Searching and positioning method and device for search and rescue aircraft

Abstract

The invention discloses a method and a device for searching and positioning a search and rescue aircraft. The method comprises the following steps: acquiring search target information and search equipment information; processing the search target information to obtain a search route; and positioning the search target based on the search route and the search equipment information to obtain a search positioning result. The invention provides a searching and positioning route and a searching mode suitable for the maritime personnel in distress, searching is carried out by utilizing multiple detection means technologies, the rescue efficiency can be effectively improved, and the searching time of the personnel in distress is shortened.

Description

Technical Field

[0001] This invention relates to the field of maritime emergency rescue, specifically to a method and apparatus for searching and locating search and rescue aircraft. Background Technology

[0002] With the development of marine development and marine science and technology in my country, the density of ships and marine operations are constantly expanding. Influenced by natural and human factors, the frequency of marine natural disasters, public health emergencies, and other incidents will also increase, making maritime dangers unavoidable. To minimize loss of life and property and protect the marine ecological environment and social stability, the development and research of maritime emergency rescue require comprehensive consideration of environmental, personnel, and technological factors, necessitating resource integration, coordination, and key technology research.

[0003] Maritime safety incidents are typically sudden and catastrophic, and compared to general rescue operations, they are characterized by variable search and rescue environments, difficulties in determining search areas, high timeliness requirements for rescuing distressed personnel, and complex coordination of search and rescue forces. After locating distressed personnel, effective emergency rescue operations must be initiated. In traditional maritime emergency rescue missions, the rescue and treatment of distressed personnel primarily utilizes helicopters and search and rescue vessels, which are poorly adapted to complex rescue scenarios and cannot fully cover a wide range of maritime emergency rescue tasks.

[0004] Therefore, the application of aircraft and unmanned technology can shorten the time for treating and rescuing people in distress. The configuration of integrated and systematic electronic detection equipment can effectively increase the success rate of rescuing people in distress and can adapt to various complex rescue scenarios. Therefore, we should actively develop airborne detection, search and positioning methods to maximize the protection of people's lives and property.

[0005] Maritime search and rescue utilizes airborne search systems to locate targets. Aircraft can independently perform one of the four tasks: search, retrieval, rescue, or transport, or perform multiple or all of them. Search and location routes are designed specifically for the search aspect, encompassing various search methods and detection techniques. Once the search area is determined, a systematic search must be conducted immediately to locate the target as early as possible. During the search, appropriate search methods must be selected based on geographical and meteorological conditions, as well as the characteristics of the target, to achieve the best search results.

[0006] It should be noted that the search and rescue aircraft described in this application refers to a medium-to-long-range integrated aerial search and rescue mobile platform, which meets the needs of searching for and rescuing people in distress at sea. The search and rescue aircraft is equipped with various maritime detection equipment, including radar detection, photoelectric detection, and visual search. The search and rescue aircraft can be a manned platform, an unmanned platform, or a combination of manned and unmanned platforms. The target of the search and rescue can be personnel or vessels. Summary of the Invention

[0007] In order to achieve the best search effect, the application provides a search efficiency high search and rescue aircraft search positioning method and device, which determines a search route according to search information, and uses multiple means to search the search target efficiently.

[0008] The first aspect of the embodiment of the application discloses a search and rescue aircraft search positioning method, which comprises the following steps:

[0009] S1, a search and rescue aircraft acquires search target information and search equipment information; the search target information comprises a search target position and a search area;

[0010] S2, the search target information is processed to obtain a search route;

[0011] S3, based on the search route and the search equipment information, the search target is positioned to obtain a search positioning result.

[0012] As an optional implementation, in the first aspect of the embodiment of the application, the processing of the search target information to obtain the search route comprises the following steps:

[0013] S21, the search target information is processed to obtain a front distance, a search range and a search radius; the front distance represents the distance from the current position of the search and rescue aircraft to the search target position, and the search radius represents the search distance with the search target position as the center;

[0014] S22, it is judged whether the front distance is less than a first distance to obtain a first judgment result;

[0015] When the first judgment result is yes, step S23 is executed; otherwise, step S24 is executed;

[0016] S23, it is judged whether the search area is less than a second distance to obtain a second judgment result;

[0017] When the second judgment result is yes, a first search route is adopted; otherwise, a second search route is adopted;

[0018] The first search route is specifically as follows: taking the search target position as the starting point of the search area, the aircraft enters the search area, taking the search target position as the reference point, an equilateral triangle flight path is constructed, the side length of the equilateral triangle is the search radius, after the aircraft completes the search of the equilateral triangle flight path, the aircraft is right turned by 120° to execute the next equilateral triangle flight path search; when the search target is not found after the first search, the search flight path is rotated by 30° clockwise as a whole to perform the next round of search.

