Height positioning wireless control method for detonation of fire extinguishing bomb
The method uses GIS-based signal modeling and multi-stage filtering to enhance the precision of fire extinguisher bomb detonation by creating a database of signal characteristics, ensuring accurate height positioning and explosion control through adaptive calculation methods.
Patent Information
- Application Number
- CN202510659926.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-21
- Publication Date
- 2025-07-15
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The existing firefighting bomb range measurement system has problems such as low screening accuracy, difficulty in eliminating interference signals, and inaccurate positioning of the distance measurement height in terms of wireless distance measurement signal processing, resulting in insufficient detonation control accuracy of firefighting bombs.
Through the GIS environmental model, a signal characteristic database was constructed, and error comparison and discrete analysis were performed in combination with the fire extinguishing bomb release time. Preliminary and secondary screening were used to determine the final identification height of the fire extinguishing bomb, and signal characteristic comparison and weight allocation were performed to improve signal screening accuracy.
It improves the accuracy and reliability of the detonation control of fire-extinguishing bombs, ensures that the fire-extinguishing bombs are detonated at the best height, and improves the fire-extinguishing effect.
Smart Images
Figure CN120305619A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of wireless ranging and positioning detonation control, and specifically relates to a height positioning wireless control method for the detonation of a fire extinguishing bomb. Background Art
[0002] In the intelligent delivery and precise detonation system of a fire extinguishing bomb, the screening accuracy of wireless ranging signals and the accuracy of positioning the final recognized height of the fire extinguishing bomb are the keys to ensuring the fire extinguishing effect. Currently, there are many deficiencies in the existing fire extinguishing bomb ranging system in terms of wireless ranging signal processing. Firstly, the screening of wireless ranging signals only relies on single-dimensional feature comparison, lacking a multi-dimensional screening mechanism, resulting in low screening accuracy, making it difficult to effectively exclude interference signals, and the reliability of the extracted ranging signals is poor. As a result, the height positioning of the wireless ranging of the fire extinguishing bomb is inaccurate, affecting the detonation control accuracy of the fire extinguishing bomb. Secondly, when determining the height of the fire extinguishing bomb for positioning, it does not combine the delivery time for precise calculation, nor does it compare and screen the error between the calculated height and the signal corresponding height, and it is unable to effectively eliminate signals with large deviations. Thirdly, in the existing technology, no discrete analysis is performed on the ranging heights after screening, and a fixed calculation output method is uniformly adopted, which cannot be flexibly selected according to the actual situation, making it difficult to accurately determine the final recognized height of the fire extinguishing bomb, greatly limiting the improvement of the detonation control accuracy of the fire extinguishing bomb, and making it difficult for the fire extinguishing bomb to be accurately detonated at the optimal height in actual applications, affecting the fire extinguishing efficiency.
[0003] Therefore, the present invention provides a height positioning wireless control method for the detonation of a fire extinguishing bomb. Summary of the Invention
[0004] In order to make up for the deficiencies of the existing technology and solve at least one of the technical problems proposed in the background art.
[0005] The technical solution adopted by the present invention to solve its technical problems is: a height positioning wireless control method for the detonation of a fire extinguishing bomb, including: Performing propagation simulation of the wireless ranging signals of the fire extinguishing bomb through a GIS environment model to obtain a wireless ranging signal feature database; Comparing the features of the wireless ranging signals received during the fall of the fire extinguishing bomb with the wireless ranging signal feature database to preliminarily screen the wireless ranging signals; According to the delivery time of the fire extinguishing bomb, calculating the height of the fire extinguishing bomb and comparing the error with the ranging height corresponding to the preliminarily screened wireless ranging signals to perform secondary screening on the wireless ranging signals; Performing discrete analysis on the ranging heights corresponding to the wireless ranging signals after secondary screening to determine the calculation output method for the final recognized height of the fire extinguishing bomb; If the measurement output mode is balanced output, the final recognition height of the fire extinguishing bomb is determined through averaging processing. If the measurement output mode is proportional output, weight distribution is performed on the wireless ranging signal according to the comparison result of the wireless ranging signal feature and the comparison result of the ranging height corresponding to the wireless ranging signal, and calculation is performed in combination with the ranging height corresponding to the wireless ranging signal to determine the final recognition height of the fire extinguishing bomb; If the final recognition height of the fire extinguishing bomb reaches the optimal detonation height, the fire extinguishing bomb is detonated.
[0006] Further, if the feature of the wireless ranging signal reaches the feature threshold in the wireless ranging signal feature database, the feature of the wireless ranging signal is marked as conforming to the feature; Statistical proportion of the features that conform to the features among all the features of the wireless ranging signal is obtained to get the feature conformity value; If the feature conformity value is greater than or equal to the feature conformity threshold, the received wireless ranging signal is screened and retained.
