A complex space area security defense method and device

Abstract

The present invention discloses a method and device for defending complex spatial areas. The method comprises: establishing a three-dimensional spatial coordinate system and marking the positions of all monitoring devices within the three-dimensional spatial coordinate system; acquiring images of moving objects within the monitoring range and determining whether the moving objects are tracking targets; if the moving objects are tracking targets, acquiring the minimum distance between the tracking targets and all monitoring devices, and the rotation angle of the monitoring device at the minimum distance when capturing the tracking targets; and determining the position of the tracking targets based on the minimum distance and rotation angle. The present invention solves the technical problem of the difficulty in locating suspicious moving objects in complex spatial environments in the prior art.

Description

Technical Field

[0001] The present invention relates to the field of security technology in smart city construction, and in particular to a method and device for security defense in complex spatial areas. Background Art

[0002] With the advancement of radio communications and flight control technologies, drones are moving towards civilian and consumer applications. While drones offer convenient services, they also pose challenges for inappropriate use, creating significant challenges for drone monitoring and positioning. Existing drone control technologies include radio direction finding, optical detection, radar detection, and acoustic detection.

[0003] In the complex electromagnetic environment and building obstructions in cities, these technologies all have limitations. Specifically, radio direction-finding positioning technology relies on drone tracking and control links that are subject to interference from co-frequency sources in the city. Optical detection technology is significantly affected by rain, snow, fog, and other weather conditions. Radar detection technology is significantly obscured by buildings and suffers from radiation. Acoustic detection technology is significantly affected by background noise. Furthermore, the cost of these technologies hinders widespread application and promotion in cities. The complexities of urban space make it difficult to search for targets and launch large-scale attacks. This necessitates a robust defense system, with a command system familiar with all relevant information about its positions and able to quickly identify incoming targets based on their distinct characteristics. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above-mentioned technical deficiencies, provide a complex space area security defense method and device, and solve the technical problem in the prior art of difficulty in locating suspicious active objects in complex spaces.

[0005] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides a complex space area security defense method, comprising:

[0007] Establish a three-dimensional space coordinate system and mark the positions of all monitoring devices in the three-dimensional space coordinate system;

[0008] Acquire an image of a moving object within a monitoring range and determine whether the moving object is a tracking target;

[0009] When the moving object is a tracking target, obtaining the minimum distance between the tracking target and all monitoring devices, and the rotation angle of the monitoring device at the minimum distance when capturing the tracking target;

[0010] The position of the tracked object is determined according to the minimum distance and the rotation angle.

[0011] In some embodiments, determining whether the moving object is a tracking target includes:

[0012] Establish high-level and low-level dynamic identity information databases;

[0013] Acquire images of moving objects;

[0014] Comparing the image of the moving object with a low-level dynamic identity information database to determine whether the moving object is a suspicious moving object;

[0015] If the moving object is a suspicious moving object, the suspicious moving object is compared with an advanced dynamic identity information database to determine whether the suspicious moving object is a tracking target.

[0016] In some embodiments, determining whether the moving object is a suspicious moving object includes:

[0017] comparing the image of the moving object with the low-level dynamic identity information database to determine whether the image of the moving object is valid information in the low-level dynamic identity information database;

[0018] If the information is valid in the low-level dynamic identity information database, marking the location of the active object;

[0019] If the information does not belong to the valid information in the low-level dynamic identity information database, the moving object is marked as a suspicious moving object.

[0020] In some embodiments, determining whether the suspicious moving object is a tracking target includes:

[0021] Comparing the image of the suspicious moving object with the advanced dynamic identity information database to determine whether the image of the suspicious moving object belongs to valid information in the advanced dynamic identity information database;

[0022] If the information does not belong to the valid information in the advanced dynamic identity information database, the suspicious moving object is marked as a tracking target.

