An equipment detection visual field analysis method

Abstract

The present application provides a method for analyzing the detection visual field of equipment, which relates to the technical field of equipment visual field analysis, and includes: based on a preset DEM resolution and the detection radius of the equipment, with the equipment as the origin, determining the number of detection lines of sight and the direction of each detection line of sight through a preset algorithm; within the theoretical maximum detection distance corresponding to the preset detection height, obtaining the maximum detection distance of each detection line of sight by searching, and calculating the position coordinates of the critical point corresponding to the maximum detection distance; connecting the critical points of each detection line of sight to form a surface to obtain the range of the equipment detection area corresponding to the preset detection height; within the preset detection distance, obtaining the maximum detection critical line of sight slope of each detection line of sight by searching, and thereby calculating the range of the equipment detection blind area height corresponding to the preset detection distance. The present application improves the efficiency of equipment detection visual field analysis and enhances the reliability of the visual field analysis results.

Description

Technical Field

[0001] This application relates to the technical field of equipment visibility analysis, and in particular to a method for analyzing the visibility of equipment detection. Background Art

[0002] At present, there have been a large number of achievements and technical applications in the field of equipment detection visibility analysis at home and abroad. The relevant research mainly focuses on the visibility models and algorithms of equipment detection ranges. The most prominent problems are the lack of analysis and evaluation of the correction of electromagnetic wave atmospheric refraction errors of equipment, and the processing efficiency of high-precision or large-scale digital elevation models.

[0003] In addition, the current equipment detection visibility analysis does not consider the influence of the earth's radius of curvature and atmospheric refraction, resulting in the current analysis results mainly being visual displays and unable to achieve real practical applications. Summary of the Invention

[0004] In view of this, this application provides a method for analyzing the visibility of equipment detection to solve the above technical problems.

[0005] In a first aspect, an embodiment of this application provides a method for analyzing the visibility of equipment detection, including:

[0006] Based on a preset DEM resolution and equipment detection radius, with the equipment as the origin, determine the number of detection lines of sight and the direction of each detection line of sight through a preset algorithm;

[0007] Within the theoretically maximum detection distance corresponding to the preset detection height, obtain the maximum detection distance of each detection line of sight through search, and calculate the position coordinates of the critical point corresponding to the maximum detection distance; Connect the critical points of each detection line of sight to form a surface to obtain the equipment detection area range corresponding to the preset detection height;

[0008] Within the preset detection distance, obtain the maximum detection critical line-of-sight slope of each detection line of sight through search, and thereby calculate the equipment detection blind area height range corresponding to the preset detection distance.

[0009] Furthermore, based on a preset DEM resolution and equipment detection radius, with the equipment as the origin, determine the number of detection lines of sight and the direction of each detection line of sight through a preset algorithm; including:

[0010] Determine the number of layers L according to the equipment detection radius d and the side length a of the unit grid:

[0011]

[0012] Among them, the side length a of the unit grid is the DEM resolution, and [] is the rounding operation symbol;

[0013] Calculate the length step d of the l-th layer l :

[0014] d 1 = d / 2 L-1

[0015] d l = d / 2 L-l+1 ; l = 2, …, L

[0016] The angular step θ of the L-th layer L is:

[0017]

[0018] The angular step θ of the l-th layer l is:

[0019] θ l = 2 L-l θ L , l = 1, …, L - 1

[0020] Determine that the number of detection lines of sight is L; with the equipment as the origin, take any direction on the ground plane as the first detection line of sight, and rotate the first detection line of sight clockwise or counterclockwise on the ground plane by θ 1 , to obtain the second detection line of sight, and rotate the second detection line of sight on the ground plane by θ 2 , to obtain the third detection line of sight; and so on until the L-th detection line of sight is obtained.