[0007] Further, according to the release time of the fire extinguishing bomb and combined with the gravitational acceleration formula, the height of the fire extinguishing bomb is measured; If the error between the measured height of the fire extinguishing bomb and the ranging height corresponding to the preliminarily screened wireless ranging signal is within the preset error range, the preliminarily screened wireless ranging signal is screened and retained.
[0008] Further, the ranging heights corresponding to the wireless ranging signals after secondary screening are integrated into a ranging height data group, standard deviation and mean value are calculated for the ranging height data group, and the ratio of the standard deviation to the mean value is obtained to get the height dispersion value of the ranging height data group; If the height dispersion value is greater than or equal to the height dispersion threshold, the proportional output measurement method is selected; If the height dispersion value is less than the height dispersion threshold, the balanced output measurement method is selected.
[0009] Further, if the measurement output mode is balanced output, averaging processing is performed on the ranging heights corresponding to the wireless ranging signals after secondary screening to obtain the final recognition height of the fire extinguishing bomb.
[0010] Further, if the measurement output mode is proportional output, the error between the ranging heights corresponding to the wireless ranging signals after secondary screening and the measured height of the fire extinguishing bomb is processed and analyzed to obtain the error coefficient ratio corresponding to the wireless ranging signals after secondary screening; The ratio between the feature conformity value of the wireless ranging signals after secondary screening and the corresponding error coefficient ratio is obtained to get the reliability value of the wireless ranging signals after secondary screening; The weight of the wireless ranging signals after secondary screening is obtained through the ratio calculation of the reliability value of the wireless ranging signals after secondary screening to the total reliability value.
[0011] Further, the error between the ranging height corresponding to the wireless ranging signal after secondary screening and the height of the fire extinguishing bomb obtained through measurement is processed by taking the absolute value and then averaged to obtain the average absolute error of the ranging height. The ratios between the absolute error of the ranging height corresponding to the wireless ranging signal after secondary screening and the average absolute error of the ranging height are calculated respectively to obtain the error coefficient ratios corresponding to the wireless ranging signals after secondary screening.
[0012] Further, the absolute error of the ranging height corresponding to the wireless ranging signal after secondary screening is obtained by processing the absolute value of the error between the ranging height corresponding to the wireless ranging signal after secondary screening and the height of the fire extinguishing bomb obtained through measurement.
[0013] Further, the reliable total value is the sum of the reliable values of all the wireless ranging signals after secondary screening.
[0014] Further, the weights of the wireless ranging signals after secondary screening are multiplied with the corresponding ranging heights and then combined and summed up to obtain the final recognition height of the fire extinguishing bomb.
[0015] The beneficial effects of the present invention are as follows: The characteristics of the wireless ranging signals received during the fall of the fire extinguishing bomb are compared with the wireless ranging signal characteristic database to preliminarily screen the wireless ranging signals. According to the release time of the fire extinguishing bomb, the height of the fire extinguishing bomb is measured and the error is compared with the ranging height corresponding to the preliminarily screened wireless ranging signal to perform secondary screening on the wireless ranging signals. Through the comparison of signal characteristics and ranging heights, two - stage screening of the wireless ranging signals is achieved, improving the screening accuracy of the wireless ranging signals, facilitating the extraction of highly reliable wireless ranging signals, ensuring the detonation control accuracy of the fire extinguishing bomb. The discreteness of the ranging heights corresponding to the wireless ranging signals after secondary screening is analyzed to determine the calculation output method for the final recognition height of the fire extinguishing bomb. If the calculation output method is balanced output, the ranging heights corresponding to the wireless ranging signals are averaged to determine the final recognition height of the fire extinguishing bomb. If the calculation output method is proportional output, according to the wireless ranging signal characteristic comparison result and the ranging height comparison result corresponding to the wireless ranging signal, weight distribution is performed on the wireless ranging signals, and calculations are combined with the ranging heights corresponding to the wireless ranging signals to determine the final recognition height of the fire extinguishing bomb. Through the discreteness analysis of the ranging heights corresponding to the wireless ranging signals after secondary screening, an appropriate calculation output method is selected to determine the final recognition height of the fire extinguishing bomb, further improving the detonation control accuracy of the fire extinguishing bomb. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] The present invention will be further described below with reference to the accompanying drawings.
