A multi-sensor cooperative regional reconnaissance method

Abstract

The present invention relates to a multi-sensor collaborative area reconnaissance method, belonging to the field of unmanned aerial vehicle reconnaissance technology. The method comprises: obtaining an area to be reconnaissanced by radar and a helicopter radar detection distance, determining the visibility of a candidate radar reconnaissance position area based on the area to be reconnaissanced by radar and the radar detection distance; screening radar reconnaissance positions based on the average height difference between the candidate radar reconnaissance position area and the area to be reconnaissanced by radar and the visibility calculation result; the helicopter performs an initial scan at the radar reconnaissance position and determines the area to be reconnaissanced by optoelectronics using a template matching algorithm; obtaining the detection distance of the helicopter's optoelectronic sensor, determining the visibility of a candidate optoelectronic reconnaissance position area based on the area to be reconnaissanced by optoelectronics and the detection distance of the optoelectronic sensor; and screening optoelectronic reconnaissance positions based on the average height difference between the candidate optoelectronic reconnaissance position area and the area to be reconnaissanced by optoelectronics and the detection distance of the optoelectronic sensor. This method provides relevant intelligence data for target attack, thereby improving the safety and effectiveness of helicopter ground attack missions.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle (UAV) reconnaissance, and in particular relates to a multi-sensor collaborative regional reconnaissance method. Background Art

[0002] Unmanned helicopter reconnaissance equipment is mainly used in battlefield reconnaissance, target positioning and tracking, fire guidance, and damage effect assessment. Its combat mission is to conduct day and night reconnaissance, identification and tracking of targets, provide real-time reconnaissance images of the outside world, and provide target indication and guidance for semi-active guided artillery shells to complete precision strike missions.

[0003] Currently, unmanned helicopters use either radar or optoelectronic sensors for reconnaissance. Radar has a long detection range and a wide coverage, but its imaging resolution is low and image interpretation is difficult, making it suitable for roughly locating targets at long distances and over large areas. Optoelectronic sensors have limited detection range and angle compared to radar sensors, but their imaging resolution is high and their target positioning accuracy is high, which can improve combat personnel's perception of battlefield situation and assist in making decisions about the next target to be struck. The coordinated detection of radar and optoelectronic sensors can fully leverage the advantages of both, achieving rapid and accurate target positioning and situational awareness. Summary of the Invention

[0004] The technical problems to be solved by the present invention are:

[0005] In order to avoid the shortcomings of the existing technology, the present invention provides a multi-sensor collaborative area reconnaissance method to meet the problems of low efficiency and accuracy caused by the use of a single radar sensor or photoelectric sensor in existing helicopter area reconnaissance.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A multi-sensor collaborative area reconnaissance method, characterized by comprising:

[0008] Obtain the area to be reconnaissanced by radar and the detection distance of helicopter radar, and determine the visibility of the radar alternative reconnaissance position area based on the area to be reconnaissanced by radar and the detection distance;

[0009] The radar reconnaissance position is selected based on the average height difference between the radar alternative reconnaissance position area and the area to be reconnaissanced by the visibility calculation result;

[0010] The helicopter conducts an initial scan at the radar reconnaissance position and uses a template matching algorithm to determine the area to be reconnaissanced by optoelectronics;

[0011] Obtain the detection range of the helicopter's electro-optical sensor, and determine the visibility of the electro-optical alternative reconnaissance position area based on the electro-optical reconnaissance area and the electro-optical sensor's detection range;

[0012] The optoelectronic reconnaissance positions are selected based on the average height difference between the optoelectronic alternative reconnaissance positions and the area to be optoelectronically reconnaissanced, combined with the visibility calculation results.

[0013] A further technical solution of the present invention is as follows: determining the visibility of the radar candidate reconnaissance position area according to the area to be reconnaissanced by the radar and the radar detection distance includes:

[0014] Calculate the coordinates of the center point of the area to be detected by the radar according to the position coordinates of each vertex of the area to be detected by the radar;

[0015] determining a first distance and a second distance according to the radar detection range, wherein the first distance is greater than the second distance;

[0016] Construct two concentric sectors, the first and second sectors, where the sector bisectors are the line connecting the center point of the area to be reconnaissanced by optoelectronics and the helicopter position. The first sector has the center point of the area to be reconnaissanced by radar as its center point and the first distance as its radius; the second sector has the center point of the area to be reconnaissanced by radar as its center point and the second distance as its radius. Subtract the second sector from the first sector to obtain the candidate radar reconnaissance position area.