[0019] The second search route is specifically as follows: according to the search radius, the interval of the search line is determined, the search target position is taken as a starting point of a search area, the aircraft enters the search area, the interval of the search line is taken as a length of a first flight section, the aircraft is turned right by 90 degrees, the interval of the search line is taken as a length of a second flight section, the aircraft is turned right by 90 degrees, the interval of the search line plus the second flight section is taken as a length of a third flight section, the aircraft is turned right by 90 degrees, the length of the third flight section is taken as a length of a fourth flight section, and the like, and then every two search lengths are sequentially added to the interval of the search line on the basis of the last flight section, and then the search area is expanded outward in a concentric square shape; when the first round of square search is completed, if it is necessary to continue the search, the search flight section is rotated by 45 degrees as a whole, and the next round of search is performed.

[0020] S24, judging whether a ship cooperates in the search, and obtaining a third judgment result;

[0021] When the third judgment result is yes, a third search route is adopted.

[0022] Otherwise, a fourth search route is adopted.

[0023] The third search route is specifically as follows: a rectangular search area covering the search radius is constructed with the search target position as the center, the interval of the search line is determined, the search starting point is located at a position 1 / 2 of the search line interval away from two perpendicular sides in the rectangular search area, the search line interval is the scanning width, and then the search is performed along the short side of the rectangle back and forth with the interval.

[0024] The fourth search route is specifically as follows: a rectangular search area covering the search radius is constructed with the search target position as the center, the interval of the search line is determined, the search starting point is located at a position 1 / 2 of the search line interval away from two perpendicular sides in the rectangular search area, the search line interval is the scanning width, and then the search is performed along the long side of the rectangle back and forth with the interval.

[0025] As an optional implementation, in the first aspect of the embodiment of the application, the processing of the search target information to obtain the lead-out distance, the search range and the search radius comprises:

[0026] S211, according to the position of the search target falling into the water and the position of the search and rescue aircraft in the search target information, the lead-out distance of the search and rescue aircraft to the position of the search target falling into the water is calculated;

[0027] S212, the search range is solved according to a search range calculation model; the search range comprises a search east-west width and a search north-south length.

[0028] The search range calculation model expression is as follows:

[0029]

[0030] In the formula, W represents the east-west width of the search, H represents the north-south length of the search, and C... w C represents the preset width range constant. w The range of values ​​is 1.2 ≤ C w ≤1.5, C h C represents the preset width range constant. h The range of values ​​is 1.2 ≤ C h ≤1.5, α represents wind direction, W dw V represents the drift speed in the downwind direction. cw V represents the vertical wind drift speed. c V represents the water flow velocity, β represents the water flow direction, and V represents the water flow velocity. t θ represents the current velocity, θ represents the current direction, L represents the forward displacement, and V represents the forward displacement distance. p Indicates the speed of the aircraft;

[0031] S213. Solve for the search radius based on the search radius calculation model;

[0032] The expression for the search radius calculation model is as follows:

[0033]

[0034] In the formula, R represents the search radius, W represents the east-west search width, and H represents the north-south search length.

[0035] As an optional implementation, in the first aspect of the present invention, the step of locating the search target based on the search route and the search device information to obtain the search location result includes:

[0036] S31. According to the search route, the aircraft proceeds to the target location;

[0037] S32. Conduct preliminary detection using long-range detection equipment carried by the aircraft to obtain preliminary detection results; the preliminary detection results are either a target found or no target found; the long-range detection equipment includes radio listening equipment, radio direction finding and ranging equipment, and radar equipment, etc.

[0038] S33. When the preliminary detection result indicates that the target has been found, the search process ends and transitions to the rescue process; when the preliminary detection result indicates that the target has not been found, step S34 is executed.

[0039] S34. Use the close-range detection equipment carried by the aircraft to conduct a precise search area detection and obtain close-range detection results; the close-range detection equipment includes photoelectric detection equipment, etc.

[0040] S35. Integrate the preliminary detection results and the close-range detection results to obtain the search and positioning results.

[0041] As an optional implementation, in the first aspect of the embodiment of the present application, the performing preliminary detection to obtain a preliminary detection result comprises:

[0042] S321, using a radio listening device to intercept a rescue signal to obtain a rescue signal detection result; the rescue signal detection result is signal present or signal absent;

[0043] When the rescue signal detection result is signal present, using a radio direction finding and ranging device to perform direction finding and ranging on the detected wireless signal to obtain a direction finding and ranging result;

[0044] When the rescue signal detection result is signal absent, continuing to perform using the radio listening device to intercept the rescue signal;

[0045] It should be noted that when the target in distress has radio transmitting capability, the radio equipment can be used to listen to the radio signal transmitted by the target in distress.

[0046] S322, using a radar device to search the search area to obtain a radar detection result;

[0047] S323, comprehensively processing the rescue signal detection result, the direction finding and ranging result and the radar detection result to obtain the preliminary detection result.

