Non-uniform medium ground vibration continuous signal positioning method, system and equipment

Abstract

The invention provides a non-uniform medium ground vibration continuous signal positioning method, system and device, and the method comprises the steps: selecting a reference node based on a preset vibration sensor node, and dividing a monitoring block; calculating time delay estimation and energy attenuation parameters from the vibration signal of each monitoring block to all nodes, and constructing a vibration signal transmission parameter retrieval table; collecting node data in real time, and judging whether a target signal appears according to the signal spectrum and energy; if yes, traversing all the monitoring blocks, and for each monitoring block: calculating actual energy values and ratios of target signals of all nodes; according to the energy calculation value of the reference node and the vibration signal transmission parameter retrieval table, estimation energy values of other nodes are estimated, and the ratio is calculated; and determining the position of the ground vibration continuous signal according to the error. According to the method, the problems that the propagation characteristics of the vibration signals in the anisotropic inhomogeneous medium are changed and the time delay estimation cannot be accurately searched for the continuous vibration signals are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of ground moving target vibration positioning, and in particular to a method, system and equipment for positioning continuous ground vibration signals in a non-uniform medium. Background Art

[0002] With the development of modern science and technology, the detection and positioning technology of ground vibration signals is playing an increasingly important role in military reconnaissance, security monitoring, natural disaster warning and other fields.

[0003] The positioning methods in related technologies mainly include target positioning based on time delay estimation and target positioning based on energy attenuation. These methods can provide relatively accurate positioning results under ideal conditions, that is, they are based on an isotropic uniform medium. Under this assumption, the transmission characteristics of the vibration signal are certain, the transmission speed of the signal in all directions is the same and remains unchanged, and the energy attenuation of the signal is also carried out according to fixed models and parameters.

[0004] However, in practical applications, due to the complexity and heterogeneity of the ground medium, the ground transmission medium cannot be an isotropic uniform medium. The signal transmission characteristics will show great differences in different areas, and the positioning accuracy will often be greatly affected.

[0005] Moreover, target positioning based on time delay estimation uses ground vibration pulse signals, and the clear boundaries of pulse signals make it easier to measure time delay. However, for ground vibration continuous signals, it is difficult to accurately estimate time delay because the time domain characteristics of ground vibration continuous signals are not as obvious as pulse signals.

[0006] Target positioning based on energy attenuation requires the establishment of an energy attenuation model. Due to the complexity and heterogeneity of the ground medium, signal energy attenuation is affected by many factors, making it difficult to accurately establish an energy attenuation model. Summary of the invention

[0007] The present invention provides a method, system and equipment for locating continuous ground vibration signals in a non-uniform medium, which solves the problem of locating continuous ground vibration signals in a non-uniform medium.

[0008] In order to achieve the above objectives, this application adopts the following technical solutions:

[0009] In a first aspect, a method for locating continuous ground vibration signals in an inhomogeneous medium is provided, comprising:

[0010] Based on the distribution of a plurality of vibration sensor nodes preset in the monitoring area, a reference node is selected, and the monitoring area is divided into monitoring blocks according to the positioning accuracy requirements;

[0011] Calculate the delay estimation and energy attenuation parameters of the pulse vibration signal of each monitoring block to all vibration sensor nodes in turn, and construct a vibration signal transmission parameter retrieval table;

[0012] Collect data from the vibration sensor nodes in real time, and determine whether a continuous ground vibration signal appears in the monitoring area according to changes in the sensor signal spectrum and energy;

[0013] If yes, then traverse all the monitoring blocks, and for each monitoring block:

[0014] Calculate the actual energy values ​​of the ground vibration continuous signals of all vibration sensor nodes; and calculate the actual energy ratios of other vibration sensor nodes and the reference node;

[0015] According to the energy calculation value of the reference node and the vibration signal transmission parameter retrieval table, the estimated energy values ​​of other vibration sensor nodes are estimated; and the estimated energy ratio of other vibration sensor nodes to the reference node is calculated;

[0016] The position of the ground vibration continuous signal is determined according to the error between the actual energy ratio and the estimated energy ratio of each monitoring block.

