Coordinate acquisition method based on Beidou-R and medium

Abstract

The invention discloses a Beidou-R-based coordinate acquisition method and a medium, and is applied to a control unit of an anomaly monitoring system, and the method comprises the steps: 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; acquiring 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; determining a first linear equation according to the first azimuth angle and the first coordinate, and determining a second linear equation according to the second azimuth angle and the second coordinate; calculating an intersection point of the first linear equation and the second linear equation, and obtaining an initial coordinate of the Beidou-R equipment; and optimizing the initial coordinates according to a preset optimization algorithm to obtain optimized equipment coordinates.

Description

[0001] This application is a divisional application of the Chinese patent application with application date 20240927, application number 202411362700.5, and invention name “Abnormality confirmation method and medium based on Beidou-R”. Technical Field

[0002] The present invention relates to the field of GNSS technology, and in particular to a coordinate acquisition method and medium based on Beidou-R. Background Art

[0003] 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.

[0004] Therefore, there is an urgent need for a method to improve the accuracy of the anomaly confirmation method based on Beidou-R equipment. Summary of the invention

[0005] The present application provides a coordinate acquisition method and medium based on Beidou-R, which aims to solve the problems of insufficient positioning accuracy, signal interference, etc. that may occur in traditional monitoring methods when facing complex environments and interference, making it difficult for the system to accurately locate abnormal positions, thereby affecting the efficiency and reliability of abnormal confirmation. 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, the method is suitable for 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.

[0006] In a first aspect, the present application discloses a Beidou-R-based abnormality confirmation method, which is applied to a control unit of an abnormality monitoring system, wherein the system further includes at least one Beidou-R device, a first measuring antenna group and a second measuring antenna group, wherein the Beidou-R device is arranged at a preset monitoring point in a scene to be monitored, wherein the first measuring antenna group includes a first main antenna and a first slave antenna, and the second measuring antenna group includes 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: Acquire a first azimuth angle of the first master antenna relative to the first slave antenna and a second azimuth angle of the second master antenna relative to the second slave antenna; Obtaining 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 and the first coordinate, and determine a second straight line equation according to the second azimuth and the second coordinate; Calculate the intersection of the first straight line equation and the second straight line equation to obtain the initial coordinates of the BeiDou-R device; Optimize the initial coordinates according to the preset optimization algorithm to obtain the optimized device coordinates; If the abnormal information of the monitored scene sent by the Beidou-R device is received, the abnormal information is analyzed to obtain the device position information and abnormal detection distance of the Beidou-R device; The abnormal coordinates are generated according to the device orientation information, abnormal detection distance and device coordinates to complete the abnormal confirmation of the monitored scene.

[0007] 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 also includes: if abnormal information of the scene to be monitored is received from at least two Beidou-R devices, the abnormal information is parsed, and the device orientation information of each Beidou-R device is obtained; the device orientation information includes the azimuth and pitch angle corresponding to the Beidou-R device; the device distance is calculated according to the device coordinates of the Beidou-R device corresponding to each abnormal information; and the abnormal coordinates are generated according to multiple device orientation information and device distances.

[0008] In some embodiments, the initial coordinates are optimized according to a preset optimization algorithm to obtain optimized device coordinates, including: obtaining terrain feature information corresponding to the scene to be monitored; obtaining a first distance between the initial coordinates and a first straight line equation, and a second distance between the initial coordinates and a 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 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-optimizing and updating the device coordinates.

[0009] Exemplarily, constructing an optimization objective function according to terrain feature information, the first distance and the second distance includes: obtaining the square term 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 geographic constraint condition according to the preset range and the device coordinates; constructing an optimization objective function according to the geographic constraint condition, the square term of the first distance and the square term of the second distance; the expression of the geographic 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 geographic constraint, (x, y) represents the device coordinates, (x_min, y_min) is the preset coordinates 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 geographic constraint, w1, w2 and w3 are the first weight, second weight and third weight respectively, which are used to balance the importance of various factors.

[0010] It should be noted that, in some embodiments, geographical constraints are constructed based on a preset range and device coordinates, including: obtaining the coordinates of a preset monitoring point corresponding to the Beidou-R device, the coordinates of the preset monitoring point being the preset coordinates; obtaining the preset area size corresponding to the Beidou-R device based on the terrain feature information; determining the radius of the preset range based on the preset area size; and constructing a preset range based on the preset coordinates and radius.

[0011] 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 also 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 thermal imaging module detects that the temperature of the abnormal point in the scene to be monitored is greater than the preset temperature during the rotation process, 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.