[0048] As an optional implementation, in the first aspect of the embodiment of the present application, the using a radar device to search the search area to obtain a radar detection result comprises:

[0049] S3221, calculating a radar cross section of the search target according to the search target information; specifically:

[0050] When the search target is a person fallen into water, the radar cross section of the search target is 1.5 m 2 ;

[0051] When the search target is a speedboat, the radar cross section of the search target is 500 m 2 ;

[0052] S3222, obtaining radar parameter information of the radar device; the radar parameter information comprises: a detection wavelength λ, a minimum detectable signal S imin , a radar transmitter signal transmission power P t , a transmission antenna gain G t , a reception antenna gain G r ;

[0053] S3223, using a maximum detection distance calculation formula to process the radar cross section of the search target and the radar parameter information to obtain a maximum detection distance;

[0054] The maximum detection distance calculation formula is represented as:

[0055]

[0056] In the formula, R max represents the maximum detection distance, σ represents a typical target radar cross section area, λ represents a detection wavelength, S imin represents a minimum detectable signal, P t represents a radar transmitter signal power; G t represents a transmitting antenna gain, G r represents a receiving antenna gain;

[0057] S3224, based on the maximum detection distance, using a radar device to detect, to obtain a radar detection result.

[0058] As an optional implementation, in the first aspect of the embodiment of the application, the using the short-range detection device carried by the aircraft to detect the specified accurate search area to obtain a short-range detection result comprises:

[0059] S341, using an optoelectronic detection device to optoelectronic detect the specified accurate search area to obtain an optoelectronic detection result; the optoelectronic detection device comprises a television detection device and / or an infrared detection device;

[0060] S342, visually detecting the specified accurate search area to obtain a visual detection result;

[0061] S343, comprehensively processing the optoelectronic detection result and the visual detection result to obtain the short-range detection result.

[0062] The second aspect of the embodiment of the application discloses a search and rescue aircraft search positioning device, which adopts the search and rescue aircraft search positioning method disclosed in the first aspect of the embodiment of the application, and the device comprises:

[0063] An information acquisition module is configured to acquire search target information and search device information; the search target information comprises a search target position and a search area;

[0064] A search route determination module is configured to process the search target information to obtain a search route;

[0065] A search execution module is configured to position a search target based on the search route and the search device information to obtain a search positioning result.

[0066] The third aspect of the application discloses another search and rescue aircraft search positioning device, and the device comprises:

[0067] A memory in which an executable program code is stored;

[0068] a processor coupled with the memory;

[0069] The processor invokes the executable program code stored in the memory to execute part or all of the steps in the search and rescue aircraft search positioning method disclosed in the first aspect of the embodiment of the application.

[0070] The fourth aspect of the application discloses a computer readable storage medium, which stores computer instructions, and when the computer instructions are invoked, part or all of the steps in the search and rescue aircraft search positioning method disclosed in the first aspect of the embodiment of the application are executed.

[0071] Compared with the prior art, the embodiment of the application has the following beneficial effects:

[0072] The application designs a search and rescue aircraft search positioning method for the search of persons in distress at sea. According to the technical characteristics of various marine detection methods, different search positioning routes and different search methods are determined. Based on different search routes and search equipment, rescue and life-saving are implemented for persons in distress at sea. The use of different search electronic detection methods can effectively improve the rescue efficiency, minimize the search time of persons in distress, improve the rescue efficiency, and effectively guarantee the life safety of persons in distress and rescue personnel. BRIEF DESCRIPTION OF DRAWINGS

[0073] Figure 1 A search and rescue aircraft search positioning method flowchart disclosed by the embodiment of the application;

[0074] Figure 2 A first search route search trajectory schematic diagram disclosed by the embodiment of the application;

[0075] Figure 3 A second search route search trajectory schematic diagram disclosed by the embodiment of the application;

[0076] Figure 4 A third search route search trajectory schematic diagram disclosed by the embodiment of the application;

[0077] Figure 5 A fourth search route search trajectory schematic diagram disclosed by the embodiment of the application;

[0078] Figure 6 A search and rescue aircraft search positioning device structure schematic diagram disclosed by the embodiment of the application;

[0079] Figure 7 Another search and rescue aircraft search positioning device structure schematic diagram disclosed by the embodiment of the application. DETAILED DESCRIPTION

[0080] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those ordinarily skilled in the art without creative effort belong to the scope of the present application.

[0081] The search positioning system used in the present application is divided into a task management subsystem, a search radar subsystem, an optical-electrical search subsystem, a radio search communication subsystem, and an independent device wave height meter.

[0082] The specific components of the search positioning system are shown in Table 1.

[0083] Table 1: Components of the search positioning system

[0084]

[0085]

[0086] Embodiment 1

[0087] Please refer to Figure 1 . Figure 1 A flowchart of a search and rescue aircraft search positioning method disclosed in the embodiments of the present application. Among them, Figure 1 The search and rescue aircraft search positioning method described is applied in a search positioning system, such as a local server or a cloud server for management, etc., and the embodiments of the present application are not limited.

[0088] As Figure 1 shown, the search and rescue aircraft search positioning method disclosed in the embodiments of the present application includes:

[0089] S1, a search and rescue aircraft acquires search target information and search device information; the search target information includes search target position and search area; the search device information represents parameter information of search devices carried by a search positioning system;

[0090] S2, the search target information is processed to obtain a search route;

[0091] S3, based on the search route and the search device information, a search target is positioned to obtain a search positioning result.