[0021] Furthermore, based on the preset DEM resolution and the detection radius of the equipment, with the equipment as the origin, determine the number of detection lines of sight and the direction of each detection line of sight through a preset algorithm, including:

[0022] Determine the angular step θ according to the detection radius d of the equipment and the DEM resolution a:

[0023]

[0024] Determine that the number of detection lines of sight is With the equipment as the origin, take any direction on the ground plane as the first detection line of sight, rotate the first detection line of sight clockwise or counterclockwise on the ground plane by θ to obtain the second detection line of sight, and rotate the second detection line of sight on the ground plane by θ to obtain the third detection line of sight; and so on until the L-th detection line of sight is obtained.

[0025] Furthermore, within the theoretical maximum detection distance corresponding to the preset detection height, obtain the maximum detection distance of each detection line of sight through search, and calculate the position coordinates of the critical point corresponding to the maximum detection distance; including:

[0026] Step S1: Calculate the theoretical maximum detection distance S according to the preset detection height H T ;

[0027] Step S2: Obtain the length step b of the detection line of sight;

[0028] Step S3: Starting from the equipment, obtain the first point by incrementing the length step b along the detection line of sight, and calculate the two-dimensional coordinates of the first point;

[0029] Step S4: Obtain the elevation value of the i-th point through DEM data analysis; the initial value of i is 1;

[0030] Step S5: Calculate the critical detection distance S according to the elevation value of the i-th point i ;

[0031] Step S6: Determine whether S i < S max holds, where S max is the maximum distance; if so, then S max = S i , and enter Step S7; otherwise, directly enter Step S7;

[0032] Step S7: Starting from the i-th point, obtain the (i + 1)-th point by incrementing the length step b along the detection line of sight, calculate the two-dimensional coordinates of the (i + 1)-th point, and determine whether the distance between the (i + 1)-th point and the equipment is less than S T , if so, after updating i to i + 1, enter Step S4, otherwise, enter Step S8;

[0033] Step S8: Take the minimum value among all S i as S, and determine whether S > S T holds, if so, then S = S T , determine S as the maximum detection distance of the detection line of sight, the corresponding point as the critical point, and calculate the position coordinates of the critical point.

[0034] Furthermore, calculate the critical detection distance S according to the elevation value of the i-th point i ; including:

[0035] Obtain the initial critical detection distance S according to the detection line of sight and the elevation value of the i-th point 0 ;

[0036] Calculate the apparent elevation angle θ according to the initial critical detection distance S 0 and the elevation value of the i-th point 0 ;

[0037] Calculate the apparent elevation angle θ according to the initial critical detection distance S 0 and the apparent elevation angle θ 0, calculate the elevation refraction error ε of the i-th point 0 :

[0038]

[0039] where

[0040] calculate the final critical detection distance S i :

[0041]

[0042] then S i is the critical detection distance after atmospheric refraction correction.

[0043] Furthermore, the method further includes:

[0044] Take every two adjacent detection lines of sight as a group, and thus divide the L detection lines of sight into multiple groups; the first detection line of sight in each group starts from the 1st point, and calculates the maximum detection distance point by point; the second detection line of sight in each group starts from the last point at the repetition of the two detection lines of sight, and calculates the maximum detection distance point by point.

[0045] Furthermore, within the preset detection distance, obtain the maximum detection critical line-of-sight slope of each detection line of sight by searching, and thus calculate the equipment detection blind area height range corresponding to the preset detection distance; including:

[0046] Step T1: Obtain the length step b of the detection line of sight;

[0047] Step T2: Starting from the equipment, obtain the 1st point by increasing the length step b along the detection line of sight, and calculate the two-dimensional coordinates of the 1st point;

[0048] Step T3: Obtain the elevation value of the i-th point through DEM data analysis; the initial value of i is 1;

[0049] Step T4: Calculate the critical line-of-sight slope k of the obstacle corresponding to the elevation value of the equipment and the i-th point i ;

[0050] Step T5: Starting from the i-th point, obtain the (i + 1)-th point by increasing the length step b along the detection line of sight, calculate the two-dimensional coordinates of the (i + 1)-th point, and determine whether the distance between the (i + 1)-th point and the equipment is less than the preset detection distance. If so, after updating i to i + 1, enter Step T3, otherwise, enter Step T6;

[0051] Step T6: Obtain the maximum value among all k i as the critical line-of-sight slope of the detection line of sight;

[0052] Step T7: Calculate the height of the equipment detection blind area of the detection line of sight according to the critical line-of-sight slope of the detection line of sight and the preset detection distance.