[0023] In some embodiments, the low-level dynamic identity information database and the high-level dynamic identity information database include primary categories and secondary categories, the primary categories including security information category,

[0024] Processing information category and dangerous information category, each of the first-level categories contains the same second-level categories, 5 the second-level categories include human characteristics, drone characteristics and robot characteristics; wherein, the

[0025] Comparing the image of the active object with the low-level and / or high-level dynamic identity information database includes:

[0026] Identifying the secondary category to which the moving object belongs, and obtaining the secondary category features of the moving object;

[0027] 0 According to the secondary category features, the active object image is compared with the low-level dynamic identity

[0028] Compare the corresponding secondary categories in the information database;

[0029] If the active object does not belong to the valid information of the low-level dynamic identity information database, the active object image is compared with the secondary category corresponding to the high-level dynamic identity information database.

[0030] A comparison is performed to obtain a comparison result, and whether the five moving objects belong to tracking targets is determined based on the primary category to which the comparison result belongs.

[0031] In some embodiments, determining the position of the tracked object according to the minimum distance includes:

[0032] respectively obtaining a first coordinate, a second coordinate, a third coordinate, and a fourth coordinate of four monitoring devices that are closest to the tracking object;

[0033] 0 According to the first coordinate, the second coordinate, the third coordinate and the fourth coordinate, determine the four

[0034] The first distance, the second distance, the third distance and the distance between the monitoring device and the tracking object respectively

[0035] Fourth distance;

[0036] The position of the tracked object is determined according to the first distance, the second distance, the third distance, and the fourth distance.

[0037] In some embodiments, the first distance, the second distance, the third distance and

[0038] The fourth distance determines the position of the tracked object and can be expressed by the following formula:

[0039] (X a -X x ) 2 +(Y a -Y x ) 2 +(Z a -Z x ) 2 =L a 2

[0040] (X b -X x ) 2 +(Y b -Y x ) 2 +(Z b -Z x ) 2 =L b 2

[0041] (X C -X x ) 2 +(Y C -Y x ) 2 +(Z C -Z x ) 2 =L c 2

[0042] (X d -X x ) 2 +(Y d -Y x ) 2 +(Z d -Z x ) 2 =L d 2

[0043] Among them, (X a ,Y a , Z a ) represents the first coordinate, (X b ,Y b , Z b ) represents the second coordinate, (X c ,Y c , Z c ) represents the third coordinate, (X d , Y d , Z d ) represents the fourth coordinate, (X x ,Y x , Z x ) represents the position of the tracked object, L a 、L b 、L c and L d Represent the first distance, second distance, third distance and fourth distance respectively.

[0044] In some embodiments, determining the position of the tracked object based on the rotation angle and the minimum distance further includes:

[0045] Acquire an initial angle of the monitoring device, wherein the initial angle is the angle between the monitoring device and a horizontal plane;

[0046] Acquire a rotation angle of the monitoring device and a fourth distance between the monitoring device and the tracking object;

[0047] The position of the tracked object is determined according to the rotation angle and the fifth distance.

[0048] In some embodiments, the position of the tracked object can be expressed by the following formula:

[0049] (X a -L*cos(α Xa -β Xa ),Y a -L*cos(α Ya -β Ya ), Z a -L*sin(α Za -β Za ))

[0050] Among them, (β Xa ,β Ya , β Za ) represents the rotation angle, L represents the fifth distance, (X a ,Y a , Z a ) represents the coordinates of the monitoring device.

[0051] In a second aspect, the present invention further provides a complex space area security defense device, comprising:

[0052] A model building module is used to establish a three-dimensional space coordinate system and mark the positions of all monitoring devices in the three-dimensional space coordinate system;

[0053] A determination module, configured to obtain an image of a moving object within a monitoring range and determine whether the moving object is a tracking target;

[0054] an acquisition module, configured to, when the moving object is a tracking target, acquire the minimum distance between the tracking target and all monitoring devices, and the rotation angle of the monitoring device at the minimum distance when capturing the tracking target;

[0055] A position determination module is used to determine the position of the tracked object according to the minimum distance and the rotation angle.