[0092] In another optional embodiment, the processing of the search target information to obtain a search route includes:

[0093] S21, processing the search target information to obtain a forward distance, a search range and a search radius; the forward distance represents a distance from a current position of a search and rescue aircraft to a search target position, and the search radius represents a search distance with the search target position as a center;

[0094] S22, judging whether the forward distance is less than a first distance to obtain a first judgment result;

[0095] When the first judgment result is yes, step S23 is executed; otherwise, step S24 is executed;

[0096] S23, judging whether the search area is less than a second distance to obtain a second judgment result;

[0097] When the second judgment result is yes, a first search route is adopted; otherwise, a second search route is adopted;

[0098] The first search route is specifically as shown in Figure 2 The search route is as shown in the figure, with the search target position as a commence search point (CSP), the aircraft enters the search area, and an equilateral triangle flight path is constructed with the search target position as a reference point. The length of the equilateral triangle is the search radius. After the aircraft completes the search of the equilateral triangle flight path, the aircraft is turned right by 120° to perform the next search of the equilateral triangle flight path. When the first search is completed and the search target is not found, the search flight path can be rotated by 30° clockwise as a whole to perform the next search.

[0099] It should be noted that, in the first search route, the search range is small, and therefore, one search ship can be used to cooperate with the aircraft to perform the search. One aircraft and one search ship perform search tasks in a respective sector in the same area.

[0100] The step of determining the route in the first search route is as follows:

[0101] Input parameters: (a) reference point latitude and longitude coordinates (b) flight path length (search radius), which can be obtained according to the Rescue Manual.

[0102] The reference point is determined, and appropriate markers such as smoke signal markers and radio light markers can be placed at the reference point. According to the flight path length, a search area in the form of a circle is drawn with the reference point as the center. According to the line connecting the current position and the reference point coordinates, the CSP coordinates are determined, and the ship arrives at the reference point. According to the CSP coordinates and the reference point, three flight paths for the first search are determined, and the ship starts the search.

[0103] The second search route is specifically as shown in Figure 3As shown, the interval of the search line is determined according to the search radius, the interval of the search line can be 1 / N of the search radius, N is a natural number greater than or equal to 4 and less than or equal to 8, the search target position is taken as a starting point of the search area, the aircraft enters the search area, the interval of the search line is taken as a first flight segment length, a right turn of 90° is made, the interval of the search line is taken as a second flight segment, a right turn of 90° is made, the second flight segment plus the interval of the search line is taken as a third flight segment, a right turn of 90° is made, the length of the third flight segment is taken as a fourth flight segment, and the like, and every two search lengths are increased by one search line interval on the basis of the last flight segment, and then the search is expanded outward in concentric rectangles; after the first round of expanded square search is completed, if the search needs to be continued, the search flight segment is rotated by 45° as a whole, and the next round of search is performed.

[0104] It should be noted that the second search route is a precise search method, and the search facility is required to accurately navigate. In order to minimize navigation errors, the first flight segment is usually in the direction against the wind, the lengths of the first two search lines are equal to the interval of the search line, and every two search lengths are increased by one search line interval on the basis of the last flight segment. The expanded square search takes the reference point as the CSP, and then expands outward in concentric rectangles. After the first round of expanded square search is completed, if the search needs to be continued, the search flight segment can be rotated by 45° as a whole, and the next round of search is performed.

[0105] For example, the steps of determining the flight line of the second search route are as follows: navigate to the reference point position; navigate S in the due west direction, S is the interval of the search line, make a right turn of 90° to search S in the due north direction; make a right turn of 90° to search 2S in the due east direction; make a right turn of 90° to search 2S in the due south direction; and the like, and every two search lengths are increased by one search line interval on the basis of the last flight segment. After the first round of expanded square search is completed, if the search needs to be continued, the search flight segment is rotated by 45° as a whole, and the next round of search is performed.

[0106] S24, it is judged whether there is a ship to cooperate in the search, and a third judgment result is obtained;

[0107] When the third judgment result is yes, the search route adopts a third search route;

[0108] Otherwise, the search route adopts a fourth search route;

[0109] The third search route is specifically as shown in the figure. Figure 4 The search target position is taken as the center to construct a rectangular search area covering the search radius, the search line interval is determined, the search starting point is located at a position 1 / 2 search line interval away from two perpendicular sides in the rectangular search area, the search line interval is the scanning width, and then the search is performed along the short side of the rectangle back and forth with the interval.

[0110] The fourth search route is specifically as follows: The search route is as follows... Figure 5 As shown, a rectangular search area covering the search radius is constructed with the target location as the center. The search line spacing is determined, and the search starting point is located within the rectangular search area at a distance of 1 / 2 search line spacing from each of the two right-angled sides. The search line spacing is the scan width. Then, the search is performed back and forth along the long side of the rectangle while maintaining the spacing. For example, the steps to determine the route are as follows: Set the vertex closest to the aircraft in the search area as the base point. From the base point, extend 1 / 2S in length and width into the search area to obtain the CSP (CSP is usually located within the rectangular partition at a distance of 1 / 2 search line spacing (S) from each of the two right-angled sides); Starting from the CSP, move along the long side of the search area matrix to the other endpoint (1 / 2S from the width of the rectangle); Turn 90° to the right at the endpoint, sail S, and continue along the long side of the search area matrix to the other endpoint; The remaining search segments remain parallel to each other and are spaced one line spacing apart, and this process (bc) is repeated until the ship leaves the search area.