[0017] In a first possible implementation manner of the first aspect, selecting a reference node based on the distribution of a plurality of vibration sensor nodes preset in a monitoring area, and dividing the monitoring area into monitoring blocks according to positioning accuracy requirements, includes:

[0018] Establishing a plane direct coordinate system in the monitoring area, mapping the layout points of the vibration sensor nodes to the plane rectangular coordinate system, and obtaining the position information of the vibration sensor nodes;

[0019] Select any one of the vibration sensor nodes as a reference node according to the position information;

[0020] The monitoring area is divided into grids based on coordinate axes to form a series of regularly arranged monitoring blocks; wherein the size of the monitoring blocks is determined according to the positioning accuracy.

[0021] In a second possible implementation manner of the first aspect, the sequentially calculating the delay estimation and energy attenuation parameters of the pulse vibration signal of each monitoring block to all vibration sensor nodes and constructing a vibration signal transmission parameter retrieval table includes:

[0022] For any of the monitoring blocks, data of the test vibration signals collected by the temporary vibration sensor node and all the vibration sensor nodes are obtained; wherein the temporary vibration sensor node is set at the center point of the monitoring block; and the test vibration signal is a pulse signal;

[0023] Based on the acquired test vibration signal, calculating the time delay estimation and energy attenuation parameter estimation from the center point of the corresponding monitoring block to each vibration sensor node;

[0024] Based on the time delay estimation and the energy attenuation parameter estimation of each monitoring block, the vibration signal transmission parameter retrieval table is constructed.

[0025] In a third possible implementation manner of the first aspect, the real-time acquisition of data from the vibration sensor nodes and judging whether a continuous ground vibration signal appears in the monitoring area according to a change in the sensor signal spectrum and an energy change include:

[0026] Acquire the vibration signal data collected by the vibration sensor node in real time;

[0027] For each of the vibration sensor nodes, the Fourier transform of the vibration signal acquired in real time is calculated to obtain a spectrum; and the frequency energy in a set frequency range is calculated and recorded as an environmental feature;

[0028] The frequency and environmental characteristics are analyzed, and if new frequency components appear in the frequency spectrum of no less than a set number of nodes and the frequency energy in a set frequency range increases significantly, it is determined that the ground vibration continuous signal appears in the monitoring area.

[0029] In a fourth possible implementation manner of the first aspect, determining the position of the ground vibration continuous signal according to the error between the actual energy ratio and the estimated energy ratio of each monitoring block specifically includes:

[0030] The error deviation degree is judged according to the error mean and error standard deviation of the error, and the ground vibration continuous signal is located in the monitoring block where the error deviation degree is the smallest.

[0031] Based on any possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the vibration signal transmission parameter retrieval table includes:

[0032] The time delay parameters, transmission distance parameters and energy attenuation coefficients between different monitoring blocks and the vibration sensor nodes are used as parameter pairs.

[0033] In a second aspect, a non-uniform medium ground vibration continuous signal positioning system is provided, comprising:

[0034] A reference node and block division module, for selecting reference nodes based on the distribution of a plurality of vibration sensor nodes preset in the monitoring area, and dividing the monitoring area into monitoring blocks according to the positioning accuracy requirements;

[0035] A retrieval table construction module is used to sequentially calculate the delay estimation and energy attenuation parameters of the pulse vibration signal of each monitoring block to all vibration sensor nodes, and construct a vibration signal transmission parameter retrieval table;

[0036] A target judgment module is used to collect data of the vibration sensor node in real time and judge whether a continuous ground vibration signal appears in the monitoring area according to the change of the sensor signal spectrum and energy;

[0037] The target location determination module is used to traverse all the monitoring blocks if yes, and for each monitoring block:

[0038] Calculate the actual energy values ​​of the ground vibration continuous signals of all vibration sensor nodes; and calculate the actual energy ratios of other vibration sensor nodes and the reference node;

[0039] According to the energy calculation value of the reference node and the vibration signal transmission parameter retrieval table, the estimated energy values ​​of other vibration sensor nodes are estimated; and the estimated energy ratio of other vibration sensor nodes to the reference node is calculated;

[0040] The position of the ground vibration continuous signal is determined according to the error between the actual energy ratio and the estimated energy ratio of each monitoring block.

