A personnel positioning system and risk assessment method in foundation pit construction

Abstract

The present invention provides a personnel positioning system and risk assessment method in foundation pit construction, including: multiple surface settlement detection units arranged on the surface of the foundation pit and multiple personnel positioning units arranged on the side wall of the foundation pit; the surface settlement detection unit includes: a surface settlement detector and a data acquisition module; the personnel positioning unit includes: a box, an information acquisition module and a transmitting antenna; the data acquisition module receives the surface settlement information collected by the surface settlement detector, the information acquisition module receives the surface settlement information sent by the data acquisition module, and collects the personnel position information through the personnel identification card; the transmitting antenna sends the surface settlement information and the personnel position information to a remote server. The present invention realizes the unified management of personnel position information and surface settlement information by combining the personnel positioning unit with the surface settlement detection unit, and avoids the problems such as the difficulty of personnel positioning when danger occurs during the foundation pit construction process.

Description

Technical Field

[0001] The invention relates to the field of personnel positioning in foundation pits, and in particular to a personnel positioning system and a risk assessment method in foundation pit construction. Background Art

[0002] During the foundation pit construction process, personnel safety management has always been an important link in the foundation pit construction process. The foundation pit construction site is open, the process is complicated, and workers of various trades work at the same time. It is difficult for managers to know the location of each worker in time, which leads to personnel management problems in the actual construction process. When a certain project location is about to be dangerous, it is impossible to immediately determine which construction workers are in the danger zone, and it is impossible to achieve targeted early warning of project risks.

[0003] On the other hand, the main risk in the foundation pit construction process comes from the tilt deformation of the foundation pit sidewall, and the direct reflection of this risk is the settlement deformation of the surrounding surface. In the traditional construction process, the surface deformation is generally monitored by manual measurement. This method is costly and has low measurement frequency and accuracy, and cannot achieve the purpose of effective safety management of foundation pit projects. Summary of the invention

[0004] The present invention provides a personnel positioning system in foundation pit construction to overcome the above technical problems.

[0005] The present invention provides a personnel positioning system in foundation pit construction, comprising: a surface settlement detection unit arranged on the surface of the foundation pit and a personnel positioning unit arranged on the side wall of the foundation pit;

[0006] The surface settlement detection unit comprises: a surface settlement detector and a data acquisition module;

[0007] The personnel positioning unit comprises: a box, an information collection module and a transmitting antenna; the box is fixed to the side wall of the foundation pit, the information collection module is arranged in the box, and the transmitting antenna is fixed outside the box;

[0008] The data acquisition module receives the surface settlement information collected by the surface settlement detector, the information acquisition module receives the surface settlement information sent by the data acquisition module, and collects personnel location information through the personnel identification card; the transmitting antenna sends the surface settlement information and personnel location information to the remote server, and the remote server analyzes the surface settlement information and personnel location information of different areas, and sends a warning signal to the foundation pit when there is abnormal surface settlement.

[0009] Furthermore, the remote server includes:

[0010] A sample data calculation unit, which can obtain sample data for evaluating the risk level of a target location, wherein the target location is the location of each group of ground subsidence detection units and the personnel positioning unit; the sample data includes: the number of personnel, the distances between multiple personnel and the target location, the average distance, the minimum distance and the ground subsidence information, the average distance and the minimum distance are calculated from multiple distances; the number of all identification cards recognized by the personnel positioning unit is the number of personnel; the personnel positioning unit obtains the distances between multiple personnel and the target location;

[0011] A mapping sample forming unit can obtain the risk level according to the number of personnel, average distance, minimum distance and surface settlement information, and form a mapping sample for calculating the risk level. The mapping matrix is ​​expressed as:

[0012] Denoted as X→Y

[0013] Among them, x m1 is the number of personnel, x m2 is the average distance, x m3 is the minimum distance; m is the number of samples; x (m,l+3) is the surface settlement information of the target location, l is the number of surface settlement information of the target historical location; y m is the risk level;

[0014] The modeling unit can use a nonlinear mapping process to model Y. Assuming that the Y value corresponding to X obeys a normal distribution, the model is as follows:

[0015] Denoted as Y~N(μ,K)

[0016] Among them, μ1,μ2,...μ m is the mean vector of the joint normal distribution, and the k in the above matrix ml That is, the coefficient matrix of y, which is solved using the following function:

[0017]

[0018] in, σ f is a constant coefficient;

[0019] The risk level evaluation unit can obtain the risk level of the target location by establishing a risk level y * The following equation is obtained by establishing a joint distribution with the sample data:

[0020] Recorded as

[0021] Combined with formula (1), we can get the risk assessment level y * The distribution parameters of are:

[0022] y * ~N(μ * ,σ * )

[0023] in, Get the risk level of the target location.