[0111] It should be noted that when multiple devices conduct a joint search, a third search route is used, typically with a single search device performing a parallel line search within a single zone. Multiple devices can offer significant advantages in this scenario. Aircraft that may be passing through or approaching the search area may be required to change course and cover the search area along specific parallel lines.

[0112] It should be noted that, compared to the fourth search route, the third search route requires more turns and adjustments, so the third search route is not as effective as the fourth search route. However, the third search route is more suitable for use when ships and spacecraft are jointly conducting search missions.

[0113] It should be noted that the third and fourth search routes are the most effective on the sea or on relatively flat terrain.

[0114] In another optional embodiment, the processing of the search target information to obtain the forward distance, search range, and search radius includes:

[0115] S211. Based on the location of the search target in the water and the location of the search and rescue aircraft in the search target information, calculate the forward distance of the search and rescue aircraft to reach the location of the water crash.

[0116] S212. Solve for the search range based on the search range calculation model; the search range includes the east-west width and the north-south length.

[0117] The expression for the search range calculation model is:

[0118]

[0119] In the formula, W represents the east-west width of the search, H represents the north-south length of the search, C w represents a preset width range constant, C w has a value range of 1.2≤C w ≤1.5, C h represents a preset width range constant, C h has a value range of 1.2≤C h ≤1.5, α represents the wind direction, V dw represents the downwind drift speed, V cw represents the vertical wind drift speed, V c represents the water flow speed, β represents the water flow direction, V t represents the tidal current speed, θ represents the tidal current direction, L represents the lead-out distance, V p represents the aircraft speed;

[0120] S213, calculating the search radius according to a search radius calculation model;

[0121] The search radius calculation model is expressed as:

[0122]

[0123] In the formula, R represents the search radius, W represents the east-west width of the search, and H represents the north-south length of the search. In another optional embodiment, the search target is positioned based on the search route and the search device information to obtain a search positioning result, which includes:

[0124] S31, the aircraft goes to the target position according to the search route;

[0125] S32, a preliminary detection is performed using a long-range detection device carried by the aircraft to obtain a preliminary detection result; the preliminary detection result is that the target is searched or the target is not searched; the long-range detection device includes a radio listening device, a radio direction-finding and distance-measuring device, and a radar device, etc.;

[0126] S33, when the preliminary detection result is that the target is searched, the search process ends and a rescue process is performed; when the preliminary detection result is that the target is not searched, step S34 is performed;

[0127] S34, a specified accurate search area is detected using a short-range detection device carried by the aircraft to obtain a short-range detection result; the short-range detection device includes a photoelectric detection device, etc.;

[0128] S35, the preliminary detection result and the short-range detection result are integrated to obtain a search positioning result.

[0129] In another optional embodiment, the preliminary detection is performed to obtain a preliminary detection result, which includes:

[0130] S321, detecting the rescue signal by using the radio listening device to obtain a rescue signal detection result; the rescue signal detection result is signal or no signal;

[0131] When the rescue signal detection result is signal, direction finding and ranging are performed on the detected wireless signal by using a radio direction finding and ranging device to obtain a direction finding and ranging result;

[0132] When the rescue signal detection result is no signal, the step of detecting the rescue signal by using the radio listening device is continuously performed;

[0133] It should be noted that when the distress target has radio transmitting capability, the radio device can be used to listen to the radio signal transmitted by the distress target.

[0134] S322, searching the search area by using a radar device to obtain a radar detection result;

[0135] S323, comprehensively processing the rescue signal detection result, the direction finding and ranging result, and the radar detection result to obtain a preliminary detection result.

[0136] In yet another optional embodiment, the step of searching the search area by using the radar device to obtain the radar detection result comprises:

[0137] S3221, calculating the radar cross section of the search target according to the search target information; specifically:

[0138] When the search target is a fallen person, the radar cross section of the search target is 1.5 m 2 ;

[0139] When the search target is a speedboat, the radar cross section of the search target is 500 m 2 ;

[0140] S3222, obtaining radar parameter information of the radar device; the radar parameter information comprises: a detection wavelength λ, a minimum detectable signal S imin , a radar transmitter signal transmission power P t , a transmission antenna gain G t , and a reception antenna gain G r ;

[0141] S3223, processing the radar cross section of the search target and the radar parameter information by using a maximum detection distance calculation formula to obtain a maximum detection distance;

[0142] The maximum detection distance calculation formula is represented as:

[0143]

[0144] wherein R max represents the maximum detection distance, σ represents the typical target radar cross section area, λ represents the detection wavelength, S imin represents the minimum detectable signal, P t represents the radar transmitter transmitted signal power; G t represents the transmitting antenna gain, G r represents the receiving antenna gain;

[0145] S3224, based on the maximum detection distance, using a radar device to detect, to obtain a radar detection result.