[0017] The radar alternative reconnaissance array area is rasterized, and the reference surface method is used to calculate the π(L / 30) around each grid pair in the radar alternative reconnaissance array area. 2 The visibility of grids is calculated, where L is the side length of the helicopter maneuvering area. The result is the number of visible grids, which is recorded as Vn. The visibility calculation formula is: VD ij =Vn / (π(L / 30) 2 );

[0018] The radar candidate reconnaissance position area is clustered according to (L / 30)×(L / 30), and the average visibility of the cluster grid is calculated using the cluster grid as the unit. The calculation formula is:

[0019] A further technical solution of the present invention is as follows: the coordinates of the center point of the area to be detected by radar are calculated based on the position coordinates of each vertex of the area to be detected by radar, specifically:

[0020] P0x=(P1x+P2x+…+Pnx) / n

[0021] P0y=(P1y+P2y+…+Pny) / n

[0022] P0z=(P1z+P2z+…+Pnz) / n

[0023] Among them, (P0x, P0y, P0z) are the coordinates of the center point of the area to be detected by radar, (P1x, P1y, P1z), (P2x, P2y, P2z)...(Pnx, Pny, Pnz) are the position coordinates of each vertex in the area to be detected by radar.

[0024] A further technical solution of the present invention is as follows: determining the first distance and the second distance according to the radar detection distance is specifically as follows:

[0025] The length of the first distance is: Dradar; the length of the second distance is: Dradar / 3; where Dradar is the radar detection distance.

[0026] A further technical solution of the present invention is that the central angle is between 20° and 45°.

[0027] A further technical solution of the present invention is to screen radar reconnaissance positions based on the average height difference between the candidate radar reconnaissance position area and the area to be reconnaissanced by radar in combination with the visibility calculation result, including:

[0028] Based on the visibility value, bubble sort is used to sort the visibility of each cluster grid from small to large;

[0029] The Janus algorithm is used to calculate the minimum point Min from each grid in the cluster to the center point of the radar reconnaissance area. ij and the highest point Max ij , and then calculate the average height difference of the cluster grid using the cluster grid as the unit. The calculation formula is:

[0030]

[0031] The first cluster grid unit with an average height difference greater than the first threshold is selected from the visibility sorting list, which is the radar reconnaissance position.

[0032] A further technical solution of the present invention is as follows: determining the visibility of the photoelectric candidate reconnaissance position area based on the photoelectric area to be reconnaissanced and the detection distance of the photoelectric sensor includes:

[0033] Calculate the coordinates of the center point of the area to be photoelectrically detected based on the position coordinates of each vertex of the area to be photoelectrically detected;

[0034] determining a third distance and a fourth distance according to the detection distance of the photoelectric sensor, wherein the third distance is greater than the fourth distance;

[0035] Construct two concentric circles, the third and fourth sectors, where the bisector of the third and fourth sectors is the line connecting the center point of the area to be reconnaissanced by the optoelectronics and the helicopter position point. The third sector has the center point of the area to be reconnaissanced by the optoelectronics as its center point and the third distance as its radius; the fourth sector has the center point of the area to be reconnaissanced by the optoelectronics as its center point and the fourth distance as its radius. Subtract the fourth sector from the third sector to obtain the optoelectronic alternative reconnaissance position area.

