BeiDou-R Based Abnormality Confirmation Method and Medium

Abstract

An anomaly confirmation method and medium based on Beidou-R, which are applied to the control unit of an anomaly monitoring system. The method includes: obtaining a first azimuth angle of a first main antenna relative to a first slave antenna and a second azimuth angle of a second main antenna relative to a second slave antenna; obtaining a first coordinate of the first main antenna, a second coordinate of the second main antenna, and the antenna distance between the first main antenna and the second main antenna; determining a first straight-line equation based on the first azimuth angle and the first coordinate, and determining a second straight-line equation based on the second azimuth angle and the second coordinate; calculating the intersection point of the first straight-line equation and the second straight-line equation to obtain the initial coordinate of the Beidou-R device; optimizing the initial coordinate according to a preset optimization algorithm to obtain the optimized device coordinate; if receiving anomaly information of a to-be-monitored scenario sent by the Beidou-R device, parsing the anomaly information to obtain the device azimuth information and the anomaly detection distance of the Beidou-R device to generate an anomaly coordinate, and completing the anomaly confirmation of the to-be-monitored scenario.

Description

Technical Field

[0001] The present invention relates to the technical field of GNSS, and particularly to an anomaly confirmation method and medium based on Beidou-R. Background Art

[0002] In modern monitoring systems, the positioning technology based on Beidou-R is widely used for real-time monitoring and anomaly detection of the monitored scenarios. Such systems usually consist of multiple measurement antennas and devices, and through accurate azimuth angles, coordinates, and distance data, they can effectively obtain anomaly information in the monitored scenarios. However, when facing complex environments and interferences, traditional monitoring methods may have problems such as insufficient positioning accuracy and signal interference, resulting in the system being difficult to accurately locate the anomaly position, thereby affecting the efficiency and reliability of anomaly confirmation.

[0003] Therefore, there is an urgent need for a method to improve the accuracy of the anomaly confirmation method based on Beidou-R devices. Summary of the Invention

[0004] The present application provides an anomaly confirmation method and medium based on Beidou-R, aiming to solve the problems that traditional monitoring methods may have insufficient positioning accuracy, signal interference, etc. when facing complex environments and interferences, resulting in the system being difficult to accurately locate the anomaly position, thereby affecting the efficiency and reliability of anomaly confirmation. The provided method automates the anomaly confirmation process, reduces manual intervention, and improves the efficiency and reliability of the monitoring system. At the same time, this method is applicable to anomaly monitoring in various scenarios, such as environmental monitoring, security, etc., and has high application value. In summary, the provided method combines antenna measurement and Beidou-R positioning technology to ensure the accuracy and efficiency of the anomaly confirmation process.

[0005] In a first aspect, an anomaly confirmation method based on Beidou-R of the present application is applied to a control unit of an anomaly monitoring system. The system further includes at least one Beidou-R device, a first measurement antenna group, and a second measurement antenna group. The Beidou-R device is set at a preset monitoring point in the monitored scenario. The first measurement antenna group includes a first main antenna and a first slave antenna, and the second measurement antenna group includes a second main antenna and a second slave antenna; wherein, the first main antenna points to the Beidou-R device through the first slave antenna, and the second main antenna points to the Beidou-R device through the second slave antenna; the method includes:

[0006] Obtain a first azimuth angle of the first main antenna relative to the first slave antenna and a second azimuth angle of the second main antenna relative to the second slave antenna;

[0007] Obtain a first coordinate of the first main antenna, a second coordinate of the second main antenna, and an antenna distance between the first main antenna and the second main antenna;

[0008] Determine the first straight-line equation based on the first azimuth angle and the first coordinate, and determine the second straight-line equation based on the second azimuth angle and the second coordinate;

[0009] Calculate the intersection point of the first straight-line equation and the second straight-line equation to obtain the initial coordinates of the Beidou-R device;

[0010] Optimize the initial coordinates according to a preset optimization algorithm to obtain the optimized device coordinates;

[0011] If an abnormal information of the to-be-monitored scenario sent by the Beidou-R device is received, parse the abnormal information to obtain the device azimuth information and the abnormal detection distance of the Beidou-R device;

[0012] Generate abnormal coordinates according to the device azimuth information, the abnormal detection distance and the device coordinates to complete the abnormal confirmation of the to-be-monitored scenario.

[0013] In some embodiments, the monitoring system includes multiple Beidou-R devices so that when an abnormality occurs in the to-be-monitored scenario, abnormal information sent by at least two Beidou-R devices is received; after obtaining the optimized device coordinates, it further includes: if abnormal information of the to-be-monitored scenario sent by at least two Beidou-R devices is received, parse the abnormal information to obtain the device azimuth information of each Beidou-R device; the device azimuth information includes the azimuth angle and the pitch angle corresponding to the Beidou-R device; calculate the device distance according to the device coordinates of the Beidou-R device corresponding to each abnormal information; generate abnormal coordinates according to multiple device azimuth information and device distances.

[0014] In some embodiments, optimizing the initial coordinates according to a preset optimization algorithm to obtain the optimized device coordinates includes: obtaining the terrain feature information corresponding to the to-be-monitored scenario; obtaining the first distance between the initial coordinates and the first straight-line equation and the second distance between the initial coordinates and the second straight-line equation; constructing an optimization objective function according to the terrain feature information, the first distance and the second distance; optimizing the initial coordinates according to the preset optimization algorithm and the optimization objective function to obtain the device coordinates; calculating the Euclidean distance between the initial coordinates and the device coordinates, and if the Euclidean distance is greater than a preset threshold, re-optimize and update the device coordinates.

[0015] Exemplarily, constructing an optimization objective function according to the terrain feature information, the first distance and the second distance includes: obtaining the square terms of the first distance and the second distance; determining a preset range corresponding to the device coordinates according to the terrain feature information, and constructing a geographical constraint condition according to the preset range and the device coordinates; constructing an optimization objective function according to the geographical constraint condition, the square term of the first distance and the square term of the second distance; the expression of the geographical constraint condition is:

[0016] C(x, y) = max(0, (x–x_min) ^2+ (y - y_min) ^2 - R^2); where C(, ) is the value of the geographical constraint condition, (x, y) represents the device coordinates, (x_min, y_min) is the preset coordinate corresponding to the Beidou-R device, and R is the radius of the preset range; the expression of the optimization objective function is: F(x, y) = w1 * D1(x, y) + w2 * D2(x, y)+ w3 * C(x, y); where F(, ) is the value of the optimization objective function, (x, y) represents the device coordinates, D1(, ) is the square term of the first distance, D2(, ) is the square term of the second distance, C(, ) is the value of the geographical constraint condition, and w1, w2, and w3 are the first weight, the second weight, and the third weight respectively, which are used to balance the importance of various factors.

[0017] It should be noted that in some embodiments, constructing the geographical constraint condition according to the preset range and the device coordinates includes: obtaining the coordinates of the preset monitoring point corresponding to the Beidou-R device, and the coordinates of the preset monitoring point are the preset coordinates; obtaining the size of the preset area corresponding to the Beidou-R device according to the terrain feature information; determining the radius of the preset range according to the size of the preset area; and forming the preset range according to the preset coordinates and the radius.