[0146] In yet another optional embodiment, the specified accurate search area detection using the short-range detection device carried by the aircraft obtains a short-range detection result, comprising:

[0147] S341, using photoelectric detection equipment to photoelectrically detect the specified accurate search area, to obtain a photoelectric detection result; the photoelectric detection equipment comprises a television detection device, and / or an infrared detection device;

[0148] S342, visually detecting the specified accurate search area to obtain a visual detection result;

[0149] S343, comprehensively processing the photoelectric detection result and the visual detection result to obtain a short-range detection result.

[0150] In yet another optional embodiment, the specified accurate search area is photoelectrically detected using photoelectric detection equipment to obtain a photoelectric detection result, comprising:

[0151] Controlling the photoelectric detection equipment to aim at the target area;

[0152] Using a scanning width calculation formula to calculate a photoelectric detection field of view;

[0153] The scanning width calculation formula is:

[0154] D=d×L / f

[0155] wherein D represents the photoelectric detection field of view (m), i.e. the scanning width, representing that the photosensitive area d is magnified L / f times by the lens and projected on the target object; L represents the ranging result (m); f represents the lens focal length (m).

[0156] Using a discovery probability calculation model to calculate a discovery probability calculation;

[0157] The discovery probability calculation model is:

[0158]

[0159] In the formula, D represents the photoelectric detection field of view (m); and x represents the lateral distance (m).

[0160] Based on the photoelectric detection field of view, the photoelectric detection equipment is used to perform photoelectric detection on the specified accurate search area, to obtain a photoelectric detection result.

[0161] In yet another optional embodiment, the control of the photoelectric detection equipment to align with the target area includes:

[0162] According to the motion state of the search and rescue aircraft and the position of the target area, a theoretical adjustment angle is calculated; the adjustment angle is an angle that the standard photoelectric detection equipment needs to adjust to continuously align with the target area.

[0163] According to an angle adjustment model, the theoretical adjustment angle is processed to obtain an actual adjustment angle.

[0164] The angle adjustment model is expressed as:

[0165]

[0166] In the formula, T(k) represents an actual adjustment angle at time k, T(k) represents a theoretical adjustment angle at time k, K represents a theoretical proportional coefficient, K represents an integral proportional coefficient, m represents an integral length, and T(j) represents an actual adjustment angle at time j. t p p The value range of K is 0.8≤K≤0.95. p i The value range of m is 5≤m≤9. i p

[0167] According to the actual adjustment angle, a controller controls the photoelectric detection equipment to perform angle adjustment.

[0168] After successfully obtaining the angle of target recovery and tracking, it is particularly important to accurately adjust the rotation angle and speed of the photoelectric pod to keep the relative direction between the photoelectric pod and the target consistent, in order to continuously and stably track the target. To this end, the above-mentioned angle adjustment model adopts proportional integral control, to ensure that the photoelectric pod can respond to target position changes in real time and accurately adjust the rotation state of the photoelectric pod. By performing integral operation on the angle difference, historical information of accumulated errors is accumulated, and integral control output is generated according to the integral coefficient Ki, to eliminate static errors, gradually adjust the angle of the pod, and keep the pod consistent with the target direction, to realize the optimization control of the pod in different scenes and improve the accuracy and stability of tracking.

[0169] In yet another optional embodiment, visual detection is performed on the specified accurate search area, and specifically includes: ​​​​​

[0170] Based on the different types of search and rescue aircraft, a scan width model for search and rescue aircraft is constructed. The model calculates the scan width W and search width s of the air search force based on the aircraft type, flight altitude, type of search target, and on-site environmental factors.

[0171] 1. When search and rescue aircraft use helicopters for visual reconnaissance:

[0172] 1) When the search target is a person who has fallen into the water, the helicopter scan width model is as follows:

[0173] W1 = 0.2 × C w ×C V (150m < h < 600m)

[0174] In the formula, W1 is the scan width for searching for people who have fallen into the water, in km; h is the altitude of the aircraft, in m; C w This is a weather correction factor; values ​​are shown in "Table 4 Weather Correction Factor Table"; C V —Visibility correction factor, values ​​are shown in "Table 5 Visibility Correction Factor Table".

[0175] 2) When searching for a ship less than 24 meters in length, the helicopter scan width model is as follows:

[0176] W2 = (21.867 + 0.000001h) 2 )×C w ×C V (150m < h < 600m)

[0177] 3) When searching for a ship longer than 24 meters, the helicopter scan width model is as follows:

[0178] W3 = 34.2 × C w ×C V 2. When search and rescue aircraft use fixed-wing aircraft for visual detection (150m < h < 600m):

[0179] Construct a model for calculating the scan width of a fixed-wing aircraft.