[0041] In a first possible implementation manner of the second aspect, the retrieval table construction module is specifically used to:

[0042] For any of the monitoring blocks, data of the test vibration signals collected by the temporary vibration sensor node and all the vibration sensor nodes are obtained; wherein the temporary vibration sensor node is set at the center point of the monitoring block; and the test vibration signal is a pulse signal;

[0043] Based on the acquired test vibration signal, calculating the time delay estimation and energy attenuation parameter estimation from the center point of the corresponding monitoring block to each vibration sensor node;

[0044] Constructing the vibration signal transmission parameter retrieval table based on the time delay estimation and the energy attenuation parameter estimation of each monitoring block;

[0045] Wherein, the vibration signal transmission parameter retrieval table includes:

[0046] The time delay parameters, transmission distance parameters and energy attenuation coefficients between different monitoring blocks and the shock sensor nodes are used as parameter pairs.

[0047] According to a third aspect, an electronic device is provided, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the method for locating continuous signals of ground vibrations in inhomogeneous media as described in the first aspect.

[0048] In a fourth aspect, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method for locating continuous signals of ground vibrations in inhomogeneous media as described in the first aspect are implemented.

[0049] The present application utilizes pulse vibration signals to pre-construct a vibration signal transmission parameter retrieval table, and applies these parameters to match the energy attenuation of continuous vibration signals, so as to locate continuous vibration targets. This not only solves the problem of changes in the propagation characteristics of vibration signals in anisotropic inhomogeneous media, but also solves the difficulty of accurately searching for delay estimates of continuous vibration signals.

[0050] By pre-building a vibration signal transmission parameter retrieval table, using pulse signals to estimate parameters such as the energy attenuation coefficient of different monitoring blocks, and then locating the target position by matching the energy attenuation of continuous vibration signals, high-precision positioning of continuous ground vibration signals in non-uniform media is effectively achieved.

[0051] By constructing a vibration signal transmission parameter retrieval table, the present application can accurately estimate the energy attenuation during signal transmission, taking into account the differences in signal transmission characteristics in different monitoring blocks, and can adapt to the complex environment of non-uniform media, thereby improving the accuracy and reliability of positioning. Based on the vibration signal transmission parameter retrieval table, the present application can quickly locate the target after it appears, reducing the complexity of real-time calculations, simplifying the positioning process, and improving positioning efficiency. The present application enhances the robustness and adaptability of the system by traversing all monitoring blocks and determining the target position based on the energy ratio error. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A schematic flow chart of a method for locating continuous ground vibration signals in a non-uniform medium provided in an embodiment of the present application;

[0053] Figure 2 A schematic diagram of another monitoring block division provided in an embodiment of the present application;

[0054] Figure 3 A structural block diagram of a non-uniform medium ground vibration continuous signal positioning system provided in an embodiment of the present application;

[0055] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose, the technical solutions in the embodiments of the present application are clearly described. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present application.

[0057] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0058] The description of the method flow in the specification of the present application and the steps of the flowchart in the drawings of the present specification do not have to be strictly executed according to the step numbers, and the method steps can be executed in a different order. Moreover, some steps can be omitted, multiple steps can be combined into one step, and / or one step can be decomposed into multiple steps.

[0059] The following is a detailed description of the method, system and device for locating continuous signals of ground vibration in non-uniform media provided by the embodiments of the present application in conjunction with the accompanying drawings and preferred embodiments.

[0060] First, the application scenario of the method for locating continuous ground vibration signals in an inhomogeneous medium according to an embodiment of the present application is described in detail.

[0061] Ground vibration signal positioning technology uses the time delay and energy attenuation caused by the vibration signal generated by the moving target on the ground reaching sensors in different directions and distances to calculate the position of the vibration target.

[0062] The most common method is to locate the target based on time delay estimation. When the vibration signal propagates to each sensor, the distances at which the signal reaches each sensor are different, so each sensor receives the signal with a time delay. The distance difference between the target and each sensor can be estimated through the time delay, and finally the hyperbola intersection positioning method is used to locate the target. Commonly used time delay estimation target positioning methods include arrival time method TOA, arrival time difference method TDOA, etc.

[0063] The target positioning method based on energy attenuation is another target positioning technology. When the vibration signal is transmitted along the surface, the signal energy is absorbed by the transmission medium, causing energy attenuation. Through the signal energy attenuation received by each sensor, the distance of the target from each sensor can be estimated, and finally the target position can be obtained. Commonly used target positioning methods based on energy attenuation mainly include the received signal strength indication method RSSI.

[0064] In addition, there is a target positioning method based on the angle of arrival, which is an array signal processing technology. When the vibration signal reaches the sensor, the antenna array will measure the signal's angle of arrival, and multiple sensors will use their respective angle information to merge and fuse the target position. Commonly used target positioning methods based on the angle of arrival include the angle of arrival method AOA.