[0018] In some embodiments, the Beidou-R device includes a thermal imaging module, a ranging module, and a rotation module, and the abnormal information includes a fire warning information; before receiving the abnormal information of the scene to be monitored sent by the Beidou-R device, it further includes: obtaining the detection interval duration and the preset temperature corresponding to the scene to be monitored; generating a rotation detection instruction according to the detection interval duration and the preset temperature; sending the rotation detection instruction to the Beidou-R device, so that the rotation module controls the Beidou-R device to rotate according to the detection interval duration, so that when the temperature of the abnormal point detected by the thermal imaging module during the rotation is greater than the preset temperature, the rotation module stops rotating, the ranging module measures the abnormal detection distance from the abnormal point, and the Beidou-R device generates a fire warning information according to the abnormal detection distance and the rotation angle corresponding to the rotation module.

[0019] In some embodiments, if the monitoring system includes multiple Beidou-R devices, the method further includes: when obtaining the initial coordinates of one of the Beidou-R devices, determining the Beidou-R device as the target device, and determining the device coordinates corresponding to the target device as the target device coordinates; obtaining the satellite broadcast signals transmitted by the preset satellites received by the target device, and performing a solution based on the satellite broadcast signals received by the target device to obtain the target positioning coordinates corresponding to the target device; generating calibration information according to the target device coordinates and the target positioning coordinates; obtaining the satellite broadcast signals received by each of the remaining Beidou-R devices, and performing a solution based on the satellite broadcast signals received by the Beidou-R devices to obtain the device positioning coordinates corresponding to the corresponding Beidou-R devices; and completing the calibration of each device positioning coordinate according to the calibration information to obtain the device coordinates corresponding to each Beidou-R device.

[0020] In some embodiments, obtaining the first azimuth angle of the first main antenna relative to the first slave antenna and the second azimuth angle of the second main antenna relative to the second slave antenna includes: controlling the first main antenna and the first slave antenna to simultaneously receive the satellite broadcast signals transmitted by the preset satellites; obtaining the first phase difference between the satellite broadcast signals received by the first main antenna and the first slave antenna; controlling the second main antenna and the second slave antenna to simultaneously receive the satellite broadcast signals transmitted by the preset satellites; obtaining the second phase difference between the satellite broadcast signals received by the second main antenna and the second slave antenna; and calculating the first azimuth angle and the second azimuth angle respectively according to the first phase difference and the second phase difference.

[0021] Exemplarily, obtaining the first coordinates of the first main antenna, the second coordinates of the second main antenna, and the antenna distance between the first main antenna and the second main antenna includes: performing a solution based on the satellite broadcast signals received by the first main antenna to obtain the first coordinates; performing a solution based on the satellite broadcast signals received by the second main antenna to obtain the second coordinates; and calculating the antenna distance according to the first coordinates and the second coordinates.

[0022] In a second aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor is enabled to implement the steps of the method provided in any embodiment of the present application.

[0023] The method provided by the embodiment of the present application is applied to an anomaly monitoring system. The system includes at least one Beidou-R device, first and second measurement antenna groups, and a control unit. Each antenna group includes a main antenna and a slave antenna, and is used to measure the azimuth angle and coordinates. The method obtains the azimuth information of the antenna group through the relative azimuth angles between the first main antenna and the first slave antenna, and between the second main antenna and the second slave antenna respectively. The relative positions of the two antenna groups are determined based on the coordinates of the first and second main antennas and the distance between the two main antennas. According to the azimuth angle and the antenna coordinates, a straight-line equation is established, and the initial coordinates of the Beidou-R device are determined through the intersection point of the two straight lines. The initial coordinates are optimized using a preset optimization algorithm to obtain the accurate coordinates of the device. When the Beidou-R device detects an anomaly, the system analyzes the anomaly information and extracts the device azimuth and the anomaly detection distance. Based on the analyzed information and the device coordinates, the specific coordinates of the anomaly are generated to complete the anomaly confirmation of the scenario.

[0024] Furthermore, through the azimuth angle and distance measurements of multiple antennas, combined with the optimization algorithm, it is ensured that the obtained device coordinates are accurate, improving the positioning accuracy of the monitoring system. When the Beidou-R device detects an anomaly, it can quickly analyze the relevant information and generate anomaly coordinates, facilitating the timely adoption of countermeasures. This method automates the anomaly confirmation process, reduces manual intervention, and improves the efficiency and reliability of the monitoring system. At the same time, the method is applicable to anomaly monitoring in various scenarios, such as environmental monitoring and security, and has high application value. In summary, the provided method combines antenna measurement and Beidou-R positioning technology to ensure the accuracy and efficiency of the anomaly confirmation process.

[0025] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly introduced below. 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.

[0027] Figure 1 It is a schematic flow chart of the steps of the first Beidou-R-based anomaly confirmation method provided by the embodiment of the present application;

[0028] Figure 2 It is a schematic block diagram of the structure of the anomaly monitoring system provided by the embodiment of the present application;

[0029] Figure 3 It is a schematic diagram of the structure of the anomaly monitoring system provided by the embodiment of the present application;

[0030] Figure 4 It is a schematic diagram of the scenario of the first abnormal confirmation method provided by the embodiments of the present application;

[0031] Figure 5 It is a schematic diagram of the scenario of the second abnormal confirmation method provided by the embodiments of the present application;

[0032] Figure 6 It is a schematic block diagram of the structure of the control unit provided by the embodiments of the present application.

[0033] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0035] The flowcharts shown in the accompanying drawings are only illustrative examples, and do not necessarily include all contents and operations / steps, nor do they necessarily need to be executed in the described order. For example, some operations / steps can also be decomposed, combined, or partially merged, so the actual execution order may be changed according to the actual situation.

[0036] It should be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification of the present application and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0037] It should be understood that in order to facilitate the clear description of the technical solutions in the embodiments of the present application, in the embodiments of the present application, terms such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that the terms "first" and "second" do not limit the quantity and execution order, and the terms "first" and "second" do not necessarily mean different.

[0038] It should also be understood that the term " / and" used in the specification of the present application and the appended claims refers to any combination and all possible combinations of one or more of the related listed items, and includes these combinations.

[0039] The following explains some proprietary terms that appear in the embodiments of the present application.

[0040] 1. Beidou-R equipment: Beidou-R equipment is a positioning and monitoring device based on the Beidou satellite navigation system (referred to as "Beidou"), which is usually used for precise space positioning and mobile tracking.

[0041] Beidou-R equipment relies on the Beidou satellite navigation system to provide accurate geographic location data. At the same time, it combines positioning, monitoring and control functions to adapt to a variety of application scenarios.

[0042] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0043] In modern monitoring systems, positioning technology based on BeiDou-R is widely used for real-time monitoring and anomaly detection of monitoring scenes. Such systems are usually composed of multiple measurement antennas and devices, and can effectively obtain abnormal information in monitoring scenes through precise azimuth, coordinates, and distance data. However, when faced with complex environments and interference, traditional monitoring methods may have problems such as insufficient positioning accuracy and signal interference, making it difficult for the system to accurately locate the abnormal position, thereby affecting the efficiency and reliability of abnormal confirmation.