[0024] Furthermore, the surface settlement detection unit also includes: a special-shaped steel plate; the free end of the special-shaped steel plate is fixed to the surface of the foundation pit, the middle of the special-shaped steel plate is convex, the convex portion faces upward, and the surface settlement detector is fixedly connected to the convex portion toward the outside; the convex portion and the surface of the foundation pit form a accommodating cavity, the data acquisition module is arranged in the accommodating cavity, and is fixedly connected to the convex portion toward the inside.

[0025] Furthermore, it also includes: a clamping member and a rubber ball for preventing the box body from colliding with the side wall of the foundation pit; the clamping member includes a support member fixed to the side wall of the foundation pit and a fixing member fixed to the back plate of the box body; the fixing member is clamped and connected with the support member;

[0026] The rubber ball is fixedly connected to the back plate of the box.

[0027] Furthermore, the support member is a Z-shaped structure formed by connecting the first steel plate, the second steel plate and the third steel plate end to end in sequence, the first steel plate is fixed to the side wall of the foundation pit, and the end of the third steel plate faces upward;

[0028] The fixing member is formed by welding a fourth steel plate and a fifth steel plate at an acute angle, the fourth steel plate is fixedly connected to the back plate of the box body, and the fifth steel plate is inserted between the third steel plate and the side wall of the foundation pit.

[0029] Furthermore, the surface settlement detector is a static level, the data acquisition module is a ZigBee data module, and the information acquisition module is a ZigBee information acquisition module.

[0030] Furthermore, there are multiple ground subsidence detection units and multiple personnel positioning units; the distance between adjacent ground subsidence detection units is no more than 20 meters, and the distance between adjacent personnel positioning units is no more than 10 meters.

[0031] A risk assessment method applied to the above system comprises:

[0032] S1: Obtain sample data for evaluating the risk level of a target location, wherein the target location is the location of each group of ground subsidence detection units and the personnel positioning unit; the sample data includes: the number of personnel, the distances between multiple personnel and the target location, and ground subsidence information, and the average distance and the minimum distance calculated from the multiple distances;

[0033] The number of all identification cards identified by the personnel positioning unit is the number of personnel; the personnel positioning unit obtains the distance between multiple personnel and the target location;

[0034] S2: Obtain the risk level according to the number of personnel, average distance, minimum distance and surface settlement information, and form a mapping sample for calculating the risk level. The mapping matrix is ​​expressed as:

[0035] Denoted as X→Y

[0036] Among them, x m1 is the number of personnel, x m2 is the average distance, x m3 is the minimum distance; m is the number of samples; x (m,l+3) is the surface settlement information of the target location, l is the number of surface settlement information of the target historical location; y m is the risk level;

[0037] S3: Assuming that the Y value corresponding to X follows a normal distribution, a nonlinear mapping process is used to model Y:

[0038] Denoted as Y~N(μ,K)

[0039] Among them, μ1,μ2,...μ m is the mean vector of the joint normal distribution, and the k in the above matrix ml That is, the coefficient matrix of y, which is solved using the following function:

[0040]

[0041] in, σ f is a constant coefficient;

[0042] S4: Establish risk level y * Establish a joint distribution with the samples:

[0043] Recorded as

[0044] Combined with formula (1), the risk assessment level y is obtained * The distribution parameters of are:

[0045] y* ~N(μ * ,σ * )

[0046] in, Get the risk level of the target location.