[0065] The above-mentioned ground target positioning methods are usually based on the premise of isotropic homogeneous media. Under this assumption, the transmission characteristics of the vibration signal are certain, the transmission speed of the signal in all directions is the same and remains unchanged, and the energy attenuation of the signal is also carried out according to fixed models and parameters.

[0066] However, in reality, the ground transmission medium cannot be an isotropic and uniform medium, and the signal transmission characteristics will show great differences in different areas.

[0067] Moreover, since pulse signals have characteristics such as transient, clear boundaries, and prominent peaks, the clear boundaries of pulse signals make it easier to measure time delays in target positioning based on time delay estimation; however, for some continuous ground vibration signals, their characteristics are reflected in persistence, fuzzy boundaries, and unclear peaks. Since the time domain characteristics of continuous ground vibration signals are not as obvious as pulse signals, it is difficult to estimate the accurate time delay from them. Due to the existence of the above problems, the positioning accuracy of continuous ground vibration signals in non-uniform media in the positioning methods in related technologies often cannot meet actual needs.

[0068] Based on this, the present application provides a method for locating continuous ground vibration signals in an inhomogeneous medium. The method aims to improve the positioning accuracy and stability of continuous ground vibration signals in an inhomogeneous medium environment, especially for situations where the time domain characteristics of continuous ground vibration signals are not obvious, and accurate target positioning is achieved by looking up tables and matching energy attenuation.

[0069] The present application utilizes pulse vibration signals to pre-construct a vibration signal transmission parameter retrieval table, and applies these parameters to match the energy attenuation of continuous vibration signals, so as to locate continuous vibration targets. This not only solves the problem of changes in the propagation characteristics of vibration signals in anisotropic inhomogeneous media, but also solves the difficulty of accurately searching for delay estimates of continuous vibration signals.

[0070] See also Figure 1 , the embodiment of the present application provides a method for locating continuous ground vibration signals in a non-uniform medium, such as Figure 1 As shown, the positioning method of the embodiment of the present application includes:

[0071] Step S1, based on the distribution of multiple vibration sensor nodes preset in the monitoring area, a reference node is selected, and the monitoring area is divided into monitoring blocks according to the positioning accuracy requirement.

[0072] When deploying vibration sensor nodes, determine the number and deployment locations of vibration sensor nodes based on task requirements, and deploy the vibration sensor nodes at predetermined locations. Generally speaking, the number of nodes should not be less than 3, and they must not be deployed in a straight line.

[0073] Step S1 specifically includes:

[0074] Step S101: establish a plane direct coordinate system in the monitoring area, map the layout points of the vibration sensor nodes to the plane rectangular coordinate system, and obtain the position information of the vibration sensor nodes.

[0075] Step S102: selecting any vibration sensor node as a reference node according to the position information.

[0076] Step S103, dividing the monitoring area into grids based on the coordinate axes to form a series of regularly arranged monitoring blocks; wherein the size of the monitoring blocks is determined according to the positioning accuracy.

[0077] Specifically, if the positioning accuracy requirement is high, that is, the location of the object needs to be determined more accurately, then the monitoring block can be divided into smaller blocks so that the changes in the monitoring area can be reflected more carefully; on the contrary, if the positioning accuracy requirement is relatively low, then the size of the monitoring block can be appropriately increased to reduce the complexity of data processing and storage.

[0078] See also Figure 2 For example, a 200m×200m monitoring area is divided by straight lines parallel to the coordinate axis and spaced 20m apart, and 100 20m×20m square monitoring blocks B are obtained. i (i=1,…,100).

[0079] Step S2, sequentially calculating the time delay estimation and energy attenuation parameters of the pulse vibration signal of each monitoring block to all vibration sensor nodes, and constructing a vibration signal transmission parameter retrieval table.

[0080] Step S201, for any monitoring block, obtain data of a temporary vibration sensor node and test vibration signals collected by all the vibration sensor nodes; wherein the temporary vibration sensor node is set at the center point of the monitoring block; and the test vibration signal is a pulse signal.

[0081] Step S202 , based on the acquired test vibration signal, calculate the time delay estimation and energy attenuation parameter estimation from the center point of the corresponding monitoring block to each vibration sensor node.