[0012] In some embodiments, if the monitoring system includes multiple Beidou-R devices, the method also 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 obtaining the target positioning coordinates corresponding to the target device according to the satellite broadcast signal received by the target device; generating correction information according to the target device coordinates and the target positioning coordinates; obtaining the satellite broadcast signal received by each of the remaining Beidou-R devices, and obtaining the device positioning coordinates corresponding to the corresponding Beidou-R device according to the satellite broadcast signal received by the Beidou-R device; completing the correction of each device positioning coordinates according to the correction information, and obtaining the device coordinates corresponding to each Beidou-R device.

[0013] In some embodiments, obtaining 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 includes: controlling the first main antenna and the first slave antenna to simultaneously receive satellite broadcast signals transmitted by a preset satellite; obtaining a first phase difference of 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 satellite broadcast signals transmitted by a preset satellite; obtaining a second phase difference of the satellite broadcast signals received by the second main antenna and the second slave antenna; and calculating a first azimuth angle and a second azimuth angle according to the first phase difference and the second phase difference, respectively.

[0014] 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: solving according to the satellite broadcast signal received by the first main antenna to obtain the first coordinate; solving according to the satellite broadcast signal received by the second main antenna to obtain the second coordinate; and calculating the antenna distance based on the first coordinate and the second coordinate.

[0015] 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 implements the steps of the method provided in any embodiment of the present application.

[0016] The method provided in the embodiment of the present application is applied to an abnormality monitoring system, and the system includes at least one Beidou-R device, a first and a second measurement antenna group and a control unit. The antenna group includes a master antenna and a slave antenna for measuring azimuth and coordinates. The method obtains the azimuth information of the antenna group respectively through the relative azimuth between the first master antenna and the first slave antenna, and the relative azimuth between the second master antenna and the second slave antenna. The relative position of the two groups of antennas is determined by the coordinates of the first and second main antennas and the distance between the two main antennas. According to the azimuth and the antenna coordinates, a straight line equation is established, and the initial coordinates of the Beidou-R device are determined by the intersection 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 abnormality, the system will parse the abnormal information and extract the device azimuth and the abnormal detection distance. According to the parsed information and the device coordinates, the specific coordinates of the abnormality are generated to complete the abnormal confirmation of the scene.

[0017] Then, by measuring the azimuth and distance of multiple antennas and combining the optimization algorithm, the acquired device coordinates are accurate, which improves the positioning accuracy of the monitoring system. When the BeiDou-R device detects an anomaly, it can quickly parse the relevant information and generate the anomaly coordinates, so as to facilitate timely response measures. 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 suitable for 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.

[0018] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 This is a schematic flow chart of the steps of the first Beidou-R-based abnormality confirmation method provided in an embodiment of the present application; Figure 2 is a schematic block diagram of the structure of the abnormality monitoring system provided in the embodiment of the present application; Figure 3 is a structural diagram of an abnormality monitoring system provided in an embodiment of the present application; Figure 4 This is a schematic diagram of a scenario of the first abnormality confirmation method provided in an embodiment of the present application; Figure 5 This is a scenario diagram of the second abnormality confirmation method provided in the embodiment of the present application; Figure 6 It is a schematic block diagram of the structure of the control unit provided in the embodiment of the present application.

[0021] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] The flowcharts shown in the accompanying drawings are only examples and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may also be decomposed, combined or partially merged, so the actual execution order may change according to actual conditions.

[0024] It should be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0025] It should be understood that, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first", "second", etc. are used to distinguish the same items or similar items with substantially the same functions and effects. Those skilled in the art can understand that the words "first", "second", etc. do not limit the quantity and execution order, and the words "first", "second", etc. do not necessarily limit the difference.

[0026] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0027] The following is an explanation of some of the terms used in the embodiments of the present application.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] Therefore, there is an urgent need for a method to improve the accuracy of the anomaly confirmation method based on Beidou-R equipment.

[0033] 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.

[0034] 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.

[0035] The abnormal monitoring system 20 can be applied to various scenarios that require precise monitoring, such as urban management, environmental monitoring, security protection and other fields. In addition, the abnormal monitoring system 20 architecture allows for the addition of more equipment or optimization algorithms in the future as needed to enhance monitoring capabilities. Through precise positioning and real-time monitoring, unnecessary human inspections can be reduced, reducing operating costs.

[0036] In summary, the provided anomaly monitoring system 20 realizes efficient and accurate monitoring of the monitored scene by combining BeiDou-R technology and precise antenna positioning, providing strong support for the timely discovery and handling of abnormal situations.

[0037] like Figure 1 As shown, the provided method includes steps S101 to S107.

