Method and device for site selection of temporary take-off and landing field of helicopter in complex geological environment

Abstract

The invention provides a complex geological environment helicopter temporary take-off and landing field site selection method and device, and relates to the technical field of image processing, and the method comprises the steps: obtaining environment remote sensing data of a candidate region; the environment remote sensing data comprises data such as a digital elevation model, a gradient, a fluctuation degree, a land coverage type, rock-soil body distribution and geological disaster hidden dangers; determining a weight corresponding to each influence factor in the environment remote sensing data through an analytic hierarchy process; the weight represents the relative importance between each influence factor and the temporary take-off and landing site selection of the helicopter; based on the weight corresponding to each influence factor, determining site selection priorities corresponding to different candidate sub-regions in the candidate region; and determining one or more candidate sub-regions with the highest site selection priority as a target site selection region. According to the method, various factors in the environment remote sensing data are evaluated in a weighting mode, site selection testing under the influence of multiple factors in a complex geological environment is achieved, and the area suitable for helicopter take-off and landing can be rapidly and accurately recognized.

Description

Technical Field

[0001] The present invention relates to the technical field of image processing, and in particular to a method and device for selecting a temporary helicopter landing and take-off site in a complex geological environment. Background Art

[0002] Due to its flexibility and versatility, helicopters play an important role in military operations, disaster relief and other scenarios. In particular, helicopters can respond quickly in areas with complex terrain, incomplete infrastructure or damage. However, in complex geological environments such as high altitude, plateau, and mountainous areas, the site selection of temporary helicopter landing and take-off sites faces severe challenges. Traditional methods of site selection for landing and take-off sites rely on manual experience and are usually evaluated through qualitative analysis and field surveys. This is not only inefficient, but also very passive in responding to rapidly changing needs. However, in complex geological environments, the terrain is undulating, the slope is steep, the rock and soil structure is complex, and geological disasters (such as landslides, mudslides, etc.) occur frequently. These factors greatly limit the scope of safe areas suitable for temporary helicopter take-off and landing. Therefore, how to quickly and accurately find a suitable landing and take-off site under large-scale complex geological conditions has become a key technical problem.

[0003] With the continuous development of remote sensing technology and geographic information system (GIS) technology, automated site selection and assessment methods based on remote sensing images have gradually become a hot topic of research. Remote sensing images can provide large-scale, real-time geographic information, providing an important data source for the site selection and assessment of helicopter landing sites. However, although existing site selection methods can extract information such as terrain and slope from remote sensing data, these methods mostly focus on qualitative analysis and lack comprehensive quantitative processing of multiple geological and geographical elements. Summary of the invention

[0004] The purpose of the present invention is to solve the current problem of how to quickly and accurately find a suitable landing and take-off site under large-scale complex geological conditions. The present invention provides a method and device for selecting a temporary landing and take-off site for helicopters in a complex geological environment.

[0005] The technical solution of the embodiment of the present application is implemented as follows: A first aspect of an embodiment of the present application provides a method for selecting a temporary helicopter landing and take-off site in a complex geological environment, comprising: Acquire environmental remote sensing data of the candidate area; the environmental remote sensing data includes digital elevation model, slope, undulation, land cover type, rock and soil distribution, geological disaster risks and soil cone index; Determine the weight corresponding to each influencing factor in the environmental remote sensing data by means of a hierarchical analysis method; the weight represents the relative importance between each influencing factor and the site selection of a temporary helicopter landing and take-off site; Based on the weights corresponding to the influencing factors, determining the site selection priorities corresponding to different candidate sub-regions in the candidate region; One or more candidate sub-areas with the highest site selection priority are determined as target site selection areas.

[0006] Optionally, the step of acquiring environmental remote sensing data of the candidate area includes: The environmental remote sensing data is obtained by combining satellite remote sensing images with field survey data.

[0007] Optionally, after acquiring the environmental remote sensing data of the candidate area, the method further includes: preprocessing the environmental remote sensing data; specifically including: Unifying the environmental remote sensing data into a preset coordinate system to obtain standard data; Performing derivative processing on one or more types of data in the standard data to increase the content of the standard data; The standard data after the derivation processing is format converted and fused and corrected to obtain the pre-processed environmental remote sensing data.

[0008] Optionally, determining the weight corresponding to each influencing factor in the environmental remote sensing data by using a hierarchy analysis method includes: The influencing factors in the environmental remote sensing data are divided into primary data, secondary data and tertiary data respectively; wherein the weight corresponding to the primary data is greater than the weight corresponding to the secondary data, and the weight corresponding to the secondary data is greater than the weight corresponding to the tertiary data.

[0009] Optionally, the determining the weights corresponding to the influencing factors in the environmental remote sensing data by using the hierarchical analysis method further includes: Based on a preset threshold, each influencing factor in the environmental remote sensing data is divided into secondary indicators; wherein the weight corresponding to the target influencing factor less than the preset threshold is different from the weight corresponding to the target influencing factor greater than the preset threshold.

[0010] Optionally, determining the site selection priorities corresponding to different candidate sub-regions in the candidate region based on the weights corresponding to the influencing factors includes: The weights corresponding to each influencing factor in each candidate sub-region are determined by using the hierarchical analysis method; Determine a comprehensive score for each candidate sub-region based on the weight; The site selection priorities corresponding to different candidate sub-regions in the candidate region are determined based on the comprehensive score.

[0011] Optionally, after determining the site selection priorities corresponding to different candidate sub-regions in the candidate region based on the weights corresponding to the influencing factors, the method further includes: The AlphaShape algorithm is used to perform denoising on each candidate sub-region in the candidate region.