[0082] Step S203: construct a vibration signal transmission parameter retrieval table based on the time delay estimation and energy attenuation parameter estimation of each monitoring block.

[0083] Specifically, in the specific implementation, select monitoring block B i (i=1,…,100), a vibration sensor node is temporarily placed at the center point as a reference node, and stomps on the ground near it or uses a tool to knock on the ground near it. The temporary vibration sensor node (reference node) and other vibration sensor nodes collect vibration signals at the same time. The vibration signal is a pulse signal. B is estimated by the signal waveform. i The time delay τ of the vibration signal reaching each vibration sensor node i_j (i=1,…,100, j=1,…,4).

[0084] Before the pulse signal arrives, the short-time Fourier transform of each vibration sensor node with a window length of 0.125 s is calculated, and the signal energy of 10 Hz to 200 Hz is calculated as the environmental energy.

[0085] Calculate the short-time Fourier transform of each vibration sensor node at 0.125s when the pulse signal appears, and calculate the signal energy of 10Hz~200Hz, subtract the respective environmental energy, and we get B i The energy E of the vibration signal transmitted to the node i_j (i=1,…,100, j=1,…,4).

[0086] According to the empirical model formula of surface energy propagation of vibration signals, E(r) = E0﹒ r α , put the test data into the formula and get the energy formula of the four vibration sensor nodes:

[0087]

[0088] Among them, E i_j The vibration signal is from monitoring block B i Transmitted to the vibration sensor node P j energy, E0(i) is the energy of the vibration signal in monitoring block B i Energy at the center, r i_j It is monitoring block B i The center point to the vibration sensor node P j The distance, α i_j The vibration signal is from monitoring block Bi Transmitted to the vibration sensor node P j The energy attenuation coefficient.

[0089] The energy attenuation coefficient α of the vibration signal when it is transmitted from different monitoring blocks to each vibration sensor node is obtained by calculation i_j .

[0090] The time delay parameter τ between the monitoring block and the vibration sensor node i_j , transmission distance parameter r i_j And the energy attenuation coefficient α i_j As parameter pairs, a vibration signal transmission parameter retrieval table is constructed, as shown in Table 1:

[0091] Table 1: Vibration signal transmission parameter retrieval table

[0092]

[0093]

[0094] Step S3, collecting data from vibration sensor nodes in real time, and judging whether a continuous ground vibration signal appears in the monitoring area according to the changes in the spectrum and energy of the sensor signal.

[0095] Specifically, step S3 includes:

[0096] Step S301, obtaining vibration signal data collected by the vibration sensor node in real time.

[0097] Step S302: for each vibration sensor node, the Fourier transform of the vibration signal acquired in real time is calculated to obtain a frequency spectrum; and the frequency energy in a set frequency range is calculated and recorded as an environmental feature.

[0098] Step S302 , analyzing the spectrum and environmental characteristics, if new frequency components appear in the spectrum of not less than a set number of nodes, and the frequency energy in the set frequency range increases significantly, it is determined that the ground vibration continuous signal appears in the monitoring area.

[0099] Exemplarily, in a specific implementation, four vibration sensor nodes collect vibration signals simultaneously. When the target does not appear, the signal spectrum is calculated using Fourier transform, and the frequency energy between 10 Hz and 200 Hz is calculated and recorded as the environmental feature.

[0100] The Fourier transform of the vibration signal is collected and calculated in real time. If new frequency components appear in the spectrum of no less than 3 nodes and the energy between 10Hz and 200Hz increases significantly, it is determined that the target appears in the monitoring area.

[0101] Step S4, if yes, then traverse all monitoring blocks, and for each of the monitoring blocks, calculate the actual energy and ratio of other vibration sensor nodes and the reference node; according to the vibration signal transmission parameter retrieval table, estimate the energy of other vibration sensor nodes and the reference node and calculate the ratio, and determine the position of the ground vibration continuous signal according to the error between the actual energy ratio and the estimated energy ratio of each monitoring block.

[0102] Specifically, after it is determined that a continuous ground vibration signal appears in the monitoring area, the vibration signal transmission parameter retrieval table is queried in sequence from the monitoring block B1 to obtain the vibration signal transmission parameter pair τ corresponding to each vibration sensor node in the monitoring block. i_j 、r i_j , α i_j .

[0103] Select the part of the reference node where the target signal is obvious, intercept a signal with a window length of 0.125s, and calculate the time delay parameter τ between other nodes and the reference node. i_j The relationship between them is to intercept the signal with the same window length at the corresponding position of other nodes.

