Rolling stone multi-target radar monitoring and early warning method suitable for complex terrain

Abstract

The application discloses a rockfall multi-target radar monitoring and early warning method suitable for complex terrains and relates to the technical field of data processing, and comprises the following steps: obtaining echo signals through a radar, obtaining moving targets according to the echo signals, obtaining basic data according to the moving targets, obtaining a theoretical path according to the basic data, obtaining monitoring data according to a weather forecast of a meteorological bureau, establishing a corresponding relationship according to the monitoring data and the theoretical path according to the duration, judging whether to issue a warning according to the corresponding relationship, obtaining a final evaluation, and updating the corresponding relationship according to the final evaluation. The application realizes quantitative evaluation of the destructive power of rockfall by adopting fixed clutter filtering technology based on Doppler frequency difference analysis, discarding zero-frequency channel signals by combining fast Fourier transform, combining a prediction-matching mechanism, stably tracking multiple rockfalls, calculating kinetic energy by combining velocity vector calculation and radar echo inversion of rockfall mass, and realizing quantitative evaluation of the destructive power of rockfall.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, and particularly relates to a rockfall multi-target radar monitoring and early warning method suitable for complex terrains. BACKGROUND

[0002] Rockfall disaster is a common sudden geological disaster in mountainous areas, which has the characteristics of sudden occurrence, complex movement trajectory, large impact force, etc., and seriously threatens the safety of mountainous roads, railways, towns and various infrastructures. In recent years, with the frequent occurrence of global extreme climate events and the expansion of human engineering activities to complex geological conditions, the frequency of rockfall disasters and the losses caused by them have shown a significant upward trend. For example, in the Guilin City, Guangxi, tourists were hit by rockfall in the Duiwei Mountain Scenic Area, and huge rocks fell in the scenic area, crushing tourists who were preparing to take a boat. The accident caused multiple deaths and many injuries in hospital. Since the rocks are relatively scattered, manual monitoring is difficult and has low accuracy. Rocks falling from high places under the action of gravity will fall to the ground or low-lying places, and rockfall occurring in the area of human activities may cause disasters. Therefore, it is necessary to predict and monitor rockfall.

[0003] At present, the traditional rockfall monitoring method includes manual dependence on experience for ground patrol and observation, direct viewing of images through video monitoring technology and seismic sensors and acoustic monitoring, and relying on rockfall monitoring and early warning equipment. The equipment is adapted to different manufacturers' sensors, the device can access monitoring signals, and the rockfall disaster is warned through the monitoring signals. After the staff receives the warning information, they start to take precautions.

[0004] The related technology cannot be widely used and has great limitations, and cannot adapt to different complex terrains and cannot timely alarm and predict. SUMMARY

[0005] The technical problem solved by the present application is that the prior art cannot be widely used and has great limitations, and cannot adapt to different complex terrains and cannot timely alarm and predict.

[0006] To solve the above technical problems, the application provides the following technical solutions: a rockfall multi-target radar monitoring and early warning method suitable for complex terrains, comprising the following steps: step S1, acquiring echo signals by radar time-sharing electromagnetic wave emission, and extracting moving targets according to Doppler frequency diagram non-zero frequency channel signals; step S2, obtaining numbered targets according to the moving targets, obtaining basic data according to the numbered targets, establishing a space rectangular coordinate system, and obtaining a theoretical path; step S3, acquiring monitoring data according to weather forecasts of a meteorological bureau, establishing a corresponding relationship between the monitoring data and the theoretical path according to a duration, and triggering a blue early warning and a yellow early warning in stages; step S4, judging whether to issue a red early warning according to the yellow early warning, and obtaining an energy level according to RCS value inversion quality and calculation, and acquiring an energy level; step S5, acquiring environmental information, obtaining a final evaluation according to the environmental information and the energy level, and updating the corresponding relationship according to the final evaluation.