[0012] The second aspect of the embodiment of the present application provides a system for selecting a temporary helicopter landing and take-off site in a complex geological environment, comprising: a data acquisition module, a first determination module, a second determination module and a third determination module; wherein: The data acquisition module is configured to acquire environmental remote sensing data of the candidate area; the environmental remote sensing data includes digital elevation model, slope, undulation, land cover type, rock and soil distribution, geological disaster hazards and soil cone index; The first determination module is configured to determine the weight corresponding to each influencing factor in the environmental remote sensing data by means of a hierarchical analysis method; the weight represents the relative importance between each influencing factor and the site selection of the temporary helicopter landing and take-off site; The second determination module is configured to determine the site selection priorities corresponding to different candidate sub-regions in the candidate region based on the weights corresponding to the influencing factors; The third determination module is configured to determine one or more candidate sub-areas with the highest site selection priority as the target site selection area.

[0013] A third aspect of an embodiment of the present application provides an electronic device, including a processor and a memory; the memory stores a computer program, wherein the computer program, when executed by the processor, implements the method for selecting a temporary helicopter landing and take-off site in a complex geological environment described in the first aspect.

[0014] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in the first aspect.

[0015] Compared with the prior art, the technical solution provided by this application has the following beneficial effects: The present invention provides a method and device for selecting a temporary helicopter landing site in a complex geological environment. The method obtains environmental remote sensing data of a candidate area, combines the analytic hierarchy process to determine the weights corresponding to the influencing factors in the environmental remote sensing data, and determines the site selection priorities corresponding to different candidate sub-areas in the candidate area based on the weights corresponding to the influencing factors, and then determines one or more candidate sub-areas with the highest site selection priority as the target site selection area. By evaluating various factors in the environmental remote sensing data in a weighted manner, a site selection test under the influence of multiple factors in a complex geological environment is realized, and an area suitable for helicopter take-off and landing can be quickly and accurately identified. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flowchart of a method for selecting a temporary helicopter landing and take-off site in a complex geological environment provided by an embodiment of the present application; Figure 2 A multi-category site selection map obtained by adaptive classification based on natural break points Jenks provided in an embodiment of the present application; Figure 3 The optimized site selection map generated by adaptive filtering based on the AlphaShape algorithm provided in the embodiment of the present application; Figure 4 A schematic diagram of helicopter site selection in a three-dimensional geological environment provided in an embodiment of the present application; Figure 5 A schematic diagram of the structure of a temporary helicopter landing and take-off site selection system in a complex geological environment provided by an embodiment of the present application; Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0017] Below, embodiments of the present application will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present application. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present application. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present application. The terms used herein are only for describing specific embodiments and are not intended to limit the present application. The terms "include", "comprising", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components. All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0018] Some block diagrams and / or flow charts are shown in the accompanying drawings. It should be understood that some blocks or combinations thereof in the block diagrams and / or flow charts may be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that these instructions, when executed by the processor, may create a device for implementing the functions / operations described in these block diagrams and / or flow charts.

[0019] In some embodiments, see Figure 1 , Figure 1A flowchart of a method for selecting a temporary helicopter landing and take-off site in a complex geological environment provided by an embodiment of the present application; the method for selecting a temporary helicopter landing and take-off site in a complex geological environment provided by an embodiment of the present application includes: S110, obtaining environmental remote sensing data of the candidate area; the environmental remote sensing data includes digital elevation model, slope, undulation, land cover type, rock and soil distribution, geological disaster risks and soil cone index.

[0020] Digital elevation model (DEM) is used to describe the elevation change of terrain. DEM can be used to calculate key terrain indicators such as slope and undulation, providing basic terrain information for the site selection of temporary helicopter landing and take-off sites. Considering the accuracy requirements of helicopter site selection, a spatial resolution of 9.55 meters is used here to ensure the precision of terrain analysis. Geological hazard data is an important factor that must be considered in the site selection process and directly affects the safety of site selection. Through the method of "artificial visual interpretation + field investigation", the location and type of geological hazard points in the candidate area can be determined, including landslides, mudslides, rolling stones and other disaster types. The data of these disaster points are interpreted by experts to ensure their accuracy and practicality, providing an important reference for subsequent site selection. Land cover types can be derived from the global data set provided by the European Space Agency (ESA). Through interpretation, different types of land cover information such as vegetation, buildings, bare land, ice and snow, and water bodies can be obtained. In addition, combined with field investigations, rock and soil type data in the candidate area are obtained and classified in detail to provide comprehensive consideration of the surface and underground for site selection. The soil cone index (RCI) can be obtained by experienced geologists interpreting remote sensing images and DEM images. It is divided into four categories: undeveloped, small, medium, and large to describe the stability of the rock mass. The RCI index is used to measure the bearing capacity of the soil, and the calculation formula is: ; in, and is a weight parameter, which is determined based on the correlation between soil type and humidity index. The size of the RCI index will directly affect the safety of helicopter takeoff and landing in the area.

[0021] In some embodiments, S110, obtaining environmental remote sensing data of the candidate area includes: Environmental remote sensing data is obtained by combining satellite remote sensing images with field survey data.

[0022] In this embodiment, the remote sensing image data extracted from the Landsat-8 data by the Google Earth Engine (GEE) platform, as well as the geographic data such as slope and undulation generated based on the digital elevation model (DEM), can be used, and the important geological information such as geological disaster risk points, rock and soil distribution, and joint structure can be obtained in combination with field surveys. The Landsat-8 satellite can obtain multispectral remote sensing images covering from visible light to near infrared, with a wide band range and a spatial resolution of about 30 meters, which can effectively extract surface features. The Landsat-8 image includes high-resolution surface information in the candidate area, which can be used to extract multiple parameters such as surface elevation, slope, undulation, and land cover.