[0104] Calculate the short-time Fourier transform of the intercepted signals of all nodes respectively, calculate the energy of the signal between 10Hz and 200Hz, subtract the energy of the ambient noise, and get the energy E of the target signal ij (i=1,…,100, j=1,…,4).

[0105] Assume that the target signal is at B i The energy at is E0(i), then according to the parameter r i_j and α i_j Estimate the signal transmission to P j The energy at

[0106] Ratio the energy calculated values ​​of other nodes with the energy calculated values ​​of the benchmark node to obtain Among them, i=1,…,100, j=2,3,4.

[0107] Ratio the energy estimates of other nodes to the energy estimates of the benchmark node to obtain Among them, i=1,…,100, j=2,3,4.

[0108] Therefore, the error in the energy ratio is ε ij =μ i (j)-μ' i (j), i=1,...,100, j=2, 3, 4.

[0109] The position of the continuous ground vibration signal is determined according to the error between the actual energy ratio and the estimated energy ratio of each monitoring block, specifically:

[0110] The error deviation degree is judged according to the error mean and error standard deviation of the error, and the ground vibration continuous signal is located in the monitoring block with the smallest error deviation degree.

[0111] In the specific implementation, for any monitoring block B i , the energy ratio errors are ε i2 , ε i3 , ε i4 , the error deviation degree is calculated by the following formula:

[0112] Error mean formula:

[0113] Error standard deviation formula: in,

[0114] Traverse all monitoring blocks B i , with the error mean μ i and the standard deviation of error σ i As the evaluation criterion, the error mean μ is preferred. i and the standard deviation of error σ i The smallest block is the location of the target (continuous ground vibration signal).

[0115] Compared with the positioning method in the related art that assumes that the medium is an isotropic uniform medium, the present application pre-constructs a vibration signal transmission parameter retrieval table, uses pulse signals to estimate parameters such as the energy attenuation coefficient of different monitoring blocks, and then locates the target position by matching the energy attenuation of continuous vibration signals, effectively realizing high-precision positioning of continuous ground vibration signals in non-uniform media. By constructing a vibration signal transmission parameter retrieval table, the present application can accurately estimate the energy attenuation during signal transmission, taking into account the differences in signal transmission characteristics in different monitoring blocks, and can adapt to the complex environment of non-uniform media, thereby improving the accuracy and reliability of positioning; based on the vibration signal transmission parameter retrieval table, the present application can quickly locate the target after it appears, reducing the complexity of real-time calculations, simplifying the positioning process, and improving positioning efficiency. The present application enhances the robustness and adaptability of the system by traversing all monitoring blocks and determining the target position based on the energy ratio error.

[0116] See also Figure 3 Corresponding to the above-mentioned inhomogeneous medium ground vibration continuous signal positioning method embodiment, the present application embodiment provides an inhomogeneous medium ground vibration continuous signal positioning system, the positioning system comprising:

[0117] The reference node and block division module 1001 is used to select reference nodes based on the distribution of multiple vibration sensor nodes preset in the monitoring area, and divide the monitoring area into monitoring blocks according to the positioning accuracy requirements;

[0118] The retrieval table construction module 1002 is used to sequentially calculate the delay estimation and energy attenuation parameters of the pulse vibration signal of each monitoring block to all vibration sensor nodes, and construct a vibration signal transmission parameter retrieval table;

[0119] The target judgment module 1003 is used to collect data of the vibration sensor node in real time and judge whether a continuous ground vibration signal appears in the monitoring area according to the change of the sensor signal spectrum and energy;

[0120] The target location determination module 1004 is configured to, if yes, traverse all the monitoring blocks, and for each monitoring block:

[0121] Calculate the actual energy values ​​of the ground vibration continuous signals of all vibration sensor nodes; and calculate the actual energy ratios of other vibration sensor nodes and the reference node;

[0122] According to the energy calculation value of the reference node and the vibration signal transmission parameter retrieval table, the estimated energy values ​​of other vibration sensor nodes are estimated; and the estimated energy ratio of other vibration sensor nodes to the reference node is calculated;

[0123] The position of the ground vibration continuous signal is determined according to the error between the actual energy ratio and the estimated energy ratio of each monitoring block.