[0007] As a preferred scheme of the rockfall multi-target radar monitoring and early warning method suitable for complex terrains, wherein: the step S1 comprises the following sub-steps: step S11, acquiring first echo signals by radar first-time electromagnetic wave emission, acquiring a first wave frequency according to the first echo signals, re-emitting the first-time electromagnetic wave, acquiring second echo signals, and acquiring a second wave frequency according to the second echo signals; obtaining a difference value by subtracting the first wave frequency from the second wave frequency; when the difference value is 0, it is fixed clutter, and is directly discarded; when the difference value is not 0, it is an echo signal; step S12, obtaining a Doppler frequency diagram by fast Fourier transform of the echo signal, the Doppler frequency diagram containing a zero frequency channel and a non-zero frequency channel, acquiring echo signals in the zero frequency channel according to the Doppler frequency diagram, and discarding the echo signals; acquiring echo signals in the non-zero frequency channel according to the Doppler frequency diagram, obtaining digital signals by analog-to-digital conversion of the echo signals, and acquiring moving targets according to the digital signals; numbering the moving targets to obtain numbered targets.

[0008] As a preferred scheme of the rockfall multi-target radar monitoring and early warning method suitable for complex terrain according to the application, wherein: the step S2 comprises the following sub-steps: step S21, numbering the moving targets to obtain numbered targets; obtaining basic data through the radar according to the numbered targets, the basic data including distance, azimuth angle, elevation angle and radial velocity; establishing a space rectangular coordinate system according to the distance, azimuth angle and elevation angle to obtain real-time position data of the numbered targets; dividing the numbered targets according to time according to the real-time position data, obtaining target observation points, numbering the target observation points to obtain numbered observation points; step S22, obtaining the next numbered observation point through the radar according to the numbered observation points, obtaining real-time position data according to the numbered observation points, obtaining second real-time position data according to the next numbered observation point, obtaining a velocity vector according to the real-time position data and the second real-time position data, and obtaining predicted position data at the next moment according to the velocity vector and the real-time position data.

[0009] As a preferred scheme of the rockfall multi-target radar monitoring and early warning method suitable for complex terrain according to the application, wherein: the step S2 further comprises: repeating the step S22 to obtain the predicted position data and the number of repetitions until the rockfall ends; matching the predicted position data with the position data, calculating a matching success rate, the matching success rate being a ratio of a matching success number to the number of repetitions, the matching success number being a number of times that the current predicted position data matches the real-time position data before the rockfall ends, and if the matching success rate is greater than or equal to A, connecting the predicted position data to generate a theoretical path of the numbered target; and if the matching success rate is less than A, determining that the numbered target has disappeared and deleting the predicted position data.

[0010] As a preferred scheme of the rockfall multi-target radar monitoring and early warning method suitable for complex terrain according to the application, wherein: the step S3 comprises the following sub-steps: step S31, obtaining monitoring data according to the weather forecast of the meteorological bureau, the monitoring data including rainfall, snowfall, temperature, duration and wind speed; according to the monitoring data, issuing a blue warning to remind the management personnel to pay attention to the weather change when any one of the following conditions is met: condition one, the rainfall is greater than B; condition two, the snowfall is greater than C; and condition three, the wind speed is greater than D; and step S32, establishing a corresponding relationship according to the duration based on the monitoring data and the theoretical path, and according to the blue warning, obtaining monitoring data, and issuing a yellow warning to remind the management personnel that the rockfall risk is extremely high when any one of the following conditions is met: the duration is greater than E, the rainfall is greater than b, the snowfall is greater than c, and the wind speed is greater than d.

[0011] As a preferred scheme of the rockfall multi-target radar monitoring and early warning method suitable for complex terrain according to the present application, wherein: the step S4 comprises the following sub-step: step S41, after issuing a yellow warning, according to the corresponding relationship, the radar repeats step S1 to obtain a moving target, when no moving target is obtained, the radar is kept for continuous real-time monitoring until the end of the continuous time; when the radar obtains a moving target, a red warning is issued to remind the management personnel to determine that there is rockfall activity, and step S2 is repeated to record the basic data, real-time position data and predicted position data, and obtain the theoretical path.

[0012] As a preferred scheme of the rockfall multi-target radar monitoring and early warning method suitable for complex terrain according to the present application, wherein: the step S4 comprises the following sub-step: step S42, according to the moving target, the radar obtains the average RCS value of the moving target in real time, according to the pre-stored RCS-mass database, the mass of the rockfall is obtained; the speed vector is obtained according to the real-time position data and the predicted position data; according to the mass and the speed vector, the rockfall energy is obtained, the rockfall energy = 1 / 2 × mass × speed vector 2 .