[0023] In some embodiments, after acquiring the environmental remote sensing data of the candidate area at S110, the method further includes: preprocessing the environmental remote sensing data; specifically including: Unify environmental remote sensing data into a preset coordinate system to obtain standard data; Perform derivative processing on one or more types of data in the standard data to increase the content of the standard data; The standard data after the derivative processing is converted into a format and fused and corrected to obtain the pre-processed environmental remote sensing data.

[0024] For example, in order to ensure the consistency of multi-source data, all data are unified to the GCS_WGS_1984 coordinate system, and the spatial resolution is standardized to 9.55 meters. Spatial correction ensures that the image and geological information are in the same spatial reference, so that different data can be accurately superimposed and analyzed. In addition, based on DEM data, slope and relief data can be derived. The slope is used to reflect the degree of inclination of the surface, and the relief is used to measure the change in terrain height. Here, the slope can be obtained by differential calculation of DEM data, and the calculation formula is as follows: ; in, , are the horizontal and vertical coordinate increments respectively, is the elevation increment.

[0025] The sliding window method is used to calculate the fluctuation, and the calculation formula is as follows: ; in, and They are the elevation values ​​of the highest and lowest points in the sliding window (3×3 units), respectively. The obtained undulation value can reflect the complexity of the terrain in the area, which is helpful for judging the flatness of the terrain in helicopter site selection.

[0026] On this basis, different types of data such as remote sensing images, vector boundaries, and DEM data are converted to ensure that they can be recognized and input into the model. Specifically, vector boundary files (such as Shapefile) are converted into raster formats and data resolution is standardized. Geological and geographic data from different sources are integrated to generate comprehensive data layers so that various factors of site selection can be comprehensively considered in subsequent analysis. In addition, in order to ensure that the input data of the site selection model is highly accurate, the data needs to be spatially registered and corrected.

[0027] S120, determining the weight corresponding to each influencing factor in the environmental remote sensing data by means of a hierarchical analysis method; the weight represents the relative importance between each influencing factor and the site selection of the temporary helicopter landing and take-off site.

[0028] The analytic hierarchy process (AHP) is a quantitative method for multi-criteria decision analysis. In view of the various geographical and geological factors involved in the site selection of temporary helicopter landing sites (such as geological hazards, DEM, slope, undulation, land cover, rock and soil type, RCI index, and joint structure), the AHP judgment matrix is ​​first constructed, and the relative importance of each factor to the site selection is determined by combining expert experience and field research. The construction of the matrix follows the following principles: geological hazards are the most important factor, followed by traditional geographical factors such as DEM, slope and undulation, and finally new factors such as land cover, rock and soil type, RCI index, and joint structure are considered. By calculating the judgment matrix The characteristic vector of , satisfying the following relationship: ; in, is the maximum eigenvalue of the judgment matrix, and the weight vector It indicates the importance of each factor to the site selection result. The larger the weight, the more significant the impact of the factor on the site selection.

[0029] Judgment Matrix As shown below: ; in, Indicates The factor relative to The importance of factors , and all .

[0030] To ensure the rationality of the judgment matrix, the matrix is ​​checked for consistency and the consistency ratio (CR) is calculated using the following formula: ; in, is the random consistency indicator, is the order of the judgment matrix. When , the judgment matrix passes the consistency test, indicating that the construction of the matrix is ​​reasonable and the weight result is credible.

[0031] In one example, a judgment matrix of influencing factors was constructed based on the geographical and geological environment background of the study area and combined with expert experience, as shown in Table 1.

[0032] Table 1 is the AHP judgment matrix of factors affecting the site selection of temporary helicopter landing and take-off sites

[0033] The AHP judgment matrix follows the following principle: geological hazards are more important than other factors. Finally, the consistency ratio (CR) of the AHP judgment matrix is ​​0.0462<0.1. The consistency check shows that the AHP judgment matrix of site selection influencing factors constructed above is objective and reasonable.

[0034] In some embodiments, S120, determining the weight corresponding to each influencing factor in the environmental remote sensing data by using a hierarchical analysis method includes: The influencing factors in the environmental remote sensing data are divided into primary data, secondary data and tertiary data; among them, the weight corresponding to the primary data is greater than the weight corresponding to the secondary data, and the weight corresponding to the secondary data is greater than the weight corresponding to the tertiary data.

[0035] As described above, the construction of the matrix follows the following principles: geological hazards are the most important factor, followed by traditional geographical factors such as DEM, slope and relief, and finally new factors such as land cover, rock and soil type, RCI index and joint structure. Therefore, geological hazards can be divided into primary data, traditional geographical factors such as DEM, slope and relief can be divided into secondary data, and new factors such as land cover, rock and soil type, RCI index and joint structure can be divided into tertiary data.

[0036] In some embodiments, S120, determining the weight corresponding to each influencing factor in the environmental remote sensing data by using a hierarchy analysis method, further includes: Based on a preset threshold, each influencing factor in the environmental remote sensing data is divided into secondary indicators; wherein the weight corresponding to the target influencing factor less than the preset threshold is different from the weight corresponding to the target influencing factor greater than the preset threshold.

[0037] In one example, as shown in Table 2, the slope can be divided into 0.5 and >0.5, and the same is true for other influencing factors. The division of secondary indicators is based on the degree of influence of the factors on the suitability of the site. By finely dividing each influencing factor, the positive contribution of each influencing factor to the site selection can be more accurately evaluated.

[0038] Table 2 is the quantitative information table of the secondary indicators of the evaluation factors

[0039] S130: Determine the site selection priorities corresponding to different candidate sub-regions in the candidate region based on the weights corresponding to the influencing factors.

