Positioning method, device, equipment and medium based on time radar data

Abstract

Embodiments of the present invention disclose a method, apparatus, device, and medium for positioning radar data based on time. The method includes obtaining the data acquisition time of target radar data, determining target location information from each candidate location information based on the data acquisition time and the location acquisition time of each candidate location information, and locating the target radar data based on the target location information. Embodiments of the present invention improve the accuracy of radar data positioning.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of computer technology, and in particular to a positioning method, apparatus, device, and medium for time-based radar data. Background Art

[0002] Roads can sink due to natural or human factors, forming ground subsidence. These subsidences increase the risk of traffic accidents and casualties, while also causing building foundations to sink, cracks in buildings, damage to underground pipelines, and urban flooding. Therefore, monitoring road subsidence is crucial to ensure public safety and well-being.

[0003] There is currently no mature method to accurately locate road collapse points. Summary of the Invention

[0004] The embodiments of the present application disclose a time-based radar data positioning method, apparatus, device, and medium to solve the problem of low positioning accuracy of existing radar data.

[0005] In a first aspect, an embodiment of the present invention provides a positioning method based on time-based radar data, the method comprising:

[0006] Obtaining a data acquisition time of the target radar data, and determining the target position information from each candidate position information based on the data acquisition time and the position acquisition time of each candidate position information;

[0007] The target radar data is located according to the target position information.

[0008] In a second aspect, an embodiment of the present invention provides a positioning device based on time-based radar data, the device comprising:

[0009] a position information determination module, configured to obtain a data acquisition time of target radar data, and determine target position information from each candidate position information based on the data acquisition time and the position acquisition time of each candidate position information;

[0010] A positioning module is used to locate the target radar data according to the target position information.

[0011] In a third aspect, an embodiment of the present invention provides a device, comprising:

[0012] one or more processors;

[0013] a storage device for storing one or more programs,

[0014] When the one or more programs are executed by the one or more processors, the one or more processors implement the time-based radar data positioning method as described in any one of the embodiments of the present invention.

[0015] In a fourth aspect, an embodiment of the present invention provides a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements a time-based radar data positioning method as described in any one of the embodiments of the present invention.

[0016] The embodiments of the present invention achieve the effect of improving the positioning accuracy of radar data. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 A flowchart of a time-based radar data positioning method provided in Example 1 of the present invention;

[0019] Figure 2A A flowchart of a time-based radar data positioning method provided in Example 2 of the present invention;

[0020] Figure 2B A schematic diagram of device interaction for radar data positioning provided in the second embodiment of the present invention;

[0021] Figure 3 A schematic structural diagram of a positioning device based on time-based radar data provided in a third embodiment of the present invention;

[0022] Figure 4 A schematic structural diagram of a device provided in Example 4 of the present invention. DETAILED DESCRIPTION

[0023] The following is a further detailed description of the embodiments of the present invention in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the embodiments of the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate structures relevant to the embodiments of the present invention, rather than all structures.

[0024] During the research and development process, the applicant discovered that existing road collapse monitoring methods typically use ground-penetrating radar to obtain radar data and determine whether a road collapse exists at the current location based on this radar data. This location information is often collected using GPS (Global Positioning System). However, in urban environments, GPS signals are highly unstable due to the influence of tall buildings, overpasses, treetops, and tunnels, which can easily cause coordinate drift. This makes it impossible to accurately correlate radar data with location information, making it impossible to accurately locate the location of the road collapse.

[0025] Example 1

[0026] Figure 1 This is a flow chart of a time-based radar data positioning method provided in the first embodiment of the present invention. This embodiment is applicable to situations where radar data is used for positioning. This method can be performed by a time-based radar data positioning device provided in the embodiment of the present invention. The device can be implemented in software and / or hardware. Figure 1 As shown, the method may include:

[0027] S101: Acquire data collection time of target radar data, and determine target position information from each candidate position information according to the data collection time and the position collection time of each candidate position information.