[0036] The optoelectronic alternative reconnaissance array position area is gridded, and the reference surface method is used to calculate the π(L / 30) around each grid pair in the radar alternative reconnaissance array position area. 2 The visibility of grids is calculated, where L is the side length of the helicopter maneuvering area. The result is the number of visible grids, which is recorded as Vn. The visibility calculation formula is: VD ij =Vn / (π(L / 30) 2 );

[0037] The optoelectronic reconnaissance array area is clustered according to (L / 30)×(L / 30), and the average visibility of the cluster grid is calculated using the cluster grid as the unit. The calculation formula is:

[0038] A further technical solution of the present invention is as follows: the coordinates of the center point of the area to be photoelectrically detected are calculated based on the position coordinates of each vertex of the area to be photoelectrically detected, specifically:

[0039] SP0x=(SP1x+SP2x+…+SPnx) / n

[0040] SP0y=(SP1y+SP2y+…+SPny) / n

[0041] SP0z=(SP1z+SP2z+…+SPnz) / n

[0042] Among them, (SP0x, SP0y, SP0z) are the coordinates of the center point of the area to be detected by radar, (SP1x, SP1y, SP1z), (SP2x, SP2y, SP2z)...(SPnx, SPny, SPnz) are the position coordinates of each vertex of the area to be detected by photoelectric detection.

[0043] A further technical solution of the present invention is as follows: determining the third distance and the fourth distance based on the detection distance of the photoelectric sensor is specifically as follows:

[0044] The length of the third distance is: DIRST; the length of the fourth distance is: DIRST×2 / 3; where DIRST is the radar detection distance.

[0045] A further technical solution of the present invention is that the central angle is 30° to 35°.

[0046] The beneficial effects of the present invention are:

[0047] The present invention provides a multi-sensor collaborative area reconnaissance method. This method focuses on the mission requirements of multi-sensor collaborative area reconnaissance and comprehensively considers multiple factors such as terrain shielding, sensor detection range, area visibility, and helicopter maneuverability. It provides helicopters with an efficient solution for joint area reconnaissance using radar and optoelectronic sensors, and provides relevant intelligence data for target attacks, thereby improving the safety and effectiveness of helicopter ground attack missions. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like parts throughout the drawings.

[0049] Figure 1 Flowchart of the method of the present invention.

[0050] Figure 2 Schematic diagram of calculation of alternative formation positions.

[0051] Figure 3 Schematic diagram of raster clustering. DETAILED DESCRIPTION

[0052] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only intended to illustrate the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0053] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0054] The present invention provides a multi-sensor coordinated regional reconnaissance method, which uses helicopter multi-sensor coordinated regional reconnaissance as the operational background to ensure the safety of the attack platform during mission execution and obtain specific parameter information of the attack target. It is necessary to conduct prior threat reconnaissance and target detection in unknown areas. In order to give full play to the detection advantages of different sensors, the present invention designs the collaborative reconnaissance process of radar and photoelectric sensors, and establishes a mathematical model for reconnaissance position calculation. Figure 1 As shown, the following steps are included:

[0055] Step 1: Obtain data of the area to be detected by radar;

[0056] Step 2: Get the size of the helicopter maneuvering area;

[0057] Step 3: Get the current position of the helicopter;

[0058] Step 4: Obtain helicopter radar detection distance data;

[0059] Step 5: Calculate the visibility of the radar alternative reconnaissance position area based on the current position of the helicopter, the area to be reconnaissanced by the radar, and the radar detection range;

[0060] Step 6: Select radar reconnaissance positions based on the average height difference between the candidate radar reconnaissance positions and the area to be reconnaissanced, combined with the visibility calculation results;

[0061] Step 7: Obtain the results of the area to be reconnaissanced by optoelectronics;

[0062] Step 8: Obtain the detection distance data of the helicopter's photoelectric sensor;

[0063] Step 9: Calculate the visibility of the candidate photoelectric reconnaissance position area based on the helicopter position, the area to be photoelectric reconnaissanced, and the photoelectric detection distance;

[0064] Step 10: Select the optoelectronic reconnaissance position based on the average height difference between the candidate optoelectronic reconnaissance position and the area to be optoelectronically reconnaissanced, combined with the visibility calculation results.

[0065] In order to enable those skilled in the art to better understand the present invention, the present invention is described in detail below with reference to specific embodiments.

[0066] In this embodiment, the following equipment and conditions on the aircraft are required:

[0067] 1) Mission loading card;

[0068] 2) Navigation system;

[0069] 3) Database system;

[0070] 4) Task integrated display.