[0056] Compared with the existing technology, the complex space area security defense method and device provided by the present invention first establish a three-dimensional space coordinate system and define that all monitoring devices are in the same coordinate system. When an active object appears, it is determined whether the active object is a tracking object. When the active object is a tracking object, the minimum distance between the tracking object and the monitoring device and the rotation angle when the current monitoring device collects the image of the tracking object are obtained, and the real-time position of the tracking object is determined based on the minimum distance and rotation, thereby achieving the purpose of accurately positioning moving objects in complex space areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 This is a flow chart of an embodiment of the complex space area security defense method provided by the present invention;

[0058] Figure 2 This is a flowchart of an embodiment of step S102 in the complex space area security defense method provided by the present invention;

[0059] Figure 3 This is a flowchart of an embodiment of step S203 in the complex space area security defense method provided by the present invention;

[0060] Figure 4 This is a flowchart of an embodiment of step S204 in the complex space area security defense method provided by the present invention;

[0061] Figure 5 This is a flowchart of an embodiment of step S301 and / or S401 in the complex space area security defense method provided by the present invention;

[0062] Figure 6 This is a flowchart of an embodiment of step S104 in the complex space area security defense method provided by the present invention;

[0063] Figure 7 This is a flowchart of another embodiment of step S104 in the complex space area security defense method provided by the present invention;

[0064] Figure 8 It is a schematic diagram of an embodiment of the complex space area security defense device provided by the present invention. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0066] The complex spatial area security defense method and device involved in the present invention can be applied to positioning moving objects in complex spatial areas, where complex spatial areas include places with large traffic volumes and many moving objects, such as cities, military training bases, rural lanes, large shopping malls, airports, and train stations. Specifically, the method and device involved in the present invention are mainly targeted at the complex electromagnetic environment and building obstruction environment in cities. When the existing GPS positioning satellite system is destroyed, the method involved in the present invention can still be used to locate moving objects in the city in real time, obtain the object's motion trajectory, and thus guide subsequent strikes against the movable objects.

[0067] Figure 1 This is a flowchart of the complex space area security defense method provided by the embodiment of the present invention. Figure 1 , security defense methods for complex space areas include:

[0068] S101, establishing a three-dimensional space coordinate system and marking the positions of all monitoring devices in the three-dimensional space coordinate system;

[0069] S102, acquiring an image of an active object within a monitoring range, and determining whether the active object is a tracking target;

[0070] S103: When the moving object is a tracking target, obtaining the minimum distance between the tracking target and all monitoring devices, and the rotation angle of the monitoring device at the minimum distance when capturing the tracking target;

[0071] S104: Determine the position of the tracked object according to the minimum distance and the rotation angle.

[0072] In this embodiment, a three-dimensional spatial coordinate system is first established, and all monitoring devices are defined to be in the same coordinate system. When a moving object appears, it is determined whether the moving object is a tracking object. When the moving object is a tracking object, the minimum distance between the tracking object and the monitoring device and the rotation angle when the current monitoring device captures the image of the tracking object are obtained. Based on the minimum distance and rotation, the real-time position of the tracking object is determined, thereby achieving the purpose of accurately locating moving objects in complex spatial areas.

[0073] Among them, the three-dimensional space coordinate system is established based on the urban space.

[0074] It should be noted that multiple monitoring devices are installed in the city, and the monitoring devices can cover all areas of the city; specifically, the monitoring device is a cluster of cameras with infrared ranging. A single camera can rotate 360 ​​degrees and is equipped with a gyroscope to self-measure dynamic angles. The monitoring devices are installed in various areas of all streets in the city. Each camera has a unique three-dimensional urban spatial coordinate and is installed at an angle of 45 degrees downward in X, Y, and Z. The monitoring device sends the collected information to the data storage terminal; specifically, the monitoring device can replace traffic monitoring, public area monitoring, community monitoring, etc. in daily use; on the basis of completing daily functions, special functions can use ranging and target search functions. When special location collection is required, a drone or unmanned robot with mobile function can be used.

[0075] Furthermore, suspicious active objects in cities include humans, drones, robots, unmanned vehicles and other units with mobility and simple computing capabilities.