[0053] Further, calculating the height of the equipment detection blind area of the detection line of sight according to the critical line-of-sight slope of the detection line of sight and the preset detection distance includes:

[0054] Determine the apparent elevation angle θ according to the critical line-of-sight slope of the detection line of sight 0 ;

[0055] According to the preset detection distance R a and the apparent elevation angle θ 0 , calculate the height h of the equipment detection blind area of the detection line of sight T :

[0056]

[0057] wherein, R e is the radius of the earth; k is the equivalent earth radius coefficient, h 0 is the altitude of the equipment antenna.

[0058] Further, the method further includes:

[0059] Group all the detection lines of sight according to the angle range, and use the CPU combined with the GPU to calculate the equipment detection area range and the height of the equipment detection blind area in parallel for each group.

[0060] This application improves the efficiency of equipment detection visual field analysis and enhances the reliability of the visual field analysis results. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0062] Figure 1 is a flowchart of the equipment detection visual field analysis method provided by the embodiment of the present application;

[0063] Figure 2 is a schematic diagram of the LOS line of sight provided by the embodiment of the present application;

[0064] Figure 3 is a schematic diagram of two detection lines of sight provided by the embodiment of the present application;

[0065] Figure 4Flow chart for enhancing DEM traversal optimization algorithm provided by the embodiments of this application;

[0066] Figure 5 Schematic diagram of the atmospheric refraction error model provided by the embodiments of this application;

[0067] Figure 6 Schematic diagram of the algorithm complexity for analyzing the visible field of equipment detection provided by the embodiments of this application. Detailed implementation manners

[0068] To make the objectives, technical solutions and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some but not all of the embodiments of this application. Usually, the components of the embodiments of this application described and illustrated herein can be arranged and designed in various different configurations.

[0069] Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of this application claimed, but merely represents selected embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of this application without creative efforts shall fall within the scope of protection of this application.

[0070] First, a brief introduction to the design concept of the embodiments of this application will be given.

[0071] Currently, the analysis of the visible field of equipment detection does not consider the influence of the earth's radius of curvature and atmospheric refraction, resulting in the current analysis results mainly being presented in a visual display and unable to achieve true practical applications.

[0072] To solve the above technical problems, this application provides a method for analyzing the visible field of equipment detection, and its technical solutions include the following four parts:

[0073] I. Atmospheric refraction correction method

[0074] In the analysis of the visible field of equipment, an error correction model of the equivalent earth radius method is adopted for visible field analysis.

[0075] II. Analysis of equipment visual field error

[0076] The detection range and blind area height of the equipment are simulated and verified to verify the basic relationships between the detection range error, blind area height error and the target height, distance, and DEM resolution. The experimental results of equipment visual field analysis at different resolutions are used as the basic analysis data, and the analysis results are output in the form of an Excel table and further analyzed through mathematical statistics to draw conclusions.

[0077] III. Improvement of the visual field analysis algorithm

[0078] Based on the conventional point-by-point field of view analysis algorithm with set angles and distance intervals, principles and corresponding algorithms based on reducing the number of sight lines and reducing the number of DEM traversals are adopted to optimize the point-by-point field of view analysis, and the analysis algorithm, analysis results and accuracy are analyzed and evaluated to draw conclusions.

[0079] IV. Realization of Efficiency Improvement of Equipment Field of View Analysis Algorithm

[0080] Taking into account the atmospheric refraction correction model, on the basis of improving and optimizing the algorithm, CPU and GPU parallel computing technologies are realized to improve and optimize the operation efficiency of the equipment detection range and blind area height. The experimental results are analyzed and evaluated, and the overall operation efficiency is improved by more than 30%.