[0044] Therefore, there is an urgent need for a method to improve the accuracy of the anomaly confirmation method based on Beidou-R equipment.

[0045] Please refer to Figure 1 The present application provides an abnormality confirmation method based on Beidou-R, which is applied to a control unit 24 of an abnormality monitoring system 20 provided in any embodiment of the present application. The system also includes at least one Beidou-R device 21, a first measuring antenna group 22 and a second measuring antenna group 23. The Beidou-R device 21 is set at a preset monitoring point in the scene to be monitored (such as a high tower in a forest). The first measuring antenna group 22 includes a first main antenna 221 and a first slave antenna 222. The second measuring antenna group 23 includes a second main antenna 231 and a second slave antenna 232; wherein the first main antenna 221 points to the Beidou-R device 21 via the first slave antenna 222, and the second main antenna 231 points to the Beidou-R device 21 via the second slave antenna 232.

[0046] The abnormal monitoring system 20 is deployed at different monitoring points of the scene to be monitored (such as a high tower in the forest) through multiple Beidou-R devices 21. In order to obtain accurate positioning information of the Beidou-R device 21, the first antenna group 22 and the second antenna group 23 are respectively pointed to the Beidou-R device 21 to be located (the optical axes of the first main antenna 221 and the first slave antenna 222 can be pointed to the Beidou-R device 21, and the second main antenna 231 and the second slave antenna 232 are the same). Then the control unit 24 is connected to the communication of each component of the system and is responsible for implementing the method provided in any embodiment of the present application.

[0047] The anomaly monitoring system 20 can be applied to various scenarios that require precise monitoring, such as urban management, environmental monitoring, security protection, and other fields. Moreover, the architecture of the anomaly monitoring system 20 allows for the addition of more devices or optimization of algorithms in the future according to requirements to enhance the monitoring ability. Through precise positioning and real-time monitoring, unnecessary manual inspections can be reduced, and operating costs can be lowered.

[0048] And in summary, the provided anomaly monitoring system 20 realizes efficient and accurate monitoring of the scene to be monitored by combining Beidou-R technology and precise antenna positioning, providing strong support for the timely discovery and handling of abnormal situations.

[0049] As Figure 1 shown, the provided method includes steps S101 to S107.

[0050] Step S101. Obtain the first azimuth angle of the first main antenna relative to the first slave antenna and the second azimuth angle of the second main antenna relative to the second slave antenna.

[0051] Specifically, the control unit measures the azimuth angle of each main antenna relative to the slave antenna in real time through an azimuth angle measuring instrument or a built-in sensor. The positions of the first main antenna, the first slave antenna, the second main antenna, and the second slave antenna are as Figure 3 shown. At the same time, the height of the first main antenna should be lower than that of the first slave antenna (similarly for the second main antenna and the second slave antenna, because the Beidou-R device is at the highest point among the three). Thus, the provided method can ensure the accuracy of Beidou-R device positioning.

[0052] It should be noted that the anomaly monitoring system provided in this application may also include more antenna groups. For example, three, four, or any number of antenna groups can be combined simultaneously to jointly obtain azimuth angle and other information for calibrating the Beidou-R device. The embodiments of this application do not limit this.

[0053] In some embodiments, obtaining the first azimuth angle of the first main antenna relative to the first slave antenna and the second azimuth angle of the second main antenna relative to the second slave antenna includes: controlling the first main antenna and the first slave antenna to simultaneously receive the satellite broadcast signal transmitted by a preset satellite; obtaining the first phase difference between the satellite broadcast signals received by the first main antenna and the first slave antenna; controlling the second main antenna and the second slave antenna to simultaneously receive the satellite broadcast signal transmitted by the preset satellite; obtaining the second phase difference between the satellite broadcast signals received by the second main antenna and the second slave antenna; and respectively calculating the first azimuth angle and the second azimuth angle according to the first phase difference and the second phase difference.

[0054] The control unit controls the first main antenna and the first slave antenna to lock and receive broadcast signals from a preset satellite (such as a Beidou satellite) simultaneously. These signals usually contain accurate timestamps and position references for high-precision positioning. At the same time, the second main antenna and the second slave antenna also receive broadcast signals from the same satellite. The relative time difference of the broadcast signals received by the main and slave antennas can be used to accurately calculate their relative azimuth angles. This is based on the accurate position of the satellite and the transmission path of the broadcast signal, and the angle difference between the main and slave antennas is calculated by combining the geometric positioning algorithm in the system.

[0055] Measuring the azimuth angle by receiving satellite broadcast signals can greatly improve the accuracy of measurement and reduce measurement deviations caused by internal errors of the device or external environmental factors (such as electromagnetic interference). Compared with the simple ground measurement method, this extended step can provide higher accuracy, especially in large-scale or open scenarios.

[0056] Measuring the azimuth angle by using satellite signals can effectively improve the accuracy of positioning. Compared with the traditional ground signal measurement method, satellite broadcast signals are relatively stable and can reduce the interference of environmental factors. This method is particularly suitable for use in wide-area monitoring scenarios, such as forest, wilderness and other open areas, and can also achieve precise positioning in an environment lacking ground signal towers. Furthermore, by combining satellite broadcast technology, the overall positioning ability of the system is further enhanced, making the anomaly confirmation method more efficient and reliable in complex environments.

[0057] Exemplarily, obtaining the first coordinate of the first main antenna, the second coordinate of the second main antenna, and the antenna distance between the first main antenna and the second main antenna includes: resolving according to the satellite broadcast signal received by the first main antenna to obtain the first coordinate; resolving according to the satellite broadcast signal received by the second main antenna to obtain the second coordinate; and calculating the antenna distance according to the first coordinate and the second coordinate.

[0058] The control unit receives the broadcast signal transmitted by the preset satellite through the first main antenna and resolves the signal to obtain the accurate coordinate of the first main antenna. The satellite broadcast signal contains position information and a timestamp. The system can decode this information and calculate the specific position coordinate of the first main antenna by combining the known satellite position and the signal transmission time difference.

[0059] The second main antenna also receives the satellite broadcast signal, resolves it, and obtains the accurate coordinate of the second main antenna. The resolution process is similar to that of the first main antenna. By processing the satellite signal, the position coordinate of the second main antenna is calculated.

[0060] The control unit calculates the straight-line distance between them through the coordinates of the first main antenna and the coordinates of the second main antenna that have been obtained. The distance can be calculated based on the Euclidean distance formula using the coordinate differences between two points. Furthermore, through the solution of satellite signals, accurate coordinates of the main antenna can be obtained, which is especially suitable for precise positioning in large-scale or open scenarios.

[0061] The control unit automatically calculates the distance based on the coordinates of the antennas, reducing human measurement errors and improving the positioning efficiency and accuracy. Through this method based on satellite signal solution, the entire positioning system can obtain the spatial positions and distances of each antenna more quickly and accurately, laying a foundation for subsequent anomaly confirmation.

[0062] Step S102. Obtain the first coordinate of the first main antenna, the second coordinate of the second main antenna, and the antenna distance between the first main antenna and the second main antenna.