[0076] In some embodiments, see Figure 2 The step of determining whether a suspicious moving object is a tracking target includes:

[0077] S201. Establishing high-level and low-level dynamic identity information databases;

[0078] S202, acquiring an image of the moving object;

[0079] S203, comparing the image of the moving object with a low-level dynamic identity information database to determine whether the moving object is a suspicious moving object;

[0080] S204: If the moving object is a suspicious moving object, compare the suspicious moving object with an advanced dynamic identity information database to determine whether the suspicious moving object is a tracking target.

[0081] In this embodiment, the low-level dynamic identity information database specifically stores the information of all personnel and unmanned equipment (drones, unmanned robots) in the city in advance in the data storage terminal, where the personnel information consists of images and identity information, and the unmanned equipment consists of embedded identification information. When a new image of an active object is obtained, the new object is added to the database in real time to achieve real-time updating of the dynamic identity information database.

[0082] It should be noted that the data volume and the amount of stored information of the advanced dynamic identity information database are much larger than those of the low-level dynamic identity information database. First, the collected image of the active object is compared with the low-level dynamic database. If the attributes of the image of the active object can be judged through the low-level dynamic identity information database, there is no need to compare it with the advanced dynamic identity information database, which reduces unnecessary data running space and improves the efficiency of data comparison and analysis.

[0083] In some embodiments, see Figure 3 , the determining whether the moving object is a suspicious moving object includes:

[0084] S301, comparing the image of the moving object with the low-level dynamic identity information database to determine whether the image of the moving object is valid information in the low-level dynamic identity information database;

[0085] S302: If the information is valid in the low-level dynamic identity information database, mark the location of the active object;

[0086] S303: If the information does not belong to the valid information in the low-level dynamic identity information database, then mark the active object as a suspicious active object.

[0087] In this embodiment, if the moving object is not in the low-level dynamic identity information database, the moving object is marked as a suspicious moving object.

[0088] In some embodiments, see Figure 4 , the determining whether the suspicious moving object is a tracking target includes:

[0089] S401, comparing the image of the suspicious moving object with the advanced dynamic identity information database to determine whether the image of the suspicious moving object is valid information in the advanced dynamic identity information database;

[0090] S402: If the suspicious moving object does not belong to the valid information in the advanced dynamic identity information database, then mark the suspicious moving object as a tracking target.

[0091] In this embodiment, when the identity of an active object cannot be determined only by a low-level dynamic identity information database, it is necessary to compare the suspicious active object with a high-level dynamic identity information database. After the suspicious active object is determined to be a tracking target, in order to obtain the action motive of the tracking target, it is necessary to control the activity trajectory of the tracking target in real time to obtain security information such as the action purpose, contact object, and monitoring object of the tracking target, so as to further determine the identity of the tracking target, thereby effectively guiding the strike system to accurately strike the suspicious active object.

[0092] In some embodiments, see Figure 5 The low-level dynamic identity information database and the high-level dynamic identity information database include primary categories and secondary categories, the primary categories include a safety information category, a pending information category, and a dangerous information category, and each of the primary categories contains the same secondary categories, the secondary categories include human features, drone features, and robot features; wherein comparing the image of the active object with the low-level and / or high-level dynamic identity information database includes:

[0093] S501, identifying the secondary category to which the active object belongs, and obtaining the secondary category features of the active object;

[0094] S502, comparing the active object image with the secondary categories corresponding to the low-level dynamic identity information database based on the secondary category features;

[0095] S503. If the image of the active object does not belong to the valid information in the low-level dynamic identity information database, the image of the active object is compared with the secondary category corresponding to the high-level dynamic identity information database to obtain a comparison result, and whether the active object belongs to the tracking object is determined based on the primary category to which the comparison result belongs.

[0096] In this embodiment, by performing hierarchical processing on the dynamic identity information database, when a new image of an active object to be detected appears, the active object is first subjected to category analysis to determine its corresponding secondary category in the dynamic identity information database, and then the image of the active object to be detected is compared with the corresponding secondary categories under each primary category in turn, and finally the primary category to which the image of the active object to be detected belongs is determined, thereby determining whether the identity of the active object belongs to a tracking object; specifically, through classification comparison, the efficiency of data retrieval can be improved.