[0081] Compared with the prior art, the improvement points of the technical solution of this application are as follows:

[0082] 1. Considering influencing factors such as the radius of the earth's curvature, atmospheric refraction error correction, equipment parameters, and DEM resolution, the accuracy problem of equipment detection visual field analysis is solved.

[0083] 2. Adopting parallel computing technology based on the optimization of the field of view analysis algorithm has greatly improved the analysis efficiency.

[0084] Compared with the prior art, the technical advantages of this application are as follows:

[0085] 1. The field of view analysis is accurate and reliable.

[0086] 2. The efficiency of the field of view analysis is greatly improved. The analysis efficiency of the equipment detection range has reached an average of more than 35%, and the analysis efficiency of the blind area height has reached an average of more than 60%.

[0087] 3. This application has realized a fundamental transformation of the equipment detection visual field analysis from visual display to practical application, and realized the practical application of the equipment visual field analysis.

[0088] In the algorithm for the equipment detection visual field analysis range and blind area height of this application, atmospheric refraction error correction and algorithm optimization of the analysis efficiency are considered, and parallel computing technology combining CPU and GPU is adopted, so that the analysis accuracy is guaranteed and the analysis efficiency is greatly improved.

[0089] After introducing the application scenarios and design ideas of the embodiments of this application, the technical solutions provided by the embodiments of this application will be described below.

[0090] As Figure 1 shown, the embodiments of this application provide a method for equipment detection visual field analysis, including the following steps:

[0091] Step 101: Based on the preset DEM resolution and the detection radius of the equipment, with the equipment as the origin, determine the number of detection lines of sight and the direction of each detection line of sight through a preset algorithm.

[0092] In the prior art, both the angle step size and the length step size adopt preset fixed values, which will generate a huge amount of computation. Therefore, this application adopts two methods to determine the angle step size and the length step size according to the detection distance and the DEM (elevation) resolution.

[0093] The first method:

[0094] Divide the terrain surface into multiple layers according to the distance of the viewpoint. For each layer, use different angle step sizes to perform terrain visibility calculation.

[0095] Construct LOS lines of sight layer by layer with the equipment position as the center, as Figure 2 shown. Use different angle step sizes θ i to perform terrain visibility calculation.

[0096] Determine the number of layers L of stratification according to the equipment detection radius d and the side length a of the unit grid:

[0097]

[0098] where the side length a of the unit grid is the DEM resolution, and [] is the rounding operation symbol;

[0099] Calculate the length step size d l :

[0100] d 1 = d / 2 L-1

[0101] d l = d / 2 L-l+1 ; l = 2, … L

[0102] The angle step size θ L of the Lth layer is:

[0103]

[0104] The angle step size θ l of the lth layer is:

[0105] θ l = 2 L-l θ L ; l = 1, … L - 1

[0106] Determine that the number of detection lines of sight is L; with the equipment as the origin, take any direction on the ground plane as the first detection line of sight, and rotate the first detection line of sight clockwise or counterclockwise on the ground plane by θ 1, the second detection line of sight is obtained, and the second detection line of sight is rotated by θ on the ground plane 2 , the third detection line of sight is obtained; this process is repeated until the L-th detection line of sight is obtained, and the L-th detection line of sight is rotated by θ L to return to the first detection line of sight.

[0107] The second method:

[0108] Determine the angular step θ according to the detection radius d of the equipment and the DEM resolution a:

[0109]

[0110] Determine the number of detection lines of sight as Taking the equipment as the origin, any direction on the ground plane is taken as the first detection line of sight. The first detection line of sight is rotated by θ clockwise or counterclockwise on the ground plane to obtain the second detection line of sight, and the second detection line of sight is rotated by θ on the ground plane to obtain the third detection line of sight; this process is repeated until the L-th detection line of sight is obtained, and the L-th detection line of sight is rotated by θ to return to the first detection line of sight.