[0017] Figure 1 It is a flowchart of the steps of a height positioning wireless control method for fire extinguishing bomb detonation according to an embodiment of the present invention; Figure 2 It is a schematic diagram of the fire extinguishing bomb detonation control principle in a height positioning wireless control method for fire extinguishing bomb detonation according to an embodiment of the present invention; Figure 3 It is a program block diagram of a height positioning wireless control system for fire extinguishing bomb detonation according to an embodiment of the present invention. Specific embodiments
[0018] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments. Embodiment
[0019] Please refer to Figure 1 As shown, a height positioning wireless control method for fire extinguishing bomb detonation according to an embodiment of the present invention includes the following steps: Step 1: Simulate the propagation of the wireless ranging signal of the fire extinguishing bomb through the GIS environment model, and construct a wireless ranging signal feature database; The construction method of the GIS environment model in Step 1 is as follows: Use high-resolution satellite images to obtain macroscopic information on the terrain and vegetation coverage of a large-scale fire extinguishing area. Satellite images can provide basic data such as vegetation types, distribution ranges, and terrain elevations. For example, through multi-spectral satellite images, different types of vegetation can be distinguished, combined with digital elevation model (DEM) data to obtain the undulation information of the terrain. Combine the use of low-altitude drones or aircraft for aerial photography to obtain high-resolution images of the fire extinguishing area. Based on the principle of stereophotogrammetry, process the images to generate a three-dimensional point cloud model. Through the point cloud model, accurately extract information such as the position, height, crown width of trees and the detailed contours of buildings. For example, the three-dimensional coordinates of trees can be identified, the height and floor area of buildings can be measured, and details that are difficult to obtain from satellite and aerial data can be supplemented. Use equipment such as laser rangefinders and total stations to measure the diameter, shape of trees and the specific dimensions of obstacles, etc. Integrate the collected multi-source data into the GIS (Geographic Information) system according to a unified geographic coordinate system, and use the data processing function of GIS to perform denoising, fusion and vectorization processing on the data to construct a high-precision GIS environment model; The process of simulating the propagation of the wireless ranging signal of the fire extinguishing bomb through the GIS environment model and constructing a wireless ranging signal feature database in Step 1 includes: Using a GIS environmental model and combining wireless signal propagation theories (such as ray tracing method, Fresnel zone theory, etc.), the propagation of wireless ranging signals in a complex environment is simulated multiple times, and the characteristics of wireless ranging signals under different propagation paths are recorded, including but not limited to signal strength and phase changes, etc.; Exemplarily, the combination with ray tracing propagation theory can be as follows: Regarding the wireless signal as a ray, propagation simulation is carried out in the GIS three-dimensional environmental model. Starting from the position of the fire extinguishing bomb, according to the signal propagation direction, along the ray path, it is judged whether the ray intersects obstacles such as trees and buildings. If it intersects, calculate the reflection, refraction and diffraction of the signal. Through multiple iterative calculations, the propagation path of the signal in the complex environment is simulated; Exemplarily, the combination with Fresnel zone propagation theory can be as follows: Considering the Fresnel zone in the signal propagation process, according to the radius formula of the Fresnel zone, calculate the size of the Fresnel zone at different distances. When the obstacles on the signal propagation path are located within the Fresnel zone, it will have a significant impact on the signal. By analyzing the positional relationship between the Fresnel zone and the obstacles, calculate the attenuation and phase change of the signal; Screen the characteristic thresholds of the wireless ranging signal characteristics under different propagation paths according to the upper limit or lower limit of the characteristics, and integrate the screened characteristic thresholds into the wireless ranging signal characteristic database; Among them, the characteristic thresholds include but not limited to signal strength thresholds and phase change thresholds, etc.; Exemplarily, the screening of characteristic thresholds for the characteristics of wireless ranging signals under different propagation paths is described. For example, the screening of the signal strength threshold for the wireless ranging signal can be as follows: First exemplarily, forest scene simulation; The fire extinguishing bomb emits wireless ranging signals from different heights and angles. The simulation results show that during propagation, since the trees in some areas of the forest are relatively sparse, the signal is less affected, and the signal strength is concentrated between 90 - 110 units. When the signal undergoes one reflection, the signal will be absorbed and scattered by the tree branches and leaves, and the strength drops to 30 - 50 units. Based on this, the signal strength threshold can be set to 50 units. When the received signal strength is higher than 50 units, it is initially judged as a line-of-sight signal or a signal with less interference; when it is lower than 50 units, it is greatly interfered by factors such as tree occlusion; Second exemplarily, urban block scene simulation; In the urban block simulation, the simulation results show that due to more open spaces around, the signal strength is between 100 - 120 units, and for the signal that has undergone one reflection, since the reflection surface is mostly the outer wall of the building, there is a certain loss of the signal during the reflection process, and the strength is in