[0040] In this embodiment, in order to better classify the suitability of the site selection of the temporary helicopter landing and take-off site, the site selection priority corresponding to different candidate sub-areas in the candidate area is determined based on the weights corresponding to each influencing factor. Further, the natural break point (Jenks) method is used to adaptively classify the site selection rules. The natural break point method is an optimal segmentation technology based on the characteristics of the data itself, which can effectively divide the comprehensive information into different categories, making the site selection results more reasonable and explainable. Through adaptive classification, the study area is divided into multiple categories (such as candidate sub-areas, dangerous areas, etc.), so as to generate a helicopter site selection map, providing a clear reference for the site selection of the landing and take-off site. By finding the natural distribution pattern in the data, the continuous comprehensive information value is divided into several categories, so that the difference within each category is minimized, and the difference between categories is maximized, so as to ensure that the classification result has a good reflection of the original distribution characteristics of the data. Here, the Jenks natural break point method is used to classify the comprehensive information value, and the number of classification categories is determined by the user according to actual needs, generally 2-5 categories. For the site selection of temporary helicopter landing and take-off areas, the area is usually divided into two categories (or more): candidate sub-areas and danger zones, to help decision makers quickly determine whether a certain area is suitable as a temporary landing and take-off area.

[0041] In an optional embodiment, the classification process is as follows: First, the comprehensive information value of each grid cell in the study area is arranged in ascending order to obtain the information amount; ; in, is the total number of grid cells, Indicates The comprehensive information value of each grid cell.

[0042] The split point is determined by minimizing the sum of squared deviations (SSD) within each category. For each possible split combination, the SSD within each category is calculated using the formula: ; in, For the The sum of squares within the class, For the The number of grid cells in the class, For the The final goal is to minimize the sum of SSDs for all categories: ; in, is the total number of categories.

[0043] Through multiple iterations, we find The smallest segmentation point is determined to determine the natural discontinuity points of each category. Finally, each grid cell is assigned to a category according to its comprehensive information value, forming an adaptive classification result.

[0044] The classification results are mapped back to each grid cell in the study area to generate a regional classification map. In actual operation, the threshold of the candidate sub-region can be set according to the different needs of the application scenario, and the area with higher comprehensive information value can be designated as a candidate sub-region, and the area with lower comprehensive information value can be designated as a dangerous area or other categories.

[0045] Generally speaking, the site selection of helicopter landing sites can be divided into the following categories: (1) Candidate sub-areas: This type of area has flat and stable terrain, low geological disaster risk, relatively simple land cover, high soil bearing capacity, and the highest comprehensive information value. Candidate sub-areas are the optimal site selection areas for temporary helicopter landing sites. (2) Secondary candidate sub-areas: This area has certain site selection conditions, but there may be some local terrain or geological defects, such as large slopes and relatively low soil bearing capacity. Under normal circumstances, this type of area can be used as an alternative landing site in an emergency. (3) Non-candidate sub-areas (dangerous areas): This type of area has the lowest comprehensive information value. It is usually steep, unstable, prone to frequent geological disasters, or has complex land cover, and is not suitable as a temporary helicopter landing site. Dangerous areas are areas that decision makers need to avoid.

[0046] The above classification can be adjusted according to specific scenario requirements. For example, in military site selection, candidate sub-areas require more stringent standards, while in emergency rescue, secondary candidate sub-areas may also be able to meet the needs of temporary take-off and landing.

[0047] After completing the classification of the comprehensive information value, the next step is to generate a multi-category helicopter site selection map. This graphical representation intuitively shows the suitability of each area and provides a reference for decision makers. When actually generating the site selection map, each category of areas is marked with different colors or textures to form a regional distribution map, which intuitively displays the spatial distribution characteristics of candidate sub-areas, sub-candidate sub-areas and danger zones. When drawing a multi-category site selection map, the area with the highest comprehensive information value is represented in green as a "candidate sub-area"; the danger zone is represented in yellow to ensure that the suitability of each area can be clearly distinguished at a glance. The generated site selection map is shown below. Figure 2 As shown, Figure 2 A multi-category site selection map obtained based on Jenks' adaptive classification of natural break points provided in an embodiment of the present application.

[0048] By mapping the site selection results onto geospatial data, a site selection result map of the study area can be generated, which facilitates a comprehensive assessment of the suitability of each area. In the process of map display, information such as terrain undulations, land cover types, and geological disaster risks are combined to make the site selection results more accurate and operational.

[0049] Display of candidate sub-areas: In the site selection map, the distribution of candidate sub-areas usually presents a large and coherent area with relatively flat terrain, simple land cover, low geological disaster risk, and meets the requirements of helicopter ground obstacle avoidance safety distance.

[0050] Danger zone identification,Danger zones usually appear scattered or unevenly distributed on maps, and are located in areas with complex terrain and geological areas. Continuity analysis, through the display of the site selection map, can analyze the continuity and accessibility of candidate sub-areas and sub-candidate sub-areas, providing a scientific basis for the site selection of helicopters in complex geological environments, ensuring that the site selection area can meet the needs of continuous takeoff and landing.

[0051] It should be noted that the generated site selection map can be combined with the geographic information system (GIS) for interactive analysis. Decision makers can view detailed information of specific areas, such as geological characteristics, slope, etc., through the GIS system, so as to further adjust and optimize the site selection results.

[0052] After generating a multi-category site selection map, evaluating the accuracy of the classification results is an important step to ensure the rationality of the site selection. The accuracy of the classification results can be evaluated by comparing with the actual site, field verification, etc. At the same time, according to the needs of the actual application scenario, the classification threshold of the Jenks natural break point method can be adjusted to generate a site selection result that better meets actual needs.