[0047] The present invention realizes unified management of personnel position information and surface settlement information through a personnel positioning unit and a surface settlement detection unit, thereby avoiding problems such as difficulty in positioning personnel when danger occurs during foundation pit construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0049] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0050] Figure 2 This is a schematic diagram of the structure of a personnel positioning unit according to an embodiment of the present invention;

[0051] Figure 3 This is a schematic diagram of the structure of a surface settlement detection unit according to an embodiment of the present invention;

[0052] Figure 4 The installation position intention of the personnel positioning unit and the ground subsidence detection unit in the embodiment of the present invention;

[0053] Figure 5 The figure is a schematic diagram of the comprehensive risk level evaluation process according to an embodiment of the present invention. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] The present invention provides a personnel positioning system in foundation pit construction, such as Figure 1 As shown, it is a schematic diagram of the overall structure of an embodiment of the present invention, which includes: a surface settlement detection unit 1 arranged on the surface 6 of the foundation pit and a human positioning unit 2 arranged on the side wall of the foundation pit; Figure 3As shown, it is a schematic diagram of the structure of a surface settlement detection unit according to an embodiment of the present invention; the surface settlement detection unit 1 comprises: a surface settlement detector 1.1 and a data acquisition module 1.2; the surface settlement detector 1.1 is a static level, and the data acquisition module 1.2 is a ZigBee data module; Figure 2 As shown, it is a schematic diagram of the structure of the personnel positioning unit according to an embodiment of the present invention; the personnel positioning unit 2 comprises: a box 2.1, an information collection module 2.2 and a transmitting antenna 2.3; the box 2.1 is fixed to the side wall of the foundation pit by bolts, the information collection module 2.2 is fixed in the box 2.1 by bolts, the transmitting antenna 2.3 is fixed outside the box 2.1 and connected to the information collection module 2.2 by wires; the information collection module 2.2 is a ZigBee information collection module;

[0056] The data acquisition module 1.2 receives the surface settlement information collected by the surface settlement detector 1.1, the information acquisition module 2.2 receives the surface settlement information sent by the data acquisition module 1.2, and collects the personnel location information through the personnel identification card 2.4; the transmitting antenna 2.3 sends the surface settlement information and the personnel location information to the remote server, and the remote server analyzes the surface settlement information and the personnel location information of different areas. When there is abnormal surface settlement, it sends a warning signal, such as an audible and visual alarm, to the alarm equipment in the foundation pit.

[0057] Furthermore, the surface settlement detection unit 1 also includes: a special-shaped steel plate 1.3; the free end of the special-shaped steel plate 1.3 is fixed to the surface of the foundation pit by bolts, the middle of the special-shaped steel plate 1.3 is convex, the convex part faces upward, and the surface settlement detector 1.1 is fixedly connected to the convex part outwardly by bolts; the convex part and the surface of the foundation pit form a accommodating cavity, the data acquisition module 1.2 is arranged in the accommodating cavity, and is fixedly connected to the convex part inwardly, so as to protect the data acquisition module 1.2 and prevent it from being damaged by wind and sun.

[0058] The remote server comprises:

[0059] A sample data calculation unit, which can obtain sample data for evaluating the risk level of a target location, wherein the target location is the location of each group of ground subsidence detection units and the personnel positioning unit; the sample data includes: the number of personnel, the distances between multiple personnel and the target location, the average distance, the minimum distance and the ground subsidence information, the average distance and the minimum distance are calculated from multiple distances; the number of all identification cards recognized by the personnel positioning unit is the number of personnel; the personnel positioning unit obtains the distances between multiple personnel and the target location;

[0060] A mapping sample forming unit can obtain the risk level according to the number of personnel, average distance, minimum distance and surface settlement information, and form a mapping sample for calculating the risk level. The mapping matrix is ​​expressed as:

[0061] Denoted as X→Y

[0062] Among them, x m1 is the number of personnel, x m2 is the average distance, x m3 is the minimum distance; m is the number of samples; x (m,l+3) is the surface settlement information of the target location, l is the number of surface settlement information of the target historical location; y m is the risk level;

[0063] The modeling unit can use a nonlinear mapping process to model Y. Assuming that the Y value corresponding to X obeys a normal distribution, the model is as follows:

[0064] Denoted as Y~N(μ,K)

[0065] Among them, μ1,μ2,...μ m is the mean vector of the joint normal distribution, and the k in the above matrix ml That is, the coefficient matrix of y, which is solved using the following function:

[0066]

[0067] in, σ f is a constant coefficient;

[0068] The risk level evaluation unit can obtain the risk level of the target location by establishing a risk level y * The following equation is obtained by establishing a joint distribution with the sample data:

[0069] Recorded as

[0070] Combined with formula (1), we can get the risk assessment level y * The distribution parameters of are:

[0071] y * ~N(μ * ,σ * )

[0072] in, Get the risk level of the target location.