[0071] Input data corresponding to the device:

[0072] 1) Obtain combat mission target data from the mission loading card, including reconnaissance area related data (relevant position parameters of each vertex in the reconnaissance area) and the size of the helicopter maneuvering area;

[0073] 2) The combat helicopter's geographic north, sky, and east position information obtained from the navigation system;

[0074] 3) Obtain the performance indicators corresponding to the sensors and the digital terrain elevation data of the mission area from the database system;

[0075] Calculate the output data:

[0076] 1) The radar reconnaissance position calculation results are output to the mission integrated display;

[0077] 2) The calculation results of the optoelectronic reconnaissance position are output to the mission integrated display.

[0078] This embodiment provides a multi-sensor collaborative area reconnaissance method, which specifically includes the following steps:

[0079] Step 1: Get the location of the area to be detected by radar;

[0080] like Figure 2 As shown, the position coordinates of each vertex in the area to be reconnaissanced by the radar are expressed as: (P1x, P1y, P1z), (P2x, P2y, P2z)...(Pnx, Pny, Pnz);

[0081] Step 2: Get the size of the helicopter maneuvering area;

[0082] The side length of the helicopter maneuvering area is L meters;

[0083] Step 3: Get the current position of the helicopter;

[0084] like Figure 2 As shown, the current position of the helicopter is expressed as: (Px, Py, Pz);

[0085] Step 4: Obtain helicopter radar detection distance data;

[0086] Radar detection range is expressed as: Drardar;

[0087] Step 5: Calculate the visibility of the candidate reconnaissance position based on the helicopter position, the area to be reconnaissanced by radar, the radar detection range, and the size of the helicopter maneuvering area;

[0088] The radar alternative reconnaissance position is shown as follows Figure 2The green area is the large sector minus the small sector. The line connecting the center point of the radar reconnaissance area and the helicopter position point is used as the bisector of the sector. The central angle of the sector is a. The radius of the large sector is DIS(P0, P2), and the radius of the small sector is DIS(P0, P1).

[0089] in:

[0090] (P0x, P0y, P0z) is the center position of the area to be detected by the radar, and the calculation method is as follows:

[0091] P0x=(P1x+P2x+…+Pnx) / n

[0092] P0y=(P1y+P2y+…+Pny) / n

[0093] P0z=(P1z+P2z+…+Pnz) / n

[0094] The length of DIS(P0,P1) is: Drard / 3

[0095] The length of DIS(P0,P2) is:

[0096] The value of a is usually in the range of 20° to 45°;

[0097] The radar candidate area is gridded with a width of 30 meters, and the reference surface method is used to calculate the π(L / 30) around each grid in the radar candidate reconnaissance area. 2 The visibility of the grid, where the calculated result is the number of visible grids, recorded as Vn, and the visibility calculation formula is: VD ij =Vn / (π(L / 30) 2 );

[0098] The radar candidate area is clustered according to (L / 30)×(L / 30), see Figure 2 , the average visibility of the cluster grid is calculated with the cluster grid as the unit, and the calculation formula is:

[0099] Step 6: Select radar reconnaissance positions based on the average height difference between the candidate radar reconnaissance positions and the area to be reconnaissanced, combined with the visibility calculation results;

[0100] According to the visibility value calculated in step 5, use bubble sort to sort the visibility of each cluster grid from small to large;

[0101] The Janus algorithm is used to calculate the lowest point Min of each grid in the cluster to the point (P0x, P0y, P0z) ij and the highest point Max ij , and then calculate the average height difference of the cluster grid using the cluster grid as the unit. The calculation formula is:

[0102]

[0103] The first cluster grid unit with an average height difference greater than H meters is selected from the visibility sorting list. This is the radar reconnaissance position. H is usually set to 50-100 meters.