[0111] In the field of view analysis, the line of sight has the characteristic of diverging centered on the observation point (i.e., the center of the circle). Therefore, in the case where there is no DEM grid not penetrated by the line of sight, there must be overlapping grids between adjacent two lines of sight; moreover, the denser the detection direction, the more serious the data redundancy. As Figure 3 shown.

[0112] This embodiment adopts the side-looking multiplexing technology. Based on the characteristics of the field of view analysis of the Bresebham algorithm idea, the visual analysis result of the last grid of the overlapping grids at the beginning of this line of sight and its adjacent two lines of sight is used as the visual analysis result of the adjacent realization at this grid. The specific algorithm flow is as Figure 4 shown:

[0113] Take every two adjacent detection lines of sight as a group, and thus divide the L detection lines of sight into multiple groups; the first detection line of sight in each group starts from the first point and calculates the maximum detection distance point by point; the second detection line of sight in each group starts from the last point of the overlapping part of the two detection lines of sight and calculates the maximum detection distance point by point.

[0114] In the actual algorithm design, a DEM traversal optimization algorithm is adopted to improve the efficiency of the visible field analysis. This algorithm is a visual field analysis optimization algorithm based on the Bresebham algorithm idea, and adopts a line-of-sight grouping optimization calculation method, which effectively reduces the additional overhead caused by memory increase and analysis judgment. In this way, it can not only improve the efficiency of the visible field analysis to a certain extent, but also ensure the accuracy.

[0115] Step 102: Within the theoretical maximum detection distance corresponding to the preset detection altitude, obtain the maximum detection distance of each detection line of sight through search, and calculate the position coordinates of the critical point corresponding to the maximum detection distance; Connect the critical points of each detection line of sight to form a surface, and obtain the equipment detection area range corresponding to the preset detection altitude;

[0116] In this embodiment, this step includes:

[0117] Step S1: Calculate the theoretical maximum detection distance ST according to the preset detection altitude H;

[0118] Step S2: Obtain the length step b of the detection line of sight;

[0119] Step S3: Starting from the equipment, increment the length step b along the detection line of sight to obtain the first point, and calculate the two-dimensional coordinates of the first point;

[0120] Step S4: Obtain the elevation value of the i-th point through DEM data analysis; The initial value of i is 1;

[0121] Step S5: Calculate the critical detection distance S according to the elevation value of the i-th point i ;

[0122] Step S6: Judge whether S i < S max holds, where S max is the maximum distance; If so, then S max = S i , and enter Step S7; Otherwise, directly enter Step S7;

[0123] Step S7: Starting from the i-th point, increment the length step b along the detection line of sight to obtain the (i + 1)-th point, calculate the two-dimensional coordinates of the (i + 1)-th point, and judge whether the distance between the (i + 1)-th point and the equipment is less than S T , if so, after updating i to i + 1, enter Step S4, otherwise, enter Step S8;

[0124] Step S8: Take the minimum value among all S i as S, and judge whether S > S T holds, if so, then S = S T , determine S as the maximum detection distance of the detection line of sight, the corresponding point as the critical point, and calculate the position coordinates of the critical point.

[0125] Step S9: Connect the critical points of each detection line of sight into a closed curve to form a closed surface, that is, obtain the detection area range of the equipment.

[0126] In this embodiment, atmospheric refraction correction is considered in Step S5. As Figure 5As shown in the figure, it is the schematic diagram adopted by the atmospheric refraction error correction model. According to the law of atmospheric refraction, the causes and principles of errors are studied. Since electromagnetic waves propagate in the air, the air density is different, and the air density distribution law in different atmospheric layers is also different. The effective detection range of the equipment is generally within the lower atmosphere from the ground to 60 kilometers. Within this range, it is necessary to analyze and correct the errors caused by the refraction of electromagnetic waves in order to obtain the true detection range of the equipment. The radius of the earth is a, the position of the radar is O, and the altitude of the radar antenna is h 0 , the target position is T, the center of the earth is C, and the geocentric angle of the target is the included angle between OC and CT The apparent elevation angle and apparent distance measured by the radar are respectively θ 0 、R a , the true elevation angle and true distance are respectively α 0 、R 0 , the true altitude and apparent altitude are respectively h T 、h a .