the range of 50 - 70 units. According to the setting principle, the threshold can be determined to be 70 units; Third exemplary, mountain scene simulation; In a mountain environment, the terrain undulates greatly. The simulation results show that when line-of-sight propagation occurs, the signal strength ranges from 80 to 100 units. When the signal undergoes a single reflection when encountering obstacles such as mountain slopes, affected by the terrain and obstacles, the signal strength is distributed between 20 and 40 units. At this time, the threshold is set at 40 units. Signals with a strength higher than 40 units are relatively reliable line-of-sight signals; Step 2: Compare the characteristics of the wireless ranging signals received during the fall of the fire extinguishing bomb with the wireless ranging signal characteristic database to preliminarily screen the wireless ranging signals; The process of preliminarily screening the wireless ranging signals in Step 2 is as follows: Compare the characteristics of the wireless ranging signals received during the fall of the fire extinguishing bomb with the characteristic thresholds included in the wireless ranging signal characteristic database: If the characteristics of the received wireless ranging signals reach the characteristic thresholds of the same type of wireless ranging signals, mark the characteristics of the received wireless ranging signals as conforming to the characteristics; If the characteristics of the received wireless ranging signals do not reach the characteristic thresholds of the same type of wireless ranging signals, do not perform any processing; It should be noted that the same type means that the propagation paths of the received wireless ranging signals and the compared wireless ranging signals are the same, and the characteristic thresholds of the same type of wireless ranging signals are included in the wireless ranging signal characteristic database; Count the proportion of the characteristics that conform to the characteristics among all the characteristics of the received wireless ranging signals to obtain the characteristic conformity value of the received wireless ranging signals; In some preferred embodiments, compare the characteristic conformity value of the received wireless ranging signals with the characteristic conformity threshold; If the characteristic conformity value is greater than or equal to the characteristic conformity threshold, retain the received wireless ranging signals after screening; If the characteristic conformity value is less than the characteristic conformity threshold, screen out the received wireless ranging signals; It can be understood that the role of obtaining the characteristic conformity value is as follows: Role 1: The characteristic conformity value reflects the number of wireless ranging signal characteristics that conform among the characteristics corresponding to the wireless ranging signals after comparison with the constructed characteristic database. By understanding the characteristic conformity situation of the wireless ranging signals, it is convenient to judge the reliability of the wireless ranging signals and achieve the preliminary screening of the wireless ranging signals; Role 2: By understanding the characteristic conformity situation of the wireless ranging signals, the preliminary screening of the wireless ranging signals is conducive to combining the subsequent secondary screening method of the wireless ranging signals through height comparison, improving the screening accuracy of the wireless ranging signals, thereby finding more reliable and accurate wireless ranging signals, which is conducive to the detonation control of the subsequent fire extinguishing bombs; Step 3: According to the release time of the fire extinguishing bomb, calculate the height of the fire extinguishing bomb and compare the error with the ranging height corresponding to the preliminarily screened wireless ranging signal to perform secondary screening on the wireless ranging signal; The process of performing secondary screening on the wireless ranging signal in Step 3 includes: Obtain the release time of the fire extinguishing bomb, and combine it with the gravitational acceleration formula to calculate the height h of the fire extinguishing bomb. The specific calculation formula is:
[0020] where h 初 is the initial release height of the fire extinguishing bomb, V 初 is the initial vertical release velocity, t is the falling time, g is the gravitational acceleration, and the value is 9.8 m / s 2 Compare the error between the calculated height of the fire extinguishing bomb and the ranging height corresponding to the preliminarily screened wireless ranging signal; If the error between the calculated height of the fire extinguishing bomb and the ranging height corresponding to the preliminarily screened wireless ranging signal is within the preset error range, then retain the preliminarily screened wireless ranging signal; If the error between the calculated height of the fire extinguishing bomb and the ranging height corresponding to the preliminarily screened wireless ranging signal is not within the preset error range, then eliminate the preliminarily screened wireless ranging signal; Among them, the calculation process of the ranging height corresponding to the wireless ranging signal can be: The Doppler rangefinder on the fire extinguishing bomb continuously emits a wireless signal with a frequency of f0. This signal propagates into the surrounding space in the form of electromagnetic waves. After encountering the ground or other reflectors, it is reflected back. The rangefinder receives the reflected signal. Since there is relative motion between the fire extinguishing bomb and the reflector during the falling process, according to the Doppler effect, the received signal frequency f1 will change, generating a Doppler frequency shift Δf = f1 - f0; According to the Doppler effect formula, when there is relative motion between the signal source (the rangefinder on the fire extinguishing bomb) and the reflector (the ground), the following relationship exists between the Doppler frequency shift and the relative velocity v:
[0021] where c is the propagation speed of electromagnetic waves in a vacuum; Based on the relationship between the Doppler frequency shift and the relative velocity v, calculate the instantaneous velocity v of the fire extinguishing bomb relative to the ground. The specific calculation formula is:
[0022] Measure the time delay Δt between the transmitted signal and the received signal to calculate the slant range d between the fire extinguishing bomb and the reflector. The specific calculation formula is:
[0023] Combined with the attitude information of the fire extinguishing bomb. The pitch angle θ and yaw angle φ of the fire extinguishing bomb determine its direction relative to the ground. Using trigonometric relations, the height h can be calculated based on the slant range d and the attitude angle 高 , and the specific calculation formula is as follows:
[0024] Step 4: Conduct a discreteness analysis on the ranging heights corresponding to the wireless ranging signals after secondary screening to determine the measurement and output method of the final recognition height of the fire extinguishing bomb; The process of conducting a discreteness analysis on the ranging heights corresponding to the wireless ranging signals after secondary screening in the above-mentioned step 4 is as follows: Integrate the ranging heights corresponding to the wireless ranging signals after secondary screening into a ranging height data group, calculate the standard deviation and mean of the ranging height data group, and obtain the height discreteness value GS of the ratio of the standard deviation to the mean; Exemplarily, assuming that the existing ranging height data group is (gd1, gd2, gd3......gdn), where gdn represents the nth ranging height in the ranging height data group, the specific calculation formula for the height discreteness value GS is:
[0025] Among them, n represents the number of ranging heights in the ranging height data group, and gdi represents the ith ranging height in the ranging height data group; It should be noted that by calculating the ratio of the standard deviation to the mean of the ranging height data group (coefficient of variation calculation), the height discreteness value is obtained, which reflects the degree of discrete deviation of different ranging heights within the ranging height data group. It can be understood that the function of obtaining the height discreteness value is as follows: Judge the degree of discrete deviation of different ranging heights within the ranging height data group through the height discreteness value, which is convenient for subsequent selection of the measurement and output method of the final recognition height of the fire extinguishing bomb. Specifically, if the degree of discrete deviation is small, it means that the ranging heights corresponding to the wireless ranging signals after secondary screening are relatively stable, and the mean value processing can be adopted to output the final recognition height of the fire extinguishing bomb. If the discreteness is large and the final recognition height of the fire extinguishing bomb cannot be determined by the ranging height corresponding to a single wireless ranging signal, the ratio output method is selected to output the final recognition height of the fire extinguishing bomb, add weights to the wireless ranging signals, and comprehensively output the final recognition height of the fire extinguishing bomb based on the ranging heights corresponding to the wireless ranging signals after secondary screening, so as to improve the accuracy and reliability of the output of the final recognition height of the fire extinguishing bomb; In some preferred embodiments, the height discreteness value is compared with the height discreteness threshold; If the height discrete value is greater than or equal to the height discrete threshold, select the measurement method of proportional output; If the height discrete value is less than the height discrete threshold, select the measurement method of balanced output; Step Five: If the measurement output method is balanced output, perform an averaging process on the ranging height corresponding to the wireless ranging signal to determine the final recognition height of the fire extinguishing bomb. If the measurement output method is proportional output, perform a weight allocation on the wireless ranging signal according to the comparison result of the wireless ranging signal characteristics and the comparison result of the ranging height corresponding to the wireless ranging signal, and calculate in combination with the ranging height corresponding to the wireless ranging signal to determine the final recognition height of the fire extinguishing bomb; In Step Five, if the measurement output method is balanced output, the method for determining the final recognition height of the fire extinguishing bomb is: Take the average value of the ranging heights corresponding to the wireless ranging signals after the secondary screening to obtain the final recognition height of the fire extinguishing bomb; The process of performing a weight allocation on the wireless ranging signal according to the comparison result of the wireless ranging signal characteristics and the comparison result of the ranging height corresponding to the wireless ranging signal in Step Five includes: Take the absolute value of the error between the ranging height corresponding to each wireless ranging signal after the secondary screening and the height of the fire extinguishing bomb obtained by measurement to obtain the absolute error of the ranging height corresponding to the wireless ranging signal after the secondary screening, and take the average value to obtain the average absolute error of the ranging height; Respectively calculate the ratio between the absolute error of the ranging height corresponding to each wireless ranging signal after the secondary screening and the average absolute error of the ranging height to obtain the error coefficient ratio corresponding to the wireless ranging signal after the secondary screening; Count the proportion of all characteristics of the wireless ranging signal after the secondary screening that meet the characteristics to obtain the characteristic compliance value of the wireless ranging signal after the secondary screening; Perform a proportional calculation on the characteristic compliance value of the wireless ranging signal after the secondary screening and the corresponding error coefficient ratio to obtain the reliability value keg of the wireless ranging signal after the secondary screening. The specific calculation formula is:
[0026] Among them, TZ represents the characteristic compliance value, and WC represents the error coefficient ratio; It can be understood that the reliability value is obtained through the characteristic compliance value and the error coefficient ratio of the wireless ranging signal after the secondary screening. The characteristic compliance value reflects the proportion of the wireless ranging signal after the secondary screening that meets the characteristics. The larger the proportion, the higher the reliability of the wireless ranging signal. The error coefficient ratio reflects the error between the ranging height corresponding to the wireless ranging signal after the secondary screening and the height of the measured fire extinguishing bomb. The smaller the error value, the higher the reliability of the wireless ranging signal after the secondary screening; Sum the reliable values keg of the wireless ranging signals after secondary screening to obtain the total reliable value keg of the wireless ranging signals after secondary screening 总 ; Calculate the ratio of the reliable value keg of the wireless ranging signals after secondary screening to the total reliable value keg 总 to obtain the weight Qz of the wireless ranging signals after secondary screening. The specific formula for weight calculation is:
[0027] The process of calculating the final recognition height of the fire extinguishing bomb by combining the ranging height corresponding to the wireless ranging signal is as follows: Multiply and combine the weight Qz of the wireless ranging signals after secondary screening with the corresponding ranging height respectively, and then sum them up to obtain the final recognition height of the fire extinguishing bomb; Exemplarily, assume that the weights of the wireless ranging signals after secondary screening are Qz1, Qz2, Qz3......Qzn respectively; where Qzn represents the weight corresponding to the nth wireless ranging signal after secondary screening; Assume that the ranging heights corresponding to the wireless ranging signals after secondary screening are gd1, gd2, gd3......gdn; where gdn represents the ranging height corresponding to the nth wireless ranging signal after secondary screening; Then the calculation of the final recognition height ZG of the fire extinguishing bomb is:
[0028] It can be understood that by calculating the reliable values of the wireless ranging signals after secondary screening to assign weights to the wireless ranging signals, and combining the ranging heights corresponding to the wireless ranging signals to determine the final recognition height of the fire extinguishing bomb, it is beneficial to improve the accuracy of the final recognition height of the fire extinguishing bomb by combining the comprehensive output of multiple signals when the ranging height corresponding to the wireless ranging signal has a large discrete deviation and the final recognition height of the fire extinguishing bomb cannot be accurately identified; Step six: Control the detonation of the fire extinguishing bomb by comparing the final recognition height of the fire extinguishing bomb with the optimal detonation height; The method of controlling the detonation of the fire extinguishing bomb is as follows: If the final recognition height of the fire extinguishing bomb reaches the optimal detonation height, detonate the fire extinguishing bomb; If the final recognition height of the fire extinguishing bomb does not reach the optimal detonation height, do not perform any operation; Please refer to Figure 2 shown, the process of detonating the fire extinguishing bomb is: When the final recognition height of the fire extinguishing bomb reaches the optimal detonation height, the stc51 chip sends an electrical signal to switch MOS transistor 1, and the ignition head conducts to detonate the fire extinguishing bomb normally. If MOS transistor 1 fails to conduct normally due to the electrical signal, the stc51 chip gives an electrical signal to conduct MOS transistor 2, and the igniter head conducts to detonate the unexploded fire extinguishing bomb. The technical solution of the embodiment of the present invention is as follows: compare the characteristics of the wireless ranging signals received during the fall of the fire extinguishing bomb with the wireless ranging signal characteristic database to preliminarily screen the wireless ranging signals. According to the launch time of the fire extinguishing bomb, calculate the height of the fire extinguishing bomb and compare the error with the ranging height corresponding to the preliminarily screened wireless ranging signals to perform a secondary screening of the wireless ranging signals. Through the comparison of signal characteristics and ranging height, two screenings of the wireless ranging signals are realized, improving the screening accuracy of the wireless ranging signals, facilitating the extraction of highly reliable wireless ranging signals, ensuring the detonation control accuracy of the fire extinguishing bomb, performing a discreteness analysis on the ranging heights corresponding to the wireless ranging signals after the secondary screening, determining the calculation output method of the final recognition height of the fire extinguishing bomb. If the calculation output method is balanced output, perform an averaging process on the ranging heights corresponding to the wireless ranging signals to determine the final recognition height of the fire extinguishing bomb. If the calculation output method is proportional output, perform a weight assignment on the wireless ranging signals according to the comparison results of the wireless ranging signal characteristics and the comparison results of the ranging heights corresponding to the wireless ranging signals, and calculate in combination with the ranging heights corresponding to the wireless ranging signals to determine the final recognition height of the fire extinguishing bomb. Through the discreteness analysis of the ranging heights corresponding to the wireless ranging signals after the secondary screening, select an appropriate calculation output method to determine the final recognition height of the fire extinguishing bomb, further improving the detonation control accuracy of the fire extinguishing bomb.