[0013] As a preferred scheme of the rockfall multi-target radar monitoring and early warning method suitable for complex terrain according to the present application, wherein: the rockfall energy further comprises: according to the rockfall energy, the energy level is divided, when the rockfall energy is less than f, it is low energy, the low energy is to break glass and cause dents on the vehicle; when the rockfall energy is greater than or equal to f and less than or equal to g, it is medium energy, the medium energy is to destroy the engine cover of the vehicle and cause surface damage to the concrete structure; when the rockfall energy is greater than g, it is high energy, the high energy is to penetrate the roof of the house and cause serious damage to the reinforced concrete structure, threatening life.

[0014] As a preferred scheme of the rockfall multi-target radar monitoring and early warning method suitable for complex terrain according to the application, wherein: the step S5 specifically comprises the following: according to the predicted position data, the environment information near the predicted position data is obtained by taking a photo of the environment near the predicted position data by the unmanned aerial vehicle, and the final evaluation is obtained according to the environment information and the energy level; whether early evacuation and prevention are needed is judged according to the final evaluation, the environment information is whether damage will be caused nearby; the final evaluation is that when the energy level is low energy and the environment information is that damage will not be caused, monitoring is maintained; when the energy level is low and the environment information is that damage will be caused, an evacuation alarm is issued and monitoring is continued; when the energy level is medium and the environment information is that damage will not be caused, monitoring is maintained; when the energy level is medium and the environment information is that damage will be caused, an evacuation alarm is issued and monitoring is continued; when the energy level is high and the environment information is that damage will not be caused, early prevention is continued and monitoring is continued; when the energy level is high and the environment information is that damage will be caused, early prevention is continued, the population is evacuated, and reporting is carried out, and monitoring is continued.

[0015] As a preferred scheme of the rockfall multi-target radar monitoring and early warning method suitable for complex terrain according to the application, wherein: the step S5 further comprises: after the rockfall occurs, the final occurrence position data is obtained, the occurrence position data and the predicted position data are matched, if the matching is successful, the predicted position data is the real position information; if the matching fails, the real-time path is obtained according to the basic data and the real-time position data, the real-time path is taken as the theoretical path, and the corresponding relationship is updated.

[0016] The beneficial effects of the present application: by adopting the fixed clutter filtering technology based on Doppler frequency difference analysis and combining the rejection of zero frequency channel signals by fast Fourier transform, the interference of strong background clutter such as rocks and vegetation in mountainous environment can be effectively suppressed, the false alarm rate is greatly reduced, and the accuracy of moving target detection is ensured, providing a reliable data basis for subsequent early warning, by assigning an independent number to each target and establishing a spatial rectangular coordinate system, combined with the prediction-matching mechanism based on Kalman filtering principle, multiple rockfalls can be simultaneously and stably tracked, and a high-precision theoretical motion path is generated. This overcomes the problems of trajectory confusion and loss in traditional methods in multi-target scenarios, provides accurate kinematic basis for risk assessment, deeply integrates meteorological bureau weather forecast data and radar monitoring, establishes a progressive warning mechanism of blue, yellow and red, realizes the whole process coverage from risk prompt to extremely high risk to disaster confirmation, moves the early warning threshold forward, changes passive response to active prediction, greatly prolongs the emergency response time, calculates the kinetic energy by using radar echo inversion rockfall mass and combining velocity vector, realizes the quantitative evaluation of rockfall damage, divides low, medium and high energy levels, and combines with environmental information for final evaluation, so that the early warning decision is no longer a simple yes or no judgment, but a scientific and accurate grading based on potential damage degree, guiding to take differentiated response measures, by matching and verifying the actual position after rockfall with the predicted path, and using real-time path data to update the theoretical model and corresponding relationship, a closed-loop feedback system is formed, which can continuously learn and adapt to the topography and geological characteristics of a specific area, continuously optimize the prediction algorithm, thereby continuously improving the accuracy and reliability of early warning over time. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 The step flow chart of the rockfall multi-target radar monitoring and early warning method suitable for complex terrain provided by an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the drawings of the specification. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments.