[0127] The equivalent earth radius method is for the convenience of calculation. To make the curved ray become a straight line and keep the height and the distance from the ground unchanged, the actual earth needs to be changed into an equivalent earth, and the equivalent earth radius is kR e , R e is the radius of the earth, and k is the equivalent earth radius coefficient. The main parameters involved in the equivalent earth calculation model are or are the vertical gradient of the refractive index and the vertical gradient of the refractive index respectively.

[0128] When precise calculation and correction are required, measured data should be used. When precise correction is not required, according to the research scope and applicable mode of this experiment, considering different atmospheric refraction modes in the troposphere, the standard vertical gradient of the refractive index or the standard vertical gradient of the refractive index is used, that is or At this time, the corresponding k value is taken as 1.334.

[0129] Specifically, the critical detection distance S is calculated according to the elevation value of the i-th point i ; including:

[0130] According to the detection line of sight and the elevation value of the i-th point, the initial critical detection distance S is obtained 0 ;

[0131] According to the initial critical detection distance S 0 and the elevation value of the i-th point, the apparent elevation angle θ is calculated 0 ;

[0132] According to the initial critical detection distance S0 and the apparent elevation angle θ 0 , calculate the elevation refraction error ε of the i-th point 0 :

[0133]

[0134] wherein,

[0135] calculate the final critical detection distance S i :

[0136]

[0137] then S i is the critical detection distance after atmospheric refraction correction.

[0138] Step 103: Within the preset detection distance, obtain the maximum detection critical line-of-sight slope of each detection line-of-sight through search, and thereby calculate the equipment detection blind area height range corresponding to the preset detection distance;

[0139] In this embodiment, this step specifically includes:

[0140] Step T1: Obtain the length step b of the detection line-of-sight;

[0141] Step T2: Taking the equipment as the starting point, increment the length step b along the detection line-of-sight to obtain the first point, and calculate the two-dimensional coordinates of the first point;

[0142] Step T3: Obtain the elevation value of the i-th point through DEM data analysis; the initial value of i is 1;

[0143] Step T4: Calculate the critical line-of-sight slope k of the obstacle corresponding to the elevation value of the equipment and the i-th point i ;

[0144] Step T5: Taking the i-th point as the starting point, increment the length step b along the detection line-of-sight to obtain the (i + 1)-th point, calculate the two-dimensional coordinates of the (i + 1)-th point, and determine whether the distance between the (i + 1)-th point and the equipment is less than the preset detection distance. If so, after updating i to i + 1, enter Step T3, otherwise, enter Step T6;

[0145] Step T6: Obtain the maximum value among all k i as the critical line-of-sight slope of the detection line-of-sight;

[0146] Step T7: Calculate the equipment detection blind area height of the detection line-of-sight according to the critical line-of-sight slope of the detection line-of-sight and the preset detection distance.

[0147] Considering the atmospheric refraction correction, calculate the equipment detection blind area height of the detection line of sight according to the critical line of sight slope of the detection line of sight and the preset detection distance, including:

[0148] Determine the apparent elevation angle θ according to the critical line of sight slope of the detection line of sight 0 ;

[0149] According to the preset detection distance R a and the apparent elevation angle θ 0 , calculate the equipment detection blind area height h of the detection line of sight T :

[0150]

[0151] wherein, R e is the radius of the earth; k is the equivalent earth radius coefficient, h 0 is the altitude of the equipment antenna.

[0152] After obtaining the equipment visibility analysis result, introduce the parallel computing technology of CPU combined with GPU to improve the equipment visibility analysis efficiency. The equipment visibility analysis algorithm needs to set the length step and the angle step, and perform the equipment visibility analysis calculation by extracting sampling points in each direction. The time complexity is O(m*n), where m is the number of directions and n is the number of samples in a certain direction, as Figure 6 shown.