[0053] In actual application scenarios, multi-category site selection maps can be applied to different degrees according to scenario requirements in actual applications: (1) Military operations: In military deployment, candidate sub-areas can be used as the preferred areas for rapid helicopter takeoff and landing to ensure terrain safety and avoidance of ground obstacles. (2) Emergency rescue: In rescue missions, both candidate sub-areas and secondary candidate sub-areas can be used as temporary landing and takeoff sites to provide available landing and takeoff space for rescue forces. (3) Engineering planning: Multi-category site selection maps can also be used for site selection in engineering planning, such as airport expansion and drone base construction. By generating multi-category site selection maps based on natural break point (Jenks) adaptive classification, the present invention can quickly and accurately identify candidate sub-area domains for temporary helicopter landing and takeoff sites, providing a scientific basis for site selection decisions.

[0054] In some embodiments, S130, based on the weights corresponding to the influencing factors, determining the site selection priorities corresponding to different candidate sub-regions in the candidate region includes: The weights corresponding to each influencing factor in each candidate sub-region are determined by using the hierarchical analysis method; Determine a comprehensive score for each candidate sub-region based on the weight; Determine the site selection priorities corresponding to different candidate sub-regions in the candidate region based on the comprehensive score.

[0055] In combination with the above embodiment, for each secondary indicator, calculate its contribution information to the site suitability , the information volume formula is as follows: ; in, represents the number of grids that meet the site selection conditions, Represents the total number of grids, For the The area of ​​the class indicator, is the total area. The larger the information value, the greater the positive contribution of the indicator to site selection. Combined with the weights calculated by AHP, the information of the secondary indicators of each influencing factor is weighted and summed to obtain the comprehensive information value: ; in, For the The weight of the class indicator, The corresponding information value. The comprehensive information value represents the site suitability of each grid unit under the influence of all factors. The higher the information value, the more suitable the area is for a temporary helicopter landing and take-off site.

[0056] After completing the above steps, the comprehensive information value of each sub-region in the candidate region will be obtained, which provides a reliable data basis and evaluation criteria for subsequent adaptive classification and filtering.

[0057] In some embodiments, after determining the site selection priorities corresponding to different candidate sub-regions in the candidate region based on the weights corresponding to the influencing factors at S130, the method further includes: The AlphaShape algorithm is used to denoise each candidate sub-region in the candidate region.

[0058] The AlphaShape algorithm is an adaptive clustering algorithm based on convex hull search, which is used to extract the shape contour of a spatial point set. Unlike traditional convex hull algorithms, AlphaShape can generate more detailed and accurate boundaries and can distinguish between connected areas and independent small noise blocks. The algorithm sets the Alpha parameter , which controls the level of detail of the generated shape boundaries. Values ​​of 0 and 1 produce rougher edges, while smaller values ​​of The AlphaShape algorithm can analyze the connectivity of candidate sub-regions in the site selection results, eliminate noise areas and discontinuous small areas, and retain large areas of coherent areas as candidate sub-regions. The optimized site selection results will be more in line with the actual helicopter take-off and landing needs.

[0059] The application process of the AlphaShape algorithm is as follows: First, grid cells of candidate sub-regions are extracted from the multi-category site selection map to form a point set of candidate sub-region domains. : ; in, For the The center coordinates of the grid cells, is the number of candidate sub-region grids.

[0060] Set the Alpha parameter according to the scale of the site selection area and the actual terrain conditions. Smaller Values ​​of will produce finer boundaries that better capture the coherence of candidate subregions, while larger A value of 0 will generate a rough outline and filter out scattered small areas. The value needs to be adjusted repeatedly according to the data characteristics and site selection requirements to find the best shape contour.

[0061] Based on the candidate sub-region point set and Alpha parameter , generate the AlphaShape boundary of the candidate sub-region domain The AlphaShape boundary is a series of connected line segments that surround the point set in the candidate sub-region domain to form a closed shape. The generation formula of the AlphaShape boundary is: ; in, Indicate point and When the distance between two points is less than or equal to , they will be connected into boundary segments.

[0062] After generating the AlphaShape outline, calculate the area of ​​each closed region and set the area smaller than the specified threshold The areas are identified as noise areas. These noise areas are removed from the candidate sub-areas to obtain the optimized candidate sub-areas. The setting of needs to consider the minimum area requirement of the helicopter landing and take-off site and the actual distribution characteristics of the data. Generally speaking, areas that are too small will not meet the actual needs of helicopter take-off and landing, so they need to be removed.

[0063] After removing the noise area, the remaining coherent area is retained as the optimized candidate sub-area. The optimized candidate sub-area will show the characteristics of coherence and large area, ensuring the stability and safety of helicopter take-off and landing. The optimized candidate sub-area can be expressed as: ; in, is the point set of the removed noise area, is the optimized candidate sub-region point set.

[0064] The site selection results are adaptively filtered by the AlphaShape algorithm, and the generated optimized site selection map presents a more coherent and reasonable regional distribution. The boundaries of the candidate sub-regions are smoother and more coherent, and scattered noise blocks are effectively removed, providing a reliable site selection area for the temporary landing and take-off site of the helicopter. The generated site selection map is as follows: Figure 3 As shown; Figure 3 An optimized site selection map generated by adaptive filtering based on the AlphaShape algorithm provided in an embodiment of the present application.

[0065] S140: Determine one or more candidate sub-regions with the highest site selection priority as target site selection regions.

[0066] In this embodiment, in order to ensure that the helicopter can avoid ground obstacles during takeoff and landing, the candidate sub-areas can be further screened to ensure that they meet the safety distance requirements. As well as the operating space required for take-off and landing, set the ground obstacle avoidance safety distance to , the calculation formula is as follows: ; in, is the safety factor, which is usually set to 3 to ensure that the diameter of the inscribed circle in the candidate sub-region is large enough to meet the operational requirements of helicopter takeoff and landing. It is usually determined by the model of the helicopter. For example, the fuselage length of the Apache attack helicopter is 17.73 meters, so the safe distance is rice.