[0038] Step S101. Obtain a first azimuth angle of a first master antenna relative to a first slave antenna and a second azimuth angle of a second master antenna relative to a second slave antenna.

[0039] Specifically, the control unit measures the azimuth of each master antenna relative to the slave antenna in real time through an azimuth measuring instrument or a built-in sensor. The positions of the first master antenna, the first slave antenna, the second master antenna, and the second slave antenna are as follows: Figure 3 As shown, the height of the first main antenna should be set lower than the first slave antenna (the same applies to the second main antenna and the second slave antenna, because the Beidou-R device is at the highest point among the three), and the provided method can ensure the accuracy of the positioning of the Beidou-R device.

[0040] It should be noted that the abnormality monitoring system provided in the present application can also include more antenna groups, such as combining 3, 4 or any number of antenna groups to jointly obtain azimuth and other information to calibrate the Beidou-R device. The embodiments of the present application do not limit this.

[0041] In some embodiments, obtaining 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 includes: controlling the first main antenna and the first slave antenna to simultaneously receive satellite broadcast signals transmitted by a preset satellite; obtaining a first phase difference of 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 satellite broadcast signals transmitted by a preset satellite; obtaining a second phase difference of the satellite broadcast signals received by the second main antenna and the second slave antenna; and calculating a first azimuth angle and a second azimuth angle according to the first phase difference and the second phase difference, respectively.

[0042] The control unit controls the first master antenna and the first slave antenna to simultaneously lock and receive broadcast signals from preset satellites (such as Beidou satellites). These signals usually contain accurate timestamps and location references for high-precision positioning. At the same time, the second master antenna and the second slave antenna also receive broadcast signals from the same satellite. The relative time difference between the broadcast signals received by the master and slave antennas can be used to accurately calculate the relative azimuth of the two. This is based on the precise location of the satellite and the transmission path of the broadcast signal, combined with the geometric positioning algorithm in the system to calculate the angle difference between the master and slave antennas.

[0043] Measuring azimuth by receiving satellite broadcast signals can greatly improve the accuracy of measurement and reduce measurement deviations caused by internal errors of the equipment 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 scenes.

[0044] By using satellite signals to measure azimuth, the accuracy of positioning can be effectively improved. Compared with traditional ground signal measurement methods, satellite broadcast signals are relatively stable and can reduce interference from environmental factors. This method is particularly suitable for use in wide-area monitoring scenarios, such as open areas such as forests and wilderness, and can achieve accurate positioning even in environments lacking ground signal towers. Furthermore, by combining satellite broadcast technology, the overall positioning capability of the system is further enhanced, making the anomaly confirmation method more efficient and reliable in complex environments.

[0045] 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: solving according to the satellite broadcast signal received by the first main antenna to obtain the first coordinate; solving according to the satellite broadcast signal received by the second main antenna to obtain the second coordinate; and calculating the antenna distance based on the first coordinate and the second coordinate.

[0046] The control unit receives the broadcast signal transmitted by the preset satellite through the first main antenna, and decodes the signal to obtain the precise coordinates of the first main antenna. The satellite broadcast signal contains location information and timestamps. The system can decode the information and calculate the specific location coordinates of the first main antenna in combination with the known satellite position and signal transmission time difference.

[0047] The second main antenna also receives satellite broadcast signals and performs calculations to obtain the precise coordinates of the second main antenna. The calculation process is similar to that of the first main antenna. By processing the satellite signals, the position coordinates of the second main antenna are calculated.

[0048] The control unit calculates the straight-line distance between the first main antenna and the second main antenna using the acquired coordinates. The distance can be calculated using the difference between the two-point coordinates based on the Euclidean distance formula. Then, by solving the satellite signal, the precise coordinates of the main antenna can be obtained, which is particularly suitable for precise positioning in large areas or open scenes.

[0049] The control unit automatically calculates the distance based on the coordinates of the antenna, reducing human measurement errors and improving positioning efficiency and accuracy. Through this method based on satellite signal resolution, the entire positioning system can more quickly and accurately obtain the spatial position and distance of each antenna, laying the foundation for subsequent abnormality confirmation.

[0050] Step S102: 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.

[0051] Specifically, the coordinates of each main antenna are measured and recorded using a positioning system (such as Beidou). The distance between the two main antennas is determined using a rangefinder or radio wave ranging technology. The control unit can Figure 3 Determine the base of the triangle (antenna distance) and the angle between the base and the two adjacent sides (the first antenna angle and the second antenna angle), and then combine the triangulation positioning technology to achieve precise positioning of the Beidou-R gimbal.