[0104] Step 7: Obtain the photoelectric reconnaissance area results;

[0105] The helicopter performs an initial scan at the radar reconnaissance position and uses a template matching algorithm to determine the area to be reconnaissanced by the optoelectronics:

[0106] The position coordinates of each vertex in the area to be detected by photoelectric detection are expressed as: (SP1x, SP1y, SP1z), (SP2x, SP2y, SP2z)…(SPnx, SPny, SPnz);

[0107] Step 8: Obtain the detection distance data of the helicopter's photoelectric sensor;

[0108] The detection distance of the photoelectric sensor is expressed as: DIRST;

[0109] Step 9: Calculate the visibility of the candidate photoelectric reconnaissance position based on the helicopter position, the area to be reconnaissanced, the photoelectric detection range, and the size of the maneuvering area;

[0110] The optoelectronic alternative reconnaissance position is also the large sector minus the small sector, with the line connecting the center point of the optoelectronic reconnaissance area and the helicopter position point as the bisector of the sector. The central angle of the sector is a, the radius of the large sector is DIS(P0, P2), and the radius of the small sector is DIS(P0, P1).

[0111] Calculate the model in the same way as in step 5, and set the parameters as follows:

[0112] P0x=(SP1x+SP2x+…+SPnx) / n

[0113] P0y=(SP1y+SP2y+…+SPny) / n

[0114] P0z=(SP1z+SP2z+…+SPnz) / n

[0115] The length of DIS(P0,P1) is:DIRST×2 / 3

[0116] The length of DIS(P0,P2) is:DIRST

[0117] The value of a is usually in the range of 30° to 35°;

[0118] Step 10: Select the optoelectronic reconnaissance position based on the average height difference between the candidate optoelectronic reconnaissance position and the area to be optoelectronically reconnaissanced, combined with the visibility calculation results.

[0119] Calculate the model in the same way as in step 6, with the following parameters: H is usually set to 20-50 meters.

[0120] This invention combines the flight characteristics of helicopters with the detection advantages and operating characteristics of radar / electro-optical sensors. It comprehensively considers factors such as terrain obstruction, sensor detection range, regional visibility, and helicopter maneuverability. It leverages the terrain's advantages to shield helicopters from continuous regional reconnaissance missions, providing a multi-sensor coordinated, rapid reconnaissance solution for helicopters. The development of this technology can rapidly capture battlefield situational awareness, effectively shorten the execution cycle of the OODA loop, and improve the safety and effectiveness of attack helicopter missions.

[0121] The above description is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present invention, and these modifications or replacements should all be included in the scope of protection of the present invention.

Claims

1. A multi-sensor collaborative area reconnaissance method, characterized in that: include: Obtain the area to be reconnaissanced by radar and the detection distance of helicopter radar, and determine the visibility of the radar alternative reconnaissance position area based on the area to be reconnaissanced by radar and the detection distance; including: Calculate the coordinates of the center point of the area to be detected by the radar according to the position coordinates of each vertex of the area to be detected by the radar; determining a first distance and a second distance according to the radar detection range, wherein the first distance is greater than the second distance; Construct two concentric sectors, the first and second sectors, where the sector bisectors are the line connecting the center point of the area to be reconnaissanced by optoelectronics and the helicopter position. The first sector has the center point of the area to be reconnaissanced by radar as its center point and the first distance as its radius; the second sector has the center point of the area to be reconnaissanced by radar as its center point and the second distance as its radius. Subtract the second sector from the first sector to obtain the candidate radar reconnaissance position area. The radar alternative reconnaissance array area is rasterized, and the reference surface method is used to calculate the π(L / 30) around each grid pair in the radar alternative reconnaissance array area. 2 The visibility of grids is calculated, where L is the side length of the helicopter maneuvering area. The result is the number of visible grids, which is recorded as Vn. The visibility calculation formula is: ; For radar alternative reconnaissance position area, Perform grid clustering and calculate the average visibility of the clustered grid using the clustered grid as the unit. The calculation formula is: ; The radar reconnaissance positions are selected based on the average height difference between the candidate radar reconnaissance position area and the area to be reconnaissanced by combining the visibility calculation results, including: Based on the visibility value, bubble sort is used to sort the visibility of each cluster grid from small to large; The Janus algorithm is used to calculate the lowest point from each grid in the cluster to the center of the radar reconnaissance area. and the highest point , and then calculate the average height difference of the cluster grid using the cluster grid as the unit. The calculation formula is: The first cluster grid unit whose average height difference is greater than the first threshold is selected from the visibility sorting list, which is the radar reconnaissance position; The helicopter conducts an initial scan at the radar reconnaissance position and uses a template matching algorithm to determine the area to be reconnaissanced by optoelectronics; Obtain the detection range of the helicopter's electro-optical sensor, and determine the visibility of the electro-optical alternative reconnaissance position area based on the electro-optical reconnaissance area and the electro-optical sensor's detection range; The optoelectronic reconnaissance positions are selected based on the average height difference between the optoelectronic alternative reconnaissance positions and the area to be optoelectronically reconnaissanced, combined with the visibility calculation results. The calculation method is the same as that for radar reconnaissance positions.