[0067] In the candidate sub-regions optimized by AlphaShape, use a connectivity algorithm (such as the Flood Fill algorithm) to identify each connected region , and calculate its minimum inscribed circle radius : ; in, is the diameter of the smallest inscribed circle of the connected domain.

[0068] For each connected region Traverse and determine whether the minimum inscribed circle diameter meets the requirements of ground obstacle avoidance safety distance, that is: ; If the minimum inscribed circle diameter of a connected area is less than the safety distance , then the area does not meet the safety take-off and landing requirements and needs to be removed from the candidate sub-area and marked as a non-candidate sub-area domain.

[0069] Only the connected areas that meet the ground obstacle avoidance safety distance requirements are retained to generate the final candidate sub-area site selection map. The optimized candidate sub-areas have a large enough area and a coherent shape, providing a safe and reliable area for temporary takeoff and landing of helicopters.

[0070] Through the dual optimization of the AlphaShape algorithm and the safety distance constraint, the final generated candidate sub-region site selection map has the following characteristics: Strong coherence: It retains large areas of coherent candidate sub-regions and eliminates scattered noise blocks and irregular small areas.

[0071] High safety: All retained candidate sub-areas meet the safety distance requirements for ground obstacle avoidance, ensuring that the helicopter has sufficient operating space during takeoff and landing.

[0072] Strong operability: The final site selection map intuitively shows the location, shape and size of the candidate sub-areas, providing a scientific reference for the site selection of temporary helicopter landing and take-off sites.

[0073] The site selection and evaluation of temporary helicopter landing and take-off sites, after dual optimization processing of adaptive filtering of the AlphaShape algorithm and ground obstacle avoidance safety distance, obtained the final candidate sub-region domain after noise removal and coherence enhancement. The focus of this stage is to display and interpret the filtered site selection map, and to conduct a comprehensive analysis of the adaptability and evaluation effect of the site selection method under different geological and topographic conditions, in order to verify the actual site selection ability and performance of the model in a variety of environments.

[0074] The site selection map generated by the AlphaShape algorithm after adaptive filtering shows good coherence and rationality. Unlike the large number of scattered and fragmented areas in the original site selection map, the filtered site selection map better shows the concentrated and coherent characteristics of the candidate sub-areas, making the site selection results more practical. The optimized site selection map has the following characteristics: 1. Concentration of candidate sub-regions: After filtering, the candidate sub-regions show a relatively large and coherent distribution, eliminating the interference of noise areas. Candidate sub-regions are usually located in flat areas with low geological disaster risks and few ground obstacles, ensuring sufficient space and safety for helicopter take-off and landing operations.

[0075] 2. Enhanced rationality: Due to grid-by-grid calculation, there may be multiple independent small areas in the original site selection map. These areas are usually insufficient in area and have complex geological conditions, which are not suitable for helicopter take-off and landing operations. After AlphaShape filtering, these unreasonable areas are eliminated, and the remaining areas are more in line with the actual needs of temporary helicopter take-off and landing, and have higher reliability.

[0076] The site selection diagram after filtering is as follows Figure 3 As shown in the figure, different colors are used to represent different types of areas. Among them, candidate sub-areas are represented by green, and non-candidate sub-areas (dangerous areas) are represented by yellow. It can be clearly seen that the candidate sub-areas are distributed in a coherent block shape, forming a continuous take-off and landing space.

[0077] In order to better evaluate the rationality of the site selection results, the generated site selection map is superimposed with geographical and geological data, including information such as slope, undulation, land cover type, and distribution of geological hazards. Through superimposed display, the degree of consistency between the site selection results and the actual terrain and geological conditions can be more intuitively verified, ensuring that the selection of candidate sub-areas fully considers the influence of various factors, further improving the rationality and safety of site selection.

[0078] In an example, in order to verify the applicability of the site selection method, Figure 4 As shown, Figure 4 A schematic diagram of helicopter site selection in a three-dimensional geological environment is provided for an embodiment of the present application; a comprehensive evaluation of the site selection effect of the model is conducted for typical geological and topographic conditions such as plains (a), mountains (b), plateaus (c), and glaciers (d).

[0079] 1. Plain area: In the plain area, the terrain is flat, the slope is small, the land cover is mainly bare land and grassland, and there are fewer geological disasters. After model calculation, most areas in the plain area are identified as candidate sub-areas. In the optimized site selection map, the candidate sub-areas show a large area of ​​coherent distribution, which meets the conditions for temporary helicopter takeoff and landing. The site selection accuracy of the plain area is high and the area of ​​the candidate sub-areas is large, providing an ideal site for the rapid deployment of helicopters.

[0080] 2. Mountainous areas: Mountainous areas have undulating terrain, steep slopes, and complex surface coverage, and there may be geological disasters such as landslides and mudslides. After AlphaShape filtering and safety distance constraints, only areas with relatively gentle slopes and fewer geological disasters are retained as candidate sub-areas in the mountainous areas. The candidate sub-areas in the site selection map show scattered block distribution, which is consistent with the terrain conditions and ensures the rationality of the site selection. In the mountainous environment, the model is more stringent in screening the site selection, and the area of ​​the candidate sub-areas is relatively small, but it can meet the actual take-off and landing needs.

[0081] 3. Plateau area: Plateau areas have high altitudes, large fluctuations, and thin air, which may have a certain impact on the take-off and landing performance of helicopters. During the model evaluation process, areas with relatively low altitudes and gentle slopes were selected as candidate sub-areas. After optimization, candidate sub-areas are mainly distributed in areas with relatively flat terrain and stable surfaces. In the plateau environment, the model effectively filters out unstable high-altitude areas to ensure the safety of site selection.