[0019] Embodiments, refer to Figure 1The application provides a rockfall multi-target radar monitoring and early warning method suitable for complex terrains, comprising the following steps: step S1, obtaining echo signals by radar time-sharing electromagnetic wave emission, and extracting moving targets according to the non-zero frequency channel signals of the Doppler frequency diagram; step S2, obtaining numbered targets according to the moving targets, obtaining basic data according to the numbered targets, establishing a space rectangular coordinate system, and obtaining a theoretical path; step S3, obtaining monitoring data according to weather forecasts of a meteorological bureau, establishing a corresponding relationship between the monitoring data and the theoretical path according to the duration, and triggering a blue early warning and a yellow early warning in stages; step S4, judging whether to issue a red early warning according to the yellow early warning, inversely calculating the quality according to the RCS value, calculating the energy level, and obtaining an energy level; and step S5, obtaining environmental information, obtaining a final evaluation according to the environmental information and the energy level, and updating the corresponding relationship according to the final evaluation.

[0020] The application can effectively suppress the interference of strong background clutter such as rocks and vegetation in mountainous environments, greatly reduce the false alarm rate, ensure the accuracy of moving target detection, provide a reliable data basis for subsequent early warning, assign an independent number to each target and establish a space rectangular coordinate system, combine a prediction-matching mechanism based on the Kalman filtering principle, and can simultaneously stably track multiple rockfalls and generate a high-precision theoretical motion path. This overcomes the problems of trajectory confusion and loss in the traditional method in a multi-target scene, provides an accurate kinematic basis for risk assessment, deeply integrates weather forecast data of a meteorological bureau and radar monitoring, establishes a progressive early warning mechanism of blue, yellow and red, realizes the whole process coverage from risk prompt to extremely high risk to disaster confirmation, moves the early warning gate forward, changes passive response to active prediction, greatly prolongs the emergency response time, realizes the quantitative evaluation of the destructive power of rockfall by using radar echo to reverse the rockfall quality and combining the velocity vector to calculate the kinetic energy, divides the energy level into low, medium and high, and combines the environmental information to make a final evaluation, so that the early warning decision is no longer a simple yes or no judgment, but a scientific and accurate grading based on the potential damage degree, guiding to take differentiated response measures, matching and verifying the actual position after rockfall with the predicted path, and using real-time path data to update the theoretical model and the corresponding relationship, forming a closed-loop feedback system that can continuously learn and adapt to the topography and geological characteristics of a specific region, continuously optimize the prediction algorithm, and thus continuously improve the accuracy and reliability of early warning over time.

[0021] Step S11, a first electromagnetic wave is emitted by the radar to obtain a first echo signal, a first wave frequency is obtained according to the first echo signal, the first electromagnetic wave is emitted again to obtain a second echo signal, a second wave frequency is obtained according to the second echo signal; the first wave frequency and the second wave frequency are subtracted to obtain a difference value; when the difference value is 0, it is a fixed clutter and is directly discarded; when the difference value is not 0, it is an echo signal; step S12, the echo signal is subjected to fast Fourier transform to obtain a Doppler frequency diagram, the Doppler frequency diagram includes a zero frequency channel and a non-zero frequency channel, according to the Doppler frequency diagram, the echo signal in the zero frequency channel is obtained and discarded; according to the Doppler frequency diagram, the echo signal in the non-zero frequency channel is obtained, the echo signal is subjected to analog-to-digital conversion to obtain a digital signal, a moving target is obtained according to the digital signal; the moving target is numbered to obtain a numbered target.

[0022] Step S21, the moving target is numbered to obtain a numbered target; basic data is obtained by the radar according to the numbered target, the basic data includes distance, azimuth angle, pitch angle and radial velocity; a space rectangular coordinate system is established according to the distance, azimuth angle and pitch angle to obtain real-time position data of the numbered target; according to the real-time position data, the numbered target is divided according to time to obtain a target observation point, the target observation point is numbered to obtain a numbered observation point; step S22, the next numbered observation point is obtained by the radar according to the numbered observation point, the real-time position data is obtained according to the numbered observation point, the second real-time position data is obtained according to the next numbered observation point, the velocity vector is obtained according to the real-time position data and the second real-time position data, and the predicted position data at the next time is obtained according to the velocity vector and the real-time position data.

[0023] Step S22 is repeated to obtain the predicted position data and the repetition number until the rolling stone ends; the predicted position data is matched with the position data to calculate a matching success rate, the matching success rate is a ratio of a matching success number to the repetition number, the matching success number is a number of times that the current predicted position data obtained before the rolling stone ends is consistent with the real-time position data, if the matching success rate is greater than or equal to A, the predicted position data is connected to generate a theoretical path of the numbered target; if the matching success rate is less than A, it is determined that the numbered target has disappeared, and the predicted position data is deleted.