[0028] Target radar data is collected by ground-penetrating radar (GPR), a geophysical method that uses an antenna to transmit and receive high-frequency electromagnetic waves to detect the properties and distribution of materials within a medium. In this embodiment, the GPR transmits probing electromagnetic waves underground and receives reflected electromagnetic waves as radar data. GPR detection methods include, but are not limited to, profiling, wide-angle, transmitted wave, and three-dimensional measurement. The GPR is installed in the vehicle, enabling high-speed vehicle-mounted radar data acquisition. GPR eliminates the need for laying electrodes and cables to acquire radar data, enabling direct detection, making it highly convenient.

[0029] The data collection time of the target radar data represents the absolute time information corresponding to when the ground-penetrating radar collected the target radar data, for example, day A, hour B, minute C, and second D. The data collection time is generated at the same time the ground-penetrating radar collects the radar data and is associated with the radar data obtained from that detection. This means that the corresponding data collection time can be directly determined based on any radar data. Candidate location information is collected in real time by a location collection device, which is installed in the mobile device. This device collects the location information of the mobile device in real time according to a preset cycle during the movement of the mobile device. The location collection time of the candidate location information represents the time corresponding to the collection of each candidate location information. Each time a candidate location information is collected, the time corresponding to this collection is recorded as the location collection time of the candidate location information.

[0030] In one embodiment, if any radar data is determined to be abnormal, indicating a road collapse, that radar data is used as target radar data. The data collection time associated with the target radar data is determined based on a pre-established relationship between radar data and data collection time. The data collection time of the target radar data is then traversally matched against the location collection time of each candidate location information. The target location information is then determined from the candidate location information based on the traversal matching results.

[0031] S102: Position the target radar data according to the target position information.

[0032] In one embodiment, the target position information is used as the position information of the target radar data.

[0033] In another embodiment, the target position information is used as a position reference point, and based on the position reference point and a preset position deviation value, the position information of the target radar data is calculated and determined.

[0034] The technical solution provided by the embodiment of the present invention obtains the data collection time of the target radar data, and determines the target position information from each candidate position information based on the data collection time and the position collection time of each candidate position information, and locates the target radar data based on the target position information. This achieves the effect of determining the target position information based on the simultaneity of the data collection time and the position collection time to locate the target radar data, avoids the problem in the prior art that position coordinate drift makes it impossible to associate with the radar data, and improves the accuracy of radar data positioning.

[0035] Example 2

[0036] Figure 2A This is a flowchart of a time-based radar data positioning method provided in the second embodiment of the present invention. This embodiment is optimized based on the above optional embodiments, such as Figure 2AAs shown, the method may include:

[0037] S201: Acquire data collection time of target radar data, match the data collection time with the position collection time of each candidate position information, and determine target position information from each candidate position information according to the matching result.

[0038] In one embodiment, the data collection time of the target radar data is traversed and matched with the position collection time of each candidate position information, the target position collection time that matches the data collection time is determined from each position collection time, and the target position information is determined from each candidate position information based on the target position collection time.

[0039] Optionally, “determining target location information from each candidate location information according to the matching result” in S201 includes:

[0040] The location collection time that matches the data collection time is used as the target location collection time; and the candidate location information corresponding to the target location collection time is used as the target location information.

[0041] For example, assuming that the data collection time of the target radar data is "17:24:15", "17:24:15" is matched with the location collection time of each candidate location information. If the location collection time of candidate location information A is "17:24:15", candidate location information A is used as the target location information.

[0042] In this embodiment, the operating state of the ground-penetrating radar is controlled by a pulse signal. This pulse signal is generated based on the driving state of the vehicle used to collect radar data. When the vehicle is in motion, pulse signals are generated periodically. The faster the vehicle is traveling, the shorter the pulse signal generation period. Correspondingly, no pulse signal is generated when the vehicle is stationary. The pulse signal triggers the ground-penetrating radar to perform detection. Each pulse signal triggers radar data collection. If no pulse signal is currently generated, the radar ceases data collection.

[0043] In a real-world environment, the measuring wheels of a moving vehicle generate pulse signals as the vehicle's tires rotate, sending them to a ground-penetrating radar (GPR). The GPR detects and obtains radar data in response to these pulse signals. The GPR records the current absolute time as the radar data acquisition time and transmits both the radar data and the data acquisition time to a host computer. The moving vehicle's position acquisition device is configured to collect the moving vehicle's position information as candidate position information in real time at a preset interval, record the current absolute time as the candidate position information acquisition time, and transmit both the candidate position information and the location acquisition time to a host computer.