[0082] 4. Glacier area: The glacier area is one of the most challenging areas in site selection due to its snow cover and unstable geological conditions. In the model evaluation, the stability, slope and coverage of the glacier were taken into account, and the dangerous areas within the glacier range were designated as non-candidate sub-areas. After AlphaShape filtering, the candidate sub-areas of the glacier area are scattered, mainly concentrated in areas with relatively flat terrain and stable glaciers, ensuring the feasibility of helicopter takeoff and landing in extreme environments.

[0083] After performance tests under various geological and topographical conditions, it can be determined that the site selection method proposed by the present invention has good adaptability and stability, and can accurately evaluate the suitability of temporary landing and take-off sites in complex geological environments. At the same time, the site selection factors under different environmental conditions can be flexibly adjusted, and site selection maps that meet actual needs can be generated under terrain conditions such as plains, mountains, plateaus, and glaciers, providing a scientific and reliable site selection basis for temporary helicopter take-off and landing.

[0084] The embodiment of the present invention obtains environmental remote sensing data of the candidate area, combines the analytic hierarchy process to determine the weights corresponding to the influencing factors in the environmental remote sensing data, and determines the site selection priorities corresponding to different candidate sub-areas in the candidate area based on the weights corresponding to the influencing factors, and then determines one or more candidate sub-areas with the highest site selection priority as the target site selection area. By evaluating various factors in the environmental remote sensing data in a weighted manner, a site selection test under the influence of multiple factors in a complex geological environment is realized, and an area suitable for helicopter takeoff and landing can be quickly and accurately identified.

[0085] In some embodiments, see Figure 5 , Figure 5 A structural schematic diagram of a device for selecting a temporary helicopter landing and take-off site in a complex geological environment provided by an embodiment of the present application; an embodiment of the present application provides a device 500 for selecting a temporary helicopter landing and take-off site in a complex geological environment, comprising: a data acquisition module 510, a first determination module 520, a second determination module 530 and a third determination module 540; wherein, The data acquisition module 510 is configured to acquire environmental remote sensing data of the candidate area; the environmental remote sensing data includes digital elevation model, slope, undulation, land cover type, rock and soil distribution, geological disaster hazards and soil cone index; The first determination module 520 is configured to determine the weight corresponding to each influencing factor in the environmental remote sensing data by using a hierarchical analysis method; the weight represents the relative importance between each influencing factor and the site selection of the temporary helicopter landing and take-off site; The second determination module 530 is configured to determine the site selection priorities corresponding to different candidate sub-regions in the candidate region based on the weights corresponding to the influencing factors; The third determination module 540 is configured to determine one or more candidate sub-areas with the highest site selection priority as the target site selection area.

[0086] In some embodiments, the data acquisition module 510 is specifically configured as follows: Environmental remote sensing data is obtained by combining satellite remote sensing images with field survey data.

[0087] In some embodiments, the device for selecting a temporary helicopter landing and take-off site in a complex geological environment further includes a preprocessing module, which is configured to preprocess the environmental remote sensing data; specifically, the preprocessing module includes: Unify environmental remote sensing data into a preset coordinate system to obtain standard data; Perform derivative processing on one or more types of data in the standard data to increase the content of the standard data; The standard data after derivative processing is converted into a new format and fused and corrected to obtain the preprocessed environmental remote sensing data.

[0088] In some embodiments, the first determination module 520 is specifically configured as follows: The influencing factors in the environmental remote sensing data are divided into primary data, secondary data and tertiary data; among them, the weight corresponding to the primary data is greater than the weight corresponding to the secondary data, and the weight corresponding to the secondary data is greater than the weight corresponding to the tertiary data.

[0089] In some embodiments, the first determination module 520 is specifically configured as follows: Based on a preset threshold, each influencing factor in the environmental remote sensing data is divided into secondary indicators; wherein the weight corresponding to the target influencing factor less than the preset threshold is different from the weight corresponding to the target influencing factor greater than the preset threshold.

[0090] In some embodiments, the second determination module 530 is specifically configured as follows: The weights corresponding to each influencing factor in each candidate sub-region are determined by using the hierarchical analysis method; Determine a comprehensive score for each candidate sub-region based on the weight; The site selection priorities corresponding to different candidate sub-regions in the candidate region are determined based on the comprehensive scores.

[0091] In some embodiments, the device for selecting a temporary helicopter landing and take-off site in a complex geological environment further includes a denoising module, and the denoising module is configured as follows: The AlphaShape algorithm is used to perform denoising on each candidate sub-region in the candidate region.

[0092] The complex geological environment temporary helicopter landing and take-off site selection device provided in the embodiment of the present application can realize the various processes in the embodiments corresponding to the above-mentioned complex geological environment temporary helicopter landing and take-off site selection method. To avoid repetition, they will not be described here.

[0093] It should be noted that the complex geological environment helicopter temporary landing and take-off site selection device provided in the embodiment of the present application and the complex geological environment helicopter temporary landing and take-off site selection method provided in the embodiment of the present application are based on the same application concept. Therefore, the specific implementation of this embodiment can refer to the implementation of the aforementioned complex geological environment helicopter temporary landing and take-off site selection method, and the repeated parts will not be repeated.

[0094] In some embodiments, see Figure 6 , Figure 6 The electronic device 600 provided in the embodiment of the present application includes a processor 610 and a memory 620; the memory 620 stores a computer program, wherein the computer program implements the above-mentioned method for selecting a temporary helicopter landing and take-off site in a complex geological environment when executed by the processor. Specifically, the processor 610 may include, for example, a general-purpose microprocessor, an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 610 may also include an onboard memory for cache purposes. The processor 610 may be a single processing unit or multiple processing units for executing different actions of the method flow according to the embodiment of the present application.