[0180] 1) When the search target is a person who has fallen into the water, the scan width model for a fixed-wing aircraft is as follows:

[0181] W4 = 0.2 × C w ×C V (150m < h < 600m)

[0182] 2) When searching for a ship less than 24 meters in length, the fixed-wing aircraft's scan width model is as follows:

[0183] W5 = (19.6 - 0.0046h + 0.00001h) 2 )×C w ×C V (150m < h < 600m)

[0184] 3) When searching for a ship longer than 24 meters, the scan width model for a fixed-wing aircraft is as follows:

[0185] W6 = 31 × C w ×C V (150m < h < 600m)

[0186] Table 4 Weather Correction Factors

[0187]

[0188] Table 5 Visibility Correction Factors

[0189] Visibility (km) Visibility correction factor 6 0.4 9 0.6 19 0.8 28 0.9 >37 1

[0190] Example 2

[0191] Please see Figure 6 . Figure 6 This is a schematic diagram of a search and positioning device for search and rescue aircraft disclosed in an embodiment of the present invention. Figure 6 The described apparatus can be applied in management systems, such as local servers or cloud servers for management, and the embodiments of the present invention are not limited thereto. Figure 6 As shown, the device may include:

[0192] Information acquisition module 201 is used to acquire search target information and search device information; the search target information includes the search target location and search area;

[0193] The search route determination module 202 is used to process the search target information to obtain a search route;

[0194] The search execution module 203 is used to locate the search target based on the search route and the search device information, and obtain the search location result.

[0195] Example 2 is the same product category example as Example 1, and the method steps are the same. Therefore, it will not be repeated in Example 2.

[0196] Example 3

[0197] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of another search and rescue aircraft search and positioning device disclosed in an embodiment of the present invention. Wherein, Figure 7The described apparatus can be applied in a management system, such as a local server or a cloud server for management, and the like, and embodiments of the present application are not limited thereto. As shown in Figure 7 The apparatus can include:

[0198] a memory 301 storing executable program codes;

[0199] a processor 302 coupled with the memory 301;

[0200] The processor 302 invokes the executable program codes stored in the memory 301 to execute the steps in the search and rescue aircraft search positioning method described in Embodiment One.

[0201] Embodiment Four

[0202] Embodiments of the present application disclose a computer readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute the steps in the search and rescue aircraft search positioning method described in Embodiment One.

[0203] Embodiment Five

[0204] Embodiments of the present application disclose a computer program product including a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute the steps in the search and rescue aircraft search positioning method described in Embodiment One.

[0205] The apparatus embodiments described above are only schematic, wherein the modules illustrated as separate components can or can not be physically separate, and the components illustrated as modules can or can not be physical modules, i.e., can be located in one place, or can be distributed to multiple network modules. Part or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment scheme. Those skilled in the art can understand and implement without creative labor.

[0206] Those skilled in the art can clearly understand the implementation of the various embodiments by means of software and necessary general hardware platforms through the above specific description of the embodiments, and of course, the embodiments can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product. The computer software product can be stored in a computer readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magnetic disk storage, a magnetic tape storage, or any other computer readable medium that can be used to carry or store data.

[0207] Finally, it should be noted that: the search and rescue aircraft search positioning method and device disclosed by the embodiments of the present application are only the preferred embodiments of the present application, and are used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A search and rescue aircraft search and location method, characterized by, The method comprises: S1, the search aircraft acquires search target information and search equipment information; the search target information comprises a search target position and a search area; S2, the search target information is processed to obtain a search route; S3, the search target is positioned based on the search route and the search equipment information to obtain a search positioning result.

2. A search and rescue aircraft search procedure as claimed in claim 1, characterised in that, The search target information is processed to obtain a search route, comprising: S21, the search target information is processed to obtain a front distance, a search range and a search radius; the front distance represents a distance from a current position of the search aircraft to the search target position; S22, it is judged whether the front distance is less than a first distance to obtain a first judgment result; When the first judgment result is yes, step S23 is executed; otherwise, step S24 is executed; S23, it is judged whether the search area is less than a second distance to obtain a second judgment result; When the second judgment result is yes, a first search route is adopted for the search route; otherwise, a second search route is adopted for the search route; The first search route is specifically: taking the search target position as a search area starting point, the aircraft enters the search area, taking the search target position as a reference point, an equilateral triangle flight path is constructed, the length of the equilateral triangle is the search radius, after the aircraft completes one equilateral triangle flight path search, it is right turned by 120°, and the next equilateral triangle flight path search is executed; when the search target is not found after completing the first search, the search flight path is rotated by 30° clockwise as a whole to perform the next round of search; The second search route is specifically: the interval of the search line is determined according to the search radius, taking the search target position as the search area starting point, the aircraft enters the search area, taking the interval of the search line as the first flight path length, right turning by 90°, taking the interval length of the search line as the second flight path, right turning by 90°, taking the second flight path plus the interval of the search line as the third flight path, right turning by 90°, taking the length of the third flight path as the fourth flight path, and the like, every two search lengths are increased by one search line interval on the basis of the last flight path, and then the concentric rectangle is expanded outward; when the first round of square search is completed, if it is necessary to continue the search, the search flight path is rotated by 45° as a whole to perform the next round of search; S24, it is judged whether there is a ship to cooperate in the search to obtain a third judgment result; When the third judgment result is yes, a third search route is adopted for the search route; Otherwise, a fourth search route is adopted for the search route; The third search route is specifically: taking the search target position as the center, a rectangular search area covering the search radius is constructed, the search line interval is determined, the search line interval is the scanning width, the search starting point is located at a position 1 / 2 search line interval away from two right angle sides in the rectangular search area, and then the search is performed along the rectangular short side with a certain interval. The fourth search route is specifically: taking the search target position as the center, constructing a rectangular search area covering a search radius, determining a search line interval, and searching for a starting point at a position 1 / 2 of the search line interval from two perpendicular sides in the rectangular search area, the search line interval being a scanning width, and then searching back and forth along the long side of the rectangle while maintaining the interval.