[0024] In a specific implementation, step S11 can filter out stationary clutter such as mountains and buildings by comparing the frequency difference between two adjacent echoes, thereby greatly reducing the number of false targets; step S12 can separate moving targets of different speeds by transforming the signal into the frequency domain through FFT, and the operation of discarding the zero-frequency channel further filters out low-speed clutter such as swaying leaves and slowly moving clouds, which may not be completely filtered out in step S11. This double filtering mechanism ensures that the radar only focuses on meaningful moving targets, providing a very clean and reliable data source for subsequent tracking and calculation, thereby reducing the false alarm rate from the root; a spatial rectangular coordinate system is established using the distance, azimuth angle and pitch angle to obtain real-time three-dimensional position data of the target, providing accurate coordinates of the target in space rather than only radial distance relative to the radar, which is a prerequisite for accurate trajectory prediction and impact assessment; the speed vector of the target is calculated in real time according to the current and previous positions of the target, and the position of the target at the next time is predicted accordingly. The prediction is updated and corrected with new observation data, and the target can be stably tracked by matching the predicted position with the measured position, even if the target disappears or is blocked in the radar field of view; the matching success rate is introduced as a key indicator to evaluate the effectiveness of the tracking algorithm. A high success rate is considered an effective target and a theoretical path is generated; a low success rate is considered an invalid target such as interference or disappearance and is deleted, and the system has self-evaluation capability and will not waste computing resources and produce invalid alarms on false targets, ensuring the reliability of the output results.

[0025] Step S31, obtain monitoring data from the weather forecast of the meteorological bureau, the monitoring data including rainfall, snowfall, temperature, duration and wind speed; according to the monitoring data, when any one of condition one rainfall greater than B, condition two snowfall greater than C, and condition three wind speed greater than D is met, a blue warning is issued to remind the management personnel to pay attention to weather changes; step S32, according to the monitoring data and the theoretical path, a corresponding relationship is established according to the duration, according to the blue warning, the monitoring data is obtained, when the duration is greater than E, and any one of rainfall greater than b, snowfall greater than c, and wind speed greater than d is met, a yellow warning is issued to remind the management personnel that there is a high risk of rockfall.

[0026] Step S41, when the yellow warning is issued, according to the corresponding relationship, step S1 is repeated through the radar to obtain moving targets, when no moving targets are obtained, the radar continues to monitor in real time until the end of the duration; when the radar obtains moving targets, a red warning is issued to remind the management personnel that there is rockfall activity, step S2 is repeated to record basic data, real-time position data and predicted position data, and a theoretical path is obtained.

[0027] In a specific implementation, the disasters are divided by using the leading indicators of the meteorological bureau forecast data such as rainfall, snowfall, wind speed, and duration, a warning can be issued several hours or even several days before the actual occurrence of the rolling stone, providing valuable advance for disaster prevention preparation such as personnel on duty and equipment inspection, and realizing the change from post-disaster emergency to pre-disaster prevention; three progressive warning levels of blue (weather attention), yellow (high risk), and red (confirmed occurrence) are designed, different levels correspond to different response measures; the blue warning only needs the attention of the management personnel, the yellow warning requires the system to enter a high alert state, that is, the radar continues to monitor, and the red warning triggers the whole-process emergency response, this classification avoids overreaction and makes the management resources be used efficiently; the issuance of the yellow warning is not only the end point, but also an instruction, which automatically triggers the radar system to follow the preset process and repeat steps S1 and S2 to perform key scanning and confirmation on the high-risk area, actively changes from meteorological-based prediction to radar-based detection, greatly improves the ability to capture the initial moving target in a complex environment, avoids missed reports, and realizes the whole process from meteorological data access, threshold judgment, and warning issuance to automatic triggering of radar scanning without manual intervention, automatic completion, realizes uninterrupted monitoring and warning for 7x24 hours, and the response speed far exceeds manual monitoring, ensuring that immediate action can be taken at critical moments and the safety of people's lives and property is maximized.

