A positioning and rescue method, device, medium and equipment for disaster-stricken trapped persons

Abstract

This application relates to a method for positioning and rescuing disaster-stricken trapped persons. The method includes: marking the positions of each rescue personnel in the search and rescue area and correcting interference to obtain the actual positioning map of each rescue personnel; obtaining the positioning contour of each search and rescue personnel during actual work, marking the contour of the rescue personnel according to the positioning contour, and updating the marked contour obtained from the contour marking to the actual positioning map; obtaining the target area according to the marked contour updated to the actual positioning map, and obtaining the personnel positioning information of the trapped persons by re-checking the target area. Compared with the prior art, the present invention can analyze and determine the latest position of the trapped persons, plan their activity trajectories, provide a relatively reliable reference basis for rescue work, and meet the actual application requirements.

Description

Technical Field

[0001] The present application relates to the technical field of personnel search and rescue, and in particular to a method, device, storage medium and terminal equipment for locating and rescuing people trapped in disasters. Background Art

[0002] Natural disasters refer to natural phenomena that bring harm to human survival or damage the human living environment. Natural disasters are bred in the earth's surface environment composed of the atmosphere, lithosphere, hydrosphere, and biosphere. When this variation brings harm to human society, it constitutes a natural disaster. Because it brings varying degrees of damage to human production and life, including the relationship between man and nature mediated by labor, and the relationship between people related to it.

[0003] In recent years, there have been frequent incidents of people being trapped in China due to natural disasters or human factors. Due to the harsh rescue environment and great uncertainty, in order to smoothly carry out rescue work, the first thing is to determine the location of the trapped people in order to further clarify the rescue direction and methods. However, the existing search and rescue for natural disasters only targets a specific search and rescue area. However, the environmental conditions vary greatly during field search and rescue. Natural disasters and man-made disasters cause many uncertainties in the distress signals sent by trapped people. Various harsh environmental conditions also interfere with the positioning of trapped people. Summary of the invention

[0004] Based on this, it is necessary to provide a method, device, storage medium and terminal equipment for locating and rescuing trapped persons in disasters, which can analyze and determine the latest location of trapped persons, plan their activity trajectory, and provide a more reliable reference basis for rescue work.

[0005] The embodiment of the present invention provides a method for locating and rescuing people trapped in a disaster, the method comprising the following steps:

[0006] Mark the positions of each rescuer in the search and rescue area and correct interference to obtain the actual location map of each rescuer;

[0007] Acquire the positioning profile of each search and rescue personnel in actual work, mark the rescue personnel according to the positioning profile, and update the marked profile obtained by the contour marking into the actual positioning map;

[0008] The target area is obtained according to the marked outline updated in the actual positioning map, and the personnel positioning information of the trapped persons is obtained by re-checking the target area.

[0009] Furthermore, before marking the position of each rescuer in the search and rescue area and correcting interference, the method further includes:

[0010] Mutually adapt the locators carried by each rescuer, and establish a connection calibration with the general server to obtain the internal parameter matrix and distortion parameters of each locator.

[0011] Furthermore, the method for position marking and interference correction of each rescuer in the search and rescue area to obtain the actual positioning map of each rescuer includes:

[0012] Obtain the position information of each rescuer in the rescue area and perform position calibration on it;

[0013] Perform distortion correction on the positions of the rescuers after position calibration according to the internal parameter matrix and distortion parameters of each locator to obtain the actual positioning map of each rescuer after distortion correction; wherein, the distortion parameters include radial distortion and tangential distortion.

[0014] Furthermore, the method for obtaining the positioning contour of each search and rescue personnel in actual work, marking the contour of the rescuer according to the positioning contour, and updating the marked contour obtained by contour marking to the actual positioning map includes:

[0015] Extract and correct the positioning edge contour of each rescuer in actual work to obtain the corrected contour of each rescuer;

[0016] Judge whether the edge of the corrected contour is approximately circular;

[0017] If so, mark the contour of the rescuer according to the root mean square error of the distance from the corrected contour to the centroid and the squared distance;

[0018] Obtain the marked contour of each rescuer according to the contour marking. When the marked contour meets the preset geographical area, update the marked contour as a positioning contour to the actual positioning map.

[0019] Furthermore, the method for obtaining the target area according to the marked contour updated to the actual positioning map and re-checking the target area includes:

[0020] Update the actual positioning map according to the marked contour to obtain the target area;

[0021] Perform center extraction and coordinate system conversion on the updated actual positioning map to obtain a set of spatial points formed by actual geographical coordinates;

[0022] Obtain the sum of the squares of the distances from each subset in the spatial point set to the corresponding fitting plane, and determine whether the subset belongs to the target area according to the sum of the squares of the distances;

[0023] Store the subset belonging to the target area in the two-dimensional vector class, and divide the subsets saved in the class of the two-dimensional vector into symmetric subsets and asymmetric subsets;

[0024] According to the division of the symmetric subsets into symmetric subsets and asymmetric subsets, re-check the target area.