[0052] Step S103: 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.

[0053] Specifically, the control unit can construct a first straight line equation according to the first coordinate corresponding to the first main antenna and the first azimuth angle corresponding thereto, such as constructing 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, for solving the coordinates corresponding to the first straight line equation). At the same time, the second straight line equation can be constructed according to the second coordinate corresponding to the second main antenna and the second azimuth angle corresponding thereto, such as constructing 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, for solving the coordinates corresponding to the second straight line equation). In this way, the coordinate positioning process of the Beidou-R device can be linearized.

[0054] Step S104. Calculate the intersection of the first straight line equation and the second straight line equation to obtain the initial coordinates of the BeiDou-R device.

[0055] Specifically, the control unit obtains the initial coordinates of the BeiDou-R device by calculating the intersection of the first straight line equation and the second straight line equation. By solving the intersection of the two straight line equations, the initial position coordinates of the BeiDou-R device, that is, the initial position of the device in the monitoring scene, are determined. This initial coordinate is not optimized and may have certain deviations, which require subsequent correction.

[0056] Step S105: Optimize the initial coordinates according to a preset optimization algorithm to obtain optimized device coordinates.

[0057] Specifically, the control unit reduces the measurement error and optimizes the coordinates of the BeiDou-R device by using specific optimization algorithms (such as gradient descent, least squares method, etc.). During the optimization process, the optimal coordinates are finally obtained by considering geographical constraints, monitoring range and actual operating limitations of the device.

[0058] 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 also includes: if abnormal information of the scene to be monitored is received from at least two Beidou-R devices, the abnormal information is parsed, and the device orientation information of each Beidou-R device is obtained; the device orientation information includes the azimuth and pitch angle corresponding to the Beidou-R device; the device distance is calculated according to the device coordinates of the Beidou-R device corresponding to each abnormal information; and the abnormal coordinates are generated according to multiple device orientation information and device distances.

[0059] like Figure 4 and 5 As shown, the control unit can confirm and locate the abnormality by receiving abnormal information from a Beidou-R device (such as Figure 4 The ignition point can also be determined by Figure 5 Receive anomaly information from at least two BeiDou-R devices to confirm and locate the anomaly, so that the provided method can not only optimize the device coordinates, but also generate anomaly coordinates by integrating data from multiple devices.

[0060] In the monitoring scenario, if an abnormality occurs, at least two BeiDou-R devices will detect the abnormality and send abnormal information. The abnormal information of multiple devices can provide a more comprehensive data source and improve the accuracy and reliability of abnormal positioning.

[0061] The abnormal information of each Beidou-R device contains the device's azimuth information, which includes the device's corresponding azimuth and elevation angle (azimuth: the horizontal rotation angle of the device relative to a reference direction; elevation: the vertical rotation angle of the device relative to the horizontal plane). The azimuth and elevation angles are key data for locating the direction of abnormal events. These angles can be used to know the direction of abnormal events in the monitoring scene.

[0062] According to the device coordinates of the Beidou-R device contained in each abnormal information, the distance between each device and the abnormal event can be calculated. The device distance is used together with the azimuth information to determine the specific location of the abnormal event in the monitoring scene. The positioning accuracy of abnormal events can be improved by using the distance data of multiple devices. The control unit finally calculates the precise coordinates of the abnormal event by combining the azimuth, pitch angle and device distance information of multiple Beidou-R devices, using triangulation or other mathematical models.

[0063] The abnormal coordinates are used to locate the location of the abnormal event and help the monitoring system confirm the specific location of the abnormal situation.

[0064] Furthermore, the provided method can effectively reduce the errors that may be caused by a single device and improve the overall reliability and accuracy of the system by simultaneously participating in abnormal monitoring and positioning of multiple BeiDou-R devices. By integrating the data of multiple BeiDou-R devices, the system can not only accurately locate abnormal events, but also further generate warnings or take corresponding measures. This method ensures that in large-scale monitoring scenarios, both device positioning and confirmation of abnormal events can be achieved with high precision and in real time.

[0065] In some embodiments, the initial coordinates are optimized according to a preset optimization algorithm to obtain optimized device coordinates, including: obtaining terrain feature information corresponding to the scene to be monitored; obtaining a first distance between the initial coordinates and a first straight line equation, and a second distance between the initial coordinates and a 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 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-optimizing and updating the device coordinates.