[0044] Optionally, each candidate position information is obtained through a global positioning system and / or an inertial measurement unit.

[0045] The Global Positioning System (GPS) can directly obtain the current position of the vehicle as candidate position information. The Inertial Measurement Unit (IMU) can calculate the current position of the vehicle as candidate position information by obtaining acceleration and angular velocity.

[0046] S202: Use the target position information as the data collection position of the target radar data.

[0047] In one embodiment, the target position information is used as the data collection position of the target radar data. If the target radar data shows an abnormality, indicating that there is a road collapse problem, an early warning is issued based on the target position information to prevent a threat to the safety and interests of the people.

[0048] The technical solution provided by the embodiment of the present invention obtains the data collection time of the target radar data, matches the data collection time with the position collection time of each candidate position information, and determines the target position information from each candidate position information based on the matching result. This achieves the effect of determining the target position information based on the simultaneity of the data collection time of the target radar data and the position collection time of each candidate position information, thereby ensuring the time consistency between the target position information and the target radar data. By using the target position information as the data collection position of the target radar data, the problem in the prior art of being unable to associate with the radar data due to position coordinate drift is avoided, thereby improving the accuracy of radar data positioning.

[0049] Based on the above embodiments, Figure 2B A schematic diagram of device interaction for radar data positioning provided in the second embodiment of the present invention is shown as follows: Figure 2BAs shown, when the tires on the traveling device rotate, the distance measuring wheel 200 generates a pulse signal and sends it to the ground-penetrating radar 201. The ground-penetrating radar 201 detects radar data in response to the pulse signal, records the current absolute time as the data acquisition time of the radar data, assigns a data identifier to the radar data, and then sends the data acquisition time, radar data, and data identifier to the host computer 202. The position acquisition device 203, which can be a global positioning system and / or an inertial measurement unit, is used to collect the current position of the traveling device in real time as candidate position information, record the current absolute time as the position acquisition time of the candidate position information, and then send the candidate position information and position acquisition time to the host computer 202.

[0050] The host computer 202 can obtain the data collection time of the target radar data and, based on the data collection time and the location collection time of each candidate location information, determine the target location information from each candidate location information; and locate the target radar data based on the target location information. The specific implementation process of the method is described in the above method embodiment and will not be repeated here.

[0051] Example 3

[0052] Figure 3 This is a schematic diagram of the structure of a positioning device based on time radar data provided by the third embodiment of the present invention, which can execute a positioning method based on time radar data provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. Figure 3 As shown, the device may include:

[0053] The position information determination module 31 is used to obtain the data collection time of the target radar data, and determine the target position information from each candidate position information according to the data collection time and the position collection time of each candidate position information;

[0054] The positioning module 32 is configured to locate the target radar data according to the target position information.

[0055] Based on the above embodiment, the location information determining module 31 is specifically configured to:

[0056] The data collection time is matched with the location collection time of each candidate location information, and target location information is determined from each candidate location information according to the matching result.

[0057] Based on the above embodiment, the location information determining module 31 is further configured to:

[0058] Using the position acquisition time that matches the data acquisition time as the target position acquisition time;

[0059] The candidate location information corresponding to the target location acquisition time is used as the target location information.

[0060] Based on the above embodiment, the positioning module 32 is specifically configured to:

[0061] The target position information is used as the data collection position of the target radar data.

[0062] Based on the above embodiment, each candidate position information is obtained through a global positioning system and / or an inertial measurement unit.

[0063] The time-based radar data positioning device provided in an embodiment of the present invention can execute a time-based radar data positioning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method. For technical details not fully described in this embodiment, please refer to the time-based radar data positioning method provided in any embodiment of the present invention.

[0064] Example 4

[0065] Figure 4 A schematic structural diagram of a device provided in Example 4 of the present invention. Figure 4 A block diagram of an exemplary device 400 suitable for implementing embodiments of the present invention is shown. Figure 4 The device 400 shown is merely an example and should not limit the functionality and scope of use of the embodiments of the present invention.

[0066] like Figure 4 As shown, device 400 is a general-purpose computing device. Components of device 400 may include, but are not limited to, one or more processors or processing units 401, system memory 402, and a bus 403 connecting various system components (including system memory 402 and processing unit 401).