[0095] The memory 620 may be any medium capable of containing, storing, conveying, propagating or transmitting instructions. For example, the memory 620 may include, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared or semiconductor system, device, component or propagation medium. Specific examples of the memory 620 include: a magnetic storage device, such as a magnetic tape or a hard disk (HDD); an optical storage device, such as a compact disk (CD-ROM); a random access memory (RAM) or flash memory; and / or a wired / wireless communication link.

[0096] The present application also provides a computer-readable medium on which a computer program is stored. When the program is executed by a processor, the above-mentioned method for selecting a temporary helicopter landing and take-off site in a complex geological environment is implemented. The computer-readable medium may be included in the device / apparatus / system described in the above-mentioned embodiment; or it may exist independently without being assembled into the device / apparatus / system. The above-mentioned computer-readable medium carries one or more programs. When the above-mentioned one or more programs are executed, the method according to the embodiment of the present application is implemented.

[0097] According to an embodiment of the present application, a computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, optical cable, radio frequency signal, etc., or any suitable combination of the above.

[0098] Those skilled in the art will appreciate that the features described in the various embodiments and / or claims of the present application may be combined and / or combined in a variety of ways, even if such combinations or combinations are not explicitly described in the present application. In particular, without departing from the spirit and teachings of the present application, the features described in the various embodiments and / or claims of the present application may be combined and / or combined in a variety of ways. All of these combinations and / or combinations fall within the scope of the present application. Therefore, the scope of the present application should not be limited to the above-described embodiments, but should be determined not only by the appended claims, but also by the equivalents of the appended claims.

Claims

1. A method for selecting a temporary helicopter landing site in a complex geological environment, characterized in that: include: Acquire environmental remote sensing data of the candidate area; the environmental remote sensing data includes digital elevation model, slope, undulation, land cover type, rock and soil distribution, geological disaster risks and soil cone index; Determine the weight corresponding to each influencing factor in the environmental remote sensing data by means of a hierarchical analysis method; the weight represents the relative importance between each influencing factor and the site selection of a temporary helicopter landing and take-off site; Based on the weights corresponding to the influencing factors, determining the site selection priorities corresponding to different candidate sub-regions in the candidate region; One or more candidate sub-areas with the highest site selection priority are determined as target site selection areas.

2. The method for selecting a temporary helicopter landing and take-off site in a complex geological environment according to claim 1 is characterized in that: The step of obtaining the environmental remote sensing data of the candidate area includes: The environmental remote sensing data is obtained by combining satellite remote sensing images with field survey data.

3. The method for selecting a temporary helicopter landing and take-off site in a complex geological environment according to claim 1 is characterized in that: After acquiring the environmental remote sensing data of the candidate area, the method further includes: preprocessing the environmental remote sensing data; specifically including: Unifying the environmental remote sensing data into a preset coordinate system to obtain standard data; Performing derivative processing on one or more types of data in the standard data to increase the content of the standard data; The standard data after the derivation processing is converted into a format and fused and corrected to obtain the pre-processed environmental remote sensing data.

4. The method for selecting a temporary helicopter landing and take-off site in a complex geological environment according to claim 1, characterized in that: Determining the weights corresponding to the influencing factors in the environmental remote sensing data by using the hierarchical analysis method includes: The influencing factors in the environmental remote sensing data are divided into primary data, secondary data and tertiary data respectively; wherein the weight corresponding to the primary data is greater than the weight corresponding to the secondary data, and the weight corresponding to the secondary data is greater than the weight corresponding to the tertiary data.

5. The method for selecting a temporary helicopter landing and take-off site in a complex geological environment according to claim 4 is characterized in that: The step of determining the weights corresponding to the influencing factors in the environmental remote sensing data by using the hierarchical analysis method also includes: Based on a preset threshold, each influencing factor in the environmental remote sensing data is divided into secondary indicators; wherein the weight corresponding to the target influencing factor less than the preset threshold is different from the weight corresponding to the target influencing factor greater than the preset threshold.

6. The method for selecting a temporary helicopter landing and take-off site in a complex geological environment according to claim 1, characterized in that: The determining, based on the weights corresponding to the influencing factors, the location priorities corresponding to different candidate sub-regions in the candidate region includes: The weights corresponding to each influencing factor in each candidate sub-region are determined by using the hierarchical analysis method; Determine a comprehensive score for each candidate sub-region based on the weight; The site selection priorities corresponding to different candidate sub-regions in the candidate region are determined based on the comprehensive score.

7. The method for selecting a temporary helicopter landing and take-off site in a complex geological environment according to claim 1, characterized in that: After determining the site selection priorities corresponding to different candidate sub-regions in the candidate region based on the weights corresponding to the influencing factors, the method further includes: The AlphaShape algorithm is used to perform denoising on each candidate sub-region in the candidate region.

8. A device for selecting a temporary helicopter landing site in a complex geological environment, characterized in that: include: data acquisition module, a first determination module, a second determination module and a third determination module; wherein, The data acquisition module is configured to acquire environmental remote sensing data of the candidate area; the environmental remote sensing data includes digital elevation model, slope, undulation, land cover type, rock and soil distribution, geological disaster hazards and soil cone index; The first determination module is configured to determine the weight corresponding to each influencing factor in the environmental remote sensing data by means of a hierarchical analysis method; the weight represents the relative importance between each influencing factor and the site selection of the temporary helicopter landing and take-off site; The second determination module is configured to determine the site selection priorities corresponding to different candidate sub-regions in the candidate region based on the weights corresponding to the influencing factors; The third determination module is configured to determine one or more candidate sub-areas with the highest site selection priority as the target site selection area.

9. An electronic device comprising a processor and a memory; the memory stores a computer program, wherein: When the computer program is executed by the processor, the method for selecting a temporary helicopter landing and take-off site in a complex geological environment according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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