[0066] After obtaining the initial coordinates of the BeiDou-R device, the control unit further adjusts and optimizes the initial coordinates based on the preset optimization algorithm to improve the accuracy of the device coordinates. The optimization process is achieved by combining terrain feature information, straight line equation distance and optimization objective function. First, it is necessary to obtain the terrain feature information of the monitored scene 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 the terrain features will affect the transmission path of the satellite signal and the positioning accuracy of the device. By considering the terrain information, the positioning error caused by the complexity of the terrain 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 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 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.

[0067] Then, the control unit constructs an optimization objective function based on the terrain feature information, the first distance, and the second distance. The objective function is to integrate all factors that affect the accuracy of coordinates to guide the optimization algorithm (such as 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 deal with the impact of complex terrain on positioning, and ultimately improve the accuracy of abnormal confirmation.

[0068] Exemplarily, constructing an optimization objective function according to terrain feature information, the first distance and the second distance includes: obtaining the square term 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 geographic constraint condition according to the preset range and the device coordinates; constructing an optimization objective function according to the geographic constraint condition, the square term of the first distance and the square term of the second distance; the expression of the geographic 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 geographic constraint, (x, y) represents the device coordinates, (x_min, y_min) is the preset coordinates 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 geographic constraint, w1, w2 and w3 are the first weight, second weight and third weight respectively, which are used to balance the importance of various factors.

[0069] 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. Then, by setting the optimization parameters, including the initial value of the coordinates, the possible range of variation, 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, the point is considered to be eliminated. 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 gimbal 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. This enables the provided method to accurately determine the coordinates corresponding to the BeiDou-R device.

[0070] It should be noted that, in some embodiments, geographical constraints are constructed based on a preset range and device coordinates, including: obtaining the coordinates of a preset monitoring point corresponding to the Beidou-R device, the coordinates of the preset monitoring point being the preset coordinates; obtaining the preset area size corresponding to the Beidou-R device based on the terrain feature information; determining the radius of the preset range based on the preset area size; and constructing a preset range based on the preset coordinates and radius.

[0071] By taking the coordinates corresponding to the preset monitoring points installed by the initial Beidou-R equipment as the preset coordinates, and combining the corresponding height difference, obstacle distribution, terrain undulations and other information, the allowable error range, that is, the corresponding preset area size, is determined. The preset area size can be calculated by integrating a regional 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. Then, the optimization range corresponding to the optimization process can be determined for different terrain features. Finally, the preset coordinates and the corresponding preset area size can be combined to form a circle with the preset coordinates, and the corresponding radius can be determined in combination with the preset area size, thereby determining the optimization area and ensuring the accuracy of the optimization results.

[0072] Step S106. If abnormal information of the monitored scene sent by the Beidou-R device is received, the abnormal information is analyzed to obtain the device position information and abnormal detection distance of the Beidou-R device.

[0073] Specifically, the abnormal information is detected and sent by the Beidou-R device. After receiving it, the control unit analyzes the abnormal type (such as whether there is a fire, a landslide, etc.) and the current PTZ direction of the device (i.e. the direction of the camera or sensor). At the same time, the detection distance to the abnormal object is obtained for subsequent positioning of the abnormal position.

[0074] Step S107: Generate abnormal coordinates according to the device orientation information, abnormal detection distance and device coordinates to complete the abnormality confirmation of the monitored scene.

[0075] Specifically, the control unit determines the specific location coordinates of the abnormal object by using the azimuth angle of the pan / tilt and the abnormal detection distance through triangulation or other mathematical models. The generated abnormal coordinates can be used for further response or alarm to help on-site personnel promptly confirm abnormal situations and take action. 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, the method is suitable for 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.

[0076] 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 also 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 thermal imaging module detects that the temperature of the abnormal point in the scene to be monitored is greater than the preset temperature during the rotation process, 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.

[0077] The control unit locates and confirms fire warning information through rotation and temperature detection. The thermal imaging module is used to detect the temperature of objects in the monitored scene. When the temperature of a certain point exceeds the set threshold (preset temperature), it can identify the abnormal point. The ranging module (such as the laser ranging module) is used to measure the distance between the Beidou-R device and the abnormal point. The module is activated when an abnormality is detected to calculate the distance information. The rotation module is used to control the rotation of the device to fully scan and monitor the entire scene. The angle of rotation 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 abnormal temperature is detected, to remind the system that there is a dangerous situation such as fire.

[0078] The detection interval is the time interval for the BeiDou-R device to perform detection during each rotation process. This time interval is used to control the operating frequency of the thermal imaging module to ensure the efficiency of continuous monitoring. The embodiment of the present application does not limit its length.

[0079] The preset temperature is a temperature threshold set by the control unit, which represents the upper temperature limit of the scene under normal environment. When the detected temperature exceeds the preset temperature, the BeiDou-R device considers that there is an abnormal situation.