[0025] Further, the method of storing the subset belonging to the target area in the two-dimensional vector class and dividing the subsets saved in the two-dimensional vector class into symmetric subsets and asymmetric subsets includes:

[0026] Obtain the point in the middle of the two edge points in the current subset {x i , y i , σ∣i = 0, 1, 2} in the two-dimensional vector class, then calculate the radian values of the spatial vectors of the two edge points and the middle point, and compare the smaller radian value with the larger radian value. This ratio is denoted as σi = 0, 1, 2.

[0027] If ζ min < σ i＝0,1,2 < ζ max ζ min = 0.09, ζ max = 0.10, then the current subset {x i , y i , σ∣i = 0, 1, 2} is considered a symmetric subset;

[0028] If ∈ min < σ i＝0,1,2 < ∈ max ∈ min = 0.54, ∈ max = 0.86, then the current subset {x i , y i , σ∣i = 0, 1, 2} is considered an asymmetric subset.

[0029] Further, the method of re-checking the target area according to the division of the symmetric subsets into symmetric subsets and asymmetric subsets includes:

[0030] Calculate the subsets in the two-dimensional vector class in sequence, store the symmetric subsets in the two-dimensional vector XY in the order of the middle point and the edge points, and store the asymmetric subsets in the two-dimensional vector XY' in the order of the middle point and the edge points;

[0031] Find a subset from the two-dimensional vector XY, and then find two groups of subsets from the two-dimensional vector XY'. If these two groups of asymmetric subsets satisfy: there exists an edge point equal to the edge point of the symmetric subset, then store these three groups of subsets in the same two-dimensional vector casket;

[0032] Sort the symmetric subset and the asymmetric subset in the two-dimensional vector casket to obtain the positions of the trapped persons in the target area.

[0033] Another embodiment of the present invention provides a positioning and rescue device for disaster trapped persons, the device comprising:

[0034] A position marking module, configured to perform position marking and interference correction on each rescuer in the search and rescue area to obtain the actual positioning map of each rescuer;

[0035] A contour marking module, configured to obtain the positioning contour of each search and rescue person during actual work, perform contour marking on the rescuer according to the positioning contour, and update the marked contour obtained by the contour marking to the actual positioning map;

[0036] A region investigation module, configured to obtain the target area according to the marked contour updated to the actual positioning map, and obtain the personnel positioning information of the trapped persons by re-investigating the target area.

[0037] Another embodiment of the present invention further provides a computer-readable storage medium, the computer-readable storage medium comprising a stored computer program; wherein, the computer program controls the device where the computer-readable storage medium is located to execute the above-mentioned positioning and rescue method for disaster trapped persons when running.

[0038] Another embodiment of the present invention further provides a terminal device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the above-mentioned positioning and rescue method for disaster trapped persons when executing the computer program.

[0039] The above-mentioned positioning and rescue method for disaster trapped persons performs position marking and interference correction on each rescuer in the search and rescue area to obtain the actual positioning map of each rescuer; obtains the positioning contour of each search and rescue person during actual work, performs contour marking on the rescuer according to the positioning contour, and updates the marked contour obtained by the contour marking to the actual positioning map; obtains the target area according to the marked contour updated to the actual positioning map, and obtains the personnel positioning information of the trapped persons by re-investigating the target area. Compared with the prior art, the present invention can analyze and determine the latest positioning of the trapped persons, plan their activity trajectories, provide a relatively reliable reference basis for the rescue work, and meet the actual application requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic flowchart of a positioning and rescue method for disaster trapped persons provided by an embodiment of the present invention;

[0041] Figure 2 This is the structural block diagram of the positioning and rescue device for disaster-stricken trapped persons provided by the embodiments of the present invention;

[0042] Figure 3 This is the structural diagram of the device terminal provided by the embodiments of the present invention. Detailed implementation manners

[0043] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art in the technical field of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0044] It should be noted that the step numbers in the text are only for the convenience of explaining specific embodiments and do not serve as a limitation on the execution order of the steps. The method provided in this embodiment can be executed by a relevant server, and the server is used as the execution entity in the following description for example.

[0045] As Figure 1 shown, the positioning and rescue method for disaster-stricken trapped persons provided by the embodiments of the present invention is applied to a positioning and rescue system for disaster-stricken trapped persons. The method includes steps S11 to S13:

[0046] Step S11: Perform position marking and interference correction on each rescue personnel in the search and rescue area to obtain the actual positioning map of each rescue personnel.