[0063] Specifically, use a positioning system (such as Beidou) to measure and record the coordinates of each main antenna. Use a rangefinder or radio wave ranging technology to determine the distance between the two main antennas. The control unit can Figure 3 Determine the base (antenna distance) in the triangle and the angles between the base and the two adjacent sides (the first antenna angle and the second antenna angle), and then can combine the triangulation technology to achieve precise positioning of the Beidou-R pan-tilt.

[0064] Step S103. Determine the first straight-line equation according to the first azimuth angle and the first coordinate, and determine the second straight-line equation according to the second azimuth angle and the second coordinate.

[0065] Specifically, the control unit can construct the first straight-line equation by according to the first coordinate corresponding to the first main antenna and its corresponding first azimuth angle. For example, construct a1*x + b1*y + c1 = 0 as the first straight-line equation (a1, b1, and c1 are the slope, intercept, and constant term corresponding to the first straight-line equation respectively, used to solve the coordinates corresponding to the first straight-line equation). At the same time, the second straight-line equation can be constructed by according to the second coordinate corresponding to the second main antenna and its corresponding second azimuth angle. For example, construct a2*x + b2*y + c2 = 0 as the second straight-line equation (a2, b2, and c2 are the slope, intercept, and constant term corresponding to the second straight-line equation respectively, used to solve the coordinates corresponding to the second straight-line equation). Furthermore, the coordinate positioning process of the Beidou-R device can be linearized.

[0066] Step S104. Calculate the intersection point of the first straight-line equation and the second straight-line equation to obtain the initial coordinates of the Beidou-R device.

[0067] Specifically, the control unit obtains the initial coordinates of the Beidou-R device by calculating the intersection point of the first straight-line equation and the second straight-line equation. By solving the intersection point of the two straight-line equations, the initial position coordinates of the Beidou-R device are determined, that is, the preliminary position of the device in the monitoring scenario. This initial coordinate is unoptimized and may have certain deviations, which need to be corrected later.

[0068] Step S105. Optimize the initial coordinates according to a preset optimization algorithm to obtain the optimized device coordinates.

[0069] Specifically, the control unit uses specific optimization algorithms (such as gradient descent, least squares method, etc.) to reduce measurement errors and optimize the coordinates of the Beidou-R device. During the optimization process, by considering geographical constraints, monitoring range and actual operation limitations of the device, the optimal coordinates are finally obtained.

[0070] In some embodiments, the monitoring system includes multiple Beidou-R devices, so that when an abnormality occurs in the scene to be monitored, abnormal information sent by at least two Beidou-R devices is received; after obtaining the optimized device coordinates, it further includes: if abnormal information of the scene to be monitored sent by at least two Beidou-R devices is received, parse the abnormal information to obtain the device orientation information of each Beidou-R device; the device orientation information includes the azimuth angle and elevation angle corresponding to the Beidou-R device; calculate the device distance according to the device coordinates of the Beidou-R device corresponding to each abnormal information; generate abnormal coordinates according to multiple device orientation information and device distances.

[0071] Such as Figure 4 and 5 shown, the control unit can perform abnormality confirmation and positioning by receiving the abnormal information of a Beidou-R device (such as Figure 4 determining the position of the ignition point), or by receiving abnormal information from at least two Beidou-R devices as in Figure 5 to perform abnormality confirmation and positioning. The provided method can not only optimize the device coordinates, but also generate abnormal coordinates by integrating data from multiple devices.

[0072] In the monitoring scenario, if an abnormality occurs, at least two Beidou-R devices will detect the abnormality and send abnormal information. Furthermore, the abnormal information of multiple devices can provide a more comprehensive data source, improving the accuracy and reliability of abnormal positioning.

[0073] The abnormal information of each Beidou-R device contains the orientation information of the device, and these information include the azimuth angle and elevation angle corresponding to the device (azimuth angle: the horizontal rotation angle of the device relative to a certain reference direction; elevation angle: the vertical rotation angle of the device relative to the horizontal plane). The azimuth angle and elevation angle are key data for positioning the direction of the abnormal event, and the direction of the abnormal event in the monitoring scenario can be known through these angles.

[0074] Based on the device coordinates of the Beidou-R devices included in each exception message, the distances between each device and the exception event can be calculated. Together with the device distance and azimuth information, they are used to determine the specific location of the exception event in the monitoring scenario. By using the distance data of multiple devices, the positioning accuracy of the exception event can be improved. The control unit finally calculates the precise coordinates of the exception event by combining the azimuth angles, elevation angles, and device distance information of multiple Beidou-R devices and using the triangulation method or other mathematical models.

[0075] The abnormal coordinates are used to locate the occurrence location of the abnormal event and help the monitoring system confirm the specific location of the abnormal situation.

[0076] Furthermore, the provided method can effectively reduce the errors that may be brought by a single device and improve the overall reliability and accuracy of the system by involving multiple Beidou-R devices in abnormal monitoring and positioning simultaneously. By integrating the data of multiple Beidou-R devices, the system can not only accurately locate the abnormal event but also further generate early warnings or take corresponding measures. This method ensures high precision and real-time performance in both device positioning and abnormal event confirmation in a large-scale monitoring scenario.

[0077] In some embodiments, the initial coordinates are optimized according to a preset optimization algorithm to obtain the optimized device coordinates, including: obtaining the terrain feature information corresponding to the to-be-monitored scenario; obtaining the first distance between the initial coordinates and the first linear equation, and the second distance between the initial coordinates and the second linear equation; constructing an optimization objective function based on the terrain feature information, the first distance, and the second distance; optimizing the initial coordinates according to the preset optimization algorithm and the optimization objective function to obtain the device coordinates; calculating the Euclidean distance between the initial coordinates and the device coordinates, and if the Euclidean distance is greater than a preset threshold, re-optimize and update the device coordinates.

[0078] After obtaining the initial coordinates of the Beidou-R device, the control unit further adjusts and optimizes the initial coordinates based on a preset optimization algorithm to improve the accuracy of the device coordinates. The optimization process is achieved by combining terrain feature information, the distance of the straight-line equation, and the optimization objective function. First, it is necessary to obtain the terrain feature information of the scene to be monitored from the system. The terrain feature information includes the height difference in the scene, the distribution of obstacles, the undulation of the terrain, etc. This information is particularly important for optimizing coordinates because terrain features can affect the transmission path of satellite signals and the positioning accuracy of the device. By considering terrain information, positioning errors caused by terrain complexity can be avoided, thereby improving the accuracy of coordinate optimization. The control unit calculates the distance between the initial coordinates and the first straight-line equation (determined by the azimuth angle and coordinates of the first main antenna), which is called the first distance. The control unit also calculates the distance between the initial coordinates and the second straight-line equation (determined by the azimuth angle and coordinates of the second main antenna), which is called the second distance. These distances reflect the relative position of the initial coordinates in the two straight-line equations, and the control unit measures the accuracy of the coordinates based on these distances.