3. A search and rescue aircraft search procedure as claimed in claim 2, characterised in that, The processing of the search target information to obtain the lead-out distance, the search range, and the search radius includes: S211. Calculating a lead-out distance of the search and rescue aircraft to the water-landing position according to the water-landing position of the search target in the search target information and the position of the search and rescue aircraft; S212. Solving the search range according to a search range calculation model; the search range includes an east-west width and a south-north length; The search range calculation model is expressed as: In the formula, W represents the east-west width of the search, H represents the north-south length of the search, C w represents a preset width range constant, C w has a value in the range of 1.2≤C w ≤1.5, C h represents a preset width range constant, C h has a value in the range of 1.2≤C h ≤1.5, α represents the wind direction, V dw represents the downwind drift speed, V cw represents the vertical wind drift speed, V c represents the water flow speed, β represents the water flow direction, V t represents the tidal current speed, θ represents the tidal current direction, L represents the lead-out distance, V p represents the aircraft speed; S213. Solving the search radius according to a search radius calculation model; The search radius calculation model is expressed as: In the formula, R represents the search radius, W represents the east-west width, and H represents the south-north length.

4. A search and rescue aircraft search positioning method according to claim 1, characterised in that, The positioning of the search target based on the search route and the search equipment information to obtain a search positioning result includes: S31. The aircraft goes to the target position according to the search route; S32. The aircraft carries out preliminary detection using a long-range detection device to obtain a preliminary detection result; the preliminary detection result is that the target is searched or the target is not searched; the long-range detection device includes a radio listening device, a radio direction-finding and distance-measuring device, and a radar device; S33. When the preliminary detection result is that the target is searched, the search process ends and a rescue process is performed; when the preliminary detection result is that the target is not searched, step S34 is performed; S34. The aircraft carries out specified accurate search area detection using a short-range detection device to obtain a short-range detection result; the short-range detection device includes an optoelectronic detection device; S35. Integrating the preliminary detection result and the short-range detection result to obtain a search positioning result.

5. A search and rescue aircraft search procedure as claimed in claim 4, characterised in that, The preliminary detection includes: S321. Using the radio listening device to intercept a rescue signal to obtain a rescue signal detection result; the rescue signal detection result is that there is a signal or there is no signal; When the rescue signal detection result is that there is a signal, the radio direction-finding and distance-measuring device is used to measure the direction and distance of the detected wireless signal to obtain a direction-finding and distance-measuring result; When the rescue signal detection result is that there is no signal, the radio listening device is continuously used to intercept the rescue signal; S322. Using the radar device to search the search area to obtain a radar detection result; S323. Integrating the rescue signal detection result, the direction-finding and distance-measuring result, and the radar detection result to obtain a preliminary detection result.

6. A search and rescue aircraft search procedure as claimed in claim 5, characterised in that, The search of the search area using the radar device to obtain a radar detection result includes: S3221. Calculating a radar cross-sectional area of the search target according to the search target information; S3222, obtaining radar parameter information of the radar device; the radar parameter information comprises: a detection wavelength λ, a minimum detectable signal S imin , a radar transmitter signal transmission power P t , a transmission antenna gain G t , a receiving antenna gain G r ; S3223. Using a maximum detection distance calculation formula to process the radar cross-sectional area of the search target and the radar parameter information to obtain a maximum detection distance; The maximum detection distance calculation formula is represented as: where R max represents the maximum detection range, σ represents the typical target radar cross section, λ represents the detection wavelength, S imin represents the minimum detectable signal, P t represents the radar transmitter transmitted signal power; G t represents the transmitting antenna gain, G r represents the receiving antenna gain; S3224, based on the maximum detection distance, using radar equipment for detection, get radar detection results.

7. A search and rescue aircraft search procedure as defined in claim 5 wherein, The specified accurate search area detection using the short-range detection equipment carried by the aircraft, get short-range detection results, including: S341, using photoelectric detection equipment for photoelectric detection of the specified accurate search area, get photoelectric detection results; the photoelectric detection equipment includes television detection equipment, and / or infrared detection equipment; S342, visual detection of the specified accurate search area, get visual detection results; S343, the photoelectric detection results and the visual detection results are comprehensively processed to obtain the short-range detection results.

8. A search and rescue aircraft search and location device employing the search and rescue aircraft search and location method according to any one of claims 1 to 7, characterized in that, The device comprises: An information acquisition module for acquiring search target information and search equipment information; the search target information includes search target position and search area; A search route determination module for processing the search target information to obtain a search route; A search execution module for positioning the search target based on the search route and the search equipment information to obtain a search positioning result.

9. A search and rescue aircraft search positioning device, characterized by The device comprises: A memory storing executable program code; A processor coupled with the memory; The processor calls the executable program code stored in the memory to execute the search and rescue aircraft search positioning method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, which are called to execute the search and rescue aircraft search positioning method according to any one of claims 1-7.

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