[0047] Specifically, the search and rescue team equips each rescue team member with a locator. The locator has a high signal strength in the wild environment and can feedback the position in real time. At the same time, an anti-interference system is equipped in the locator to ensure that each locator will not interfere with each other during the working process and avoid disconnecting from the general server. Before performing position marking and interference correction on each rescue personnel in the search and rescue area, the locators carried by each rescue personnel are mutually adapted and connected and calibrated with the general server to obtain the internal parameter matrix and distortion parameters of each locator. During the rescue process, obtain the position information of each rescue personnel in the rescue area and perform position calibration on it; perform distortion correction on the positions of the rescue personnel after position calibration according to the internal parameter matrix and distortion parameters of each locator to obtain the actual positioning map of each rescue personnel after distortion correction; where the distortion parameters include radial distortion and tangential distortion.

[0048] Further, before a search and rescue operation is carried out, each locator adapts to each other and establishes a link calibration with the general server. After calibration, the rotation matrix, translation matrix of adjacent locators, and the internal parameter matrix and distortion parameters of each locator will be obtained. The distortion caused by adaptation in the locator calculation system during work is called radial distortion, and the distortion caused by the geographical location and actual position of the system during work is called tangential distortion. The above two types of distortion will cause the normalized coordinates in the positioning coordinate system of the general server to deviate from the true normalized coordinates

[0049]

[0050] Among them, k 11 , k 12 , k 13 , are radial distortion coefficients, ρ1, ρ2 are tangential distortion coefficients, and all five parameters can be obtained by locator calibration. X c is the longitude, Y c is the latitude, and Z c is the terrain height.

[0051] Then the positions of each search and rescue personnel in the positioning system coordinate system of the general system become:

[0052]

[0053] Among them, σ x , σ y , u0, v0 can all be obtained from the internal parameter matrix calibrated by the locator. u d is the abscissa, and v d is the ordinate.

[0054] Therefore, the system should first obtain the actual positioning map after distortion correction through distortion correction. Distortion correction is generally solved by the iterative method. If the difference between two consecutive iterations is less than the preset threshold, the iteration is terminated.

[0055] Step S12, obtain the positioning outlines of each search and rescue personnel during actual work, mark the outlines of the rescue personnel according to the positioning outlines, and update the marked outlines obtained from the outline marking to the actual positioning map.

[0056] Specifically, the edge contours of each rescuer in actual work are extracted and corrected to obtain the corrected contours of each rescuer; it is determined whether the edge of the corrected contour is approximately circular; if so, the rescuer is contour-labeled according to the root-mean-square error of the distance from the corrected contour to the centroid and the squared distance; the labeled contours of each rescuer are obtained according to the contour labeling, and when the labeled contour meets the preset geographical area, the labeled contour is updated to the actual positioning map as a positioning contour.

[0057] Further, before extracting the positioning contour, it is necessary to use the method of geographical azimuth segmentation to extract the positioning edge contour. The present invention adopts the edge detection method: after each locator is placed on each search and rescue personnel, it can be approximately regarded as a circle in actual work and its positioning edge contour is extracted. After edge extraction, the contour set is obtained using the contour detection function in OpenCV represents the i-th contour, represents a single locator in the i-th contour However, these positioning values are all uncorrected and need to be corrected using the distortion parameters. In actual operation, only c j d needs to be corrected to correct the distortion of the entire original positioning map. Finally, the corrected contour c i ={ρ j}, and the finally obtained corrected contour set c={c i} are obtained.

[0058] Specifically, for positioning contour extraction: determine whether the edge is approximately circular

[0059] If c i is a circle, then the distance d j from the pixel ρ i on the contour to the centroid o i has a very small root-mean-square error from the average distance o i . Assume that M i is the number of pixel points in c j , then the root-mean-square error (RMSE) of |d i -o

[0060]

[0061] If RSME i is less than the threshold t r , c j can be regarded as a labeled contour. In this embodiment, t r is taken as 0.224. Using this as the refresh area for the positioning of each rescuer, the searched range and rate can be fed back in real time.

[0062] Specifically, for marker contour extraction: Determine the actual geographical area

[0063] After collecting the positioning information, it is necessary to determine whether it meets a value range. The maximum geographical area that each independent locator can collect is set to 4.63 m 2 . Therefore, if the locator contour (marker contour) fed back to the total positioning system meets this range, this contour is officially regarded as a positioning contour. Finally, the contour c i fitted by the least-squares ellipse fitting algorithm is used to obtain the pixel coordinates of the projection marker center. First, give the general expression of the ellipse:

[0064]

[0065] where the vector

[0066] Let the coordinates of the pixel points in c i ={ρ j} be (x j , y i ) (j = 1, 2, …, M i ), and M i is the number of pixel points on the ellipse boundary.

[0067] Introduce the constraint condition and establish the following objective function at the same time:

[0068]

[0069] where M is the penalty coefficient, and there is

[0070] Minimize the objective function to obtain the optimal solution of the vector . According to the vector, calculate the pixel coordinates of the ellipse center. The formula is as follows:

[0071]

[0072] Step S13: Obtain the target area according to the marker contour updated to the actual positioning map, and obtain the personnel positioning information of the trapped personnel by re-checking the target area.