[0079] Furthermore, based on the terrain feature information, the first distance, and the second distance, the control unit constructs an optimization objective function for the system. The role of the objective function is to combine all factors affecting coordinate accuracy to guide the optimization algorithm (such as the gradient descent method, particle swarm algorithm, etc.) to adjust the coordinates. Through this optimization process, the system can not only obtain more accurate device coordinates but also effectively handle the impact of complex terrain on positioning, ultimately improving the accuracy of anomaly confirmation.

[0080] Exemplarily, constructing an optimization objective function according to the terrain feature information, the first distance, and the second distance includes: obtaining the square terms of the first distance and the second distance; determining a preset range corresponding to the device coordinates according to the terrain feature information, and constructing a geographical constraint condition based on the preset range and the device coordinates; constructing an optimization objective function based on the geographical constraint condition, the square term of the first distance, and the square term of the second distance; the expression of the geographical constraint condition is:

[0081] C(x, y) = max(0, (x–x_min) ^2+ (y - y_min) ^2 - R^2); where C(, ) is the value of the geographical constraint condition, (x, y) represents the device coordinates, (x_min, y_min) is the preset coordinate corresponding to the Beidou-R device, and R is the radius of the preset range; the expression of the optimization objective function is: F(x, y) = w1 * D1(x, y) + w2 * D2(x, y)+ w3 * C(x, y); where F(, ) is the value of the optimization objective function, (x, y) represents the device coordinates, D1(, ) is the square term of the first distance, D2(, ) is the square term of the second distance, C(, ) is the value of the geographical constraint condition, and w1, w2, and w3 are the first weight, the second weight, and the third weight respectively, used to balance the importance of various factors.

[0082] Based on the above first straight-line equation a1*x + b1*y + c1 = 0 and the second straight-line equation a2*x + b2*y +c2 = 0, D1(x, y) = (a1*x + b1*y + c1)^2 / (a1^2 + b1^2) and D2(x, y) =(a2*x + b2*y + c2)^2 / (a2^2 + b2^2) can be calculated. Furthermore, by setting optimization parameters, including the initial value of the coordinates, the possible change range, and the control parameters of the optimization algorithm, the selected optimization algorithm is executed, and the coordinates are iteratively adjusted to minimize the objective function F(x, y). In each iteration, the credibility of the current coordinates is evaluated. If F(x, y) exceeds the preset threshold, this point is considered for rejection. When the preset convergence condition (such as |F(x, y) - F(x_prev, y_prev)|<ε) (x_prev and y_prev are the x and y values of the previous node respectively, and ε is the preset comparison value) or the maximum number of iterations is reached, the optimized pan-tilt coordinates are output. The optimized coordinates are compared with the initial coordinates. If the Euclidean distance exceeds the preset threshold, the manual review process is triggered. Thus, the provided method can accurately determine the coordinates corresponding to the Beidou-R device.

[0083] It should be noted that in some embodiments, the geographical constraint condition is constructed according to the preset range and the device coordinates, including: obtaining the coordinates of the preset monitoring point corresponding to the Beidou-R device, and the coordinates of the preset monitoring point are the preset coordinates; obtaining the size of the preset area corresponding to the Beidou-R device according to the terrain feature information; determining the radius of the preset range according to the size of the preset area; and forming the preset range according to the preset coordinates and the radius.

[0084] By taking the coordinates corresponding to the preset monitoring points where the initial Beidou-R device is installed as the preset coordinates, and combining information such as the corresponding height difference, obstacle distribution, and terrain undulation, the allowable error range, that is, the corresponding preset area size, is determined. The preset area size can be calculated by integrating an area prediction model in the control unit, or by sending the terrain feature information to an external terminal, which calculates or manually returns the corresponding preset area size. Furthermore, for different terrain features, the corresponding optimization range during the optimization process can be determined. Finally, by combining the preset coordinates and the corresponding preset area size, a circle can be formed with the preset coordinates as the center, and the corresponding radius can be determined by combining the preset area size, thereby determining the optimization area to ensure the accuracy of the optimization result.

[0085] Step S106. If abnormal information of the to-be-monitored scene sent by the Beidou-R device is received, parse the abnormal information to obtain the device azimuth information and the abnormal detection distance of the Beidou-R device.

[0086] Specifically, the abnormal information is detected and sent by the Beidou-R device. After receiving it, the control unit parses the abnormal type therein (such as whether there is a fire, whether there is a landslide, etc.), and the current pan-tilt direction of the device (i.e., the orientation of the camera or sensor). At the same time, the detection distance from the abnormal object is obtained for subsequent positioning of the abnormal location.

[0087] Step S107. Generate abnormal coordinates based on the device azimuth information, the abnormal detection distance, and the device coordinates to complete the abnormal confirmation of the to-be-monitored scene.

[0088] Specifically, the control unit uses the azimuth angle of the pan-tilt and the abnormal detection distance to determine the specific position coordinates of the abnormal object through triangulation or other mathematical models. The generated abnormal coordinates can be used for further response or alarm, helping on-site personnel to promptly confirm the abnormal situation and take actions. Furthermore, the provided method automates the abnormal confirmation process, reduces manual intervention, and improves the efficiency and reliability of the monitoring system. At the same time, this method is applicable to abnormal monitoring in various scenarios, such as environmental monitoring, security, etc., and has high application value. In summary, the provided method combines antenna measurement and Beidou-R positioning technology to ensure the accuracy and efficiency of the abnormal confirmation process.

[0089] In some embodiments, the Beidou-R device includes a thermal imaging module, a ranging module, and a rotation module, and the abnormal information includes fire warning information; before receiving the abnormal information of the scene to be monitored sent by the Beidou-R device, it further includes: obtaining the detection interval duration and the preset temperature corresponding to the scene to be monitored; generating a rotation detection instruction according to the detection interval duration and the preset temperature; sending the rotation detection instruction to the Beidou-R device, so that the rotation module controls the Beidou-R device to rotate according to the detection interval duration, so that when the temperature of the abnormal point detected by the thermal imaging module during the rotation is greater than the preset temperature, the rotation module stops rotating, the ranging module measures the abnormal detection distance from the abnormal point, and the Beidou-R device generates fire warning information according to the abnormal detection distance and the rotation angle corresponding to the rotation module.

[0090] The control unit locates and confirms the fire warning information through rotation and temperature detection. The thermal imaging module is used to detect the temperature of objects in the scene to be monitored. When the temperature of a certain point exceeds the set threshold (preset temperature), it can identify the abnormal point. The ranging module (such as a laser ranging module) is used to measure the distance between the Beidou-R device and the abnormal point. This module starts when an abnormality is detected and calculates the distance information. The rotation module is used to control the rotation of the device to comprehensively scan and monitor the entire scene. The rotation angle will be combined with the abnormal detection data to help determine the orientation of the abnormal point. The Beidou-R device will generate abnormal information, such as fire warning information, when an abnormal temperature is detected, reminding the system of dangerous situations such as fires.

[0091] The detection interval duration is the time interval for the Beidou-R device to perform detection during each rotation process. This time interval is used to control the working frequency of the thermal imaging module to ensure the efficiency of continuous monitoring. The length of this application embodiment is not limited.