[0097] Furthermore, to ensure the accuracy of data comparison and monitoring, when the image of an active object is defined as a security information class in the first-level category, the data will be compared with other first-level categories for a secondary inspection to increase the reliability of the comparison results and improve the accuracy of defense security.

[0098] In some embodiments, see Figure 6 , determining the position of the tracked object according to the minimum distance includes:

[0099] S601, respectively obtaining the first coordinate, second coordinate, third coordinate, and fourth coordinate of the four monitoring devices closest to the tracking object;

[0100] S602: Determine, based on the first coordinate, the second coordinate, the third coordinate, and the fourth coordinate, a first distance, a second distance, a third distance, and a fourth distance between the four monitoring devices and the tracked object, respectively.

[0101] S603: Determine the position of the tracked object according to the first distance, the second distance, the third distance, and the fourth distance.

[0102] In this embodiment, when a tracking object appears, the first coordinate, second coordinate, third coordinate and fourth coordinate of the four monitoring devices that are closest to the tracking object and can obtain a complete image of the tracking object are determined, and the first distance, second distance, third distance and fourth distance of the four monitoring devices from the tracking object are determined respectively, so as to obtain the position of the tracking object and achieve accurate positioning of the suspicious object; specifically, during the movement of the tracking object, the coordinates of the tracking object are collected in real time by adopting the above method, and the movement trajectory of the tracking object is generated to obtain security information such as the purpose of the tracking object's action, contact object, and monitoring object, so as to further determine the identity of the tracking object, thereby effectively guiding the strike system to accurately strike the tracking object.

[0103] Furthermore, the coordinates of the suspicious moving object are determined based on the first distance, the second distance, the third distance, and the fourth distance, which can be expressed by the following formula:

[0104] (X a -X x ) 2 +(Y a -Y x ) 2 +(Z a -Z x ) 2 =L a 2

[0105] (X b -X x ) 2 +(Y b -Y x ) 2 +(Z b -Z x ) 2 =L b 2

[0106] (X C -X x ) 2 +(Y C -Y x ) 2 +(Z C-Z x ) 2 =L c 2

[0107] (X d -X x ) 2 +(Y d -Y x ) 2 +(Z d -Z x ) 2 =L d 2

[0108] Among them, (X a ,Y a , Z a ) represents the first coordinate, (X b ,Y b , Z b ) represents the second coordinate, (X c ,Y c , Z c ) represents the third coordinate, (X d , Y d , Z d ) represents the fourth coordinate, (X x ,Y x , Z x ) represents the position of the tracked object, L a , L b , L c and L d Represent the first distance, second distance, third distance and fourth distance respectively.

[0109] It should be noted that in some special scenarios, when a suspicious object is located at the center of the monitoring area formed by any two monitoring devices, only the distances between the two monitoring devices and the suspicious object are needed to determine the unique location of the suspicious object. When a suspicious object is located at the intersection of the monitoring areas of three monitoring devices, only the distances between the three monitoring devices and the suspicious object are needed to determine the position of the displaced suspicious object. In general, non-special scenarios, a unique solution for the coordinates of the suspicious object can be obtained using four monitoring devices.

[0110] In some embodiments, see Figure 7 , determining the position of the tracked object according to the rotation angle and the minimum distance, further comprising:

[0111] S701: Acquire an initial angle of the monitoring device, wherein the initial angle is the angle between the monitoring device and a horizontal plane;

[0112] S702: Acquire a rotation angle of the monitoring device and a fourth distance between the monitoring device and the tracking object;

[0113] S703: Determine the position of the tracked object according to the rotation angle and the fifth distance.

[0114] In this embodiment, the position of the tracking object is determined by obtaining the angular rotation amount of the monitoring device when monitoring the tracking object and the distance between the monitoring device and the tracking object, so as to achieve accurate positioning of the tracking object, thereby effectively guiding the strike system to accurately strike the tracking object.

[0115] Specifically, the tracking object can be positioned through a monitoring device, thereby improving the efficiency of positioning.