[0073] Specifically, the target area is obtained by updating the actual positioning map according to the marked contour; the center of the updated actual positioning map is extracted and the coordinate system is converted to obtain a set of spatial points formed by actual geographical coordinates; the sum of the squares of the distances from each subset in the set of spatial points to the corresponding fitting plane is obtained, and whether the subset belongs to the target area is determined according to the sum of the squares of the distances; the subsets belonging to the target area are stored in a two-dimensional vector class, and the subsets stored in the class in the two-dimensional vector are divided into symmetric subsets and asymmetric subsets; according to the division of the symmetric subsets into symmetric subsets and asymmetric subsets, the target area is rechecked.

[0074] Among them, the method of storing the subsets belonging to the target area in a two-dimensional vector class and dividing the subsets stored in the two-dimensional vector class into symmetric subsets and asymmetric subsets includes:

[0075] Obtain the point located in the middle of the two edge points in the current subset {x i , y i , σ∣i = 0, 1, 2} in the two-dimensional vector class, then calculate the radian value of the spatial vector between the two edge points and the middle point, and compare the smaller radian value with the larger radian value, and this ratio is denoted as σi = 0, 1, 2;

[0076] If ζ min < σ i＝0,1,2 < ζ max ζ min = 0.09, ζ max = 0.10, then the current subset {x i , y i , σ∣i = 0, 1, 2} is considered a symmetric subset;

[0077] If ∈ min < σ i＝0,1,2 < ∈ max ∈ min = 0.54, ∈ max = 0.86, then the current subset {x i , y i , σ∣i = 0, 1, 2} is considered an asymmetric subset.

[0078] Among them, the method of rechecking the target area according to the division of the symmetric subsets into symmetric subsets and asymmetric subsets includes:

[0079] Calculate the subsets in the two-dimensional vector class in turn, store the symmetric subsets in the two-dimensional vector XY in the order of the middle point and the edge points, and store the asymmetric subsets in the two-dimensional vector XY' in the order of the middle point and the edge points;

[0080] Find a subset from the two-dimensional vector XY, and then find two groups of subsets from the two-dimensional vector XY'. If these two groups of asymmetric subsets satisfy: there exist edge points equal to the edge points of the symmetric subset, then store these three groups of subsets in the same two-dimensional vector casket;

[0081] Sort the symmetric subsets and asymmetric subsets in the two-dimensional vector casket to obtain the positions of the trapped persons in the target area.

[0082] Furthermore, the target identification is to re-analyze the un-searched area (referred to as the target area) after the area division by the above locator, so as to obtain the precise location of the trapped persons. Through the target identification, the interconnections and coordinate information intersections of each locator can be analyzed orderly, so as to find out the high-probability stationary points of the trapped persons.

[0083] First, extract the target center from the overall locator view to obtain a group of two-dimensional pixel coordinates {u i , v i}, and then convert the positioning coordinate system into the actual geographic coordinate system:

[0084] x i = (u i - u0) · d x (10)

[0085] y i = (v i - v0) · d y (11)

[0086] In the formula, d x = d y , represents the positioning dimension, and the two are equal in this embodiment. At this time, the point set {x i , y i} in the image coordinate system has the following conversion relationship with the three-dimensional point set in the actual geographic coordinate system:

[0087] {x i , y i} → {x i , y i , σ} (12)

[0088] {x i , y i , σ} represents the actual geographic coordinates when the distance between the two-dimensional point set in the image coordinate system and the target center is the distance σ.

[0089] Assume that the number of the spatial point set is N, and the number of combinations of the set with the number of subset elements being 3 can be found C 3 N in total. Now find one of the subsets {x i , yi , σ|i = 0, 1, 2}, list the space line equation for each point

[0090]

[0091] {x i , y i , σ|i = 0, 1, 2} corresponds to t = 1, and the space line connecting the subset and the optical center intersects the Z c = 0.5σ and Z c = 4σ, and there are six intersection points between these two planes. Then, fit a plane through these six positioning intersection points and calculate Z c = σ plane, the sum of the squares of the distances S i , y i , σ|i = 0, 1, 2} to this plane i＝0，1，2 , and judge whether S i＝0，1，2 is less than the threshold t s , if satisfied, then {x i , y i , σ|i = 0, 1, 2} is on the fitted plane, that is, this subset belongs to an edge of the un-searched area. Finally, store it in the two-dimensional vector class. Next, take out other subsets in turn and repeat the above process. In the present invention, t s takes the value of 0.0100.