[0073] Specifically, the surface settlement detection unit 1 detects the settlement information of the foundation pit surface, and sends the surface settlement information to the data acquisition module 1.2 through the ZigBee protocol, i.e., the Purple Bee protocol. The data acquisition module 1.2 sends the settlement information of the foundation pit surface to the information acquisition module 2.2. The ZigBee protocol has the advantages of low power consumption, low cost, support for a large number of online nodes, low complexity, fast, reliable, and safe. It is very powerful for open foundation pit environments and multiple monitoring settings; at the same time, the information acquisition module 2.2 identifies the specific location of the construction personnel by identifying the identification card 2.4 carried by the construction personnel (the information identification in this part is the prior art and will not be repeated in this application); the information acquisition module 2.2 sends the settlement information of the foundation pit surface and the personnel location information to the remote server through the transmitting antenna 2.3. The remote server makes predictions for the settlement information of the foundation pit surface at different locations, and determines the dangerous area. After determining the dangerous area, it notifies the construction personnel in the area to evacuate urgently.

[0074] Furthermore, it also includes: a clamping member 3 and a rubber ball 4 for preventing the box body 1 from colliding with the side wall 5 of the foundation pit; Figure 4 As shown, it is an intentional installation position of the personnel positioning unit and the surface settlement detection unit of the embodiment of the present invention; the clamping member 3 includes a support member 3.1 fixed to the foundation pit side wall 5 by bolts and a fixing member 3.2 fixed to the back plate of the box body 2.1; the fixing member 3.2 is clamped and connected with the support member 3.1; the support member 3.1 is a Z-shaped structure formed by connecting the first steel plate 3.1.1, the second steel plate 3.1.2 and the third steel plate 3.1.3 in sequence end to end, the first steel plate 3.1.1 is fixed to the foundation pit side wall 5, and the end of the third steel plate 3.1.3 faces upward; the fixing member 3.2 is welded by the fourth steel plate 3.2.1 and the fifth steel plate 3.2.2 at an acute angle, the fourth steel plate 3.2.1 is fixedly connected to the back plate of the box body 2.1, and the fifth steel plate 3.2.2 is inserted between the third steel plate 3.1.3 and the foundation pit side wall 5.

[0075] The rubber ball 4 is fixedly connected to the back plate of the box body 2.1, so that the back plate of the box body 2.1 is separated from the side wall 5 of the foundation pit, thereby preventing collision and damage to the box body and extending its service life.

[0076] Furthermore, in order to accurately detect the location information of the construction personnel without omission, there are multiple surface settlement detection units 1 and personnel positioning units 2; the distance between adjacent surface settlement detection units 1 is no more than 20 meters, and the distance between adjacent personnel positioning units 2 is no more than 10 meters, which ensures that the entire foundation pit is within the detection range and further ensures the safety of the construction personnel.

[0077] The present invention also provides a risk assessment method applied to the above system, comprising:

[0078] S1: Obtain sample data for evaluating the risk level of a target location, wherein the target location is the location of each group of ground subsidence detection units and the personnel positioning unit; the sample data includes: the number of personnel, the distances between multiple personnel and the target location, and ground subsidence information, and the average distance and the minimum distance calculated from the multiple distances;

[0079] The number of all identification cards identified by the personnel positioning unit is the number of personnel; the personnel positioning unit obtains the distance between multiple personnel and the target location;

[0080] Specifically, the distance between the person and the target location can be expressed as:

[0081]

[0082] Among them, the RSSI (signal strength) value is a value that can be actually measured and can be regarded as a known value; the A and n values ​​are affected by the working environment of the personnel positioning unit and need to be obtained through field testing (this part is the prior art and will not be repeated in this application). At the foundation pit construction site, by collecting the RSSI value of the target position, the A and n values ​​can be obtained according to the linear regression method, and then the distance between the personnel and the target position can be obtained.