[0116] It should be noted that the position of the tracked object can be expressed by the following formula:

[0117] (X a -L*cos(α Xa -β Xa ),Y a -L*cos(α Ya -β Ya ), Z a -L*sin(α Za -β Za ))

[0118] Among them, (β Xa ,β Ya , β Za ) represents the rotation angle, L represents the fifth distance, (X a ,Y a , Z a ) represents the coordinates of the monitoring device.

[0119] Based on the above complex space area security defense method, the embodiment of the present invention also provides five complex space area security defense devices 800. Figure 8 , the security defense of this complex space area

[0120] The apparatus 800 includes a model building module 810 , a judgment module 820 , an acquisition module 830 and a position determination module 840 .

[0121] The model building module 810 is used to establish a three-dimensional space coordinate system and mark the

[0122] Note the location of all monitoring devices;

[0123] 0 judgment module 820, used to obtain the image of the active object within the monitoring range, and judge the active object

[0124] Whether the object is a tracking target;

[0125] an acquisition module 830 for acquiring, when the moving object is a tracking target, a minimum distance between the tracking target and all monitoring devices, and a rotation angle of the monitoring device at the minimum distance when capturing the tracking target;

[0126] 5 Position determination module 840, for determining the tracking position according to the minimum distance and the rotation angle

[0127] The location of the object.

[0128] The specific embodiments of the present invention described above do not limit the scope of protection of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A complex space area security defense method, characterized by: include: Establish a three-dimensional space coordinate system and mark the positions of all monitoring devices in the three-dimensional space coordinate system; Acquire an image of a moving object within a monitoring range and determine whether the moving object is a tracking target; When the moving object is a tracking target, obtaining the minimum distance between the tracking target and all monitoring devices, and the rotation angle of the monitoring device at the minimum distance when capturing the tracking target; Determining the position of the tracked object based on the minimum distance and the rotation angle; Determining the position of the tracked object according to the minimum distance includes: respectively obtaining first coordinates, second coordinates, third coordinates, and fourth coordinates of four monitoring devices closest to the tracked object; determining a first distance, a second distance, a third distance, and a fourth distance between the four monitoring devices and the tracked object, respectively, based on the first coordinate, the second coordinate, the third coordinate, and the fourth coordinate; Determining a position of the tracked object based on the first distance, the second distance, the third distance, and the fourth distance; The determination of the position of the tracked object based on the first distance, the second distance, the third distance, and the fourth distance can be expressed by the following formula: (X a - X x ) 2 +(Y a - Y x ) 2 +(Z a - Z x ) 2 =L a 2 (X b - X x ) 2 +(Y b - Y x ) 2 +(Z b - Z x ) 2 =L b 2 (X C - X x ) 2 +(Y C - Y x ) 2 +(Z C - Z x ) 2 =L c 2 (X d - X x ) 2 +(Y d - Y x ) 2 +(Z d - Z x ) 2 =L d 2 Among them, (X a ,Y a , Z a ) represents the first coordinate, (X b ,Y b , Z b ) represents the second coordinate, (X c ,Y c , Z c ) represents the third coordinate, (X d , Y d , Z d ) represents the fourth coordinate, (X x ,Y x , Z x ) represents the position of the tracked object, L a , L b , L c and L d Represent the first distance, second distance, third distance and fourth distance respectively.

2. The complex space area security defense method according to claim 1 is characterized in that: The determining whether the moving object is a tracking target includes: Establish high-level and low-level dynamic identity information databases; Acquire images of moving objects; Comparing the image of the moving object with a low-level dynamic identity information database to determine whether the moving object is a suspicious moving object; If the moving object is a suspicious moving object, the suspicious moving object is compared with an advanced dynamic identity information database to determine whether the suspicious moving object is a tracking target.

3. The complex space area security defense method according to claim 2 is characterized in that: The determining whether the moving object is a suspicious moving object includes: comparing the image of the moving object with the low-level dynamic identity information database to determine whether the image of the moving object is valid information in the low-level dynamic identity information database; If the information is valid in the low-level dynamic identity information database, marking the location of the active object; If the information does not belong to the valid information in the low-level dynamic identity information database, the moving object is marked as a suspicious moving object.