[0092] When all subsets have gone through the above process, the unsatisfied subsets are filtered out. The subsets saved in the two-dimensional vector class are all target subsets, but the subsets cannot be effectively distinguished from each other. Therefore, when searching for trapped persons, a symmetry attribute is added to each edge, so that the subsets can be distinguished by symmetry, divided into symmetric subsets and asymmetric subsets. Subset symmetry discrimination means: find a subset in class, assuming the subset is {x i , y i , σ|i = 0, 1, 2}. Next, perform symmetry discrimination operations on this subset. First, find the point in the middle of the two edge points in {x i , y i , σ|i = 0, 1, 2}, then calculate the radian value of the spatial vector between the two edge points and the middle point, and compare the smaller radian value with the larger radian value. This ratio is denoted as σ i＝0，1，2 . If σ i＝0，1，2 satisfies Equation (14):

[0093] ζ min < σ i＝0,1,2 < ζ max (14)

[0094] ζ min = 0.09, ζ max = 0.10, then the subset {xi , y i , σ∣i = 0, 1, 2} is a symmetric subset.

[0095] If the following equation (13) is satisfied:

[0096] ∈ min <σ i＝0,1,2 <∈ max

[0097] ∈ min = 0.54, ∈ max = 0.86, then the subset {x i , y i , σ∣i = 0, 1, 2} is an asymmetric subset.

[0098] Because the actual search working distance may be much greater than the distance between two - dimensional positioning maps, so σ i＝0,1,2 is very close to 1.0 in the symmetric subset; in the asymmetric subset, σ i＝012 is close to the ratio of the initial design of the instrument, that is, the mid - point is located at the trisection point.

[0099] Calculate the subsets in class in turn. Store the symmetric subsets in the two - dimensional vector XY in the order of the mid - point and the edge - point, and store the asymmetric subsets in the two - dimensional vector XY′ in the order of the mid - point and the edge - point.

[0100] After all the subsets in class are processed, the subsets are divided into symmetric subsets and asymmetric subsets, and are stored in the two - dimensional vectors XY and XY′ respectively. Find a subset from the two - dimensional vector XY, and then find two groups of subsets from the two - dimensional vector XY′. If these two groups of asymmetric subsets satisfy: there exists an edge - point equal to the edge - point of the symmetric subset, then store these three groups of subsets in the same two - dimensional vector casket.

[0101] Then, starting from the middle point of the symmetric subset, each locator in the benchmark is numbered in counterclockwise order {A1, A2, A3, A4, A5, A6}, with A1 as the starting point and A4 as the overlap point of the two asymmetric subsets. These two points can be quickly determined. However, due to the uncertainty of spatial rotation, other points cannot be determined. Therefore, we use the determined positional relationship between A1 and A4 to determine A2. When the positions of A1 and A4 are determined, the position of A2 will be uniquely determined. For example, if the horizontal and vertical coordinates of A4 are both greater than those of A1, then A2 should satisfy: the horizontal coordinate is less than the horizontal coordinate of A1 and the vertical coordinate is greater than the vertical coordinate of A1. After A2 is determined, the symmetric subset has determined two points. A3 is the middle point of the asymmetric point set belonging to A2 and A4, and A4 is a common point that has been confirmed before. A5 is the middle point of another asymmetric subset, and A6 is the other endpoint of the symmetric subset. At this point, the center coordinates of the six objects in the casket have been arranged in order, and finally {A1, A2, A3, A4, A5, A6} are stored in ascending order of subscripts.

[0102] After the above process, the locators of the target locations are stored in order. For each area to be located, A2, A4, and A6 are found respectively to calculate and determine the high-probability locations of the trapped persons in the unsearched area. Finally, subsets are taken from the two-dimensional vectors XY and XY′ in turn, and the above process is repeated to determine the location of the trapped persons.

[0103] As mentioned above, the ZWO position calibration method proposed in the present invention is to confirm the intersection of the rescue personnel's search and rescue area, which not only establishes the connection between the total positioning system and each rescue team member, protects the safety of the rescue team members, but also avoids repeated searches to the greatest extent, reduces time consumption and improves the success rate of rescue. The BAILAY algorithm is adopted, which is a method for obtaining the positioning information of trapped persons in the situation where the positioning of trapped persons after the disaster is difficult and there is uncertainty. The algorithm overcomes the traditional problem of rescue positioning, and adopts rescue positioning and algorithms to propose a high-probability stationing point for trapped persons, which is conducive to confirming the search and rescue direction of rescue personnel and protecting the lives of the people. The combination of the ZWO position calibration method and the BAILAY algorithm is a method for checking the high-confidence positioning of trapped persons, which can analyze the checked areas in real time and confirm the specific positioning of trapped persons in the unchecked areas. Through computer simulation experiments, ZWO simulation positioning detection is carried out in the search and rescue area. The results show that the positioning method can complete the detection and positioning tasks and has high precision, laying a foundation for the technology of rescuing and locating trapped persons after the disaster, filling the domestic gap in this technology, and further improving the precision and accuracy of rescue positioning.