[0083] The personnel positioning unit will automatically count the number of valid RSSIs near each target location, that is, the number of people, and calculate the average distance and minimum distance between all valid people and the target location.

[0084] S2: Obtain the risk level according to the number of personnel, average distance, minimum distance and surface settlement information, and form a mapping sample for calculating the risk level. The mapping matrix is ​​expressed as:

[0085] Denoted as X→Y

[0086] Among them, x m1 is the number of personnel, x m2 is the average distance, x m3 is the minimum distance; m is the number of samples; x (m,l+3) is the surface settlement information of the target location, l is the number of surface settlement information of the target historical location; y m is the risk level;

[0087] S3: Assuming that the Y value corresponding to X follows a normal distribution, a nonlinear mapping process is used to model Y:

[0088] Denoted as Y~N(μ,K)

[0089] Among them, μ1,μ2,...μ mis the mean vector of the joint normal distribution, and the k in the above matrix ml That is, the coefficient matrix of y, which is solved using the following function:

[0090]

[0091] in, σ f is a constant coefficient;

[0092] S4: Establish risk level y * Establish a joint distribution with the samples:

[0093] Recorded as

[0094] Combined with formula (1), the risk assessment level y is obtained * The distribution parameters of are:

[0095] y * ~N(μ * ,σ * )

[0096] in, Get the risk level of the target location, such as Figure 5 As shown, they are level one risk, level two risk, level three risk, level four risk and level five risk.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A personnel positioning system in foundation pit construction, characterized in that: include: A plurality of ground settlement detection units (1) arranged on the surface of the foundation pit (6) and a plurality of personnel positioning units (2) arranged on the side wall of the foundation pit; The surface subsidence detection unit (1) comprises: a surface subsidence detector (1.1) and a data acquisition module (1.2); The personnel positioning unit (2) comprises: a box (2.1), an information collection module (2.2) and a transmitting antenna (2.3); the box (2.1) is fixed to the side wall of the foundation pit, the information collection module (2.2) is arranged in the box (2.1), and the transmitting antenna (2.3) is fixed outside the box (2.1); The data acquisition module (1.2) receives the surface settlement information collected by the surface settlement detector (1.1); the information acquisition module (2.2) receives the surface settlement information sent by the data acquisition module (1.2), and collects personnel location information through the personnel identification card (2.4); the transmitting antenna (2.3) sends the surface settlement information and personnel location information to the remote server, and the remote server analyzes the surface settlement information and personnel location information of different areas, and sends an early warning signal to the foundation pit when there is abnormal surface settlement; the remote server comprises: A sample data calculation unit, which can obtain sample data for evaluating the risk level of a target location, wherein the target location is the location of each group of ground subsidence detection units and the personnel positioning unit; the sample data includes: the number of personnel, the distances between multiple personnel and the target location, the average distance, the minimum distance and the ground subsidence information, the average distance and the minimum distance are calculated from multiple distances; the number of all identification cards recognized by the personnel positioning unit is the number of personnel; the personnel positioning unit obtains the distances between multiple personnel and the target location; A mapping sample forming unit can obtain the risk level according to the number of personnel, average distance, minimum distance and surface settlement information, and form a mapping sample for calculating the risk level. The mapping matrix is ​​expressed as: Note that X→Y Among them, x m1 is the number of personnel, x m2 is the average distance, x m3 is the minimum distance; m is the number of samples; x (m,l+3) is the surface settlement information of the target location, l is the number of surface settlement information of the target historical location; y m is the risk level; The modeling unit can use a nonlinear mapping process to model Y. Assuming that the Y value corresponding to X obeys a joint normal distribution, the model is as follows: Denoted as Y~N(μ,K) Among them, μ1,μ2,...μ m is the mean vector of the joint normal distribution, and the k in the above matrix m l is the coefficient matrix of y, and the following function is used to solve it: in, σ f is a constant coefficient; The risk level evaluation unit can obtain the risk level of the target location by establishing a risk level y * The following equation is obtained by establishing a joint distribution with the sample data: Recorded as Combined with formula (1), the risk assessment level y is obtained * The distribution parameters of are: y * ~N(μ * ,s * ) in, Get the risk level of the target location.