[0092] The preset temperature is a temperature threshold set by the control unit, representing the upper temperature limit of the scene under normal environmental conditions. When the detected temperature exceeds the preset temperature, the Beidou-R device considers that an abnormal situation exists.

[0093] The control unit generates a rotation detection instruction according to the detection interval duration and the preset temperature, instructing the Beidou-R device to perform periodic rotation. This instruction includes the angle and speed of controlling the rotation module to rotate, so that the thermal imaging module can perform an all-round scan of the entire scene. The rotation detection instruction ensures that the device can comprehensively monitor the scene at different directions and different time intervals to avoid missed detections. The rotation module works according to the generated rotation detection instruction, regularly rotating the Beidou-R device, so that the thermal imaging module can detect the temperature of the scene at different orientations. If during the rotation, the thermal imaging module detects that the temperature of a certain point exceeds the preset temperature, the rotation module immediately stops rotating. This indicates that the device has locked a possible abnormal point.

[0094] After the rotation module stops rotating, the ranging module starts to work and measures the distance between the Beidou-R device and the detected abnormal point. This step is used to confirm the specific location of the abnormal point. The ranging module provides accurate distance data of the abnormal point to ensure the accuracy of positioning.

[0095] By combining the measured abnormal detection distance and the rotation angle when the rotation module stops, the Beidou-R device can generate the spatial coordinates of the abnormal point. Based on this data, the device can confirm the specific location of the abnormal point. When the device locks the abnormal point, it generates a fire warning message to notify the system or the operator of the exact location of the abnormal point and the possible danger. The collaborative work of the thermal imaging, ranging, and rotation modules ensures the high-precision, real-time, and comprehensiveness of abnormal monitoring.

[0096] Through continuous rotation detection, the control unit can promptly detect abnormal temperatures and respond immediately to ensure that abnormal situations can be quickly identified. Combining temperature information, rotation angle, and distance measurement, the device can accurately locate the abnormal point to ensure the accuracy and reliability of the warning message. The rotation module enables the device to cover the entire scene to be monitored, avoiding monitoring blind spots. With such a design, the Beidou-R device can perform efficient fire monitoring and warning in complex monitoring scenarios (such as forests, industrial areas, etc.), greatly improving the reliability of abnormal situation detection.

[0097] Meanwhile, it should be noted that the provided method can also be used for abnormal identification such as debris flow and landslide based on image acquisition, which can be specifically set according to the scene requirements, and the embodiments of this application do not limit this.

[0098] In some embodiments, if the monitoring system includes multiple Beidou-R devices, the method further includes: when obtaining the initial coordinates of one of the Beidou-R devices, determining the Beidou-R device as the target device, and determining the device coordinates corresponding to the target device as the target device coordinates; obtaining the satellite broadcast signal transmitted by the preset satellite received by the target device, and performing calculation based on the satellite broadcast signal received by the target device to obtain the target positioning coordinates corresponding to the target device; generating calibration information based on the target device coordinates and the target positioning coordinates; obtaining the satellite broadcast signals received by each of the remaining Beidou-R devices, and performing calculation based on the satellite broadcast signals received by the Beidou-R devices to obtain the device positioning coordinates corresponding to the corresponding Beidou-R devices; and calibrating each device positioning coordinate according to the calibration information to obtain the device coordinates corresponding to each Beidou-R device.

[0099] The control unit ensures the positioning accuracy of all devices through collaborative calibration between a target device and multiple auxiliary devices. When the system includes multiple Beidou-R devices, first, one device needs to be selected as the target device. The target device refers to the reference device that will be used to calibrate the positioning of other devices in subsequent steps. For the target device, its initial coordinates are first obtained. This initial coordinate is usually determined through the aforementioned steps (such as calculating through the azimuth angle and coordinates of the antenna group).

[0100] After the initial coordinates of the target device are optimized and adjusted, the control unit determines them as the device coordinates of this device, that is, the target device coordinates. This will serve as the reference point for calibrating the coordinates of other devices in the future. The target device receives the satellite broadcast signals transmitted by the preset satellite. These signals are the standard signals transmitted by the Beidou satellite system for positioning and navigation. Through the received satellite broadcast signals, the target device performs calculations to obtain the target positioning coordinates of this device. This positioning coordinate is directly calculated through satellite signals and reflects the actual position of the device in the global positioning system.

[0101] By comparing the target device coordinates (i.e., the optimized device coordinates) and the target positioning coordinates (the coordinates obtained through satellite signal calculations), calibration information is generated. The calibration information is used to correct the coordinate deviations in the system caused by various reasons (such as device errors, environmental impacts).

[0102] Other Beidou-R devices also receive the broadcast signals from the preset satellite and use these signals to calculate their respective device positioning coordinates. These positioning coordinates are also directly calculated through satellite signals and represent the preliminary positioning results of the devices.

[0103] For each Beidou-R device, the calibration information generated from the target device is used to calibrate its device positioning coordinates. The calibrated device coordinates should be more accurate and conform to the actual geographical location.

[0104] After calibration, all Beidou-R devices have obtained more accurate device coordinates. These coordinates can be used for further monitoring tasks of the system to ensure the positioning consistency and accuracy of each device during the anomaly confirmation process. Through the precise positioning of the target device and the calibration information generated by it, there is no need to position each Beidou-R device one by one through multiple antenna groups, which improves the efficiency of positioning multiple Beidou-R devices. It enables the provided system to quickly achieve positioning during the collaborative work of multiple devices, ensuring efficient monitoring and precise positioning in complex scenarios, which is particularly important for scenarios with large-area monitoring or high-precision positioning requirements. This method improves the reliability and accuracy of the overall system through the precise positioning of the target device and the coordinated calibration between multiple devices, ensuring the accuracy of anomaly detection and confirmation in various environments.

[0105] Meanwhile, the target device can be a device located at the geometric center of multiple Beidou-R devices, or a device whose distance from the remaining Beidou-R devices is less than a preset distance (such as 10 km). The embodiments of the present application do not limit this.

[0106] Please refer to Figure 6 , Figure 6 which is a schematic block diagram of the control unit provided by the embodiments of the present application. The control unit includes a processor, a memory, and a network interface connected through a device bus. Among them, the memory can include a storage medium and an internal memory.

[0107] The storage medium can store operating devices and computer programs. The computer program includes program instructions, and when the program instructions are executed, the processor can be made to execute any Beidou-R-based anomaly confirmation method.

[0108] The processor is used to provide computing and control capabilities to support the operation of the entire control unit.

[0109] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor, the processor can be made to execute any Beidou-R-based anomaly confirmation method.