[0104] It is understandable that the present invention drafts a high-probability positioning area of the trapped personnel through an algorithm, reducing the workload of blind search and rescue and winning precious time for the search and rescue work. When the trapped personnel lack self-rescue awareness or are unable to contact the outside world, the present invention can actively identify the positioning of each suspicious point in the trapped area where they are located, and the search and rescue personnel can obtain the specific positioning of the trapped personnel from point to area based on their own positioning. In view of the difficult and uncertain situation of positioning trapped personnel after a disaster, the present invention proposes a method for obtaining the positioning information of trapped personnel. This algorithm overcomes the traditional problem of distress positioning, and instead uses rescue positioning and an algorithm to draft the high-probability stationary points of the trapped personnel, which is beneficial to confirming the search and rescue direction of the rescue personnel and protecting the lives and safety of the people.

[0105] For the above-mentioned positioning and rescue method for disaster trapped personnel, the positions of each rescue personnel in the search and rescue area are marked and interference correction is performed to obtain the actual positioning map of each rescue personnel; the positioning contours of each search and rescue personnel during actual work are obtained, and the rescue personnel are marked according to the positioning contours, and the marked contours obtained by the contour marking are updated to the actual positioning map; the target area is obtained according to the marked contours updated to the actual positioning map, and the personnel positioning information of the trapped personnel is obtained by re-checking the target area. Compared with the prior art, the present invention can analyze and determine the latest positioning of the trapped personnel, plan their activity trajectories, provide a relatively reliable reference basis for the rescue work, and meet the actual application requirements.

[0106] It should be understood that although the steps in the above flow chart are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the above flow chart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

[0107] Please refer to Figure 2 , the present invention also provides a positioning and rescue device for disaster trapped personnel, and the device includes:

[0108] A position marking module 21, configured to mark the positions of each rescue personnel in the search and rescue area and perform interference correction to obtain the actual positioning map of each rescue personnel.

[0109] Specifically, before marking the positions of and correcting interference for each rescue personnel in the search and rescue area, the locators carried by each rescue personnel are mutually adapted and connected and calibrated with the general server to obtain the internal parameter matrix and distortion parameters of each locator.

[0110] Furthermore, obtain the position information of each rescue personnel in the rescue area and calibrate their positions; correct the distortion of the positions of the rescue personnel after position calibration according to the internal parameter matrix and distortion parameters of each locator to obtain the actual positioning map of each rescue personnel after distortion correction; wherein, the distortion parameters include radial distortion and tangential distortion.

[0111] The contour marking module 22 is used to obtain the positioning contour of each search and rescue personnel during actual work, mark the contour of the rescue personnel according to the positioning contour, and update the marked contour obtained by contour marking to the actual positioning map.

[0112] Specifically, extract and correct the positioning edge contour of each rescue personnel during actual work to obtain the corrected contour of each rescue personnel; determine whether the edge of the corrected contour is approximately circular; if so, mark the contour of the rescue personnel according to the root mean square error of the distance from the corrected contour to the centroid and the square distance; obtain the marked contour of each rescue personnel according to the contour marking, and when the marked contour meets the preset geographical area, use the marked contour as a positioning contour to update to the actual positioning map.

[0113] The area investigation module 23 is used to obtain the target area according to the marked contour updated to the actual positioning map, and obtain the personnel positioning information of the trapped personnel by re-investigating the target area.

[0114] Specifically, update the actual positioning map according to the marked contour to obtain the target area; perform center extraction and coordinate system conversion on the updated actual positioning map to obtain a set of spatial points formed by actual geographical coordinates; obtain the sum of the squares of the distances from each subset in the spatial point set to the corresponding fitting plane, and determine whether the subset belongs to the target area according to the sum of the squares of the distances; store the subsets belonging to the target area in a two-dimensional vector class, and divide the subsets saved in the two-dimensional vector class into symmetric subsets and asymmetric subsets; re-investigate the target area according to the division of the symmetric subsets into symmetric subsets and asymmetric subsets.

[0115] Furthermore, storing the subsets belonging to the target area in a two-dimensional vector class and dividing the subsets saved in the two-dimensional vector class into symmetric subsets and asymmetric subsets includes:

[0116] Obtain the current subset {x in the two-dimensional vector classi , y i , the point located in the middle of the two edge points within σ∣i = 0, 1, 2}, then calculate the radian values of the spatial vectors of the two edge points and the middle point, and compare the smaller radian value with the larger radian value. This ratio is denoted as σi = 0, 1, 2;

[0117] If ζ min < σ i＝0,1,2 < ζ max ζ min = 0.09, ζ max = 0.10, then the current subset {x i , y i , σ∣i = 0, 1, 2} is considered a symmetric subset;

[0118] If ∈ min < σ i＝0,1,2 < ∈ max ∈ min = 0.54, ∈ max = 0.86, then the current subset {x i , y i , σ∣i = 0, 1, 2} is considered an asymmetric subset.