[0153] The algorithm efficiency is improved by introducing parallel technology. Since the calculation of the visibility condition between each line of sight and the equipment has no data dependence and control dependence and can be calculated independently without mutual influence, all the lines of sight within 360° centered on the equipment can be grouped according to the angle range (multiples of the angle step), and the CPU combined with GPU technology is used for parallel calculation. Theoretically, the time complexity required for parallel calculation changes from the original O(m*n) to O(m*n) / k. Therefore, the calculation efficiency can be greatly improved through parallel computing technology.

[0154] In addition, although the operations of the method of the present application are described in a specific order in the drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution.

[0155] Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications once they learn the basic creative concepts. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the present application.

[0156] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and 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 application.

Claims

1. An equipment detection visual field analysis method, characterized in that, it includes: Based on the preset DEM resolution and the equipment detection radius, with the equipment as the origin, determine the number of detection lines of sight and the direction of each detection line of sight through a preset algorithm; Within the theoretical maximum detection distance corresponding to the preset detection height, obtain the maximum detection distance of each detection line of sight through search, and calculate the position coordinates of the critical point corresponding to the maximum detection distance; Connect the critical points of each detection line of sight to form a surface to obtain the equipment detection area range corresponding to the preset detection height; Within the preset detection distance, obtain the maximum detection critical line-of-sight slope of each detection line of sight through search, and thereby calculate the equipment detection blind area height range corresponding to the preset detection distance; Among them, within the theoretical maximum detection distance corresponding to the preset detection height, obtain the maximum detection distance of each detection line of sight through search, and calculate the position coordinates of the critical point corresponding to the maximum detection distance; including: Step S1: Calculate the theoretical maximum detection distance S according to the preset detection height H T ; Step S2: Obtain the length step b of the detection line of sight; Step S3: Starting from the equipment, increment the length step b along the detection line of sight to obtain the first point, and calculate the two-dimensional coordinates of the first point; Step S4: Obtain the elevation value of the i-th point through DEM data analysis; the initial value of i is 1; Step S5: Calculate the critical detection distance S based on the elevation value of the i-th point i ; Step S6: Determine if S i <S max holds, where S max is the maximum distance; if so, then S max = S i , and proceed to step S7; otherwise, directly proceed to step S7; Step S7: Taking the i-th point as the starting point, increment the length step b along the detection line of sight to obtain the (i + 1)-th point, calculate the two-dimensional coordinates of the (i + 1)-th point, and determine whether the distance between the (i + 1)-th point and the equipment is less than S T , if yes, after updating i to i + 1, enter step S4, otherwise, enter step S8; Step S8: Take the minimum value among all S i as S, and determine whether S > S T holds. If so, then S = S T , determine S as the maximum detection distance of the detection line of sight, the corresponding point as the critical point, and calculate the position coordinates of the critical point.

2. The equipment detection visual field analysis method according to claim 1, characterized in that, Based on the preset DEM resolution and the equipment detection radius, with the equipment as the origin, determine the number of detection lines of sight and the direction of each detection line of sight through a preset algorithm; including: Determine the number of layers L according to the equipment detection radius d and the side length a of the unit grid: Among them, the side length a of the unit grid is the DEM resolution, and [] is the rounding operation symbol; Calculate the length step d of the l-th layer l : d 1 = d / 2 L-1 d l = d / 2 L-l+1 ; l = 2, … L The angular step θ of the L-th layer L is as follows: The angular step θ of the l-th layer l is as follows: θ l = 2 L-l θ L , l = 1, … L-1 Determine that the number of detection lines of sight is L; taking the equipment as the origin, taking any direction on the ground plane as the first detection line of sight, and rotating the first detection line of sight clockwise or counterclockwise on the ground plane by θ 1 , to obtain the second detection line of sight, and rotating the second detection line of sight on the ground plane by θ 2 , to obtain the third detection line of sight; and so on until the Lth detection line of sight is obtained.