2. The multi-sensor collaborative area reconnaissance method according to claim 1, characterized in that: The coordinates of the center point of the area to be detected by radar are calculated based on the position coordinates of each vertex in the area to be detected by radar: P0x = (P1x+P2x+…+Pnx) / n P0y = (P1y+P2y+…+Pny) / n P0z = (P1z+P2z+…+Pnz) / n Among them, (P0x, P0y, P0z) are the coordinates of the center point of the area to be detected by radar, (P1x, P1y, P1z), (P2x, P2y, P2z)...(Pnx, Pny, Pnz) are the position coordinates of each vertex in the area to be detected by radar.

3. The multi-sensor collaborative area reconnaissance method according to claim 1, characterized in that: The determining of the first distance and the second distance according to the radar detection distance is specifically as follows: The length of the first distance is: Dradar; the length of the second distance is: Dradar / 3; where Dradar is the radar detection distance.

4. The multi-sensor collaborative area reconnaissance method according to claim 1, characterized in that: The central angle is between 20° and 45°.

5. The multi-sensor collaborative area reconnaissance method according to claim 1, characterized in that: Determining the visibility of the photoelectric candidate reconnaissance position area based on the photoelectric area to be reconnaissanced and the detection distance of the photoelectric sensor includes: Calculate the coordinates of the center point of the area to be photoelectrically detected based on the position coordinates of each vertex of the area to be photoelectrically detected; determining a third distance and a fourth distance according to the detection distance of the photoelectric sensor, wherein the third distance is greater than the fourth distance; Construct two concentric circles, the third and fourth sectors, where the bisector of the third and fourth sectors is the line connecting the center point of the area to be reconnaissanced by the optoelectronics and the helicopter position point. The third sector has the center point of the area to be reconnaissanced by the optoelectronics as its center point and the third distance as its radius; the fourth sector has the center point of the area to be reconnaissanced by the optoelectronics as its center point and the fourth distance as its radius. Subtract the fourth sector from the third sector to obtain the optoelectronic alternative reconnaissance position area. The optoelectronic alternative reconnaissance array position area is gridded, and the reference surface method is used to calculate the π(L / 30) around each grid pair in the radar alternative reconnaissance array position area. 2 The visibility of grids is calculated, where L is the side length of the helicopter maneuvering area. The result is the number of visible grids, which is recorded as Vn. The visibility calculation formula is: ; For optoelectronic alternative reconnaissance position area, Perform grid clustering and calculate the average visibility of the clustered grid using the clustered grid as the unit. The calculation formula is: .

6. A multi-sensor collaborative area reconnaissance method according to claim 5, characterized in that: The coordinates of the center point of the area to be photoelectrically detected are calculated based on the position coordinates of each vertex in the area to be photoelectrically detected: SP0x = (SP1x+SP2x+…+SPnx) / n SP0y = (SP1y+SP2y+…+SPny) / n SP0z = (SP1z+SP2z+…+SPnz) / n Among them, (SP0x, SP0y, SP0z) are the coordinates of the center point of the area to be photoelectrically detected, (SP1x, SP1y, SP1z), (SP2x, SP2y, SP2z)...(SPnx, SPny, SPnz) are the position coordinates of each vertex of the area to be photoelectrically detected.

7. The multi-sensor collaborative area reconnaissance method according to claim 5, characterized in that: The third distance and the fourth distance are determined according to the detection distance of the photoelectric sensor, specifically: The length of the third distance is: DIRST; the length of the fourth distance is: ; Wherein, DIRST is the photoelectric detection distance.

8. The multi-sensor collaborative area reconnaissance method according to claim 5, characterized in that: The central angle is 30° to 35°.

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