[0080] The control unit generates a rotation detection instruction based on the detection interval and the preset temperature, instructing the Beidou-R device to rotate periodically. The instruction includes controlling the angle and speed of the rotation of the rotation module so that the thermal imaging module can scan the entire scene in all directions. The rotation detection instruction ensures that the device can fully monitor the scene in different directions and at different time intervals to avoid missed detection. The rotation module works according to the generated rotation detection instruction and rotates the Beidou-R device regularly so that the thermal imaging module can perform temperature detection on the scene in different directions. If during the rotation process, the thermal imaging module detects that the temperature of a certain point exceeds the preset temperature, the rotation module stops rotating immediately. This indicates that the device has locked a possible abnormal point.

[0081] After the rotating 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.

[0082] By combining the measured abnormal detection distance and the rotation angle when the rotating 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 inform the system or operator of the precise location of the abnormal point and possible danger. The collaborative work of thermal imaging, ranging and rotation modules ensures high accuracy, real-time and comprehensiveness of abnormal monitoring.

[0083] Through continuous rotation detection, the control unit can detect abnormal temperatures in time 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 abnormal points to ensure that the warning information is accurate and reliable. The rotation module allows the device to cover the entire monitored scene to avoid monitoring blind spots. Through this design, Beidou-R equipment can perform efficient fire monitoring and early warning in complex monitoring scenarios (such as forests, industrial areas, etc.), greatly improving the reliability of abnormal situation detection.

[0084] At the same time, it should be noted that the provided method can also be used to identify anomalies such as debris flows and landslides based on image acquisition. The specific settings can be made according to scene requirements, and the embodiments of the present application are not limited to this.

[0085] In some embodiments, if the monitoring system includes multiple Beidou-R devices, the method also 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 obtaining the target positioning coordinates corresponding to the target device according to the satellite broadcast signal received by the target device; generating correction information according to the target device coordinates and the target positioning coordinates; obtaining the satellite broadcast signal received by each of the remaining Beidou-R devices, and obtaining the device positioning coordinates corresponding to the corresponding Beidou-R device according to the satellite broadcast signal received by the Beidou-R device; completing the correction of each device positioning coordinates according to the correction information, and obtaining the device coordinates corresponding to each Beidou-R device.

[0086] The control unit ensures the positioning accuracy of all devices through collaborative correction between a target device and multiple auxiliary devices. When the system contains multiple BeiDou-R devices, one device must first be selected as the target device. The target device refers to the reference device that will be used to correct the positioning of other devices in subsequent steps. For the target device, its initial coordinates are first obtained. This initial coordinate is usually determined by the aforementioned steps (such as by calculating the azimuth and coordinates of the antenna group).

[0087] After the initial coordinates of the target device are optimized and adjusted, the control unit determines them as the device coordinates of the device, that is, the target device coordinates. This will serve as the reference point for the subsequent correction of the coordinates of other devices. The target device receives satellite broadcast signals transmitted by preset satellites. These signals are standard signals transmitted by the Beidou satellite system for positioning and navigation. Through the received satellite broadcast signals, the target device performs a calculation to obtain the target positioning coordinates of the device. This positioning coordinate is directly calculated from the satellite signal and reflects the actual position of the device in the global positioning system.

[0088] By comparing the target device coordinates (i.e. the optimized device coordinates) and the target positioning coordinates (the coordinates obtained by solving satellite signals), correction information is generated. The correction information is used to correct the coordinate deviation caused by various reasons (such as device error, environmental impact) in the system.

[0089] Other BeiDou-R devices also receive broadcast signals from preset satellites and use these signals to solve their own device positioning coordinates. These positioning coordinates are also directly solved by satellite signals and represent the preliminary positioning results of the devices.

[0090] For each BeiDou-R device, use the correction information generated from the target device to correct its device positioning coordinates. The corrected device coordinates should be more accurate and consistent with the actual geographic location.

[0091] 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 consistency and accuracy of positioning of each device during the abnormality confirmation process. Through the precise positioning of the target device and the correction information generated by it, there is no need to locate each BeiDou-R device one by one through multiple antenna groups, which improves the efficiency of positioning multiple BeiDou-R devices. The system provided can quickly locate multiple devices when they work together, ensuring efficient monitoring and precise positioning in complex scenes, which is especially important for 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 correction between multiple devices, ensuring the accuracy of abnormality detection and confirmation in various environments.