[0029] Embodiment 2 Please refer to Figure 3 As shown, a height positioning wireless control system for fire extinguishing bomb detonation according to an embodiment of the present invention includes the following modules: Database construction module: simulate the propagation of the wireless ranging signals of the fire extinguishing bomb through the GIS environment model to construct a wireless ranging signal characteristic database; Ranging signal preliminary screening module: compare the characteristics of the wireless ranging signals received during the fall of the fire extinguishing bomb with the wireless ranging signal characteristic database to preliminarily screen the wireless ranging signals; Compare the characteristics of the wireless ranging signals received during the fall of the fire extinguishing bomb with the characteristic thresholds included in the wireless ranging signal characteristic database: If the characteristics of the received wireless ranging signals reach the characteristic thresholds of the same type of wireless ranging signals, mark the characteristics of the received wireless ranging signals as conforming to the characteristics; If the characteristics of the received wireless ranging signals do not reach the characteristic thresholds of the same type of wireless ranging signals, no processing is performed; Calculate the proportion of the received wireless ranging signals that meet the characteristics among all the characteristics of the received wireless ranging signals, and obtain the characteristic compliance value of the received wireless ranging signals; Compare the characteristic compliance value of the received wireless ranging signals with the characteristic compliance threshold; If the characteristic compliance value is greater than or equal to the characteristic compliance threshold, then screen and retain the received wireless ranging signals; If the characteristic compliance value is less than the characteristic compliance threshold, then screen and remove the received wireless ranging signals; Ranging signal re-screening module: According to the release time of the fire extinguishing bomb, calculate the height of the fire extinguishing bomb and compare the error with the ranging height corresponding to the preliminarily screened wireless ranging signals to perform secondary screening on the wireless ranging signals; Obtain the release time of the fire extinguishing bomb, and combine it with the gravitational acceleration formula to calculate the height h of the fire extinguishing bomb. The specific calculation formula is:
[0030] where h 初 is the initial release height of the fire extinguishing bomb, V 初 is the initial vertical release velocity, t is the falling time, g is the gravitational acceleration, and the value is 9.8m / s 2 Compare the error between the calculated height of the fire extinguishing bomb and the ranging height corresponding to the preliminarily screened wireless ranging signals; If the error between the calculated height of the fire extinguishing bomb and the ranging height corresponding to the preliminarily screened wireless ranging signals is within the preset error range, then screen and retain the preliminarily screened wireless ranging signals; If the error between the calculated height of the fire extinguishing bomb and the ranging height corresponding to the preliminarily screened wireless ranging signals is not within the preset error range, then screen and remove the preliminarily screened wireless ranging signals; Height measurement selection module: Perform a discreteness analysis on the ranging heights corresponding to the wireless ranging signals after secondary screening to determine the measurement output method for the final recognition height of the fire extinguishing bomb; Integrate the ranging heights corresponding to the wireless ranging signals after secondary screening into a ranging height data group, calculate the standard deviation and the mean of the ranging height data group, and obtain the height discreteness value GS of the ratio of the standard deviation and the mean; Compare the height discreteness value with the height discreteness threshold; If the height discreteness value is greater than or equal to the height discreteness threshold, then select the measurement method of proportional output; If the height discreteness value is less than the height discreteness threshold, then select the measurement method of balanced output; Measurement and output module: If the measurement and output method is balanced output, perform averaging on the ranging heights corresponding to the wireless ranging signals to determine the final recognition height of the fire extinguishing bomb. If the measurement and output method is proportional output, perform weight allocation on the wireless ranging signals according to the comparison results of the wireless ranging signal characteristics and the comparison results of the ranging heights corresponding to the wireless ranging signals, and perform calculations in combination with the ranging heights corresponding to the wireless ranging signals to determine the final recognition height of the fire extinguishing bomb; Take the average of the ranging heights corresponding to the wireless ranging signals after secondary screening to obtain the final recognition height of the fire extinguishing bomb; After taking the absolute value of the difference between the ranging height corresponding to each wireless ranging signal after secondary screening and the measured height of the fire extinguishing bomb, obtain the absolute error of the ranging height corresponding to the wireless ranging signal after secondary screening, and take the average to obtain the average absolute error of the ranging height; Calculate the ratio between the absolute error of the ranging height corresponding to each wireless ranging signal after secondary screening and the average absolute error of the ranging height to obtain the error coefficient ratio corresponding to the wireless ranging signal after secondary screening; Count the proportion of the features that meet the criteria among all the features of the wireless ranging signals after secondary screening to obtain the feature compliance value of the wireless ranging signals after secondary screening; Perform proportional calculation on the feature compliance value of the wireless ranging signals after secondary screening and the corresponding error coefficient ratio to obtain the reliability value keg of the wireless ranging signals after secondary screening. The specific calculation formula is:
[0031] where, TZ represents the feature compliance value, and WC represents the error coefficient ratio; Sum up the reliability values keg of the wireless ranging signals after secondary screening to obtain the total reliability value keg of the wireless ranging signals after secondary screening 总 ; Perform ratio calculation on the reliability value keg of the wireless ranging signals after secondary screening and the total reliability value keg 总 to obtain the weight Qz of the wireless ranging signals after secondary screening. The specific formula for weight calculation is:
[0032] After performing product combination operations on the weights Qz of the wireless ranging signals after secondary screening and the corresponding ranging heights and then summing them up, obtain the final recognition height of the fire extinguishing bomb; Detonation module: Control the detonation of the fire extinguishing bomb by comparing the final recognition height of the fire extinguishing bomb with the optimal detonation height; If the final recognition height of the fire extinguishing bomb reaches the optimal detonation height, detonate the fire extinguishing bomb.
[0033] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.