[0124] Furthermore, the retrieval table construction module is specifically used for:

[0125] For any of the monitoring blocks, data of the test vibration signals collected by the temporary vibration sensor node and all the vibration sensor nodes are obtained; wherein the temporary vibration sensor node is set at the center point of the monitoring block; and the test vibration signal is a pulse signal;

[0126] Based on the acquired test vibration signal, calculating the time delay estimation and energy attenuation parameter estimation from the center point of the corresponding monitoring block to each vibration sensor node;

[0127] Constructing the vibration signal transmission parameter retrieval table based on the time delay estimation and the energy attenuation parameter estimation of each monitoring block;

[0128] Wherein, the vibration signal transmission parameter retrieval table includes:

[0129] The time delay parameters, transmission distance parameters and energy attenuation coefficients between different monitoring blocks and the shock sensor nodes are used as parameter pairs.

[0130] The above-mentioned non-uniform medium ground vibration continuous signal positioning system implements the steps and various processes of the above-mentioned non-uniform medium ground vibration continuous signal positioning method embodiment and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0131] See also Figure 4 Corresponding to the above-mentioned embodiment of the method for locating continuous signals of ground vibrations in non-uniform media, an embodiment of the present application provides an electronic device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the steps of the above-mentioned embodiment of the method for locating continuous signals of ground vibrations in non-uniform media and the various processes of the embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0132] The memory 1009 can be used to store software programs and various data. The memory 1009 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instructions required for at least one function (such as a sound playback function, an image playback function, etc.), etc. In addition, the memory 1009 may include a volatile memory or a non-volatile memory, or the memory 1009 may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM) and a direct memory bus random access memory (DRRAM). The memory 1009 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0133] The processor 1010 may include one or more processing units; optionally, the processor 1010 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and application programs, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It is understandable that the modem processor may not be integrated into the processor 1010.

[0134] Corresponding to the above-mentioned embodiment of the method for locating continuous signals of ground vibrations in non-uniform media, the embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by the processor, the steps and various processes of the embodiment of the method for locating continuous signals of ground vibrations in non-uniform media are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0135] The processor is the processor in the electronic device described in the above embodiment of the present application. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0136] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0137] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0138] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A method for locating continuous ground vibration signals in a non-uniform medium, characterized in that: include: Based on the distribution of a plurality of vibration sensor nodes preset in the monitoring area, a reference node is selected, and the monitoring area is divided into monitoring blocks according to the positioning accuracy requirements; Calculate the delay estimation and energy attenuation parameters of the pulse vibration signal of each monitoring block to all vibration sensor nodes in turn, and construct a vibration signal transmission parameter retrieval table; Collect data from the vibration sensor nodes in real time, and determine whether a continuous ground vibration signal appears in the monitoring area according to changes in the sensor signal spectrum and energy; If yes, then traverse all the monitoring blocks, and for each monitoring block: Calculate the actual energy value of the ground vibration continuous signal of all vibration sensor nodes; and calculating the actual energy ratios of other vibration sensor nodes and the reference node; According to the energy calculation value of the reference node and the vibration signal transmission parameter retrieval table, estimating the estimated energy values ​​of other vibration sensor nodes; and calculating the estimated energy ratios of other vibration sensor nodes and the reference node; The position of the ground vibration continuous signal is determined according to the error between the actual energy ratio and the estimated energy ratio of each monitoring block.

2. The method for locating continuous ground vibration signals in a non-uniform medium according to claim 1, characterized in that: The method of selecting a reference node based on the distribution of a plurality of vibration sensor nodes preset in the monitoring area and dividing the monitoring area into monitoring blocks according to the positioning accuracy requirements includes: Establishing a plane direct coordinate system in the monitoring area, mapping the layout points of the vibration sensor nodes to the plane rectangular coordinate system, and obtaining the position information of the vibration sensor nodes; Select any one of the vibration sensor nodes as a reference node according to the position information; The monitoring area is divided into grids based on coordinate axes to form a series of regularly arranged monitoring blocks; wherein the size of the monitoring blocks is determined according to the positioning accuracy.