[0110] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art can understand that Figure 6 the structure shown in

[0111] is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the terminal to which the solution of the present application is applied. The specific control unit may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0112] Among them, in one embodiment, the processor is used to run the computer program stored in the memory to implement the following steps:

[0113] Obtain the first azimuth angle of the first main antenna relative to the first slave antenna and the second azimuth angle of the second main antenna relative to the second slave antenna;

[0114] Obtain the first coordinate of the first main antenna, the second coordinate of the second main antenna, and the antenna distance between the first main antenna and the second main antenna;

[0115] Determine the first straight-line equation according to the first azimuth angle and the first coordinate, and determine the second straight-line equation according to the second azimuth angle and the second coordinate;

[0116] Calculate the intersection point of the first straight-line equation and the second straight-line equation to obtain the initial coordinate of the Beidou-R device;

[0117] Optimize the initial coordinate according to the preset optimization algorithm to obtain the optimized device coordinate;

[0118] If an abnormal information of the scene to be monitored sent by the Beidou-R device is received, parse the abnormal information to obtain the device azimuth information and the abnormal detection distance of the Beidou-R device;

[0119] Generate an abnormal coordinate according to the device azimuth information, the abnormal detection distance, and the device coordinate to complete the abnormal confirmation of the scene to be monitored.

[0120] In some embodiments, the monitoring system includes multiple Beidou-R devices so that when an abnormality occurs in the scene to be monitored, abnormal information sent by at least two Beidou-R devices is received; after obtaining the optimized device coordinate, it further includes: if abnormal information of the scene to be monitored sent by at least two Beidou-R devices is received, parse the abnormal information to obtain the device azimuth information of each Beidou-R device; the device azimuth information includes the azimuth angle and the elevation angle corresponding to the Beidou-R device; calculate the device distance according to the device coordinate of the Beidou-R device corresponding to each abnormal information; generate an abnormal coordinate according to the multiple device azimuth information and the device distance.

[0121] In some embodiments, optimizing the initial coordinate according to the preset optimization algorithm to obtain the optimized device coordinate includes: obtaining the terrain feature information corresponding to the scene to be monitored; obtaining the first distance between the initial coordinate and the first straight-line equation and the second distance between the initial coordinate and the second straight-line equation; constructing an optimization objective function according to the terrain feature information, the first distance, and the second distance; optimizing the initial coordinate according to the preset optimization algorithm and the optimization objective function to obtain the device coordinate; calculate the Euclidean distance between the initial coordinate and the device coordinate, and if the Euclidean distance is greater than the preset threshold, re-optimize and update the device coordinate.

[0122] Exemplarily, constructing an optimization objective function based on terrain feature information, a first distance, and a second distance includes: obtaining the squared terms of the first distance and the second distance; determining a preset range corresponding to the device coordinates according to the terrain feature information, and constructing a geographical constraint condition according to the preset range and the device coordinates; constructing an optimization objective function according to the geographical constraint condition, the squared term of the first distance, and the squared term of the second distance; the expression of the geographical constraint condition is:

[0123] C(x, y) = max(0, (x–x_min) ^2+ (y - y_min) ^2 - R^2); where C(, ) is the value of the geographical constraint condition, (x, y) represents the device coordinates, (x_min, y_min) is the preset coordinate corresponding to the Beidou-R device, and R is the radius of the preset range; the expression of the optimization objective function is: F(x, y) = w1 * D1(x, y) + w2 * D2(x, y)+ w3 * C(x, y); where F(, ) is the value of the optimization objective function, (x, y) represents the device coordinates, D1(, ) is the squared term of the first distance, D2(, ) is the squared term of the second distance, C(, ) is the value of the geographical constraint condition, and w1, w2, and w3 are the first weight, the second weight, and the third weight respectively, used to balance the importance of various factors.

[0124] It should be noted that in some embodiments, constructing a geographical constraint condition according to the preset range and the device coordinates includes: obtaining the coordinates of the preset monitoring point corresponding to the Beidou-R device, and the coordinates of the preset monitoring point are the preset coordinates; obtaining the preset area size corresponding to the Beidou-R device according to the terrain feature information; determining the radius of the preset range according to the preset area size; and forming the preset range according to the preset coordinates and the radius.

[0125] In some embodiments, the Beidou-R device includes a thermal imaging module, a ranging module, and a rotation module, and the abnormal information includes a fire warning message; before receiving the abnormal information of the scene to be monitored sent by the Beidou-R device, it further includes: obtaining the detection interval duration and the preset temperature corresponding to the scene to be monitored; generating a rotation detection instruction according to the detection interval duration and the preset temperature; sending the rotation detection instruction to the Beidou-R device, so that the rotation module controls the Beidou-R device to rotate according to the detection interval duration, so that when the temperature of the abnormal point detected by the thermal imaging module during the rotation is greater than the preset temperature, the rotation module stops rotating, the ranging module measures the abnormal detection distance from the abnormal point, and the Beidou-R device generates a fire warning message according to the abnormal detection distance and the rotation angle corresponding to the rotation module.

[0126] In some embodiments, if the monitoring system includes multiple Beidou-R devices, the method further includes: when obtaining the initial coordinates of one of the Beidou-R devices, determining the Beidou-R device as the target device, and determining the device coordinates corresponding to the target device as the target device coordinates; obtaining the satellite broadcast signals transmitted by the preset satellites received by the target device, and performing calculations based on the satellite broadcast signals received by the target device to obtain the target positioning coordinates corresponding to the target device; generating correction information based on the target device coordinates and the target positioning coordinates; obtaining the satellite broadcast signals received by each of the remaining Beidou-R devices, and performing calculations based on the satellite broadcast signals received by the Beidou-R devices to obtain the device positioning coordinates corresponding to the corresponding Beidou-R devices; and correcting each device positioning coordinate according to the correction information to obtain the device coordinates corresponding to each Beidou-R device.

[0127] In some embodiments, obtaining the first azimuth angle of the first main antenna relative to the first slave antenna and the second azimuth angle of the second main antenna relative to the second slave antenna includes: controlling the first main antenna and the first slave antenna to simultaneously receive the satellite broadcast signals transmitted by the preset satellites; obtaining the first phase difference between the satellite broadcast signals received by the first main antenna and the first slave antenna; controlling the second main antenna and the second slave antenna to simultaneously receive the satellite broadcast signals transmitted by the preset satellites; obtaining the second phase difference between the satellite broadcast signals received by the second main antenna and the second slave antenna; and calculating the first azimuth angle and the second azimuth angle respectively according to the first phase difference and the second phase difference.

[0128] Exemplarily, obtaining the first coordinates of the first main antenna, the second coordinates of the second main antenna, and the antenna distance between the first main antenna and the second main antenna includes: performing calculations based on the satellite broadcast signals received by the first main antenna to obtain the first coordinates; performing calculations based on the satellite broadcast signals received by the second main antenna to obtain the second coordinates; and calculating the antenna distance according to the first coordinates and the second coordinates.

[0129] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. The computer program includes program instructions, and when the processor executes the program instructions, the steps of the method for confirming anomalies based on Beidou-R provided in the above embodiments of the present application are implemented.

[0130] Wherein, the computer-readable storage medium may be the internal storage unit of the control unit described in the foregoing embodiments, such as the hard disk or memory of the control unit. The computer-readable storage medium may also be an external storage device of the control unit, such as a plug-in hard disk equipped on the control unit, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc.