3. The equipment detection visual field analysis method according to claim 2, characterized in that, Based on the preset DEM resolution and the equipment detection radius, with the equipment as the origin, determine the number of detection lines of sight and the direction of each detection line of sight through a preset algorithm, including: Determine the angle step θ according to the equipment detection radius d and the DEM resolution a; Determine that the number of detection lines of sight is Taking the equipment as the origin and any direction on the ground plane as the first detection line of sight, rotate the first detection line of sight clockwise or counterclockwise by θ on the ground plane to obtain the second detection line of sight, and rotate the second detection line of sight by θ on the ground plane to obtain the third detection line of sight; and so on until the Lth detection line of sight is obtained.

4. The equipment detection visual field analysis method according to claim 1, characterized in that, Calculating the critical detection distance S based on the elevation value of the i-th point i ; including: Based on the detection line of sight and the elevation value of the i-th point, an initial critical detection distance S is obtained 0 ; According to the initial critical detection distance S 0 and the elevation value of the i-th point, calculate the apparent elevation angle θ 0 ; According to the initial critical detection distance S 0 and the apparent elevation angle θ 0 , calculate the elevation refraction error ε of the i-th point 0 : Among them, Calculate the critical detection distance S i : Then S i is the critical detection distance after atmospheric refraction correction.

5. The equipment detection visual field analysis method according to claim 1, characterized in that, The method further includes: Take every two adjacent detection lines of sight as a group, and thus divide the L detection lines of sight into multiple groups; The first detection line of sight in each group starts from the first point and calculates the maximum detection distance point by point; The second detection line of sight in each group starts from the last point at the repetition of the two detection lines of sight and calculates the maximum detection distance point by point.

6. The equipment detection visual field analysis method according to claim 2 or 3, characterized in that, Within the preset detection distance, obtain the maximum detection critical line-of-sight slope of each detection line of sight through search, and thereby calculate the equipment detection blind area height range corresponding to the preset detection distance; including: Step T1: Obtain the length step b of the detection line of sight; Step T2: Starting from the equipment, increment the length step b along the detection line of sight to obtain the first point, and calculate the two-dimensional coordinates of the first point; Step T3: Obtain the elevation value of the i-th point through DEM data analysis; the initial value of i is 1; Step T4: Calculate the critical line-of-sight slope k of the obstacle corresponding to the elevation value of the equipment and the i-th point i ; Step T5: Taking the i-th point as the starting point, increment the length step b along the detection line of sight to obtain the (i + 1)-th point, calculate the two-dimensional coordinates of the (i + 1)-th point, and determine whether the distance between the (i + 1)-th point and the equipment is less than the preset detection distance. If so, after updating i to i + 1, enter Step T3; otherwise, enter Step T6; Step T6: Obtain the maximum value among all k i as the critical line-of-sight slope of the detection line of sight; Step T7: Calculate the equipment detection blind area height of the detection line of sight according to the critical line of sight slope of the detection line of sight and the preset detection distance.

7. The equipment detection visible area analysis method according to claim 6, wherein, calculate the equipment detection blind area height of the detection line of sight according to the critical line of sight slope of the detection line of sight and the preset detection distance; comprising: Determine the apparent elevation angle θ according to the critical line-of-sight slope of the detection line of sight 0 ; According to the preset detection distance R a and the apparent elevation angle θ 0 , calculate the height h of the equipment detection blind area of the detection line of sight T : Among them, R e is the radius of the earth; k is the equivalent earth radius coefficient, h 0 is the altitude of the equipment antenna.

8. The equipment detection visible area analysis method according to claim 1, wherein, the method further comprises: Group all the detection lines of sight according to the angle range, and use the CPU combined with the GPU to calculate the equipment detection area range and the equipment detection blind area height in parallel for each group.

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