[0028] In step S42, the average RCS value of the moving target is obtained in real time by the radar according to the moving target, the rolling stone mass is obtained according to the pre-stored RCS-mass database, the speed vector is obtained according to the real-time position data and the predicted position data, and the rolling stone energy is obtained according to the mass and the speed vector, that is, rolling stone energy = 1 / 2 x mass x speed vector 2 .

[0029] According to the energy grade of the rolling stone, when the energy of the rolling stone is less than f, it is low energy, which can break glass and cause dents on the vehicle; when the energy of the rolling stone is greater than or equal to f and less than or equal to g, it is medium energy, which can destroy the engine cover of the vehicle and cause surface damage to the concrete structure; when the energy of the rolling stone is greater than g, it is high energy, which can penetrate the roof of the house and cause serious damage to the reinforced concrete structure, threatening life; according to the predicted position data, the environment near the predicted position data is photographed by the unmanned aerial vehicle to obtain environmental information, and according to the energy grade and the environmental information, the final evaluation is obtained, and according to the final evaluation, it is judged whether early evacuation and prevention are needed, and the environmental information is whether damage will be caused nearby; the final evaluation is that when the energy grade is low energy and the environmental information is that no damage will be caused, the monitoring is maintained; when the energy grade is low and the environmental information is that damage will be caused, an evacuation alarm is issued and the monitoring is continued; when the energy grade is medium and the environmental information is that no damage will be caused, the monitoring is maintained; when the energy grade is medium and the environmental information is that damage will be caused, an evacuation alarm is issued and the monitoring is continued; when the energy grade is high and the environmental information is that no damage will be caused, the prevention is continued in advance and the monitoring is continued; when the energy grade is high and the environmental information is that damage will be caused, the prevention is continued in advance, the population is evacuated, and the report is made, and the monitoring is continued; after the rolling stone occurs, the final occurrence position data is obtained, the occurrence position data and the predicted position data are matched, if the matching is successful, the predicted position data is the real position information; if the matching fails, the real-time path is obtained according to the basic data and the real-time position data, the real-time path is taken as the theoretical path, and the corresponding relationship is updated.

[0030] In the specific implementation, the mass is inversely calculated by introducing the radar RCS measurement, and the precise kinetic energy is calculated combined with the velocity vector, so as to quantify the damage ability of the rolling stone, distinguish the rolling stone that can only "break glass" from the rolling stone that can "penetrate the roof and threaten life", provide a scientific basis for taking the most appropriate response measures for different levels of risk, and greatly improve the accuracy and reliability of the early warning; the environmental information such as whether there are houses, vehicles and pedestrians near the predicted landing point is introduced by the unmanned aerial vehicle shooting, the cross judgment of the risk energy level and the environment is realized, the situational awareness ability and the intelligent level of the decision of the system are enhanced, and the emergency resources are used in the most needed place; the final occurrence position of the rolling stone is matched and verified with the predicted position, if the prediction is successful, the accuracy of the current corresponding relationship is verified; if the prediction fails, the corresponding relationship is updated by using the real data, the accuracy of the predicted trajectory will be higher and higher with the passage of time and the accumulation of events, so as to continuously enhance the reliability and effectiveness of the whole early warning system; according to the final evaluation result, the grading response measures from maintaining monitoring to evacuation and reporting are taken, so that the emergency management resources can be most reasonably and economically allocated, and the social and economic cost caused by the disaster is minimized.

[0031] The present application can effectively suppress the interference of strong background clutter such as rocks and vegetation in mountainous environment, greatly reduce the false alarm rate, and ensure the accuracy of moving target detection, by adopting the fixed clutter filtering technology based on Doppler frequency difference analysis and discarding the zero frequency channel signal by fast Fourier transform, providing a reliable data basis for subsequent early warning, assigning an independent number to each target and establishing a spatial rectangular coordinate system, combining the prediction-matching mechanism based on Kalman filtering principle, which can simultaneously track multiple rockfalls and generate high-precision theoretical motion path. This overcomes the problems of track confusion and loss in traditional methods in multi-target scenarios, provides accurate kinematic basis for risk assessment, deeply integrates meteorological bureau weather forecast data and radar monitoring, establishes a progressive warning mechanism of blue, yellow and red, realizes the whole process coverage from risk prompt to extremely high risk to disaster confirmation, moves the early warning threshold forward, changes passive response to active prediction, greatly extends the emergency response time, calculates the kinetic energy by using radar echo inversion and combining velocity vector, realizes the quantitative evaluation of rockfall damage, divides the energy level into low, medium and high, and combines with environmental information for final evaluation, so that the early warning decision is no longer a simple yes or no judgment, but a scientific and accurate grading based on the potential damage degree, guiding to take differentiated response measures, through matching and verifying the actual position after rockfall with the predicted path, and updating the theoretical model and corresponding relationship by using real-time path data, a closed-loop feedback system is formed, which can continuously learn and adapt to the topography and geological characteristics of a specific area, continuously optimize the prediction algorithm, and thus continuously improve the accuracy and reliability of early warning with time.