4. The complex space area security defense method according to claim 2 is characterized in that: The determining whether the suspicious moving object is a tracking target includes: Comparing the image of the suspicious moving object with the advanced dynamic identity information database to determine whether the image of the suspicious moving object belongs to valid information in the advanced dynamic identity information database; If the information does not belong to the valid information in the advanced dynamic identity information database, the suspicious moving object is marked as a tracking target.

5. The complex space area security defense method according to claim 2 is characterized in that: The low-level dynamic identity information database and the high-level dynamic identity information database include primary categories and secondary categories, the primary categories include a safety information category, a pending information category, and a dangerous information category, and each of the primary categories contains the same secondary categories, and the secondary categories include human features, drone features, and robot features; wherein comparing the image of the active object with the low-level and / or high-level dynamic identity information database includes: Identifying the secondary category to which the moving object belongs, and obtaining the secondary category features of the moving object; comparing the active object image with the secondary categories corresponding to the low-level dynamic identity information database based on the secondary category features; If the active object does not belong to the valid information of the low-level dynamic identity information database, the image of the active object is compared with the secondary category corresponding to the high-level dynamic identity information database to obtain a comparison result, and whether the active object belongs to the tracking object is determined based on the primary category to which the comparison result belongs.

6. The complex space area security defense method according to claim 1 is characterized in that: The determining the position of the tracked object according to the rotation angle and the minimum distance further includes: Acquire an initial angle of the monitoring device, wherein the initial angle is the angle between the monitoring device and a horizontal plane; acquiring a rotation angle of the monitoring device and a fifth distance between the monitoring device and the tracking object; The position of the tracked object is determined according to the rotation angle and the fifth distance.

7. The complex space area security defense method according to claim 6 is characterized in that: The position of the tracked object can be expressed by the following formula: (X) a -L cos(a Xa -b Xa ),Y a -L cos(a Ya -b Ya ),Z a -L sin(a Za -b Za )) Among them, (β Xa , β Ya , β Za ) represents the rotation angle, L represents the fifth distance, (X a ,Y a , Z a ) represents the coordinates of the monitoring device.

8. A complex space area security defense device, characterized in that: include: A model building module is used to establish a three-dimensional space coordinate system and mark the positions of all monitoring devices in the three-dimensional space coordinate system; A determination module, configured to obtain an image of a moving object within a monitoring range and determine whether the moving object is a tracking target; an acquisition module, configured to, when the moving object is a tracking target, acquire the minimum distance between the tracking target and all monitoring devices, and the rotation angle of the monitoring device at the minimum distance when capturing the tracking target; a position determination module, configured to determine the position of the tracked object based on the minimum distance and the rotation angle; Determining the position of the tracked object according to the minimum distance includes: respectively obtaining first coordinates, second coordinates, third coordinates, and fourth coordinates of four monitoring devices closest to the tracked object; determining a first distance, a second distance, a third distance, and a fourth distance between the four monitoring devices and the tracked object, respectively, based on the first coordinate, the second coordinate, the third coordinate, and the fourth coordinate; determining a position of the tracked object based on the first distance, the second distance, the third distance, and the fourth distance; The determination of the position of the tracked object based on the first distance, the second distance, the third distance, and the fourth distance can be expressed by the following formula: (X a - X x ) 2 +(Y a - Y x ) 2 +(Z a - Z x ) 2 =L a 2 (X b - X x ) 2 +(Y b - Y x ) 2 +(Z b - Z x ) 2 =L b 2 (X C - X x ) 2 +(Y C - Y x ) 2 +(Z C - Z x ) 2 =L c 2 (X d - X x ) 2 +(Y d - Y x ) 2 +(Z d - Z x ) 2 =L d 2 Among them, (X a ,Y a , Z a ) represents the first coordinate, (X b ,Y b , Z b ) represents the second coordinate, (X c ,Y c , Z c ) represents the third coordinate, (X d , Y d , Z d ) represents the fourth coordinate, (X x ,Y x , Z x ) represents the position of the tracked object, L a , L b , L c and L d Represent the first distance, second distance, third distance and fourth distance respectively.

Images