[0067] Bus 403 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. Examples of these architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MAC) bus, the Enhanced ISA bus, the Video Electronics Standards Association (VESA) local bus, and the Peripheral Component Interconnect (PCI) bus.

[0068] Device 400 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by device 400, including volatile and non-volatile media, removable and non-removable media.

[0069] System memory 402 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 404 and / or cache memory 405. Device 400 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 406 may be used to read and write non-removable, non-volatile magnetic media ( Figure 4 Not shown, often called a "hard drive"). Although Figure 4 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 403 via one or more data medium interfaces. Memory 402 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of various embodiments of the present invention.

[0070] A program / utility 408 having a set (at least one) of program modules 407 may be stored, for example, in memory 402. Such program modules 407 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may include an implementation of a network environment. Program modules 407 generally perform the functions and / or methods of the embodiments described herein.

[0071] Device 400 may also communicate with one or more external devices 409 (e.g., a keyboard, a pointing device, a display 410, etc.), one or more devices that enable a user to interact with device 400, and / or any device that enables device 400 to communicate with one or more other computing devices (e.g., a network card, a modem, etc.). Such communication may be performed via input / output (I / O) interface 411. Furthermore, device 400 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via network adapter 412. As shown, network adapter 412 communicates with other modules of device 400 via bus 403. It should be understood that, although not shown, other hardware and / or software modules may be used in conjunction with device 400, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0072] The processing unit 401 executes various functional applications and data processing by running programs stored in the system memory 402, such as implementing the time-based radar data positioning method provided in an embodiment of the present invention, including:

[0073] Obtaining a data acquisition time of the target radar data, and determining the target position information from each candidate position information based on the data acquisition time and the position acquisition time of each candidate position information;

[0074] The target radar data is located according to the target position information.

[0075] Example 5

[0076] Embodiment 5 of the present invention further provides a computer-readable storage medium, wherein the computer-executable instructions, when executed by a computer processor, are used to perform a positioning method based on time-based radar data, the method comprising:

[0077] Obtaining a data acquisition time of the target radar data, and determining the target position information from each candidate position information based on the data acquisition time and the position acquisition time of each candidate position information;

[0078] The target radar data is located according to the target position information.

[0079] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the operations of the method described above, but can also perform related operations in the time-based radar data positioning method provided in any embodiment of the present invention. The computer-readable storage medium of the embodiments of the present invention can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device, or device.

[0080] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0081] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0082] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0083] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A positioning method based on time radar data, characterized in that: include: Obtaining a data acquisition time of the target radar data, and determining the target position information from each candidate position information based on the data acquisition time and the position acquisition time of each candidate position information; Positioning the target radar data according to the target position information; The determining target location information from each candidate location information according to the data collection time and the location collection time of each candidate location information includes: The data collection time is matched with the location collection time of each candidate location information, and target location information is determined from each candidate location information according to the matching result.

2. The method according to claim 1, characterized in that Determining target location information from each candidate location information according to the matching result includes: Using the position acquisition time that matches the data acquisition time as the target position acquisition time; The candidate location information corresponding to the target location acquisition time is used as the target location information.

3. The method according to claim 1, characterized in that Positioning the target radar data according to the target position information includes: The target position information is used as the data collection position of the target radar data.

4. The method according to claim 1, wherein The candidate position information is obtained through a global positioning system and / or an inertial measurement unit.

5. A positioning device based on time radar data, characterized in that: include: a position information determination module, configured to obtain a data acquisition time of target radar data, and determine target position information from each candidate position information based on the data acquisition time and the position acquisition time of each candidate position information; A positioning module, configured to locate the target radar data according to the target position information; The location information determination module is specifically configured to: The data collection time is matched with the location collection time of each candidate location information, and target location information is determined from each candidate location information according to the matching result.

6. The device according to claim 5, characterized in that The location information determination module is further configured to: Using the position acquisition time that matches the data acquisition time as the target position acquisition time; The candidate location information corresponding to the target location acquisition time is used as the target location information.

7. An electronic device, characterized in that: The electronic device further comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the time-based radar data positioning method according to any one of claims 1 to 4.

8. A computer-readable medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the positioning method based on time radar data as claimed in any one of claims 1 to 4 is implemented.

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