[0119] Further, according to the division of the symmetric subset into symmetric subsets and asymmetric subsets, re-checking the target area includes:

[0120] Calculate the subsets in the two-dimensional vector class in sequence, store the symmetric subsets in the two-dimensional vector XY in the order of the middle point and the edge points, and store the asymmetric subsets in the two-dimensional vector XY' in the order of the middle point and the edge points;

[0121] Find a subset from the two-dimensional vector XY, and then find two groups of subsets from the two-dimensional vector XY'. If these two groups of asymmetric subsets satisfy: there exists an edge point equal to the edge point of the symmetric subset, then store these three groups of subsets in the same two-dimensional vector casket;

[0122] Sort the symmetric subsets and asymmetric subsets in the two-dimensional vector casket to obtain the positions of the trapped persons in the target area.

[0123] The positioning and rescue device for disaster-stricken trapped persons provided by the embodiments of the present invention marks the positions of each rescue personnel in the search and rescue area and corrects interference to obtain the actual positioning map of each rescue personnel; obtains the positioning contour of each search and rescue personnel during actual work, marks the contour of the rescue personnel according to the positioning contour, and updates the marked contour obtained by contour marking to the actual positioning map; obtains the target area according to the marked contour updated to the actual positioning map, and obtains the personnel positioning information of the trapped persons by re-checking the target area. Compared with the prior art, the present invention can analyze and determine the latest positioning of the trapped persons, plan their movement trajectories, provide a relatively reliable reference basis for rescue work, and meet the actual application requirements.

[0124] The embodiments of the present invention also provide a computer-readable storage medium, which includes a stored computer program; wherein, the computer program controls the device where the computer-readable storage medium is located to execute the positioning and rescue method for disaster-stricken trapped persons as described above when running.

[0125] The embodiments of the present invention also provide a terminal device. Refer to Figure 3 As shown, it is a structural block diagram of a preferred embodiment of a terminal device provided by the present invention. The terminal device includes a processor 10, a memory 20, and a computer program stored in the memory 20 and configured to be executed by the processor 10. The processor 10 implements the positioning and rescue method for disaster-stricken trapped persons as described above when executing the computer program.

[0126] Preferably, the computer program can be divided into one or more modules / units (such as computer program 1, computer program 2,...). The one or more modules / units are stored in the memory 20 and executed by the processor 10 to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program in the terminal device.

[0127] The processor 10 may be a Central Processing Unit (CPU), or may also be other general-purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field-Programmable Gate Arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor 10 may also be any conventional processor. The processor 10 is the control center of the terminal device and connects various parts of the terminal device through various interfaces and lines.

[0128] The memory 20 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, application programs required for at least one function, etc., and the data storage area can store relevant data, etc. In addition, the memory 20 may be a high-speed random access memory, or may also be a non-volatile memory, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc., or the memory 20 may also be other volatile solid-state storage devices.

[0129] It should be noted that the above terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art can understand that Figure 3 The structure block diagram is only an example of the terminal device and does not constitute a limitation on the terminal device. It may include more or fewer components than those shown in the figure, or combine some components, or different components.

[0130] In summary, for the method, device, storage medium, and terminal device for positioning and rescuing disaster-stricken trapped persons provided by the present invention, first, position marking and interference correction are performed on each rescuer in the search and rescue area to obtain the actual positioning map of each rescuer; the positioning contour of each search and rescue personnel during actual work is obtained, and the rescuer is contour-marked according to the positioning contour, and the marked contour obtained by the contour marking is updated to the actual positioning map; the target area is obtained according to the marked contour updated to the actual positioning map, and the personnel positioning information of the trapped persons is obtained by re-checking the target area. Compared with the prior art, the present invention can analyze and determine the latest position of the trapped persons, plan their movement trajectories, provide a relatively reliable reference basis for the rescue work, and meet the actual application requirements.

[0131] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A method for positioning and rescuing trapped persons in disasters, characterized in that, The method includes the following steps: Perform position marking and interference correction on each rescue personnel within the search and rescue area to obtain the actual positioning map of each rescue personnel; Obtain the positioning contour of each search and rescue personnel during actual work, perform contour marking on the rescue personnel according to the positioning contour, and update the marked contour obtained by the contour marking to the actual positioning map; Obtain the target area based on the marked contour updated to the actual positioning map, and obtain the personnel positioning information of the trapped personnel by re-checking the target area; Among them, the method of obtaining the target area based on the marked contour updated to the actual positioning map and re-checking the target area includes: Update the actual positioning map according to the marked contour to obtain the target area; Perform center extraction and coordinate system conversion on the updated actual positioning map to obtain a set of spatial points formed by actual geographical coordinates; Obtain the sum of the squares of the distances from each subset in the set of spatial points to the corresponding fitting plane, and determine whether the subset belongs to the target area according to the sum of the squares of the distances; Store the subsets belonging to the target area into a two-dimensional vector class, and divide the subsets saved in the two-dimensional vector class into symmetric subsets and asymmetric subsets; Re-check the target area according to the division of the symmetric subsets into symmetric subsets and asymmetric subsets.