Claims
1. A height positioning wireless control method for the detonation of fire extinguishing bombs, characterized in that: Including: Simulate the propagation of the wireless ranging signal of the fire extinguishing bomb through the GIS environment model to obtain a wireless ranging signal feature database; Compare the features of the wireless ranging signal received during the fall of the fire extinguishing bomb with the wireless ranging signal feature database to preliminarily screen the wireless ranging signal; According to the release time of the fire extinguishing bomb, calculate the height of the fire extinguishing bomb and compare the error with the ranging height corresponding to the preliminarily screened wireless ranging signal to conduct a secondary screening of the wireless ranging signal; Conduct a discreteness analysis on the ranging height corresponding to the wireless ranging signal after the secondary screening to determine the calculation output method for the final recognition height of the fire extinguishing bomb; If the calculation output method is balanced output, determine the final recognition height of the fire extinguishing bomb through averaging processing. If the calculation output method is proportional output, perform weight assignment on the wireless ranging signal according to the comparison result of the wireless ranging signal features and the comparison result of the ranging height corresponding to the wireless ranging signal, and calculate in combination with the ranging height corresponding to the wireless ranging signal to determine the final recognition height of the fire extinguishing bomb; If the final recognition height of the fire extinguishing bomb reaches the optimal detonation height, detonate the fire extinguishing bomb.
2. A height positioning wireless control method for detonating a fire extinguishing bomb according to claim 1, characterized in that: If the features of the wireless ranging signal reach the feature threshold in the wireless ranging signal feature database, mark the features of the wireless ranging signal as conforming to the features; Statistically calculate the proportion of the features that conform to the features among all the features of the wireless ranging signal to obtain a feature conformity value; If the feature conformity value is greater than or equal to the feature conformity threshold, screen and retain the received wireless ranging signal.
3. A height positioning wireless control method for the detonation of a fire extinguishing bomb according to claim 1, characterized in that: According to the release time of the fire extinguishing bomb and combined with the gravitational acceleration formula, calculate the height of the fire extinguishing bomb; If the error between the calculated height of the fire extinguishing bomb and the ranging height corresponding to the preliminarily screened wireless ranging signal is within the preset error range, screen and retain the preliminarily screened wireless ranging signal.
4. A height positioning wireless control method for detonating a fire extinguishing bomb according to claim 1, characterized in that: Integrate the ranging heights corresponding to the wireless ranging signals after the secondary screening into a ranging height data group, and calculate the ratio of the standard deviation to the mean to obtain the height discreteness value of the ranging height data group; If the height discreteness value is greater than or equal to the height discreteness threshold, select the proportional output calculation method; If the height discreteness value is less than the height discreteness threshold, select the balanced output calculation method.
5. A height positioning wireless control method for detonating a fire extinguishing bomb according to claim 1, characterized in that: If the calculation output method is balanced output, take the average value of the ranging heights corresponding to the wireless ranging signals after the secondary screening to obtain the final recognition height of the fire extinguishing bomb.
6. A height positioning wireless control method for detonating a fire extinguishing bomb according to claim 1, characterized in that: If the calculation output method is proportional output, process and analyze the error between the ranging height corresponding to the wireless ranging signal after the secondary screening and the calculated height of the fire extinguishing bomb to obtain the error coefficient ratio corresponding to the wireless ranging signal after the secondary screening; Calculate the ratio between the feature conformity value of the wireless ranging signal after the secondary screening and the corresponding error coefficient ratio to obtain the reliability value of the wireless ranging signal after the secondary screening; Calculate the weight of the wireless ranging signal after the secondary screening through the ratio calculation of the reliability value of the wireless ranging signal after the secondary screening to the total reliability value; 7. A height positioning wireless control method for detonating a fire extinguishing bomb according to claim 6, characterized in that: Take the absolute value of the error between the ranging height corresponding to the wireless ranging signal after the secondary screening and the calculated height of the fire extinguishing bomb and then take the average value to obtain the average absolute error of the ranging height; Respectively obtain the ratio between the absolute ranging height error and the average absolute ranging height error corresponding to the wireless ranging signal after the secondary screening, and obtain the error coefficient ratio corresponding to the wireless ranging signal after the secondary screening.
8. A height positioning wireless control method for the detonation of a fire extinguishing bomb according to claim 7, characterized in that: The absolute ranging height error corresponding to the wireless ranging signal after the secondary screening is obtained by taking the absolute value of the error between the ranging height corresponding to the wireless ranging signal after the secondary screening and the height of the fire extinguishing bomb obtained by measurement.
9. A height positioning wireless control method for detonating a fire extinguishing bomb according to claim 6, characterized in that: The reliable total value is the sum of the reliable values of all wireless ranging signals after the secondary screening.
10. A height positioning wireless control method for detonating a fire extinguishing bomb according to claim 6, characterized in that: Multiply the weight of the wireless ranging signal after the secondary screening by the corresponding ranging height, perform an associative operation, and then sum up to obtain the final recognition height of the fire extinguishing bomb.