherein particle concentration data at 3000 distance points are acquired in each direction, and a =4.
7. The pollution monitoring and positioning method based on the particle radar as recited in claim 1, wherein in step S6, the area scanned by the particle radar within 1 minute is used as a pollutant monitoring and positioning area, that is, after z-direction particle concentration data obtained by scanning the radar for 1 minute are obtained through accumulation, a matrix is constructed to search the pollution area and position the position of the pollution center.
8. The pollution monitoring and positioning method based on the particulate matter radar as claimed in claim 1, wherein the particulate matter radar, the camera and the unmanned aerial vehicle are controlled through network linkage.
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