[0032] Those skilled in the art will appreciate that embodiments of the present application can be readily used as a method, a system or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (or computer- readable storage media) having computer-usable program code embodied in the medium. The medium can be any available storage media that can be accessed by a computer. By way of example, and not limitation, such computer-usable storage media can include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other storage medium(s) that can be used to carry or store desired computer program code in the form of instructions or data structures and that can be accessed by a computer. Also, the present application can be embodied in a computer program product that can be traded as goods or merchandise, through the storage medium described above or any other suitable medium. Accordingly, the present application can be embodied in a computer program product that can be traded as goods or merchandise, through the storage medium described above or any other suitable medium. Computer program code embodied in a storage medium is said (referring to a program or code) to "cause a computer" (or Figure 1 one or more functions specified in the flow or flows and / or blocks Figure 1 one or more functions specified in the flow or flows and / or blocks

[0033] It should be noted that the above-mentioned embodiments are only used to illustrate but not to limit the technical solutions of the present application. Although the present application is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalent replaced without departing from the spirit and scope of the technical solutions of the present application, and they should be covered in the scope of the claims of the present application.

Claims

1. A multi-target radar monitoring and early warning method for rolling stones adapted to complex terrain, characterized in that, The process includes the following steps: Step S1, acquiring echo signals via radar, and acquiring moving targets based on the echo signals; Step S2, obtaining numbered targets based on the moving targets, obtaining basic data based on the numbered targets, and obtaining theoretical paths based on the basic data; Step S3, acquiring monitoring data based on weather forecasts from meteorological bureaus, determining whether to issue a blue warning based on the monitoring data, and establishing a correspondence between the monitoring data and the theoretical paths according to duration to determine whether to issue a yellow warning. Step S4: Based on the yellow warning, determine whether to issue a red warning, and obtain the rolling stone energy, and classify the energy level according to the rolling stone energy; Step S5: Obtain environmental information; based on the environmental information and energy level, obtain a final assessment; update the correspondence based on the final assessment. Step S11: Transmit the first electromagnetic wave via radar, obtain the first echo signal, obtain the first wave frequency based on the first echo signal, transmit the first electromagnetic wave again, obtain the second echo signal, and obtain the second wave frequency based on the second echo signal; calculate the difference between the first wave frequency and the second wave frequency; when the difference is 0, it is considered fixed clutter and is discarded. When the difference is not 0, it is an echo signal; Step S12, perform a fast Fourier transform on the echo signal to obtain a Doppler frequency map, which includes a zero-frequency channel and non-zero-frequency channels. According to the Doppler frequency map, obtain the echo signal in the zero-frequency channel and discard it; according to the Doppler frequency map, obtain the echo signal in the non-zero-frequency channel, perform analog-to-digital conversion on the echo signal to obtain a digital signal, and obtain the moving target based on the digital signal; number the moving target to obtain a numbered target; Step S21, number the moving target to obtain a numbered target; according to the numbered target, obtain basic data through radar. The basic data includes range, azimuth, elevation, and radial velocity; a spatial rectangular coordinate system is established based on the range, azimuth, and elevation to obtain the real-time position data of the numbered target; based on the real-time position data, the numbered target is divided according to time to obtain target observation points, and the target observation points are numbered to obtain numbered observation points; in step S22, based on the numbered observation points, the next numbered observation point is obtained through radar, real-time position data is obtained based on the numbered observation points, second real-time position data is obtained based on the next numbered observation point, and a velocity vector is obtained based on the real-time position data and the second real-time position data; based on the velocity vector and the real-time... Location data, obtain the predicted location data for the next moment; repeat step S22, obtain the predicted location data and the number of repetitions until the rolling stone ends; match the predicted location data with the location data, calculate the matching success rate, the matching success rate is the ratio of the number of successful matches to the number of repetitions, the number of successful matches is the number of times the current predicted location data matches the real-time location data before the rolling stone ends, if the matching success rate is greater than or equal to A, then connect the predicted location data to generate the theoretical path of the numbered target; if the matching success rate is less than A, then determine that the numbered target has disappeared and delete the predicted location data; step S31, according to the meteorological bureau The weather forecast obtains monitoring data, including rainfall, snowfall, temperature, duration, and wind speed. Based on the monitoring data, if any one of the following conditions is met (condition 1: rainfall greater than B, condition 2: snowfall greater than C, condition 3: wind speed greater than D), a blue warning is issued to remind management personnel to pay attention to weather changes. In step S32, a correspondence is established between the monitoring data and the theoretical path according to the duration. Based on the blue warning, monitoring data is obtained. If any one of the following conditions is met (condition 1: duration greater than E, rainfall greater than b, snowfall greater than c, wind speed greater than d), a yellow warning is issued to remind management personnel of an extremely high risk of rockfall.