[0092] Meanwhile, the target device may be a device located at the geometric center of multiple BeiDou-R devices, or a device whose distance from other BeiDou-R devices is less than a preset distance (eg, 10 km). This embodiment of the present application does not limit this.

[0093] See also Figure 6 , Figure 6 1 is a schematic block diagram of the structure of a control unit provided in an embodiment of the present application. The control unit includes a processor, a memory and a network interface connected via a device bus, wherein the memory may include a storage medium and an internal memory.

[0094] The storage medium can store an operating device and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute any Beidou-R-based abnormality confirmation method.

[0095] The processor is used to provide computing and control capabilities and support the operation of the entire control unit.

[0096] 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 execute any Beidou-R-based abnormality confirmation method.

[0097] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the terminal to which the scheme of the present application is applied. The specific control unit may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0098] It should be understood that the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0099] In one embodiment, the processor is used to run a computer program stored in the memory to implement the following steps: Acquire a first azimuth angle of the first master antenna relative to the first slave antenna and a second azimuth angle of the second master antenna relative to the second slave antenna; Obtaining 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 and the first coordinate, and determine a second straight line equation according to the second azimuth and the second coordinate; Calculate the intersection of the first straight line equation and the second straight line equation to obtain the initial coordinates of the BeiDou-R device; Optimize the initial coordinates according to the preset optimization algorithm to obtain the optimized device coordinates; If the abnormal information of the monitored scene sent by the Beidou-R device is received, the abnormal information is analyzed to obtain the device position information and abnormal detection distance of the Beidou-R device; The abnormal coordinates are generated according to the device orientation information, abnormal detection distance and device coordinates to complete the abnormal confirmation of the monitored scene.

[0100] 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 also includes: if abnormal information of the scene to be monitored is received from at least two Beidou-R devices, the abnormal information is parsed, and the device orientation information of each Beidou-R device is obtained; the device orientation information includes the azimuth and pitch angle corresponding to the Beidou-R device; the device distance is calculated according to the device coordinates of the Beidou-R device corresponding to each abnormal information; and the abnormal coordinates are generated according to multiple device orientation information and device distances.

[0101] In some embodiments, the initial coordinates are optimized according to a preset optimization algorithm to obtain optimized device coordinates, including: obtaining terrain feature information corresponding to the scene to be monitored; obtaining a first distance between the initial coordinates and a first straight line equation, and a second distance between the initial coordinates and a 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 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-optimizing and updating the device coordinates.

[0102] Exemplarily, constructing an optimization objective function according to terrain feature information, the first distance and the second distance includes: obtaining the square term 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 geographic constraint condition according to the preset range and the device coordinates; constructing an optimization objective function according to the geographic constraint condition, the square term of the first distance and the square term of the second distance; the expression of the geographic 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 geographic constraint, (x, y) represents the device coordinates, (x_min, y_min) is the preset coordinates 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 geographic constraint, w1, w2 and w3 are the first weight, second weight and third weight respectively, which are used to balance the importance of various factors.

[0103] It should be noted that, in some embodiments, geographical constraints are constructed based on a preset range and device coordinates, including: obtaining the coordinates of a preset monitoring point corresponding to the Beidou-R device, the coordinates of the preset monitoring point being the preset coordinates; obtaining the preset area size corresponding to the Beidou-R device based on the terrain feature information; determining the radius of the preset range based on the preset area size; and constructing a preset range based on the preset coordinates and radius.

[0104] 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 also 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 thermal imaging module detects that the temperature of the abnormal point in the scene to be monitored is greater than the preset temperature during the rotation process, 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.

[0105] In some embodiments, if the monitoring system includes multiple Beidou-R devices, the method also 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 obtaining the target positioning coordinates corresponding to the target device according to the satellite broadcast signal received by the target device; generating correction information according to the target device coordinates and the target positioning coordinates; obtaining the satellite broadcast signal received by each of the remaining Beidou-R devices, and obtaining the device positioning coordinates corresponding to the corresponding Beidou-R device according to the satellite broadcast signal received by the Beidou-R device; completing the correction of each device positioning coordinates according to the correction information, and obtaining the device coordinates corresponding to each Beidou-R device.

[0106] In some embodiments, obtaining 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 includes: controlling the first main antenna and the first slave antenna to simultaneously receive satellite broadcast signals transmitted by a preset satellite; obtaining a first phase difference of 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 satellite broadcast signals transmitted by a preset satellite; obtaining a second phase difference of the satellite broadcast signals received by the second main antenna and the second slave antenna; and calculating a first azimuth angle and a second azimuth angle according to the first phase difference and the second phase difference, respectively.