2. The method for positioning and rescuing trapped persons in disasters according to claim 1, characterized in that, Before performing position marking and interference correction on each rescue personnel within the search and rescue area, the method further includes: Mutually adapt the locators carried by each rescue personnel and establish a connection calibration with the total server to obtain the internal parameter matrix and distortion parameters of each locator.

3. The method for positioning and rescuing trapped persons in disasters according to claim 2, characterized in that, The method of performing position marking and interference correction on each rescue personnel within the search and rescue area to obtain the actual positioning map of each rescue personnel includes: Obtain the position information of each rescue personnel within the rescue area and perform position calibration on it; Perform distortion correction on the positions of the rescue personnel after position calibration according to the internal parameter matrix and distortion parameters of each locator to obtain the actual positioning map of each rescue personnel after distortion correction; among them, the distortion parameters include radial distortion and tangential distortion.

4. The method for positioning and rescuing trapped persons in disasters according to claim 3, characterized in that, The method of obtaining the positioning contour of each search and rescue personnel during actual work, performing contour marking on the rescue personnel according to the positioning contour, and updating the marked contour obtained by the contour marking to the actual positioning map includes: Extract and correct the positioning edge contour of each rescue personnel during actual work to obtain the corrected contour of each rescue personnel; Judge whether the edge of the corrected contour is approximately circular; If so, perform contour marking on the rescue personnel according to the root mean square error of the distance from the corrected contour to the centroid and the squared distance; Obtain the marked contour of each rescue personnel according to the contour marking, and when the marked contour meets the preset geographical area, update the marked contour as a positioning contour to the actual positioning map.

5. The method for positioning and rescuing trapped persons in disasters according to claim 1, characterized in that, The method of storing the subsets belonging to the target area into a two-dimensional vector class and dividing the subsets saved in the two-dimensional vector class into symmetric subsets and asymmetric subsets includes: Obtain the point located in the middle of the two edge points within the current subset {x i , y i , σ|i = 0, 1, 2} of the two-dimensional vector class, then calculate the radian value of the spatial vector between the two edge points and the middle point, and compare the smaller radian value with the larger radian value, and record the ratio as σ i = 0, 1, 2; If ζ min < σ i＝0,1,2 < ζ max ζ min = 0.09, ζ max = 0.10, then the current subset {x i , y i , σ | i = 0, 1, 2} is considered a symmetric subset; If ∈ min <σ i＝0,1,2 <∈ max ∈ min = 0.54, ∈ max = 0.86, then the current subset {x i , y i , σ∣i = 0, 1, 2} is considered an asymmetric subset.

6. The method for positioning and rescuing trapped persons in disasters according to claim 5, characterized in that, The method for rechecking the target area by dividing it into symmetric subsets and asymmetric subsets according to the symmetric subsets includes: Calculate the subsets in the two-dimensional vector class in sequence, store the symmetric subsets in the two-dimensional vector XY in the order of the midpoint and the edge points, and store the asymmetric subsets in the two-dimensional vector XY' in the order of the midpoint and the edge points; Find a subset from the two-dimensional vector XY, and then find two groups of subsets from the two-dimensional vector XY'. If these two groups of asymmetric subsets satisfy: there exists an edge point equal to the edge point of the symmetric subset, then store these three groups of subsets in the same two-dimensional vector casket; Sort the symmetric subsets and asymmetric subsets in the two-dimensional vector casket to obtain the positions of the trapped persons in the target area.

7. A device for positioning and rescuing trapped persons in disasters, characterized in that, The device for implementing the method for positioning and rescuing disaster trapped persons according to any one of claims 1 to 6 includes: A position marking module, configured to perform position marking and interference correction on each rescuer in the search and rescue area to obtain the actual positioning map of each rescuer; A contour marking module, configured to obtain the positioning contour of each rescuer during actual work, perform contour marking on the rescuer according to the positioning contour, and update the marked contour obtained by the contour marking to the actual positioning map; An area rechecking module, configured to obtain the target area according to the marked contour updated to the actual positioning map, and obtain the personnel positioning information of the trapped persons by rechecking the target area.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored computer program; wherein, the computer program controls the device where the computer-readable storage medium is located to execute the method for positioning and rescuing disaster trapped persons according to any one of claims 1 to 6 when running.

9. A terminal device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. The processor implements the method for positioning and rescuing disaster trapped persons according to any one of claims 1 to 6 when executing the computer program.

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