2. The system according to claim 1, characterized in that The surface settlement detection unit (1) further comprises: a special-shaped steel plate (1.3); the free end of the special-shaped steel plate (1.3) is fixed to the surface of the foundation pit, the middle of the special-shaped steel plate (1.3) is raised to form a raised portion, the raised portion faces upward, and the surface settlement detector (1.1) is fixedly connected to the raised portion outwardly; the raised portion and the surface of the foundation pit form a receiving cavity, the data acquisition module (1.2) is arranged in the receiving cavity and is fixedly connected to the raised portion.

3. The system according to claim 1, characterized in that Also includes: A clamping member (3) and a rubber ball (4) for preventing the box body (1) from colliding with the side wall (5) of the foundation pit; the clamping member (3) comprises a support member (3.1) fixed to the side wall (5) of the foundation pit and a fixing member (3.2) fixed to the back plate of the box body (2.1); the fixing member (3.2) is clamped and connected to the support member (3.1); The rubber ball (4) is fixedly connected to the back plate of the box body (2.1).

4. The system according to claim 3, characterized in that The support member (3.1) is a Z-shaped structure formed by connecting a first steel plate (3.1.1), a second steel plate (3.1.2) and a third steel plate (3.1.3) end to end in sequence, wherein the first steel plate (3.1.1) is fixed to the side wall (5) of the foundation pit, and the end of the third steel plate (3.1.3) faces upward; The fixing member (3.2) is formed by welding a fourth steel plate (3.2.1) and a fifth steel plate (3.2.2) at an acute angle, the fourth steel plate (3.2.1) is fixedly connected to the back plate of the box body (2.1), and the fifth steel plate (3.2.2) is inserted between the third steel plate (3.1.3) and the side wall (5) of the foundation pit.

5. The system according to claim 1, characterized in that The surface settlement detector (1.1) is a static level, the data acquisition module (1.2) is a ZigBee data module, and the information acquisition module (2.2) is a ZigBee information acquisition module.

6. The system according to claim 1, characterized in that There are a plurality of the ground subsidence detection units (1) and the personnel positioning units (2); the distance between adjacent ground subsidence detection units (1) is no greater than 20 meters, and the distance between adjacent personnel positioning units (2) is no greater than 10 meters.

7. A risk assessment method in foundation pit construction, characterized in that: include: S1: Acquire sample data for evaluating the risk level of a target location, wherein the target location is the location of each group of ground subsidence detection units and personnel positioning units; The sample data includes: the number of personnel, the distances between multiple personnel and the target location, the average distance, the minimum distance and the ground subsidence information, wherein the average distance and the minimum distance are calculated from multiple distances; the number of all identification cards identified by the personnel positioning unit is the number of personnel; the personnel positioning unit obtains the distances between multiple personnel and the target location; S2: Obtain the risk level according to the number of personnel, average distance, minimum distance and surface settlement information, and form a mapping sample for calculating the risk level. The mapping matrix is ​​expressed as: Note that X→Y Among them, x m1 is the number of personnel, x m2 is the average distance, x m3 is the minimum distance; m is the number of samples; x (m,l+3) is the surface settlement information of the target location, l is the number of surface settlement information of the target historical location; y m is the risk level; S3: Assuming that the Y values ​​corresponding to X follow a joint normal distribution, a nonlinear mapping process is used to model Y: Denoted as Y~N(μ,K) Among them, μ1,μ2,...μ m is the mean vector of the joint normal distribution, and the k in the above matrix ml That is, the coefficient matrix of y, which is solved using the following function: in, σ f is a constant coefficient; S4: Establish risk level y * Establish a joint distribution with the samples: Recorded as Combined with formula (1), we can get the risk assessment level y * The distribution parameters of are: y * ~N(μ * ,s * ) in, Get the risk level of the target location.

Images