[0107] 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: solving according to the satellite broadcast signal received by the first main antenna to obtain the first coordinate; solving according to the satellite broadcast signal received by the second main antenna to obtain the second coordinate; and calculating the antenna distance based on the first coordinate and the second coordinate.

[0108] A computer-readable storage medium is also provided in an embodiment of the present application, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and the processor executes the program instructions to implement the steps of the Beidou-R-based abnormality confirmation method provided in the above-mentioned embodiments of the present application.

[0109] The computer-readable storage medium may be an internal storage unit of the control unit described in the above embodiment, such as a 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, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc., equipped on the control unit.

[0110] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A coordinate acquisition method based on BeiDou-R, characterized in that: A control unit applied to an abnormality monitoring system, the system further comprising at least one BeiDou-R device, a first measuring antenna group and a second measuring antenna group, the BeiDou-R device being arranged at a preset monitoring point in a scene to be monitored, the first measuring antenna group comprising a first master antenna and a first slave antenna, the second measuring antenna group comprising a second master antenna and a second slave antenna; wherein the first master antenna points to the BeiDou-R device via the first slave antenna, and the second master antenna points to the BeiDou-R device via the second slave antenna; the method comprising: Acquire a first azimuth angle of the first master antenna relative to the first slave antenna and a second azimuth angle of the second master antenna relative to the second slave antenna; Acquire 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 and the first coordinate, and determine a second straight line equation according to the second azimuth and the second coordinate; Calculate the intersection of the first straight line equation and the second straight line equation to obtain the initial coordinates of the BeiDou-R device; Optimize the initial coordinates according to a preset optimization algorithm to obtain the optimized device coordinates; The initial coordinates are optimized according to a preset optimization algorithm to obtain the optimized device coordinates, including obtaining terrain feature information corresponding to the monitored scene; obtaining a first distance between the initial coordinates and the first straight line equation, and a 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-optimizing and updating the device coordinates.

2. The method according to claim 1, 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 geographic constraint condition according to the preset range and the device coordinates; Constructing the optimization objective function according to the geographic constraint condition, the square term of the first distance and the square term of the second distance; The expression of the geographic constraint condition is: C(x, y) = max(0, (x – x_min) ^2+ (y – y_min) ^2 – R^2); Wherein, C(, ) is the value of the geographic constraint, (x, y) represents the device coordinates, (x_min, y_min) is the preset coordinates 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); Wherein, 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 geographic constraint, 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.

3. The method according to claim 2, characterized in that The constructing of geographic constraints according to the preset range and the device coordinates includes: Acquire the coordinates of a preset monitoring point corresponding to the BeiDou-R device, where the coordinates of the preset monitoring point are the preset coordinates; Acquire a 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 size of the preset area; The preset range is formed according to the preset coordinates and the radius.

4. The method according to claim 1, characterized in that: If the monitoring system includes a plurality of BeiDou-R devices, the method further includes: When obtaining the initial coordinates of the BeiDou-R device, the BeiDou-R device is determined as a target device, and the device coordinates corresponding to the target device are determined as the target device coordinates; Acquire a satellite broadcast signal transmitted by a preset satellite and received by the target device, and obtain a target positioning coordinate corresponding to the target device by performing calculations based on the satellite broadcast signal received by the target device; Generating correction information according to the target device coordinates and the target positioning coordinates; Obtain the satellite broadcast signal received by each of the remaining Beidou-R devices, and perform calculations based on the satellite broadcast signal received by the Beidou-R device to obtain the device positioning coordinates corresponding to the corresponding Beidou-R device; According to the correction information, the positioning coordinates of each device are corrected to obtain the device coordinates corresponding to each Beidou-R device.

5. The method according to claim 1, characterized in that The acquiring a first azimuth angle of the first master antenna relative to the first slave antenna and a second azimuth angle of the second master antenna relative to the second slave antenna includes: Controlling the first master antenna and the first slave antenna to simultaneously receive satellite broadcast signals transmitted by a preset satellite; Acquire a first phase difference of 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 satellite broadcast signals transmitted by a preset satellite; Acquire a second phase difference between the satellite broadcast signal received by the second main antenna and the second slave antenna; A first azimuth angle and a second azimuth angle are calculated according to the first phase difference and the second phase difference, respectively.

6. The method according to claim 5, characterized in that The 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: Calculate the first coordinates according to the satellite broadcast signal received by the first main antenna; Calculate the satellite broadcast signal received by the second main antenna to obtain the second coordinate; The antenna distance is calculated according to the first coordinate and the second coordinate.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, enables the processor to implement the steps of the method according to any one of claims 1 to 6.

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