2. The method for monitoring and early warning of rolling stones using multi-target radar adapted to complex terrain as described in claim 1, characterized in that, Step S4 includes the following sub-steps: Step S41, when a yellow warning is issued, according to the correspondence, step S1 is repeated by radar to acquire moving targets. If no moving targets are acquired, the radar continues to monitor in real time until the acquisition time ends. When the radar acquires a moving target, a red warning is issued to remind management personnel to confirm the rockfall activity. Step S2 is repeated to record the basic data, real-time location data, and predicted location data, and to acquire the theoretical path.

3. The method for monitoring and early warning of rolling stones using multi-target radar adapted to complex terrain as described in claim 2, characterized in that, The step S4 includes the following sub-steps: Step S42, based on the moving target, the average RCS value of the moving target is obtained in real time by radar, and the mass of the rolling stone is obtained according to the pre-stored RCS-mass database. The velocity vector is obtained based on the real-time location data and the predicted location data; the rolling stone energy is obtained based on the mass and velocity vector, where the rolling stone energy = 1 / 2 × mass × velocity vector. 2 .

4. The multi-target radar monitoring and early warning method for rolling stones adapted to complex terrain as described in claim 3, characterized in that, The rolling stone energy also includes: classifying energy levels based on the rolling stone energy. When the rolling stone energy is less than f, it is low energy, which is enough to shatter glass and cause dents to vehicles; when the rolling stone energy is greater than or equal to f and less than or equal to g, it is medium energy, which is enough to destroy a vehicle's hood and cause surface damage to the concrete structure; when the rolling stone energy is greater than g, it is high energy, which is enough to penetrate a building's roof, cause serious damage to reinforced concrete structures, and threaten lives.

5. The method for monitoring and warning of rolling stones using multi-target radar adapted to complex terrain as described in claim 4, characterized in that, The specific steps of step S5 include the following: based on the predicted location data, taking pictures of the environment near the predicted location data by drone to obtain environmental information; obtaining a final assessment based on the environmental information and energy level; and determining whether early evacuation and prevention are necessary based on the final assessment, wherein the environmental information is whether the surrounding area will cause damage. The final assessment is as follows: if the energy level is low and the environmental information indicates no harm will occur, monitoring will continue; if the energy level is low and the environmental information indicates harm will occur, an evacuation alert will be issued, and monitoring will continue; if the energy level is medium and the environmental information indicates no harm will occur, monitoring will continue; if the energy level is medium and the environmental information indicates harm will occur, an evacuation alert will be issued, and monitoring will continue; if the energy level is high and the environmental information indicates no harm will occur, preventative measures will be taken in advance, and monitoring will continue; if the energy level is high and the environmental information indicates harm will occur, preventative measures will be taken in advance, the population will be evacuated, and the situation will be reported, while monitoring will continue.

6. The multi-target radar monitoring and early warning method for rolling stones adapted to complex terrain as described in claim 4, characterized in that, Step S5 further includes: after the stone falls, obtaining the final occurrence location data, matching the occurrence location data with the predicted location data, if the match is successful, the predicted location data is the actual location information; if the match fails, obtaining the real-time path based on the basic data and the real-time location data, using the real-time path as the theoretical path, and updating the correspondence.

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