[0131] As described above, it is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An anomaly confirmation method based on Beidou-R, characterized in that, A control unit applied to an anomaly monitoring system, the system further comprising at least one BeiDou-R device, a first measurement antenna group and a second measurement antenna group, the BeiDou-R device being disposed at a preset monitoring point in the scene to be monitored, the first measurement antenna group including a first main antenna and a first slave antenna, and the second measurement antenna group including a second main antenna and a second slave antenna; wherein, the first main antenna points to the BeiDou-R device via the first slave antenna, and the second main antenna points to the BeiDou-R device via the second slave antenna; the method includes: Obtain a first azimuth angle of the first main antenna relative to the first slave antenna and a second azimuth angle of the second main antenna relative to the second slave antenna; Obtain a first coordinate of the first main antenna, a second coordinate of the second main antenna, and an antenna distance between the first main antenna and the second main antenna; Determine a first straight line equation according to the first azimuth angle and the first coordinate, and determine a second straight line equation according to the second azimuth angle and the second coordinate; Calculate the intersection point of the first straight line equation and the second straight line equation to obtain an initial coordinate of the BeiDou-R device; Optimize the initial coordinate according to a preset optimization algorithm to obtain an optimized device coordinate; If receiving the anomaly information of the scene to be monitored sent by the BeiDou-R device, parse the anomaly information to obtain the device azimuth information and the anomaly detection distance of the BeiDou-R device; Generate an anomaly coordinate according to the device azimuth information, the anomaly detection distance and the device coordinate to complete the anomaly confirmation of the scene to be monitored.

2. The method according to claim 1, wherein The monitoring system includes a plurality of BeiDou-R devices, so that when an anomaly occurs in the scene to be monitored, anomaly information sent by at least two of the BeiDou-R devices is received; after obtaining the optimized device coordinate, it further includes: If receiving the anomaly information of the scene to be monitored sent by at least two of the BeiDou-R devices, parse the anomaly information to obtain the device azimuth information of each BeiDou-R device; the device azimuth information includes the azimuth angle and the elevation angle corresponding to the BeiDou-R device; Calculate a device distance according to the device coordinate of the BeiDou-R device corresponding to each anomaly information; Generate the anomaly coordinate according to a plurality of the device azimuth information and the device distance.

3. The method according to claim 1, wherein The optimizing the initial coordinate according to a preset optimization algorithm to obtain the optimized device coordinate includes: Obtain the terrain feature information corresponding to the scene to be monitored; Obtain a first distance between the initial coordinate and the first straight line equation and a second distance between the initial coordinate and the second straight line equation; Construct an optimization objective function according to the terrain feature information, the first distance and the second distance; Optimize the initial coordinate according to the preset optimization algorithm and the optimization objective function to obtain the device coordinate; Calculate the Euclidean distance between the initial coordinate and the device coordinate, and if the Euclidean distance is greater than a preset threshold, re-optimize and update the device coordinate.

4. The method according to claim 3, characterized in that, The constructing an optimization objective function according to the terrain feature information, the first distance and the second distance includes: Obtain the square terms of the first distance and the second distance; Determine a preset range corresponding to the device coordinates according to the terrain feature information, and construct a geographical constraint condition based on the preset range and the device coordinates; Construct the optimization objective function based on the geographical constraint condition, the square term of the first distance, and the square term of the second distance; The expression of the geographical constraint condition is: C(x, y) = max(0, (x – x_min) ^2+ (y - y_min) ^2 - R^2); where C(, ) is the value of the geographical constraint condition, (x, y) represents the device coordinates, (x_min, y_min) is the preset coordinate corresponding to the Beidou-R device, and R is the radius of the preset range; The expression of the optimization objective function is: F(x, y) = w1 * D1(x, y) + w2 * D2(x, y) + w3 * C(x, y); where F(, ) is the value of the optimization objective function, (x, y) represents the device coordinates, D1(, ) is the square term of the first distance, D2(, ) is the square term of the second distance, C(, ) is the value of the geographical constraint condition, and w1, w2, and w3 are the first weight, the second weight, and the third weight respectively, which are used to balance the importance of various factors.

5. The method according to claim 4, wherein The constructing the geographical constraint condition based on the preset range and the device coordinates includes: Obtain the coordinates of the preset monitoring point corresponding to the Beidou-R device, and the coordinates of the preset monitoring point are the preset coordinates; Obtain the preset area size corresponding to the Beidou-R device according to the terrain feature information; Determine the radius of the preset range according to the preset area size; Construct the preset range based on the preset coordinates and the radius.

6. The method according to claim 1, wherein The Beidou-R device includes a thermal imaging module, a ranging module, and a rotation module, and the abnormal information includes a fire warning information; before receiving the abnormal information of the to-be-monitored scene sent by the Beidou-R device, it further includes: Obtain the detection interval duration and the preset temperature corresponding to the to-be-monitored scene; Generate a rotation detection instruction according to the detection interval duration and the preset temperature; Send the rotation detection instruction to the Beidou-R device, so that the rotation module controls the Beidou-R device to rotate according to the detection interval duration, so that when the temperature of the abnormal point detected by the thermal imaging module during the rotation is greater than the preset temperature, the rotation module stops rotating, the ranging module measures the abnormal detection distance from the abnormal point, and the Beidou-R device generates the fire warning information according to the abnormal detection distance and the rotation angle corresponding to the rotation module.

7. The method according to claim 1, characterized in that If the monitoring system includes multiple Beidou-R devices, the method further includes: When obtaining the initial coordinates of one of the Beidou-R devices, determine the Beidou-R device as the target device, and determine the device coordinates corresponding to the target device as the target device coordinates; Obtain the satellite broadcast signal transmitted by a preset satellite received by the target device, and perform calculation based on the satellite broadcast signal received by the target device to obtain the target positioning coordinates corresponding to the target device; Generate correction information according to the target device coordinates and the target positioning coordinates; Obtain the satellite broadcast signals received by each of the remaining Beidou-R devices, and perform calculation based on the satellite broadcast signals received by the Beidou-R devices to obtain the device positioning coordinates corresponding to the corresponding Beidou-R devices; Complete the correction of each of the device positioning coordinates according to the correction information to obtain the device coordinates corresponding to each Beidou-R device.

8. The method according to claim 1, wherein The obtaining of the first azimuth angle of the first main antenna relative to the first slave antenna and the second azimuth angle of the second main antenna relative to the second slave antenna includes: Control the first main antenna and the first slave antenna to simultaneously receive the satellite broadcast signal transmitted by a preset satellite; Obtain the first phase difference between the satellite broadcast signals received by the first main antenna and the first slave antenna; Control the second main antenna and the second slave antenna to simultaneously receive the satellite broadcast signal transmitted by a preset satellite; Obtain the second phase difference between the satellite broadcast signals received by the second main antenna and the second slave antenna; Calculate the first azimuth angle and the second azimuth angle respectively according to the first phase difference and the second phase difference.

9. The method according to claim 8, wherein The obtaining of the first coordinate of the first main antenna, the second coordinate of the second main antenna, and the antenna distance between the first main antenna and the second main antenna includes: Perform calculation based on the satellite broadcast signal received by the first main antenna to obtain the first coordinate; Perform calculation based on the satellite broadcast signal received by the second main antenna to obtain the second coordinate; Calculate the antenna distance according to the first coordinate and the second coordinate.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the steps of the method according to any one of claims 1 to 8.

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