3. The method for locating continuous ground vibration signals in a non-uniform medium according to claim 1, characterized in that: The method of sequentially calculating the delay estimation and energy attenuation parameters of the pulse vibration signal from each monitoring block to all vibration sensor nodes and constructing a vibration signal transmission parameter retrieval table includes: For any of the monitoring blocks, data of the test vibration signals collected by the temporary vibration sensor node and all the vibration sensor nodes are obtained; wherein the temporary vibration sensor node is set at the center point of the monitoring block; and the test vibration signal is a pulse signal; Based on the acquired test vibration signal, calculating the time delay estimation and energy attenuation parameter estimation from the center point of the corresponding monitoring block to each vibration sensor node; Based on the time delay estimation and the energy attenuation parameter estimation of each monitoring block, the vibration signal transmission parameter retrieval table is constructed.

4. The method for locating continuous ground vibration signals in a non-uniform medium according to claim 1, characterized in that: The real-time collection of data from the vibration sensor nodes and judging whether a continuous ground vibration signal appears in the monitoring area according to the changes in the spectrum and energy of the sensor signals include: Acquire the vibration signal data collected by the vibration sensor node in real time; For each of the vibration sensor nodes, the Fourier transform of the vibration signal acquired in real time is calculated to obtain a spectrum; and the frequency energy in a set frequency range is calculated and recorded as an environmental feature; The frequency and environmental characteristics are analyzed, and if new frequency components appear in the frequency spectrum of no less than a set number of nodes and the frequency energy in a set frequency range increases significantly, it is determined that the ground vibration continuous signal appears in the monitoring area.

5. The method for locating continuous ground vibration signals in a non-uniform medium according to claim 1, characterized in that: The step of determining the position of the continuous ground vibration signal according to the error between the actual energy ratio and the estimated energy ratio of each monitoring block specifically includes: The error deviation degree is judged according to the error mean and error standard deviation of the error, and the ground vibration continuous signal is located in the monitoring block where the error deviation degree is the smallest.

6. The method for locating continuous ground vibration signals in a non-uniform medium according to any one of claims 1 to 5, characterized in that: Vibration signal transmission parameter retrieval table, including: The time delay parameters, transmission distance parameters and energy attenuation coefficients between different monitoring blocks and the vibration sensor nodes are used as parameter pairs.

7. Inhomogeneous medium ground vibration continuous signal positioning system, characterized in that: include: A reference node and block division module, for selecting reference nodes based on the distribution of a plurality of vibration sensor nodes preset in the monitoring area, and dividing the monitoring area into monitoring blocks according to the positioning accuracy requirements; A retrieval table construction module is used to sequentially calculate the delay estimation and energy attenuation parameters of the pulse vibration signal of each monitoring block to all vibration sensor nodes, and construct a vibration signal transmission parameter retrieval table; A target judgment module is used to collect data of the vibration sensor node in real time and judge whether a continuous ground vibration signal appears in the monitoring area according to the change of the sensor signal spectrum and energy; The target location determination module is used to traverse all the monitoring blocks if yes, and for each monitoring block: Calculate the actual energy value of the ground vibration continuous signal of all vibration sensor nodes; and calculating the actual energy ratios of other vibration sensor nodes and the reference node; According to the energy calculation value of the reference node and the vibration signal transmission parameter retrieval table, estimating the estimated energy values ​​of other vibration sensor nodes; and calculating the estimated energy ratios of other vibration sensor nodes and the reference node; The position of the ground vibration continuous signal is determined according to the error between the actual energy ratio and the estimated energy ratio of each monitoring block.

8. The inhomogeneous medium ground vibration continuous signal positioning system according to claim 7, characterized in that: The retrieval table construction module is specifically used for: For any of the monitoring blocks, data of the test vibration signals collected by the temporary vibration sensor node and all the vibration sensor nodes are obtained; wherein the temporary vibration sensor node is set at the center point of the monitoring block; and the test vibration signal is a pulse signal; Based on the acquired test vibration signal, calculating the time delay estimation and energy attenuation parameter estimation from the center point of the corresponding monitoring block to each vibration sensor node; Constructing the vibration signal transmission parameter retrieval table based on the time delay estimation and the energy attenuation parameter estimation of each monitoring block; Wherein, the vibration signal transmission parameter retrieval table includes: The time delay parameters, transmission distance parameters and energy attenuation coefficients between different monitoring blocks and the shock sensor nodes are used as parameter pairs.

9. An electronic device, characterized in that: The electronic device comprises: a memory, a processor and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the steps of the method for locating continuous signals of ground vibration in an inhomogeneous medium as claimed in any one of claims 1 to 6 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the method for locating continuous ground vibration signals in a non-uniform medium as claimed in any one of claims 1 to 6 are implemented.

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